From d81d66193fc9d46291f03fb16557bb32166e4091 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 17 Apr 2026 12:37:56 -0700
Subject: [PATCH 001/210] modeld: single jit (#37758)

* compile_modeld.py

* update estimates

* missing image=2?

* Revert "missing image=2?"

This reverts commit 2f5952eb63ba1e3f24cbf5769e6b5e9170d7f0a6.

* Revert "update estimates"

This reverts commit 1f72feef2ffdec6126e3c941e899b46ace7b4b65.

* Revert "compile_modeld.py"

This reverts commit f10541502efca02725f368deda2a21d1f786f57d.

* load warp in ModelState init

* dead code

* prep

* compile modeld

* update SConscript

* tmp save plot locally

* Revert "tmp save plot locally"

This reverts commit ec22f15161ad3b0241a097546b35860f989219f5.

* openpilot hacks?

* no float16

* tmp more chunks

* Revert "tmp more chunks"

This reverts commit 9e1d9b4d0dc36ff530d2a70b565fbfabd7afb00d.

* Revert "no float16"

This reverts commit 6204956e98e3c0818ed1985ede8eeccb810f63e3.

* realize boundaries

* Revert "realize boundaries"

This reverts commit ffaa19259eba70944e7793e8f51a0f87089531b3.

* prune=False?

* Reapply "tmp more chunks"

This reverts commit 2599c41cea93b4a6b4e946cdffc6a617663a7d23.

* tg bug?

* load first?

* Revert "load first?"

This reverts commit f643d082d76a424b23295e254179eb111e936e61.

* revert

* Reapply "tmp save plot locally"

This reverts commit 1b95b82ee58654bd908b1cb04ab0ddbcd1a5955d.

* 0 tol pc

* warp -> modeld

* rename

* bypass chunking?

* dont chunk

* Revert "dont chunk"

This reverts commit cc97fc67b3203456e123f02babe5c83b87c7e264.

* dont chunk

* debug

* Revert "debug"

This reverts commit b3c2f2e7a095fd32f8d8562a68fd1cca42357eac.

* Revert "dont chunk"

This reverts commit 42bd9b6f6ad0722c50348ba11ba7e2a64fdf997d.

* Revert "bypass chunking?"

This reverts commit ad5422a93483ffd8a59ba62e5fb72ced3b5d04d0.

* corrupt model outputs

* Revert "corrupt model outputs"

This reverts commit 245feb94480e02f83a20b65a9488652bcbfc88b0.

* image=0 for warp, match master

* dedupe enqueue

* pass traffic convention

* tg buffer for desire

* dedupe buffer creation

* compile_modeld: nuke stale cached pkl before compiling

The UNSAFE CI checkout keeps gitignored files (.pkl, .sconsign.dblite),
so stale pkl files from previous commits can persist and be reused
instead of being recompiled. Delete them explicitly before compiling.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* test vs compile

* all outputs need to be different on different inputs

* randomize numpy inputs

* randomize on every step

* SConscript: nuke stale pkl+chunks before compile_modeld

Move the stale artifact cleanup from compile_modeld.py into the
SConscript build command. This ensures stale gitignored pkl and chunk
files are deleted even if scons decides to skip the compile step
(due to a stale .sconsign.dblite from UNSAFE CI checkout).

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* compile_modeld: restore Context(IMAGE=0) for warp

The warp operations must run under IMAGE=0 to avoid QCOM image texture
optimizations that corrupt the output buffer after ~33 frames.
This was accidentally commented out in a855173.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* modeld: create SubMaster before model loading

Move PubMaster/SubMaster creation before the model loading step.
During model loading (3.5s+), process_replay may send liveCalibration.
If SubMaster doesn't exist yet, the message is dropped and the warp
transform stays as zeros, producing garbage warped images.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* Revert "modeld: create SubMaster before model loading"

This reverts commit 968c987c2fbb3fce141c4e345d10ddea559b6c50.

* stale metadata?

* claude debug

* Revert "claude debug"

This reverts commit 49e754c6affa45a8ea8834588a00227b8090b17a.

* Revert "stale metadata?"

This reverts commit 870388513c0d4a67dcf970cd277b6db56cb2b478.

* modeld: realize jit outputs before parsing

* Update modeld.py

* modeld: fix NameError by removing redundant MODELS_DIR definition

* test buffers in test vs. compile

* 2x inputs before running

* fixup 2x inputs test

* realize onnx weights?

* Revert "realize onnx weights?"

This reverts commit 49c8b9a505db38ff22f342db011a3a6b6526d398.

* move openpilot_hacks flag to sconscript

* stricter test vs compile

* correct timings

* more run more fail?

* Revert "more run more fail?"

This reverts commit 9e94bb63940751ec29e81b634c42449113e1f2e5.

* numpy shenanigans

* correct shapes

* dont assert timings for now

* Revert "correct shapes"

This reverts commit 5b9ff6c84c0022327d21801d179e9e51c39e8f78.

* Revert "numpy shenanigans"

This reverts commit b4f6fb3078d7e9b09698895b88728fd8eea8c8a8.

* no need to nuke

* comment unused

* don't use NPY device

* copy instead of from_blob

* to device before jit

* Revert "to device before jit"

This reverts commit 7a59ed9b1ac88657b5a3917986b6ff92e59a2ee3.

* Revert "copy instead of from_blob"

This reverts commit 196c4892a06ffba89ef631876372cecf137cc1b4.

* Revert "don't use NPY device"

This reverts commit 18abf43bbac46ad47a60c03dd8d1ef40b3f59227.

* 3 runs is enough

* no_memory_planner=1

* lint

* restore model_replay.py

* on policy -> policy

* unused

* prepare only enqueues full images

* warp with image=2?

* unused args

* test vs compile, check different inputs different outputs

* avoid uop cache collision

* dont need realize here

* misc

* input queues diverged

* strict zip

* monkey patch for now

* memory planner

* prev desire correct order

* dedupe pkl paths / compile targets

* don't change behavior, warp and enqueue frames when skipping model eval

* actually prepare only

* warm up warp jit

* correct path

* oops

* explicit warmup

* need continuous + can't have dupplicate jit inputs

* whitespace

* bufs -> input_queues

* master tg

* /N_RUNS

* bump tg, remove uop cache patch

* more readable

* Revert "bump tg, remove uop cache patch"

This reverts commit 499acca2591becd389de4025943f9e776a5b337c.

* missing dep

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
---
 selfdrive/modeld/SConscript          |  34 ++--
 selfdrive/modeld/compile_modeld.py   | 289 +++++++++++++++++++++++++++
 selfdrive/modeld/compile_warp.py     | 198 ------------------
 selfdrive/modeld/modeld.py           | 150 +++-----------
 selfdrive/modeld/tinygrad_helpers.py |   2 +-
 5 files changed, 343 insertions(+), 330 deletions(-)
 create mode 100755 selfdrive/modeld/compile_modeld.py
 delete mode 100755 selfdrive/modeld/compile_warp.py

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 86b62d2c17..053eb157b6 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -16,7 +16,6 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
 # get fastest TG config
 available = set(Device.get_available_devices())
 if 'CUDA' in available:
@@ -24,9 +23,10 @@ if 'CUDA' in available:
   tg_flags = f'DEV={tg_backend}'
 elif 'QCOM' in available:
   tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
+  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
   tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
+  # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
   tg_flags = f'DEV={tg_backend} THREADS=0'
 
 def write_tg_compiled_flags(target, source, env):
@@ -53,14 +53,23 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
 image_flag = {
      'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
-script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-compile_warp_cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-warp_targets = []
-for cam in [_ar_ox_fisheye, _os_fisheye]:
-  w, h = cam.width, cam.height
-  warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
-lenv.Command(warp_targets, tinygrad_files + script_files + [compiled_flags_node], compile_warp_cmd)
+script_files = [File(Dir("#selfdrive/modeld").File("compile_modeld.py").abspath)]
+compile_modeld_cmd = f'{tg_flags} {mac_brew_string} {image_flag} python3 {Dir("#selfdrive/modeld").abspath}/compile_modeld.py '
+driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
+driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
+
+from openpilot.selfdrive.modeld.compile_modeld import MODELD_CONFIGS, DM_WARP_CONFIGS
+policy_pkls = [File(cfg.pkl_path).abspath for cfg in MODELD_CONFIGS]
+modeld_targets = policy_pkls + [File(cfg.pkl_path).abspath for cfg in DM_WARP_CONFIGS]
+compile_node = lenv.Command(modeld_targets, tinygrad_files + script_files + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], compile_modeld_cmd)
+
+# chunk the combined policy pkls
+for policy_pkl in policy_pkls:
+  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
+  chunk_targets = get_chunk_paths(policy_pkl, estimate_pickle_max_size(onnx_sizes_sum))
+  def do_chunk(target, source, env, pkl=policy_pkl, chunks=chunk_targets):
+    chunk_file(pkl, chunks)
+  lenv.Command(chunk_targets, compile_node, do_chunk)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
@@ -81,7 +90,4 @@ def tg_compile(flags, model_name):
     do_chunk,
   )
 
-# Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  tg_compile(tg_flags, model_name)
-
+tg_compile(tg_flags, 'dmonitoring_model')
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
new file mode 100755
index 0000000000..469110a857
--- /dev/null
+++ b/selfdrive/modeld/compile_modeld.py
@@ -0,0 +1,289 @@
+#!/usr/bin/env python3
+import time
+import pickle
+from dataclasses import dataclass
+from itertools import product
+from functools import partial
+
+import numpy as np
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import Context
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+
+# https://github.com/tinygrad/tinygrad/issues/15682
+from tinygrad.uop.ops import UOp, Ops
+_orig = UOp.__reduce__
+UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
+
+
+@dataclass
+class CompileConfig:
+  cam_w: int
+  cam_h: int
+  prepare_only: bool
+  prefix: str
+
+  @property
+  def pkl_path(self):
+    return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
+
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
+MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_') for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
+DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
+
+
+UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
+UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
+
+
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
+  w_dst, h_dst = dst_shape
+  h_src, w_src = src_shape
+
+  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
+
+  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
+  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
+  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
+  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
+
+  src_x = src_x / src_w
+  src_y = src_y / src_w
+
+  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
+  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
+  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
+
+  return src_flat[idx]
+
+
+def frames_to_tensor(frames):
+  H = (frames.shape[0] * 2) // 3
+  W = frames.shape[1]
+  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
+                       frames[1:H:2, 0::2],
+                       frames[0:H:2, 1::2],
+                       frames[1:H:2, 1::2],
+                       frames[H:H+H//4].reshape((H//2, W//2)),
+                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
+  return in_img1
+
+
+def make_frame_prepare(cam_w, cam_h, model_w, model_h):
+  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
+  uv_offset = stride * y_height
+  stride_pad = stride - cam_w
+
+  def frame_prepare_tinygrad(input_frame, M_inv):
+    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
+    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
+    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
+    with Context(SPLIT_REDUCEOP=0):
+      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
+                                    M_inv, (model_w, model_h),
+                                    (cam_h, cam_w), stride_pad).realize()
+      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
+    tensor = frames_to_tensor(yuv)
+    return tensor
+  return frame_prepare_tinygrad
+
+
+def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip):
+  img = vision_input_shapes['img']  # (1, 12, 128, 256)
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+
+  fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
+  dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
+  tc = policy_input_shapes['traffic_convention']  # (1, 2)
+
+  npy = {
+    'desire': np.zeros(dp[2], dtype=np.float32),
+    'traffic_convention': np.zeros(tc, dtype=np.float32),
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+  }
+  input_queues = {
+    'img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
+    'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
+    'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]).contiguous().realize(),
+    'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2]).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
+
+
+def shift_and_sample(buf, new_val, sample_fn):
+  buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
+  return sample_fn(buf)
+
+
+def sample_skip(buf, frame_skip):
+  return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
+
+
+def sample_desire(buf, frame_skip):
+  return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
+
+
+def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
+  stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
+  stride_pad = stride - cam_w
+
+  def warp_dm(input_frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT)
+    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
+    return result
+  return warp_dm
+
+
+def make_run_policy(vision_runner, policy_runner, cam_w, cam_h,
+                    vision_features_slice, frame_skip, prepare_only=False):
+  model_w, model_h = MEDMODEL_INPUT_SIZE
+  frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm.to(Device.DEFAULT)).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm.to(Device.DEFAULT)).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
+
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.to(Device.DEFAULT).reshape(1, 1, -1), sample_desire_fn)
+
+    inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention.to(Device.DEFAULT)}
+    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
+
+    return vision_out, policy_out
+  return run_policy
+
+
+def compile_modeld(cam_w, cam_h, prepare_only, pkl_path):
+  from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.selfdrive.modeld.constants import ModelConstants
+
+  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+  print(f"Compiling combined policy JIT for {cam_w}x{cam_h}...")
+
+  vision_runner = OnnxRunner(MODELS_DIR / 'driving_vision.onnx')
+  policy_runner = OnnxRunner(MODELS_DIR / 'driving_policy.onnx')
+
+  with open(MODELS_DIR / 'driving_vision_metadata.pkl', 'rb') as f:
+    vision_metadata = pickle.load(f)
+    vision_features_slice = vision_metadata['output_slices']['hidden_state']
+    vision_input_shapes = vision_metadata['input_shapes']
+  with open(MODELS_DIR / 'driving_policy_metadata.pkl', 'rb') as f:
+    policy_input_shapes = pickle.load(f)['input_shapes']
+
+  frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+
+  _run = make_run_policy(vision_runner, policy_runner,
+                         cam_w, cam_h, vision_features_slice, frame_skip, prepare_only)
+  run_policy_jit = TinyJit(_run, prune=True)
+
+  N_RUNS = 3
+  SEED = 42
+
+  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip)
+    np.random.seed(seed)
+
+    for i in range(N_RUNS):
+      frame = Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize()
+      big_frame = Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize()
+      for v in npy.values():
+        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+      Device.default.synchronize()
+      st = time.perf_counter()
+      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      mt = time.perf_counter()
+      for o in outs:
+        # .realize() not needed once jitted, but needed for unjitted fn
+        o.realize()
+      Device.default.synchronize()
+      et = time.perf_counter()
+      print(f"  [{i+1}/{N_RUNS}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+    val = [np.copy(v.numpy()) for v in outs]
+    buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+
+    if test_val is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    if test_buffers is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    return fn, val, buffers
+
+  print('run unjitted')
+  _, test_val, test_buffers = random_inputs_run_fn(_run, seed=SEED)
+  print('capture + replay')
+  run_policy_jit, _, _ = random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers)
+
+  print('pickle round trip')
+  with open(pkl_path, "wb") as f:
+    pickle.dump(run_policy_jit, f)
+    print(f"  Saved to {pkl_path}")
+  with open(pkl_path, "rb") as f:
+    run_policy_jit = pickle.load(f)
+  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+
+
+def compile_dm_warp(cam_w, cam_h, pkl_path):
+  dm_w, dm_h = DM_INPUT_SIZE
+  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+
+  print(f"Compiling DM warp for {cam_w}x{cam_h}...")
+
+  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
+  warp_dm_jit = TinyJit(warp_dm, prune=True)
+
+  for i in range(10):
+    inputs = [Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
+              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    Device.default.synchronize()
+    st = time.perf_counter()
+    warp_dm_jit(*inputs)
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  with open(pkl_path, "wb") as f:
+    pickle.dump(warp_dm_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+
+def run_and_save_pickle():
+  for cfg in MODELD_CONFIGS:
+    compile_modeld(cfg.cam_w, cfg.cam_h, cfg.prepare_only, cfg.pkl_path)
+  for cfg in DM_WARP_CONFIGS:
+    compile_dm_warp(cfg.cam_w, cfg.cam_h, cfg.pkl_path)
+
+
+if __name__ == "__main__":
+  run_and_save_pickle()
diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py
deleted file mode 100755
index 47511f2a2b..0000000000
--- a/selfdrive/modeld/compile_warp.py
+++ /dev/null
@@ -1,198 +0,0 @@
-#!/usr/bin/env python3
-import time
-import pickle
-import numpy as np
-from pathlib import Path
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import Context
-from tinygrad.device import Device
-from tinygrad.engine.jit import TinyJit
-
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-
-MODELS_DIR = Path(__file__).parent / 'models'
-
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
-
-UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
-UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
-
-IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
-
-
-def warp_pkl_path(w, h):
-  return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
-
-
-def dm_warp_pkl_path(w, h):
-  return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
-
-
-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
-  w_dst, h_dst = dst_shape
-  h_src, w_src = src_shape
-
-  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
-  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
-
-  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
-  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
-  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
-  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
-
-  src_x = src_x / src_w
-  src_y = src_y / src_w
-
-  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
-  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
-  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
-
-  return src_flat[idx]
-
-
-def frames_to_tensor(frames, model_w, model_h):
-  H = (frames.shape[0] * 2) // 3
-  W = frames.shape[1]
-  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
-                       frames[1:H:2, 0::2],
-                       frames[0:H:2, 1::2],
-                       frames[1:H:2, 1::2],
-                       frames[H:H+H//4].reshape((H//2, W//2)),
-                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
-  return in_img1
-
-
-def make_frame_prepare(cam_w, cam_h, model_w, model_h):
-  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
-  uv_offset = stride * y_height
-  stride_pad = stride - cam_w
-
-  def frame_prepare_tinygrad(input_frame, M_inv):
-    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
-    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
-    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
-    with Context(SPLIT_REDUCEOP=0):
-      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
-                                    M_inv, (model_w, model_h),
-                                    (cam_h, cam_w), stride_pad).realize()
-      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
-    tensor = frames_to_tensor(yuv, model_w, model_h)
-    return tensor
-  return frame_prepare_tinygrad
-
-
-def make_update_img_input(frame_prepare, model_w, model_h):
-  def update_img_input_tinygrad(frame_buffer, frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
-    new_img = frame_prepare(frame, M_inv)
-    frame_buffer.assign(frame_buffer[6:].cat(new_img, dim=0).contiguous())
-    return Tensor.cat(frame_buffer[:6], frame_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
-  return update_img_input_tinygrad
-
-
-def make_update_both_imgs(frame_prepare, model_w, model_h):
-  update_img = make_update_img_input(frame_prepare, model_w, model_h)
-
-  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
-                                calib_big_img_buffer, new_big_img, M_inv_big):
-    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_pair, calib_big_img_pair
-  return update_both_imgs_tinygrad
-
-
-def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
-  stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
-  stride_pad = stride - cam_w
-
-  def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
-    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
-    return result
-  return warp_dm
-
-
-def compile_modeld_warp(cam_w, cam_h):
-  model_w, model_h = MEDMODEL_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
-
-  frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
-  update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
-  update_img_jit = TinyJit(update_both_imgs, prune=True)
-
-  full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  for i in range(10):
-    img_inputs = [full_buffer,
-                  Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
-                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    big_img_inputs = [big_full_buffer,
-                      Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
-                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    inputs = img_inputs + big_img_inputs
-    Device.default.synchronize()
-
-    st = time.perf_counter()
-    _ = update_img_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  pkl_path = warp_pkl_path(cam_w, cam_h)
-  with open(pkl_path, "wb") as f:
-    pickle.dump(update_img_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-  jit = pickle.load(open(pkl_path, "rb"))
-  jit(*inputs)
-
-
-def compile_dm_warp(cam_w, cam_h):
-  dm_w, dm_h = DM_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling DM warp for {cam_w}x{cam_h}...")
-
-  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
-  warp_dm_jit = TinyJit(warp_dm, prune=True)
-
-  for i in range(10):
-    inputs = [Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
-              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    Device.default.synchronize()
-    st = time.perf_counter()
-    warp_dm_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  pkl_path = dm_warp_pkl_path(cam_w, cam_h)
-  with open(pkl_path, "wb") as f:
-    pickle.dump(warp_dm_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-
-def run_and_save_pickle():
-  for cam_w, cam_h in CAMERA_CONFIGS:
-    compile_modeld_warp(cam_w, cam_h)
-    compile_dm_warp(cam_w, cam_h)
-
-
-if __name__ == "__main__":
-  run_and_save_pickle()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 0c50d8beb5..7a8a442981 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -26,6 +26,7 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
+from openpilot.selfdrive.modeld.compile_modeld import CompileConfig, make_input_queues
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -34,17 +35,13 @@ from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
 VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
-POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl'
 POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
 
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
-IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
-assert IMG_QUEUE_SHAPE[0] == 30
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
@@ -79,106 +76,36 @@ class FrameMeta:
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class InputQueues:
-  def __init__ (self, model_fps, env_fps, n_frames_input):
-    assert env_fps % model_fps == 0
-    assert env_fps >= model_fps
-    self.model_fps = model_fps
-    self.env_fps = env_fps
-    self.n_frames_input = n_frames_input
-
-    self.dtypes = {}
-    self.shapes = {}
-    self.q = {}
-
-  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
-    self.dtypes.update(input_dtypes)
-    if self.env_fps == self.model_fps:
-      self.shapes.update(input_shapes)
-    else:
-      for k in input_shapes:
-        shape = list(input_shapes[k])
-        if 'img' in k:
-          n_channels = shape[1] // self.n_frames_input
-          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
-        else:
-          shape[1] = (self.env_fps // self.model_fps) * shape[1]
-        self.shapes[k] = tuple(shape)
-
-  def reset(self) -> None:
-    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
-
-  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
-    for k in inputs.keys():
-      if inputs[k].dtype != self.dtypes[k]:
-        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
-      input_shape = list(self.shapes[k])
-      input_shape[1] = -1
-      single_input = inputs[k].reshape(tuple(input_shape))
-      sz = single_input.shape[1]
-      self.q[k][:,:-sz] = self.q[k][:,sz:]
-      self.q[k][:,-sz:] = single_input
-
-  def get(self, *names) -> dict[str, np.ndarray]:
-    if self.env_fps == self.model_fps:
-      return {k: self.q[k] for k in names}
-    else:
-      out = {}
-      for k in names:
-        shape = self.shapes[k]
-        if 'img' in k:
-          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
-          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
-        elif 'pulse' in k:
-          # any pulse within interval counts
-          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
-        else:
-          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
-          out[k] = self.q[k][:, idxs]
-      return out
 
 class ModelState:
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
-  def __init__(self):
+  def __init__(self, cam_w: int, cam_h: int):
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
       self.vision_input_shapes =  vision_metadata['input_shapes']
       self.vision_input_names = list(self.vision_input_shapes.keys())
       self.vision_output_slices = vision_metadata['output_slices']
-      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
 
     with open(POLICY_METADATA_PATH, 'rb') as f:
       policy_metadata = pickle.load(f)
       self.policy_input_shapes =  policy_metadata['input_shapes']
       self.policy_output_slices = policy_metadata['output_slices']
-      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
-    # policy inputs
-    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
-    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
-    for k in ['desire_pulse', 'features_buffer']:
-      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
-    self.full_input_queues.reset()
-
-    self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
-                       'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize()}
+    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip)
     self.full_frames : dict[str, Tensor] = {}
     self._blob_cache : dict[int, Tensor] = {}
-    self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
-    self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
-    self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
-    self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-    self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
     self.parser = Parser()
-    self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
-    self.update_imgs = None
-    self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
-    self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
+    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
+    self.run_policy = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=False).pkl_path))
+    self.warp_enqueue = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=True).pkl_path))
+    self.warp_enqueue(
+      **self.input_queues,
+      frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),
+      big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8').contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -186,18 +113,6 @@ class ModelState:
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
-    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
-    if self.update_imgs is None:
-      for key in bufs.keys():
-        w, h = bufs[key].width, bufs[key].height
-        self.frame_buf_params[key] = get_nv12_info(w, h)
-      warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
-      with open(warp_path, "rb") as f:
-        self.update_imgs = pickle.load(f)
-
     for key in bufs.keys():
       ptr = bufs[key].data.ctypes.data
       yuv_size = self.frame_buf_params[key][3]
@@ -206,30 +121,31 @@ class ModelState:
       if cache_key not in self._blob_cache:
         self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
       self.full_frames[key] = self._blob_cache[cache_key]
-    for key in bufs.keys():
-      self.transforms_np[key][:,:] = transforms[key][:,:]
 
-    out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
-                           self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
-    vision_inputs = {'img': out[0], 'big_img': out[1]}
+    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
+    inputs['desire_pulse'][0] = 0
+    self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.prev_desire[:] = inputs['desire_pulse']
+    self.npy['traffic_convention'][:] = inputs['traffic_convention']
+    self.npy['tfm'][:,:] = transforms['img'][:,:]
+    self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
     if prepare_only:
+      self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
       return None
 
-    self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
-    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
+    vision_output, policy_output = self.run_policy(
+      **self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
+    )
 
-    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
-    for k in ['desire_pulse', 'features_buffer']:
-      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-
-    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
-    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
+    vision_output = vision_output.numpy().flatten()
+    policy_output = policy_output.numpy().flatten()
+    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
+    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(policy_output, self.policy_output_slices))
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
-    if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
 
+    if SEND_RAW_PRED:
+      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), policy_output.copy()])
     return combined_outputs_dict
 
 
@@ -241,11 +157,6 @@ def main(demo=False):
     # also need to move the aux USB interrupts for good timings
     config_realtime_process(7, 54)
 
-  st = time.monotonic()
-  cloudlog.warning("loading model")
-  model = ModelState()
-  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
-
   # visionipc clients
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -269,6 +180,11 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
+  st = time.monotonic()
+  cloudlog.warning("loading model")
+  model = ModelState(vipc_client_main.width, vipc_client_main.height)
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
+
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
index 49a6ed6161..9c1a0d4689 100644
--- a/selfdrive/modeld/tinygrad_helpers.py
+++ b/selfdrive/modeld/tinygrad_helpers.py
@@ -2,7 +2,7 @@ import json
 import os
 from pathlib import Path
 
-MODELS_DIR = Path(__file__).parent / 'models'
+MODELS_DIR = Path(__file__).resolve().parent / 'models'
 COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
 
 

From 5624a4ccd682fdd56d9ab2420f9341e65010621a Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 17 Apr 2026 15:41:47 -0700
Subject: [PATCH 002/210] bump teleoprtc_repo (#37848)

---
 teleoprtc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/teleoprtc_repo b/teleoprtc_repo
index 389815b8ca..22df577821 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b
+Subproject commit 22df577821862e32a011fb0cf42577599f3a79c4

From 389b639ef27a1fd5278d5ae97b9618fd562b00c2 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 17 Apr 2026 21:58:05 -0700
Subject: [PATCH 003/210] DriverMonitoringState v2 (#37799)

* draft ds

* better names

* what is this

* build new

* better names2

* more

* bit more cleanup

* rm those

* .

* .2

* selfdrived

* depre

* hk

* fix test

* fix rest

* 1

* fix enum

* update cereal

* fix rest

* more

* add step

* fix all

* imports

* cant?

* .

* simplify

* bool

* fix some migrate

* cleanup

* fix fix

* Update cereal/log.capnp

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* touchup

* what

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 cereal/log.capnp                              |  74 ++++-
 selfdrive/controls/controlsd.py               |   2 +-
 selfdrive/monitoring/dmonitoringd.py          |   2 +-
 selfdrive/monitoring/helpers.py               | 286 ++++++++----------
 selfdrive/monitoring/test_monitoring.py       | 150 +++++----
 selfdrive/selfdrived/selfdrived.py            |  25 +-
 selfdrive/test/process_replay/migration.py    |  45 ++-
 selfdrive/ui/mici/layouts/onboarding.py       |   2 +-
 .../ui/mici/onroad/driver_camera_dialog.py    |  36 +--
 selfdrive/ui/mici/onroad/driver_state.py      |   4 +-
 selfdrive/ui/onroad/driver_state.py           |   2 +-
 tools/sim/lib/simulated_sensors.py            |  11 +-
 12 files changed, 364 insertions(+), 275 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 0f8b5470a4..2dea21ff05 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2076,7 +2076,7 @@ struct DriverStateV2 {
   }
 }
 
-struct DriverMonitoringState @0xb83cda094a1da284 {
+struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
   events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
@@ -2104,6 +2104,75 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   }
 }
 
+struct DriverMonitoringState {
+  lockout @0 :Bool;
+  alertCountLockoutPercent @1 :Int8;
+  alertTimeLockoutPercent @2 :Int8;
+
+  alwaysOn @3 :Bool;
+  alwaysOnLockout @4 :Bool;
+
+  alertLevel @5 :AlertLevel;
+  activePolicy @6 :MonitoringPolicy;
+  isRHD @7 :Bool;
+  rhdCalibration @8 :CalibrationState;
+
+  visionPolicyState @9 :VisionPolicyState;
+  wheeltouchPolicyState @10 :WheeltouchPolicyState;
+
+  enum AlertLevel {
+    # ordinal must match the name to prevent bugs
+    # comparing against the raw ordinal value
+    none @0;
+    one @1;
+    two @2;
+    three @3;
+  }
+
+  enum MonitoringPolicy {
+    wheeltouch @0;
+    vision @1;
+  }
+
+  struct VisionPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    isDistracted @2 :Bool;
+    distractedTypes @3 :DistractedTypes;
+
+    faceDetected @4 :Bool;
+    pose @5 :Pose;
+    wheeltouchFallbackPercent @6 :Int8;
+    uncertainOffroadAlertPercent @7 :Int8;
+
+    struct DistractedTypes {
+      pose @0: Bool;
+      eye @1: Bool;
+      phone @2: Bool;
+    }
+
+    struct Pose {
+      pitch @0 :Float32;
+      yaw @1 :Float32;
+      pitchCalib @2 :CalibrationState;
+      yawCalib @3 :CalibrationState;
+      calibrated @4 :Bool;
+      uncertainty @5 :Float32;
+    }
+  }
+
+  struct WheeltouchPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    driverInteracting @2 :Bool;
+  }
+
+  struct CalibrationState {
+    calibratedPercent @0 :Int8;
+    offset @1 :Float32;
+  }
+}
+
 struct Boot {
   wallTimeNanos @0 :UInt64;
   pstore @4 :Map(Text, Data);
@@ -2410,7 +2479,7 @@ struct Event {
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
-    driverMonitoringState @71: DriverMonitoringState;
+    driverMonitoringState @151 :DriverMonitoringState;
     livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
@@ -2553,5 +2622,6 @@ struct Event {
     gyroscope2DEPRECATED @100 :SensorEventData;
     accelerometer2DEPRECATED @101 :SensorEventData;
     temperatureSensor2DEPRECATED @123 :SensorEventData;
+    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
   }
 }
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b49e46604a..e1d9650d72 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -193,7 +193,7 @@ class Controls:
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
     cs.ufAccelCmd = float(self.LoC.pid.f)
-    cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
+    cs.forceDecel = bool((self.sm['driverMonitoringState'].alertLevel == log.DriverMonitoringState.AlertLevel.three) or
                          (self.sm['selfdriveState'].state == State.softDisabling))
 
     lat_tuning = self.CP.lateralTuning.which()
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 1ac2c2dcba..2a48f74494 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -24,7 +24,7 @@ def dmonitoringd_thread():
 
     valid = sm.all_checks()
     if demo_mode and sm.valid['driverStateV2']:
-      DM.run_step(sm, demo=demo_mode)
+      DM.run_step(sm, demo=True)
     elif valid:
       DM.run_step(sm, demo=demo_mode)
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index a9d8f5b11a..37caa757c5 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -1,18 +1,20 @@
+from collections import defaultdict
 from math import atan2, radians
 import numpy as np
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.stat_live import RunningStatFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.system.hardware import HARDWARE
 
-EventName = log.OnroadEvent.EventName
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
+
+def to_perc(v):
+  return int(min(max(v * 100., 0.), 100.))
 
 # ******************************************************************************************
 #  NOTE: To fork maintainers.
@@ -21,21 +23,26 @@ EventName = log.OnroadEvent.EventName
 # ******************************************************************************************
 
 class DRIVER_MONITOR_SETTINGS:
-  def __init__(self, device_type):
-    self._DT_DMON = DT_DMON
-    # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
-    self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
-    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
-    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
-    self._DISTRACTED_TIME = 11. # active monitoring total timeout
-    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
-    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
+  def __init__(self):
+    # https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
+    self._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT = 15.
+    self._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT = 24.
+    self._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT = 30.
+    # https://cdn.euroncap.com/cars/assets/euro_ncap_protocol_safe_driving_driver_engagement_v11_a30e874152.pdf
+    self._VISION_POLICY_ALERT_1_TIMEOUT = 3.
+    self._VISION_POLICY_ALERT_2_TIMEOUT = 5.
+    self._VISION_POLICY_ALERT_3_TIMEOUT = 11.
+
+    self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
+    self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
+
+    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
+    self._MAX_TERMINAL_DURATION = int(30 / DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.5
     self._BLINK_THRESHOLD = 0.5
     self._PHONE_THRESH = 0.5
-
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
     self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
@@ -56,36 +63,22 @@ class DRIVER_MONITOR_SETTINGS:
     self._YAW_MIN_OFFSET = -0.0246
 
     self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
-    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / self._DT_DMON)
-    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / self._DT_DMON)
-    self._POSESTD_THRESHOLD = 0.3
-    self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
+    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / DT_DMON)
+    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / DT_DMON)
+    self._HI_STD_THRESHOLD = 0.3
+    self._HI_STD_FALLBACK_TIME = int(10  / DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
 
     self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
-    self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
-    self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
-
+    self._POSE_OFFSET_MIN_COUNT = int(60 / DT_DMON)  # valid data counts before calibration completes, 1min cumulative
+    self._POSE_OFFSET_MAX_COUNT = int(360 / DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
     self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
-    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
+    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / DT_DMON) # allow 15 seconds to converge wheel side
     self._WHEELPOS_DATA_AVG = 0.03
     self._WHEELPOS_DATA_VAR = 3*5.5e-5
     self._WHEELPOS_MAX_COUNT = -1
 
-    self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
-    self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
-
-    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
-    self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
-
-class DistractedType:
-
-  NOT_DISTRACTED = 0
-  DISTRACTED_POSE = 1 << 0
-  DISTRACTED_BLINK = 1 << 1
-  DISTRACTED_PHONE = 1 << 2
-
 class DriverPose:
   def __init__(self, settings):
     pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
@@ -117,7 +110,7 @@ cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
 W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
 
 def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
-  # the output of these angles are in device frame
+  # the output of these angles are in driver camera frame
   # so from driver's perspective, pitch is up and yaw is right
 
   pitch_net, yaw_net, roll_net = angles_desc
@@ -138,7 +131,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
 class DriverMonitoring:
   def __init__(self, rhd_saved=False, settings=None, always_on=False):
     # init policy settings
-    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
+    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS()
 
     # init driver status
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
@@ -147,10 +140,11 @@ class DriverMonitoring:
     self.blink_prob = 0.
     self.phone_prob = 0.
 
+    self.alert_level = AlertLevel.none
     self.always_on = always_on
-    self.distracted_types = []
+    self.distracted_types = defaultdict(bool)
     self.driver_distracted = False
-    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
+    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, DT_DMON)
     self.wheel_on_right = False
     self.wheel_on_right_last = None
     self.wheel_on_right_default = rhd_saved
@@ -159,33 +153,29 @@ class DriverMonitoring:
     self.terminal_time = 0
     self.step_change = 0.
     self.active_monitoring_mode = True
+    self.driver_interacting = False
     self.is_model_uncertain = False
     self.hi_stds = 0
-    self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-    self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
+    self.model_std_max = 0.
+    self.threshold_alert_1 = 0.
+    self.threshold_alert_2 = 0.
+    self.dcam_uncertain = False
     self.dcam_uncertain_cnt = 0
-    self.dcam_uncertain_alerted = False # once per drive
     self.dcam_reset_cnt = 0
-
-    self.params = Params()
-    self.too_distracted = self.params.get_bool("DriverTooDistracted")
+    self.too_distracted = Params().get_bool("DriverTooDistracted")
 
     self._reset_awareness()
     self._set_timers(active_monitoring=True)
-    self._reset_events()
 
   def _reset_awareness(self):
     self.awareness = 1.
-    self.awareness_active = 1.
-    self.awareness_passive = 1.
-
-  def _reset_events(self):
-    self.current_events = Events()
+    self.last_vision_awareness = 1.
+    self.last_wheeltouch_awareness = 1.
 
   def _set_timers(self, active_monitoring):
-    if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
+    if self.active_monitoring_mode and self.awareness <= self.threshold_alert_2:
       if active_monitoring:
-        self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
+        self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       else:
         self.step_change = 0.
       return  # no exploit after orange alert
@@ -195,24 +185,24 @@ class DriverMonitoring:
     if active_monitoring:
       # when falling back from passive mode to active mode, reset awareness to avoid false alert
       if not self.active_monitoring_mode:
-        self.awareness_passive = self.awareness
-        self.awareness = self.awareness_active
+        self.last_wheeltouch_awareness = self.awareness
+        self.awareness = self.last_vision_awareness
 
-      self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
+      self.threshold_alert_1 = 1. - self.settings._VISION_POLICY_ALERT_1_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._VISION_POLICY_ALERT_2_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       self.active_monitoring_mode = True
     else:
       if self.active_monitoring_mode:
-        self.awareness_active = self.awareness
-        self.awareness = self.awareness_passive
+        self.last_vision_awareness = self.awareness
+        self.awareness = self.last_wheeltouch_awareness
 
-      self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
+      self.threshold_alert_1 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
       self.active_monitoring_mode = False
 
-  def _set_policy(self, brake_disengage_prob, car_speed):
+  def _set_pose_strictness(self, brake_disengage_prob, car_speed):
     bp = brake_disengage_prob
     k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
     bp_normal = max(min(bp / k1, 0.5),0)
@@ -224,7 +214,7 @@ class DriverMonitoring:
                                             self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
 
   def _get_distracted_types(self):
-    distracted_types = []
+    self.distracted_types = defaultdict(bool)
 
     if not self.pose.calibrated:
       pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
@@ -244,16 +234,9 @@ class DriverMonitoring:
     pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
     yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
 
-    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
-      distracted_types.append(DistractedType.DISTRACTED_POSE)
-
-    if self.blink_prob > self.settings._BLINK_THRESHOLD:
-      distracted_types.append(DistractedType.DISTRACTED_BLINK)
-
-    if self.phone_prob > self.settings._PHONE_THRESH:
-      distracted_types.append(DistractedType.DISTRACTED_PHONE)
-
-    return distracted_types
+    self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
+    self.distracted_types['eye'] = bool(self.blink_prob > self.settings._BLINK_THRESHOLD)
+    self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
 
   def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
     rhd_pred = driver_state.wheelOnRightProb
@@ -262,7 +245,7 @@ class DriverMonitoring:
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
       self.wheelpos.prob_offseter.push_and_update(rhd_pred)
 
-    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
+    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
 
     if self.wheelpos.prob_calibrated or demo_mode:
       self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
@@ -286,16 +269,13 @@ class DriverMonitoring:
     self.wheel_on_right_last = self.wheel_on_right
     self.pose.pitch_std = driver_data.faceOrientationStd[0]
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
-    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
+    self.model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
+    self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
     self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
-    self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
-                              or DistractedType.DISTRACTED_POSE in self.distracted_types
-                              or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
-                              and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+    self._get_distracted_types()
+    self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
     # update offseter
@@ -304,20 +284,20 @@ class DriverMonitoring:
       self.pose.pitch_offseter.push_and_update(self.pose.pitch)
       self.pose.yaw_offseter.push_and_update(self.pose.yaw)
 
-    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
-                           self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
+    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
+                           self.pose.yaw_offseter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
 
     if self.face_detected and not self.driver_distracted:
-      if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
-        if not standstill:
-          self.dcam_uncertain_cnt += 1
-          self.dcam_reset_cnt = 0
+      self.dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
+      if self.dcam_uncertain and not standstill:
+        self.dcam_uncertain_cnt += 1
+        self.dcam_reset_cnt = 0
       else:
         self.dcam_reset_cnt += 1
         if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
           self.dcam_uncertain_cnt = 0
 
-    self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
+    self.is_model_uncertain = self.hi_stds >= self.settings._HI_STD_FALLBACK_TIME
     self._set_timers(self.face_detected and not self.is_model_uncertain)
     if self.face_detected and not self.pose.low_std and not self.driver_distracted:
       self.hi_stds += 1
@@ -325,20 +305,15 @@ class DriverMonitoring:
       self.hi_stds = 0
 
   def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
-    self._reset_events()
-    # Block engaging until ignition cycle after max number or time of distractions
+    self.alert_level = AlertLevel.none
+    self.driver_interacting = driver_engaged
+
     if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
        self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
-      if not self.too_distracted:
-        self.params.put_bool_nonblocking("DriverTooDistracted", True)
       self.too_distracted = True
 
-    # Always-on distraction lockout is temporary
-    if self.too_distracted or (self.always_on and self.awareness <= self.threshold_prompt):
-      self.current_events.add(EventName.tooDistracted)
-
     always_on_valid = self.always_on and not wrong_gear
-    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
+    if (self.driver_interacting and self.awareness > 0 and not self.active_monitoring_mode) or \
        (not always_on_valid and not op_engaged) or \
        (always_on_valid and not op_engaged and self.awareness <= 0):
       # always reset on disengage with normal mode; disengage resets only on red if always on
@@ -346,83 +321,87 @@ class DriverMonitoring:
       return
 
     awareness_prev = self.awareness
-    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
-    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_orange_exemption = standstill and _reaching_pre
-    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
+    _reaching_alert_1 = self.awareness - self.step_change <= self.threshold_alert_1
+    _reaching_alert_3 = self.awareness - self.step_change <= 0
+    standstill_exemption = standstill and _reaching_alert_1
+    always_on_exemption = always_on_valid and not op_engaged and _reaching_alert_3
 
     if self.awareness > 0 and \
-       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
-      if driver_engaged:
+       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_exemption):
+      if self.driver_interacting:
         self._reset_awareness()
         return
       # only restore awareness when paying attention and alert is not red
-      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
-                                             (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      self.awareness = min(self.awareness + ((self.settings._TIMEOUT_RECOVERY_FACTOR_MAX-self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*
+                                             (1.-self.awareness)+self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
       if self.awareness == 1.:
-        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
+        self.last_wheeltouch_awareness = min(self.last_wheeltouch_awareness + self.step_change, 1.)
       # don't display alert banner when awareness is recovering and has cleared orange
-      if self.awareness > self.threshold_prompt:
+      if self.awareness > self.threshold_alert_2:
         return
 
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
-    maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
+    maybe_distracted = self.is_model_uncertain or not self.face_detected
 
     if certainly_distracted or maybe_distracted:
       # should always be counting if distracted unless at standstill and reaching green
       # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_orange_exemption or always_on_red_exemption):
+      if not (standstill_exemption or always_on_exemption):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
-    alert = None
     if self.awareness <= 0.:
-      # terminal red alert: disengagement required
-      alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3
+      # terminal alert: disengagement required
+      self.alert_level = AlertLevel.three
       self.terminal_time += 1
       if awareness_prev > 0.:
         self.terminal_alert_cnt += 1
-    elif self.awareness <= self.threshold_prompt:
-      # prompt orange alert
-      alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2
-    elif self.awareness <= self.threshold_pre:
-      # pre green alert
-      alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1
-
-    if alert is not None:
-      self.current_events.add(alert)
-
-    if self.dcam_uncertain_cnt > self.settings._DCAM_UNCERTAIN_ALERT_COUNT and not self.dcam_uncertain_alerted:
-      set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
-      self.dcam_uncertain_alerted = True
-
+    elif self.awareness <= self.threshold_alert_2:
+      self.alert_level = AlertLevel.two
+    elif self.awareness <= self.threshold_alert_1:
+      self.alert_level = AlertLevel.one
 
   def get_state_packet(self, valid=True):
     # build driverMonitoringState packet
     dat = messaging.new_message('driverMonitoringState', valid=valid)
-    dat.driverMonitoringState = {
-      "events": self.current_events.to_msg(),
-      "faceDetected": self.face_detected,
-      "isDistracted": self.driver_distracted,
-      "distractedType": sum(self.distracted_types),
-      "awarenessStatus": self.awareness,
-      "posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(),
-      "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
-      "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
-      "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
-      "stepChange": self.step_change,
-      "awarenessActive": self.awareness_active,
-      "awarenessPassive": self.awareness_passive,
-      "isLowStd": self.pose.low_std,
-      "hiStdCount": self.hi_stds,
-      "isActiveMode": self.active_monitoring_mode,
-      "isRHD": self.wheel_on_right,
-      "uncertainCount": self.dcam_uncertain_cnt,
-    }
+    dm = dat.driverMonitoringState
+
+    dm.lockout = self.too_distracted
+    dm.alertCountLockoutPercent = to_perc(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
+    dm.alertTimeLockoutPercent = to_perc(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
+    dm.alwaysOn = self.always_on
+    dm.alwaysOnLockout = self.always_on and self.awareness <= self.threshold_alert_2
+    dm.alertLevel = self.alert_level
+    dm.activePolicy = MonitoringPolicy.vision if self.active_monitoring_mode else MonitoringPolicy.wheeltouch
+    dm.isRHD = self.wheel_on_right
+    dm.rhdCalibration.calibratedPercent = to_perc(self.wheelpos.prob_offseter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
+    dm.rhdCalibration.offset = self.wheelpos.prob_offseter.filtered_stat.M
+
+    dm.visionPolicyState.awarenessPercent = to_perc(self.last_vision_awareness if not self.active_monitoring_mode else self.awareness)
+    dm.visionPolicyState.awarenessStep = self.step_change if self.active_monitoring_mode else 0.
+    dm.visionPolicyState.isDistracted = self.driver_distracted
+    dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
+    dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
+    dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone']
+    dm.visionPolicyState.faceDetected = self.face_detected
+    dm.visionPolicyState.pose.pitch = self.pose.pitch
+    dm.visionPolicyState.pose.yaw = self.pose.yaw
+    dm.visionPolicyState.pose.calibrated = self.pose.calibrated
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_perc(self.pose.pitch_offseter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offseter.filtered_stat.M
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_perc(self.pose.yaw_offseter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offseter.filtered_stat.M
+    dm.visionPolicyState.pose.uncertainty = self.model_std_max
+    dm.visionPolicyState.wheeltouchFallbackPercent = to_perc(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
+    dm.visionPolicyState.uncertainOffroadAlertPercent = to_perc(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
+
+    dm.wheeltouchPolicyState.awarenessPercent = to_perc(self.last_wheeltouch_awareness if self.active_monitoring_mode else self.awareness)
+    dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_monitoring_mode else self.step_change
+    dm.wheeltouchPolicyState.driverInteracting = self.driver_interacting
     return dat
 
   def run_step(self, sm, demo=False):
     if demo:
-      highway_speed = 30
+      car_speed = 30
       enabled = True
       wrong_gear = False
       standstill = False
@@ -430,23 +409,24 @@ class DriverMonitoring:
       brake_disengage_prob = 1.0
       rpyCalib = [0., 0., 0.]
     else:
-      highway_speed = sm['carState'].vEgo
+      car_speed = sm['carState'].vEgo
       enabled = sm['selfdriveState'].enabled
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
       brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
       rpyCalib = sm['liveCalibration'].rpyCalib
-    self._set_policy(
+
+    self._set_pose_strictness(
       brake_disengage_prob=brake_disengage_prob,
-      car_speed=highway_speed,
+      car_speed=car_speed,
     )
 
     # Parse data from dmonitoringmodeld
     self._update_states(
       driver_state=sm['driverStateV2'],
       cal_rpy=rpyCalib,
-      car_speed=highway_speed,
+      car_speed=car_speed,
       op_engaged=enabled,
       standstill=standstill,
       demo_mode=demo,
@@ -459,5 +439,5 @@ class DriverMonitoring:
       op_engaged=enabled,
       standstill=standstill,
       wrong_gear=wrong_gear,
-      car_speed=highway_speed
+      car_speed=car_speed
     )
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index d391d3f755..ef21b3688b 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -3,16 +3,15 @@ import numpy as np
 from cereal import log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
-from openpilot.system.hardware import HARDWARE
 
 EventName = log.OnroadEvent.EventName
-dm_settings = DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
+dm_settings = DRIVER_MONITOR_SETTINGS()
 
 TEST_TIMESPAN = 120  # seconds
-DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
-DISTRACTED_SECONDS_TO_RED = dm_settings._DISTRACTED_TIME + 1
-INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
-INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
+DISTRACTED_SECONDS_TO_ORANGE = dm_settings._VISION_POLICY_ALERT_2_TIMEOUT + 1
+DISTRACTED_SECONDS_TO_RED = dm_settings._VISION_POLICY_ALERT_3_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_ORANGE = dm_settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_RED = dm_settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + 1
 
 def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds = log.DriverStateV2.new_message()
@@ -34,7 +33,7 @@ msg_ATTENTIVE = make_msg(True)
 msg_DISTRACTED = make_msg(True, distracted=True)
 msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True)
 msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True)
-msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._POSESTD_THRESHOLD*1.5)
+msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._HI_STD_THRESHOLD*1.5)
 
 # driver interaction with car
 car_interaction_DETECTED = True
@@ -50,49 +49,47 @@ always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
 class TestMonitoring:
   def _run_seq(self, msgs, interaction, engaged, standstill):
     DM = DriverMonitoring()
-    events = []
+    alert_lvls = []
     for idx in range(len(msgs)):
       DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], standstill[idx])
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
       DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
-      events.append(DM.current_events)
-    assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
-    return events, DM
+      alert_lvls.append(DM.alert_level)
+    assert len(alert_lvls) == len(msgs), f"got {len(alert_lvls)} for {len(msgs)} driverState input msgs"
+    return alert_lvls, DM
 
-  def _assert_no_events(self, events):
-    assert all(not len(e) for e in events)
 
   # engaged, driver is attentive all the time
   def test_fully_aware_driver(self):
-    events, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
-    self._assert_no_events(events)
+    alert_lvls, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
+    assert all(a == 0 for a in alert_lvls)
 
   # engaged, driver is distracted and does nothing
   def test_fully_distracted_driver(self):
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                    EventName.driverDistracted1
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert events[int((d_status.settings._DISTRACTED_TIME + \
-                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._VISION_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_1_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_2_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_3_TIMEOUT - s._VISION_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._VISION_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
     assert isinstance(d_status.awareness, float)
 
   # engaged, no face detected the whole time, no action
   def test_fully_invisible_driver(self):
-    events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.driverUnresponsive1
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2
-    assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    alert_lvls, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
@@ -103,13 +100,13 @@ class TestMonitoring:
                 [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
     interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
                          [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
-    events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)] == 0
 
   # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
   #                          driver dodges, and then touches wheel to no avail, disengages and reengages
@@ -127,11 +124,11 @@ class TestMonitoring:
                                                         = [True] * int(1/DT_DMON)
     op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
                                                         = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3
-    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3
-    assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)] == 0
 
   # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
   #  - both actions should clear the alert, but momentary appearance should not
@@ -142,16 +139,16 @@ class TestMonitoring:
     ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
                                                                                              [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-    assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
+    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)] == 0
     if _visible_time == 0.5:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 1
     elif _visible_time == 10:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-      assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 0
 
   # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
   #  - only disengage will clear the alert
@@ -163,19 +160,19 @@ class TestMonitoring:
     ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3
-    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3
-    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3
-    assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)] == 0
 
   # disengaged, always distracted driver
   #  - dm should stay quiet when not engaged
   def test_pure_dashcam_user(self):
-    events, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
-    assert sum(len(event) for event in events) == 0
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
+    assert all(a == 0 for a in alert_lvls)
 
   # engaged, car stops at traffic light, down to orange, no action, then car starts moving
   #  - should only reach green when stopped, but continues counting down on launch
@@ -183,11 +180,12 @@ class TestMonitoring:
     _redlight_time = 60  # seconds
     standstill_vector = always_true[:]
     standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
-    _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1
-    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    s = d_status.settings
+    assert alert_lvls[int((_redlight_time-0.1)/DT_DMON)] == 0
+    _alert_1_to_2 = s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT
+    assert alert_lvls[int((_redlight_time+0.5)/DT_DMON)] == 1
+    assert alert_lvls[int((_redlight_time+_alert_1_to_2+0.5)/DT_DMON)] == 2
 
   # engaged, distracted while moving, then car stops after reaching orange
   #  - should reset timer to pre green at standstill
@@ -195,20 +193,18 @@ class TestMonitoring:
     _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
     standstill_vector = always_false[:]
     standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
-    events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
     # just before and briefly after stopping: orange alert; goes away quickly after stopped
-    assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
+    assert alert_lvls[int((_stop_time+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((_stop_time+0.5)/DT_DMON)] == 0
 
   # engaged, model is somehow uncertain and driver is distracted
   #  - should fall back to wheel touch after uncertain alert
   def test_somehow_indecisive_model(self):
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
-    events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert EventName.driverUnresponsive1 in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive2 in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive3 in \
-                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
+    alert_lvls, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)] == 1
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 3
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index dbc3174af7..110b0b722e 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -38,6 +38,8 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
@@ -120,6 +122,8 @@ class SelfdriveD:
     self.experimental_mode = False
     self.personality = self.params.get("LongitudinalPersonality", return_default=True)
     self.recalibrating_seen = False
+    self.dm_lockout_set = False
+    self.dm_uncertain_alerted = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -182,8 +186,27 @@ class SelfdriveD:
     if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
+    # Handle DM
     if not self.CP.notCar:
-      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      # Block engaging until ignition cycle after max number or time of distractions
+      if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
+        self.params.put_bool_nonblocking("DriverTooDistracted", True)
+        self.dm_lockout_set = True
+      # No entry conditions
+      if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
+        self.events.add(EventName.tooDistracted)
+      # Alerts
+      vision_dm = self.sm['driverMonitoringState'].activePolicy == MonitoringPolicy.vision
+      if self.sm['driverMonitoringState'].alertLevel == AlertLevel.one:
+        self.events.add(EventName.driverDistracted1 if vision_dm else EventName.driverUnresponsive1)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.two:
+        self.events.add(EventName.driverDistracted2 if vision_dm else EventName.driverUnresponsive2)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.three:
+        self.events.add(EventName.driverDistracted3 if vision_dm else EventName.driverUnresponsive3)
+      # Warn consistent DM uncertainty
+      if self.sm['driverMonitoringState'].visionPolicyState.uncertainOffroadAlertPercent >= 100 and not self.dm_uncertain_alerted:
+        set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
+        self.dm_uncertain_alerted = True
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 03e59e5367..b613491347 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -482,22 +482,41 @@ def migrate_onroadEvents(msgs):
   return ops, [], []
 
 
-@migration(inputs=["driverMonitoringState"])
+@migration(inputs=["driverMonitoringStateDEPRECATED"])
 def migrate_driverMonitoringState(msgs):
   ops = []
   for index, msg in msgs:
-    msg = msg.as_builder()
-    events = []
-    for event in msg.driverMonitoringState.deprecated.events:
-      try:
-        if not str(event.name).endswith('DEPRECATED'):
-          migrated_event = migrate_onroad_event(event)
-          if migrated_event is not None:
-            events.append(migrated_event)
-      except RuntimeError:  # Member was null
-        traceback.print_exc()
+    old = msg.driverMonitoringStateDEPRECATED
+    new_msg = messaging.new_message('driverMonitoringState', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    dm = new_msg.driverMonitoringState
+    dm.isRHD = old.isRHD
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision if old.isActiveMode else \
+                          log.DriverMonitoringState.MonitoringPolicy.wheeltouch
 
-    msg.driverMonitoringState.events = events
-    ops.append((index, msg.as_reader()))
+    AlertLevel = log.DriverMonitoringState.AlertLevel
+    event_to_alert_level = {
+      'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
+      'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
+      'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
+      'tooDistracted': AlertLevel.three,
+    }
+    for event in old.events:
+      level = event_to_alert_level.get(str(event.name))
+      if level is not None:
+        dm.alertLevel = level
+        break
+
+    dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
+    dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
+    dm.visionPolicyState.isDistracted = old.isDistracted
+    dm.visionPolicyState.faceDetected = old.faceDetected
+    dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 600 * 100))
+    dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 600 * 100))
+    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
+    dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
+    dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
+    ops.append((index, new_msg.as_reader()))
 
   return ops, [], []
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index b918bf6ef6..054d719bd6 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -138,7 +138,7 @@ class TrainingGuideDMTutorial(NavWidget):
 
     # stay at 100% once reached
     in_bad_face = gui_app.get_active_widget() == self._bad_face_page
-    if ((dm_state.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
+    if ((dm_state.visionPolicyState.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
       slow = self._progress.x < 0.25
       duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
       self._progress.x += 1.0 / (duration * gui_app.target_fps)
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index e8b8abb7f5..6fa3d89183 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -1,20 +1,15 @@
 import pyray as rl
-from cereal import log, messaging
+from cereal import car, log, messaging
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.label import gui_label
 
-EventName = log.OnroadEvent.EventName
-
-EVENT_TO_INT = EventName.schema.enumerants
-
 
 class DriverCameraView(CameraView):
   def _calc_frame_matrix(self, rect: rl.Rectangle):
@@ -107,11 +102,14 @@ class BaseDriverCameraDialog(Widget):
     if self._pm is None:
       return
 
+    AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+    ALERT_SOUNDS = {
+      log.DriverMonitoringState.AlertLevel.two: AudibleAlert.promptDistracted,
+      log.DriverMonitoringState.AlertLevel.three: AudibleAlert.warningImmediate,
+    }
     msg = messaging.new_message('selfdriveState')
-    if dm_state is not None and len(dm_state.events):
-      event_name = EVENT_TO_INT[dm_state.events[0].name]
-      if event_name is not None and event_name in EVENTS and ET.PERMANENT in EVENTS[event_name]:
-        msg.selfdriveState.alertSound = EVENTS[event_name][ET.PERMANENT].audible_alert
+    if dm_state is not None:
+      msg.selfdriveState.alertSound = ALERT_SOUNDS.get(dm_state.alertLevel, AudibleAlert.none)
     self._pm.send('selfdriveState', msg)
 
   def _render_dm_alerts(self, rect: rl.Rectangle):
@@ -119,29 +117,31 @@ class BaseDriverCameraDialog(Widget):
     dm_state = ui_state.sm["driverMonitoringState"]
     self._publish_alert_sound(dm_state)
 
+    is_vision = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
+    awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
     gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
-              f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+              f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+    gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
 
-    if not dm_state.events:
+    if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
       return
 
-    # Show first event (only one should be active at a time)
-    event_name_str = str(dm_state.events[0].name).split('.')[-1]
+    # Show alert level
+    alert_level_str = dm_state.alertLevel
     alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
-    gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
@@ -156,7 +156,7 @@ class BaseDriverCameraDialog(Widget):
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
     driver_data = self.driver_state_renderer.get_driver_data()
-    if not dm_state.faceDetected:
+    if not dm_state.visionPolicyState.faceDetected:
       return
 
     # Get face position and orientation
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index b2be5a8e34..c51e7eca6e 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -153,9 +153,9 @@ class DriverStateRenderer(Widget):
     sm = ui_state.sm
 
     dm_state = sm["driverMonitoringState"]
-    self._is_active = dm_state.isActiveMode
+    self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
-    self._face_detected = dm_state.faceDetected
+    self._face_detected = dm_state.visionPolicyState.faceDetected
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
diff --git a/selfdrive/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py
index 7b3181d1ac..5b09e471b5 100644
--- a/selfdrive/ui/onroad/driver_state.py
+++ b/selfdrive/ui/onroad/driver_state.py
@@ -114,7 +114,7 @@ class DriverStateRenderer(Widget):
 
     # Get monitoring state
     dm_state = sm["driverMonitoringState"]
-    self.is_active = dm_state.isActiveMode
+    self.is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self.is_rhd = dm_state.isRHD
 
     # Update fade state (smoother transition between active/inactive)
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index a8374a00cd..6ac7c4fa59 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -92,11 +92,12 @@ class SimulatedSensors:
 
     # dmonitoringd output
     dat = messaging.new_message('driverMonitoringState', valid=True)
-    dat.driverMonitoringState = {
-      "faceDetected": True,
-      "isDistracted": False,
-      "awarenessStatus": 1.,
-    }
+    dm = dat.driverMonitoringState
+    dm.alertLevel = log.DriverMonitoringState.AlertLevel.none
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision
+    dm.visionPolicyState.faceDetected = True
+    dm.visionPolicyState.isDistracted = False
+    dm.visionPolicyState.awarenessPercent = 100
     self.pm.send('driverMonitoringState', dat)
 
   def send_camera_images(self, world: 'World'):

From 2c0903e45e0fbee36aa182e7d27761fff55a383d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 18 Apr 2026 15:21:47 -0400
Subject: [PATCH 004/210] tools: add retry mechanism for API requests (#36617)

---
 tools/lib/api.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tools/lib/api.py b/tools/lib/api.py
index c6e2d98914..f84fe75869 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -1,5 +1,6 @@
 import os
 import requests
+from requests.adapters import HTTPAdapter, Retry
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
 # TODO: this should be merged into common.api
@@ -11,6 +12,9 @@ class CommaApi:
     if token:
       self.session.headers['Authorization'] = 'JWT ' + token
 
+    retries = Retry(total=5, backoff_factor=1, status_forcelist=[500, 502, 503, 504])
+    self.session.mount('https://', HTTPAdapter(max_retries=retries))
+
   def request(self, method, endpoint, **kwargs):
     with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
       resp_json = resp.json()

From b9986cae06059ef725b5ab77756bd19bb6ac9354 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Sat, 18 Apr 2026 12:38:21 -0700
Subject: [PATCH 005/210] lpa: add is_euicc() (#37847)

---
 system/hardware/base.py     |  4 ++++
 system/hardware/tici/lpa.py | 41 +++++++++++++++++++++++++++++--------
 2 files changed, 37 insertions(+), 8 deletions(-)

diff --git a/system/hardware/base.py b/system/hardware/base.py
index ef2b146043..29c739654e 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -94,6 +94,10 @@ class LPABase(ABC):
   def process_notifications(self) -> None:
     pass
 
+  @abstractmethod
+  def is_euicc(self) -> bool:
+    pass
+
   def is_comma_profile(self, iccid: str) -> bool:
     return any(iccid.startswith(prefix) for prefix in ('8985235',))
 
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index e46ac005b8..63fe9ae7d5 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -716,22 +716,29 @@ class TiciLPA(LPABase):
     atexit.register(self._client.close)
 
   @contextmanager
-  def _acquire_channel(self):
+  def _acquire_lock(self):
     fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
     try:
       fcntl.flock(fd, fcntl.LOCK_EX)
-      self._client.open_isdr()
       yield
     finally:
-      if self._client.channel:
-        try:
-          self._client.query(f"AT+CCHC={self._client.channel}")
-        except (RuntimeError, TimeoutError):
-          pass
-        self._client.channel = None
       fcntl.flock(fd, fcntl.LOCK_UN)
       os.close(fd)
 
+  @contextmanager
+  def _acquire_channel(self):
+    with self._acquire_lock():
+      try:
+        self._client.open_isdr()
+        yield
+      finally:
+        if self._client.channel:
+          try:
+            self._client.query(f"AT+CCHC={self._client.channel}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+
   def list_profiles(self) -> list[Profile]:
     with self._acquire_channel():
       return [
@@ -792,3 +799,21 @@ class TiciLPA(LPABase):
     if HARDWARE.get_device_type() == "mici":
       self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
       self._client._ensure_serial(reconnect=True)
+
+  def is_euicc(self) -> bool:
+    # +CCHO:<n> -> eUICC; bare ERROR -> applet absent, non-eUICC; +CME ERROR -> applet
+    # exists but bus busy or modem in transient state, still eUICC.
+    with self._acquire_lock():
+      try:
+        lines = self._client.query(f'AT+CCHO="{ISDR_AID}"')
+      except RuntimeError as e:
+        return "+CME ERROR" in str(e)
+      for line in lines:
+        if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
+          try:
+            self._client.query(f"AT+CCHC={ch}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+          return True
+      return False

From 5d7155fdda5739e7c4d2a7edd897b12daee033ed Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Sat, 18 Apr 2026 13:00:05 -0700
Subject: [PATCH 006/210] body ui c3 & c4 (#37794)

* c4 body ui

* clean up diff

* clean up

* default bodyview debug with True

* remove battery indicator and fix close settings bug

* organize debug file

* clean

* clean up frame index

* remove unneccessary is body check

* update bodyview

* remove joystick_debug_mode based events

* remove debug script

* apply suggestions

* clean diff

* clean diff

* move ignition message

* save a line

* remove visibility set and fix tici body face when sidebar open

* remove explicit textColor offroad message

* remove unused imports

* revert pairing dialog

* apply suggestions

* add body specific icon

* add body icon for homescreen

* set mode for state on tici after on body changed

* tiny

* tweak

* v

* tweaks

* icon ratio was wrong!

* same order

* rm

* apply suggestions

* remove commented lines in animation

* onroad click callback was on home bug and fix setup widget settings call back hack

* fix body changed

* one liner

* clean up

* formatting

* if false

* revert to master + reimplement

* close sidebar on body home tici

* make ignition message bigger on c3

* flip eye direction when turning

---------

Co-authored-by: Nick <nickorie@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/assets/icons_mici/body.png  |   3 +
 selfdrive/ui/body/__init__.py         |   0
 selfdrive/ui/body/animations.py       | 278 ++++++++++++++++++++++++++
 selfdrive/ui/body/layouts/__init__.py |   0
 selfdrive/ui/body/layouts/onroad.py   |  93 +++++++++
 selfdrive/ui/layouts/main.py          |  25 ++-
 selfdrive/ui/mici/layouts/home.py     |   3 +
 selfdrive/ui/mici/layouts/main.py     |  26 ++-
 selfdrive/ui/ui_state.py              |  19 +-
 9 files changed, 434 insertions(+), 13 deletions(-)
 create mode 100644 selfdrive/assets/icons_mici/body.png
 create mode 100644 selfdrive/ui/body/__init__.py
 create mode 100644 selfdrive/ui/body/animations.py
 create mode 100644 selfdrive/ui/body/layouts/__init__.py
 create mode 100644 selfdrive/ui/body/layouts/onroad.py

diff --git a/selfdrive/assets/icons_mici/body.png b/selfdrive/assets/icons_mici/body.png
new file mode 100644
index 0000000000..2f7bb779d1
--- /dev/null
+++ b/selfdrive/assets/icons_mici/body.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b45f88128430fb50ef51c8e08b8e2a1c8fbe0b5c3a08de9f5d9d59bc1edc82e
+size 4545
diff --git a/selfdrive/ui/body/__init__.py b/selfdrive/ui/body/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/body/animations.py b/selfdrive/ui/body/animations.py
new file mode 100644
index 0000000000..c40f7ecdef
--- /dev/null
+++ b/selfdrive/ui/body/animations.py
@@ -0,0 +1,278 @@
+from dataclasses import dataclass
+from enum import Enum
+import time
+
+
+class AnimationMode(Enum):
+  ONCE_FORWARD = 1
+  ONCE_FORWARD_BACKWARD = 2
+  REPEAT_FORWARD = 3
+  REPEAT_FORWARD_BACKWARD = 4
+
+
+@dataclass
+class Animation:
+  frames: list[list[tuple[int, int]]]
+  starting_frames: list[list[tuple[int, int]]] | None = None  # played once before the main loop
+  frame_duration: float = 0.15       # seconds each frame is shown
+  mode: AnimationMode = AnimationMode.REPEAT_FORWARD_BACKWARD
+  repeat_interval: float = 5.0      # seconds between animation restarts (only for REPEAT modes)
+  hold_end: float = 0.0             # seconds to hold the last frame before playing backward (only for *_BACKWARD modes)
+  left_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning left
+  right_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning right
+
+
+# --- Animation Helper Functions ---
+
+def _mirror(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Mirror a component from the left side of the face to the right"""
+  return [(r, 15 - c) for r, c in dots]
+
+
+def _mirror_no_flip(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Move a component to the mirrored position on the right half without flipping its shape."""
+  min_c = min(c for _, c in dots)
+  max_c = max(c for _, c in dots)
+  return [(r, 15 - max_c - min_c + c) for r, c in dots]
+
+
+def _shift(dots: list[tuple[int, int]], rc: tuple[int, int]) -> list[tuple[int, int]]:
+  dr, dc = rc
+  return [(r + dr, c + dc) for r, c in dots]
+
+
+def _make_frame(left_eye: list[tuple[int, int]], right_eye: list[tuple[int, int]],
+                left_brow: list[tuple[int, int]], right_brow: list[tuple[int, int]],
+                mouth: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  return left_eye + left_brow + right_eye + right_brow + mouth
+
+
+# --- Animation Helper Components ---
+
+# Eyes (left side)
+EYE_OPEN = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2), (3, 3), (3, 4),
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_HALF = [
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_CLOSED = [
+(4, 1),                 (4, 4),
+        (5, 2), (5, 3),
+]
+EYE_LEFT_LOOK = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2),
+(4, 1), (4, 2),
+        (5, 2), (5, 3),
+]
+EYE_RIGHT_LOOK = [
+        (2, 2), (2, 3),
+                (3, 3), (3, 4),
+                (4, 3), (4, 4),
+        (5, 2), (5, 3),
+]
+
+# Eyebrows (left side)
+BROW_HIGH = [
+        (0, 1), (0, 2),
+(1, 0),
+]
+BROW_LOWERED = [
+        (1, 1), (1, 2),
+(2, 0)
+]
+BROW_STRAIGHT = [(1, 0), (1, 1), (1, 2)]
+BROW_DOWN = [
+(0, 1), (0, 2),
+                (1, 3)
+]
+
+# Mouths (centered, not mirrored)
+MOUTH_SMILE = [
+(6, 6),                 (6, 9),
+        (7, 7), (7, 8),
+]
+MOUTH_NORMAL = [(7, 7), (7, 8)]
+MOUTH_SAD = [
+        (6, 7), (6, 8),
+(7, 6),                 (7, 9)
+]
+
+# --- Animations ---
+
+NORMAL = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_HALF, _mirror(EYE_HALF), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), BROW_LOWERED, _mirror(BROW_LOWERED), MOUTH_SMILE),
+  ],
+  left_turn_remove=[
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ] + _mirror_no_flip([
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ]),
+  right_turn_remove=[
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ] + _mirror_no_flip([
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ])
+)
+
+ASLEEP = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), [], [], MOUTH_NORMAL),
+  ],
+)
+
+SLEEPY = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), _shift(BROW_STRAIGHT, (1, 0)), [], MOUTH_NORMAL),
+    _make_frame(EYE_HALF, _mirror(EYE_CLOSED), BROW_LOWERED, [], MOUTH_NORMAL),
+    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, [], MOUTH_NORMAL)
+  ],
+  frame_duration=0.25,
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  repeat_interval=10,
+  hold_end=1.5,
+)
+
+INQUISITIVE = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.REPEAT_FORWARD,
+  frame_duration=0.15,
+  repeat_interval=10
+)
+
+WINK = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, _mirror(_shift(BROW_DOWN, (0, 2))), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  frame_duration=0.75,
+)
+
+
+# --- Face Animator Class ---
+
+class FaceAnimator:
+  def __init__(self, animation: Animation):
+    self._animation = animation
+    self._next: Animation | None = None
+    self._start_time = time.monotonic()
+    self._rewinding = False
+    self._rewind_start: float = 0.0
+    self._rewind_from: int = 0
+    self._seen_nonzero = False
+
+  def set_animation(self, animation: Animation):
+    if animation is not self._animation:
+      self._next = animation
+
+  def get_dots(self) -> list[tuple[int, int]]:
+    now = time.monotonic()
+    elapsed = now - self._start_time
+
+    # Handle rewind for forward-only animations
+    if self._rewinding:
+      rewind_elapsed = now - self._rewind_start
+      frames_back = round(rewind_elapsed / self._animation.frame_duration)
+      frame_index = self._rewind_from - frames_back
+      if frame_index <= 0:
+        return self._switch_to_next(now)
+      return self._animation.frames[frame_index]
+
+    # Play starting frames first (once)
+    starting = self._animation.starting_frames or []
+    starting_duration = len(starting) * self._animation.frame_duration
+    if starting and elapsed < starting_duration:
+      frame_index = min(int(elapsed / self._animation.frame_duration), len(starting) - 1)
+      return starting[frame_index]
+
+    # Main loop
+    loop_elapsed = elapsed - starting_duration if starting else elapsed
+    frame_index = _get_frame_index(self._animation, loop_elapsed, gap_first=bool(starting))
+
+    if frame_index != 0:
+      self._seen_nonzero = True
+
+    if self._next is not None:
+      if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
+        return self._switch_to_next(now)
+      # No natural return to frame 0 — start rewinding
+      if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
+        self._rewinding = True
+        self._rewind_start = now
+        self._rewind_from = frame_index
+
+    return self._animation.frames[frame_index]
+
+  def _switch_to_next(self, now: float) -> list[tuple[int, int]]:
+    self._animation = self._next
+    self._next = None
+    self._rewinding = False
+    self._seen_nonzero = False
+    self._start_time = now
+    return self._animation.frames[0]
+
+
+def _get_frame_index(animation: Animation, elapsed: float, gap_first: bool = False) -> int:
+  """Get the current frame index given elapsed time and animation mode."""
+  num_frames = len(animation.frames)
+  if num_frames == 1:
+    return 0
+
+  fd = animation.frame_duration
+  has_backward = animation.mode in (AnimationMode.ONCE_FORWARD_BACKWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+  repeats = animation.mode in (AnimationMode.REPEAT_FORWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+
+  forward_duration = num_frames * fd
+  backward_frames = max(num_frames - 2, 0) if has_backward else 0
+  hold = animation.hold_end if has_backward else 0.0
+  cycle_duration = forward_duration + hold + backward_frames * fd
+
+  if not repeats:
+    t = min(elapsed, cycle_duration)
+  else:
+    t = (elapsed + cycle_duration if gap_first else elapsed) % animation.repeat_interval
+
+  # Forward phase
+  if t < forward_duration:
+    return min(int(t / fd), num_frames - 1)
+  t -= forward_duration
+
+  # Hold at last frame
+  if t < hold:
+    return num_frames - 1
+  t -= hold
+
+  # Backward phase
+  if backward_frames and t < backward_frames * fd:
+    return num_frames - 2 - min(int(t / fd), backward_frames - 1)
+
+  return 0 if has_backward else num_frames - 1
diff --git a/selfdrive/ui/body/layouts/__init__.py b/selfdrive/ui/body/layouts/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/body/layouts/onroad.py b/selfdrive/ui/body/layouts/onroad.py
new file mode 100644
index 0000000000..d7e9f419cc
--- /dev/null
+++ b/selfdrive/ui/body/layouts/onroad.py
@@ -0,0 +1,93 @@
+import time
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.body.animations import FaceAnimator, ASLEEP, INQUISITIVE, NORMAL, SLEEPY
+
+GRID_COLS = 16
+GRID_ROWS = 8
+DOT_RADIUS = 50 if gui_app.big_ui() else 10
+
+IDLE_TIMEOUT = 30.0        # seconds of no joystick input before playing INQUISITIVE
+IDLE_STEER_THRESH = 0.5    # degrees — below this counts as no input
+IDLE_SPEED_THRESH = 0.01   # m/s — below this counts as no input
+
+
+# This class is used both in BIG (tizi) and small (mici) UIs
+class BodyLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._animator = FaceAnimator(ASLEEP)
+    self._turning_left = False
+    self._turning_right = False
+    self._last_input_time = time.monotonic()
+    self._was_active = False
+    self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
+    spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
+
+    grid_w = (GRID_COLS - 1) * spacing
+    grid_h = (GRID_ROWS - 1) * spacing
+
+    offset_x = rect.x + (rect.width - grid_w) / 2
+    offset_y = rect.y + (rect.height - grid_h) / 2
+
+    for row, col in dots:
+      x = int(offset_x + col * spacing)
+      y = int(offset_y + row * spacing)
+      rl.draw_circle(x, y, DOT_RADIUS, color)
+
+  def _update_state(self):
+    super()._update_state()
+
+    sm = ui_state.sm
+
+    if ui_state.is_onroad():
+      if not self._was_active:
+        self._last_input_time = time.monotonic()
+        self._was_active = True
+
+      cs = sm['carState']
+      has_input = abs(cs.steeringAngleDeg) > IDLE_STEER_THRESH or abs(cs.vEgo) > IDLE_SPEED_THRESH
+      if has_input:
+        self._last_input_time = time.monotonic()
+
+      if time.monotonic() - self._last_input_time > IDLE_TIMEOUT:
+        self._animator.set_animation(INQUISITIVE)
+      else:
+        self._animator.set_animation(NORMAL)
+    else:
+      self._was_active = False
+      self._animator.set_animation(ASLEEP)
+
+    steer = sm['testJoystick'].axes[1] if len(sm['testJoystick'].axes) > 1 else 0
+    self._turning_left = steer <= -0.05
+    self._turning_right = steer >= 0.05
+
+  # play animation on screen tap
+  def _handle_mouse_release(self, mouse_pos):
+    super()._handle_mouse_release(mouse_pos)
+    if not self._was_active:
+      self._animator.set_animation(SLEEPY)
+
+  def _render(self, rect: rl.Rectangle):
+    dots = self._animator.get_dots()
+    animation = self._animator._animation
+    if self._turning_left and animation.left_turn_remove:
+      remove_set = set(animation.left_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    elif self._turning_right and animation.right_turn_remove:
+      remove_set = set(animation.right_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    self.draw_dot_grid(rect, dots, rl.WHITE)
+
+    if ui_state.is_offroad():
+      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
+      upper_half = rl.Rectangle(rect.x, rect.y, rect.width, rect.height / 2)
+      self._offroad_label.render(upper_half)
diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
index 15d44e24da..672f5463d9 100644
--- a/selfdrive/ui/layouts/main.py
+++ b/selfdrive/ui/layouts/main.py
@@ -2,13 +2,14 @@ import pyray as rl
 from enum import IntEnum
 import cereal.messaging as messaging
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
 from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
 from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 
 
 class MainState(IntEnum):
@@ -28,7 +29,9 @@ class MainLayout(Widget):
     self._prev_onroad = False
 
     # Initialize layouts
-    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+    self._home_layout = HomeLayout()
+    self._home_body_layout = BodyLayout()
+    self._layouts = {MainState.HOME: self._home_layout, MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
 
     self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
     self._content_rect = rl.Rectangle(0, 0, 0, 0)
@@ -54,14 +57,18 @@ class MainLayout(Widget):
     self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
     self._layouts[MainState.HOME].set_settings_callback(lambda: self.open_settings(PanelType.TOGGLES))
     self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
-    self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
+
+    for layout in (self._layouts[MainState.ONROAD], self._home_body_layout):
+      layout.set_click_callback(self._on_onroad_clicked)
+
     device.add_interactive_timeout_callback(self._set_mode_for_state)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
 
   def _update_layout_rects(self):
     self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
 
     x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
-    self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
+    self._content_rect = rl.Rectangle(self._rect.x + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
 
   def _handle_onroad_transition(self):
     if ui_state.started != self._prev_onroad:
@@ -70,6 +77,12 @@ class MainLayout(Widget):
       self._set_mode_for_state()
 
   def _set_mode_for_state(self):
+    # Don't go onroad if body, home is onroad
+    if ui_state.is_body:
+      self._set_current_layout(MainState.HOME)
+      self._sidebar.set_visible(not ui_state.ignition)
+      return
+
     if ui_state.started:
       # Don't hide sidebar from interactive timeout
       if self._current_mode != MainState.ONROAD:
@@ -101,6 +114,10 @@ class MainLayout(Widget):
   def _on_onroad_clicked(self):
     self._sidebar.set_visible(not self._sidebar.is_visible)
 
+  def _on_body_changed(self):
+    self._layouts[MainState.HOME] = self._home_body_layout if ui_state.is_body else self._home_layout
+    self._set_mode_for_state()
+
   def _render_main_content(self):
     # Render sidebar
     if self._sidebar.is_visible:
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 4bdff388b0..cbe7ec29f0 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -130,6 +130,7 @@ class MiciHomeLayout(Widget):
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
+    self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
 
     self._alerts_pill = AlertsPill()
 
@@ -137,6 +138,7 @@ class MiciHomeLayout(Widget):
       IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
       NetworkIcon(),
       self._experimental_icon,
+      self._body_icon,
       self._mic_icon,
     ], spacing=18)
 
@@ -247,6 +249,7 @@ class MiciHomeLayout(Widget):
     # ***** Center-aligned bottom section icons *****
     self._experimental_icon.set_visible(self._experimental_mode)
     self._mic_icon.set_visible(ui_state.recording_audio)
+    self._body_icon.set_visible(ui_state.is_body)
 
     footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
     self._status_bar_layout.render(footer_rect)
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index 0d0f6308f2..badfbe315e 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -6,6 +6,7 @@ from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
 from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
@@ -29,22 +30,25 @@ class MiciMainLayout(Scroller):
     self._home_layout = MiciHomeLayout()
     self._alerts_layout = MiciOffroadAlerts()
     self._settings_layout = SettingsLayout()
-    self._onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._body_onroad_layout = BodyLayout()
 
     # Initialize widget rects
-    for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout):
+    for widget in (self._home_layout, self._alerts_layout, self._settings_layout,
+                   self._car_onroad_layout, self._body_onroad_layout):
       # TODO: set parent rect and use it if never passed rect from render (like in Scroller)
       widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
     self._scroller.add_widgets([
       self._alerts_layout,
       self._home_layout,
-      self._onroad_layout,
+      self._car_onroad_layout,
+      self._body_onroad_layout,
     ])
     self._scroller.set_reset_scroll_at_show(False)
 
     # Disable scrolling when onroad is interacting with bookmark
-    self._scroller.set_scrolling_enabled(lambda: not self._onroad_layout.is_swiping_left())
+    self._scroller.set_scrolling_enabled(lambda: not self._car_onroad_layout.is_swiping_left())
 
     # Set callbacks
     self._setup_callbacks()
@@ -57,14 +61,22 @@ class MiciMainLayout(Scroller):
     if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
+  @property
+  def _onroad_layout(self) -> Widget:
+    # For scroll_to
+    return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
+
   def _setup_callbacks(self):
     self._home_layout.set_callbacks(
       on_settings=lambda: gui_app.push_widget(self._settings_layout),
       on_alerts=lambda: self._scroll_to(self._alerts_layout),
       alert_count_callback=self._alerts_layout.active_alerts,
     )
-    self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
+    for layout in (self._car_onroad_layout, self._body_onroad_layout):
+      layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
+
     device.add_interactive_timeout_callback(self._on_interactive_timeout)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
 
   def _scroll_to(self, layout: Widget):
     layout_x = int(layout.rect.x)
@@ -130,3 +142,7 @@ class MiciMainLayout(Scroller):
     user_bookmark = messaging.new_message('bookmarkButton')
     user_bookmark.valid = True
     self._pm.send('bookmarkButton', user_bookmark)
+
+  def _on_body_changed(self):
+    self._car_onroad_layout.set_visible(not ui_state.is_body)
+    self._body_onroad_layout.set_visible(ui_state.is_body)
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 30a6565095..52426f510b 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -13,6 +13,7 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.hardware import HARDWARE, PC
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
+PARAM_UPDATE_TIME = 5.0
 
 
 class UIStatus(Enum):
@@ -54,6 +55,7 @@ class UIState:
         "carOutput",
         "carControl",
         "liveParameters",
+        "testJoystick",
         "rawAudioData",
       ]
     )
@@ -77,15 +79,15 @@ class UIState:
     self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
     self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
     self.has_longitudinal_control: bool = False
+    self.is_body: bool | None = None
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
-    self._param_update_time: float = 0.0
+    self._param_update_time: float = -PARAM_UPDATE_TIME
 
     # Callbacks
     self._offroad_transition_callbacks: list[Callable[[], None]] = []
     self._engaged_transition_callbacks: list[Callable[[], None]] = []
-
-    self.update_params()
+    self._on_body_changed_callbacks: list[Callable[[], None]] = []
 
   def add_offroad_transition_callback(self, callback: Callable[[], None]):
     self._offroad_transition_callbacks.append(callback)
@@ -93,6 +95,9 @@ class UIState:
   def add_engaged_transition_callback(self, callback: Callable[[], None]):
     self._engaged_transition_callbacks.append(callback)
 
+  def add_on_body_changed_callbacks(self, callback: Callable[[], None]):
+    self._on_body_changed_callbacks.append(callback)
+
   @property
   def engaged(self) -> bool:
     return self.started and self.sm["selfdriveState"].enabled
@@ -108,7 +113,7 @@ class UIState:
     self.sm.update(0)
     self._update_state()
     self._update_status()
-    if time.monotonic() - self._param_update_time > 5.0:
+    if time.monotonic() - self._param_update_time >= PARAM_UPDATE_TIME:
       self.update_params()
     device.update()
 
@@ -180,6 +185,12 @@ class UIState:
         self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
+
+      if self.is_body != self.CP.notCar:
+        self.is_body = self.CP.notCar
+        for callback in self._on_body_changed_callbacks:
+          callback()
+
     self._param_update_time = time.monotonic()
 
 

From b6432e705df0cf13719c895611179d7ff43c4385 Mon Sep 17 00:00:00 2001
From: probablyanasian <43358667+probablyanasian@users.noreply.github.com>
Date: Sat, 18 Apr 2026 20:27:58 -0700
Subject: [PATCH 007/210] Fix LSM6DS3 sensors test (#37855)

* fix temperature test + add std dev test for temp

* loosen gyro limit, no axis on temp mean

* whitespace fix

* add std_max to all sensors/tests
---
 system/sensord/tests/test_sensord.py | 24 +++++++++++++++---------
 1 file changed, 15 insertions(+), 9 deletions(-)

diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 20214e12ff..9a66678ecf 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -30,16 +30,16 @@ SENSOR_CONFIGURATIONS: list[set] = {
 }.get(HARDWARE.get_device_type(), [])
 
 Sensor = log.SensorEventData.SensorSource
-SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
+SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'std_max'])
 ALL_SENSORS = {
   Sensor.lsm6ds3trc: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 10, 40),  # set for max range of our office
+    SensorConfig("acceleration", 5, 15, 5),
+    SensorConfig("gyroUncalibrated", 0, .15, 0.5),
+    SensorConfig("temperature", 10, 40, 0.5),  # set for max range of our office
   },
 
   Sensor.mmc5603nj: {
-    SensorConfig("magneticUncalibrated", 0, 300),
+    SensorConfig("magneticUncalibrated", 0, 300, 10),
   }
 }
 ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc]
@@ -198,9 +198,16 @@ class TestSensord:
           continue
 
         key = (sensor, s.type)
-        mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1))
-        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}"
-        assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg
+        if s.type == 'temperature':
+          measurement_stat = np.mean(sensor_values[key])
+        else:
+          measurement_stat = np.mean(np.linalg.norm(sensor_values[key], axis=1))
+        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {measurement_stat} is not between {s.sanity_min} and {s.sanity_max}"
+        assert s.sanity_min <= measurement_stat <= s.sanity_max, err_msg
+
+        std_dev = np.std(sensor_values[key], axis=0)
+        err_msg = f"Sensor '{sensor} {s.type}' failed std dev test {std_dev} is not under {s.std_max}"
+        assert np.all(std_dev <= s.std_max), err_msg
 
   def test_sensor_verify_no_interrupts_after_stop(self):
     managed_processes["sensord"].start()
@@ -222,4 +229,3 @@ class TestSensord:
     time.sleep(1)
     state_two = get_irq_count(self.sensord_irq)
     assert state_one == state_two, "Interrupts received after sensord stop!"
-

From 6996e87f8d896e68fb22b97a8bcf4daee08e95f2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Apr 2026 19:20:48 -0700
Subject: [PATCH 008/210] dm: helpers.py -> policy.py (#37864)

---
 selfdrive/monitoring/dmonitoringd.py           | 2 +-
 selfdrive/monitoring/{helpers.py => policy.py} | 0
 selfdrive/monitoring/test_monitoring.py        | 2 +-
 selfdrive/ui/mici/onroad/driver_state.py       | 2 +-
 4 files changed, 3 insertions(+), 3 deletions(-)
 rename selfdrive/monitoring/{helpers.py => policy.py} (100%)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 2a48f74494..f3a8ef3491 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -2,7 +2,7 @@
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring
 
 
 def dmonitoringd_thread():
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/policy.py
similarity index 100%
rename from selfdrive/monitoring/helpers.py
rename to selfdrive/monitoring/policy.py
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index ef21b3688b..8b5e9bc6d4 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -2,7 +2,7 @@ import numpy as np
 
 from cereal import log
 from openpilot.common.realtime import DT_DMON
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 
 EventName = log.OnroadEvent.EventName
 dm_settings = DRIVER_MONITOR_SETTINGS()
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index c51e7eca6e..f71854d099 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -6,7 +6,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.monitoring.helpers import face_orientation_from_net
+from openpilot.selfdrive.monitoring.policy import face_orientation_from_net
 
 AlertSize = log.SelfdriveState.AlertSize
 

From 04b23ff8493c6672df33f54961ea1b4b1d133922 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Apr 2026 21:13:07 -0700
Subject: [PATCH 009/210] model replay: relax driverState timing (#37868)

---
 selfdrive/test/process_replay/model_replay.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index eb7cdbe34a..880dc2138c 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -35,7 +35,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 EXEC_TIMINGS = [
   # model, instant max, average max
   ("modelV2", 0.05, 0.028),
-  ("driverStateV2", 0.05, 0.016),
+  ("driverStateV2", 0.05, 0.018),
 ]
 
 def get_log_fn(test_route, ref="master"):

From 341786acb5920fbdcf416c15f7cbfa75c7796052 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Apr 2026 09:53:17 -0700
Subject: [PATCH 010/210] jp: fix hidden plots unhiding on interaction (#37870)

---
 tools/jotpluggler/plot.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
index 5d9d644808..b1324713a7 100644
--- a/tools/jotpluggler/plot.cc
+++ b/tools/jotpluggler/plot.cc
@@ -848,7 +848,7 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
     } else {
       for (size_t i = 0; i < prepared_curves.size(); ++i) {
         const PreparedCurve &curve = prepared_curves[i];
-        std::string series_id = curve_legend_label(curve, has_cursor_time, max_legend_label_width) + "##curve" + std::to_string(i);
+        std::string series_id = curve_legend_label(curve, has_cursor_time, max_legend_label_width) + "###curve" + std::to_string(curve.pane_curve_index);
         ImPlotSpec spec;
         spec.LineColor = color_rgb(curve.color);
         spec.LineWeight = curve.line_weight;

From 4286a64083d9bc0fbb79e45a9d2141048ba357ff Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Apr 2026 10:11:10 -0700
Subject: [PATCH 011/210] jp: reduce y padding

---
 tools/jotpluggler/app.cc     | 2 +-
 tools/jotpluggler/internal.h | 1 +
 tools/jotpluggler/plot.cc    | 4 +---
 3 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index 4b56299ead..f25656c7bf 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -324,7 +324,7 @@ void configure_style() {
   plot_style.LegendInnerPadding = ImVec2(6.0f, 3.0f);
   plot_style.LegendSpacing = ImVec2(7.0f, 2.0f);
   plot_style.PlotPadding = ImVec2(4.0f, 8.0f);
-  plot_style.FitPadding = ImVec2(0.02f, 0.4f);
+  plot_style.FitPadding = ImVec2(0.02f, static_cast<float>(PLOT_Y_PADDING_FRACTION));
 
   ImPlot::MapInputDefault();
   ImPlotInputMap &input_map = ImPlot::GetInputMap();
diff --git a/tools/jotpluggler/internal.h b/tools/jotpluggler/internal.h
index 22a5c1dd95..b70aec1a53 100644
--- a/tools/jotpluggler/internal.h
+++ b/tools/jotpluggler/internal.h
@@ -58,6 +58,7 @@ inline constexpr float SIDEBAR_MAX_WIDTH = 520.0f;
 inline constexpr float TIMELINE_BAR_HEIGHT = 14.0f;
 inline constexpr float STATUS_BAR_HEIGHT = 52.0f;
 inline constexpr double MIN_HORIZONTAL_ZOOM_SECONDS = 2.0;
+inline constexpr double PLOT_Y_PADDING_FRACTION = 0.05;
 
 struct UiMetrics {
   float width = 0.0f;
diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
index b1324713a7..270dc90555 100644
--- a/tools/jotpluggler/plot.cc
+++ b/tools/jotpluggler/plot.cc
@@ -7,8 +7,6 @@
 #include <cstdio>
 #include <limits>
 
-constexpr double PLOT_Y_PAD_FRACTION = 0.4;
-
 struct PlotBounds {
   double x_min = 0.0;
   double x_max = 1.0;
@@ -484,7 +482,7 @@ PlotBounds compute_plot_bounds(const Pane &pane,
     min_value = std::min(min_value, 0.0);
     max_value = std::max(max_value, 1.0);
   }
-  ensure_non_degenerate_range(&min_value, &max_value, PLOT_Y_PAD_FRACTION, 0.1);
+  ensure_non_degenerate_range(&min_value, &max_value, PLOT_Y_PADDING_FRACTION, 0.1);
   if (pane.range.has_y_limit_min) {
     min_value = pane.range.y_limit_min;
   }

From e202bbe4aa164b22a5ec60de15cf444157119b67 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Apr 2026 11:04:46 -0700
Subject: [PATCH 012/210] monitoring: remove redundant README

---
 selfdrive/monitoring/README.md | 15 ---------------
 1 file changed, 15 deletions(-)
 delete mode 100644 selfdrive/monitoring/README.md

diff --git a/selfdrive/monitoring/README.md b/selfdrive/monitoring/README.md
deleted file mode 100644
index 2a29ea06b5..0000000000
--- a/selfdrive/monitoring/README.md
+++ /dev/null
@@ -1,15 +0,0 @@
-# driver monitoring (DM)
-
-Uploading driver-facing camera footage is opt-in, but it is encouraged to opt-in to improve the DM model. You can always change your preference using the "Record and Upload Driver Camera" toggle.
-
-## Troubleshooting
-
-Before creating a bug report, go through these troubleshooting steps.
-
-* Ensure the driver-facing camera has a good view of the driver in normal driving positions.
- * This can be checked in Settings -> Device -> Preview Driver Camera (when car is off).
-* If the camera can't see the driver, the device should be re-mounted.
-
-## Bug report
-
-In order for us to look into DM bug reports, we'll need the driver-facing camera footage. If you don't normally have this enabled, simply enable the toggle for a single drive. Also ensure the "Upload Raw Logs" toggle is enabled before going for a drive.

From 4988a62b310b536fb5336c35151eb2df56e37d97 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 21 Apr 2026 11:20:33 -0700
Subject: [PATCH 013/210] Revert "POP model (#37727)" (#37871)

This reverts commit 12f1be19ccff662ebaba6b0337e9cf43d34d54db.
---
 selfdrive/modeld/models/driving_policy.onnx | 4 ++--
 selfdrive/modeld/models/driving_vision.onnx | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 7c71bc9471..611ae9fe85 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:853c6634746ff439a848349d00e4d5581cd941f13f7c1862c31b72a31cc24858
-size 14061595
+oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
+size 14060847
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index afd617667c..6c9fc4c84d 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:940e9006a25f27f0b6e85da798e6a8fd1f6dd492dd7d0b9ff1a9436460f46129
-size 46887794
+oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
+size 46877473

From 859bd215bf9c2bda408124be960d226d71eff68a Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 21 Apr 2026 13:50:20 -0700
Subject: [PATCH 014/210] modeld: group npy -> qcom copies to avoid graph
 breaks (#37866)

* modeld: group npy -> qcom copies to avoid graph breaks

* batch realize

* dm as well
---
 selfdrive/modeld/compile_modeld.py | 23 +++++++++++++++--------
 1 file changed, 15 insertions(+), 8 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 469110a857..c11f899b7f 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -148,7 +148,7 @@ def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
   stride_pad = stride - cam_w
 
   def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT)
+    M_inv = M_inv.to(Device.DEFAULT).realize()
     result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
     return result
   return warp_dm
@@ -162,8 +162,14 @@ def make_run_policy(vision_runner, policy_runner, cam_w, cam_h,
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
   def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
-    img = shift_and_sample(img_q, frame_prepare(frame, tfm.to(Device.DEFAULT)).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm.to(Device.DEFAULT)).unsqueeze(0), sample_skip_fn)
+    tfm = tfm.to(Device.DEFAULT)
+    big_tfm = big_tfm.to(Device.DEFAULT)
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
 
     if prepare_only:
       return img, big_img
@@ -172,9 +178,9 @@ def make_run_policy(vision_runner, policy_runner, cam_w, cam_h,
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.to(Device.DEFAULT).reshape(1, 1, -1), sample_desire_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
 
-    inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention.to(Device.DEFAULT)}
+    inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
     policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
 
     return vision_out, policy_out
@@ -210,10 +216,11 @@ def compile_modeld(cam_w, cam_h, prepare_only, pkl_path):
   def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip)
     np.random.seed(seed)
+    Tensor.manual_seed(seed)
 
     for i in range(N_RUNS):
-      frame = Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize()
-      big_frame = Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize()
+      frame = Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize()
+      big_frame = Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
@@ -263,7 +270,7 @@ def compile_dm_warp(cam_w, cam_h, pkl_path):
   warp_dm_jit = TinyJit(warp_dm, prune=True)
 
   for i in range(10):
-    inputs = [Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
+    inputs = [Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize(),
               Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
     Device.default.synchronize()
     st = time.perf_counter()

From b29d0a17af5cccf760bd70f624bdb4664e8c1303 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Apr 2026 15:43:13 -0700
Subject: [PATCH 015/210] DM: readability, part 1 (#37872)

* spellings

* unused

* no roll

* lil more

* lil more

* one more

* policy enum

* better trans

* set_timer -> set_policy

* set_timer -> set_policy

* no yaonet

* del redundant code

---------

Co-authored-by: ZwX1616 <zwx1616@gmail.com>
---
 selfdrive/monitoring/dmonitoringd.py     |   4 +-
 selfdrive/monitoring/policy.py           | 141 ++++++++++-------------
 selfdrive/monitoring/test_monitoring.py  |   6 +-
 selfdrive/ui/mici/onroad/driver_state.py |  29 ++---
 4 files changed, 76 insertions(+), 104 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index f3a8ef3491..415853513e 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -39,8 +39,8 @@ def dmonitoringd_thread():
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+     DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():
diff --git a/selfdrive/monitoring/policy.py b/selfdrive/monitoring/policy.py
index 37caa757c5..acfbca258f 100644
--- a/selfdrive/monitoring/policy.py
+++ b/selfdrive/monitoring/policy.py
@@ -13,7 +13,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 AlertLevel = log.DriverMonitoringState.AlertLevel
 MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
 
-def to_perc(v):
+def to_percent(v):
   return int(min(max(v * 100., 0.), 100.))
 
 # ******************************************************************************************
@@ -85,47 +85,33 @@ class DriverPose:
     yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
     self.yaw = 0.
     self.pitch = 0.
-    self.roll = 0.
-    self.yaw_std = 0.
-    self.pitch_std = 0.
-    self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
-    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.pitch_offsetter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offsetter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
     self.steer_yaw_offset = 0.
 
-class DriverProb:
-  def __init__(self, raw_priors, max_trackable):
-    self.prob = 0.
-    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
-    self.prob_calibrated = False
-
-
 # model output refers to center of undistorted+leveled image
-EFL = 598.0 # focal length in K
-cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
-W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
+ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].dcam
+dcam_undistorted_FL = 598.0
+dcam_undistorted_W, dcam_undistorted_H = (ref_undistorted_cam.width, ref_undistorted_cam.height)
 
-def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
-  # the output of these angles are in driver camera frame
-  # so from driver's perspective, pitch is up and yaw is right
+def face_orientation_from_model(orient_model, pos_model, rpy_calib):
+  pitch_model = orient_model[0]
+  yaw_model = orient_model[1]
 
-  pitch_net, yaw_net, roll_net = angles_desc
+  face_pixel_position = ((pos_model[0]+0.5)*dcam_undistorted_W, (pos_model[1]+0.5)*dcam_undistorted_H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - dcam_undistorted_W//2, dcam_undistorted_FL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - dcam_undistorted_H//2, dcam_undistorted_FL)
 
-  face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
+  pitch = pitch_model + pitch_focal_angle
+  yaw = -yaw_model + yaw_focal_angle
 
-  pitch = pitch_net + pitch_focal_angle
-  yaw = -yaw_net + yaw_focal_angle
-
-  # no calib for roll
   pitch -= rpy_calib[1]
   yaw -= rpy_calib[2]
-  return roll_net, pitch, yaw
+  return pitch, yaw
 
 
 class DriverMonitoring:
@@ -135,7 +121,7 @@ class DriverMonitoring:
 
     # init driver status
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
-    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.wheelpos_offsetter = RunningStatFilter(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
     self.blink_prob = 0.
     self.phone_prob = 0.
@@ -152,29 +138,28 @@ class DriverMonitoring:
     self.terminal_alert_cnt = 0
     self.terminal_time = 0
     self.step_change = 0.
-    self.active_monitoring_mode = True
+    self.active_policy = MonitoringPolicy.vision
     self.driver_interacting = False
     self.is_model_uncertain = False
     self.hi_stds = 0
     self.model_std_max = 0.
     self.threshold_alert_1 = 0.
     self.threshold_alert_2 = 0.
-    self.dcam_uncertain = False
     self.dcam_uncertain_cnt = 0
     self.dcam_reset_cnt = 0
     self.too_distracted = Params().get_bool("DriverTooDistracted")
 
     self._reset_awareness()
-    self._set_timers(active_monitoring=True)
+    self._set_policy(MonitoringPolicy.vision)
 
   def _reset_awareness(self):
     self.awareness = 1.
     self.last_vision_awareness = 1.
     self.last_wheeltouch_awareness = 1.
 
-  def _set_timers(self, active_monitoring):
-    if self.active_monitoring_mode and self.awareness <= self.threshold_alert_2:
-      if active_monitoring:
+  def _set_policy(self, target_policy):
+    if self.active_policy == MonitoringPolicy.vision and self.awareness <= self.threshold_alert_2:
+      if target_policy == MonitoringPolicy.vision:
         self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       else:
         self.step_change = 0.
@@ -182,25 +167,25 @@ class DriverMonitoring:
     elif self.awareness <= 0.:
       return
 
-    if active_monitoring:
+    if target_policy == MonitoringPolicy.vision:
       # when falling back from passive mode to active mode, reset awareness to avoid false alert
-      if not self.active_monitoring_mode:
+      if self.active_policy != MonitoringPolicy.vision:
         self.last_wheeltouch_awareness = self.awareness
         self.awareness = self.last_vision_awareness
 
       self.threshold_alert_1 = 1. - self.settings._VISION_POLICY_ALERT_1_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       self.threshold_alert_2 = 1. - self.settings._VISION_POLICY_ALERT_2_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
-      self.active_monitoring_mode = True
+      self.active_policy = MonitoringPolicy.vision
     else:
-      if self.active_monitoring_mode:
+      if self.active_policy == MonitoringPolicy.vision:
         self.last_vision_awareness = self.awareness
         self.awareness = self.last_wheeltouch_awareness
 
       self.threshold_alert_1 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
       self.threshold_alert_2 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
       self.step_change = DT_DMON / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
-      self.active_monitoring_mode = False
+      self.active_policy = MonitoringPolicy.wheeltouch
 
   def _set_pose_strictness(self, brake_disengage_prob, car_speed):
     bp = brake_disengage_prob
@@ -220,9 +205,9 @@ class DriverMonitoring:
       pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
       yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
     else:
-      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(),
+      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offsetter.filtered_stat.mean(),
                                                        self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
-      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
+      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offsetter.filtered_stat.mean(),
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
 
@@ -243,12 +228,12 @@ class DriverMonitoring:
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
+      self.wheelpos_offsetter.push_and_update(rhd_pred)
 
-    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
+    wheelpos_calibrated = self.wheelpos_offsetter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
 
-    if self.wheelpos.prob_calibrated or demo_mode:
-      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+    if wheelpos_calibrated or demo_mode:
+      self.wheel_on_right = self.wheelpos_offsetter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged
@@ -260,16 +245,14 @@ class DriverMonitoring:
       return
 
     self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
+    self.pose.pitch, self.pose.yaw = face_orientation_from_model(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
     steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
     self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
     if self.wheel_on_right:
       self.pose.yaw *= -1
       self.pose.steer_yaw_offset *= -1
     self.wheel_on_right_last = self.wheel_on_right
-    self.pose.pitch_std = driver_data.faceOrientationStd[0]
-    self.pose.yaw_std = driver_data.faceOrientationStd[1]
-    self.model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
+    self.model_std_max = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
     self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
     self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
@@ -278,18 +261,17 @@ class DriverMonitoring:
     self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
-    # update offseter
-    # only update when driver is actively driving the car above a certain speed
+    # only update offsetter when driver is actively driving the car above a certain speed
     if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
-      self.pose.pitch_offseter.push_and_update(self.pose.pitch)
-      self.pose.yaw_offseter.push_and_update(self.pose.yaw)
+      self.pose.pitch_offsetter.push_and_update(self.pose.pitch)
+      self.pose.yaw_offsetter.push_and_update(self.pose.yaw)
 
-    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
-                           self.pose.yaw_offseter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
+    self.pose.calibrated = self.pose.pitch_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
+                           self.pose.yaw_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
 
     if self.face_detected and not self.driver_distracted:
-      self.dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
-      if self.dcam_uncertain and not standstill:
+      dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
+      if dcam_uncertain and not standstill:
         self.dcam_uncertain_cnt += 1
         self.dcam_reset_cnt = 0
       else:
@@ -298,13 +280,13 @@ class DriverMonitoring:
           self.dcam_uncertain_cnt = 0
 
     self.is_model_uncertain = self.hi_stds >= self.settings._HI_STD_FALLBACK_TIME
-    self._set_timers(self.face_detected and not self.is_model_uncertain)
+    self._set_policy(MonitoringPolicy.vision if self.face_detected and not self.is_model_uncertain else MonitoringPolicy.wheeltouch)
     if self.face_detected and not self.pose.low_std and not self.driver_distracted:
       self.hi_stds += 1
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
 
-  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
+  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear):
     self.alert_level = AlertLevel.none
     self.driver_interacting = driver_engaged
 
@@ -313,7 +295,7 @@ class DriverMonitoring:
       self.too_distracted = True
 
     always_on_valid = self.always_on and not wrong_gear
-    if (self.driver_interacting and self.awareness > 0 and not self.active_monitoring_mode) or \
+    if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
        (not always_on_valid and not op_engaged) or \
        (always_on_valid and not op_engaged and self.awareness <= 0):
       # always reset on disengage with normal mode; disengage resets only on red if always on
@@ -366,18 +348,18 @@ class DriverMonitoring:
     dm = dat.driverMonitoringState
 
     dm.lockout = self.too_distracted
-    dm.alertCountLockoutPercent = to_perc(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
-    dm.alertTimeLockoutPercent = to_perc(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
+    dm.alertCountLockoutPercent = to_percent(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
+    dm.alertTimeLockoutPercent = to_percent(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
     dm.alwaysOn = self.always_on
     dm.alwaysOnLockout = self.always_on and self.awareness <= self.threshold_alert_2
     dm.alertLevel = self.alert_level
-    dm.activePolicy = MonitoringPolicy.vision if self.active_monitoring_mode else MonitoringPolicy.wheeltouch
+    dm.activePolicy = self.active_policy
     dm.isRHD = self.wheel_on_right
-    dm.rhdCalibration.calibratedPercent = to_perc(self.wheelpos.prob_offseter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
-    dm.rhdCalibration.offset = self.wheelpos.prob_offseter.filtered_stat.M
+    dm.rhdCalibration.calibratedPercent = to_percent(self.wheelpos_offsetter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
+    dm.rhdCalibration.offset = self.wheelpos_offsetter.filtered_stat.M
 
-    dm.visionPolicyState.awarenessPercent = to_perc(self.last_vision_awareness if not self.active_monitoring_mode else self.awareness)
-    dm.visionPolicyState.awarenessStep = self.step_change if self.active_monitoring_mode else 0.
+    dm.visionPolicyState.awarenessPercent = to_percent(self.last_vision_awareness if self.active_policy != MonitoringPolicy.vision else self.awareness)
+    dm.visionPolicyState.awarenessStep = self.step_change if self.active_policy == MonitoringPolicy.vision else 0.
     dm.visionPolicyState.isDistracted = self.driver_distracted
     dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
     dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
@@ -386,16 +368,16 @@ class DriverMonitoring:
     dm.visionPolicyState.pose.pitch = self.pose.pitch
     dm.visionPolicyState.pose.yaw = self.pose.yaw
     dm.visionPolicyState.pose.calibrated = self.pose.calibrated
-    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_perc(self.pose.pitch_offseter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
-    dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offseter.filtered_stat.M
-    dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_perc(self.pose.yaw_offseter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
-    dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offseter.filtered_stat.M
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_percent(self.pose.pitch_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offsetter.filtered_stat.M
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_percent(self.pose.yaw_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offsetter.filtered_stat.M
     dm.visionPolicyState.pose.uncertainty = self.model_std_max
-    dm.visionPolicyState.wheeltouchFallbackPercent = to_perc(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
-    dm.visionPolicyState.uncertainOffroadAlertPercent = to_perc(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
+    dm.visionPolicyState.wheeltouchFallbackPercent = to_percent(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
+    dm.visionPolicyState.uncertainOffroadAlertPercent = to_percent(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
 
-    dm.wheeltouchPolicyState.awarenessPercent = to_perc(self.last_wheeltouch_awareness if self.active_monitoring_mode else self.awareness)
-    dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_monitoring_mode else self.step_change
+    dm.wheeltouchPolicyState.awarenessPercent = to_percent(self.last_wheeltouch_awareness if self.active_policy == MonitoringPolicy.vision else self.awareness)
+    dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_policy == MonitoringPolicy.vision else self.step_change
     dm.wheeltouchPolicyState.driverInteracting = self.driver_interacting
     return dat
 
@@ -407,6 +389,7 @@ class DriverMonitoring:
       standstill = False
       driver_engaged = False
       brake_disengage_prob = 1.0
+      steering_angle_deg = 0.0
       rpyCalib = [0., 0., 0.]
     else:
       car_speed = sm['carState'].vEgo
@@ -415,6 +398,7 @@ class DriverMonitoring:
       standstill = sm['carState'].standstill
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
       brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
+      steering_angle_deg = sm['carState'].steeringAngleDeg
       rpyCalib = sm['liveCalibration'].rpyCalib
 
     self._set_pose_strictness(
@@ -430,7 +414,7 @@ class DriverMonitoring:
       op_engaged=enabled,
       standstill=standstill,
       demo_mode=demo,
-      steering_angle_deg=sm['carState'].steeringAngleDeg,
+      steering_angle_deg=steering_angle_deg,
     )
 
     # Update distraction events
@@ -439,5 +423,4 @@ class DriverMonitoring:
       op_engaged=enabled,
       standstill=standstill,
       wrong_gear=wrong_gear,
-      car_speed=car_speed
     )
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 8b5e9bc6d4..948931cb29 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -55,7 +55,7 @@ class TestMonitoring:
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
-      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
+      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0)
       alert_lvls.append(DM.alert_level)
     assert len(alert_lvls) == len(msgs), f"got {len(alert_lvls)} for {len(msgs)} driverState input msgs"
     return alert_lvls, DM
@@ -63,8 +63,9 @@ class TestMonitoring:
 
   # engaged, driver is attentive all the time
   def test_fully_aware_driver(self):
-    alert_lvls, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
+    alert_lvls, d_status = self._run_seq(always_attentive, always_false, always_true, always_false)
     assert all(a == 0 for a in alert_lvls)
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.vision
 
   # engaged, driver is distracted and does nothing
   def test_fully_distracted_driver(self):
@@ -90,6 +91,7 @@ class TestMonitoring:
                     (s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
     assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + \
                     (TEST_TIMESPAN - 10 - s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index f71854d099..69ada3dae9 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -6,7 +6,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.monitoring.policy import face_orientation_from_net
+
 
 AlertSize = log.SelfdriveState.AlertSize
 
@@ -35,6 +35,8 @@ class DriverStateRenderer(Widget):
     self._is_active = False
     self._is_rhd = False
     self._face_detected = False
+    self._face_pitch = 0.
+    self._face_yaw = 0.
     self._should_draw = False
     self._force_active = False
     self._looking_center = False
@@ -156,6 +158,8 @@ class DriverStateRenderer(Widget):
     self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
     self._face_detected = dm_state.visionPolicyState.faceDetected
+    self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
+    self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
@@ -163,26 +167,9 @@ class DriverStateRenderer(Widget):
 
   def _update_state(self):
     # Get monitoring state
-    driver_data = self.get_driver_data()
-    driver_orient = driver_data.faceOrientation
-    driver_position = driver_data.facePosition
-
-    if len(driver_orient) != 3:
-      return
-
-    # Calibrate orientation so looking straight ahead at road (instead of at device) is (0, 0, 0)
-    sm = ui_state.sm
-    if sm.valid['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) == 3:
-      cal_rpy = sm['liveCalibration'].rpyCalib
-    else:
-      cal_rpy = [0.0, 0.0, 0.0]
-
-    _, pitch, yaw = face_orientation_from_net(driver_orient, driver_position, cal_rpy)
-    pitch += math.radians(6)  # calib or DM pose is not accurate, add a fake upward pitch to bias forward
-    yaw = -yaw  # undo sign flip in face_orientation_from_net to match UI convention
-
-    pitch = self._pitch_filter.update(pitch)
-    yaw = self._yaw_filter.update(yaw)
+    _ = self.get_driver_data()
+    pitch = self._pitch_filter.update(self._face_pitch)
+    yaw = self._yaw_filter.update(self._face_yaw)
 
     # hysteresis on looking center
     if abs(pitch) < LOOKING_CENTER_THRESHOLD_LOWER and abs(yaw) < LOOKING_CENTER_THRESHOLD_LOWER:

From 571a547671d3878f807ea8967f84ab3e79d2302e Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 21 Apr 2026 16:19:20 -0700
Subject: [PATCH 016/210] Fix driver preview alert text and sound (#37875)

* fix type and add text

* short

* fix sound too

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/ui/mici/onroad/driver_camera_dialog.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index 6fa3d89183..58b209bdf6 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -104,12 +104,12 @@ class BaseDriverCameraDialog(Widget):
 
     AudibleAlert = car.CarControl.HUDControl.AudibleAlert
     ALERT_SOUNDS = {
-      log.DriverMonitoringState.AlertLevel.two: AudibleAlert.promptDistracted,
-      log.DriverMonitoringState.AlertLevel.three: AudibleAlert.warningImmediate,
+      'two': AudibleAlert.promptDistracted,
+      'three': AudibleAlert.warningImmediate,
     }
     msg = messaging.new_message('selfdriveState')
     if dm_state is not None:
-      msg.selfdriveState.alertSound = ALERT_SOUNDS.get(dm_state.alertLevel, AudibleAlert.none)
+      msg.selfdriveState.alertSound = ALERT_SOUNDS.get(str(dm_state.alertLevel), AudibleAlert.none)
     self._pm.send('selfdriveState', msg)
 
   def _render_dm_alerts(self, rect: rl.Rectangle):
@@ -133,7 +133,7 @@ class BaseDriverCameraDialog(Widget):
       return
 
     # Show alert level
-    alert_level_str = dm_state.alertLevel
+    alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
     alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)

From ca04b70d0a7b1db2313106c0067b28ea8b7536e6 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 21 Apr 2026 21:04:06 -0700
Subject: [PATCH 017/210] camerad: driver camera BPS magic (#37873)

* update blob

* fixed

* didnt catch this

* add back

* needs BLC built in

* for real

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/bps_blobs.h | 12 +++---
 system/camerad/cameras/cdm.cc      |  4 +-
 system/camerad/cameras/cdm.h       | 10 ++---
 system/camerad/cameras/spectra.cc  | 62 +++++++++++++++++++++++-------
 system/camerad/cameras/spectra.h   |  1 +
 5 files changed, 63 insertions(+), 26 deletions(-)

diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index 54941b8d76..4a0de6659d 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -16,15 +16,15 @@ unsigned char bps_cfg[4][768] = {
 
 unsigned char bps_striping_output[4][0x9a0] = {
 { /* placeholder */ },
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 unsigned char bps_settings[4][684] = {
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+  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
 };
 
diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc
index d4ef20c48c..8a070fa3aa 100644
--- a/system/camerad/cameras/cdm.cc
+++ b/system/camerad/cameras/cdm.cc
@@ -1,9 +1,9 @@
 #include "cdm.h"
 #include "stddef.h"
 
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel) {
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode) {
   struct cdm_dmi_cmd *cmd = (struct cdm_dmi_cmd*)dst;
-  cmd->cmd = CAM_CDM_CMD_DMI_32;
+  cmd->cmd = opcode;
   cmd->length = length - 1;
   cmd->reserved = 0;
   cmd->addr = 0; // gets patched in
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
index adda600400..d9640cee3e 100644
--- a/system/camerad/cameras/cdm.h
+++ b/system/camerad/cameras/cdm.h
@@ -6,11 +6,6 @@
 #include <vector>
 #include <memory>
 
-// our helpers
-int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
-int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);
-
 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
 
 enum cam_cdm_command {
@@ -32,6 +27,11 @@ enum cam_cdm_command {
   CAM_CDM_CMD_PRIVATE_BASE_MAX = 0x7F
 };
 
+// our helpers
+int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
+int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode = CAM_CDM_CMD_DMI_32);
+
 /**
  * struct cdm_regrandom_cmd - Definition for CDM random register command.
  * @count: Number of register writes
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index ab9d8e069a..23c58c1ec9 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -467,7 +467,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
   */
 
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2;
-  size += sizeof(struct cam_patch_desc)*9;
+  size += sizeof(struct cam_patch_desc)*12;
 
   uint32_t cam_packet_handle = 0;
   auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -545,8 +545,15 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     int cdm_len = 0;
 
     if (bps_lin_reg.size() == 0) {
+      // set first knee pt to do BLC
+      uint32_t new_knee[8];
+      new_knee[0] = sensor->black_level << (14 - sensor->bits_per_pixel);
+      for (int i = 0; i < 7; i++) {
+        uint32_t pts = sensor->linearization_pts[i / 2];
+        new_knee[i + 1] = (i % 2 == 0) ? (pts >> 16) : (pts & 0xffff);
+      }
       for (int i = 0; i < 4; i++) {
-        bps_lin_reg.push_back(((sensor->linearization_pts[i] & 0xffff) << 0x10) | (sensor->linearization_pts[i] >> 0x10));
+        bps_lin_reg.push_back((new_knee[2*i + 1] << 16) | new_knee[2*i]);
       }
     }
 
@@ -569,20 +576,24 @@ void SpectraCamera::config_bps(int idx, int request_id) {
       0x00000080,
       0x00800066,
     });
-    // linearization, EN=0
+    // linearization
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1868, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1878, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1888, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1898, bps_lin_reg);
-    /*
-    uint8_t *start = (unsigned char *)bps_cdm_program_array.ptr + cdm_len;
     uint64_t addr;
-    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1);
-    patches.push_back(addr - (uint64_t)start);
-    */
+    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1, CAM_CDM_CMD_DMI);
+    patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+
     // color correction
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2e68, bps_ccm_reg);
 
+    // gamma
+    for (uint8_t ch = 1; ch <= 3; ch++) {
+      cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x3208, ch, CAM_CDM_CMD_DMI);
+      patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+    }
+
     cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, cc, sensor.get(), patches, false);
 
     pa->length = cdm_len - 1;
@@ -664,11 +675,16 @@ void SpectraCamera::config_bps(int idx, int request_id) {
 
   // *** patches ***
   {
-    assert(patches.size() == 0 | patches.size() == 1);
+    assert(patches.size() == 0 || patches.size() == 4);
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
 
     if (patches.size() > 0) {
-      add_patch(pkt.get(), bps_cmd.handle, patches[0], bps_linearization_lut.handle, 0);
+      // linearization LUT
+      add_patch(pkt.get(), bps_cdm_program_array.handle, patches[0], bps_linearization_lut.handle, 0);
+      // gamma LUTs
+      for (int i = 0; i < 3; i++) {
+        add_patch(pkt.get(), bps_cdm_program_array.handle, patches[i+1], bps_gamma_lut.handle, 0);
+      }
     }
 
     // input frame
@@ -1170,10 +1186,30 @@ void SpectraCamera::configICP() {
   bps_cdm_striping_bl.init(m, 0xa100, 0x20, true, m->icp_device_iommu);
 
   // LUTs
-  /*
+  assert(sensor->linearization_lut.size() == 36);
   bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
-  memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size);
-  */
+
+  // bit shift linearization_lut to bps specs, also compensate for black level here
+  uint32_t bl = sensor->black_level << (14 - sensor->bits_per_pixel);
+  uint32_t* bps_lut = (uint32_t*)bps_linearization_lut.ptr;
+  for (size_t i = 0; i < sensor->linearization_lut.size(); i++) {
+    size_t seg = i / 4;
+    size_t ch = i % 4;
+    if (seg == 0) {
+      bps_lut[i] = 0;
+      continue;
+    }
+    uint32_t e = sensor->linearization_lut[(seg - 1) * 4 + ch];
+    uint32_t base = e & 0x3fff;
+    uint32_t slope_q11 = (e >> 14) & 0x3fff;
+    uint32_t slope_q12 = std::min<uint32_t>(slope_q11 << 1, 0x3fff);
+    base = (base > bl) ? (base - bl) : 0;
+    bps_lut[i] = base | (slope_q12 << 14);
+  }
+
+  assert(sensor->gamma_lut_rgb.size() == 64);
+  bps_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
+  memcpy(bps_gamma_lut.ptr, sensor->gamma_lut_rgb.data(), bps_gamma_lut.size);
 }
 
 void SpectraCamera::configCSIPHY() {
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 7dd1135254..741e8ad276 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -173,6 +173,7 @@ public:
   SpectraBuf bps_iq;
   SpectraBuf bps_striping;
   SpectraBuf bps_linearization_lut;
+  SpectraBuf bps_gamma_lut;
   std::vector<uint32_t> bps_lin_reg;
   std::vector<uint32_t> bps_ccm_reg;
 

From f8c45d307c3da61e49d6f57e26ecccbde1bc0d13 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Wed, 22 Apr 2026 08:48:02 -0700
Subject: [PATCH 018/210] esim: skip listing profiles on mutation ops (#37878)

---
 system/hardware/esim.py | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/system/hardware/esim.py b/system/hardware/esim.py
index 40600d26b5..54407693b3 100755
--- a/system/hardware/esim.py
+++ b/system/hardware/esim.py
@@ -28,8 +28,7 @@ if __name__ == '__main__':
     lpa.nickname_profile(args.nickname[0], args.nickname[1])
   else:
     parser.print_help()
-
-  profiles = lpa.list_profiles()
-  print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
-  for p in profiles:
-    print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
+    profiles = lpa.list_profiles()
+    print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
+    for p in profiles:
+      print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')

From f8372ccc4df0b5b0e49572f8817ce7d5b14c6db9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 12:53:07 -0700
Subject: [PATCH 019/210] sensord: remove mmc5603nj support (#37881)

* sensord: remove mmc5603nj support

* lil more

* lil more
---
 cereal/services.py                       |   2 -
 system/sensord/sensord.py                |   6 -
 system/sensord/sensors/mmc5603nj_magn.py |  76 ------------
 system/sensord/tests/test_sensord.py     | 140 ++++++++---------------
 4 files changed, 48 insertions(+), 176 deletions(-)
 delete mode 100644 system/sensord/sensors/mmc5603nj_magn.py

diff --git a/cereal/services.py b/cereal/services.py
index c8525c0dd3..c43d3cb9b6 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -24,8 +24,6 @@ _services: dict[str, tuple] = {
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
   "accelerometer": (True, 104., 104),
-  "magnetometer": (True, 25.),
-  "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
index 62908c6f18..d17d296958 100755
--- a/system/sensord/sensord.py
+++ b/system/sensord/sensord.py
@@ -11,13 +11,11 @@ from openpilot.common.utils import sudo_write
 from openpilot.common.realtime import config_realtime_process, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
-from openpilot.system.hardware import HARDWARE
 
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
 from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro
 from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp
-from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn
 
 I2C_BUS_IMU = 1
 
@@ -97,10 +95,6 @@ def main() -> None:
     (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
     (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
   ]
-  if HARDWARE.get_device_type() == "tizi":
-    sensors_cfg.append(
-      (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
-    )
 
   # Reset sensors
   for sensor, _, _ in sensors_cfg:
diff --git a/system/sensord/sensors/mmc5603nj_magn.py b/system/sensord/sensors/mmc5603nj_magn.py
deleted file mode 100644
index 255e99eb3e..0000000000
--- a/system/sensord/sensors/mmc5603nj_magn.py
+++ /dev/null
@@ -1,76 +0,0 @@
-import time
-
-from cereal import log
-from openpilot.system.sensord.sensors.i2c_sensor import Sensor
-
-# https://www.mouser.com/datasheet/2/821/Memsic_09102019_Datasheet_Rev.B-1635324.pdf
-
-# Register addresses
-REG_ODR = 0x1A
-REG_INTERNAL_0 = 0x1B
-REG_INTERNAL_1 = 0x1C
-
-# Control register settings
-CMM_FREQ_EN = (1 << 7)
-AUTO_SR_EN  = (1 << 5)
-SET         = (1 << 3)
-RESET       = (1 << 4)
-
-class MMC5603NJ_Magn(Sensor):
-  @property
-  def device_address(self) -> int:
-    return 0x30
-
-  def init(self):
-    self.verify_chip_id(0x39, [0x10, ])
-    self.writes((
-      (REG_ODR, 0),
-
-      # Set BW to 0b01 for 1-150 Hz operation
-      (REG_INTERNAL_1, 0b01),
-    ))
-
-  def _read_data(self, cycle) -> list[float]:
-    # start measurement
-    self.write(REG_INTERNAL_0, cycle)
-    self.wait()
-
-    # read out XYZ
-    scale = 1.0 / 16384.0
-    b = self.read(0x00, 9)
-    return [
-      (self.parse_20bit(b[6], b[1], b[0]) * scale) - 32.0,
-      (self.parse_20bit(b[7], b[3], b[2]) * scale) - 32.0,
-      (self.parse_20bit(b[8], b[5], b[4]) * scale) - 32.0,
-    ]
-
-  def get_event(self, ts: int | None = None) -> log.SensorEventData:
-    ts = time.monotonic_ns()
-
-    # SET - RESET cycle
-    xyz = self._read_data(SET)
-    reset_xyz = self._read_data(RESET)
-    vals = [*xyz, *reset_xyz]
-
-    event = log.SensorEventData.new_message()
-    event.timestamp = ts
-    event.version = 1
-    event.sensor = 3 # SENSOR_MAGNETOMETER_UNCALIBRATED
-    event.type = 14  # SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
-    event.source = log.SensorEventData.SensorSource.mmc5603nj
-
-    m = event.init('magneticUncalibrated')
-    m.v = vals
-    m.status = int(all(int(v) != -32 for v in vals))
-
-    return event
-
-  def shutdown(self) -> None:
-    v = self.read(REG_INTERNAL_0, 1)[0]
-    self.writes((
-      # disable auto-reset of measurements
-      (REG_INTERNAL_0, (v & (~(CMM_FREQ_EN | AUTO_SR_EN)))),
-
-      # disable continuous mode
-      (REG_ODR, 0),
-    ))
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 9a66678ecf..c82e595603 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -5,44 +5,19 @@ import numpy as np
 from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
-from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 
-LSM = {
-  ('lsm6ds3', 'acceleration'),
-  ('lsm6ds3', 'gyroUncalibrated'),
-  ('lsm6ds3', 'temperature'),
-}
-LSM_C = {(x[0]+'trc', x[1]) for x in LSM}
+SensorConfig = namedtuple('SensorConfig', ['service', 'measurement', 'sanity_min', 'sanity_max', 'std_max'])
 
-MMC = {
-  ('mmc5603nj', 'magneticUncalibrated'),
-}
-
-SENSOR_CONFIGURATIONS: list[set] = {
-  "mici": [LSM, LSM_C],
-  "tizi": [MMC | LSM, MMC | LSM_C],
-  "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C],
-}.get(HARDWARE.get_device_type(), [])
-
-Sensor = log.SensorEventData.SensorSource
-SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'std_max'])
-ALL_SENSORS = {
-  Sensor.lsm6ds3trc: {
-    SensorConfig("acceleration", 5, 15, 5),
-    SensorConfig("gyroUncalibrated", 0, .15, 0.5),
-    SensorConfig("temperature", 10, 40, 0.5),  # set for max range of our office
-  },
-
-  Sensor.mmc5603nj: {
-    SensorConfig("magneticUncalibrated", 0, 300, 10),
-  }
-}
-ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc]
+SENSOR_CONFIGS = (
+  SensorConfig("accelerometer", "acceleration", 5, 15, 5),
+  SensorConfig("gyroscope", "gyroUncalibrated", 0, .15, 0.5),
+  SensorConfig("temperatureSensor", "temperature", 10, 40, 0.5),  # set for max range of our office
+)
+SENSOR_CONFIGS_BY_MEASUREMENT = {config.measurement: config for config in SENSOR_CONFIGS}
 
 def get_irq_count(irq: int):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
@@ -50,12 +25,11 @@ def get_irq_count(irq: int):
     return sum(per_cpu)
 
 def read_sensor_events(duration_sec):
-  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'temperatureSensor',]
   socks = {}
   poller = messaging.Poller()
   events = defaultdict(list)
-  for stype in sensor_types:
-    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
+  for config in SENSOR_CONFIGS:
+    socks[config.service] = messaging.sub_sock(config.service, poller=poller, timeout=100)
 
   # wait for sensors to come up
   with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
@@ -70,11 +44,15 @@ def read_sensor_events(duration_sec):
     for s in socks:
       events[s] += messaging.drain_sock(socks[s])
     time.sleep(0.1)
-
   assert sum(map(len, events.values())) != 0, "No sensor events collected!"
 
   return {k: v for k, v in events.items() if len(v) > 0}
 
+def iter_measurements(events):
+  for msgs in events.values():
+    for measurement in msgs:
+      yield measurement, getattr(measurement, measurement.which())
+
 @pytest.mark.tici
 class TestSensord:
   @classmethod
@@ -102,15 +80,9 @@ class TestSensord:
   def teardown_method(self):
     managed_processes["sensord"].stop()
 
-  def test_sensors_present(self):
-    # verify correct sensors configuration
-    seen = set()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        seen.add((str(m.source), m.which()))
-
-    assert seen in SENSOR_CONFIGURATIONS
+  def test_all_sensors_present(self):
+    missing = [config.service for config in SENSOR_CONFIGS if config.service not in self.events]
+    assert len(missing) == 0, f"missing sensors: {missing}"
 
   def test_lsm6ds3_timing(self, subtests):
     # verify measurements are sampled and published at 104Hz
@@ -120,13 +92,10 @@ class TestSensord:
       5: [], # gyro
     }
 
-    for measurement in self.events['accelerometer']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
-
-    for measurement in self.events['gyroscope']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
+    for service in ('accelerometer', 'gyroscope'):
+      for measurement in self.events.get(service, []):
+        m = getattr(measurement, measurement.which())
+        sensor_t[m.sensor].append(m.timestamp)
 
     for s, vals in sensor_t.items():
       with subtests.test(sensor=s):
@@ -153,19 +122,16 @@ class TestSensord:
   def test_logmonottime_timestamp_diff(self):
     # ensure diff between the message logMonotime and sample timestamp is small
 
-    tdiffs = list()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
+    tdiffs = []
+    for measurement, m in iter_measurements(self.events):
+      # check if gyro and accel timestamps are before logMonoTime
+      if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
+        err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
+        assert m.timestamp < measurement.logMonoTime, err_msg
 
-        # check if gyro and accel timestamps are before logMonoTime
-        if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
-          err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
-          assert m.timestamp < measurement.logMonoTime, err_msg
-
-        # negative values might occur, as non interrupt packages created
-        # before the sensor is read
-        tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
+      # negative values might occur, as non interrupt packages created
+      # before the sensor is read
+      tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
 
     # some sensors have a read procedure that will introduce an expected diff on the order of 20ms
     high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs))
@@ -175,39 +141,29 @@ class TestSensord:
     assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms"
 
   def test_sensor_values(self):
-    sensor_values = dict()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        key = (m.source.raw, m.which())
-        values = getattr(m, m.which())
+    sensor_values = defaultdict(list)
+    for _, m in iter_measurements(self.events):
+      key = (m.source.raw, m.which())
+      values = getattr(m, m.which())
 
-        if hasattr(values, 'v'):
-          values = values.v
-        values = np.atleast_1d(values)
-
-        if key in sensor_values:
-          sensor_values[key].append(values)
-        else:
-          sensor_values[key] = [values]
+      if hasattr(values, 'v'):
+        values = values.v
+      sensor_values[key].append(np.atleast_1d(values))
 
     # Sanity check sensor values
-    for sensor, stype in sensor_values:
-      for s in ALL_SENSORS[sensor]:
-        if s.type != stype:
-          continue
+    for (sensor, stype), values in sensor_values.items():
+      config = SENSOR_CONFIGS_BY_MEASUREMENT[stype]
 
-        key = (sensor, s.type)
-        if s.type == 'temperature':
-          measurement_stat = np.mean(sensor_values[key])
-        else:
-          measurement_stat = np.mean(np.linalg.norm(sensor_values[key], axis=1))
-        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {measurement_stat} is not between {s.sanity_min} and {s.sanity_max}"
-        assert s.sanity_min <= measurement_stat <= s.sanity_max, err_msg
+      if config.measurement == 'temperature':
+        measurement_stat = np.mean(values)
+      else:
+        measurement_stat = np.mean(np.linalg.norm(values, axis=1))
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed sanity checks {measurement_stat} is not between {config.sanity_min} and {config.sanity_max}"
+      assert config.sanity_min <= measurement_stat <= config.sanity_max, err_msg
 
-        std_dev = np.std(sensor_values[key], axis=0)
-        err_msg = f"Sensor '{sensor} {s.type}' failed std dev test {std_dev} is not under {s.std_max}"
-        assert np.all(std_dev <= s.std_max), err_msg
+      std_dev = np.std(values, axis=0)
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed std dev test {std_dev} is not under {config.std_max}"
+      assert np.all(std_dev <= config.std_max), err_msg
 
   def test_sensor_verify_no_interrupts_after_stop(self):
     managed_processes["sensord"].start()

From 2266a9dd9cc1327736ed3b93528c8caae92f965c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 13:13:39 -0700
Subject: [PATCH 020/210] sensord: clean up SensorEventData struct (#37883)

---
 cereal/log.capnp                           | 13 ++++++++-----
 selfdrive/test/process_replay/migration.py |  3 ---
 system/sensord/sensors/lsm6ds3_accel.py    |  4 ----
 system/sensord/sensors/lsm6ds3_gyro.py     |  4 ----
 system/sensord/sensors/lsm6ds3_temp.py     |  1 -
 system/sensord/tests/test_sensord.py       |  9 +++------
 tools/sim/lib/simulated_sensors.py         |  5 -----
 7 files changed, 11 insertions(+), 28 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 2dea21ff05..618aad1831 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -273,11 +273,7 @@ struct GPSNMEAData {
   nmea @2 :Text;
 }
 
-# android sensor_event_t
 struct SensorEventData {
-  version @0 :Int32;
-  sensor @1 :Int32;
-  type @2 :Int32;
   timestamp @3 :Int64;
 
   union {
@@ -296,7 +292,10 @@ struct SensorEventData {
 
   struct SensorVec {
     v @0 :List(Float32);
-    status @1 :Int8;
+
+    deprecated :group {
+      status @1 :Int8;
+    }
   }
 
   enum SensorSource {
@@ -314,7 +313,11 @@ struct SensorEventData {
     mmc5603nj @11;
   }
 
+  # formerly based on android sensor_event_t
   deprecated :group {
+    version @0 :Int32;
+    sensor @1 :Int32;
+    type @2 :Int32;
     uncalibrated @10 :Bool;
   }
 }
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index b613491347..12a9664a54 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -447,9 +447,6 @@ def migrate_sensorEvents(msgs):
       m.logMonoTime = msg.logMonoTime
 
       m_dat = getattr(m, sensor_service)
-      m_dat.version = evt.version
-      m_dat.sensor = evt.sensor
-      m_dat.type = evt.type
       m_dat.source = evt.source
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py
index 43863daa93..761ae828bb 100644
--- a/system/sensord/sensors/lsm6ds3_accel.py
+++ b/system/sensord/sensors/lsm6ds3_accel.py
@@ -77,13 +77,9 @@ class LSM6DS3_Accel(Sensor):
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 1
-    event.sensor = 1  # SENSOR_ACCELEROMETER
-    event.type = 1    # SENSOR_TYPE_ACCELEROMETER
     event.source = self.source
     a = event.init('acceleration')
     a.v = [y, -x, z]
-    a.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py
index 60de2bbe02..654cff9da8 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.py
+++ b/system/sensord/sensors/lsm6ds3_gyro.py
@@ -73,13 +73,9 @@ class LSM6DS3_Gyro(Sensor):
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 2
-    event.sensor = 5  # SENSOR_GYRO_UNCALIBRATED
-    event.type = 16   # SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
     event.source = self.source
     g = event.init('gyroUncalibrated')
     g.v = xyz
-    g.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py
index b9bb9fe3da..ffe970c22c 100644
--- a/system/sensord/sensors/lsm6ds3_temp.py
+++ b/system/sensord/sensors/lsm6ds3_temp.py
@@ -23,7 +23,6 @@ class LSM6DS3_Temp(Sensor):
 
   def get_event(self, ts: int | None = None) -> log.SensorEventData:
     event = log.SensorEventData.new_message()
-    event.version = 1
     event.timestamp = int(time.monotonic() * 1e9)
     event.source = self.source
     event.temperature = self._read_temperature()
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index c82e595603..3d7d26f9fa 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -87,15 +87,12 @@ class TestSensord:
   def test_lsm6ds3_timing(self, subtests):
     # verify measurements are sampled and published at 104Hz
 
-    sensor_t = {
-      1: [], # accel
-      5: [], # gyro
-    }
+    sensor_t = {service: [] for service in ('accelerometer', 'gyroscope')}
 
-    for service in ('accelerometer', 'gyroscope'):
+    for service in sensor_t:
       for measurement in self.events.get(service, []):
         m = getattr(measurement, measurement.which())
-        sensor_t[m.sensor].append(m.timestamp)
+        sensor_t[service].append(m.timestamp)
 
     for s, vals in sensor_t.items():
       with subtests.test(sensor=s):
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index 6ac7c4fa59..d6d822c582 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -23,17 +23,12 @@ class SimulatedSensors:
   def send_imu_message(self, simulator_state: 'SimulatorState'):
     for _ in range(5):
       dat = messaging.new_message('accelerometer', valid=True)
-      dat.accelerometer.sensor = 4
-      dat.accelerometer.type = 0x10
       dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.accelerometer.init('acceleration')
       dat.accelerometer.acceleration.v = [simulator_state.imu.accelerometer.x, simulator_state.imu.accelerometer.y, simulator_state.imu.accelerometer.z]
       self.pm.send('accelerometer', dat)
 
-      # copied these numbers from locationd
       dat = messaging.new_message('gyroscope', valid=True)
-      dat.gyroscope.sensor = 5
-      dat.gyroscope.type = 0x10
       dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.gyroscope.init('gyroUncalibrated')
       dat.gyroscope.gyroUncalibrated.v = [simulator_state.imu.gyroscope.x, simulator_state.imu.gyroscope.y, simulator_state.imu.gyroscope.z]

From 39d1eec575336a63219c06bc1300773d469b7e97 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Apr 2026 15:05:07 -0700
Subject: [PATCH 021/210] Fix Tesla route spam (#37884)

bump
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index ac89f0c92d..b19b66a6f0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ac89f0c92d02405c66498b8e3086a310c547e7ea
+Subproject commit b19b66a6f0a246729953cb19390dbee1e93610b2

From df6d34e52bc8490914a4fe177bd63001761c7b2b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 15:09:56 -0700
Subject: [PATCH 022/210] remove enhancement issue template

---
 .github/ISSUE_TEMPLATE/enhancement.md | 8 --------
 1 file changed, 8 deletions(-)
 delete mode 100644 .github/ISSUE_TEMPLATE/enhancement.md

diff --git a/.github/ISSUE_TEMPLATE/enhancement.md b/.github/ISSUE_TEMPLATE/enhancement.md
deleted file mode 100644
index 330b9b1101..0000000000
--- a/.github/ISSUE_TEMPLATE/enhancement.md
+++ /dev/null
@@ -1,8 +0,0 @@
----
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
----
-

From 736cf6d9dffd0db6c6a5a2fb532bea018a3e3ead Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 16:01:35 -0700
Subject: [PATCH 023/210] clean up deprecated services (#37885)

* clean up deprecated services

* lil more
---
 cereal/log.capnp                       | 16 +++++++---------
 cereal/services.py                     |  9 ---------
 system/qcomgpsd/tests/test_qcomgpsd.py |  2 +-
 tools/jotpluggler/runtime.cc           |  1 -
 4 files changed, 8 insertions(+), 20 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 618aad1831..c0ee33743a 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2449,7 +2449,6 @@ struct Event {
     boot @60 :Boot;
 
     # ********** openpilot daemon msgs **********
-    gpsNMEA @3 :GPSNMEAData;
     can @5 :List(CanData);
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
@@ -2474,7 +2473,6 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gpsLocation @21 :GpsLocationData;
-    gnssMeasurements @91 :GnssMeasurements;
     liveParameters @61 :LiveParametersData;
     liveTorqueParameters @94 :LiveTorqueParametersData;
     liveDelay @146 : LiveDelayData;
@@ -2508,7 +2506,6 @@ struct Event {
     # systems stuff
     androidLog @20 :AndroidLogEntry;
     managerState @78 :ManagerState;
-    uploaderState @79 :UploaderState;
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
@@ -2518,12 +2515,6 @@ struct Event {
     # touch frame
     touch @135 :List(Touch);
 
-    # navigation
-    navInstruction @82 :NavInstruction;
-    navRoute @83 :NavRoute;
-    navThumbnail @84: Thumbnail;
-    mapRenderState @105: MapRenderState;
-
     # UI services
     uiDebug @102 :UIDebug;
 
@@ -2626,5 +2617,12 @@ struct Event {
     accelerometer2DEPRECATED @101 :SensorEventData;
     temperatureSensor2DEPRECATED @123 :SensorEventData;
     driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
+    gpsNMEADEPRECATED @3 :GPSNMEAData;
+    uploaderStateDEPRECATED @79 :UploaderState;
+    navInstructionDEPRECATED @82 :NavInstruction;
+    navRouteDEPRECATED @83 :NavRoute;
+    navThumbnailDEPRECATED @84 :Thumbnail;
+    gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
+    mapRenderStateDEPRECATED @105: MapRenderState;
   }
 }
diff --git a/cereal/services.py b/cereal/services.py
index c43d3cb9b6..8343874ded 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -25,7 +25,6 @@ _services: dict[str, tuple] = {
   "gyroscope": (True, 104., 104),
   "accelerometer": (True, 104., 104),
   "temperatureSensor": (True, 2., 200),
-  "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
@@ -54,7 +53,6 @@ _services: dict[str, tuple] = {
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
   "livePose": (True, 20., 4),
@@ -73,10 +71,6 @@ _services: dict[str, tuple] = {
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
-  "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 1., 10),
-  "navRoute": (True, 0.),
-  "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
@@ -98,9 +92,6 @@ _services: dict[str, tuple] = {
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "customReservedRawData0": (True, 0.),
-  "customReservedRawData1": (True, 0.),
-  "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
index 75e8707591..9b0644734e 100644
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -26,7 +26,7 @@ class TestRawgpsd:
     os.system("sudo systemctl restart ModemManager lte")
 
   def setup_method(self):
-    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
+    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation'])
 
   def teardown_method(self):
     managed_processes['qcomgpsd'].stop()
diff --git a/tools/jotpluggler/runtime.cc b/tools/jotpluggler/runtime.cc
index 6eb2be80e8..3247a5d01d 100644
--- a/tools/jotpluggler/runtime.cc
+++ b/tools/jotpluggler/runtime.cc
@@ -71,7 +71,6 @@ bool should_subscribe_stream_service(const std::string &name) {
     "livestreamRoadEncodeIdx",
     "livestreamDriverEncodeIdx",
     "thumbnail",
-    "navThumbnail",
   }};
   if (name == "rawAudioData") return false;
   for (std::string_view skipped : kSkippedServices) {

From 0be0d7fa9443c32aa261612bda222ebef7d7b2c5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 16:40:42 -0700
Subject: [PATCH 024/210] add that back, it's used in a test

---
 cereal/services.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cereal/services.py b/cereal/services.py
index 8343874ded..c2d38d852d 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -92,6 +92,7 @@ _services: dict[str, tuple] = {
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "customReservedRawData0": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}

From 0eacf34e15cd65146e1122006bd77b7f669ef9d1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 16:49:29 -0700
Subject: [PATCH 025/210] sensord: add note about shared IRQ

---
 system/sensord/sensord.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
index d17d296958..ce6fb9ccb2 100755
--- a/system/sensord/sensord.py
+++ b/system/sensord/sensord.py
@@ -22,6 +22,10 @@ I2C_BUS_IMU = 1
 def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None:
   pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt])
 
+  # NOTE: the gyro and accelerometer share an IRQ due to the comma three
+  # routing only one GPIO from the LSM to the SOC, but comma 3X and four
+  # have two. if we want better timestamps in the future, we can use both.
+
   # Requesting both edges as the data ready pulse from the lsm6ds sensor is
   # very short (75us) and is mostly detected as falling edge instead of rising.
   # So if it is detected as rising the following falling edge is skipped.

From 49685fc2bcb4c57ed1c81c532a921542e5b089c4 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Wed, 22 Apr 2026 17:59:34 -0700
Subject: [PATCH 026/210] ui: fix long maneuver toggle (#37622)

---
 selfdrive/ui/layouts/settings/developer.py      | 6 ------
 selfdrive/ui/mici/layouts/settings/developer.py | 6 ------
 2 files changed, 12 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index c61a406858..2a823b57d7 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -131,12 +131,6 @@ class DeveloperLayout(Widget):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.action_item.set_state(False)
-        self._params.put_bool("LongitudinalManeuverMode", False)
-
-      lat_man_enabled = ui_state.is_offroad()
-      self._lat_maneuver_toggle.action_item.set_enabled(lat_man_enabled)
     else:
       self._long_maneuver_toggle.action_item.set_enabled(False)
       self._lat_maneuver_toggle.action_item.set_enabled(False)
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index f47614c073..3a587f1242 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -131,12 +131,6 @@ class DeveloperLayoutMici(NavScroller):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.set_checked(False)
-        ui_state.params.put_bool("LongitudinalManeuverMode", False)
-
-      lat_man_enabled = ui_state.is_offroad()
-      self._lat_maneuver_toggle.set_enabled(lat_man_enabled)
     else:
       self._long_maneuver_toggle.set_enabled(False)
       self._lat_maneuver_toggle.set_enabled(False)

From 7d71354fd02ad6a3eea941ad10f73e666a9ac3b2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Apr 2026 19:57:59 -0700
Subject: [PATCH 027/210] ui: remove firehose count (#37886)

---
 selfdrive/ui/layouts/settings/firehose.py | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py
index ea83e962e6..f28f4e3386 100644
--- a/selfdrive/ui/layouts/settings/firehose.py
+++ b/selfdrive/ui/layouts/settings/firehose.py
@@ -1,7 +1,7 @@
 import pyray as rl
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
+from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
@@ -65,12 +65,13 @@ class FirehoseLayout(FirehoseLayoutBase):
     y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
     y += 20 + 20
 
+    # TODO: add back once reliable
     # Contribution count (if available)
-    if self._segment_count > 0:
-      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
-      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
-      y += 20 + 20
+    #if self._segment_count > 0:
+    #  contrib_text = trn("{} segment of your driving is in the training dataset so far.",
+    #                     "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+    #  y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+    #  y += 20 + 20
 
     # Separator
     rl.draw_rectangle(x, y, w, 2, self.GRAY)

From bb4b96e05de9d7fe52d00221ea58f4a91d8d33f4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 23 Apr 2026 10:20:09 -0700
Subject: [PATCH 028/210] qcomgpsd: rm XTRA assistance (#37893)

* qcomgpsd: rm XTRA assistance

* lil more

* lil more
---
 system/qcomgpsd/qcomgpsd.py            | 82 +-------------------------
 system/qcomgpsd/tests/test_qcomgpsd.py | 74 +----------------------
 2 files changed, 5 insertions(+), 151 deletions(-)

diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 47d64ff4e9..e7a8d55d6c 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -5,11 +5,8 @@ import signal
 import itertools
 import math
 import time
-import requests
-import shutil
 from serial import Serial
 import datetime
-from multiprocessing import Process, Event
 from typing import NoReturn
 from struct import unpack_from, calcsize, pack
 
@@ -30,9 +27,6 @@ from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, r
                                               LOG_GNSS_OEMDRE_SVPOLY_REPORT)
 
 DEBUG = int(os.getenv("DEBUG", "0"))==1
-ASSIST_DATA_FILE = '/tmp/xtra3grc.bin'
-ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download'
-ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'
 
 LOG_TYPES = [
   LOG_GNSS_GPS_MEASUREMENT_REPORT,
@@ -112,49 +106,8 @@ def at_cmd(cmd: str) -> str:
 def gps_enabled() -> bool:
   return "QGPS: 1" in at_cmd("AT+QGPS?")
 
-def download_assistance():
-  try:
-    response = requests.get(ASSISTANCE_URL, timeout=5, stream=True)
-
-    with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp:
-      for chunk in response.iter_content(chunk_size=8192):
-        fp.write(chunk)
-        if fp.tell() > 1e5:
-          cloudlog.error("Qcom assistance data larger than expected")
-          return
-
-    os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE)
-
-  except requests.exceptions.RequestException:
-    cloudlog.exception("Failed to download assistance file")
-    return
-
-def downloader_loop(event):
-  if os.path.exists(ASSIST_DATA_FILE):
-    os.remove(ASSIST_DATA_FILE)
-
-  alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None)
-  if alt_path is not None and os.path.exists(alt_path):
-    shutil.copyfile(alt_path, ASSIST_DATA_FILE)
-
-  try:
-    while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set():
-      download_assistance()
-      event.wait(timeout=10)
-  except KeyboardInterrupt:
-    pass
-
-@retry(attempts=5, delay=0.2, ignore_failure=True)
-def inject_assistance():
-  import subprocess
-  cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
-  subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
-  cloudlog.info("successfully loaded assistance data")
-
 @retry(attempts=5, delay=1.0)
-def setup_quectel(diag: ModemDiag) -> bool:
-  ret = False
-
+def setup_quectel(diag: ModemDiag):
   # enable OEMDRE in the NV
   # TODO: it has to reboot for this to take effect
   DIAG_NV_READ_F = 38
@@ -168,26 +121,11 @@ def setup_quectel(diag: ModemDiag) -> bool:
   if gps_enabled():
     at_cmd("AT+QGPSEND")
 
-  if "GPS_COLD_START" in os.environ:
-    # deletes all assistance
-    at_cmd("AT+QGPSDEL=0")
-  else:
-    # allow module to perform hot start
-    at_cmd("AT+QGPSDEL=1")
-
   # disable DPO power savings for more accuracy
   at_cmd("AT+QGPSCFG=\"dpoenable\",0")
   # don't automatically turn on GNSS on powerup
   at_cmd("AT+QGPSCFG=\"autogps\",0")
 
-  # Do internet assistance
-  at_cmd("AT+QGPSXTRA=1")
-  at_cmd("AT+QGPSSUPLURL=\"NULL\"")
-  if os.path.exists(ASSIST_DATA_FILE):
-    ret = True
-    inject_assistance()
-    os.remove(ASSIST_DATA_FILE)
-  #at_cmd("AT+QGPSXTRADATA?")
   if system_time_valid():
     time_str = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).strftime("%Y/%m/%d,%H:%M:%S")
     at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
@@ -214,7 +152,6 @@ def setup_quectel(diag: ModemDiag) -> bool:
     0,0
   ))
 
-  return ret
 
 def teardown_quectel(diag):
   at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
@@ -255,9 +192,6 @@ def main() -> NoReturn:
 
   wait_for_modem()
 
-  stop_download_event = Event()
-  assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,))
-  assist_fetch_proc.start()
   def cleanup(sig, frame):
     cloudlog.warning("caught sig disabling quectel gps")
 
@@ -268,18 +202,13 @@ def main() -> NoReturn:
     except NameError:
       cloudlog.warning('quectel not yet setup')
 
-    stop_download_event.set()
-    assist_fetch_proc.kill()
-    assist_fetch_proc.join()
-
     sys.exit(0)
   signal.signal(signal.SIGINT, cleanup)
   signal.signal(signal.SIGTERM, cleanup)
 
   # connect to modem
   diag = ModemDiag()
-  r = setup_quectel(diag)
-  want_assistance = not r
+  setup_quectel(diag)
   cloudlog.warning("quectel setup done")
   gpio_init(GPIO.GNSS_PWR_EN, True)
   gpio_set(GPIO.GNSS_PWR_EN, True)
@@ -287,10 +216,6 @@ def main() -> NoReturn:
   pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])
 
   while 1:
-    if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
-      setup_quectel(diag)
-      want_assistance = False
-
     opcode, payload = diag.recv()
     if opcode != DIAG_LOG_F:
       cloudlog.error(f"Unhandled opcode: {opcode}")
@@ -383,9 +308,6 @@ def main() -> NoReturn:
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
       # quectel gps verticalAccuracy is clipped to 500, set invalid if so
       gps.hasFix = gps.verticalAccuracy != 500
-      if gps.hasFix:
-        want_assistance = False
-        stop_download_event.set()
       pm.send('gpsLocation', msg)
 
     elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
index 9b0644734e..f697811ae9 100644
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -1,28 +1,22 @@
 import os
 import pytest
 import time
-import datetime
 
 import cereal.messaging as messaging
 from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
 from openpilot.system.manager.process_config import managed_processes
 
-GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
-
 
 @pytest.mark.tici
-class TestRawgpsd:
+class TestQcomgpsd:
   @classmethod
   def setup_class(cls):
-    os.environ['GPS_COLD_START'] = '1'
-    os.system("sudo systemctl start systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
     wait_for_modem()
 
   @classmethod
   def teardown_class(cls):
     managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
 
   def setup_method(self):
@@ -30,7 +24,6 @@ class TestRawgpsd:
 
   def teardown_method(self):
     managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
 
   def _wait_for_output(self, t):
     dt = 0.1
@@ -41,24 +34,10 @@ class TestRawgpsd:
       time.sleep(dt)
     return self.sm.updated['qcomGnss']
 
-  def test_no_crash_double_command(self):
-    wait_for_modem()
-    at_cmd("AT+QGPSDEL=0")
-    at_cmd("AT+QGPSDEL=0")
-
-  def test_wait_for_modem(self):
-    os.system("sudo systemctl stop ModemManager")
+  def test_startup_time(self):
     managed_processes['qcomgpsd'].start()
     assert self._wait_for_output(30)
-
-  def test_startup_time(self, subtests):
-    for internet in (True, False):
-      if not internet:
-        os.system("sudo systemctl stop systemd-resolved")
-      with subtests.test(internet=internet):
-        managed_processes['qcomgpsd'].start()
-        assert self._wait_for_output(30)
-        managed_processes['qcomgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
 
   def test_turns_off_gnss(self, subtests):
     for s in (0.1, 1, 5):
@@ -70,50 +49,3 @@ class TestRawgpsd:
         wait_for_modem()
         resp = at_cmd("AT+QGPS?")
         assert "+QGPS: 0" in resp
-
-
-  def check_assistance(self, should_be_loaded):
-    # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
-    # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
-    wait_for_modem()
-    out = at_cmd("AT+QGPSXTRADATA?")
-    out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
-    valid_duration, injected_time_str = out.split(",", 1)
-    if should_be_loaded:
-      assert valid_duration == "10080"  # should be max time
-      injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
-      assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12
-    else:
-      valid_duration, injected_time_str = out.split(",", 1)
-      injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
-      assert injected_time_str[:] == '1980/01/05,19:00:00'[:]
-      assert valid_duration == '0'
-
-  @pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
-  def test_assistance_loading(self):
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(30)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)
-
-  @pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
-  def test_no_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(30)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(False)
-
-  @pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
-  def test_late_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    self._wait_for_output(17)
-    assert self.sm.updated['qcomGnss']
-
-    os.system("sudo systemctl restart systemd-resolved")
-    time.sleep(15)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)

From ad04c6a038dd407f36b133158315077f549a4055 Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Thu, 23 Apr 2026 21:52:12 +0300
Subject: [PATCH 029/210] cruise: fix test_cruise_speed assertion (#37802)

---
 selfdrive/car/tests/test_cruise_speed.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index 05fef93b4e..bfb060874d 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -93,7 +93,7 @@ class TestVCruiseHelper:
         self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
-      assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
+      assert (not pressed) == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
 
   def test_resume_in_standstill(self):
     """

From 551e2f77bfd616e55511b3ad283b5859cdddf7e4 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 23 Apr 2026 11:55:07 -0700
Subject: [PATCH 030/210] modeld: standalone compile script (#37851)

* modeld: standalone compile script

* cleanup

* frame skip

* rm last op import

* dm warp

* no graph break

* +x compile_dm_warp.py

* don't import tg before setting device

* compile_modeld exports metadata

* update help

* namedtuple

* lint

* Revert "compile_modeld exports metadata"

This reverts commit 93c3c223567b4d4a074c9071d7f734c56f5aedcc.

* import
---
 selfdrive/modeld/SConscript            |  49 +++++++---
 selfdrive/modeld/compile_dm_warp.py    |  54 +++++++++++
 selfdrive/modeld/compile_modeld.py     | 129 +++++++++----------------
 selfdrive/modeld/dmonitoringmodeld.py  |   2 +-
 selfdrive/modeld/get_model_metadata.py |   6 +-
 selfdrive/modeld/helpers.py            |  31 ++++++
 selfdrive/modeld/modeld.py             |   4 +-
 selfdrive/modeld/tinygrad_helpers.py   |  12 ---
 8 files changed, 173 insertions(+), 114 deletions(-)
 create mode 100755 selfdrive/modeld/compile_dm_warp.py
 create mode 100644 selfdrive/modeld/helpers.py
 delete mode 100644 selfdrive/modeld/tinygrad_helpers.py

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 053eb157b6..76fef75bae 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,10 +1,23 @@
 import glob
 import json
 import os
+from itertools import product
 from SCons.Script import Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_paths
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
 
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
+MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
+                  for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
+DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
+
 Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
@@ -53,23 +66,35 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
 image_flag = {
      'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
-script_files = [File(Dir("#selfdrive/modeld").File("compile_modeld.py").abspath)]
-compile_modeld_cmd = f'{tg_flags} {mac_brew_string} {image_flag} python3 {Dir("#selfdrive/modeld").abspath}/compile_modeld.py '
+modeld_dir = Dir("#selfdrive/modeld").abspath
+compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
+compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
 driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
 driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 
-from openpilot.selfdrive.modeld.compile_modeld import MODELD_CONFIGS, DM_WARP_CONFIGS
-policy_pkls = [File(cfg.pkl_path).abspath for cfg in MODELD_CONFIGS]
-modeld_targets = policy_pkls + [File(cfg.pkl_path).abspath for cfg in DM_WARP_CONFIGS]
-compile_node = lenv.Command(modeld_targets, tinygrad_files + script_files + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], compile_modeld_cmd)
-
-# chunk the combined policy pkls
-for policy_pkl in policy_pkls:
+model_w, model_h = MEDMODEL_INPUT_SIZE
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+for cfg in MODELD_CONFIGS:
+  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_modeld.py '
+         f'--model-size {model_w}x{model_h} '
+         f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
+         f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
+         f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
+         f'--output {cfg.pkl_path} --frame-skip {frame_skip}'
+         + (' --prepare-only' if cfg.prepare_only else ''))
+  node = lenv.Command(cfg.pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], cmd)
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  chunk_targets = get_chunk_paths(policy_pkl, estimate_pickle_max_size(onnx_sizes_sum))
-  def do_chunk(target, source, env, pkl=policy_pkl, chunks=chunk_targets):
+  chunk_targets = get_chunk_paths(cfg.pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
+  def do_chunk(target, source, env, pkl=cfg.pkl_path, chunks=chunk_targets):
     chunk_file(pkl, chunks)
-  lenv.Command(chunk_targets, compile_node, do_chunk)
+  lenv.Command(chunk_targets, node, do_chunk)
+
+dm_w, dm_h = DM_INPUT_SIZE
+for cfg in DM_WARP_CONFIGS:
+  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_dm_warp.py '
+         f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
+         f'--output {cfg.pkl_path}')
+  lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
new file mode 100755
index 0000000000..2713cccf41
--- /dev/null
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+import time
+
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size, _parse_nv12
+
+
+def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
+  cam_w, cam_h, stride, _, _, _ = nv12
+  stride_pad = stride - cam_w
+
+  def warp_dm(input_frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT).realize()
+    return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
+                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
+  return warp_dm
+
+
+def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
+  print(f"Compiling DM warp for {nv12.width}x{nv12.height} -> {dm_w}x{dm_h}...")
+
+  warp_dm_jit = TinyJit(make_warp_dm(nv12, dm_w, dm_h), prune=True)
+
+  for i in range(10):
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    M_inv = Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')
+    Device.default.synchronize()
+    st = time.perf_counter()
+    warp_dm_jit(frame, M_inv).realize()
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  with open(pkl_path, "wb") as f:
+    pickle.dump(warp_dm_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+
+if __name__ == "__main__":
+  p = argparse.ArgumentParser()
+  p.add_argument('--nv12', type=_parse_nv12, required=True,
+                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
+  p.add_argument('--output', required=True)
+  args = p.parse_args()
+
+  dm_w, dm_h = args.warp_to
+  compile_dm_warp(args.nv12, dm_w, dm_h, args.output)
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index c11f899b7f..1e05ae30a4 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -1,20 +1,16 @@
 #!/usr/bin/env python3
-import time
+import argparse
 import pickle
-from dataclasses import dataclass
-from itertools import product
+import time
 from functools import partial
+from collections import namedtuple
 
 import numpy as np
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
-
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from tinygrad.nn.onnx import OnnxRunner
 
 # https://github.com/tinygrad/tinygrad/issues/15682
 from tinygrad.uop.ops import UOp, Ops
@@ -22,24 +18,7 @@ _orig = UOp.__reduce__
 UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
 
 
-@dataclass
-class CompileConfig:
-  cam_w: int
-  cam_h: int
-  prepare_only: bool
-  prefix: str
-
-  @property
-  def pkl_path(self):
-    return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
-
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
-MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_') for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
-DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
-
+NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -79,8 +58,8 @@ def frames_to_tensor(frames):
   return in_img1
 
 
-def make_frame_prepare(cam_w, cam_h, model_w, model_h):
-  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
+def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
+  cam_w, cam_h, stride, y_height, uv_height, _ = nv12
   uv_offset = stride * y_height
   stride_pad = stride - cam_w
 
@@ -143,21 +122,9 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
-  stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
-  stride_pad = stride - cam_w
-
-  def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT).realize()
-    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
-    return result
-  return warp_dm
-
-
-def make_run_policy(vision_runner, policy_runner, cam_w, cam_h,
+def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
                     vision_features_slice, frame_skip, prepare_only=False):
-  model_w, model_h = MEDMODEL_INPUT_SIZE
-  frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
@@ -187,27 +154,24 @@ def make_run_policy(vision_runner, policy_runner, cam_w, cam_h,
   return run_policy
 
 
-def compile_modeld(cam_w, cam_h, prepare_only, pkl_path):
-  from tinygrad.nn.onnx import OnnxRunner
-  from openpilot.selfdrive.modeld.constants import ModelConstants
+def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                   vision_onnx, policy_onnx, pkl_path):
+  from get_model_metadata import metadata_path_for
 
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-  print(f"Compiling combined policy JIT for {cam_w}x{cam_h}...")
+  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
 
-  vision_runner = OnnxRunner(MODELS_DIR / 'driving_vision.onnx')
-  policy_runner = OnnxRunner(MODELS_DIR / 'driving_policy.onnx')
+  vision_runner = OnnxRunner(vision_onnx)
+  policy_runner = OnnxRunner(policy_onnx)
 
-  with open(MODELS_DIR / 'driving_vision_metadata.pkl', 'rb') as f:
+  with open(metadata_path_for(vision_onnx), 'rb') as f:
     vision_metadata = pickle.load(f)
     vision_features_slice = vision_metadata['output_slices']['hidden_state']
     vision_input_shapes = vision_metadata['input_shapes']
-  with open(MODELS_DIR / 'driving_policy_metadata.pkl', 'rb') as f:
+  with open(metadata_path_for(policy_onnx), 'rb') as f:
     policy_input_shapes = pickle.load(f)['input_shapes']
 
-  frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-
-  _run = make_run_policy(vision_runner, policy_runner,
-                         cam_w, cam_h, vision_features_slice, frame_skip, prepare_only)
+  _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
+                         vision_features_slice, frame_skip, prepare_only)
   run_policy_jit = TinyJit(_run, prune=True)
 
   N_RUNS = 3
@@ -219,8 +183,8 @@ def compile_modeld(cam_w, cam_h, prepare_only, pkl_path):
     Tensor.manual_seed(seed)
 
     for i in range(N_RUNS):
-      frame = Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize()
-      big_frame = Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize()
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
@@ -260,37 +224,30 @@ def compile_modeld(cam_w, cam_h, prepare_only, pkl_path):
   random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
 
 
-def compile_dm_warp(cam_w, cam_h, pkl_path):
-  dm_w, dm_h = DM_INPUT_SIZE
-  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
-  print(f"Compiling DM warp for {cam_w}x{cam_h}...")
-
-  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
-  warp_dm_jit = TinyJit(warp_dm, prune=True)
-
-  for i in range(10):
-    inputs = [Tensor.randint(yuv_size, low=0, high=256, dtype='uint8').realize(),
-              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    Device.default.synchronize()
-    st = time.perf_counter()
-    warp_dm_jit(*inputs)
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  with open(pkl_path, "wb") as f:
-    pickle.dump(warp_dm_jit, f)
-  print(f"  Saved to {pkl_path}")
+def _parse_size(s):
+  w, h = s.lower().split('x')
+  return int(w), int(h)
 
 
-def run_and_save_pickle():
-  for cfg in MODELD_CONFIGS:
-    compile_modeld(cfg.cam_w, cfg.cam_h, cfg.prepare_only, cfg.pkl_path)
-  for cfg in DM_WARP_CONFIGS:
-    compile_dm_warp(cfg.cam_w, cfg.cam_h, cfg.pkl_path)
+def _parse_nv12(s):
+  parts = s.split(',')
+  assert len(parts) == len(NV12Frame._fields), \
+    f"--nv12 expects {','.join(NV12Frame._fields)} (got {s!r})"
+  return NV12Frame(*(int(x) for x in parts))
 
 
 if __name__ == "__main__":
-  run_and_save_pickle()
+  p = argparse.ArgumentParser()
+  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  p.add_argument('--nv12', type=_parse_nv12, required=True,
+                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--vision-onnx', required=True)
+  p.add_argument('--policy-onnx', required=True)
+  p.add_argument('--output', required=True)
+  p.add_argument('--prepare-only', action='store_true')
+  p.add_argument('--frame-skip', type=int, required=True)
+  args = p.parse_args()
+
+  model_w, model_h = args.model_size
+  compile_modeld(args.nv12, model_w, model_h, args.prepare_only, args.frame_skip,
+                 args.vision_onnx, args.policy_onnx, args.output)
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index d5901e8943..9aaf6aa9e0 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 from tinygrad.tensor import Tensor
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
index 838b1e9f40..ee08e9fb14 100755
--- a/selfdrive/modeld/get_model_metadata.py
+++ b/selfdrive/modeld/get_model_metadata.py
@@ -7,6 +7,10 @@ from typing import Any
 
 from tinygrad.nn.onnx import OnnxPBParser
 
+def metadata_path_for(onnx_path) -> pathlib.Path:
+  p = pathlib.Path(onnx_path)
+  return p.parent / (p.stem + '_metadata.pkl')
+
 
 class MetadataOnnxPBParser(OnnxPBParser):
   def _parse_ModelProto(self) -> dict:
@@ -48,7 +52,7 @@ if __name__ == "__main__":
     'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
   }
 
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  metadata_path = metadata_path_for(model_path)
   with open(metadata_path, 'wb') as f:
     pickle.dump(metadata, f)
 
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
new file mode 100644
index 0000000000..e5d731f34b
--- /dev/null
+++ b/selfdrive/modeld/helpers.py
@@ -0,0 +1,31 @@
+import json
+import os
+from dataclasses import dataclass
+from pathlib import Path
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+
+MODELS_DIR = Path(__file__).resolve().parent / 'models'
+COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
+
+
+def set_tinygrad_backend_from_compiled_flags() -> None:
+  if os.path.isfile(COMPILED_FLAGS_PATH):
+    with open(COMPILED_FLAGS_PATH) as f:
+      os.environ['DEV'] = str(json.load(f)['DEV'])
+
+
+@dataclass
+class CompileConfig:
+  cam_w: int
+  cam_h: int
+  prepare_only: bool
+  prefix: str
+
+  @property
+  def pkl_path(self):
+    return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
+
+  @property
+  def nv12(self):
+    return (self.cam_w, self.cam_h, *get_nv12_info(self.cam_w, self.cam_h))
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 7a8a442981..73ed19ec94 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 USBGPU = "USBGPU" in os.environ
@@ -26,7 +26,7 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import CompileConfig, make_input_queues
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
deleted file mode 100644
index 9c1a0d4689..0000000000
--- a/selfdrive/modeld/tinygrad_helpers.py
+++ /dev/null
@@ -1,12 +0,0 @@
-import json
-import os
-from pathlib import Path
-
-MODELS_DIR = Path(__file__).resolve().parent / 'models'
-COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
-
-
-def set_tinygrad_backend_from_compiled_flags() -> None:
-  if os.path.isfile(COMPILED_FLAGS_PATH):
-    with open(COMPILED_FLAGS_PATH) as f:
-      os.environ['DEV'] = str(json.load(f)['DEV'])

From 1c69770c5376bb72966f19e89e680f1916503ec8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 23 Apr 2026 13:15:08 -0700
Subject: [PATCH 031/210] tools/setup: support all common Linux distros
 (#37765)

* shorter ubuntu

* tools/setup: support all common Linux distros
---
 tools/setup_dependencies.sh | 86 ++++++++++++++++---------------------
 1 file changed, 37 insertions(+), 49 deletions(-)

diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 8132cd16dc..73cee5569b 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -19,7 +19,7 @@ function retry() {
   return 1
 }
 
-function install_ubuntu_deps() {
+function install_linux_deps() {
   SUDO=""
 
   if [[ ! $(id -u) -eq 0 ]]; then
@@ -30,61 +30,49 @@ function install_ubuntu_deps() {
     SUDO="sudo"
   fi
 
-  # Detect OS using /etc/os-release file
-  if [ -f "/etc/os-release" ]; then
-    source /etc/os-release
-    case "$VERSION_CODENAME" in
-      "jammy" | "kinetic" | "noble")
-        ;;
-      *)
-        echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
-        read -p "Would you like to attempt installation anyway? " -n 1 -r
-        echo ""
-        if [[ ! $REPLY =~ ^[Yy]$ ]]; then
-          exit 1
-        fi
-        ;;
-    esac
+  # normal stuff, this mostly for bare docker images
+  if command -v apt-get > /dev/null 2>&1; then
+    $SUDO apt-get update
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
+  elif command -v dnf > /dev/null 2>&1; then
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+  elif command -v yum > /dev/null 2>&1; then
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+  elif command -v pacman > /dev/null 2>&1; then
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
+  elif command -v zypper > /dev/null 2>&1; then
+    $SUDO zypper --non-interactive refresh
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
+  elif command -v apk > /dev/null 2>&1; then
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
+  elif command -v xbps-install > /dev/null 2>&1; then
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
   else
-    echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
+    echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
   fi
 
-  $SUDO apt-get update
-
-  # normal stuff, mostly for the bare docker image
-  $SUDO apt-get install -y --no-install-recommends \
-    ca-certificates \
-    build-essential \
-    curl \
-    libcurl4-openssl-dev \
-    locales \
-    git \
-    xvfb
-
   if [[ -d "/etc/udev/rules.d/" ]]; then
-    # Setup jungle udev rules
-    $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
+    $SUDO tee /etc/udev/rules.d/11-openpilot.rules > /dev/null <<-EOF
+	# Panda Jungle devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
 
-EOF
+	# Panda devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
 
-    # Setup panda udev rules
-    $SUDO tee /etc/udev/rules.d/11-panda.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
-EOF
+	# comma devices over ADB
+	SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
+	EOF
 
-    # Setup adb udev rules
-    $SUDO tee /etc/udev/rules.d/50-comma-adb.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
-EOF
+    # delete the old ones
+    $SUDO rm -f /etc/udev/rules.d/11-panda.rules /etc/udev/rules.d/12-panda_jungle.rules /etc/udev/rules.d/50-comma-adb.rules
 
     $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
   fi
@@ -116,7 +104,7 @@ function install_python_deps() {
 # --- Main ---
 
 if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-  install_ubuntu_deps
+  install_linux_deps
   echo "[ ] installed system dependencies t=$SECONDS"
 elif [[ "$OSTYPE" == "darwin"* ]]; then
   if [[ $SHELL == "/bin/zsh" ]]; then

From c3b0f0d11a68836ad59b4a47df8145520ae96d50 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 23 Apr 2026 15:23:31 -0700
Subject: [PATCH 032/210] dmonitoringmodeld: get frame size from vipc (#37897)

---
 selfdrive/modeld/dmonitoringmodeld.py | 20 ++++++++------------
 1 file changed, 8 insertions(+), 12 deletions(-)

diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 9aaf6aa9e0..18a79136ae 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 from tinygrad.tensor import Tensor
@@ -28,7 +28,7 @@ class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
 
-  def __init__(self):
+  def __init__(self, cam_w: int, cam_h: int):
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']
@@ -40,22 +40,18 @@ class ModelState:
 
     self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
     self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
-    self.frame_buf_params = None
+    self.frame_buf_params = get_nv12_info(cam_w, cam_h)
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self._blob_cache : dict[int, Tensor] = {}
-    self.image_warp = None
     self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
+    with open(CompileConfig(cam_w, cam_h, prefix='dm_', prepare_only=True).pkl_path, "rb") as f:
+      self.image_warp = pickle.load(f)
 
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
 
-    if self.image_warp is None:
-      self.frame_buf_params = get_nv12_info(buf.width, buf.height)
-      warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
-      with open(warp_path, "rb") as f:
-        self.image_warp = pickle.load(f)
     ptr = buf.data.ctypes.data
     # There is a ringbuffer of imgs, just cache tensors pointing to all of them
     if ptr not in self._blob_cache:
@@ -109,9 +105,6 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
 def main():
   config_realtime_process(7, 5)
 
-  model = ModelState()
-  cloudlog.warning("models loaded, dmonitoringmodeld starting")
-
   cloudlog.warning("connecting to driver stream")
   vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
   while not vipc_client.connect(False):
@@ -119,6 +112,9 @@ def main():
   assert vipc_client.is_connected()
   cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
 
+  model = ModelState(vipc_client.width, vipc_client.height)
+  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+
   sm = SubMaster(["liveCalibration"])
   pm = PubMaster(["driverStateV2"])
 

From 275206c14d80225fed79a289171c98827c901e97 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Thu, 23 Apr 2026 15:44:09 -0700
Subject: [PATCH 033/210] increase MAX_ROLL threshold for lateral_maneuvers
 (#37898)

increase MAX_ROLL for starting lateral maneuvers due to device mounting variance
---
 tools/lateral_maneuvers/lateral_maneuversd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/lateral_maneuvers/lateral_maneuversd.py b/tools/lateral_maneuvers/lateral_maneuversd.py
index d8a7185410..4f68d9be08 100755
--- a/tools/lateral_maneuvers/lateral_maneuversd.py
+++ b/tools/lateral_maneuvers/lateral_maneuversd.py
@@ -13,7 +13,7 @@ from openpilot.tools.longitudinal_maneuvers.maneuversd import Action, Maneuver a
 # thresholds for starting maneuvers
 MAX_SPEED_DEV = 0.7 # deviation in m/s
 MAX_CURV = 0.002 # 500 m radius
-MAX_ROLL = 0.08 # 4.56°
+MAX_ROLL = 0.12 # 6.8°
 TIMER = 2.0 # sec stable conditions before starting maneuver
 
 @dataclass

From 63068481d7d52571b440b159157d427ac5833ed6 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Thu, 23 Apr 2026 16:19:30 -0700
Subject: [PATCH 034/210] fix build docs CI (#37899)

docs: fix build
---
 docs/ext/glossary.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/ext/glossary.py b/docs/ext/glossary.py
index 35c92add10..9bbf3c78d7 100644
--- a/docs/ext/glossary.py
+++ b/docs/ext/glossary.py
@@ -8,7 +8,7 @@ from markdown.extensions import Extension
 from markdown.preprocessors import Preprocessor
 from markdown.treeprocessors import Treeprocessor
 
-from zensical.extensions.links import LinksProcessor
+from zensical.extensions.links import LinksTreeprocessor
 
 GlossaryTerm = tuple[str, re.Pattern[str], str]
 
@@ -78,7 +78,7 @@ class GlossaryTreeprocessor(Treeprocessor):
   def run(self, root: ET.Element) -> None:
     at = self.md.treeprocessors.get_index_for_name("zrelpath")
     processor = self.md.treeprocessors[at]
-    if not isinstance(processor, LinksProcessor):
+    if not isinstance(processor, LinksTreeprocessor):
       raise TypeError("Links processor not registered")
     if processor.path == GLOSSARY_PAGE:
       return

From ad875632ac3e5e528db330c2ec249b8bec57df23 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 23 Apr 2026 16:55:37 -0700
Subject: [PATCH 035/210] camerad: switch on-sensor binning to BPS downscaling
 (#37876)

* update blob

* fixed

* didnt catch this

* add back

* needs BLC built in

* for real

* attempt2

* clean up override

* this should keep ox as was

* disable for OX

* update descs

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/bps_blobs.h         | 18 +++---
 system/camerad/cameras/spectra.cc          | 66 ++++++++++++++++++----
 system/camerad/cameras/spectra.h           |  1 +
 system/camerad/sensors/os04c10.cc          | 23 ++------
 system/camerad/sensors/os04c10_registers.h | 54 ++++++------------
 system/camerad/sensors/sensor.h            |  1 -
 6 files changed, 87 insertions(+), 76 deletions(-)

diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index 4a0de6659d..ee31698e7f 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -8,23 +8,23 @@
 
 
 unsigned char bps_cfg[4][768] = {
+{ /* placeholder */ },
 { /* placeholder */ },
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 };
 
-unsigned char bps_striping_output[4][0x9a0] = {
+unsigned char bps_striping_output[4][0xc58] = {
 { /* placeholder */ },
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 };
 
 unsigned char bps_settings[4][684] = {
 { /* placeholder */ },
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+  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
 };
 
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 23c58c1ec9..1ebb36a4d9 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -466,8 +466,11 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     * BPS = Bayer Processing Segment
   */
 
-  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2;
-  size += sizeof(struct cam_patch_desc)*12;
+  bool needs_downscale = sensor->out_scale > 1;
+  int num_io_cfgs = needs_downscale ? 3 : 2;
+  int num_patches = needs_downscale ? 14 : 12;
+  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*num_io_cfgs;
+  size += sizeof(struct cam_patch_desc)*num_patches;
 
   uint32_t cam_packet_handle = 0;
   auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -607,7 +610,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK;
     tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8;
     tmp.clk.budget_ns = 0x1fca058;
-    tmp.clk.frame_cycles = 2329024; // comes from the striping lib
+    tmp.clk.frame_cycles = sensor->frame_width * sensor->frame_height; // matches striping lib pixelCount
     tmp.clk.rt_flag = 0x0;
     tmp.clk.uncompressed_bw = 0x38512180;
     tmp.clk.compressed_bw = 0x38512180;
@@ -622,7 +625,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
   }
 
   // *** io config ***
-  pkt->num_io_configs = 2;
+  pkt->num_io_configs = num_io_cfgs;
   pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
   struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
   {
@@ -666,11 +669,39 @@ void SpectraCamera::config_bps(int idx, int request_id) {
 
     io_cfg[1].format = CAM_FORMAT_NV12;  // TODO: why is this 21 in the dump? should be 12
     io_cfg[1].color_space = CAM_COLOR_SPACE_BT601_FULL;
-    io_cfg[1].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
+    io_cfg[1].resource_type = needs_downscale ? CAM_ICP_BPS_OUTPUT_IMAGE_REG1 : CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
     io_cfg[1].fence = sync_objs_bps[idx];
     io_cfg[1].direction = CAM_BUF_OUTPUT;
     io_cfg[1].subsample_pattern = 0x1;
     io_cfg[1].framedrop_pattern = 0x1;
+
+    if (needs_downscale) {
+      // downscaling needs a full res placeholder
+      uint32_t full_stride, full_y_h, full_uv_h, full_yuv_size;
+      std::tie(full_stride, full_y_h, full_uv_h, full_yuv_size) = get_nv12_info(sensor->frame_width, sensor->frame_height);
+      io_cfg[2].mem_handle[0] = bps_fullres_dummy.handle;
+      io_cfg[2].mem_handle[1] = bps_fullres_dummy.handle;
+      io_cfg[2].planes[0] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height,
+        .plane_stride = full_stride,
+        .slice_height = full_y_h,
+      };
+      io_cfg[2].planes[1] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height / 2,
+        .plane_stride = full_stride,
+        .slice_height = full_uv_h,
+      };
+      io_cfg[2].offsets[1] = ALIGNED_SIZE(full_stride * full_y_h, 0x1000);
+      io_cfg[2].format = CAM_FORMAT_NV12;
+      io_cfg[2].color_space = CAM_COLOR_SPACE_BT601_FULL;
+      io_cfg[2].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
+      io_cfg[2].fence = sync_objs_bps[idx];
+      io_cfg[2].direction = CAM_BUF_OUTPUT;
+      io_cfg[2].subsample_pattern = 0x1;
+      io_cfg[2].framedrop_pattern = 0x1;
+    }
   }
 
   // *** patches ***
@@ -690,9 +721,17 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     // input frame
     add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[0].ptr[0]), buf_handle_raw[idx], 0);
 
-    // output frame
-    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0);
-    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    if (needs_downscale) {
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), bps_fullres_dummy.handle, 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), bps_fullres_dummy.handle, io_cfg[2].offsets[1]);
+      // output frame at REG1
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[7].ptr[0]), buf_handle_yuv[idx], 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[7].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    } else {
+      // output frame at FULL
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    }
 
     // rest of buffers
     add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, settings_addr), bps_iq.handle, 0);
@@ -1003,9 +1042,6 @@ bool SpectraCamera::openSensor() {
   LOGD("-- Probing sensor %d", cc.camera_num);
 
   auto init_sensor_lambda = [this](SensorInfo *s) {
-    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
-      ((OS04C10*)s)->ife_downscale_configure();
-    }
     sensor.reset(s);
     return (sensors_init() == 0);
   };
@@ -1183,7 +1219,13 @@ void SpectraCamera::configICP() {
 
   // used internally by the BPS, we just allocate it.
   // size comes from the BPSStripingLib
-  bps_cdm_striping_bl.init(m, 0xa100, 0x20, true, m->icp_device_iommu);
+  bps_cdm_striping_bl.init(m, 0xcfe0, 0x20, true, m->icp_device_iommu);
+
+  if (sensor->out_scale > 1) {
+    uint32_t full_stride, full_y_h, full_uv_h, full_yuv_size;
+    std::tie(full_stride, full_y_h, full_uv_h, full_yuv_size) = get_nv12_info(sensor->frame_width, sensor->frame_height);
+    bps_fullres_dummy.init(m, full_yuv_size, 0x1000, true, m->icp_device_iommu);
+  }
 
   // LUTs
   assert(sensor->linearization_lut.size() == 36);
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 741e8ad276..b8964aed6c 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -174,6 +174,7 @@ public:
   SpectraBuf bps_striping;
   SpectraBuf bps_linearization_lut;
   SpectraBuf bps_gamma_lut;
+  SpectraBuf bps_fullres_dummy;
   std::vector<uint32_t> bps_lin_reg;
   std::vector<uint32_t> bps_ccm_reg;
 
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 62c26ca809..7e837f819c 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -21,27 +21,16 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 }  // namespace
 
-void OS04C10::ife_downscale_configure() {
-  out_scale = 2;
-
-  pixel_size_mm = 0.002;
-  frame_width = 2688;
-  frame_height = 1520;
-  exposure_time_max = 2352;
-
-  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
-}
-
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
-  pixel_size_mm = 0.004;
+  pixel_size_mm = 0.002;
   data_word = false;
 
-  // hdr_offset = 64 * 2 + 8; // stagger
-  frame_width = 1344;
-  frame_height = 760; //760 * 2 + hdr_offset;
-  frame_stride = (frame_width * 12 / 8); // no alignment
+  out_scale = 2;
+  frame_width = 2688;
+  frame_height = 1520;
+  frame_stride = frame_width * 12 / 8;
 
   extra_height = 0;
   frame_offset = 0;
@@ -65,7 +54,7 @@ OS04C10::OS04C10() {
   dc_gain_on_grey = 0.9;
   dc_gain_off_grey = 1.0;
   exposure_time_min = 2;
-  exposure_time_max = 1684;
+  exposure_time_max = 2352;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
   analog_gain_max_idx = 0x28;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 28d6b3310c..45512851bc 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -4,7 +4,7 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
 
 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x0103, 0x01}, // software reset
 
   // PLL + clocks
@@ -93,7 +93,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x388b, 0x00},
   {0x3c80, 0x10},
   {0x3c86, 0x00},
-  {0x3c8c, 0x20},
+  {0x3c8c, 0x40},
   {0x3c9f, 0x01},
   {0x3d85, 0x1b},
   {0x3d8c, 0x71},
@@ -197,7 +197,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0x48},
   {0x370c, 0x01},
   {0x370f, 0x00},
-  {0x3714, 0x28},
+  {0x3714, 0x24},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -229,7 +229,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
-  {0x37c2, 0x14},
+  {0x37c2, 0x04},
   {0x37cd, 0x19},
   {0x37e0, 0x08},
   {0x37e6, 0x04},
@@ -239,14 +239,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37d8, 0x02},
   {0x37e2, 0x10},
   {0x3739, 0x10},
-  {0x3662, 0x08},
+  {0x3662, 0x10},
   {0x37e4, 0x20},
   {0x37e3, 0x08},
-  {0x37d9, 0x04},
+  {0x37d9, 0x08},
   {0x4040, 0x00},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
 
   // FSIN - frame sync
   {0x3002, 0x22},
@@ -267,20 +267,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
   {0x3811, 0x08},
   {0x3813, 0x08},
-  {0x3814, 0x03},
+  {0x3814, 0x01},
   {0x3815, 0x01},
-  {0x3816, 0x03},
+  {0x3816, 0x01},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS (line length)
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS (frame length)
 
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
@@ -330,23 +330,3 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
 };
-
-const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
-  {0x3c8c, 0x40},
-  {0x3714, 0x24},
-  {0x37c2, 0x04},
-  {0x3662, 0x10},
-  {0x37d9, 0x08},
-  {0x4041, 0x07},
-  {0x4008, 0x02},
-  {0x4009, 0x0d},
-  {0x3808, 0x0a}, {0x3809, 0x80},
-  {0x380a, 0x05}, {0x380b, 0xf0},
-  {0x3814, 0x01},
-  {0x3816, 0x01},
-  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
-  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
-  {0x3820, 0xb0},
-  {0x3821, 0x00},
-};
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 96aa8b604f..1a647d1528 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -98,7 +98,6 @@ public:
 class OS04C10 : public SensorInfo {
 public:
   OS04C10();
-  void ife_downscale_configure();
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;

From 494eba59618634e00583aaab24c631ab14cfdc09 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Fri, 24 Apr 2026 13:22:43 -0700
Subject: [PATCH 036/210] Raise mici thermal limits (#37891)

* adjust thermal bands

* raise OFFROAD_DANGER_TEMP

* rename thermal bands

* rm warm
---
 cereal/log.capnp                   |  8 ++++----
 selfdrive/selfdrived/selfdrived.py |  2 +-
 selfdrive/ui/layouts/sidebar.py    |  4 +---
 system/hardware/hardwared.py       | 28 +++++++++++++++++-----------
 4 files changed, 23 insertions(+), 19 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index c0ee33743a..71e9deb5b2 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -460,10 +460,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   }
 
   enum ThermalStatus {
-    green @0;
-    yellow @1;
-    red @2;
-    danger @3;
+    ok @0;
+    warmDEPRECATED @1;
+    overheated @2;
+    critical @3;
   }
 
   enum NetworkType {
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 110b0b722e..52ddb8397c 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -226,7 +226,7 @@ class SelfdriveD:
         self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
-    if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
+    if self.sm['deviceState'].thermalStatus >= ThermalStatus.overheated:
       self.events.add(EventName.overheat)
     if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
       self.events.add(EventName.outOfSpace)
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index a7f3a46279..3b45c994c0 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -121,10 +121,8 @@ class Sidebar(Widget):
   def _update_temperature_status(self, device_state):
     thermal_status = device_state.thermalStatus
 
-    if thermal_status == ThermalStatus.green:
+    if thermal_status == ThermalStatus.ok:
       self._temp_status.update(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
-    elif thermal_status == ThermalStatus.yellow:
-      self._temp_status.update(tr_noop("TEMP"), tr_noop("OK"), Colors.WARNING)
     else:
       self._temp_status.update(tr_noop("TEMP"), tr_noop("HIGH"), Colors.DANGER)
 
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 4324e90c75..97b84c0e4b 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -41,15 +41,21 @@ HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'ne
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
-THERMAL_BANDS = OrderedDict({
-  ThermalStatus.green: ThermalBand(None, 80.0),
-  ThermalStatus.yellow: ThermalBand(75.0, 96.0),
-  ThermalStatus.red: ThermalBand(88.0, 107.),
-  ThermalStatus.danger: ThermalBand(94.0, None),
-})
+if HARDWARE.get_device_type() == "mici":
+  THERMAL_BANDS = OrderedDict({
+    ThermalStatus.ok: ThermalBand(None, 100.0),
+    ThermalStatus.overheated: ThermalBand(92.0, 107.),
+    ThermalStatus.critical: ThermalBand(98.0, None),
+  })
+else:
+  THERMAL_BANDS = OrderedDict({
+    ThermalStatus.ok: ThermalBand(None, 96.0),
+    ThermalStatus.overheated: ThermalBand(88.0, 107.),
+    ThermalStatus.critical: ThermalBand(94.0, None),
+  })
 
 # Override to highest thermal band when offroad and above this temp
-OFFROAD_DANGER_TEMP = 75
+OFFROAD_DANGER_TEMP = 85 if HARDWARE.get_device_type() == "mici" else 75
 
 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}
 
@@ -181,7 +187,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   started_ts: float | None = None
   started_seen = False
   startup_blocked_ts: float | None = None
-  thermal_status = ThermalStatus.yellow
+  thermal_status = ThermalStatus.ok
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
@@ -289,7 +295,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
       # if device is offroad and already hot without the extra onroad load,
       # we want to cool down first before increasing load
-      thermal_status = ThermalStatus.danger
+      thermal_status = ThermalStatus.critical
     else:
       current_band = THERMAL_BANDS[thermal_status]
       band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
@@ -312,13 +318,13 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
 
     # must be at an engageable thermal band to go onroad
-    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
+    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.overheated
 
     # ensure device is fully booted
     startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
 
     # if the temperature enters the danger zone, go offroad to cool down
-    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
+    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.critical
     extra_text = f"{offroad_comp_temp:.1f}C"
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)

From 8c533b14c0a3346d76397491d143b6ef13ea94e8 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Fri, 24 Apr 2026 13:24:29 -0700
Subject: [PATCH 037/210] AGNOS 18.1 (#37895)

* test agnos18.1 in staging

* loggerd: link va/va-drm/drm on larch64

* agnos 18.1 production
---
 launch_env.sh                            |  2 +-
 system/hardware/tici/agnos.json          | 20 ++++++-------
 system/hardware/tici/all-partitions.json | 36 ++++++++++++------------
 system/loggerd/SConscript                |  5 ++--
 4 files changed, 32 insertions(+), 31 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index e409a80dd4..275f5e42f4 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="17.2"
+  export AGNOS_VERSION="18.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 295b0279d9..e6dfb6b91a 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
-    "hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
-    "hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04.img.xz",
+    "hash": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
+    "hash_raw": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
     "size": 17500160,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2454108de1161289bc4a75449ad6421f1772b13b3e5cba68a84fca7530557699"
+    "ondevice_hash": "4e12accbcbb03fd9eebc5c1231a7b79dc1d9e15341cce56dc88930832ee86207"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz",
-    "hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
-    "hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img.xz",
+    "hash": "bb4ccf77037120ace841cbcd94387c0650b317595cd0eab555b3ba0beb74e840",
+    "hash_raw": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
+    "ondevice_hash": "f1505151cde236f0d3ccdb764e3c604761ad2c1beb40f2c340ea9470d0cecc0e",
     "alt": {
-      "hash": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img",
+      "hash": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 0801907a2d..1d826a5dc9 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -339,51 +339,51 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
-    "hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
-    "hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04.img.xz",
+    "hash": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
+    "hash_raw": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
     "size": 17500160,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2454108de1161289bc4a75449ad6421f1772b13b3e5cba68a84fca7530557699"
+    "ondevice_hash": "4e12accbcbb03fd9eebc5c1231a7b79dc1d9e15341cce56dc88930832ee86207"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz",
-    "hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
-    "hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img.xz",
+    "hash": "bb4ccf77037120ace841cbcd94387c0650b317595cd0eab555b3ba0beb74e840",
+    "hash_raw": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
+    "ondevice_hash": "f1505151cde236f0d3ccdb764e3c604761ad2c1beb40f2c340ea9470d0cecc0e",
     "alt": {
-      "hash": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img",
+      "hash": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-a7b25ea29255f4fd3a2da99e037f40b4ca10bd4afd57dd96563353b8dfb0f634.img.xz",
-    "hash": "7ea9d7d4685ec36bbfdf06afe0b51650d567416c3092fef96bd97158ed322742",
-    "hash_raw": "a7b25ea29255f4fd3a2da99e037f40b4ca10bd4afd57dd96563353b8dfb0f634",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-6bf2fb546944f6fc0cdf865f92ade316430a75a7b1680d3fe891b34921c29b64.img.xz",
+    "hash": "f3badccff4330301cdae10e072a460a331421715f71253ea3bdcbf708f61d012",
+    "hash_raw": "6bf2fb546944f6fc0cdf865f92ade316430a75a7b1680d3fe891b34921c29b64",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "79ed653c1679d84b13ee23083a511b0e668454e4af9b0db99a3279072ed041c1"
+    "ondevice_hash": "82e907612afc989363656c821b9cf2107cddcbdc5030cc9b5608a38855dd1c60"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-8e428632c967aa609cac184bff938a90240e53ffd3b4fca40bc94c33c81202ba.img.xz",
-    "hash": "7104cdb0384e4ecb1ebfa6136a2330251bc8aa829b9ec48c4b740f656252d382",
-    "hash_raw": "8e428632c967aa609cac184bff938a90240e53ffd3b4fca40bc94c33c81202ba",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-575b01a0e84bff31180a1589b9d62810e2198e4012250e01fd80c2d5cd9ba9e1.img.xz",
+    "hash": "ebeebbe3b8e111fe807b88b993b2fa50c0ea15e838c531a3885dd3037338b1a4",
+    "hash_raw": "575b01a0e84bff31180a1589b9d62810e2198e4012250e01fd80c2d5cd9ba9e1",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "fbede3b0831dbc4a4edd336e5f547f4978902b9421fb1484e86c416192c59165"
+    "ondevice_hash": "2a9d00ad72978d94640e7fb6c4b20b398e1a1bbc7a0c32f7d02fa988f755bd12"
   }
 ]
\ No newline at end of file
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index 45e8b25d20..37812639ff 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -11,8 +11,9 @@ if arch != "larch64":
   libs += ['yuv']
   if arch == "Darwin":
     frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
-  else:
-    libs += ['va', 'va-drm', 'drm']
+
+if arch != "Darwin":
+  libs += ['va', 'va-drm', 'drm']
 
 if arch == "Darwin":
   # exclude v4l

From 79cd8420eb62605e58f829041df41d91ebe98164 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 24 Apr 2026 15:02:37 -0700
Subject: [PATCH 038/210] jp: 2x faster parsing (#37904)

* jp: 2x faster parsing

* rm dynamic path

* cleanup

* lil more

* livin in the future

* clean that up

* one more
---
 tools/jotpluggler/.gitignore                  |   1 +
 tools/jotpluggler/SConscript                  |  18 +
 .../jotpluggler/generate_event_extractors.py  | 327 +++++++++++++++
 tools/jotpluggler/sketch_layout.cc            | 390 ++----------------
 4 files changed, 380 insertions(+), 356 deletions(-)
 create mode 100644 tools/jotpluggler/generate_event_extractors.py

diff --git a/tools/jotpluggler/.gitignore b/tools/jotpluggler/.gitignore
index 7cb98300fe..5f5f9dbdec 100644
--- a/tools/jotpluggler/.gitignore
+++ b/tools/jotpluggler/.gitignore
@@ -3,6 +3,7 @@ jot_*.o
 *.o
 jotpluggler
 car_fingerprint_to_dbc.h
+generated_event_extractors.h
 generated_dbcs/.stamp
 generated_dbcs/*.dbc
 layouts/.jotpluggler_autosave/
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
index 122d502341..082d052445 100644
--- a/tools/jotpluggler/SConscript
+++ b/tools/jotpluggler/SConscript
@@ -1,4 +1,5 @@
 import os
+import subprocess
 import imgui
 import libusb
 from opendbc import get_generated_dbcs
@@ -77,8 +78,24 @@ def write_car_fingerprint_to_dbc_header(target, source, env):
 
   return None
 
+def generate_event_extractors(target, source, env):
+  subprocess.check_call([
+    "python3",
+    "tools/jotpluggler/generate_event_extractors.py",
+    os.path.realpath(BASEDIR),
+    str(target[0]),
+  ])
+  return None
+
 generated_dbc_stamp = jot_env.Command(f"generated_dbcs/.stamp", [], materialize_generated_dbcs)
 car_fingerprint_to_dbc = jot_env.Command("car_fingerprint_to_dbc.h", [], write_car_fingerprint_to_dbc_header)
+event_extractors = jot_env.Command("generated_event_extractors.h", [
+    "generate_event_extractors.py",
+    jot_env.Glob("#cereal/*.capnp"),
+    jot_env.Glob("#cereal/include/*.capnp"),
+  ],
+  generate_event_extractors,
+)
 
 libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"),
         "avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "m", "pthread", "usb-1.0"]
@@ -90,3 +107,4 @@ else:
 program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
 jot_env.Depends(program, generated_dbc_stamp)
 jot_env.Depends(program, car_fingerprint_to_dbc)
+jot_env.Depends(program, event_extractors)
diff --git a/tools/jotpluggler/generate_event_extractors.py b/tools/jotpluggler/generate_event_extractors.py
new file mode 100644
index 0000000000..1aba9578cd
--- /dev/null
+++ b/tools/jotpluggler/generate_event_extractors.py
@@ -0,0 +1,327 @@
+import sys
+import capnp
+from pathlib import Path
+
+NO_DISCRIMINANT = 65535
+SCALAR_KINDS = {
+  "bool": "Bool",
+  "int8": "Int",
+  "int16": "Int",
+  "int32": "Int",
+  "int64": "Int",
+  "uint8": "UInt",
+  "uint16": "UInt",
+  "uint32": "UInt",
+  "uint64": "UInt",
+  "float32": "Float",
+  "float64": "Float",
+  "enum": "Enum",
+}
+NESTED_TYPE_KINDS = {"struct", "list"}
+IGNORED_TYPE_KINDS = {"void", "text", "data", "interface", "anyPointer"}
+
+
+def cxx_string(value):
+  return '"' + value.replace("\\", "\\\\").replace('"', '\\"') + '"'
+
+
+def accessor(prefix, name):
+  return prefix + name[:1].upper() + name[1:]
+
+
+def field_type(field):
+  if field.proto.which() == "group":
+    return "struct"
+  return field.proto.slot.type.which()
+
+
+def field_type_proto(field):
+  return field.proto.slot.type if field.proto.which() == "slot" else None
+
+
+def scalar_kind(type_proto):
+  if type_proto is None:
+    return None
+  return SCALAR_KINDS.get(type_proto.which())
+
+
+def enum_names(schema):
+  if schema is None:
+    return []
+  names_by_ordinal = schema.enumerants
+  if not names_by_ordinal:
+    return []
+  max_ordinal = max(names_by_ordinal.values())
+  out = [""] * (max_ordinal + 1)
+  for name, ordinal in names_by_ordinal.items():
+    out[ordinal] = name
+  return out
+
+
+class Generator:
+  def __init__(self, event_schema):
+    self.event_schema = event_schema
+    self.fixed_paths = []
+    self.tmp_index = 0
+    self.lines = []
+    self.emits_memo = {}
+
+  def tmp(self, prefix):
+    self.tmp_index += 1
+    return f"{prefix}_{self.tmp_index}"
+
+  def add_fixed_path(self, path):
+    slot = len(self.fixed_paths)
+    self.fixed_paths.append(path)
+    return slot
+
+  def emit(self, indent, text=""):
+    self.lines.append(" " * indent + text)
+
+  def scalar_double_expr(self, value_expr, kind):
+    if kind == "Bool":
+      return f"({value_expr} ? 1.0 : 0.0)"
+    if kind == "Enum":
+      return f"static_cast<double>(static_cast<uint16_t>({value_expr}))"
+    return f"static_cast<double>({value_expr})"
+
+  def emit_enum_capture(self, indent, path_expr, names):
+    if not names:
+      return
+    names_expr = "{" + ", ".join(cxx_string(name) for name in names) + "}"
+    self.emit(indent, f"capture_static_enum_info({path_expr}, {names_expr}, series);")
+
+  def emit_node(self, indent, type_kind, type_proto, schema, expr, path, path_expr, dynamic_path):
+    if not self.node_emits(type_kind, type_proto, schema):
+      return
+    kind = scalar_kind(type_proto)
+    if kind is not None:
+      double_expr = self.scalar_double_expr(expr, kind)
+      if dynamic_path:
+        if kind == "Enum":
+          self.emit_enum_capture(indent, path_expr, enum_names(schema))
+        self.emit(indent, f"append_dynamic_scalar_point({path_expr}, tm, {double_expr}, series);")
+      else:
+        slot = self.add_fixed_path(path)
+        if kind == "Enum":
+          self.emit_enum_capture(indent, cxx_string(path), enum_names(schema))
+        self.emit(indent, f"append_fixed_scalar_point(&series->fixed_series[{slot}], tm, {double_expr});")
+      return
+
+    if type_kind == "struct":
+      self.emit_struct(indent, schema, expr, path, path_expr, dynamic_path)
+      return
+
+    if type_kind == "list":
+      self.emit_list(indent, type_proto, schema, expr, path, path_expr, dynamic_path)
+
+  def emit_field(self, indent, struct_schema, reader_expr, field_name, base_path, base_path_expr, dynamic_path):
+    field = struct_schema.fields[field_name]
+    proto = field.proto
+    type_kind = field_type(field)
+    type_proto = field_type_proto(field)
+    kind = scalar_kind(type_proto)
+    value_schema = field.schema if kind == "Enum" or type_kind in NESTED_TYPE_KINDS else None
+    if not self.node_emits(type_kind, type_proto, value_schema):
+      return
+
+    field_path = f"{base_path}/{field_name}"
+    field_path_expr = None
+    if dynamic_path:
+      field_path_var = self.tmp("path")
+      self.emit(indent, f"const std::string {field_path_var} = {base_path_expr} + {cxx_string('/' + field_name)};")
+      field_path_expr = field_path_var
+
+    get_call = f"{reader_expr}.{accessor('get', field_name)}()"
+    has_call = f"{reader_expr}.{accessor('has', field_name)}()"
+    conditions = []
+    if proto.discriminantValue != NO_DISCRIMINANT:
+      conditions.append(f"{reader_expr}.which() == static_cast<decltype({reader_expr}.which())>({proto.discriminantValue})")
+    if proto.which() == "slot" and type_kind in NESTED_TYPE_KINDS:
+      conditions.append(has_call)
+
+    if conditions:
+      self.emit(indent, f"if ({' && '.join(conditions)}) {{")
+      indent += 2
+
+    value_var = self.tmp("value")
+    self.emit(indent, f"const auto {value_var} = {get_call};")
+    self.emit_node(indent, type_kind, type_proto, value_schema, value_var, field_path, field_path_expr, dynamic_path)
+
+    if conditions:
+      indent -= 2
+      self.emit(indent, "}")
+
+  def emit_struct(self, indent, schema, reader_expr, path, path_expr, dynamic_path):
+    if schema is None:
+      return
+    for field_name in schema.fieldnames:
+      self.emit_field(indent, schema, reader_expr, field_name, path, path_expr, dynamic_path)
+
+  def emit_list(self, indent, type_proto, schema, list_expr, path, path_expr, dynamic_path):
+    elem_type = type_proto.list.elementType
+    elem_kind = elem_type.which()
+    if elem_kind in IGNORED_TYPE_KINDS:
+      return
+
+    base_path_var = path_expr
+    if base_path_var is None:
+      base_path_var = self.tmp("base_path")
+      self.emit(indent, f"const std::string {base_path_var} = {cxx_string(path)};")
+
+    elem_scalar = scalar_kind(elem_type)
+    if elem_scalar is not None:
+      self.emit(indent, f"if ({list_expr}.size() <= 16) {{")
+      index_var = self.tmp("i")
+      self.emit(indent + 2, f"for (uint {index_var} = 0; {index_var} < {list_expr}.size(); ++{index_var}) {{")
+      item_series = self.tmp("item_series")
+      self.emit(indent + 4, f"RouteSeries *{item_series} = ensure_list_scalar_series({base_path_var}, {index_var}, series);")
+      if elem_scalar == "Enum":
+        self.emit_enum_capture(indent + 4, f"{item_series}->path", enum_names(schema.elementType))
+      self.emit(indent + 4, f"append_fixed_scalar_point({item_series}, tm, {self.scalar_double_expr(f'{list_expr}[{index_var}]', elem_scalar)});")
+      self.emit(indent + 2, "}")
+      self.emit(indent, "}")
+      return
+
+    if elem_kind in {"struct", "list"}:
+      index_var = self.tmp("i")
+      self.emit(indent, f"for (uint {index_var} = 0; {index_var} < {list_expr}.size(); ++{index_var}) {{")
+      item_path = self.tmp("item_path")
+      self.emit(indent + 2, f"const std::string {item_path} = {base_path_var} + \"/\" + std::to_string({index_var});")
+      item = self.tmp("item")
+      self.emit(indent + 2, f"const auto {item} = {list_expr}[{index_var}];")
+      if elem_kind == "struct":
+        self.emit_struct(indent + 2, schema.elementType, item, path, item_path, True)
+      else:
+        self.emit_list(indent + 2, elem_type, schema.elementType, item, path, item_path, True)
+      self.emit(indent, "}")
+
+  def node_emits(self, type_kind, type_proto, schema, seen=frozenset()):
+    if scalar_kind(type_proto) is not None:
+      return True
+    if type_kind == "struct":
+      if schema is None:
+        return False
+      schema_id = int(schema.node.id)
+      if schema_id in seen:
+        return False
+      if schema_id in self.emits_memo:
+        return self.emits_memo[schema_id]
+      next_seen = seen | {schema_id}
+      for field_name in schema.fieldnames:
+        field = schema.fields[field_name]
+        ft = field_type(field)
+        ftp = field_type_proto(field)
+        fkind = scalar_kind(ftp)
+        if ft in IGNORED_TYPE_KINDS:
+          continue
+        fschema = field.schema if fkind == "Enum" or ft in NESTED_TYPE_KINDS else None
+        if self.node_emits(ft, ftp, fschema, next_seen):
+          self.emits_memo[schema_id] = True
+          return True
+      self.emits_memo[schema_id] = False
+      return False
+    if type_kind == "list":
+      if type_proto is None or schema is None:
+        return False
+      elem_type = type_proto.list.elementType
+      elem_kind = elem_type.which()
+      if elem_kind in IGNORED_TYPE_KINDS:
+        return False
+      if scalar_kind(elem_type) is not None:
+        return True
+      if elem_kind == "struct":
+        return self.node_emits("struct", None, schema.elementType, seen)
+      if elem_kind == "list":
+        return self.node_emits("list", elem_type, schema.elementType, seen)
+    return False
+
+  def emit_can_special(self, indent, service_name):
+    service_kind = "CanServiceKind::Can" if service_name == "can" else "CanServiceKind::Sendcan"
+    self.emit(indent, f"const CanServiceKind can_service = {service_kind};")
+    self.emit(indent, f"for (const auto &msg : event.{accessor('get', service_name)}()) {{")
+    self.emit(indent + 2, "append_can_frame(can_service, static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDeprecated().getBusTime(), msg.getDat(), tm, series);")  # noqa: E501
+    self.emit(indent + 2, "if (skip_raw_can) {")
+    self.emit(indent + 4, "const auto dat = msg.getDat();")
+    self.emit(indent + 4, f"decode_can_frame(can_dbc, {cxx_string(service_name)}, static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), dat.begin(), dat.size(), tm, series);")  # noqa: E501
+    self.emit(indent + 2, "}")
+    self.emit(indent, "}")
+    self.emit(indent, "if (skip_raw_can) {")
+    self.emit(indent + 2, "return true;")
+    self.emit(indent, "}")
+
+  def emit_event_case(self, field_name):
+    field = self.event_schema.fields[field_name]
+    proto = field.proto
+    type_kind = field_type(field)
+    type_proto = field_type_proto(field)
+    kind = scalar_kind(type_proto)
+    schema = field.schema if kind == "Enum" or type_kind in NESTED_TYPE_KINDS else None
+    self.emit(4, f"case static_cast<cereal::Event::Which>({proto.discriminantValue}): {{")
+    valid_slot = self.add_fixed_path(f"/{field_name}/valid")
+    mono_slot = self.add_fixed_path(f"/{field_name}/logMonoTime")
+    seconds_slot = self.add_fixed_path(f"/{field_name}/t")
+    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{valid_slot}], tm, event.getValid() ? 1.0 : 0.0);")
+    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{mono_slot}], tm, static_cast<double>(event.getLogMonoTime()));")
+    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{seconds_slot}], tm, tm);")
+    if field_name in {"can", "sendcan"}:
+      self.emit_can_special(6, field_name)
+    if self.node_emits(type_kind, type_proto, schema):
+      payload = self.tmp("payload")
+      self.emit(6, f"const auto {payload} = event.{accessor('get', field_name)}();")
+      self.emit_node(6, type_kind, type_proto, schema, payload, f"/{field_name}", None, False)
+    self.emit(6, "return true;")
+    self.emit(4, "}")
+
+  def generate(self):
+    self.lines = []
+    self.emit(0, "// Generated by tools/jotpluggler/generate_event_extractors.py; do not edit.")
+    self.emit(0, "")
+    self.emit(0, "const std::vector<std::string> &static_event_fixed_paths() {")
+    self.emit(2, "static const std::vector<std::string> paths = {")
+    path_insert_at = len(self.lines)
+    self.emit(2, "};")
+    self.emit(2, "return paths;")
+    self.emit(0, "}")
+    self.emit(0, "")
+    self.emit(0, "void capture_static_enum_info(const std::string &path, std::initializer_list<std::string_view> names, SeriesAccumulator *series) {")
+    self.emit(2, "if (series->enum_info.find(path) != series->enum_info.end()) {")
+    self.emit(4, "return;")
+    self.emit(2, "}")
+    self.emit(2, "EnumInfo info;")
+    self.emit(2, "info.names.reserve(names.size());")
+    self.emit(2, "for (std::string_view name : names) {")
+    self.emit(4, "info.names.emplace_back(name);")
+    self.emit(2, "}")
+    self.emit(2, "if (!info.names.empty()) {")
+    self.emit(4, "series->enum_info.emplace(path, std::move(info));")
+    self.emit(2, "}")
+    self.emit(0, "}")
+    self.emit(0, "")
+    self.emit(0, "bool append_event_static_reader(cereal::Event::Which which, const cereal::Event::Reader &event, const dbc::Database *can_dbc, bool skip_raw_can, double time_offset, SeriesAccumulator *series) {")  # noqa: E501
+    self.emit(2, "const double tm = static_cast<double>(event.getLogMonoTime()) / 1.0e9 - time_offset;")
+    self.emit(2, "switch (which) {")
+    for field_name in self.event_schema.union_fields:
+      self.emit_event_case(field_name)
+    self.emit(4, "default:")
+    self.emit(6, "return false;")
+    self.emit(2, "}")
+    self.emit(0, "}")
+
+    path_lines = ["    " + cxx_string(path) + "," for path in self.fixed_paths]
+    self.lines[path_insert_at:path_insert_at] = path_lines
+    return "\n".join(self.lines) + "\n"
+
+
+if __name__ == "__main__":
+  if len(sys.argv) != 3:
+    print(f"usage: {sys.argv[0]} <repo-root> <output>", file=sys.stderr)
+    sys.exit(2)
+
+  repo_root = Path(sys.argv[1]).resolve()
+  output = Path(sys.argv[2])
+  capnp.remove_import_hook()
+  log = capnp.load(str(repo_root / "cereal" / "log.capnp"))
+  generated = Generator(log.Event.schema).generate()
+  output.parent.mkdir(parents=True, exist_ok=True)
+  output.write_text(generated)
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index d9622dde6d..c44a4e93cd 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -2,7 +2,6 @@
 #include "tools/jotpluggler/car_fingerprint_to_dbc.h"
 #include "tools/jotpluggler/common.h"
 
-#include <capnp/dynamic.h>
 #include <kj/exception.h>
 
 #include <chrono>
@@ -10,6 +9,7 @@
 #include <cstdlib>
 #include <cstring>
 #include <iostream>
+#include <initializer_list>
 #include <map>
 #include <mutex>
 #include <limits>
@@ -51,47 +51,7 @@ struct SegmentLogs {
   std::string qcamera;
 };
 
-enum class ScalarKind {
-  None,
-  Bool,
-  Int,
-  UInt,
-  Float,
-  Enum,
-};
-
-enum class ResolvedNodeKind {
-  Ignore,
-  Scalar,
-  Struct,
-  List,
-};
-
-struct ResolvedNode {
-  ResolvedNodeKind kind = ResolvedNodeKind::Ignore;
-  ScalarKind scalar_kind = ScalarKind::None;
-  int fixed_slot = -1;
-  bool has_field = false;
-  capnp::StructSchema::Field field;
-  std::string segment;
-  std::string path;
-  bool skip_large_scalar_list = false;
-  std::vector<ResolvedNode> children;
-  std::unique_ptr<ResolvedNode> element;
-};
-
-struct ResolvedService {
-  uint16_t event_which = 0;
-  capnp::StructSchema::Field union_field;
-  std::string service_name;
-  int valid_slot = -1;
-  int log_mono_time_slot = -1;
-  int seconds_slot = -1;
-  ResolvedNode payload;
-};
-
 struct SchemaIndex {
-  std::vector<std::optional<ResolvedService>> by_which;
   size_t fixed_series_count = 0;
   std::vector<std::string> fixed_paths;
 
@@ -112,6 +72,27 @@ struct SeriesAccumulator {
   std::unordered_map<std::string, EnumInfo> enum_info;
 };
 
+void append_fixed_scalar_point(RouteSeries *series, double tm, double value);
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series);
+RouteSeries *ensure_list_scalar_series(const std::string &base_path, size_t index, SeriesAccumulator *series);
+void append_can_frame(CanServiceKind service,
+                      uint8_t bus,
+                      uint32_t address,
+                      uint16_t bus_time,
+                      capnp::Data::Reader dat,
+                      double tm,
+                      SeriesAccumulator *series);
+void decode_can_frame(const dbc::Database *can_dbc,
+                      const std::string &service_name,
+                      uint8_t bus,
+                      uint32_t address,
+                      const uint8_t *raw,
+                      size_t data_size,
+                      double tm,
+                      SeriesAccumulator *series);
+
+#include "tools/jotpluggler/generated_event_extractors.h"
+
 struct LoadedRouteArtifacts {
   std::vector<RouteSeries> series;
   std::vector<CanMessageData> can_messages;
@@ -898,125 +879,11 @@ SketchLayout parse_layout(const fs::path &layout_path) {
   return layout;
 }
 
-ScalarKind scalar_kind_for_type(const capnp::Type &type) {
-  if (type.isBool()) return ScalarKind::Bool;
-  if (type.isInt8() || type.isInt16() || type.isInt32() || type.isInt64()) {
-    return ScalarKind::Int;
-  }
-  if (type.isUInt8() || type.isUInt16() || type.isUInt32() || type.isUInt64()) {
-    return ScalarKind::UInt;
-  }
-  if (type.isFloat32() || type.isFloat64()) {
-    return ScalarKind::Float;
-  }
-  if (type.isEnum()) return ScalarKind::Enum;
-  return ScalarKind::None;
-}
-
-ResolvedNode build_resolved_type(const capnp::Type &type,
-                                 bool has_field,
-                                 capnp::StructSchema::Field field,
-                                 std::string segment,
-                                 std::string path,
-                                 size_t *next_fixed_slot,
-                                 std::vector<std::string> *fixed_paths,
-                                 bool dynamic_path = false) {
-  ResolvedNode node;
-  node.has_field = has_field;
-  node.field = field;
-  node.segment = std::move(segment);
-  node.path = std::move(path);
-  node.scalar_kind = scalar_kind_for_type(type);
-  if (node.scalar_kind != ScalarKind::None) {
-    node.kind = ResolvedNodeKind::Scalar;
-    if (!dynamic_path) {
-      node.fixed_slot = static_cast<int>((*next_fixed_slot)++);
-      fixed_paths->push_back(node.path);
-    }
-    return node;
-  }
-
-  if (type.isStruct()) {
-    node.kind = ResolvedNodeKind::Struct;
-    for (auto child : type.asStruct().getFields()) {
-      const std::string child_segment = child.getProto().getName().cStr();
-      node.children.push_back(build_resolved_type(
-        child.getType(),
-        true,
-        child,
-        child_segment,
-        node.path + "/" + child_segment,
-        next_fixed_slot,
-        fixed_paths,
-        dynamic_path));
-    }
-    return node;
-  }
-
-  if (type.isList()) {
-    const capnp::Type element_type = type.asList().getElementType();
-    if (element_type.isText() || element_type.isData() || element_type.isInterface() || element_type.isAnyPointer()) {
-      node.kind = ResolvedNodeKind::Ignore;
-      return node;
-    }
-    node.kind = ResolvedNodeKind::List;
-    node.skip_large_scalar_list = scalar_kind_for_type(element_type) != ScalarKind::None;
-    node.element = std::make_unique<ResolvedNode>(
-      build_resolved_type(element_type,
-                          false,
-                          capnp::StructSchema::Field(),
-                          "",
-                          node.path,
-                          next_fixed_slot,
-                          fixed_paths,
-                          true));
-    return node;
-  }
-
-  node.kind = ResolvedNodeKind::Ignore;
-  return node;
-}
-
-int register_fixed_series_path(const std::string &path,
-                               size_t *next_fixed_slot,
-                               std::vector<std::string> *fixed_paths) {
-  const int slot = static_cast<int>((*next_fixed_slot)++);
-  fixed_paths->push_back(path);
-  return slot;
-}
-
 const SchemaIndex &SchemaIndex::instance() {
   static const SchemaIndex index = [] {
     SchemaIndex out;
-    const auto event_schema = capnp::Schema::from<cereal::Event>().asStruct();
-    uint16_t max_discriminant = 0;
-    for (auto union_field : event_schema.getUnionFields()) {
-      max_discriminant = std::max<uint16_t>(max_discriminant, union_field.getProto().getDiscriminantValue());
-    }
-    out.by_which.resize(static_cast<size_t>(max_discriminant) + 1);
-    size_t next_fixed_slot = 0;
-    for (auto union_field : event_schema.getUnionFields()) {
-      ResolvedService service;
-      service.event_which = union_field.getProto().getDiscriminantValue();
-      service.union_field = union_field;
-      service.service_name = union_field.getProto().getName().cStr();
-      service.valid_slot = register_fixed_series_path(
-        "/" + service.service_name + "/valid", &next_fixed_slot, &out.fixed_paths);
-      service.log_mono_time_slot = register_fixed_series_path(
-        "/" + service.service_name + "/logMonoTime", &next_fixed_slot, &out.fixed_paths);
-      service.seconds_slot = register_fixed_series_path(
-        "/" + service.service_name + "/t", &next_fixed_slot, &out.fixed_paths);
-      service.payload = build_resolved_type(
-        union_field.getType(),
-        false,
-        capnp::StructSchema::Field(),
-        service.service_name,
-        "/" + service.service_name,
-        &next_fixed_slot,
-        &out.fixed_paths);
-      out.by_which[service.event_which] = std::move(service);
-    }
-    out.fixed_series_count = next_fixed_slot;
+    out.fixed_paths = static_event_fixed_paths();
+    out.fixed_series_count = out.fixed_paths.size();
     return out;
   }();
   return index;
@@ -1026,45 +893,6 @@ bool is_absolute_curve(const std::string &name) {
   return !name.empty() && name.front() == '/';
 }
 
-std::optional<double> scalar_value_to_double(const capnp::DynamicValue::Reader &value, ScalarKind kind) {
-  switch (kind) {
-    case ScalarKind::Bool:
-      return value.as<bool>() ? 1.0 : 0.0;
-    case ScalarKind::Int:
-      return static_cast<double>(value.as<int64_t>());
-    case ScalarKind::UInt:
-      return static_cast<double>(value.as<uint64_t>());
-    case ScalarKind::Float:
-      return value.as<double>();
-    case ScalarKind::Enum:
-      return static_cast<double>(value.as<capnp::DynamicEnum>().getRaw());
-    case ScalarKind::None:
-      return std::nullopt;
-  }
-  return std::nullopt;
-}
-
-void capture_enum_info(const std::string &path,
-                       const capnp::DynamicValue::Reader &value,
-                       SeriesAccumulator *series) {
-  if (series->enum_info.find(path) != series->enum_info.end()) {
-    return;
-  }
-
-  const auto dynamic_enum = value.as<capnp::DynamicEnum>();
-  EnumInfo info;
-  for (auto enumerant : dynamic_enum.getSchema().getEnumerants()) {
-    const uint16_t ordinal = enumerant.getOrdinal();
-    if (ordinal >= info.names.size()) {
-      info.names.resize(static_cast<size_t>(ordinal) + 1);
-    }
-    info.names[ordinal] = enumerant.getProto().getName().cStr();
-  }
-  if (!info.names.empty()) {
-    series->enum_info.emplace(path, std::move(info));
-  }
-}
-
 void append_scalar_point(RouteSeries *series,
                          const std::string &path,
                          double tm,
@@ -1195,156 +1023,9 @@ void append_dynamic_scalar_point(const std::string &path, double tm, double valu
   append_scalar_point(ensure_dynamic_series(path, series), path, tm, value);
 }
 
-void append_scalar_value(const ResolvedNode &node,
-                         const std::string *path_override,
-                         const capnp::DynamicValue::Reader &raw_value,
-                         double tm,
-                         double value,
-                         SeriesAccumulator *series) {
-  if (path_override == nullptr && node.fixed_slot >= 0) {
-    if (node.scalar_kind == ScalarKind::Enum) {
-      capture_enum_info(node.path, raw_value, series);
-    }
-    append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(node.fixed_slot)], tm, value);
-    return;
-  }
-
-  const std::string &path = path_override != nullptr ? *path_override : node.path;
-  if (node.scalar_kind == ScalarKind::Enum) {
-    capture_enum_info(path, raw_value, series);
-  }
-  append_dynamic_scalar_point(path, tm, value, series);
-}
-
-void append_fast_node(const ResolvedNode &node,
-                      const capnp::DynamicValue::Reader &value,
-                      double tm,
-                      SeriesAccumulator *series,
-                      const std::string *path_override = nullptr) {
-  switch (node.kind) {
-    case ResolvedNodeKind::Scalar: {
-      if (std::optional<double> scalar = scalar_value_to_double(value, node.scalar_kind); scalar.has_value()) {
-        append_scalar_value(node, path_override, value, tm, *scalar, series);
-      }
-      return;
-    }
-    case ResolvedNodeKind::Struct: {
-      const capnp::DynamicStruct::Reader reader = value.as<capnp::DynamicStruct>();
-      for (const ResolvedNode &child : node.children) {
-        if (!child.has_field || !reader.has(child.field)) continue;
-        if (path_override == nullptr) {
-          append_fast_node(child, reader.get(child.field), tm, series, nullptr);
-        } else {
-          const std::string child_path = child.segment.empty() ? *path_override : (*path_override + "/" + child.segment);
-          append_fast_node(child, reader.get(child.field), tm, series, &child_path);
-        }
-      }
-      return;
-    }
-    case ResolvedNodeKind::List: {
-      if (!node.element) {
-        return;
-      }
-      const capnp::DynamicList::Reader list = value.as<capnp::DynamicList>();
-      if (list.size() == 0) {
-        return;
-      }
-      if (node.skip_large_scalar_list && list.size() > 16) {
-        return;
-      }
-      const std::string &base_path = path_override != nullptr ? *path_override : node.path;
-      if (node.element->kind == ResolvedNodeKind::Scalar) {
-        for (uint i = 0; i < list.size(); ++i) {
-          if (std::optional<double> scalar = scalar_value_to_double(list[i], node.element->scalar_kind); scalar.has_value()) {
-            RouteSeries *item_series = ensure_list_scalar_series(base_path, i, series);
-            if (node.element->scalar_kind == ScalarKind::Enum && !item_series->path.empty()) {
-              capture_enum_info(item_series->path, list[i], series);
-            }
-            append_fixed_scalar_point(item_series, tm, *scalar);
-          }
-        }
-        return;
-      }
-      for (uint i = 0; i < list.size(); ++i) {
-        const std::string item_path = base_path + "/" + std::to_string(i);
-        append_fast_node(*node.element, list[i], tm, series, &item_path);
-      }
-      return;
-    }
-    case ResolvedNodeKind::Ignore:
-      return;
-  }
-}
-
-void append_event_fast_reader(cereal::Event::Which which,
-                              const cereal::Event::Reader &event,
-                              const SchemaIndex &schema,
-                              const dbc::Database *can_dbc,
-                              bool skip_raw_can,
-                              double time_offset,
-                              SeriesAccumulator *series) {
-  const uint16_t which_index = static_cast<uint16_t>(which);
-  if (which_index >= schema.by_which.size() || !schema.by_which[which_index].has_value()) {
-    return;
-  }
-  const ResolvedService &service = *schema.by_which[which_index];
-  const capnp::DynamicStruct::Reader dynamic_event(event);
-  const capnp::DynamicValue::Reader payload = dynamic_event.get(service.union_field);
-  const double tm = static_cast<double>(event.getLogMonoTime()) / 1.0e9 - time_offset;
-  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.valid_slot)],
-                            tm,
-                            event.getValid() ? 1.0 : 0.0);
-  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.log_mono_time_slot)],
-                            tm,
-                            static_cast<double>(event.getLogMonoTime()));
-  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.seconds_slot)],
-                            tm,
-                            tm);
-  if (service.service_name == "can" || service.service_name == "sendcan") {
-    const CanServiceKind can_service = service.service_name == "can"
-      ? CanServiceKind::Can
-      : CanServiceKind::Sendcan;
-    auto decode_message = [&](uint8_t bus, uint32_t address, const auto &dat_reader) {
-      const auto bytes = dat_reader.begin();
-      decode_can_frame(can_dbc, service.service_name, bus, address, bytes, dat_reader.size(), tm, series);
-    };
-    if (service.service_name == "can") {
-      for (const auto &msg : event.getCan()) {
-        append_can_frame(can_service,
-                         static_cast<uint8_t>(msg.getSrc()),
-                         msg.getAddress(),
-                         msg.getDeprecated().getBusTime(),
-                         msg.getDat(),
-                         tm,
-                         series);
-        if (!skip_raw_can) continue;
-        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
-      }
-    } else {
-      for (const auto &msg : event.getSendcan()) {
-        append_can_frame(can_service,
-                         static_cast<uint8_t>(msg.getSrc()),
-                         msg.getAddress(),
-                         msg.getDeprecated().getBusTime(),
-                         msg.getDat(),
-                         tm,
-                         series);
-        if (!skip_raw_can) continue;
-        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
-      }
-    }
-    if (skip_raw_can) {
-      return;
-    }
-  }
-
-  append_fast_node(service.payload, payload, tm, series);
-}
-
 void append_event_fast(cereal::Event::Which which,
                        int32_t eidx_segnum,
                        kj::ArrayPtr<const capnp::word> data,
-                       const SchemaIndex &schema,
                        const dbc::Database *can_dbc,
                        bool skip_raw_can,
                        double time_offset,
@@ -1353,14 +1034,13 @@ void append_event_fast(cereal::Event::Which which,
     return;
   }
   with_parseable_event(data, [&](const cereal::Event::Reader &event) {
-    append_event_fast_reader(which, event, schema, can_dbc, skip_raw_can, time_offset, series);
+    append_event_static_reader(which, event, can_dbc, skip_raw_can, time_offset, series);
   });
 }
 
 void append_events_fast_range(const std::vector<Event> &events,
                               size_t begin,
                               size_t end,
-                              const SchemaIndex &schema,
                               const dbc::Database *can_dbc,
                               bool skip_raw_can,
                               SeriesAccumulator *series) {
@@ -1369,7 +1049,6 @@ void append_events_fast_range(const std::vector<Event> &events,
     append_event_fast(event_record.which,
                       event_record.eidx_segnum,
                       event_record.data,
-                      schema,
                       can_dbc,
                       skip_raw_can,
                       0.0,
@@ -1802,7 +1481,7 @@ SeriesAccumulator extract_segment_series(const std::vector<Event> &events,
   const size_t chunk_count = extract_chunk_count(events.size(), worker_budget, segment_workers);
   if (chunk_count <= 1 || events.empty()) {
     SeriesAccumulator series = make_series_accumulator(schema);
-    append_events_fast_range(events, 0, events.size(), schema, can_dbc, skip_raw_can, &series);
+    append_events_fast_range(events, 0, events.size(), can_dbc, skip_raw_can, &series);
     return series;
   }
 
@@ -1819,10 +1498,10 @@ SeriesAccumulator extract_segment_series(const std::vector<Event> &events,
     workers.emplace_back([&, chunk]() {
       const size_t begin = chunk * events_per_chunk;
       const size_t end = std::min(events.size(), begin + events_per_chunk);
-      append_events_fast_range(events, begin, end, schema, can_dbc, skip_raw_can, &chunk_results[chunk]);
+      append_events_fast_range(events, begin, end, can_dbc, skip_raw_can, &chunk_results[chunk]);
     });
   }
-  append_events_fast_range(events, 0, std::min(events.size(), events_per_chunk), schema, can_dbc, skip_raw_can, &chunk_results[0]);
+  append_events_fast_range(events, 0, std::min(events.size(), events_per_chunk), can_dbc, skip_raw_can, &chunk_results[0]);
   for (std::thread &worker : workers) {
     worker.join();
   }
@@ -2044,13 +1723,12 @@ void StreamAccumulator::appendEvent(kj::ArrayPtr<const capnp::word> data) {
       }
     }
 
-    append_event_fast_reader(which,
-                             event,
-                             impl_->schema,
-                             impl_->can_dbc ? &*impl_->can_dbc : nullptr,
-                             impl_->can_dbc.has_value(),
-                             *impl_->time_offset,
-                             &impl_->series);
+    append_event_static_reader(which,
+                               event,
+                               impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                               impl_->can_dbc.has_value(),
+                               *impl_->time_offset,
+                               &impl_->series);
     append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
     if (which == cereal::Event::Which::SELFDRIVE_STATE) {
       const auto sd = event.getSelfdriveState();

From ee54e8209052b5726918c15ac2d54d64a56fa896 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Apr 2026 17:56:31 -0700
Subject: [PATCH 039/210] bump opendbc (#37907)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 6123dde9f6..f15cc7673a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 6123dde9f67259aa3c8b1fa962f242f522bdd5a4
+Subproject commit f15cc7673a4f1bd87436eb4ce1e6bad3bdb8272d

From d1e069210fc38a2c0752f04bed05074eaf3704ff Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 25 Apr 2026 13:56:25 -0700
Subject: [PATCH 040/210] use catch2 dependency package (#37910)

---
 SConstruct                                    |   3 +-
 pyproject.toml                                |   1 +
 third_party/catch2/include/catch2/catch.hpp   |   3 -
 .../catch2/catch_reporter_automake.hpp        |  62 -----
 .../catch2/catch_reporter_sonarqube.hpp       | 181 -------------
 .../include/catch2/catch_reporter_tap.hpp     | 254 ------------------
 .../catch2/catch_reporter_teamcity.hpp        | 219 ---------------
 uv.lock                                       |   7 +
 8 files changed, 9 insertions(+), 721 deletions(-)
 delete mode 100644 third_party/catch2/include/catch2/catch.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_automake.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_tap.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_teamcity.hpp

diff --git a/SConstruct b/SConstruct
index 119209dcdb..c03d6582aa 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 
 
@@ -111,7 +111,6 @@ env = Environment(
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
diff --git a/pyproject.toml b/pyproject.toml
index d7af83d407..a53265c449 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",
+  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "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/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
deleted file mode 100644
index 6a31e5b0ca..0000000000
--- a/third_party/catch2/include/catch2/catch.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:27da57c7a06d09be8dd81fab7246b79e7892b6ae7e4e49ba8631f1d5a955e3fc
-size 657276
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
deleted file mode 100644
index dbebe97516..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_automake.hpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *  Created by Justin R. Wilson on 2/19/2017.
- *  Copyright 2017 Justin R. Wilson. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-namespace Catch {
-
-    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
-        AutomakeReporter( ReporterConfig const& _config )
-          :   StreamingReporterBase( _config )
-        {}
-
-        ~AutomakeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the format of Automake .trs files";
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
-
-        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
-            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
-            stream << ":test-result: ";
-            if (_testCaseStats.totals.assertions.allPassed()) {
-                stream << "PASS";
-            } else if (_testCaseStats.totals.assertions.allOk()) {
-                stream << "XFAIL";
-            } else {
-                stream << "FAIL";
-            }
-            stream << ' ' << _testCaseStats.testInfo.name << '\n';
-            StreamingReporterBase::testCaseEnded( _testCaseStats );
-        }
-
-        void skipTest( TestCaseInfo const& testInfo ) override {
-            stream << ":test-result: SKIP " << testInfo.name << '\n';
-        }
-
-    };
-
-#ifdef CATCH_IMPL
-    AutomakeReporter::~AutomakeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
deleted file mode 100644
index bf7d9299a5..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- *  Created by Daniel Garcia on 2018-12-04.
- *  Copyright Social Point SL. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <map>
-
-namespace Catch {
-
-    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
-
-        SonarQubeReporter(ReporterConfig const& config)
-        : CumulativeReporterBase(config)
-        , xml(config.stream()) {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~SonarQubeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the Generic Test Data SonarQube XML format";
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void noMatchingTestCases(std::string const& /*spec*/) override {}
-
-        void testRunStarting(TestRunInfo const& testRunInfo) override {
-            CumulativeReporterBase::testRunStarting(testRunInfo);
-            xml.startElement("testExecutions");
-            xml.writeAttribute("version", "1");
-        }
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            CumulativeReporterBase::testGroupEnded(testGroupStats);
-            writeGroup(*m_testGroups.back());
-        }
-
-        void testRunEndedCumulative() override {
-            xml.endElement();
-        }
-
-        void writeGroup(TestGroupNode const& groupNode) {
-            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
-            for(auto const& child : groupNode.children)
-                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
-
-            for(auto const& kv : testsPerFile)
-                writeTestFile(kv.first.c_str(), kv.second);
-        }
-
-        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
-            XmlWriter::ScopedElement e = xml.scopedElement("file");
-            xml.writeAttribute("path", filename);
-
-            for(auto const& child : testCaseNodes)
-                writeTestCase(*child);
-        }
-
-        void writeTestCase(TestCaseNode const& testCaseNode) {
-            // All test cases have exactly one section - which represents the
-            // test case itself. That section may have 0-n nested sections
-            assert(testCaseNode.children.size() == 1);
-            SectionNode const& rootSection = *testCaseNode.children.front();
-            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
-        }
-
-        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
-            std::string name = trim(sectionNode.stats.sectionInfo.name);
-            if(!rootName.empty())
-                name = rootName + '/' + name;
-
-            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
-                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
-                xml.writeAttribute("name", name);
-                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
-
-                writeAssertions(sectionNode, okToFail);
-            }
-
-            for(auto const& childNode : sectionNode.childSections)
-                writeSection(name, *childNode, okToFail);
-        }
-
-        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
-            for(auto const& assertion : sectionNode.assertions)
-                writeAssertion( assertion, okToFail);
-        }
-
-        void writeAssertion(AssertionStats const& stats, bool okToFail) {
-            AssertionResult const& result = stats.assertionResult;
-            if(!result.isOk()) {
-                std::string elementName;
-                if(okToFail) {
-                    elementName = "skipped";
-                }
-                else {
-                    switch(result.getResultType()) {
-                        case ResultWas::ThrewException:
-                        case ResultWas::FatalErrorCondition:
-                            elementName = "error";
-                            break;
-                        case ResultWas::ExplicitFailure:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::ExpressionFailed:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::DidntThrowException:
-                            elementName = "failure";
-                            break;
-
-                            // We should never see these here:
-                        case ResultWas::Info:
-                        case ResultWas::Warning:
-                        case ResultWas::Ok:
-                        case ResultWas::Unknown:
-                        case ResultWas::FailureBit:
-                        case ResultWas::Exception:
-                            elementName = "internalError";
-                            break;
-                    }
-                }
-
-                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
-
-                ReusableStringStream messageRss;
-                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
-                xml.writeAttribute("message", messageRss.str());
-
-                ReusableStringStream textRss;
-                if (stats.totals.assertions.total() > 0) {
-                    textRss << "FAILED:\n";
-                    if (result.hasExpression()) {
-                        textRss << "\t" << result.getExpressionInMacro() << "\n";
-                    }
-                    if (result.hasExpandedExpression()) {
-                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
-                    }
-                }
-
-                if(!result.getMessage().empty())
-                    textRss << result.getMessage() << "\n";
-
-                for(auto const& msg : stats.infoMessages)
-                    if(msg.type == ResultWas::Info)
-                        textRss << msg.message << "\n";
-
-                textRss << "at " << result.getSourceInfo();
-                xml.writeText(textRss.str(), XmlFormatting::Newline);
-            }
-        }
-
-    private:
-        XmlWriter xml;
-    };
-
-#ifdef CATCH_IMPL
-    SonarQubeReporter::~SonarQubeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
-
-} // end namespace Catch
-
-#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
deleted file mode 100644
index 5ac8524ce7..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_tap.hpp
+++ /dev/null
@@ -1,254 +0,0 @@
-/*
- *  Created by Colton Wolkins on 2015-08-15.
- *  Copyright 2015 Martin Moene. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <algorithm>
-
-namespace Catch {
-
-    struct TAPReporter : StreamingReporterBase<TAPReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        TAPReporter( ReporterConfig const& config ):
-            StreamingReporterBase( config ) {
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~TAPReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in TAP format, suitable for test harnesses";
-        }
-
-        void noMatchingTestCases( std::string const& spec ) override {
-            stream << "# No test cases matched '" << spec << "'" << std::endl;
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& _assertionStats ) override {
-            ++counter;
-
-            stream << "# " << currentTestCaseInfo->name << std::endl;
-            AssertionPrinter printer( stream, _assertionStats, counter );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void testRunEnded( TestRunStats const& _testRunStats ) override {
-            printTotals( _testRunStats.totals );
-            stream << "\n" << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-    private:
-        std::size_t counter = 0;
-        class AssertionPrinter {
-        public:
-            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
-            AssertionPrinter( AssertionPrinter const& ) = delete;
-            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
-            : stream( _stream )
-            , result( _stats.assertionResult )
-            , messages( _stats.infoMessages )
-            , itMessage( _stats.infoMessages.begin() )
-            , printInfoMessages( true )
-            , counter(_counter)
-            {}
-
-            void print() {
-                itMessage = messages.begin();
-
-                switch( result.getResultType() ) {
-                    case ResultWas::Ok:
-                        printResultType( passedString() );
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if ( ! result.hasExpression() )
-                            printRemainingMessages( Colour::None );
-                        else
-                            printRemainingMessages();
-                        break;
-                    case ResultWas::ExpressionFailed:
-                        if (result.isOk()) {
-                            printResultType(passedString());
-                        } else {
-                            printResultType(failedString());
-                        }
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if (result.isOk()) {
-                            printIssue(" # TODO");
-                        }
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ThrewException:
-                        printResultType( failedString() );
-                        printIssue( "unexpected exception with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        printResultType( failedString() );
-                        printIssue( "fatal error condition with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::DidntThrowException:
-                        printResultType( failedString() );
-                        printIssue( "expected exception, got none" );
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Info:
-                        printResultType( "info" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Warning:
-                        printResultType( "warning" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        printResultType( failedString() );
-                        printIssue( "explicitly" );
-                        printRemainingMessages( Colour::None );
-                        break;
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        printResultType( "** internal error **" );
-                        break;
-                }
-            }
-
-        private:
-            static Colour::Code dimColour() { return Colour::FileName; }
-
-            static const char* failedString() { return "not ok"; }
-            static const char* passedString() { return "ok"; }
-
-            void printSourceInfo() const {
-                Colour colourGuard( dimColour() );
-                stream << result.getSourceInfo() << ":";
-            }
-
-            void printResultType( std::string const& passOrFail ) const {
-                if( !passOrFail.empty() ) {
-                    stream << passOrFail << ' ' << counter << " -";
-                }
-            }
-
-            void printIssue( std::string const& issue ) const {
-                stream << " " << issue;
-            }
-
-            void printExpressionWas() {
-                if( result.hasExpression() ) {
-                    stream << ";";
-                    {
-                        Colour colour( dimColour() );
-                        stream << " expression was:";
-                    }
-                    printOriginalExpression();
-                }
-            }
-
-            void printOriginalExpression() const {
-                if( result.hasExpression() ) {
-                    stream << " " << result.getExpression();
-                }
-            }
-
-            void printReconstructedExpression() const {
-                if( result.hasExpandedExpression() ) {
-                    {
-                        Colour colour( dimColour() );
-                        stream << " for: ";
-                    }
-                    std::string expr = result.getExpandedExpression();
-                    std::replace( expr.begin(), expr.end(), '\n', ' ');
-                    stream << expr;
-                }
-            }
-
-            void printMessage() {
-                if ( itMessage != messages.end() ) {
-                    stream << " '" << itMessage->message << "'";
-                    ++itMessage;
-                }
-            }
-
-            void printRemainingMessages( Colour::Code colour = dimColour() ) {
-                if (itMessage == messages.end()) {
-                    return;
-                }
-
-                const auto itEnd = messages.cend();
-                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
-
-                {
-                    Colour colourGuard( colour );
-                    stream << " with " << pluralise( N, "message" ) << ":";
-                }
-
-                while( itMessage != itEnd ) {
-                    // If this assertion is a warning ignore any INFO messages
-                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
-                        stream << " '" << itMessage->message << "'";
-                        if ( ++itMessage != itEnd ) {
-                            Colour colourGuard( dimColour() );
-                            stream << " and";
-                        }
-                        continue;
-                    }
-                    ++itMessage;
-                }
-            }
-
-        private:
-            std::ostream& stream;
-            AssertionResult const& result;
-            std::vector<MessageInfo> messages;
-            std::vector<MessageInfo>::const_iterator itMessage;
-            bool printInfoMessages;
-            std::size_t counter;
-        };
-
-        void printTotals( const Totals& totals ) const {
-            stream << "1.." << totals.assertions.total();
-            if( totals.testCases.total() == 0 ) {
-                stream << " # Skipped: No tests ran.";
-            }
-        }
-    };
-
-#ifdef CATCH_IMPL
-    TAPReporter::~TAPReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
deleted file mode 100644
index 47b7e4aac3..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
+++ /dev/null
@@ -1,219 +0,0 @@
-/*
- *  Created by Phil Nash on 19th December 2014
- *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <cstring>
-
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
-        TeamCityReporter( ReporterConfig const& _config )
-        :   StreamingReporterBase( _config )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-        }
-
-        static std::string escape( std::string const& str ) {
-            std::string escaped = str;
-            replaceInPlace( escaped, "|", "||" );
-            replaceInPlace( escaped, "'", "|'" );
-            replaceInPlace( escaped, "\n", "|n" );
-            replaceInPlace( escaped, "\r", "|r" );
-            replaceInPlace( escaped, "[", "|[" );
-            replaceInPlace( escaped, "]", "|]" );
-            return escaped;
-        }
-        ~TeamCityReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results as TeamCity service messages";
-        }
-
-        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
-        }
-
-        void noMatchingTestCases( std::string const& /* spec */ ) override {}
-
-        void testGroupStarting( GroupInfo const& groupInfo ) override {
-            StreamingReporterBase::testGroupStarting( groupInfo );
-            stream << "##teamcity[testSuiteStarted name='"
-                << escape( groupInfo.name ) << "']\n";
-        }
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
-            StreamingReporterBase::testGroupEnded( testGroupStats );
-            stream << "##teamcity[testSuiteFinished name='"
-                << escape( testGroupStats.groupInfo.name ) << "']\n";
-        }
-
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& assertionStats ) override {
-            AssertionResult const& result = assertionStats.assertionResult;
-            if( !result.isOk() ) {
-
-                ReusableStringStream msg;
-                if( !m_headerPrintedForThisSection )
-                    printSectionHeader( msg.get() );
-                m_headerPrintedForThisSection = true;
-
-                msg << result.getSourceInfo() << "\n";
-
-                switch( result.getResultType() ) {
-                    case ResultWas::ExpressionFailed:
-                        msg << "expression failed";
-                        break;
-                    case ResultWas::ThrewException:
-                        msg << "unexpected exception";
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        msg << "fatal error condition";
-                        break;
-                    case ResultWas::DidntThrowException:
-                        msg << "no exception was thrown where one was expected";
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        msg << "explicit failure";
-                        break;
-
-                    // We shouldn't get here because of the isOk() test
-                    case ResultWas::Ok:
-                    case ResultWas::Info:
-                    case ResultWas::Warning:
-                        CATCH_ERROR( "Internal error in TeamCity reporter" );
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        CATCH_ERROR( "Not implemented" );
-                }
-                if( assertionStats.infoMessages.size() == 1 )
-                    msg << " with message:";
-                if( assertionStats.infoMessages.size() > 1 )
-                    msg << " with messages:";
-                for( auto const& messageInfo : assertionStats.infoMessages )
-                    msg << "\n  \"" << messageInfo.message << "\"";
-
-
-                if( result.hasExpression() ) {
-                    msg <<
-                        "\n  " << result.getExpressionInMacro() << "\n"
-                        "with expansion:\n" <<
-                        "  " << result.getExpandedExpression() << "\n";
-                }
-
-                if( currentTestCaseInfo->okToFail() ) {
-                    msg << "- failure ignore as test marked as 'ok to fail'\n";
-                    stream << "##teamcity[testIgnored"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-                else {
-                    stream << "##teamcity[testFailed"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-            }
-            stream.flush();
-            return true;
-        }
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            m_headerPrintedForThisSection = false;
-            StreamingReporterBase::sectionStarting( sectionInfo );
-        }
-
-        void testCaseStarting( TestCaseInfo const& testInfo ) override {
-            m_testTimer.start();
-            StreamingReporterBase::testCaseStarting( testInfo );
-            stream << "##teamcity[testStarted name='"
-                << escape( testInfo.name ) << "']\n";
-            stream.flush();
-        }
-
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
-            StreamingReporterBase::testCaseEnded( testCaseStats );
-            if( !testCaseStats.stdOut.empty() )
-                stream << "##teamcity[testStdOut name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
-            if( !testCaseStats.stdErr.empty() )
-                stream << "##teamcity[testStdErr name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
-            stream << "##teamcity[testFinished name='"
-                    << escape( testCaseStats.testInfo.name ) << "' duration='"
-                    << m_testTimer.getElapsedMilliseconds() << "']\n";
-            stream.flush();
-        }
-
-    private:
-        void printSectionHeader( std::ostream& os ) {
-            assert( !m_sectionStack.empty() );
-
-            if( m_sectionStack.size() > 1 ) {
-                os << getLineOfChars<'-'>() << "\n";
-
-                std::vector<SectionInfo>::const_iterator
-                it = m_sectionStack.begin()+1, // Skip first section (test case)
-                itEnd = m_sectionStack.end();
-                for( ; it != itEnd; ++it )
-                    printHeaderString( os, it->name );
-                os << getLineOfChars<'-'>() << "\n";
-            }
-
-            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
-
-            os << lineInfo << "\n";
-            os << getLineOfChars<'.'>() << "\n\n";
-        }
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
-            std::size_t i = _string.find( ": " );
-            if( i != std::string::npos )
-                i+=2;
-            else
-                i = 0;
-            os << Column( _string )
-                           .indent( indent+i)
-                           .initialIndent( indent ) << "\n";
-        }
-    private:
-        bool m_headerPrintedForThisSection = false;
-        Timer m_testTimer;
-    };
-
-#ifdef CATCH_IMPL
-    TeamCityReporter::~TeamCityReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
-
-} // end namespace Catch
-
-#ifdef __clang__
-#   pragma clang diagnostic pop
-#endif
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
diff --git a/uv.lock b/uv.lock
index f8278c1368..483cd4475e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -140,6 +140,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
 ]
 
+[[package]]
+name = "catch2"
+version = "2.13.10"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#419106e82a8dfb86b3252935c94cefb4570cd395" }
+
 [[package]]
 name = "certifi"
 version = "2026.2.25"
@@ -751,6 +756,7 @@ dependencies = [
     { name = "bzip2" },
     { name = "capnproto" },
     { name = "casadi" },
+    { name = "catch2" },
     { name = "cffi" },
     { name = "crcmod-plus" },
     { name = "cython" },
@@ -828,6 +834,7 @@ requires-dist = [
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "casadi", specifier = ">=3.6.6" },
+    { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "coverage", marker = "extra == 'testing'" },

From 7002d2421399de7bdf3e99d2840491d0d1dbb535 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 26 Apr 2026 09:05:34 -0700
Subject: [PATCH 041/210] Revert "use catch2 dependency package (#37910)"

This reverts commit d1e069210fc38a2c0752f04bed05074eaf3704ff.
---
 SConstruct                                    |   3 +-
 pyproject.toml                                |   1 -
 third_party/catch2/include/catch2/catch.hpp   |   3 +
 .../catch2/catch_reporter_automake.hpp        |  62 +++++
 .../catch2/catch_reporter_sonarqube.hpp       | 181 +++++++++++++
 .../include/catch2/catch_reporter_tap.hpp     | 254 ++++++++++++++++++
 .../catch2/catch_reporter_teamcity.hpp        | 219 +++++++++++++++
 uv.lock                                       |   7 -
 8 files changed, 721 insertions(+), 9 deletions(-)
 create mode 100644 third_party/catch2/include/catch2/catch.hpp
 create mode 100644 third_party/catch2/include/catch2/catch_reporter_automake.hpp
 create mode 100644 third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
 create mode 100644 third_party/catch2/include/catch2/catch_reporter_tap.hpp
 create mode 100644 third_party/catch2/include/catch2/catch_reporter_teamcity.hpp

diff --git a/SConstruct b/SConstruct
index c03d6582aa..119209dcdb 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 
 
@@ -111,6 +111,7 @@ env = Environment(
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
diff --git a/pyproject.toml b/pyproject.toml
index a53265c449..d7af83d407 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,7 +28,6 @@ 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",
-  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "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/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
new file mode 100644
index 0000000000..6a31e5b0ca
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch.hpp
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27da57c7a06d09be8dd81fab7246b79e7892b6ae7e4e49ba8631f1d5a955e3fc
+size 657276
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
new file mode 100644
index 0000000000..dbebe97516
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
@@ -0,0 +1,62 @@
+/*
+ *  Created by Justin R. Wilson on 2/19/2017.
+ *  Copyright 2017 Justin R. Wilson. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+namespace Catch {
+
+    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
+        AutomakeReporter( ReporterConfig const& _config )
+          :   StreamingReporterBase( _config )
+        {}
+
+        ~AutomakeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the format of Automake .trs files";
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
+
+        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
+            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
+            stream << ":test-result: ";
+            if (_testCaseStats.totals.assertions.allPassed()) {
+                stream << "PASS";
+            } else if (_testCaseStats.totals.assertions.allOk()) {
+                stream << "XFAIL";
+            } else {
+                stream << "FAIL";
+            }
+            stream << ' ' << _testCaseStats.testInfo.name << '\n';
+            StreamingReporterBase::testCaseEnded( _testCaseStats );
+        }
+
+        void skipTest( TestCaseInfo const& testInfo ) override {
+            stream << ":test-result: SKIP " << testInfo.name << '\n';
+        }
+
+    };
+
+#ifdef CATCH_IMPL
+    AutomakeReporter::~AutomakeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
new file mode 100644
index 0000000000..bf7d9299a5
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
@@ -0,0 +1,181 @@
+/*
+ *  Created by Daniel Garcia on 2018-12-04.
+ *  Copyright Social Point SL. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <map>
+
+namespace Catch {
+
+    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
+
+        SonarQubeReporter(ReporterConfig const& config)
+        : CumulativeReporterBase(config)
+        , xml(config.stream()) {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+        ~SonarQubeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the Generic Test Data SonarQube XML format";
+        }
+
+        static std::set<Verbosity> getSupportedVerbosities() {
+            return { Verbosity::Normal };
+        }
+
+        void noMatchingTestCases(std::string const& /*spec*/) override {}
+
+        void testRunStarting(TestRunInfo const& testRunInfo) override {
+            CumulativeReporterBase::testRunStarting(testRunInfo);
+            xml.startElement("testExecutions");
+            xml.writeAttribute("version", "1");
+        }
+
+        void testGroupEnded(TestGroupStats const& testGroupStats) override {
+            CumulativeReporterBase::testGroupEnded(testGroupStats);
+            writeGroup(*m_testGroups.back());
+        }
+
+        void testRunEndedCumulative() override {
+            xml.endElement();
+        }
+
+        void writeGroup(TestGroupNode const& groupNode) {
+            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
+            for(auto const& child : groupNode.children)
+                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
+
+            for(auto const& kv : testsPerFile)
+                writeTestFile(kv.first.c_str(), kv.second);
+        }
+
+        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
+            XmlWriter::ScopedElement e = xml.scopedElement("file");
+            xml.writeAttribute("path", filename);
+
+            for(auto const& child : testCaseNodes)
+                writeTestCase(*child);
+        }
+
+        void writeTestCase(TestCaseNode const& testCaseNode) {
+            // All test cases have exactly one section - which represents the
+            // test case itself. That section may have 0-n nested sections
+            assert(testCaseNode.children.size() == 1);
+            SectionNode const& rootSection = *testCaseNode.children.front();
+            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
+        }
+
+        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
+            std::string name = trim(sectionNode.stats.sectionInfo.name);
+            if(!rootName.empty())
+                name = rootName + '/' + name;
+
+            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
+                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
+                xml.writeAttribute("name", name);
+                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
+
+                writeAssertions(sectionNode, okToFail);
+            }
+
+            for(auto const& childNode : sectionNode.childSections)
+                writeSection(name, *childNode, okToFail);
+        }
+
+        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
+            for(auto const& assertion : sectionNode.assertions)
+                writeAssertion( assertion, okToFail);
+        }
+
+        void writeAssertion(AssertionStats const& stats, bool okToFail) {
+            AssertionResult const& result = stats.assertionResult;
+            if(!result.isOk()) {
+                std::string elementName;
+                if(okToFail) {
+                    elementName = "skipped";
+                }
+                else {
+                    switch(result.getResultType()) {
+                        case ResultWas::ThrewException:
+                        case ResultWas::FatalErrorCondition:
+                            elementName = "error";
+                            break;
+                        case ResultWas::ExplicitFailure:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::ExpressionFailed:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::DidntThrowException:
+                            elementName = "failure";
+                            break;
+
+                            // We should never see these here:
+                        case ResultWas::Info:
+                        case ResultWas::Warning:
+                        case ResultWas::Ok:
+                        case ResultWas::Unknown:
+                        case ResultWas::FailureBit:
+                        case ResultWas::Exception:
+                            elementName = "internalError";
+                            break;
+                    }
+                }
+
+                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
+
+                ReusableStringStream messageRss;
+                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
+                xml.writeAttribute("message", messageRss.str());
+
+                ReusableStringStream textRss;
+                if (stats.totals.assertions.total() > 0) {
+                    textRss << "FAILED:\n";
+                    if (result.hasExpression()) {
+                        textRss << "\t" << result.getExpressionInMacro() << "\n";
+                    }
+                    if (result.hasExpandedExpression()) {
+                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
+                    }
+                }
+
+                if(!result.getMessage().empty())
+                    textRss << result.getMessage() << "\n";
+
+                for(auto const& msg : stats.infoMessages)
+                    if(msg.type == ResultWas::Info)
+                        textRss << msg.message << "\n";
+
+                textRss << "at " << result.getSourceInfo();
+                xml.writeText(textRss.str(), XmlFormatting::Newline);
+            }
+        }
+
+    private:
+        XmlWriter xml;
+    };
+
+#ifdef CATCH_IMPL
+    SonarQubeReporter::~SonarQubeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
+
+} // end namespace Catch
+
+#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
new file mode 100644
index 0000000000..5ac8524ce7
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
@@ -0,0 +1,254 @@
+/*
+ *  Created by Colton Wolkins on 2015-08-15.
+ *  Copyright 2015 Martin Moene. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <algorithm>
+
+namespace Catch {
+
+    struct TAPReporter : StreamingReporterBase<TAPReporter> {
+
+        using StreamingReporterBase::StreamingReporterBase;
+
+        TAPReporter( ReporterConfig const& config ):
+            StreamingReporterBase( config ) {
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+        ~TAPReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in TAP format, suitable for test harnesses";
+        }
+
+        void noMatchingTestCases( std::string const& spec ) override {
+            stream << "# No test cases matched '" << spec << "'" << std::endl;
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& _assertionStats ) override {
+            ++counter;
+
+            stream << "# " << currentTestCaseInfo->name << std::endl;
+            AssertionPrinter printer( stream, _assertionStats, counter );
+            printer.print();
+
+            stream << std::endl;
+            return true;
+        }
+
+        void testRunEnded( TestRunStats const& _testRunStats ) override {
+            printTotals( _testRunStats.totals );
+            stream << "\n" << std::endl;
+            StreamingReporterBase::testRunEnded( _testRunStats );
+        }
+
+    private:
+        std::size_t counter = 0;
+        class AssertionPrinter {
+        public:
+            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
+            AssertionPrinter( AssertionPrinter const& ) = delete;
+            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
+            : stream( _stream )
+            , result( _stats.assertionResult )
+            , messages( _stats.infoMessages )
+            , itMessage( _stats.infoMessages.begin() )
+            , printInfoMessages( true )
+            , counter(_counter)
+            {}
+
+            void print() {
+                itMessage = messages.begin();
+
+                switch( result.getResultType() ) {
+                    case ResultWas::Ok:
+                        printResultType( passedString() );
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if ( ! result.hasExpression() )
+                            printRemainingMessages( Colour::None );
+                        else
+                            printRemainingMessages();
+                        break;
+                    case ResultWas::ExpressionFailed:
+                        if (result.isOk()) {
+                            printResultType(passedString());
+                        } else {
+                            printResultType(failedString());
+                        }
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if (result.isOk()) {
+                            printIssue(" # TODO");
+                        }
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ThrewException:
+                        printResultType( failedString() );
+                        printIssue( "unexpected exception with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        printResultType( failedString() );
+                        printIssue( "fatal error condition with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::DidntThrowException:
+                        printResultType( failedString() );
+                        printIssue( "expected exception, got none" );
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Info:
+                        printResultType( "info" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Warning:
+                        printResultType( "warning" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        printResultType( failedString() );
+                        printIssue( "explicitly" );
+                        printRemainingMessages( Colour::None );
+                        break;
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        printResultType( "** internal error **" );
+                        break;
+                }
+            }
+
+        private:
+            static Colour::Code dimColour() { return Colour::FileName; }
+
+            static const char* failedString() { return "not ok"; }
+            static const char* passedString() { return "ok"; }
+
+            void printSourceInfo() const {
+                Colour colourGuard( dimColour() );
+                stream << result.getSourceInfo() << ":";
+            }
+
+            void printResultType( std::string const& passOrFail ) const {
+                if( !passOrFail.empty() ) {
+                    stream << passOrFail << ' ' << counter << " -";
+                }
+            }
+
+            void printIssue( std::string const& issue ) const {
+                stream << " " << issue;
+            }
+
+            void printExpressionWas() {
+                if( result.hasExpression() ) {
+                    stream << ";";
+                    {
+                        Colour colour( dimColour() );
+                        stream << " expression was:";
+                    }
+                    printOriginalExpression();
+                }
+            }
+
+            void printOriginalExpression() const {
+                if( result.hasExpression() ) {
+                    stream << " " << result.getExpression();
+                }
+            }
+
+            void printReconstructedExpression() const {
+                if( result.hasExpandedExpression() ) {
+                    {
+                        Colour colour( dimColour() );
+                        stream << " for: ";
+                    }
+                    std::string expr = result.getExpandedExpression();
+                    std::replace( expr.begin(), expr.end(), '\n', ' ');
+                    stream << expr;
+                }
+            }
+
+            void printMessage() {
+                if ( itMessage != messages.end() ) {
+                    stream << " '" << itMessage->message << "'";
+                    ++itMessage;
+                }
+            }
+
+            void printRemainingMessages( Colour::Code colour = dimColour() ) {
+                if (itMessage == messages.end()) {
+                    return;
+                }
+
+                const auto itEnd = messages.cend();
+                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
+
+                {
+                    Colour colourGuard( colour );
+                    stream << " with " << pluralise( N, "message" ) << ":";
+                }
+
+                while( itMessage != itEnd ) {
+                    // If this assertion is a warning ignore any INFO messages
+                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
+                        stream << " '" << itMessage->message << "'";
+                        if ( ++itMessage != itEnd ) {
+                            Colour colourGuard( dimColour() );
+                            stream << " and";
+                        }
+                        continue;
+                    }
+                    ++itMessage;
+                }
+            }
+
+        private:
+            std::ostream& stream;
+            AssertionResult const& result;
+            std::vector<MessageInfo> messages;
+            std::vector<MessageInfo>::const_iterator itMessage;
+            bool printInfoMessages;
+            std::size_t counter;
+        };
+
+        void printTotals( const Totals& totals ) const {
+            stream << "1.." << totals.assertions.total();
+            if( totals.testCases.total() == 0 ) {
+                stream << " # Skipped: No tests ran.";
+            }
+        }
+    };
+
+#ifdef CATCH_IMPL
+    TAPReporter::~TAPReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
new file mode 100644
index 0000000000..47b7e4aac3
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
@@ -0,0 +1,219 @@
+/*
+ *  Created by Phil Nash on 19th December 2014
+ *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <cstring>
+
+#ifdef __clang__
+#   pragma clang diagnostic push
+#   pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+namespace Catch {
+
+    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
+        TeamCityReporter( ReporterConfig const& _config )
+        :   StreamingReporterBase( _config )
+        {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+        }
+
+        static std::string escape( std::string const& str ) {
+            std::string escaped = str;
+            replaceInPlace( escaped, "|", "||" );
+            replaceInPlace( escaped, "'", "|'" );
+            replaceInPlace( escaped, "\n", "|n" );
+            replaceInPlace( escaped, "\r", "|r" );
+            replaceInPlace( escaped, "[", "|[" );
+            replaceInPlace( escaped, "]", "|]" );
+            return escaped;
+        }
+        ~TeamCityReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results as TeamCity service messages";
+        }
+
+        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
+        }
+
+        void noMatchingTestCases( std::string const& /* spec */ ) override {}
+
+        void testGroupStarting( GroupInfo const& groupInfo ) override {
+            StreamingReporterBase::testGroupStarting( groupInfo );
+            stream << "##teamcity[testSuiteStarted name='"
+                << escape( groupInfo.name ) << "']\n";
+        }
+        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
+            StreamingReporterBase::testGroupEnded( testGroupStats );
+            stream << "##teamcity[testSuiteFinished name='"
+                << escape( testGroupStats.groupInfo.name ) << "']\n";
+        }
+
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& assertionStats ) override {
+            AssertionResult const& result = assertionStats.assertionResult;
+            if( !result.isOk() ) {
+
+                ReusableStringStream msg;
+                if( !m_headerPrintedForThisSection )
+                    printSectionHeader( msg.get() );
+                m_headerPrintedForThisSection = true;
+
+                msg << result.getSourceInfo() << "\n";
+
+                switch( result.getResultType() ) {
+                    case ResultWas::ExpressionFailed:
+                        msg << "expression failed";
+                        break;
+                    case ResultWas::ThrewException:
+                        msg << "unexpected exception";
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        msg << "fatal error condition";
+                        break;
+                    case ResultWas::DidntThrowException:
+                        msg << "no exception was thrown where one was expected";
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        msg << "explicit failure";
+                        break;
+
+                    // We shouldn't get here because of the isOk() test
+                    case ResultWas::Ok:
+                    case ResultWas::Info:
+                    case ResultWas::Warning:
+                        CATCH_ERROR( "Internal error in TeamCity reporter" );
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        CATCH_ERROR( "Not implemented" );
+                }
+                if( assertionStats.infoMessages.size() == 1 )
+                    msg << " with message:";
+                if( assertionStats.infoMessages.size() > 1 )
+                    msg << " with messages:";
+                for( auto const& messageInfo : assertionStats.infoMessages )
+                    msg << "\n  \"" << messageInfo.message << "\"";
+
+
+                if( result.hasExpression() ) {
+                    msg <<
+                        "\n  " << result.getExpressionInMacro() << "\n"
+                        "with expansion:\n" <<
+                        "  " << result.getExpandedExpression() << "\n";
+                }
+
+                if( currentTestCaseInfo->okToFail() ) {
+                    msg << "- failure ignore as test marked as 'ok to fail'\n";
+                    stream << "##teamcity[testIgnored"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+                else {
+                    stream << "##teamcity[testFailed"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+            }
+            stream.flush();
+            return true;
+        }
+
+        void sectionStarting( SectionInfo const& sectionInfo ) override {
+            m_headerPrintedForThisSection = false;
+            StreamingReporterBase::sectionStarting( sectionInfo );
+        }
+
+        void testCaseStarting( TestCaseInfo const& testInfo ) override {
+            m_testTimer.start();
+            StreamingReporterBase::testCaseStarting( testInfo );
+            stream << "##teamcity[testStarted name='"
+                << escape( testInfo.name ) << "']\n";
+            stream.flush();
+        }
+
+        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
+            StreamingReporterBase::testCaseEnded( testCaseStats );
+            if( !testCaseStats.stdOut.empty() )
+                stream << "##teamcity[testStdOut name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
+            if( !testCaseStats.stdErr.empty() )
+                stream << "##teamcity[testStdErr name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
+            stream << "##teamcity[testFinished name='"
+                    << escape( testCaseStats.testInfo.name ) << "' duration='"
+                    << m_testTimer.getElapsedMilliseconds() << "']\n";
+            stream.flush();
+        }
+
+    private:
+        void printSectionHeader( std::ostream& os ) {
+            assert( !m_sectionStack.empty() );
+
+            if( m_sectionStack.size() > 1 ) {
+                os << getLineOfChars<'-'>() << "\n";
+
+                std::vector<SectionInfo>::const_iterator
+                it = m_sectionStack.begin()+1, // Skip first section (test case)
+                itEnd = m_sectionStack.end();
+                for( ; it != itEnd; ++it )
+                    printHeaderString( os, it->name );
+                os << getLineOfChars<'-'>() << "\n";
+            }
+
+            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
+
+            os << lineInfo << "\n";
+            os << getLineOfChars<'.'>() << "\n\n";
+        }
+
+        // if string has a : in first line will set indent to follow it on
+        // subsequent lines
+        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
+            std::size_t i = _string.find( ": " );
+            if( i != std::string::npos )
+                i+=2;
+            else
+                i = 0;
+            os << Column( _string )
+                           .indent( indent+i)
+                           .initialIndent( indent ) << "\n";
+        }
+    private:
+        bool m_headerPrintedForThisSection = false;
+        Timer m_testTimer;
+    };
+
+#ifdef CATCH_IMPL
+    TeamCityReporter::~TeamCityReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
+
+} // end namespace Catch
+
+#ifdef __clang__
+#   pragma clang diagnostic pop
+#endif
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
diff --git a/uv.lock b/uv.lock
index 483cd4475e..f8278c1368 100644
--- a/uv.lock
+++ b/uv.lock
@@ -140,11 +140,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
 ]
 
-[[package]]
-name = "catch2"
-version = "2.13.10"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#419106e82a8dfb86b3252935c94cefb4570cd395" }
-
 [[package]]
 name = "certifi"
 version = "2026.2.25"
@@ -756,7 +751,6 @@ dependencies = [
     { name = "bzip2" },
     { name = "capnproto" },
     { name = "casadi" },
-    { name = "catch2" },
     { name = "cffi" },
     { name = "crcmod-plus" },
     { name = "cython" },
@@ -834,7 +828,6 @@ requires-dist = [
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "casadi", specifier = ">=3.6.6" },
-    { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "coverage", marker = "extra == 'testing'" },

From e86d4e86a6a3d5e29555f9fe0f71a514c1a4a0e3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 26 Apr 2026 09:40:49 -0700
Subject: [PATCH 042/210] pj: shill for jp

---
 tools/plotjuggler/juggle.py | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index c86945ef6b..a31c62c940 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -29,6 +29,18 @@ MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
 MAX_STREAMING_BUFFER_SIZE = 1000
 
 
+def print_jotpluggler_banner():
+  purple = "\033[95m" if sys.stdout.isatty() else ""
+  reset = "\033[0m" if purple else ""
+  print(f"{purple}+-------------------------------------------------------------+{reset}")
+  print(f"{purple}|{reset} JotPluggler is the future! Try it like this:                {purple}|{reset}")
+  print(f"{purple}|{reset}   ./tools/jotpluggler/jotpluggler --demo --layout tuning    {purple}|{reset}")
+  print(f"{purple}|{reset}                                                             {purple}|{reset}")
+  print(f"{purple}|{reset} PlotJuggler will be deleted soon.                           {purple}|{reset}")
+  print(f"{purple}|{reset} Missing a feature? Open an issue or post in #dev-openpilot. {purple}|{reset}")
+  print(f"{purple}+-------------------------------------------------------------+{reset}")
+
+
 def install():
   m = f"{platform.system()}-{platform.machine()}"
   supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64")
@@ -118,10 +130,15 @@ if __name__ == "__main__":
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
 
   if len(sys.argv) == 1:
+    print_jotpluggler_banner()
+    print()
     parser.print_help()
     sys.exit()
   args = parser.parse_args()
 
+  print_jotpluggler_banner()
+  print()
+
   if args.install:
     install()
     sys.exit()

From 545ad018e0df030d508f5b5634ff64d3eb61d91c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 26 Apr 2026 09:48:25 -0700
Subject: [PATCH 043/210] Safer get accel (#37918)

* more robust accel fun

* dead
---
 selfdrive/controls/lib/drive_helpers.py | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 1e2fb27b51..4cfb19bc90 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -12,6 +12,7 @@ MAX_VEL_ERR = 5.0  # m/s
 # EU guidelines
 MAX_LATERAL_JERK = 5.0  # m/s^3
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
+MIN_STABLE_DELAY = 0.3
 
 
 def clamp(val, min_val, max_val):
@@ -43,7 +44,10 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
-    v_target = np.interp(action_t, t_idxs, speeds)
+    if action_t < MIN_STABLE_DELAY:
+      v_target = v_now + (action_t / MIN_STABLE_DELAY) * (np.interp(MIN_STABLE_DELAY, t_idxs, speeds) - v_now)
+    else:
+      v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
   else:
     v_now = 0.0
@@ -58,6 +62,9 @@ def curv_from_psis(psi_target, psi_rate, vego, action_t):
   return 2*curv_from_psi - psi_rate / vego
 
 def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
-  psi_target = np.interp(action_t, t_idxs, yaws)
+  if action_t < MIN_STABLE_DELAY:
+    psi_target = (action_t / MIN_STABLE_DELAY) * np.interp(MIN_STABLE_DELAY, t_idxs, yaws)
+  else:
+    psi_target = np.interp(action_t, t_idxs, yaws)
   psi_rate = yaw_rates[0]
   return curv_from_psis(psi_target, psi_rate, vego, action_t)

From 3af3c7e74873c1b0aeb8973bf580ed24a430bd84 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 26 Apr 2026 10:15:12 -0700
Subject: [PATCH 044/210] Revert "Safer get accel (#37918)"

This reverts commit 545ad018e0df030d508f5b5634ff64d3eb61d91c.
---
 selfdrive/controls/lib/drive_helpers.py | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 4cfb19bc90..1e2fb27b51 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -12,7 +12,6 @@ MAX_VEL_ERR = 5.0  # m/s
 # EU guidelines
 MAX_LATERAL_JERK = 5.0  # m/s^3
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
-MIN_STABLE_DELAY = 0.3
 
 
 def clamp(val, min_val, max_val):
@@ -44,10 +43,7 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
-    if action_t < MIN_STABLE_DELAY:
-      v_target = v_now + (action_t / MIN_STABLE_DELAY) * (np.interp(MIN_STABLE_DELAY, t_idxs, speeds) - v_now)
-    else:
-      v_target = np.interp(action_t, t_idxs, speeds)
+    v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
   else:
     v_now = 0.0
@@ -62,9 +58,6 @@ def curv_from_psis(psi_target, psi_rate, vego, action_t):
   return 2*curv_from_psi - psi_rate / vego
 
 def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
-  if action_t < MIN_STABLE_DELAY:
-    psi_target = (action_t / MIN_STABLE_DELAY) * np.interp(MIN_STABLE_DELAY, t_idxs, yaws)
-  else:
-    psi_target = np.interp(action_t, t_idxs, yaws)
+  psi_target = np.interp(action_t, t_idxs, yaws)
   psi_rate = yaw_rates[0]
   return curv_from_psis(psi_target, psi_rate, vego, action_t)

From 85f00ff80ac3fa2c5a17149c5d8738183cee5a09 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 26 Apr 2026 10:42:48 -0700
Subject: [PATCH 045/210] jp: misc polish (#37919)

* remove useless zoom out buttons

* rm flip

* rm those too

* no dragging
---
 tools/jotpluggler/app.cc           | 14 --------------
 tools/jotpluggler/common.cc        |  8 ++++++++
 tools/jotpluggler/common.h         |  4 ++++
 tools/jotpluggler/custom_series.cc |  2 +-
 tools/jotpluggler/internal.h       |  2 --
 tools/jotpluggler/layout.cc        | 18 +++++++++---------
 tools/jotpluggler/plot.cc          | 13 -------------
 tools/jotpluggler/session.cc       |  5 ++---
 8 files changed, 24 insertions(+), 42 deletions(-)

diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index f25656c7bf..efc848494c 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -1334,20 +1334,6 @@ bool apply_pane_menu_action(AppSession *session, UiState *state, int pane_index,
       layout_changed = true;
       success_status = "Plot view reset";
       break;
-    case PaneMenuActionKind::ResetHorizontal:
-      reset_shared_range(state, *session);
-      state->follow_latest = session->data_mode == SessionDataMode::Stream;
-      state->suppress_range_side_effects = true;
-      clamp_shared_range(state, *session);
-      persist_shared_range_to_tab(tab, *state);
-      layout_changed = true;
-      success_status = "Horizontal zoom reset";
-      break;
-    case PaneMenuActionKind::ResetVertical:
-      clear_pane_vertical_limits(&tab->panes[static_cast<size_t>(pane_index)]);
-      layout_changed = true;
-      success_status = "Vertical zoom reset";
-      break;
     case PaneMenuActionKind::Clear:
       clear_pane(tab, pane_index);
       tab_state->active_pane_index = pane_index;
diff --git a/tools/jotpluggler/common.cc b/tools/jotpluggler/common.cc
index 9bd6c18cea..8f696657bd 100644
--- a/tools/jotpluggler/common.cc
+++ b/tools/jotpluggler/common.cc
@@ -139,6 +139,14 @@ bool env_flag_enabled(const char *name, bool default_value) {
   return !(value == "0" || value == "false" || value == "no" || value == "off");
 }
 
+bool app_begin_popup(const char *str_id, ImGuiWindowFlags flags) {
+  return ImGui::BeginPopup(str_id, flags | ImGuiWindowFlags_NoMove);
+}
+
+bool app_begin_popup_modal(const char *name, bool *p_open, ImGuiWindowFlags flags) {
+  return ImGui::BeginPopupModal(name, p_open, flags | ImGuiWindowFlags_NoMove);
+}
+
 void open_external_url(std::string_view url) {
 #ifdef __APPLE__
   const std::string command = "open " + shell_quote(url) + " &";
diff --git a/tools/jotpluggler/common.h b/tools/jotpluggler/common.h
index 25b1f91e89..14db83fd33 100644
--- a/tools/jotpluggler/common.h
+++ b/tools/jotpluggler/common.h
@@ -57,6 +57,10 @@ const char *stream_source_kind_label(StreamSourceKind kind);
 std::string stream_source_target_label(const StreamSourceConfig &source);
 
 bool env_flag_enabled(const char *name, bool default_value = false);
+bool app_begin_popup(const char *str_id, ImGuiWindowFlags flags = 0);
+bool app_begin_popup_modal(const char *name,
+                           bool *p_open = nullptr,
+                           ImGuiWindowFlags flags = ImGuiWindowFlags_AlwaysAutoResize);
 void open_external_url(std::string_view url);
 std::string route_useradmin_url(const RouteIdentifier &route_id);
 std::string route_connect_url(const RouteIdentifier &route_id);
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
index bd2a3f36d1..568f7e97c3 100644
--- a/tools/jotpluggler/custom_series.cc
+++ b/tools/jotpluggler/custom_series.cc
@@ -292,7 +292,7 @@ void draw_custom_series_help_popup(CustomSeriesEditorState *editor) {
     ImGui::OpenPopup("Custom Series Help");
     editor->open_help = false;
   }
-  if (!ImGui::BeginPopupModal("Custom Series Help", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Custom Series Help")) {
     return;
   }
   ImGui::TextUnformatted("Available variables");
diff --git a/tools/jotpluggler/internal.h b/tools/jotpluggler/internal.h
index b70aec1a53..7b898f0461 100644
--- a/tools/jotpluggler/internal.h
+++ b/tools/jotpluggler/internal.h
@@ -26,8 +26,6 @@ enum class PaneMenuActionKind {
   SplitTop,
   SplitBottom,
   ResetView,
-  ResetHorizontal,
-  ResetVertical,
   Clear,
   Close,
 };
diff --git a/tools/jotpluggler/layout.cc b/tools/jotpluggler/layout.cc
index 8a58ef7cd6..0d3b82c254 100644
--- a/tools/jotpluggler/layout.cc
+++ b/tools/jotpluggler/layout.cc
@@ -92,7 +92,7 @@ bool open_find_signal_result(UiState *state, const std::string &path) {
 }
 
 void draw_open_route_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Open Route", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Open Route")) {
     return;
   }
   ImGui::TextUnformatted("Load a route into the current layout.");
@@ -116,7 +116,7 @@ void draw_open_route_popup(AppSession *session, UiState *state) {
 }
 
 void draw_stream_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Live Stream", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Live Stream")) {
     return;
   }
 
@@ -153,7 +153,7 @@ void draw_stream_popup(AppSession *session, UiState *state) {
 }
 
 void draw_load_layout_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Load Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Load Layout")) {
     return;
   }
   ImGui::TextUnformatted("Load a JotPlugger JSON layout.");
@@ -177,7 +177,7 @@ void draw_load_layout_popup(AppSession *session, UiState *state) {
 }
 
 void draw_save_layout_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Save Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Save Layout")) {
     return;
   }
   ImGui::TextUnformatted("Save the current workspace as a JotPlugger JSON layout.");
@@ -201,7 +201,7 @@ void draw_save_layout_popup(AppSession *session, UiState *state) {
 }
 
 void draw_preferences_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Preferences", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Preferences")) {
     return;
   }
   if (session->map_data) {
@@ -234,7 +234,7 @@ void draw_preferences_popup(AppSession *session, UiState *state) {
 }
 
 void draw_find_signal_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Find Signal", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Find Signal")) {
     return;
   }
   ImGui::TextUnformatted("Search decoded signals across the loaded route.");
@@ -353,7 +353,7 @@ bool save_dbc_editor_contents(AppSession *session, UiState *state) {
 }
 
 void draw_dbc_editor_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("DBC Editor", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("DBC Editor")) {
     return;
   }
   DbcEditorState &editor = state->dbc_editor;
@@ -392,7 +392,7 @@ void draw_dbc_editor_popup(AppSession *session, UiState *state) {
 }
 
 void draw_axis_limits_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Edit Axis Limits", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Edit Axis Limits")) {
     return;
   }
   const WorkspaceTab *tab = app_active_tab(session->layout, *state);
@@ -452,7 +452,7 @@ void draw_error_popup(UiState *state) {
     ImGui::OpenPopup("Error");
     state->open_error_popup = false;
   }
-  if (!ImGui::BeginPopupModal("Error", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Error")) {
     return;
   }
   ImGui::TextWrapped("%s", state->error_text.c_str());
diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
index 270dc90555..019eff7070 100644
--- a/tools/jotpluggler/plot.cc
+++ b/tools/jotpluggler/plot.cc
@@ -921,28 +921,15 @@ std::optional<PaneMenuAction> draw_pane_context_menu(const WorkspaceTab &tab, in
   ImGui::Separator();
   if (icon_menu_item(icon::ZOOM_OUT, "Zoom Out", nullptr, false, is_plot)) {
     action.kind = PaneMenuActionKind::ResetView;
-  } else if (icon_menu_item(icon::ARROW_LEFT_RIGHT, "Zoom Out Horizontally", nullptr, false, is_plot)) {
-    action.kind = PaneMenuActionKind::ResetHorizontal;
-  } else if (icon_menu_item(icon::ARROW_DOWN_UP, "Zoom Out Vertically", nullptr, false, is_plot)) {
-    action.kind = PaneMenuActionKind::ResetVertical;
   }
   ImGui::Separator();
   if (icon_menu_item(icon::TRASH, "Remove ALL curves", nullptr, false, is_plot)) {
     action.kind = PaneMenuActionKind::Clear;
   }
   ImGui::Separator();
-  icon_menu_item(icon::ARROW_LEFT_RIGHT, "Flip Horizontal Axis", nullptr, false, false);
-  icon_menu_item(icon::ARROW_DOWN_UP, "Flip Vertical Axis", nullptr, false, false);
-  ImGui::Separator();
-  icon_menu_item(icon::FILES, "Copy", nullptr, false, false);
-  icon_menu_item(icon::CLIPBOARD2, "Paste", nullptr, false, false);
   icon_menu_item(icon::FILE_EARMARK_IMAGE, "Copy image to clipboard", nullptr, false, false);
   icon_menu_item(icon::SAVE, "Save plot to file", nullptr, false, false);
   icon_menu_item(icon::BAR_CHART, "Show data statistics", nullptr, false, false);
-  ImGui::Separator();
-  if (icon_menu_item(icon::X_SQUARE, "Close Pane")) {
-    action.kind = PaneMenuActionKind::Close;
-  }
   ImGui::EndPopup();
   if (action.kind == PaneMenuActionKind::None) return std::nullopt;
   return action;
diff --git a/tools/jotpluggler/session.cc b/tools/jotpluggler/session.cc
index 173df7bc04..beb0a292be 100644
--- a/tools/jotpluggler/session.cc
+++ b/tools/jotpluggler/session.cc
@@ -444,8 +444,7 @@ void draw_route_info_popup(AppSession *session, UiState *state, ImVec2 anchor) {
   }
   ImGui::SetNextWindowPos(anchor, ImGuiCond_Appearing);
   ImGui::SetNextWindowSizeConstraints(ImVec2(300.0f, 0.0f), ImVec2(420.0f, FLT_MAX));
-  if (!ImGui::BeginPopup("##route_info_popup",
-                         ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings)) {
+  if (!app_begin_popup("##route_info_popup", ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings)) {
     return;
   }
 
@@ -643,7 +642,7 @@ void draw_route_id_chip(AppSession *session, UiState *state) {
   }
 
   ImGui::SetNextWindowPos(ImVec2(chip_max.x - 60.0f, chip_max.y + 4.0f), ImGuiCond_Appearing);
-  if (ImGui::BeginPopup("##route_selector_popup")) {
+  if (app_begin_popup("##route_selector_popup")) {
     for (LogSelector selector : {LogSelector::Auto, LogSelector::RLog, LogSelector::QLog}) {
       const bool selected = route_id.selector == selector;
       const std::string label = std::string(log_selector_name(selector)) + "  " + log_selector_description(selector);

From dc6e64435974192572fd8a51381ddd1673aacd8c Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Sun, 26 Apr 2026 17:49:21 -0700
Subject: [PATCH 046/210] ui: DM icon turns orange briefly after awareness
 drops (#37826)

* change icon after 1s

* match

* timinng

* speed up

* tint

* cleanup
---
 .../onroad/driver_monitoring/dm_cone.png          |  4 ++--
 selfdrive/ui/mici/onroad/driver_state.py          | 15 ++++++++++++++-
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
index ec2f948998..6974b6d8e2 100644
--- a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
+++ b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:26b3660dbd1e60b0ba98914afa7cb3a67151bb6990d218f55c901f243e38ff3e
-size 3631
+oid sha256:5f5d4b7bd406114945e53f4d56089102ee83ba7d0a4590a371f7acab90c7ad53
+size 1862
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 69ada3dae9..37306ce0d7 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -16,11 +16,15 @@ DEBUG = False
 LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
 LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
 
+CONE_COLOR_GREEN = (0, 255, 64)
+CONE_COLOR_ORANGE = (255, 115, 0)
+
 
 class DriverStateRenderer(Widget):
   BASE_SIZE = 60
   LINES_ANGLE_INCREMENT = 5
   LINES_STALE_ANGLES = 3.0  # seconds
+  AWARENESS_UNFULL_PERCENT = 95  # ~0.5s
 
   def __init__(self, lines: bool = False, inset: bool = False):
     super().__init__()
@@ -40,8 +44,10 @@ class DriverStateRenderer(Widget):
     self._should_draw = False
     self._force_active = False
     self._looking_center = False
+    self._awareness_unfull = False
 
     self._fade_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    self._color_fade_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps) # 1.0 = full green, 0.0 = full orange
     self._pitch_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
     self._yaw_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
     self._rotation_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps, initialized=False)
@@ -100,6 +106,12 @@ class DriverStateRenderer(Widget):
                        rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
     if self.effective_active:
+      self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
+      t = self._color_fade_filter.x
+      r = int(round(CONE_COLOR_GREEN[0] * t + CONE_COLOR_ORANGE[0] * (1 - t)))
+      g = int(round(CONE_COLOR_GREEN[1] * t + CONE_COLOR_ORANGE[1] * (1 - t)))
+      b = int(round(CONE_COLOR_GREEN[2] * t + CONE_COLOR_ORANGE[2] * (1 - t)))
+
       source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
       dest_rect = rl.Rectangle(
         self._rect.x + self._rect.width / 2,
@@ -115,7 +127,7 @@ class DriverStateRenderer(Widget):
           dest_rect,
           rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
           self._rotation_filter.x - 90,
-          rl.Color(255, 255, 255, int(255 * self._fade_filter.x)),
+          rl.Color(r, g, b, int(255 * self._fade_filter.x)),
         )
 
       else:
@@ -158,6 +170,7 @@ class DriverStateRenderer(Widget):
     self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
     self._face_detected = dm_state.visionPolicyState.faceDetected
+    self._awareness_unfull = self._is_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
     self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
     self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
 

From 13ea74bcb4663a0ccf6d7aec9a923662e3c87a4c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 27 Apr 2026 00:13:30 -0700
Subject: [PATCH 047/210] ui: fix DM orange transitions (#37922)

* fix transitions and use eff active

* huh

* wtf

* clean up

* strict

* strict

* back

* back
---
 selfdrive/ui/mici/onroad/driver_state.py | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 37306ce0d7..1855d77b77 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -105,13 +105,8 @@ class DriverStateRenderer(Widget):
                                   self._rect.y + (self._rect.height - self._dm_person.height) / 2), 0.0, 1.0,
                        rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
+    green_amount = self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
     if self.effective_active:
-      self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
-      t = self._color_fade_filter.x
-      r = int(round(CONE_COLOR_GREEN[0] * t + CONE_COLOR_ORANGE[0] * (1 - t)))
-      g = int(round(CONE_COLOR_GREEN[1] * t + CONE_COLOR_ORANGE[1] * (1 - t)))
-      b = int(round(CONE_COLOR_GREEN[2] * t + CONE_COLOR_ORANGE[2] * (1 - t)))
-
       source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
       dest_rect = rl.Rectangle(
         self._rect.x + self._rect.width / 2,
@@ -121,6 +116,9 @@ class DriverStateRenderer(Widget):
       )
 
       if not self._lines:
+        r = int(round(CONE_COLOR_GREEN[0] * green_amount + CONE_COLOR_ORANGE[0] * (1 - green_amount)))
+        g = int(round(CONE_COLOR_GREEN[1] * green_amount + CONE_COLOR_ORANGE[1] * (1 - green_amount)))
+        b = int(round(CONE_COLOR_GREEN[2] * green_amount + CONE_COLOR_ORANGE[2] * (1 - green_amount)))
         rl.draw_texture_pro(
           self._dm_cone,
           source_rect,
@@ -170,7 +168,7 @@ class DriverStateRenderer(Widget):
     self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
     self._face_detected = dm_state.visionPolicyState.faceDetected
-    self._awareness_unfull = self._is_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
+    self._awareness_unfull = self.effective_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
     self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
     self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
 

From f7644c913ef1d6a7932b5c1021cf3fb36759f8b9 Mon Sep 17 00:00:00 2001
From: Ethan Reish <Ereish02@gmail.com>
Date: Mon, 27 Apr 2026 10:38:55 -0500
Subject: [PATCH 048/210] Do not build extras when running --minimal SCons
 (#37892)

---
 SConstruct | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index 119209dcdb..dcc567c74a 100644
--- a/SConstruct
+++ b/SConstruct
@@ -254,8 +254,8 @@ SConscript([
   'selfdrive/ui/SConscript',
 ])
 
-# Build tools
-if arch != "larch64":
+# Build desktop-only tools
+if GetOption('extras') and arch != "larch64":
   SConscript([
     'tools/replay/SConscript',
     'tools/cabana/SConscript',

From 813d794f05cadfb4c95b07befb6712b15ca31170 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 28 Apr 2026 13:36:33 -0700
Subject: [PATCH 049/210] fan spin better

---
 RELEASES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/RELEASES.md b/RELEASES.md
index 55141710d0..1fbf556fc6 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -2,6 +2,7 @@ Version 0.11.1 (2026-04-22)
 ========================
 * New driver monitoring model
 * Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
 * Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 Version 0.11.0 (2026-03-17)

From 360fd1555fd2196c2a3c5c884877056bbf25f35b Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Wed, 29 Apr 2026 23:45:56 +0300
Subject: [PATCH 050/210] wifi: extract _GsmManager into its own module
 (#37911)

* wifi: extract _GsmManager into its own module

* gsm_manager: preserve comments/breadcrumbs from extracted code and move imports to module top
---
 system/ui/lib/gsm_manager.py  | 145 ++++++++++++++++++++++++++++++++++
 system/ui/lib/wifi_manager.py |  86 ++------------------
 2 files changed, 152 insertions(+), 79 deletions(-)
 create mode 100644 system/ui/lib/gsm_manager.py

diff --git a/system/ui/lib/gsm_manager.py b/system/ui/lib/gsm_manager.py
new file mode 100644
index 0000000000..e167456f43
--- /dev/null
+++ b/system/ui/lib/gsm_manager.py
@@ -0,0 +1,145 @@
+"""GSM/cellular settings manager via NetworkManager DBus."""
+from jeepney import DBusAddress, new_method_call
+from jeepney.io.threading import DBusRouter, open_dbus_connection
+from jeepney.low_level import MessageType
+from jeepney.wrappers import Properties
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.networkmanager import (NM, NM_PATH, NM_SETTINGS_PATH, NM_SETTINGS_IFACE,
+                                                    NM_CONNECTION_IFACE, NM_DEVICE_IFACE, NM_DEVICE_TYPE_MODEM)
+
+
+# NM NMMetered values
+# https://networkmanager.dev/docs/api/latest/nm-dbus-types.html#NMMetered
+NM_METERED_UNKNOWN = 0
+NM_METERED_NO = 2
+
+
+class _GsmManager:
+  """Manages cellular/GSM via NetworkManager DBus."""
+
+  def __init__(self):
+    self._router: DBusRouter | None = None
+    self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM)
+
+  def _ensure_router(self) -> bool:
+    if self._router is not None:
+      return True
+    try:
+      self._router = DBusRouter(open_dbus_connection(bus="SYSTEM"))
+      return True
+    except Exception:
+      cloudlog.exception("Failed to connect to system D-Bus for GSM")
+      return False
+
+  def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
+    """Update GSM settings for cellular connection"""
+    if not self._ensure_router():
+      return
+    try:
+      lte_connection_path = self._get_lte_connection_path()
+      if not lte_connection_path:
+        cloudlog.warning("No LTE connection found")
+        return
+
+      settings = self._get_connection_settings(lte_connection_path)
+
+      if len(settings) == 0:
+        cloudlog.warning(f"Failed to get connection settings for {lte_connection_path}")
+        return
+
+      # Ensure dicts exist
+      if 'gsm' not in settings:
+        settings['gsm'] = {}
+      if 'connection' not in settings:
+        settings['connection'] = {}
+
+      changes = False
+      auto_config = apn == ""
+
+      if settings['gsm'].get('auto-config', ('b', False))[1] != auto_config:
+        cloudlog.warning(f'Changing gsm.auto-config to {auto_config}')
+        settings['gsm']['auto-config'] = ('b', auto_config)
+        changes = True
+
+      if settings['gsm'].get('apn', ('s', ''))[1] != apn:
+        cloudlog.warning(f'Changing gsm.apn to {apn}')
+        settings['gsm']['apn'] = ('s', apn)
+        changes = True
+
+      if settings['gsm'].get('home-only', ('b', False))[1] == roaming:
+        cloudlog.warning(f'Changing gsm.home-only to {not roaming}')
+        settings['gsm']['home-only'] = ('b', not roaming)
+        changes = True
+
+      # Unknown means NetworkManager decides
+      metered_int = NM_METERED_UNKNOWN if metered else NM_METERED_NO
+      if settings['connection'].get('metered', ('i', 0))[1] != metered_int:
+        cloudlog.warning(f'Changing connection.metered to {metered_int}')
+        settings['connection']['metered'] = ('i', metered_int)
+        changes = True
+
+      if changes:
+        # Update the connection settings (temporary update)
+        conn_addr = DBusAddress(lte_connection_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+        reply = self._router.send_and_get_reply(new_method_call(conn_addr, 'UpdateUnsaved', 'a{sa{sv}}', (settings,)))
+
+        if reply.header.message_type == MessageType.error:
+          cloudlog.warning(f"Failed to update GSM settings: {reply}")
+          return
+
+        self._activate_modem_connection(lte_connection_path)
+    except Exception as e:
+      cloudlog.exception(f"Error updating GSM settings: {e}")
+
+  def _get_lte_connection_path(self) -> str | None:
+    try:
+      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
+      known_connections = self._router.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
+
+      for conn_path in known_connections:
+        settings = self._get_connection_settings(conn_path)
+        if settings and settings.get('connection', {}).get('id', ('s', ''))[1] == 'lte':
+          return str(conn_path)
+    except Exception as e:
+      cloudlog.exception(f"Error finding LTE connection: {e}")
+    return None
+
+  def _activate_modem_connection(self, connection_path: str):
+    try:
+      modem_device = self._get_adapter(NM_DEVICE_TYPE_MODEM)
+      if modem_device and connection_path:
+        self._router.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo',
+                                                        (connection_path, modem_device, "/")))
+    except Exception as e:
+      cloudlog.exception(f"Error activating modem connection: {e}")
+
+  def _get_connection_settings(self, conn_path: str) -> dict:
+    conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+    reply = self._router.send_and_get_reply(new_method_call(conn_addr, 'GetSettings'))
+    if reply.header.message_type == MessageType.error:
+      cloudlog.warning(f'Failed to get connection settings: {reply}')
+      return {}
+    return dict(reply.body[0])
+
+  def _get_adapter(self, adapter_type: int) -> str | None:
+    # Return the first NetworkManager device path matching adapter_type
+    try:
+      device_paths = self._router.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0]
+      for device_path in device_paths:
+        dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE)
+        dev_type = self._router.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1]
+        if dev_type == adapter_type:
+          return str(device_path)
+    except Exception as e:
+      cloudlog.exception(f"Error getting adapter type {adapter_type}: {e}")
+    return None
+
+  def close(self):
+    if self._router is not None:
+      try:
+        self._router.close()
+        self._router.conn.close()
+      except Exception:
+        pass
+      self._router = None
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index d3c855d9bc..22163d5f68 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -23,8 +23,9 @@ from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_80
                                                     NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS,
                                                     NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH,
                                                     NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE,
-                                                    NM_DEVICE_TYPE_WIFI, NM_DEVICE_TYPE_MODEM, NM_ACTIVE_CONNECTION_IFACE,
+                                                    NM_DEVICE_TYPE_WIFI, NM_ACTIVE_CONNECTION_IFACE,
                                                     NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason)
+from openpilot.system.ui.lib.gsm_manager import _GsmManager
 
 try:
   from openpilot.common.params import Params
@@ -184,6 +185,8 @@ class WifiManager:
     self._last_network_scan: float = 0.0
     self._callback_queue: list[Callable] = []
 
+    self._gsm = _GsmManager()
+
     self._tethering_ssid = "weedle"
     if Params is not None:
       dongle_id = Params().get("DongleId")
@@ -932,87 +935,10 @@ class WifiManager:
 
   def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
     """Update GSM settings for cellular connection"""
-
     def worker():
-      try:
-        lte_connection_path = self._get_lte_connection_path()
-        if not lte_connection_path:
-          cloudlog.warning("No LTE connection found")
-          return
-
-        settings = self._get_connection_settings(lte_connection_path)
-
-        if len(settings) == 0:
-          cloudlog.warning(f"Failed to get connection settings for {lte_connection_path}")
-          return
-
-        # Ensure dicts exist
-        if 'gsm' not in settings:
-          settings['gsm'] = {}
-        if 'connection' not in settings:
-          settings['connection'] = {}
-
-        changes = False
-        auto_config = apn == ""
-
-        if settings['gsm'].get('auto-config', ('b', False))[1] != auto_config:
-          cloudlog.warning(f'Changing gsm.auto-config to {auto_config}')
-          settings['gsm']['auto-config'] = ('b', auto_config)
-          changes = True
-
-        if settings['gsm'].get('apn', ('s', ''))[1] != apn:
-          cloudlog.warning(f'Changing gsm.apn to {apn}')
-          settings['gsm']['apn'] = ('s', apn)
-          changes = True
-
-        if settings['gsm'].get('home-only', ('b', False))[1] == roaming:
-          cloudlog.warning(f'Changing gsm.home-only to {not roaming}')
-          settings['gsm']['home-only'] = ('b', not roaming)
-          changes = True
-
-        # Unknown means NetworkManager decides
-        metered_int = int(MeteredType.UNKNOWN if metered else MeteredType.NO)
-        if settings['connection'].get('metered', ('i', 0))[1] != metered_int:
-          cloudlog.warning(f'Changing connection.metered to {metered_int}')
-          settings['connection']['metered'] = ('i', metered_int)
-          changes = True
-
-        if changes:
-          # Update the connection settings (temporary update)
-          conn_addr = DBusAddress(lte_connection_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-          reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'UpdateUnsaved', 'a{sa{sv}}', (settings,)))
-
-          if reply.header.message_type == MessageType.error:
-            cloudlog.warning(f"Failed to update GSM settings: {reply}")
-            return
-
-          self._activate_modem_connection(lte_connection_path)
-      except Exception as e:
-        cloudlog.exception(f"Error updating GSM settings: {e}")
-
+      self._gsm.update_gsm_settings(roaming, apn, metered)
     threading.Thread(target=worker, daemon=True).start()
 
-  def _get_lte_connection_path(self) -> str | None:
-    try:
-      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-      known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
-
-      for conn_path in known_connections:
-        settings = self._get_connection_settings(conn_path)
-        if settings and settings.get('connection', {}).get('id', ('s', ''))[1] == 'lte':
-          return str(conn_path)
-    except Exception as e:
-      cloudlog.exception(f"Error finding LTE connection: {e}")
-    return None
-
-  def _activate_modem_connection(self, connection_path: str):
-    try:
-      modem_device = self._get_adapter(NM_DEVICE_TYPE_MODEM)
-      if modem_device and connection_path:
-        self._router_main.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo', (connection_path, modem_device, "/")))
-    except Exception as e:
-      cloudlog.exception(f"Error activating modem connection: {e}")
-
   def stop(self):
     if not self._exit:
       self._exit = True
@@ -1026,3 +952,5 @@ class WifiManager:
         self._router_main.conn.close()
       if self._conn_monitor is not None:
         self._conn_monitor.close()
+
+      self._gsm.close()

From dab51a864f896a2afa10af68637eb7464f0fa94f Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Wed, 29 Apr 2026 15:26:55 -0700
Subject: [PATCH 051/210] show alert severity (#37931)

* alert icons, sort by severity

* rename
---
 selfdrive/ui/mici/layouts/home.py           | 26 ++++++++++++++++-----
 selfdrive/ui/mici/layouts/main.py           |  1 +
 selfdrive/ui/mici/layouts/offroad_alerts.py | 10 ++++++++
 3 files changed, 31 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index cbe7ec29f0..8a71e2efeb 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -39,11 +39,16 @@ class AlertsPill(Widget):
     self.set_rect(rl.Rectangle(0, 0, 104, 52))
 
     self._pill_bg_txt = gui_app.texture("icons_mici/alerts_pill.png", 104, 52)
-    self._warning_txt = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
+    self._icon_red = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
+    self._icon_orange = gui_app.texture("icons_mici/offroad_alerts/orange_warning.png", 36, 36)
+    self._icon_green = gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", 36, 36)
     self._alert_count_callback: Callable[[], int] | None = None
+    self._max_severity_callback: Callable[[], int | None] | None = None
 
-  def set_alert_count_callback(self, callback: Callable[[], int] | None):
+  def set_alert_count_callback(self, callback: Callable[[], int] | None,
+                               severity_callback: Callable[[], int | None] | None = None):
     self._alert_count_callback = callback
+    self._max_severity_callback = severity_callback
 
   def _render(self, _):
     alert_count = self._alert_count_callback() if self._alert_count_callback else 0
@@ -51,9 +56,17 @@ class AlertsPill(Widget):
       pill_w, pill_h = self._pill_bg_txt.width, self._pill_bg_txt.height
       rl.draw_texture_ex(self._pill_bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, rl.WHITE)
 
+      severity = self._max_severity_callback() if self._max_severity_callback else None
+      if severity == -1:
+        warning_txt = self._icon_green
+      elif severity is not None and severity > 0:
+        warning_txt = self._icon_red
+      else:
+        warning_txt = self._icon_orange
+
       warn_x = self.rect.x + self.ICON_OFFSET
-      warn_y = self.rect.y + (pill_h - self._warning_txt.height) / 2
-      rl.draw_texture_ex(self._warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
+      warn_y = self.rect.y + (pill_h - warning_txt.height) / 2
+      rl.draw_texture_ex(warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
 
       count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
       gui_label(count_rect, str(alert_count), font_size=36,
@@ -181,11 +194,12 @@ class MiciHomeLayout(Widget):
       self._update_params()
 
   def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
-                    alert_count_callback: Callable[[], int] | None = None):
+                    alert_count_callback: Callable[[], int] | None = None,
+                    max_severity_callback: Callable[[], int | None] | None = None):
     self._on_settings_click = on_settings
     self._on_alerts_click = on_alerts
     self._alert_count_callback = alert_count_callback
-    self._alerts_pill.set_alert_count_callback(alert_count_callback)
+    self._alerts_pill.set_alert_count_callback(alert_count_callback, max_severity_callback)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if not self._did_long_press:
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index badfbe315e..9b4bcb5cc4 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -71,6 +71,7 @@ class MiciMainLayout(Scroller):
       on_settings=lambda: gui_app.push_widget(self._settings_layout),
       on_alerts=lambda: self._scroll_to(self._alerts_layout),
       alert_count_callback=self._alerts_layout.active_alerts,
+      max_severity_callback=self._alerts_layout.max_severity,
     )
     for layout in (self._car_onroad_layout, self._body_onroad_layout):
       layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index 0dae5d2075..a46002c289 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -208,6 +208,9 @@ class MiciOffroadAlerts(Scroller):
   def active_alerts(self) -> int:
     return sum(alert.visible for alert in self.sorted_alerts)
 
+  def max_severity(self) -> int | None:
+    return max((alert.severity for alert in self.sorted_alerts if alert.visible), default=None)
+
   def scrolling(self):
     return self._scroller.scroll_panel.is_touch_valid()
 
@@ -273,6 +276,11 @@ class MiciOffroadAlerts(Scroller):
       if alert_json:
         text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
 
+      if text and not alert_data.visible:
+        # Bump newly visible alerts to the top, severity sort keeps it at the top of its category
+        widget = next(w for w in self._scroller.items if w.alert_data is alert_data)
+        self._scroller.items.remove(widget)
+        self._scroller.items.insert(0, widget)
       alert_data.text = text
       alert_data.visible = bool(text)
 
@@ -283,6 +291,8 @@ class MiciOffroadAlerts(Scroller):
     for alert_item in self.alert_items:
       alert_item.update_alert_data(alert_item.alert_data)
 
+    self._scroller.items.sort(key=lambda w: -w.alert_data.severity)
+
     return active_count
 
   def show_event(self):

From f00ff77c55b4a1675b3b31cf048319e67bd773ff Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 29 Apr 2026 18:31:03 -0700
Subject: [PATCH 052/210] modeld: faster compile (#37929)

---
 selfdrive/modeld/compile_modeld.py | 20 +++++++++-----------
 1 file changed, 9 insertions(+), 11 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 1e05ae30a4..9b2394e503 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -174,7 +174,6 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
                          vision_features_slice, frame_skip, prepare_only)
   run_policy_jit = TinyJit(_run, prune=True)
 
-  N_RUNS = 3
   SEED = 42
 
   def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
@@ -182,7 +181,10 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
     np.random.seed(seed)
     Tensor.manual_seed(seed)
 
-    for i in range(N_RUNS):
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
+    for i in range(n_runs):
       frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
       big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
       for v in npy.values():
@@ -191,15 +193,13 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
       st = time.perf_counter()
       outs = fn(**input_queues, frame=frame, big_frame=big_frame)
       mt = time.perf_counter()
-      for o in outs:
-        # .realize() not needed once jitted, but needed for unjitted fn
-        o.realize()
       Device.default.synchronize()
       et = time.perf_counter()
-      print(f"  [{i+1}/{N_RUNS}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
 
-    val = [np.copy(v.numpy()) for v in outs]
-    buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+      if i == 0:
+        val = [np.copy(v.numpy()) for v in outs]
+        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
 
     if test_val is not None:
       match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
@@ -209,10 +209,8 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
       assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
     return fn, val, buffers
 
-  print('run unjitted')
-  _, test_val, test_buffers = random_inputs_run_fn(_run, seed=SEED)
   print('capture + replay')
-  run_policy_jit, _, _ = random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers)
+  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
 
   print('pickle round trip')
   with open(pkl_path, "wb") as f:

From ae0962cd0c1d984b4311536220ba1db87257bc7d Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 29 Apr 2026 18:57:32 -0700
Subject: [PATCH 053/210] dmonitoringmodeld: misc synthax (#37901)

* dmonitoringmodeld: misc synthax

* trigger ci
---
 selfdrive/modeld/dmonitoringmodeld.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 18a79136ae..86b0edf7ce 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -58,9 +58,9 @@ class ModelState:
       self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')
 
     self.warp_inputs_np['transform'][:] = transform[:]
-    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()
+    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform'])
 
-    output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
+    output = self.model_run(**self.tensor_inputs).numpy().flatten()
 
     t2 = time.perf_counter()
     return output, t2 - t1

From b3f369612db98cd93d9363106ef829ccf12504b7 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Wed, 29 Apr 2026 21:28:59 -0700
Subject: [PATCH 054/210] modeld: cleanup tg flags (#37903)

* modeld: remove deprecated tg flags

* trigger ci

* JIT_BATCH_SIZE still a thing
---
 selfdrive/modeld/SConscript | 14 +++++---------
 1 file changed, 5 insertions(+), 9 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 76fef75bae..40b30b8c1b 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -36,11 +36,10 @@ if 'CUDA' in available:
   tg_flags = f'DEV={tg_backend}'
 elif 'QCOM' in available:
   tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
+  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
   tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
-  # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
-  tg_flags = f'DEV={tg_backend} THREADS=0'
+  tg_flags = f'DEV={tg_backend}'
 
 def write_tg_compiled_flags(target, source, env):
   with open(str(target[0]), "w") as f:
@@ -63,9 +62,6 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
   lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
 
-image_flag = {
-     'larch64': 'IMAGE=2',
-}.get(arch, 'IMAGE=0')
 modeld_dir = Dir("#selfdrive/modeld").abspath
 compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
 compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
@@ -75,7 +71,7 @@ driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['dri
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 for cfg in MODELD_CONFIGS:
-  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_modeld.py '
+  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
          f'--model-size {model_w}x{model_h} '
          f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
          f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
@@ -91,7 +87,7 @@ for cfg in MODELD_CONFIGS:
 
 dm_w, dm_h = DM_INPUT_SIZE
 for cfg in DM_WARP_CONFIGS:
-  cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_dm_warp.py '
+  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
          f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
          f'--output {cfg.pkl_path}')
   lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
@@ -105,7 +101,7 @@ def tg_compile(flags, model_name):
   compile_node = lenv.Command(
     pkl,
     [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
-    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
   )
   def do_chunk(target, source, env):
     chunk_file(pkl, chunk_targets)

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 055/210] 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 d7af83d407..5b5b1aa577 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 f8278c1368..d76b1bb393 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" },

From 61f7c7ea03b706e9e1e6e5e0be1f7b2bb08ef49b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 18:12:04 -0700
Subject: [PATCH 056/210] use vendored xvfb (#37934)

---
 pyproject.toml               |  1 +
 selfdrive/test/setup_xvfb.sh |  4 ++--
 tools/setup_dependencies.sh  | 14 +++++++-------
 uv.lock                      |  7 +++++++
 4 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 5b5b1aa577..ab2a6d327a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,6 +39,7 @@ dependencies = [
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
+  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index c1b74a850e..269ecfb689 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -9,7 +9,7 @@ else
 fi
 export DISPLAY=:$DISP_ID
 
-sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
+Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
 
 # check for x11 socket for the specified display ID
 while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
@@ -19,4 +19,4 @@ do
 done
 
 touch ~/.Xauthority
-export XDG_SESSION_TYPE="x11"
\ No newline at end of file
+export XDG_SESSION_TYPE="x11"
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 73cee5569b..3fb7165a50 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -33,20 +33,20 @@ function install_linux_deps() {
   # normal stuff, this mostly for bare docker images
   if command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
-    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
   elif command -v dnf > /dev/null 2>&1; then
-    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v yum > /dev/null 2>&1; then
-    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v pacman > /dev/null 2>&1; then
-    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git
   elif command -v zypper > /dev/null 2>&1; then
     $SUDO zypper --non-interactive refresh
-    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git
   elif command -v apk > /dev/null 2>&1; then
-    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git
   elif command -v xbps-install > /dev/null 2>&1; then
-    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales
   else
     echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
diff --git a/uv.lock b/uv.lock
index d76b1bb393..9e1e887dca 100644
--- a/uv.lock
+++ b/uv.lock
@@ -796,6 +796,7 @@ dependencies = [
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb" },
     { name = "zeromq" },
     { name = "zstandard" },
     { name = "zstd" },
@@ -891,6 +892,7 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb", git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb" },
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
@@ -1559,6 +1561,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
 ]
 
+[[package]]
+name = "xvfb"
+version = "1.20.11"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#e98ecfa02a49f59cbb5194ed122e14b50f458873" }
+
 [[package]]
 name = "yarl"
 version = "1.23.0"

From a4e016c1429dae2ea56c03297a2baa0d5b69b0dd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 18:29:30 -0700
Subject: [PATCH 057/210] Revert "use vendored xvfb (#37934)"

This reverts commit 61f7c7ea03b706e9e1e6e5e0be1f7b2bb08ef49b.
---
 pyproject.toml               |  1 -
 selfdrive/test/setup_xvfb.sh |  4 ++--
 tools/setup_dependencies.sh  | 14 +++++++-------
 uv.lock                      |  7 -------
 4 files changed, 9 insertions(+), 17 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index ab2a6d327a..5b5b1aa577 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,7 +39,6 @@ dependencies = [
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
-  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index 269ecfb689..c1b74a850e 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -9,7 +9,7 @@ else
 fi
 export DISPLAY=:$DISP_ID
 
-Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
+sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
 
 # check for x11 socket for the specified display ID
 while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
@@ -19,4 +19,4 @@ do
 done
 
 touch ~/.Xauthority
-export XDG_SESSION_TYPE="x11"
+export XDG_SESSION_TYPE="x11"
\ No newline at end of file
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 3fb7165a50..73cee5569b 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -33,20 +33,20 @@ function install_linux_deps() {
   # normal stuff, this mostly for bare docker images
   if command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
-    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
   elif command -v dnf > /dev/null 2>&1; then
-    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
   elif command -v yum > /dev/null 2>&1; then
-    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
   elif command -v pacman > /dev/null 2>&1; then
-    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
   elif command -v zypper > /dev/null 2>&1; then
     $SUDO zypper --non-interactive refresh
-    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
   elif command -v apk > /dev/null 2>&1; then
-    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
   elif command -v xbps-install > /dev/null 2>&1; then
-    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
   else
     echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
diff --git a/uv.lock b/uv.lock
index 9e1e887dca..d76b1bb393 100644
--- a/uv.lock
+++ b/uv.lock
@@ -796,7 +796,6 @@ dependencies = [
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
-    { name = "xvfb" },
     { name = "zeromq" },
     { name = "zstandard" },
     { name = "zstd" },
@@ -892,7 +891,6 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
-    { name = "xvfb", git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb" },
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
@@ -1561,11 +1559,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
 ]
 
-[[package]]
-name = "xvfb"
-version = "1.20.11"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#e98ecfa02a49f59cbb5194ed122e14b50f458873" }
-
 [[package]]
 name = "yarl"
 version = "1.23.0"

From 4db23ed4c697475ff1ec967cd53d9447fb6be53c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 19:35:35 -0700
Subject: [PATCH 058/210] use vendored xvfb (#37935)

Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 pyproject.toml               |  1 +
 selfdrive/test/setup_xvfb.sh |  2 +-
 tools/setup_dependencies.sh  | 14 +++++++-------
 uv.lock                      |  7 +++++++
 4 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 5b5b1aa577..ab2a6d327a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,6 +39,7 @@ dependencies = [
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
+  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index c1b74a850e..50b313658d 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -9,7 +9,7 @@ else
 fi
 export DISPLAY=:$DISP_ID
 
-sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
+Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
 
 # check for x11 socket for the specified display ID
 while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 73cee5569b..3fb7165a50 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -33,20 +33,20 @@ function install_linux_deps() {
   # normal stuff, this mostly for bare docker images
   if command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
-    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
   elif command -v dnf > /dev/null 2>&1; then
-    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v yum > /dev/null 2>&1; then
-    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v pacman > /dev/null 2>&1; then
-    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git
   elif command -v zypper > /dev/null 2>&1; then
     $SUDO zypper --non-interactive refresh
-    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git
   elif command -v apk > /dev/null 2>&1; then
-    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git
   elif command -v xbps-install > /dev/null 2>&1; then
-    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales
   else
     echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
diff --git a/uv.lock b/uv.lock
index d76b1bb393..78829688f0 100644
--- a/uv.lock
+++ b/uv.lock
@@ -796,6 +796,7 @@ dependencies = [
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb" },
     { name = "zeromq" },
     { name = "zstandard" },
     { name = "zstd" },
@@ -891,6 +892,7 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb", git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb" },
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
@@ -1559,6 +1561,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
 ]
 
+[[package]]
+name = "xvfb"
+version = "1.20.11.post1"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#8dbb2f0e4a8b22402e8f7029dc7fd06c8e4fd865" }
+
 [[package]]
 name = "yarl"
 version = "1.23.0"

From 39849def72f9db8545905422c5932fa0580a090e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Apr 2026 19:37:51 -0700
Subject: [PATCH 059/210] add vendored catch2 package

---
 pyproject.toml | 1 +
 uv.lock        | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index ab2a6d327a..f1cbccb3fc 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",
+  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "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",
diff --git a/uv.lock b/uv.lock
index 78829688f0..8b5de1ba38 100644
--- a/uv.lock
+++ b/uv.lock
@@ -148,6 +148,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
 ]
 
+[[package]]
+name = "catch2"
+version = "2.13.10"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#7a05367ad5e3705a23f00ebc41b629960b8996b0" }
+
 [[package]]
 name = "certifi"
 version = "2026.2.25"
@@ -760,6 +765,7 @@ dependencies = [
     { name = "bzip2" },
     { name = "capnproto" },
     { name = "casadi" },
+    { name = "catch2" },
     { name = "cffi" },
     { name = "crcmod-plus" },
     { name = "cython" },
@@ -839,6 +845,7 @@ requires-dist = [
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "casadi", specifier = ">=3.6.6" },
+    { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
     { name = "coverage", marker = "extra == 'testing'" },

From dd7da3153a0361ff0dae2c46824c206c705f6e9a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 May 2026 01:45:49 -0700
Subject: [PATCH 060/210] mici ui: don't show stale frame on startup (#37936)

* fix frame under text

* claude always taking the hard path

* cmt

* it still shows on start

* revert

* fix

* wait to show

* already a bug, don't fix here

* cmt

* cmt
---
 selfdrive/ui/mici/onroad/augmented_road_view.py | 17 ++++++++---------
 selfdrive/ui/mici/onroad/cameraview.py          | 14 +++++---------
 2 files changed, 13 insertions(+), 18 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 63e976caee..7c0d8ac348 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -185,6 +185,12 @@ class AugmentedRoadView(CameraView):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
+    # Draw text if not onroad
+    if not ui_state.started:
+      rl.draw_rectangle_rec(self.rect, rl.BLACK)
+      self._offroad_label.render(self._rect)
+      return
+
     start_draw = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
 
@@ -220,7 +226,7 @@ class AugmentedRoadView(CameraView):
     alert_to_render, not_animating_out = self._alert_renderer.will_render()
 
     # Hide DMoji when disengaged unless AlwaysOnDM is enabled
-    should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and ui_state.is_onroad() and
+    should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and
                          (ui_state.status != UIStatus.DISENGAGED or ui_state.always_on_dm))
     self._driver_state_renderer.set_should_draw(should_draw_dmoji)
     self._driver_state_renderer.set_position(self._rect.x + 16, self._rect.y + 10)
@@ -229,9 +235,7 @@ class AugmentedRoadView(CameraView):
     self._hud_renderer.set_can_draw_top_icons(alert_to_render is None)
     self._hud_renderer.set_wheel_critical_icon(alert_to_render is not None and not not_animating_out and
                                                alert_to_render.visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired)
-    # TODO: have alert renderer draw offroad mici label below
-    if ui_state.started:
-      self._alert_renderer.render(self._content_rect)
+    self._alert_renderer.render(self._content_rect)
     self._hud_renderer.render(self._content_rect)
 
     # Draw fake rounded border
@@ -246,11 +250,6 @@ class AugmentedRoadView(CameraView):
 
     self._bookmark_icon.render(self.rect)
 
-    # Draw darkened background and text if not onroad
-    if not ui_state.started:
-      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
-      self._offroad_label.render(self._rect)
-
     # publish uiDebug
     msg = messaging.new_message('uiDebug')
     msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 62fcfd0654..57a8a2d5ce 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -150,15 +150,11 @@ class CameraView(Widget):
     ui_state.add_offroad_transition_callback(self._offroad_transition)
 
   def _offroad_transition(self):
-    # Reconnect if not first time going onroad
-    if ui_state.is_onroad() and self.frame is not None:
-      # Prevent old frames from showing when going onroad. Qt has a separate thread
-      # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
-      # and only clears internal buffers, not the message queue.
-      self.available_streams.clear()
-      if self.client:
-        del self.client
-      self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+    # Drain queued SubSocket messages to prevent old frames from showing when going
+    # onroad. Qt had a separate thread which drains the VisionIpcClient SubSocket for us.
+    if self.client and self.client.is_connected():
+      while self.client.recv(timeout_ms=0) is not None:
+        pass
     self.frame = None
 
   def _set_placeholder_color(self, color: rl.Color):

From 7b79305d994fc85947af3b50eafe3bc0c0f01878 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 May 2026 01:50:08 -0700
Subject: [PATCH 061/210] WifiManager: capture NewConnection signal from adding
 tethering connection (#37938)

* launch threads before creating hotspot

* Update system/ui/lib/wifi_manager.py

* todo
---
 system/ui/lib/wifi_manager.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index 22163d5f68..a030f7668a 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -210,15 +210,16 @@ class WifiManager:
     def worker():
       self._wait_for_wifi_device()
 
+      # TODO: wait for state thread to start before adding tethering connection, tiny race currently
+      self._scan_thread.start()
+      self._state_thread.start()
+
       self._init_connections()
       if Params is not None and self._tethering_ssid not in self._connections:
         self._add_tethering_connection()
 
       self._init_wifi_state()
 
-      self._scan_thread.start()
-      self._state_thread.start()
-
       self._tethering_password = self._get_tethering_password()
       cloudlog.debug("WifiManager initialized")
 

From d20794f90011d5b72432dca8a6070687498ce906 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 May 2026 02:01:23 -0700
Subject: [PATCH 062/210] mici home: alerts pill touch zone only when alerts
 (#37940)

* fix

* clean up
---
 selfdrive/ui/mici/layouts/home.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 8a71e2efeb..f9a85a8fba 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -14,7 +14,6 @@ from openpilot.system.version import RELEASE_BRANCHES
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
-SETTINGS_ZONE_WIDTH = 280
 ALERTS_ZONE_WIDTH = 180
 
 NetworkType = log.DeviceState.NetworkType
@@ -205,12 +204,11 @@ class MiciHomeLayout(Widget):
     if not self._did_long_press:
       relative_x = mouse_pos.x - self.rect.x
       has_alerts = self._alert_count_callback and self._alert_count_callback() > 0
-      if relative_x < SETTINGS_ZONE_WIDTH:
-        if self._on_settings_click:
-          self._on_settings_click()
-      elif has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
+      if has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
         if self._on_alerts_click:
           self._on_alerts_click()
+      elif self._on_settings_click:
+        self._on_settings_click()
     self._did_long_press = False
 
   def _get_version_text(self) -> tuple[str, str, str, str] | None:

From 168b9831b26c777085d4558138810d46f56e43ea Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Fri, 1 May 2026 09:12:25 -0700
Subject: [PATCH 063/210] lpa: stop loading BPP once eUICC returns
 ProfileInstallResult (#37890)

---
 system/hardware/tici/lpa.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 63fe9ae7d5..4cb23c5faf 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -604,8 +604,9 @@ def load_bpp(client: AtClient, b64_bpp: str) -> dict:
   result = None
   for chunk in _split_bpp(bpp):
     response = es10x_command(client, chunk)
-    if response:
-      result = _parse_install_result(response) or result
+    if response and (parsed := _parse_install_result(response)):
+      result = parsed
+      break
 
   if result is None:
     raise RuntimeError("Profile installation failed: no result from eUICC")

From 56b3b4d2456f8e8ba4e979fd36dac9752f571629 Mon Sep 17 00:00:00 2001
From: iliya <68940374+12ya@users.noreply.github.com>
Date: Sat, 2 May 2026 01:36:04 +0900
Subject: [PATCH 064/210] docs: improve README wording and consistency (#37941)

---
 README.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index a1f494c33c..5d903cd686 100644
--- a/README.md
+++ b/README.md
@@ -44,7 +44,7 @@ Using openpilot in a car
 To use openpilot in a car, you need four things:
 1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
 2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
+3. **Supported Car:** Ensure that you have one of [the 300+ supported cars](docs/CARS.md).
 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
@@ -90,7 +90,7 @@ Safety and Testing
 
 openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 
-Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
@@ -100,9 +100,9 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 <details>
 <summary>User Data and comma Account</summary>
 
-By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+By default, openpilot uploads driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
+openpilot is open source software, and users can disable data collection if they wish.
 
 openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.

From 635a3bc7ab4f0add95c014c517ef3648e5abe6b2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 1 May 2026 09:57:07 -0700
Subject: [PATCH 065/210] it's capital sometimes

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 5d903cd686..480b140036 100644
--- a/README.md
+++ b/README.md
@@ -90,7 +90,7 @@ Safety and Testing
 
 openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 
-Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.

From f364110a36b020a996f98d2f527439c9d25330d5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 1 May 2026 10:38:42 -0700
Subject: [PATCH 066/210] Reapply "Safer get accel (#37918)" (#37943)

* Reapply "Safer get accel (#37918)"

This reverts commit 3af3c7e74873c1b0aeb8973bf580ed24a430bd84.

* Fix test

* This was a fake test without should stop
---
 selfdrive/controls/lib/drive_helpers.py               | 11 +++++++++--
 selfdrive/test/longitudinal_maneuvers/plant.py        |  2 ++
 .../test/longitudinal_maneuvers/test_longitudinal.py  |  2 +-
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 1e2fb27b51..5392ff8875 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -8,6 +8,7 @@ CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
 MAX_VEL_ERR = 5.0  # m/s
+MIN_STABLE_DELAY = 0.3
 
 # EU guidelines
 MAX_LATERAL_JERK = 5.0  # m/s^3
@@ -43,7 +44,10 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
-    v_target = np.interp(action_t, t_idxs, speeds)
+    if action_t < MIN_STABLE_DELAY:
+      v_target = v_now + (action_t / MIN_STABLE_DELAY) * (np.interp(MIN_STABLE_DELAY, t_idxs, speeds) - v_now)
+    else:
+      v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
   else:
     v_now = 0.0
@@ -58,6 +62,9 @@ def curv_from_psis(psi_target, psi_rate, vego, action_t):
   return 2*curv_from_psi - psi_rate / vego
 
 def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
-  psi_target = np.interp(action_t, t_idxs, yaws)
+  if action_t < MIN_STABLE_DELAY:
+    psi_target = (action_t / MIN_STABLE_DELAY) * np.interp(MIN_STABLE_DELAY, t_idxs, yaws)
+  else:
+    psi_target = np.interp(action_t, t_idxs, yaws)
   psi_rate = yaw_rates[0]
   return curv_from_psis(psi_target, psi_rate, vego, action_t)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index b8c6adb436..5f768a1fb9 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -136,6 +136,8 @@ class Plant:
           'modelV2': model.modelV2}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
+    if self.planner.output_should_stop:
+      self.acceleration = min(-0.5, self.acceleration)
     self.speed = self.speed + self.acceleration * self.ts
     self.should_stop = self.planner.output_should_stop
     fcw = self.planner.fcw
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 90bc46b187..b8f97c5041 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -170,7 +170,7 @@ def create_maneuvers(kwargs):
       initial_speed=0.,
       lead_relevancy=True,
       initial_distance_lead=STOP_DISTANCE,
-      speed_lead_values=[0., 0., 2.],
+      speed_lead_values=[0., 0., 7.],
       breakpoints=[1., 10., 15.],
       ensure_start=True,
       **kwargs,

From 0f542bef388f3ece05e3642169d5fe09c8c787b2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 1 May 2026 13:18:43 -0700
Subject: [PATCH 067/210] fix casadi pins (#37944)

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index f1cbccb3fc..6823b9833a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -62,7 +62,7 @@ dependencies = [
   "websocket_client",
 
   # acados deps
-  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
+  "casadi ==3.6.7",  # pinned to match libcasadi bundled in commaai/dependencies@release-acados
 
   # joystickd
   "inputs",

From b279aa601525bcb2a9695fb88b9c7b9e0b6821d6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 1 May 2026 20:12:42 -0700
Subject: [PATCH 068/210] rm casadi (#37945)

---
 pyproject.toml |  3 ---
 uv.lock        | 19 -------------------
 2 files changed, 22 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 6823b9833a..fe6e9beb3c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -61,9 +61,6 @@ dependencies = [
   "json-rpc",
   "websocket_client",
 
-  # acados deps
-  "casadi ==3.6.7",  # pinned to match libcasadi bundled in commaai/dependencies@release-acados
-
   # joystickd
   "inputs",
 
diff --git a/uv.lock b/uv.lock
index 8b5de1ba38..e3c967cfc1 100644
--- a/uv.lock
+++ b/uv.lock
@@ -131,23 +131,6 @@ name = "capnproto"
 version = "1.0.1"
 source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#eba2fe8b8208b5408fbda1bc0104a91e4375aee3" }
 
-[[package]]
-name = "casadi"
-version = "3.7.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/92/62/1e98662024915ecb09c6894c26a3f497f4afa66570af3f53db4651fc45f1/casadi-3.7.2.tar.gz", hash = "sha256:b4d7bd8acdc4180306903ae1c9eddaf41be2a3ae2fa7154c57174ae64acdc60d", size = 6053600, upload-time = "2025-09-10T10:05:49.521Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/65/c8/689d085447b1966f42bdb8aa4fbebef49a09697dbee32ab02a865c17ac1b/casadi-3.7.2-cp312-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:309ea41a69c9230390d349b0dd899c6a19504d1904c0756bef463e47fb5c8f9a", size = 47116756, upload-time = "2025-09-10T07:53:00.931Z" },
-    { url = "https://files.pythonhosted.org/packages/1e/c0/3c4704394a6fd4dfb2123a4fd71ba64a001f340670a3eba45be7a19ac736/casadi-3.7.2-cp312-none-macosx_11_0_arm64.whl", hash = "sha256:6033381234db810b2247d16c6352e679a009ec4365d04008fc768866e011ed58", size = 42293718, upload-time = "2025-09-10T08:07:16.415Z" },
-    { url = "https://files.pythonhosted.org/packages/f3/24/4cf05469ddf8544da5e92f359f96d716a97e7482999f085a632bc4ef344a/casadi-3.7.2-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:732f2804d0766454bb75596339e4f2da6662ffb669621da0f630ed4af9e83d6a", size = 47276175, upload-time = "2025-09-10T08:08:09.29Z" },
-    { url = "https://files.pythonhosted.org/packages/82/08/b5f57fea03128efd5c860673b6ac44776352e6c1af862b8177f4c503fffe/casadi-3.7.2-cp312-none-manylinux2014_i686.whl", hash = "sha256:cf17298ff0c162735bdf9bf72b765c636ae732130604017a3b52e26e35402857", size = 72430454, upload-time = "2025-09-10T08:09:10.781Z" },
-    { url = "https://files.pythonhosted.org/packages/24/ab/d7233c915b12c005655437c6c4cf0ae46cbbb2b20d743cb5e4881ad3104a/casadi-3.7.2-cp312-none-manylinux2014_x86_64.whl", hash = "sha256:cde616930fa1440ad66f1850670399423edd37354eed9b12e74b3817b98d1187", size = 75568903, upload-time = "2025-09-10T08:10:07.108Z" },
-    { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
-]
-
 [[package]]
 name = "catch2"
 version = "2.13.10"
@@ -764,7 +747,6 @@ dependencies = [
     { name = "av" },
     { name = "bzip2" },
     { name = "capnproto" },
-    { name = "casadi" },
     { name = "catch2" },
     { name = "cffi" },
     { name = "crcmod-plus" },
@@ -844,7 +826,6 @@ requires-dist = [
     { name = "av" },
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
-    { name = "casadi", specifier = ">=3.6.6" },
     { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },

From 605dfaa1a952ea14010d53bbec5229901f270e4c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 2 May 2026 00:00:01 -0700
Subject: [PATCH 069/210] ui: fix torque bar points caching while scrolling
 (#37946)

* ui: keep arc_bar_pts cache hot when bar is translated

The LRU cache key included (cx, cy), which change every frame when
the parent widget's rect translates (e.g. during a scroll animation
in MainLayout). That made every cache lookup miss, recomputing the
arc geometry twice per frame and dropping fps.

Compute the shape at origin (so the cache key only depends on the
geometry: radius, thickness, angles), then translate to (cx, cy)
after. Cache stays hot under translation.

Measured on comma four (engaged, scrolling): ~5fps recovered while
moving between layouts.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* fully clean up

* fully clean up

---------

Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 selfdrive/ui/mici/onroad/torque_bar.py | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index 1338c8dfb3..406e6ff712 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -23,9 +23,9 @@ def quantized_lru_cache(maxsize=128):
   def decorator(func):
     cache = OrderedDict()
     @wraps(func)
-    def wrapper(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs):
+    def wrapper(r_mid, thickness, a0_deg, a1_deg, **kwargs):
       # Quantize inputs: balanced for smoothness vs cache effectiveness
-      key = (round(cx), round(cy), round(r_mid),
+      key = (round(r_mid),
              round(thickness),           # 1px precision for smoother height transitions
              round(a0_deg * 10) / 10,    # 0.1° precision for smoother angle transitions
              round(a1_deg * 10) / 10,
@@ -37,7 +37,7 @@ def quantized_lru_cache(maxsize=128):
         if len(cache) >= maxsize:
           cache.popitem(last=False)
 
-        result = func(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs)
+        result = func(r_mid, thickness, a0_deg, a1_deg, **kwargs)
         cache[key] = result
       return cache[key]
     return wrapper
@@ -45,12 +45,11 @@ def quantized_lru_cache(maxsize=128):
 
 
 @quantized_lru_cache(maxsize=256)
-def arc_bar_pts(cx: float, cy: float,
-                r_mid: float, thickness: float,
+def arc_bar_pts(r_mid: float, thickness: float,
                 a0_deg: float, a1_deg: float,
                 *, max_points: int = 100, cap_segs: int = 10,
                 cap_radius: float = 7, px_per_seg: float = 2.0) -> np.ndarray:
-  """Return Nx2 np.float32 points for a single closed polygon (rounded thick arc)."""
+  """Return Nx2 np.float32 points for a single closed polygon (rounded thick arc), centered at origin."""
 
   def get_cap(left: bool, a_deg: float):
     # end cap at a1: center (a1), sweep a1→a1+180 (skip endpoints to avoid dupes)
@@ -59,7 +58,7 @@ def arc_bar_pts(cx: float, cy: float,
     nx, ny = math.cos(math.radians(a_deg)), math.sin(math.radians(a_deg))  # outward normal
     tx, ty = -ny, nx  # tangent (CCW)
 
-    mx, my = cx + nx * r_mid, cy + ny * r_mid  # mid-point at a1
+    mx, my = nx * r_mid, ny * r_mid  # mid-point at a1
     if DEBUG:
       rl.draw_circle(int(mx), int(my), 4, rl.PURPLE)
 
@@ -114,16 +113,16 @@ def arc_bar_pts(cx: float, cy: float,
 
   # outer arc a0→a1
   ang_o = np.deg2rad(np.linspace(a0_deg, a1_deg, arc_segs + 1))
-  outer = np.c_[cx + np.cos(ang_o) * (r_mid + half),
-                cy + np.sin(ang_o) * (r_mid + half)]
+  outer = np.c_[np.cos(ang_o) * (r_mid + half),
+                np.sin(ang_o) * (r_mid + half)]
 
   # end cap at a1
   cap_end = get_cap(False, a1_deg)
 
   # inner arc a1→a0
   ang_i = np.deg2rad(np.linspace(a1_deg, a0_deg, arc_segs + 1))
-  inner = np.c_[cx + np.cos(ang_i) * (r_mid - half),
-                cy + np.sin(ang_i) * (r_mid - half)]
+  inner = np.c_[np.cos(ang_i) * (r_mid - half),
+                np.sin(ang_i) * (r_mid - half)]
 
   # start cap at a0
   cap_start = get_cap(True, a0_deg)
@@ -215,15 +214,16 @@ class TorqueBar(Widget):
 
     cx = rect.x + rect.width / 2 + 8  # offset 8px to right of camera feed
     cy = rect.y + rect.height + torque_line_radius - torque_line_offset
+    offset = np.array([cx, cy], dtype=np.float32)
 
     # draw bg torque indicator line
-    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle)
+    bg_pts = arc_bar_pts(mid_r, torque_line_height, torque_start_angle, torque_end_angle) + offset
     draw_polygon(rect, bg_pts, color=torque_line_bg_color)
 
     # draw torque indicator line
     a0s = top_angle
     a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
-    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s)
+    sl_pts = arc_bar_pts(mid_r, torque_line_height, a0s, a1s) + offset
 
     # draw beautiful gradient from center to 65% of the bg torque bar width
     start_grad_pt = cx / rect.width

From ab43fd1369995784ab5545b02f293a83fe9d8001 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 2 May 2026 01:22:02 -0700
Subject: [PATCH 070/210] ui: re-apply mici/AugmentedRoadView
 _calc_frame_matrix caching (#37948)

* ui: speed up `mici/AugmentedRoadView` by optimizing _calc_frame_matrix caching (#36669)

speed up AugmentedRoadView by optimizing _calc_frame_matrix caching

* ui: apply rect.x/y as a 2D screen offset post-projection

Removes the parent rect's screen position from the cached
video_transform passed to ModelRenderer. Instead, ModelRenderer
applies (rect.x, rect.y) as a 2D offset to projected_points at draw
time.

Why this works: the rect.x/y term in video_transform gets multiplied
by P_calib[2] before the perspective divide, then divided by the same
value, which cancels out to a simple additive shift on the final
screen coordinate. So adding x to video_transform[0,2] is equivalent
to adding x to screen_x post-projection.

Net effect: the cache key in _calc_frame_matrix no longer needs to
include rect.x/y. Cache stays hot under translation (e.g. swiping
between layouts), and the model overlay tracks the camera at 60Hz
because the offset is updated cheaply each frame.

This addresses the original revert reason for #36669 (model overlay
visually desyncs from camera during a home<->onroad swipe).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* ui: update model screen offset every frame, not just on cache miss

set_screen_offset() was called inside the cache-miss path of
_calc_frame_matrix, so the offset only updated at ~20Hz (calib publish
rate). The model overlay visibly lagged the camera during a swipe.

Move it out of the cached path so it updates each frame.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* fully clean up

* shorter cmts

* make non

* clean up

* fix ty

---------

Co-authored-by: Dean Lee <deanlee3@gmail.com>
Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 .../ui/mici/onroad/augmented_road_view.py     | 28 +++++++++++--------
 selfdrive/ui/mici/onroad/model_renderer.py    | 28 +++++++++++--------
 2 files changed, 32 insertions(+), 24 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 7c0d8ac348..703dcf78b1 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -139,9 +139,7 @@ class AugmentedRoadView(CameraView):
     self.view_from_calib = view_frame_from_device_frame.copy()
     self.view_from_wide_calib = view_frame_from_device_frame.copy()
 
-    self._last_calib_time: float = 0
-    self._last_rect_dims = (0.0, 0.0)
-    self._last_stream_type = stream_type
+    self._matrix_cache_key: tuple | None = None
     self._cached_matrix: np.ndarray | None = None
     self._content_rect = rl.Rectangle()
     self._last_click_time = 0.0
@@ -295,10 +293,18 @@ class AugmentedRoadView(CameraView):
       self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
 
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    cache_key = (
+      ui_state.sm.recv_frame['liveCalibration'],
+      int(self._content_rect.width),
+      int(self._content_rect.height),
+      self.stream_type,
+      round(ui_state.sm['carState'].vEgo, 1),
+    )
+
+    if cache_key == self._matrix_cache_key and self._cached_matrix is not None:
+      return self._cached_matrix
+
     # Get camera configuration
-    # TODO: cache with vEgo?
-    calib_time = ui_state.sm.recv_frame['liveCalibration']
-    current_dims = (self._content_rect.width, self._content_rect.height)
     device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
     is_wide_camera = self.stream_type == WIDE_CAM
     intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
@@ -314,7 +320,6 @@ class AugmentedRoadView(CameraView):
     kep = calib_transform @ inf_point
 
     # Calculate center points and dimensions
-    x, y = self._content_rect.x, self._content_rect.y
     w, h = self._content_rect.width, self._content_rect.height
     cx, cy = intrinsic[0, 2], intrinsic[1, 2]
 
@@ -334,18 +339,17 @@ class AugmentedRoadView(CameraView):
       x_offset, y_offset = 0, 0
 
     # Cache the computed transformation matrix to avoid recalculations
-    self._last_calib_time = calib_time
-    self._last_rect_dims = current_dims
-    self._last_stream_type = self.stream_type
+    self._matrix_cache_key = cache_key
     self._cached_matrix = np.array([
       [zoom * 2 * cx / w, 0, -x_offset / w * 2],
       [0, zoom * 2 * cy / h, -y_offset / h * 2],
       [0, 0, 1.0]
     ])
 
+    # built without rect.x/y so cache stays hot during scroll. ModelRenderer adds offset at draw time
     video_transform = np.array([
-      [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
-      [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+      [zoom, 0.0, (w / 2 - x_offset) - (cx * zoom)],
+      [0.0, zoom, (h / 2 - y_offset) - (cy * zoom)],
       [0.0, 0.0, 1.0]
     ])
     self._model_renderer.set_transform(video_transform @ calib_transform)
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index 3f1badfe84..12500bdcd4 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -72,7 +72,7 @@ class ModelRenderer(Widget):
     self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
     self._ll_color_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
-    # Transform matrix (3x3 for car space to screen space)
+    # 3x3 car space -> rect-origin space (draw methods add rect.x/y)
     self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
     self._transform_dirty = True
     self._clip_region = None
@@ -221,7 +221,8 @@ class ModelRenderer(Widget):
     if not self._experimental_mode:
       return
 
-    max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
+    path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
+    max_len = min(len(path_pts) // 2, len(self._acceleration_x))
 
     segment_colors = []
     gradient_stops = []
@@ -229,7 +230,7 @@ class ModelRenderer(Widget):
     i = 0
     while i < max_len:
       # Some points (screen space) are out of frame (rect space)
-      track_y = self._path.projected_points[i][1]
+      track_y = path_pts[i][1]
       if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
         i += 1
         continue
@@ -305,14 +306,15 @@ class ModelRenderer(Widget):
     return color
 
   def _draw_lane_lines(self):
-    """Draw lane lines and road edges"""
-    """Two closest lines should be green (lane line or road edges)"""
+    """Draw lane lines and road edges. Two closest lines should be green (lane line or road edges)."""
+    offset = np.array([self._rect.x, self._rect.y], dtype=np.float32)
+
     for i, lane_line in enumerate(self._lane_lines):
       if lane_line.projected_points.size == 0:
         continue
 
       color = self._get_ll_color(float(self._lane_line_probs[i]), i in (1, 2), i in (0, 1))
-      draw_polygon(self._rect, lane_line.projected_points, color)
+      draw_polygon(self._rect, lane_line.projected_points + offset, color)
 
     for i, road_edge in enumerate(self._road_edges):
       if road_edge.projected_points.size == 0:
@@ -320,7 +322,7 @@ class ModelRenderer(Widget):
 
       # if closest lane lines are not confident, make road edges green
       color = self._get_ll_color(float(1.0 - self._road_edge_stds[i]), float(self._lane_line_probs[i + 1]) < 0.25, i == 0)
-      draw_polygon(self._rect, road_edge.projected_points, color)
+      draw_polygon(self._rect, road_edge.projected_points + offset, color)
 
   def _draw_path(self, sm):
     """Draw path with dynamic coloring based on mode and throttle state."""
@@ -330,14 +332,16 @@ class ModelRenderer(Widget):
     allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
     self._blend_filter.update(int(allow_throttle))
 
+    path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
+
     if self._experimental_mode:
       # Draw with acceleration coloring
       if ui_state.status == UIStatus.DISENGAGED:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+        draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
       elif len(self._exp_gradient.colors) > 1:
-        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
+        draw_polygon(self._rect, path_pts, gradient=self._exp_gradient)
       else:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
+        draw_polygon(self._rect, path_pts, rl.Color(255, 255, 255, 30))
     else:
       # Blend throttle/no throttle colors based on transition
       blend_factor = round(self._blend_filter.x * 100) / 100
@@ -350,9 +354,9 @@ class ModelRenderer(Widget):
       )
 
       if ui_state.status == UIStatus.DISENGAGED:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+        draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
       else:
-        draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
+        draw_polygon(self._rect, path_pts, gradient=gradient)
 
   def _draw_lead_indicator(self):
     # Draw lead vehicles if available

From 1a93104bfd6ad59914df0e4756c1c2d8cdd24b73 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Sat, 2 May 2026 10:04:53 -0700
Subject: [PATCH 071/210] modem.py (#37811)

---
 .../settings/network/network_layout.py        |  17 +-
 system/hardware/base.py                       |   6 -
 system/hardware/hardwared.py                  |  20 -
 system/hardware/tici/esim.nmconnection        |  30 -
 system/hardware/tici/hardware.py              | 246 ++------
 system/hardware/tici/lpa.py                   |  37 +-
 system/hardware/tici/modem.py                 | 536 ++++++++++++++++++
 system/hardware/tici/restart_modem.sh         |  18 -
 system/manager/process_config.py              |   1 +
 system/ui/lib/gsm_manager.py                  | 145 -----
 system/ui/lib/wifi_manager.py                 |  11 -
 system/ui/widgets/network.py                  |  14 +-
 12 files changed, 589 insertions(+), 492 deletions(-)
 delete mode 100644 system/hardware/tici/esim.nmconnection
 create mode 100755 system/hardware/tici/modem.py
 delete mode 100755 system/hardware/tici/restart_modem.sh
 delete mode 100644 system/ui/lib/gsm_manager.py

diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
index 9f6fae4b5f..58b3d0c77d 100644
--- a/selfdrive/ui/mici/layouts/settings/network/network_layout.py
+++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -66,14 +66,14 @@ class NetworkLayoutMici(NavScroller):
 
     # ******** Advanced settings ********
     # ******** Roaming toggle ********
-    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming")
 
     # ******** APN settings ********
     self._apn_btn = BigButton("apn settings", "edit")
     self._apn_btn.set_click_callback(self._edit_apn)
 
     # ******** Cellular metered toggle ********
-    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered")
 
     # Main scroller ----------------------------------
     self._scroller.add_widgets([
@@ -88,11 +88,6 @@ class NetworkLayoutMici(NavScroller):
       # */
     ])
 
-    # Set initial config
-    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
-    metered = ui_state.params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
-
   def _update_state(self):
     super()._update_state()
 
@@ -116,9 +111,6 @@ class NetworkLayoutMici(NavScroller):
 
     gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
 
-  def _toggle_roaming(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
-
   def _edit_apn(self):
     def update_apn(apn: str):
       apn = apn.strip()
@@ -127,15 +119,10 @@ class NetworkLayoutMici(NavScroller):
       else:
         ui_state.params.put("GsmApn", apn)
 
-      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
-
     current_apn = ui_state.params.get("GsmApn") or ""
     dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
     gui_app.push_widget(dlg)
 
-  def _toggle_cellular_metered(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
-
   def _on_network_updated(self, networks: list[Network]):
     # Update tethering state
     tethering_active = self._wifi_manager.is_tethering_active()
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 29c739654e..0f578dffa4 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -198,12 +198,6 @@ class HardwareBase(ABC):
   def initialize_hardware(self):
     pass
 
-  def configure_modem(self):
-    pass
-
-  def reboot_modem(self):
-    pass
-
   def get_networks(self):
     return None
 
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 97b84c0e4b..bcf9f2ec0b 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -108,9 +108,6 @@ def hw_state_thread(end_event, hw_queue):
   prev_hw_state = None
 
   modem_version = None
-  modem_configured = False
-  modem_missing_count = 0
-  modem_restart_count = 0
 
   while not end_event.is_set():
     # these are expensive calls. update every 10s
@@ -128,18 +125,6 @@ def hw_state_thread(end_event, hw_queue):
           if modem_version is not None:
             cloudlog.event("modem version", version=modem_version)
 
-        if AGNOS and modem_restart_count < 3 and HARDWARE.get_modem_version() is None:
-          # TODO: we may be able to remove this with a MM update
-          # ModemManager's probing on startup can fail
-          # rarely, restart the service to probe again.
-          # Also, AT commands sometimes timeout resulting in ModemManager not
-          # trying to use this modem anymore.
-          modem_missing_count += 1
-          if (modem_missing_count % 4) == 0:
-            modem_restart_count += 1
-            cloudlog.event("restarting ModemManager")
-            os.system("sudo systemctl restart --no-block ModemManager")
-
         tx, rx = HARDWARE.get_modem_data_usage()
 
         hw_state = HardwareState(
@@ -156,11 +141,6 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
-        if not modem_configured and HARDWARE.get_modem_version() is not None:
-          cloudlog.warning("configuring modem")
-          HARDWARE.configure_modem()
-          modem_configured = True
-
         prev_hw_state = hw_state
       except Exception:
         cloudlog.exception("Error getting hardware state")
diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection
deleted file mode 100644
index 74f6f8e82c..0000000000
--- a/system/hardware/tici/esim.nmconnection
+++ /dev/null
@@ -1,30 +0,0 @@
-[connection]
-id=esim
-uuid=fff6553c-3284-4707-a6b1-acc021caaafb
-type=gsm
-permissions=
-autoconnect=true
-autoconnect-retries=100
-autoconnect-priority=2
-metered=1
-
-[gsm]
-apn=
-home-only=false
-auto-config=true
-sim-id=
-
-[ipv4]
-route-metric=1000
-dns-priority=1000
-dns-search=
-method=auto
-
-[ipv6]
-ddr-gen-mode=stable-privacy
-dns-search=
-route-metric=1000
-dns-priority=1000
-method=auto
-
-[proxy]
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 15c6e41695..dcdeb8ac47 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -1,8 +1,7 @@
-import math
+import json
 import os
 import subprocess
 import time
-import tempfile
 from enum import IntEnum
 from functools import cached_property, lru_cache
 from pathlib import Path
@@ -20,30 +19,9 @@ NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
 NM_DEV = NM + '.Device'
 NM_DEV_WL = NM + '.Device.Wireless'
-NM_DEV_STATS = NM + '.Device.Statistics'
 NM_AP = NM + '.AccessPoint'
 DBUS_PROPS = 'org.freedesktop.DBus.Properties'
 
-MM = 'org.freedesktop.ModemManager1'
-MM_MODEM = MM + ".Modem"
-MM_MODEM_SIMPLE = MM + ".Modem.Simple"
-MM_SIM = MM + ".Sim"
-
-class MM_MODEM_STATE(IntEnum):
-  FAILED        = -1
-  UNKNOWN       = 0
-  INITIALIZING  = 1
-  LOCKED        = 2
-  DISABLED      = 3
-  DISABLING     = 4
-  ENABLING      = 5
-  ENABLED       = 6
-  SEARCHING     = 7
-  REGISTERED    = 8
-  DISCONNECTING = 9
-  CONNECTING    = 10
-  CONNECTED     = 11
-
 class NMMetered(IntEnum):
   NM_METERED_UNKNOWN = 0
   NM_METERED_YES = 1
@@ -51,16 +29,12 @@ class NMMetered(IntEnum):
   NM_METERED_GUESS_YES = 3
   NM_METERED_GUESS_NO = 4
 
+MODEM_STATE_PATH = "/dev/shm/modem"
 TIMEOUT = 0.1
-REFRESH_RATE_MS = 1000
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
 
-# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology
-MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
-MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
-
 
 def affine_irq(val, action):
   irqs = get_irqs_for_action(action)
@@ -88,16 +62,17 @@ class Tici(HardwareBase):
   def nm(self):
     return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
 
-  @property # this should not be cached, in case the modemmanager restarts
-  def mm(self):
-    return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
-
   @cached_property
   def amplifier(self):
     if self.get_device_type() == "mici":
       return None
     return Amplifier()
 
+  def get_modem_state(self) -> dict:
+    """Read modem.py state file. Raises if modem.py hasn't published state yet."""
+    with open(MODEM_STATE_PATH) as f:
+      return json.load(f)
+
   def get_os_version(self):
     with open("/VERSION") as f:
       return f.read().strip()
@@ -137,68 +112,44 @@ class Tici(HardwareBase):
       f.write(f"{value}\n")
 
   def get_network_type(self):
+    ms = self.get_modem_state()
     try:
       primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
       primary_connection = self.bus.get_object(NM, primary_connection)
       primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
       if primary_type == '802-3-ethernet':
         return NetworkType.ethernet
       elif primary_type == '802-11-wireless':
         return NetworkType.wifi
-      else:
-        active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-        for conn in active_connections:
-          c = self.bus.get_object(NM, conn)
-          tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-          if tp == 'gsm':
-            modem = self.get_modem()
-            access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-            if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE:
-              return NetworkType.cell4G
-            elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS:
-              return NetworkType.cell3G
-            else:
-              return NetworkType.cell2G
     except Exception:
       pass
 
+    if ms.get('connected'):
+      nt = ms.get('network_type', '')
+      if nt == 'nr':
+        return NetworkType.cell5G
+      elif nt == 'lte':
+        return NetworkType.cell4G
+      elif nt in ('utran', 'umts'):
+        return NetworkType.cell3G
+      elif nt == 'gsm':
+        return NetworkType.cell2G
     return NetworkType.none
 
-  def get_modem(self):
-    objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT)
-    modem_path = list(objects.keys())[0]
-    return self.bus.get_object(MM, modem_path)
-
   def get_wlan(self):
     wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
     return self.bus.get_object(NM, wlan_path)
 
-  def get_wwan(self):
-    wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT)
-    return self.bus.get_object(NM, wwan_path)
-
   def get_sim_info(self):
-    modem = self.get_modem()
-    sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-    if sim_path == "/":
-      return {
-        'sim_id': '',
-        'mcc_mnc': None,
-        'network_type': ["Unknown"],
-        'sim_state': ["ABSENT"],
-        'data_connected': False
-      }
-    else:
-      sim = self.bus.get_object(MM, sim_path)
-      return {
-        'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
-        'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
-        'network_type': ["Unknown"],
-        'sim_state': ["READY"],
-        'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
-      }
+    ms = self.get_modem_state()
+    sim_id = ms.get('iccid', '')
+    return {
+      'sim_id': sim_id,
+      'mcc_mnc': ms.get('mcc_mnc') or None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"] if not sim_id else ["READY"],
+      'data_connected': ms.get('connected', False),
+    }
 
   def get_sim_lpa(self) -> LPABase:
     return TiciLPA()
@@ -206,40 +157,21 @@ class Tici(HardwareBase):
   def get_imei(self, slot):
     if slot != 0:
       return ""
-
-    return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+    return self.get_modem_state().get('imei', '')
 
   def get_network_info(self):
     if self.get_device_type() == "mici":
       return None
-    try:
-      modem = self.get_modem()
-      info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-    except Exception:
-      return None
 
-    if info and info.startswith('+QNWINFO: '):
-      info = info.replace('+QNWINFO: ', '').replace('"', '').split(',')
-      extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '')
-      state = "" if state is None else MM_MODEM_STATE(state).name
-
-      if len(info) != 4:
-        return None
-
-      technology, operator, band, channel = info
-
-      return({
-        'technology': technology,
-        'operator': operator,
-        'band': band,
-        'channel': int(channel),
-        'extra': extra,
-        'state': state,
-      })
-    else:
-      return None
+    ms = self.get_modem_state()
+    return {
+      'technology': ms.get('network_type', '').upper() if ms.get('network_type') else '',
+      'operator': ms.get('operator', ''),
+      'band': ms.get('band', ''),
+      'channel': ms.get('channel', 0),
+      'extra': ms.get('extra', ''),
+      'state': ms.get('state', 'UNKNOWN'),
+    }
 
   def parse_strength(self, percentage):
     if percentage < 25:
@@ -265,15 +197,16 @@ class Tici(HardwareBase):
           strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
           network_strength = self.parse_strength(strength)
       else:  # Cellular
-        modem = self.get_modem()
-        strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0])
-        network_strength = self.parse_strength(strength)
+        network_strength = self.parse_strength(self.get_modem_state().get('signal_quality', 0))
     except Exception:
       pass
 
     return network_strength
 
   def get_network_metered(self, network_type) -> bool:
+    if network_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
+      from openpilot.common.params import Params
+      return Params().get_bool("GsmMetered")
     try:
       primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
       primary_connection = self.bus.get_object(NM, primary_connection)
@@ -286,30 +219,16 @@ class Tici(HardwareBase):
         if network_type == NetworkType.wifi:
           if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
             return True
-        elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]:
-          if metered_prop == NMMetered.NM_METERED_NO:
-            return False
     except Exception:
       pass
 
     return super().get_network_metered(network_type)
 
   def get_modem_version(self):
-    try:
-      modem = self.get_modem()
-      return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-    except Exception:
-      return None
+    return self.get_modem_state().get('modem_version') or None
 
   def get_modem_temperatures(self):
-    timeout = 0.2  # Default timeout is too short
-    try:
-      modem = self.get_modem()
-      temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
-      return list(filter(lambda t: t != 255, map(int, temps.split(' ')[1].split(','))))
-    except Exception:
-      return []
-
+    return self.get_modem_state().get('temperatures', [])
 
   def get_current_power_draw(self):
     return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
@@ -455,68 +374,6 @@ class Tici(HardwareBase):
     except subprocess.CalledProcessException as e:
       print(str(e))
 
-  def configure_modem(self):
-    sim_id = self.get_sim_info().get('sim_id', '')
-
-    cmds = []
-    modem = self.get_modem()
-
-    # Quectel EG25
-    if self.get_device_type() in ("tizi", ):
-      # clear out old blue prime initial APN
-      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
-
-      cmds += [
-        # SIM hot swap
-        'AT+QSIMDET=1,0',
-        'AT+QSIMSTAT=1',
-
-        # configure modem as data-centric
-        'AT+QNVW=5280,0,"0102000000000000"',
-        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
-        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
-      ]
-
-    # Quectel EG916
-    else:
-      # this modem gets upset with too many AT commands
-      if sim_id is None or len(sim_id) == 0:
-        cmds += [
-          # SIM sleep disable
-          'AT$QCSIMSLEEP=0',
-          'AT$QCSIMCFG=SimPowerSave,0',
-
-          # ethernet config
-          'AT$QCPCFG=usbNet,1',
-        ]
-
-    for cmd in cmds:
-      try:
-        modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      except Exception:
-        pass
-
-    # eSIM prime
-    dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest):
-      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
-        dat = f.read()
-        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
-        tf.write(dat)
-        tf.flush()
-
-        # needs to be root
-        os.system(f"sudo cp {tf.name} {dest}")
-      os.system(f"sudo nmcli con load {dest}")
-
-  def reboot_modem(self):
-    modem = self.get_modem()
-    for state in (0, 1):
-      try:
-        modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      except Exception:
-        pass
-
   def get_networks(self):
     r = {}
 
@@ -545,20 +402,8 @@ class Tici(HardwareBase):
     return r
 
   def get_modem_data_usage(self):
-    try:
-      wwan = self.get_wwan()
-
-      # Ensure refresh rate is set so values don't go stale
-      refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      if refresh_rate != REFRESH_RATE_MS:
-        u = type(refresh_rate)
-        wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-      tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      return int(tx), int(rx)
-    except Exception:
-      return -1, -1
+    ms = self.get_modem_state()
+    return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
 
   def has_internal_panda(self):
     return True
@@ -592,7 +437,6 @@ class Tici(HardwareBase):
 
 if __name__ == "__main__":
   t = Tici()
-  t.configure_modem()
   t.initialize_hardware()
   t.set_power_save(False)
   print(t.get_sim_info())
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 4cb23c5faf..1a52915325 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -4,7 +4,6 @@ import atexit
 import base64
 import fcntl
 import hashlib
-import math
 import os
 import requests
 import serial
@@ -29,15 +28,13 @@ DEFAULT_BAUD = 9600
 DEFAULT_TIMEOUT = 5.0
 # https://euicc-manual.osmocom.org/docs/lpa/applet-id/
 ISDR_AID = "A0000005591010FFFFFFFF8900000100"
-MM = "org.freedesktop.ModemManager1"
-MM_MODEM = MM + ".Modem"
 ES10X_MSS = 120
 HTTP_TIMEOUT = 30
 OPEN_ISDR_RETRIES = 10
 OPEN_ISDR_RETRY_DELAY_S = 0.25
 OPEN_ISDR_RESET_ATTEMPT = 5
 SEND_APDU_RETRIES = 3
-LOCK_FILE = '/dev/shm/modem_lpa.lock'
+LOCK_FILE = '/dev/shm/modem.lock'
 DEBUG = os.environ.get("DEBUG") == "1"
 
 
@@ -97,7 +94,7 @@ BPP_ERROR_MESSAGES = {
   12: "Profile installation failed. The QR code may have already been used.",
 }
 
-# SGP.22 §5.2.6 — SM-DP+ reason/subject codes mapped to user-friendly messages
+# SGP.22 §5.2.6 SM-DP+ reason/subject codes mapped to user-friendly messages
 ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
   ('3.8', '8.2.6'): "This eSIM profile is already installed on another device. Please use a new QR code.",
   ('3.8', '8.2.1'): "This eSIM profile has expired. Please request a new QR code.",
@@ -137,7 +134,6 @@ class AtClient:
     self._baud = baud
     self._timeout = timeout
     self._serial: serial.Serial | None = None
-    self._use_dbus = not os.path.exists(device)
 
   def send_raw(self, data: bytes) -> None:
     self._ensure_serial()
@@ -191,30 +187,7 @@ class AtClient:
     if self._serial is None:
       self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
 
-  def _get_modem(self):
-    import dbus
-    bus = dbus.SystemBus()
-    mm = bus.get_object(MM, '/org/freedesktop/ModemManager1')
-    objects = mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=self._timeout)
-    modem_path = list(objects.keys())[0]
-    return bus.get_object(MM, modem_path)
-
-  def _dbus_query(self, cmd: str) -> list[str]:
-    if DEBUG:
-      print(f"DBUS >> {cmd}", file=sys.stderr)
-    try:
-      result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
-    except Exception as e:
-      raise RuntimeError(f"AT command failed: {e}") from e
-    lines = [line.strip() for line in result.splitlines() if line.strip()]
-    if DEBUG:
-      for line in lines:
-        print(f"DBUS << {line}", file=sys.stderr)
-    return lines
-
   def query(self, cmd: str) -> list[str]:
-    if self._use_dbus:
-      return self._dbus_query(cmd)
     self._ensure_serial()
     try:
       self._send(cmd)
@@ -232,7 +205,7 @@ class AtClient:
         pass
       self.channel = None
     # drain any unsolicited responses before opening
-    if self._serial and not self._use_dbus:
+    if self._serial:
       try:
         self._serial.reset_input_buffer()
       except (OSError, serial.SerialException, termios.error):
@@ -796,10 +769,6 @@ class TiciLPA(LPABase):
         code = self._enable_profile(iccid)
       if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
         raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
-    from openpilot.system.hardware import HARDWARE
-    if HARDWARE.get_device_type() == "mici":
-      self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
-      self._client._ensure_serial(reconnect=True)
 
   def is_euicc(self) -> bool:
     # +CCHO:<n> -> eUICC; bare ERROR -> applet absent, non-eUICC; +CME ERROR -> applet
diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
new file mode 100755
index 0000000000..cb6a6a8235
--- /dev/null
+++ b/system/hardware/tici/modem.py
@@ -0,0 +1,536 @@
+#!/usr/bin/env python3
+import fcntl
+import json
+import logging
+import os
+import serial
+import signal
+import subprocess
+import tempfile
+import time
+
+from ipaddress import IPv4Address, AddressValueError
+
+from enum import Enum
+
+logging.basicConfig(
+  level=logging.INFO,
+  format="%(asctime)s.%(msecs)03d %(levelname)-7s modem: %(message)s",
+  datefmt="%H:%M:%S",
+)
+
+AT_PORT = "/dev/modem_at0"
+PPP_PORT = "/dev/modem_at1"
+STATE_PATH = "/dev/shm/modem"
+AT_LOCK = "/dev/shm/modem.lock"  # shared with LPA
+AT_INIT = [
+  "ATE0",       # disable command echo
+  "ATV1",       # verbose result codes (CONNECT/BUSY/NO CARRIER, not numeric)
+  "AT+CMEE=1",  # numeric +CME ERROR codes on failures (per 3GPP 27.007)
+  "ATX4",       # extended result codes: busy + dial tone detection, line speed in CONNECT
+  "AT&C1",      # DCD pin follows carrier state (V.250 default)
+]
+CREG = {0: "not_registered", 1: "home", 2: "searching", 3: "denied", 4: "unknown", 5: "roaming"}
+# 3GPP TS 27.007 +COPS <AcT> -> network type
+NETWORK_TYPE = {0: "gsm", 1: "gsm", 3: "gsm", 8: "gsm",
+                2: "utran", 4: "utran", 5: "utran", 6: "utran",
+                7: "lte", 9: "lte", 10: "lte",
+                11: "nr", 12: "nr", 13: "nr"}
+
+DIAL_CID = 1
+
+PPPD_CMD = [
+  "sudo", "pppd", PPP_PORT, "460800", "noauth", "nodetach", "noipdefault", "usepeerdns",
+  "nodefaultroute", "connect",
+  "/usr/sbin/chat -v ABORT 'NO CARRIER' ABORT 'NO DIALTONE' ABORT 'BUSY' " +
+  f"ABORT 'NO ANSWER' ABORT 'ERROR' TIMEOUT 5 '' AT OK ATD*99***{DIAL_CID}# CONNECT ''",
+  "lcp-echo-interval", "30", "lcp-echo-failure", "4", "mtu", "1500", "mru", "1500",
+  "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
+  "user", '""', "password", '""',
+]
+INITIAL_STATE = {
+  "state": "INITIALIZING",
+  "connected": False, "ip_address": "",
+  "iccid": "", "mcc_mnc": "", "imei": "", "modem_version": "",
+  "signal_strength": 0, "signal_quality": 0,
+  "network_type": "unknown", "operator": "", "band": "", "channel": 0,
+  "registration": "unknown", "temperatures": [], "extra": "",
+  "tx_bytes": 0, "rx_bytes": 0,
+}
+
+
+class State(Enum):
+  INITIALIZING = "INITIALIZING"
+  SEARCHING = "SEARCHING"
+  CONNECTING = "CONNECTING"
+  CONNECTED = "CONNECTED"
+  DISCONNECTING = "DISCONNECTING"
+
+
+STATE_WAIT = 1.0  # seconds to wait after each state handler returns
+
+
+class PPPSession:
+  """Owns pppd lifecycle, fail tracking, and PPP routing."""
+  MAX_FAILS = 3
+
+  def __init__(self):
+    self._proc: subprocess.Popen | None = None
+    self._fails = 0
+    self._peer = ""
+
+  def start(self):
+    self._proc = subprocess.Popen(PPPD_CMD, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+    self._peer = ""
+    logging.info(f"PPP dialing CID {DIAL_CID}")
+
+  def kill(self):
+    subprocess.run(["sudo", "killall", "-9", "pppd"], capture_output=True)
+    self._peer = ""
+
+  @staticmethod
+  def reset_data_port():
+    """Drop DTR on PPP_PORT so the modem terminates any stuck PPP session."""
+    try:
+      with serial.Serial(PPP_PORT, 460800, timeout=1) as s:
+        s.dtr = False
+        time.sleep(0.2)
+        s.dtr = True
+    except Exception as e:
+      logging.warning(f"data port reset failed: {e}")
+
+  def has_exited(self) -> bool:
+    return self._proc is not None and self._proc.poll() is not None
+
+  def reset_fail_counter(self):
+    self._fails = 0
+
+  def record_fail(self) -> bool:
+    """Bump fail counter; return True if at the give-up limit."""
+    self._fails += 1
+    return self._fails >= self.MAX_FAILS
+
+  @property
+  def fails(self) -> int:
+    return self._fails
+
+  def maybe_install_routes(self, ip: str, peer: str):
+    """Install routes if peer changed; kill the session on failure so the state machine reconnects."""
+    if not peer or peer == self._peer:
+      return
+    try:
+      IPv4Address(ip)
+      IPv4Address(peer)
+    except AddressValueError:
+      logging.warning(f"refusing route install with non-IPv4 ip={ip!r} peer={peer!r}")
+      self.kill()
+      return
+    self.cleanup_routes()
+    cmds = [
+      ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "metric", "1000"],
+      ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "table", "1000"],
+      ["sudo", "ip", "rule", "add", "from", ip, "table", "1000"],
+    ]
+    for cmd in cmds:
+      r = subprocess.run(cmd, capture_output=True, text=True)
+      if r.returncode != 0:
+        logging.warning(f"route install failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
+        self.cleanup_routes()
+        self.kill()
+        return
+    logging.info(f"route set up for {ip} via {peer}")
+    self._peer = peer
+
+  @staticmethod
+  def cleanup_routes():
+    subprocess.run(["sudo", "ip", "route", "del", "default", "dev", "ppp0"], capture_output=True)
+    subprocess.run(["sudo", "ip", "route", "flush", "table", "1000"], capture_output=True)
+    # rules don't have a flush; delete until none remain
+    while subprocess.run(["sudo", "ip", "rule", "del", "table", "1000"], capture_output=True).returncode == 0:
+      pass
+
+
+class Modem:
+  def __init__(self):
+    self._ppp = PPPSession()
+    self._sim_change = False
+    self._apn = ""  # blank = network-provided via PCO
+    self._roaming_allowed = True
+    self.running = True
+    self.S = INITIAL_STATE.copy()
+
+  @staticmethod
+  def _read_param(key):
+    try:
+      with open(f"/data/params/d/{key}") as f:
+        return f.read().strip()
+    except FileNotFoundError:
+      return ""
+
+  @staticmethod
+  def _parse_reg(v: str) -> str:
+    try:
+      return CREG.get(int(v.split(",")[1].strip('"')), "unknown")
+    except (ValueError, IndexError):
+      return "unknown"
+
+  @staticmethod
+  def _has_modem_manager() -> bool:
+    return os.path.isfile("/lib/systemd/system/ModemManager.service")
+
+  def _is_roaming_allowed(self) -> bool:
+    return self._read_param("GsmRoaming") == "1"
+
+  def _publish_state(self, **kwargs):
+    self.S.update(kwargs)
+    with tempfile.NamedTemporaryFile(mode="w", dir="/dev/shm", delete=False) as f:
+      json.dump(self.S, f)
+    os.chmod(f.name, 0o644)
+    os.replace(f.name, STATE_PATH)
+
+  def _at(self, cmd):
+    """Send AT command, return response lines. [] on error or if LPA holds port."""
+    fd = os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666)
+    try:
+      fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+    except OSError:
+      os.close(fd)
+      return []
+    try:
+      with serial.Serial(AT_PORT, 9600, timeout=5) as ser:
+        ser.reset_input_buffer()
+        ser.write((cmd + "\r").encode())
+        lines = []
+        while True:
+          raw = ser.readline()
+          if not raw:
+            raise TimeoutError("AT timeout")
+          line = raw.decode(errors="ignore").strip()
+          if not line:
+            continue
+          if line == "OK":
+            break
+          if line == "ERROR" or line.startswith("+CME ERROR"):
+            raise RuntimeError(line)
+          lines.append(line)
+        return lines
+    except (RuntimeError, TimeoutError, OSError) as e:
+      logging.info(f"AT {cmd} failed: {e}")
+      return []
+    finally:
+      fcntl.flock(fd, fcntl.LOCK_UN)
+      os.close(fd)
+
+  def _atv(self, cmd, pfx):
+    for line in self._at(cmd):
+      if pfx in line and ":" in line:
+        return line.split(":", 1)[1].strip()
+    return None
+
+  def _configure_modem(self, modem_version: str):
+    if not modem_version.startswith("EG25"):
+      return
+    cmds = [
+      # clear initial EPS bearer APN (some carriers reject the default)
+      'AT+CGDCONT=0,"IP",""',
+
+      # SIM hot swap
+      'AT+QSIMDET=1,0',
+      'AT+QSIMSTAT=1',
+
+      # configure modem as data-centric
+      'AT+QNVW=5280,0,"0102000000000000"',
+      'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
+      'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
+    ]
+    for c in cmds:
+      self._at(c)
+
+  def _do_initializing(self):
+    if not os.path.exists(AT_PORT):
+      return State.INITIALIZING
+    logging.info("port found, initializing")
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+
+    for c in AT_INIT + ["AT+CREG=2", "AT+CGREG=2"]:
+      self._at(c)
+
+    identity = self._read_identity()
+    self._configure_modem(identity["modem_version"])
+
+    self._apn = self._read_param("GsmApn")
+    self._roaming_allowed = self._is_roaming_allowed()
+    # blank APN lets the carrier supply one via PCO
+    self._at(f'AT+CGDCONT={DIAL_CID},"IP","{self._apn}"')
+    logging.info(f"APN '{self._apn or '(network-provided)'}' written to CID {DIAL_CID}, roaming={'on' if self._roaming_allowed else 'off'}")
+
+    self._sim_change = False  # clear since we just re-read identity with the new SIM
+    self._publish_state(**identity)
+    return State.SEARCHING
+
+  def _read_identity(self):
+    # after a SIM hot-swap, identity reads can come back empty for a few seconds; retry on IMEI
+    imei, iccid, mcc_mnc, modem_version = "", "", "", ""
+    for _ in range(10):
+      r = self._at("AT+CGSN")
+      if r and r[0].strip():
+        imei = r[0].strip()
+        break
+      time.sleep(0.5)
+    v = self._atv("AT+QCCID", "+QCCID:")
+    if v:
+      iccid = v
+    r = self._at("AT+CIMI")
+    if r:
+      imsi = r[0].strip()
+      if len(imsi) >= 6 and imsi.isdigit():
+        mcc_mnc = imsi[:6]
+    r = self._at("AT+GMR")
+    if r:
+      modem_version = r[0].strip()
+    logging.info(f"imei={imei} iccid={iccid} mcc_mnc={mcc_mnc} ver={modem_version}")
+    return {"imei": imei, "iccid": iccid, "mcc_mnc": mcc_mnc, "modem_version": modem_version}
+
+  def _do_searching(self):
+    new_roaming = self._is_roaming_allowed()
+    if new_roaming != self._roaming_allowed:
+      logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
+      self._roaming_allowed = new_roaming
+
+    v = self._atv("AT+CREG?", "+CREG:")
+    if not v:
+      return self._searching_idle()
+
+    reg = self._parse_reg(v)
+    greg = self._parse_reg(self._atv("AT+CGREG?", "+CGREG:") or "")
+    logging.debug(f"creg={reg} cgreg={greg} roaming_allowed={self._roaming_allowed}")
+
+    if reg == "roaming" and not self._roaming_allowed:
+      self._publish_state(registration=reg)
+      return State.SEARCHING
+
+    if reg in ("home", "roaming") and greg in ("home", "roaming"):
+      self._publish_state(registration=reg)
+      return State.CONNECTING
+
+    if reg != self.S.get("registration"):
+      self._publish_state(registration=reg)
+    return self._searching_idle()
+
+  def _searching_idle(self):
+    if self._sim_change or not os.path.exists(AT_PORT):
+      logging.info(f"-> reconnecting (sim_change={self._sim_change} port={os.path.exists(AT_PORT)})")
+      return State.DISCONNECTING
+    return State.SEARCHING
+
+  def _do_connecting(self):
+    logging.info("starting pppd")
+    self._ppp.reset_fail_counter()
+    self._sim_change = False
+    self._ppp.start()
+    return State.CONNECTED
+
+  def _handle_pppd_exit(self):
+    if self._sim_change or not os.path.exists(AT_PORT):
+      return State.DISCONNECTING
+    give_up = self._ppp.record_fail()
+    if give_up:
+      logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, reconnecting")
+      return State.DISCONNECTING
+    logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, retrying")
+    self._ppp.reset_data_port()
+    if not os.path.exists(AT_PORT):
+      return State.DISCONNECTING
+    self._ppp.start()
+    return State.CONNECTED
+
+  def _params_changed(self) -> bool:
+    new_apn = self._read_param("GsmApn")
+    if new_apn != self._apn:
+      logging.info(f"GsmApn changed: '{self._apn}' -> '{new_apn}'")
+      return True
+    new_roaming = self._is_roaming_allowed()
+    if new_roaming != self._roaming_allowed:
+      logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
+      return True
+    return False
+
+  def _check_iccid(self, state):
+    if state in (State.INITIALIZING, State.DISCONNECTING) or not self.S["iccid"]:
+      return
+    iccid = self._atv("AT+QCCID", "+QCCID:")
+    if iccid and iccid != self.S["iccid"]:
+      logging.warning(f"iccid changed: {self.S['iccid']} -> {iccid}")
+      self._sim_change = True
+
+  def _do_connected(self):
+    if self._ppp.has_exited():
+      return self._handle_pppd_exit()
+
+    if self._sim_change or not os.path.exists(AT_PORT) or self._params_changed():
+      return State.DISCONNECTING
+
+    self._poll()
+    return State.CONNECTED
+
+  def _do_disconnecting(self):
+    logging.warning("reconnecting")
+    self._publish_state(**INITIAL_STATE)
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+    self._ppp.reset_data_port()
+    self._sim_change = False
+    return State.INITIALIZING
+
+  def _poll_signal(self) -> dict:
+    v = self._atv("AT+CSQ", "+CSQ:")
+    if not v:
+      return {}
+    try:
+      rssi = int(v.split(",")[0])
+      if rssi == 99:
+        return {}
+      return {"signal_strength": rssi, "signal_quality": min(100, int(rssi / 31 * 100))}
+    except (ValueError, IndexError):
+      return {}
+
+  def _poll_operator(self) -> dict:
+    v = self._atv("AT+COPS?", "+COPS:")
+    if not v:
+      return {}
+    p = v.split(",")
+    out: dict = {}
+    try:
+      if len(p) >= 3:
+        out["operator"] = p[2].strip('"')
+      if len(p) >= 4:
+        out["network_type"] = NETWORK_TYPE.get(int(p[3]), "unknown")
+    except (ValueError, IndexError):
+      pass
+    return out
+
+  def _poll_band(self) -> dict:
+    v = self._atv("AT+QNWINFO", "+QNWINFO:")
+    if not v:
+      return {}
+    info = v.replace('"', '').split(",")
+    try:
+      if len(info) >= 4:
+        return {"band": info[2], "channel": int(info[3])}
+    except ValueError:
+      pass
+    return {}
+
+  def _poll_extra(self) -> dict:
+    v = self._atv('AT+QENG="servingcell"', "+QENG:")
+    return {"extra": v.replace('"', '')} if v else {}
+
+  def _poll_temps(self) -> dict:
+    v = self._atv("AT+QTEMP", "+QTEMP:")
+    if not v:
+      return {}
+    try:
+      return {"temperatures": [t for t in (int(x) for x in v.split(",") if x.strip()) if t != 255]}
+    except (ValueError, IndexError):
+      return {}
+
+  def _poll_iface(self) -> dict:
+    try:
+      r = subprocess.run(["ip", "-4", "addr", "show", "ppp0"], capture_output=True, text=True, timeout=2)
+      ip, peer = "", ""
+      for line in r.stdout.splitlines():
+        # `inet 10.x.x.x peer 10.64.64.64/32 ...`
+        parts = line.strip().split()
+        if "inet" in parts:
+          i = parts.index("inet")
+          ip = parts[i + 1].split("/")[0]
+          if "peer" in parts:
+            peer = parts[parts.index("peer") + 1].split("/")[0]
+          break
+      if ip:
+        self._ppp.maybe_install_routes(ip, peer)
+        return {"ip_address": ip, "connected": True}
+      if self.S["connected"]:
+        return {"connected": False, "ip_address": ""}
+    except Exception:
+      pass
+    return {}
+
+  def _poll_byte_counters(self) -> dict:
+    try:
+      with open("/sys/class/net/ppp0/statistics/tx_bytes") as f:
+        tx = int(f.read().strip())
+      with open("/sys/class/net/ppp0/statistics/rx_bytes") as f:
+        rx = int(f.read().strip())
+    except Exception:
+      return {}
+    return {"tx_bytes": tx, "rx_bytes": rx}
+
+  def _poll(self):
+    s: dict = {}
+    for fn in (self._poll_signal, self._poll_operator, self._poll_band,
+               self._poll_extra, self._poll_temps, self._poll_iface,
+               self._poll_byte_counters):
+      s.update(fn())
+    if s:
+      self._publish_state(**s)
+
+  def run(self):
+    logging.info("starting")
+    self._publish_state(state=State.INITIALIZING.value)
+    if self._has_modem_manager():
+      subprocess.run(["sudo", "systemctl", "mask", "--runtime", "ModemManager"], capture_output=True)
+      subprocess.run(["sudo", "systemctl", "stop", "ModemManager"], capture_output=True)
+    self._ppp.kill()
+
+    state = State.INITIALIZING
+
+    handlers = {
+      State.INITIALIZING: self._do_initializing,
+      State.SEARCHING: self._do_searching,
+      State.CONNECTING: self._do_connecting,
+      State.CONNECTED: self._do_connected,
+      State.DISCONNECTING: self._do_disconnecting,
+    }
+
+    while self.running:
+      try:
+        self._check_iccid(state)
+        prev = state
+        state = handlers[state]()
+        if state != prev:
+          self._publish_state(state=state.value)
+          logging.info(f"{prev.value} -> {state.value}")
+      except Exception:
+        logging.exception(f"error in {state.value}")
+        state = State.DISCONNECTING
+      time.sleep(STATE_WAIT)
+
+  def stop(self):
+    self.running = False
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+    try:
+      os.remove(STATE_PATH)
+    except FileNotFoundError:
+      pass
+    if self._has_modem_manager():
+      subprocess.run(["sudo", "systemctl", "unmask", "--runtime", "ModemManager"], capture_output=True)
+      subprocess.run(["sudo", "systemctl", "start", "ModemManager"], capture_output=True)
+
+
+def main():
+  m = Modem()
+
+  def _sig(*_):
+    m.running = False
+
+  signal.signal(signal.SIGINT, _sig)
+  signal.signal(signal.SIGTERM, _sig)
+  m.run()
+  m.stop()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh
deleted file mode 100755
index 741dc72050..0000000000
--- a/system/hardware/tici/restart_modem.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env bash
-
-#nmcli connection modify --temporary lte gsm.home-only yes
-#nmcli connection modify --temporary lte gsm.auto-config yes
-#nmcli connection modify --temporary lte connection.autoconnect-retries 20
-sudo nmcli connection reload
-
-sudo systemctl stop ModemManager
-nmcli con down lte
-nmcli con down blue-prime
-
-# power cycle modem
-/usr/comma/lte/lte.sh stop_blocking
-/usr/comma/lte/lte.sh start
-
-sudo systemctl restart NetworkManager
-#sudo systemctl restart ModemManager
-sudo ModemManager --debug
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 7e96b7776a..f5a6c51072 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -106,6 +106,7 @@ procs = [
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
+  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
diff --git a/system/ui/lib/gsm_manager.py b/system/ui/lib/gsm_manager.py
deleted file mode 100644
index e167456f43..0000000000
--- a/system/ui/lib/gsm_manager.py
+++ /dev/null
@@ -1,145 +0,0 @@
-"""GSM/cellular settings manager via NetworkManager DBus."""
-from jeepney import DBusAddress, new_method_call
-from jeepney.io.threading import DBusRouter, open_dbus_connection
-from jeepney.low_level import MessageType
-from jeepney.wrappers import Properties
-
-from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.lib.networkmanager import (NM, NM_PATH, NM_SETTINGS_PATH, NM_SETTINGS_IFACE,
-                                                    NM_CONNECTION_IFACE, NM_DEVICE_IFACE, NM_DEVICE_TYPE_MODEM)
-
-
-# NM NMMetered values
-# https://networkmanager.dev/docs/api/latest/nm-dbus-types.html#NMMetered
-NM_METERED_UNKNOWN = 0
-NM_METERED_NO = 2
-
-
-class _GsmManager:
-  """Manages cellular/GSM via NetworkManager DBus."""
-
-  def __init__(self):
-    self._router: DBusRouter | None = None
-    self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM)
-
-  def _ensure_router(self) -> bool:
-    if self._router is not None:
-      return True
-    try:
-      self._router = DBusRouter(open_dbus_connection(bus="SYSTEM"))
-      return True
-    except Exception:
-      cloudlog.exception("Failed to connect to system D-Bus for GSM")
-      return False
-
-  def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
-    """Update GSM settings for cellular connection"""
-    if not self._ensure_router():
-      return
-    try:
-      lte_connection_path = self._get_lte_connection_path()
-      if not lte_connection_path:
-        cloudlog.warning("No LTE connection found")
-        return
-
-      settings = self._get_connection_settings(lte_connection_path)
-
-      if len(settings) == 0:
-        cloudlog.warning(f"Failed to get connection settings for {lte_connection_path}")
-        return
-
-      # Ensure dicts exist
-      if 'gsm' not in settings:
-        settings['gsm'] = {}
-      if 'connection' not in settings:
-        settings['connection'] = {}
-
-      changes = False
-      auto_config = apn == ""
-
-      if settings['gsm'].get('auto-config', ('b', False))[1] != auto_config:
-        cloudlog.warning(f'Changing gsm.auto-config to {auto_config}')
-        settings['gsm']['auto-config'] = ('b', auto_config)
-        changes = True
-
-      if settings['gsm'].get('apn', ('s', ''))[1] != apn:
-        cloudlog.warning(f'Changing gsm.apn to {apn}')
-        settings['gsm']['apn'] = ('s', apn)
-        changes = True
-
-      if settings['gsm'].get('home-only', ('b', False))[1] == roaming:
-        cloudlog.warning(f'Changing gsm.home-only to {not roaming}')
-        settings['gsm']['home-only'] = ('b', not roaming)
-        changes = True
-
-      # Unknown means NetworkManager decides
-      metered_int = NM_METERED_UNKNOWN if metered else NM_METERED_NO
-      if settings['connection'].get('metered', ('i', 0))[1] != metered_int:
-        cloudlog.warning(f'Changing connection.metered to {metered_int}')
-        settings['connection']['metered'] = ('i', metered_int)
-        changes = True
-
-      if changes:
-        # Update the connection settings (temporary update)
-        conn_addr = DBusAddress(lte_connection_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-        reply = self._router.send_and_get_reply(new_method_call(conn_addr, 'UpdateUnsaved', 'a{sa{sv}}', (settings,)))
-
-        if reply.header.message_type == MessageType.error:
-          cloudlog.warning(f"Failed to update GSM settings: {reply}")
-          return
-
-        self._activate_modem_connection(lte_connection_path)
-    except Exception as e:
-      cloudlog.exception(f"Error updating GSM settings: {e}")
-
-  def _get_lte_connection_path(self) -> str | None:
-    try:
-      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-      known_connections = self._router.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
-
-      for conn_path in known_connections:
-        settings = self._get_connection_settings(conn_path)
-        if settings and settings.get('connection', {}).get('id', ('s', ''))[1] == 'lte':
-          return str(conn_path)
-    except Exception as e:
-      cloudlog.exception(f"Error finding LTE connection: {e}")
-    return None
-
-  def _activate_modem_connection(self, connection_path: str):
-    try:
-      modem_device = self._get_adapter(NM_DEVICE_TYPE_MODEM)
-      if modem_device and connection_path:
-        self._router.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo',
-                                                        (connection_path, modem_device, "/")))
-    except Exception as e:
-      cloudlog.exception(f"Error activating modem connection: {e}")
-
-  def _get_connection_settings(self, conn_path: str) -> dict:
-    conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-    reply = self._router.send_and_get_reply(new_method_call(conn_addr, 'GetSettings'))
-    if reply.header.message_type == MessageType.error:
-      cloudlog.warning(f'Failed to get connection settings: {reply}')
-      return {}
-    return dict(reply.body[0])
-
-  def _get_adapter(self, adapter_type: int) -> str | None:
-    # Return the first NetworkManager device path matching adapter_type
-    try:
-      device_paths = self._router.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0]
-      for device_path in device_paths:
-        dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE)
-        dev_type = self._router.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1]
-        if dev_type == adapter_type:
-          return str(device_path)
-    except Exception as e:
-      cloudlog.exception(f"Error getting adapter type {adapter_type}: {e}")
-    return None
-
-  def close(self):
-    if self._router is not None:
-      try:
-        self._router.close()
-        self._router.conn.close()
-      except Exception:
-        pass
-      self._router = None
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index a030f7668a..147666bf85 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -25,7 +25,6 @@ from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_80
                                                     NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE,
                                                     NM_DEVICE_TYPE_WIFI, NM_ACTIVE_CONNECTION_IFACE,
                                                     NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason)
-from openpilot.system.ui.lib.gsm_manager import _GsmManager
 
 try:
   from openpilot.common.params import Params
@@ -185,8 +184,6 @@ class WifiManager:
     self._last_network_scan: float = 0.0
     self._callback_queue: list[Callable] = []
 
-    self._gsm = _GsmManager()
-
     self._tethering_ssid = "weedle"
     if Params is not None:
       dongle_id = Params().get("DongleId")
@@ -934,12 +931,6 @@ class WifiManager:
   def __del__(self):
     self.stop()
 
-  def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
-    """Update GSM settings for cellular connection"""
-    def worker():
-      self._gsm.update_gsm_settings(roaming, apn, metered)
-    threading.Thread(target=worker, daemon=True).start()
-
   def stop(self):
     if not self._exit:
       self._exit = True
@@ -953,5 +944,3 @@ class WifiManager:
         self._router_main.conn.close()
       if self._conn_monitor is not None:
         self._conn_monitor.close()
-
-      self._gsm.close()
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index e739eef63d..f7bc553dca 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -154,10 +154,6 @@ class AdvancedNetworkSettings(Widget):
 
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
-    # Set initial config
-    metered = self._params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, self._params.get("GsmApn") or "", metered)
-
   def _on_network_updated(self, networks: list[Network]):
     self._tethering_action.set_enabled(True)
     self._tethering_action.set_state(self._wifi_manager.is_tethering_active())
@@ -179,9 +175,7 @@ class AdvancedNetworkSettings(Widget):
     self._wifi_manager.set_tethering_active(checked)
 
   def _toggle_roaming(self):
-    roaming_state = self._roaming_action.get_state()
-    self._params.put_bool("GsmRoaming", roaming_state)
-    self._wifi_manager.update_gsm_settings(roaming_state, self._params.get("GsmApn") or "", self._params.get_bool("GsmMetered"))
+    self._params.put_bool("GsmRoaming", self._roaming_action.get_state())
 
   def _edit_apn(self):
     def update_apn(result: DialogResult):
@@ -194,8 +188,6 @@ class AdvancedNetworkSettings(Widget):
       else:
         self._params.put("GsmApn", apn)
 
-      self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), apn, self._params.get_bool("GsmMetered"))
-
     current_apn = self._params.get("GsmApn") or ""
     self._keyboard.reset(min_text_size=0)
     self._keyboard.set_title(tr("Enter APN"), tr("leave blank for automatic configuration"))
@@ -204,9 +196,7 @@ class AdvancedNetworkSettings(Widget):
     gui_app.push_widget(self._keyboard)
 
   def _toggle_cellular_metered(self):
-    metered = self._cellular_metered_action.get_state()
-    self._params.put_bool("GsmMetered", metered)
-    self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), self._params.get("GsmApn") or "", metered)
+    self._params.put_bool("GsmMetered", self._cellular_metered_action.get_state())
 
   def _toggle_wifi_metered(self, metered):
     metered_type = {0: MeteredType.UNKNOWN, 1: MeteredType.YES, 2: MeteredType.NO}.get(metered, MeteredType.UNKNOWN)

From b8bcf324571d31c59ddf6f15970b6690dd47885a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 10:40:46 -0700
Subject: [PATCH 072/210] add modem.py expected cpu usage (#37951)

* add modem.py expected cpu usage

* lower
---
 selfdrive/test/test_onroad.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 1129a1a2ff..c2dacb63a7 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -68,6 +68,7 @@ PROCS = {
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
+  "system.hardware.tici.modem": 2.0,
 }
 
 TIMINGS = {

From 8560f2732ab34c021070068659a358bdc2764a48 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 11:19:13 -0700
Subject: [PATCH 073/210] jp: fix search behavior

---
 tools/jotpluggler/browser.cc | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/tools/jotpluggler/browser.cc b/tools/jotpluggler/browser.cc
index 27378b4b6b..91e4a707da 100644
--- a/tools/jotpluggler/browser.cc
+++ b/tools/jotpluggler/browser.cc
@@ -377,20 +377,16 @@ void draw_browser_node(AppSession *session,
   }
 
   if (node.children.empty()) {
-    const bool selected = browser_selection_contains(*state, node.full_path);
     const std::string value_text = browser_series_value_text(*session, *state, node.full_path);
     const ImGuiStyle &style = ImGui::GetStyle();
     const ImVec2 row_size(std::max(1.0f, ImGui::GetContentRegionAvail().x), ImGui::GetFrameHeight());
     ImGui::PushID(node.full_path.c_str());
     const bool clicked = ImGui::InvisibleButton("##browser_leaf", row_size);
     const bool hovered = ImGui::IsItemHovered();
-    const bool held = ImGui::IsItemActive();
     const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
     ImDrawList *draw_list = ImGui::GetWindowDrawList();
-    if (selected || hovered) {
-      const ImU32 bg = ImGui::GetColorU32(selected
-        ? (held ? ImGuiCol_HeaderActive : ImGuiCol_Header)
-        : ImGuiCol_HeaderHovered);
+    if (hovered) {
+      const ImU32 bg = ImGui::GetColorU32(ImGuiCol_HeaderHovered);
       draw_list->AddRectFilled(rect.Min, rect.Max, bg, 0.0f);
     }
 
@@ -409,7 +405,7 @@ void draw_browser_node(AppSession *session,
                               nullptr);
     if (!value_text.empty()) {
       app_push_mono_font();
-      ImGui::PushStyleColor(ImGuiCol_Text, selected ? color_rgb(70, 77, 86) : color_rgb(116, 124, 133));
+      ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
       ImGui::RenderTextClipped(ImVec2(value_left, rect.Min.y + style.FramePadding.y),
                                ImVec2(value_right, rect.Max.y),
                                value_text.c_str(),
@@ -452,9 +448,6 @@ void draw_browser_node(AppSession *session,
   }
 
   ImGuiTreeNodeFlags flags = ImGuiTreeNodeFlags_SpanAvailWidth;
-  if (!filter.empty()) {
-    flags |= ImGuiTreeNodeFlags_DefaultOpen;
-  }
   const bool open = ImGui::TreeNodeEx(node.label.c_str(), flags);
   if (open) {
     for (const BrowserNode &child : node.children) {

From 5752095bc21f9a3b87ac559cee30f7d267ed2600 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 17:18:21 -0700
Subject: [PATCH 074/210] bump raylib commit

---
 third_party/raylib/build.sh | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh
index d20f9d33af..869e9e447c 100755
--- a/third_party/raylib/build.sh
+++ b/third_party/raylib/build.sh
@@ -51,7 +51,7 @@ fi
 
 cd raylib_repo
 
-COMMIT=${1:-3425bd9d1fb292ede4d80f97a1f4f258f614cffc}
+COMMIT=${1:-faf6e4392780de7471504e43e70975efaba07e95}
 git fetch origin $COMMIT
 git reset --hard $COMMIT
 git clean -xdff .
@@ -68,7 +68,6 @@ RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827"
 curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h
 
 if [ -f /TICI ]; then
-
   # Building the python bindings
   cd $DIR
 
@@ -89,5 +88,4 @@ if [ -f /TICI ]; then
   rm -rf wheel
   mkdir wheel
   cp raylib_python_repo/dist/*.whl wheel/
-
 fi

From 96d55a32834de22acce2c2e1a5d1a02e608cd36d Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Sat, 2 May 2026 19:52:11 -0700
Subject: [PATCH 075/210] modem: robust identity read on SIM hot-swap (#37954)

modem.py: retry identity read until valid; stay in INIT on partial reads

Under rapid SIM hot-swap stress, AT identity reads (CGSN/QCCID/CIMI/GMR) can return
empty values or echo the command itself. Validate each field before accepting it,
retry the whole sequence in a loop, and stay in INITIALIZING (rather than progressing
to SEARCHING) until imei and iccid are populated. Prevents stale/empty identity from
being published to /dev/shm/modem after a glitchy reinit.
---
 system/hardware/tici/modem.py | 54 +++++++++++++++++++++--------------
 1 file changed, 33 insertions(+), 21 deletions(-)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index cb6a6a8235..f01aa79871 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -29,6 +29,8 @@ AT_INIT = [
   "AT+CMEE=1",  # numeric +CME ERROR codes on failures (per 3GPP 27.007)
   "ATX4",       # extended result codes: busy + dial tone detection, line speed in CONNECT
   "AT&C1",      # DCD pin follows carrier state (V.250 default)
+  "AT+CREG=2",  # registration URCs include location info
+  "AT+CGREG=2", # GPRS registration URCs include location info
 ]
 CREG = {0: "not_registered", 1: "home", 2: "searching", 3: "denied", 4: "unknown", 5: "roaming"}
 # 3GPP TS 27.007 +COPS <AcT> -> network type
@@ -227,6 +229,13 @@ class Modem:
         return line.split(":", 1)[1].strip()
     return None
 
+  def _init_at_channel(self) -> bool:
+    """Run AT_INIT and confirm ATE0 took effect. Returns False if echo is still on."""
+    for c in AT_INIT:
+      self._at(c)
+    r = self._at("AT+CGMI")
+    return bool(r) and not r[0].startswith("AT")
+
   def _configure_modem(self, modem_version: str):
     if not modem_version.startswith("EG25"):
       return
@@ -253,10 +262,15 @@ class Modem:
     self._ppp.kill()
     self._ppp.cleanup_routes()
 
-    for c in AT_INIT + ["AT+CREG=2", "AT+CGREG=2"]:
-      self._at(c)
+    if not self._init_at_channel():
+      logging.warning("AT echo still on, retrying")
+      return State.INITIALIZING
 
     identity = self._read_identity()
+    if not identity["iccid"] or not identity["imei"]:
+      logging.warning(f"identity read incomplete: {identity}, retrying")
+      return State.INITIALIZING
+
     self._configure_modem(identity["modem_version"])
 
     self._apn = self._read_param("GsmApn")
@@ -270,25 +284,23 @@ class Modem:
     return State.SEARCHING
 
   def _read_identity(self):
-    # after a SIM hot-swap, identity reads can come back empty for a few seconds; retry on IMEI
-    imei, iccid, mcc_mnc, modem_version = "", "", "", ""
-    for _ in range(10):
-      r = self._at("AT+CGSN")
-      if r and r[0].strip():
-        imei = r[0].strip()
-        break
-      time.sleep(0.5)
-    v = self._atv("AT+QCCID", "+QCCID:")
-    if v:
-      iccid = v
-    r = self._at("AT+CIMI")
-    if r:
-      imsi = r[0].strip()
-      if len(imsi) >= 6 and imsi.isdigit():
-        mcc_mnc = imsi[:6]
-    r = self._at("AT+GMR")
-    if r:
-      modem_version = r[0].strip()
+    def first_line(cmd):
+      r = self._at(cmd)
+      return r[0].strip() if r else ""
+
+    imei = first_line("AT+CGSN")
+    if not (imei.isdigit() and 14 <= len(imei) <= 17):  # 3GPP TS 23.003
+      imei = ""
+
+    iccid = self._atv("AT+QCCID", "+QCCID:") or ""
+    if not iccid.isdigit():
+      iccid = ""
+
+    imsi = first_line("AT+CIMI")
+    mcc_mnc = imsi[:6] if imsi.isdigit() and len(imsi) >= 6 else ""
+
+    modem_version = first_line("AT+GMR")
+
     logging.info(f"imei={imei} iccid={iccid} mcc_mnc={mcc_mnc} ver={modem_version}")
     return {"imei": imei, "iccid": iccid, "mcc_mnc": mcc_mnc, "modem_version": modem_version}
 

From 1eeba86ec1826add74837dcf40beaf8ce81fb865 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 20:40:41 -0700
Subject: [PATCH 076/210] disable modem.py for now

---
 system/manager/process_config.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index f5a6c51072..f39af059c0 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -106,7 +106,7 @@ procs = [
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
+  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=False),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),

From d238a1ccc4d72a9165d9483ea8bd84d218ad8f00 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 2 May 2026 20:49:00 -0700
Subject: [PATCH 077/210] modem.py is disabled

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index c2dacb63a7..0ef558c033 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -68,7 +68,7 @@ PROCS = {
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
-  "system.hardware.tici.modem": 2.0,
+  #"system.hardware.tici.modem": 2.0,
 }
 
 TIMINGS = {

From 55f033ced0a9381723d7654af0686b18990b31b4 Mon Sep 17 00:00:00 2001
From: Christopher Milan <chris.m.milan@gmail.com>
Date: Mon, 4 May 2026 10:43:43 -0700
Subject: [PATCH 078/210] bump tinygrad (#37926)

---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 7cbfa1896a..5eb1fd5d3c 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 7cbfa1896aebd6e1210d626db239fa54ba6d802c
+Subproject commit 5eb1fd5d3cb3f158d698d088f9b0702a40137ffe

From 4a1b7216368c41d923a02cd0b21019006773b98a Mon Sep 17 00:00:00 2001
From: Christopher Milan <chrismilan@ucla.edu>
Date: Mon, 4 May 2026 14:33:42 -0700
Subject: [PATCH 079/210] bump tinygrad (#37958)

---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 5eb1fd5d3c..5b4f62519d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 5eb1fd5d3cb3f158d698d088f9b0702a40137ffe
+Subproject commit 5b4f62519d628d1f238a5025b153aaedeee141cc

From 94cf600bfe35430d908c164fde0620d0a15c11c9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 4 May 2026 16:36:03 -0700
Subject: [PATCH 080/210] comma four: warning for enabling alpha long (#37959)

* warning for alpha long on mici

* copy

* don't show green until done

* lambda

* helper

* fix
---
 .../ui/mici/layouts/settings/developer.py     | 40 ++++++++++++++++---
 1 file changed, 34 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 3a587f1242..da300cf474 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -1,13 +1,34 @@
+from collections.abc import Callable
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog, BigConfirmationCircleButton
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher
 
 
+class AlphaLongConfirmPage(NavScroller):
+  def __init__(self, on_confirm: Callable[[], None]):
+    super().__init__()
+
+    accept = BigConfirmationCircleButton("enable alpha\nlongitudinal",
+                                         gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                         lambda: self.dismiss(on_confirm))
+
+    self._scroller.add_widgets([
+      GreyBigButton("enabling alpha longitudinal", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
+      GreyBigButton("", "WARNING: alpha longitudinal control will disable Automatic Emergency Braking (AEB)"),
+      GreyBigButton("", "On this car, openpilot defaults to the stock system's built-in ACC."),
+      GreyBigButton("", "Enabling this will switch to openpilot longitudinal control."),
+      GreyBigButton("", "Using Experimental mode is recommended with openpilot longitudinal control alpha."),
+      GreyBigButton("", "Changing this setting will restart openpilot if the car is powered on."),
+      accept,
+    ])
+
+
 class DeveloperLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
@@ -165,7 +186,14 @@ class DeveloperLayoutMici(NavScroller):
     restart_needed_callback(state)
 
   def _on_alpha_long_enabled(self, state: bool):
-    # TODO: show confirmation dialog before enabling
-    ui_state.params.put_bool("AlphaLongitudinalEnabled", state)
-    restart_needed_callback(state)
-    self._update_toggles()
+    def do_toggle(_state: bool):
+      ui_state.params.put_bool("AlphaLongitudinalEnabled", _state)
+      restart_needed_callback(True)
+      self._update_toggles()
+
+    if state:
+      # Don't show enabled state until confirm
+      self._alpha_long_toggle.set_checked(False)
+      gui_app.push_widget(AlphaLongConfirmPage(lambda: do_toggle(True)))
+    else:
+      do_toggle(False)

From 1caae26cfcdce8318134a7a2c4718f342fd1e3ea Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 4 May 2026 16:37:15 -0700
Subject: [PATCH 081/210] restart_needed_callback takes no args

---
 selfdrive/ui/layouts/settings/common.py         | 2 +-
 selfdrive/ui/mici/layouts/settings/developer.py | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/common.py b/selfdrive/ui/layouts/settings/common.py
index 5e87a6447a..bba8606e64 100644
--- a/selfdrive/ui/layouts/settings/common.py
+++ b/selfdrive/ui/layouts/settings/common.py
@@ -1,5 +1,5 @@
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 
-def restart_needed_callback(_):
+def restart_needed_callback(_=None):
   ui_state.params.put_bool("OnroadCycleRequested", True)
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index da300cf474..90499c8361 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -174,7 +174,7 @@ class DeveloperLayoutMici(NavScroller):
     self._joystick_toggle.set_checked(False)
     ui_state.params.put_bool("LateralManeuverMode", False)
     self._lat_maneuver_toggle.set_checked(False)
-    restart_needed_callback(state)
+    restart_needed_callback()
 
   def _on_lat_maneuver_mode(self, state: bool):
     ui_state.params.put_bool("LateralManeuverMode", state)
@@ -183,12 +183,12 @@ class DeveloperLayoutMici(NavScroller):
     self._joystick_toggle.set_checked(False)
     ui_state.params.put_bool("LongitudinalManeuverMode", False)
     self._long_maneuver_toggle.set_checked(False)
-    restart_needed_callback(state)
+    restart_needed_callback()
 
   def _on_alpha_long_enabled(self, state: bool):
     def do_toggle(_state: bool):
       ui_state.params.put_bool("AlphaLongitudinalEnabled", _state)
-      restart_needed_callback(True)
+      restart_needed_callback()
       self._update_toggles()
 
     if state:

From 65b2bfe5d82b34dc1d92be8e8f3eac33e95d809e Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 4 May 2026 16:49:34 -0700
Subject: [PATCH 082/210] modeld: remove uop tinygrad patch (#37960)

tg: remove uop patch
---
 selfdrive/modeld/compile_modeld.py | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 9b2394e503..61de986d56 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -12,11 +12,6 @@ from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 from tinygrad.nn.onnx import OnnxRunner
 
-# https://github.com/tinygrad/tinygrad/issues/15682
-from tinygrad.uop.ops import UOp, Ops
-_orig = UOp.__reduce__
-UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
-
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
 

From f64f3944a6e716ba3cdc8fe55aea7a7052d092be Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 4 May 2026 16:50:54 -0700
Subject: [PATCH 083/210] will -> may

---
 selfdrive/ui/layouts/settings/developer.py      | 2 +-
 selfdrive/ui/mici/layouts/settings/developer.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index 2a823b57d7..782f7c2117 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -20,7 +20,7 @@ DESCRIPTIONS = {
     "other than your own. A comma employee will NEVER ask you to add their GitHub username."
   ),
   'alpha_longitudinal': tr_noop(
-    "<b>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "<b>WARNING: openpilot longitudinal control is in alpha for this car and may disable Automatic Emergency Braking (AEB).</b><br><br>" +
     "On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. " +
     "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. " +
     "Changing this setting will restart openpilot if the car is powered on."
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 90499c8361..6e74473a48 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -20,7 +20,7 @@ class AlphaLongConfirmPage(NavScroller):
     self._scroller.add_widgets([
       GreyBigButton("enabling alpha longitudinal", "scroll to continue",
                     gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
-      GreyBigButton("", "WARNING: alpha longitudinal control will disable Automatic Emergency Braking (AEB)"),
+      GreyBigButton("", "WARNING: alpha longitudinal control may disable Automatic Emergency Braking (AEB)"),
       GreyBigButton("", "On this car, openpilot defaults to the stock system's built-in ACC."),
       GreyBigButton("", "Enabling this will switch to openpilot longitudinal control."),
       GreyBigButton("", "Using Experimental mode is recommended with openpilot longitudinal control alpha."),

From 57d0a58855bcebf29caeb915489dcf83bbebc993 Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Mon, 4 May 2026 20:11:03 -0700
Subject: [PATCH 084/210] Round trip through bytes to save 30x on migration
 memory usage (#37963)

---
 selfdrive/test/process_replay/migration.py | 44 ++++++++++++----------
 1 file changed, 24 insertions(+), 20 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 12a9664a54..578dd44628 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -87,6 +87,10 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
   return lr
 
 
+def as_reader(builder) -> capnp.lib.capnp._DynamicStructReader:
+  return log.Event.from_bytes(builder.to_bytes()).__enter__()  # round-trip through bytes, 2x faster and 30x less memory than builder.as_reader()
+
+
 def migration(inputs: list[str], product: str|None=None):
   def decorator(func):
     @functools.wraps(func)
@@ -124,7 +128,7 @@ def migrate_longitudinalPlan(msgs):
     new_msg = msg.as_builder()
     a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -133,7 +137,7 @@ def migrate_driverAssistance(msgs):
   add_ops = []
   for _, msg in msgs:
     new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, []
 
 
@@ -150,7 +154,7 @@ def migrate_drivingModelData(msgs):
       fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
     if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
       fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
-    add_ops.append( dmd.as_reader())
+    add_ops.append(as_reader(dmd))
   return [], add_ops, []
 
 
@@ -175,7 +179,7 @@ def migrate_liveTracks(msgs):
       pts.append(pt)
 
     new_msg.liveTracks.points = pts
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -195,7 +199,7 @@ def migrate_liveLocationKalman(msgs):
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
       setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
-    ops.append((index, m.as_reader()))
+    ops.append((index, as_reader(m)))
   return ops, [], []
 
 
@@ -210,7 +214,7 @@ def migrate_livePose(msgs):
     if msg.which() == "livePose":
       new_msg = msg.as_builder()
       new_msg.livePose.timestamp = msg.logMonoTime
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -226,7 +230,7 @@ def migrate_controlsState(msgs):
                   "alertStatus", "alertSize", "alertType", "experimentalMode",
                   "personality"):
       setattr(ss, field, getattr(msg.controlsState.deprecated, field))
-    add_ops.append(m.as_reader())
+    add_ops.append(as_reader(m))
   return [], add_ops, []
 
 
@@ -242,7 +246,7 @@ def migrate_carState(msgs):
         msg = msg.as_builder()
         msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
         msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
-        ops.append((index, msg.as_reader()))
+        ops.append((index, as_reader(msg)))
   return ops, [], []
 
 
@@ -252,7 +256,7 @@ def migrate_managerState(msgs):
   for index, msg in msgs:
     new_msg = msg.as_builder()
     new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -265,7 +269,7 @@ def migrate_gpsLocation(msgs):
     # hasFix is a newer field
     if not g.hasFix and g.flags == 1:
       g.hasFix = True
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -281,7 +285,7 @@ def migrate_deviceState(msgs):
     if msg.which() == 'deviceState':
       n = msg.as_builder()
       n.deviceState.deviceType = init_data.deviceType
-      ops.append((i, n.as_reader()))
+      ops.append((i, as_reader(n)))
   return ops, [], []
 
 
@@ -293,7 +297,7 @@ def migrate_carOutput(msgs):
     co.valid = msg.valid
     co.logMonoTime = msg.logMonoTime
     co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
-    add_ops.append(co.as_reader())
+    add_ops.append(as_reader(co))
   return [], add_ops, []
 
 
@@ -331,13 +335,13 @@ def migrate_pandaStates(msgs):
       new_msg.logMonoTime = msg.logMonoTime
       new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
       new_msg.pandaStates[0].safetyParam = safety_param
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
       # Clear DISABLE_DISENGAGE_ON_GAS bit to fix controls mismatch
       new_msg.pandaStates[-1].alternativeExperience &= ~1
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -352,7 +356,7 @@ def migrate_peripheralState(msgs):
     new_msg = messaging.new_message("peripheralState")
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, []
 
 
@@ -407,7 +411,7 @@ def migrate_cameraStates(msgs):
     new_msg.valid = msg.valid
 
     del_ops.append(index)
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, del_ops
 
 
@@ -419,7 +423,7 @@ def migrate_carParams(msgs):
     CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
     for car_fw in CP.carParams.carFw:
       car_fw.brand = CP.carParams.brand
-    ops.append((index, CP.as_reader()))
+    ops.append((index, as_reader(CP)))
   return ops, [], []
 
 
@@ -451,7 +455,7 @@ def migrate_sensorEvents(msgs):
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
 
-      add_ops.append(m.as_reader())
+      add_ops.append(as_reader(m))
     del_ops.append(index)
   return [], add_ops, del_ops
 
@@ -474,7 +478,7 @@ def migrate_onroadEvents(msgs):
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.onroadEvents = onroadEvents
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
 
   return ops, [], []
 
@@ -514,6 +518,6 @@ def migrate_driverMonitoringState(msgs):
     dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
     dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
     dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
 
   return ops, [], []

From dd0690da6f3ecf989cbbdda3eeb96318bff1b198 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 5 May 2026 01:31:06 -0700
Subject: [PATCH 085/210] ui: log fps (#37927)

* log raylib fps

* log fps from frame time

* whitespace

* or just log frame time?

* init pubmaster in init window

* yield timings

* bump ordinal

* dont log on screen off

* UInt

* lint

* /0

* oops

* oops2

* more precise raylib frame time, can get fps with 1/ft

* don't crash on screen off

* NL

* no _

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 cereal/log.capnp                                |  3 ++-
 selfdrive/test/test_onroad.py                   |  2 +-
 selfdrive/ui/mici/onroad/augmented_road_view.py | 12 +-----------
 selfdrive/ui/onroad/augmented_road_view.py      | 12 +-----------
 selfdrive/ui/ui.py                              | 10 +++++++++-
 system/ui/lib/application.py                    |  8 ++++++--
 tools/clip/run.py                               |  2 +-
 7 files changed, 21 insertions(+), 28 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 71e9deb5b2..677cc46926 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2301,7 +2301,8 @@ struct Sentinel {
 }
 
 struct UIDebug {
-  drawTimeMillis @0 :Float32;
+  cpuTimeMillis @0 :Float32;
+  frameTimeMillis @1 :Float32;
 }
 
 struct ManagerState {
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 0ef558c033..63456a9e15 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -210,7 +210,7 @@ class TestOnroad:
 
     # other processes preempt ui while starting up
     offset = int(20 * LOG_OFFSET)
-    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
+    ts = self.ts['uiDebug']['cpuTimeMillis'][offset:]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 703dcf78b1..0246a0e597 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -1,7 +1,6 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import messaging, car, log
+from cereal import car, log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -159,9 +158,6 @@ class AugmentedRoadView(CameraView):
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
-
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -189,7 +185,6 @@ class AugmentedRoadView(CameraView):
       self._offroad_label.render(self._rect)
       return
 
-    start_draw = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
 
     # Update calibration before rendering
@@ -248,11 +243,6 @@ class AugmentedRoadView(CameraView):
 
     self._bookmark_icon.render(self.rect)
 
-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index 17d89fbd50..1a2181628e 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -1,7 +1,6 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import log, messaging
+from cereal import log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
@@ -49,12 +48,8 @@ class AugmentedRoadView(CameraView):
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
 
-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
-
   def _render(self, rect):
     # Only render when system is started to avoid invalid data access
-    start_draw = time.monotonic()
     if not ui_state.started:
       return
 
@@ -98,11 +93,6 @@ class AugmentedRoadView(CameraView):
     # Draw colored border based on driving state
     self._draw_border(rect)
 
-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
   def _handle_mouse_press(self, _):
     if not self._hud_renderer.user_interacting() and self._click_callback is not None:
       self._click_callback()
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index e3cac2618e..c571177855 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 
+from cereal import messaging
 from openpilot.system.hardware import TICI
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
@@ -21,9 +22,16 @@ def main():
   else:
     MiciMainLayout()
 
-  for should_render in gui_app.render():
+  pm = messaging.PubMaster(['uiDebug'])
+  for should_render, frame_time, cpu_time in gui_app.render():
     ui_state.update()
+
     if should_render:
+      msg = messaging.new_message('uiDebug')
+      msg.uiDebug.cpuTimeMillis = cpu_time * 1000
+      msg.uiDebug.frameTimeMillis = frame_time * 1000
+      pm.send('uiDebug', msg)
+
       # reaffine after power save offlines our core
       if TICI and os.sched_getaffinity(0) != cores:
         try:
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 980410b022..d2ef9973f1 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -585,6 +585,8 @@ class GuiApplication:
         self._render_profiler.enable()
 
       while not (self._window_close_requested or rl.window_should_close()):
+        frame_start = time.monotonic()
+
         if PC:
           # Thread is not used on PC, need to manually add mouse events
           self._mouse._handle_mouse_event()
@@ -599,7 +601,7 @@ class GuiApplication:
           if PC:
             rl.poll_input_events()
           time.sleep(1 / self._target_fps)
-          yield False
+          yield False, 0.0, 0.0
           continue
 
         if self._render_texture:
@@ -621,7 +623,9 @@ class GuiApplication:
         for widget in self._nav_stack[-self._nav_stack_widgets_to_render:]:
           widget.render(rl.Rectangle(0, 0, self.width, self.height))
 
-        yield True
+        frame_time = rl.get_frame_time()
+        cpu_time = time.monotonic() - frame_start
+        yield True, frame_time, cpu_time
 
         if self._scale != 1.0:
           rl.rl_pop_matrix()
diff --git a/tools/clip/run.py b/tools/clip/run.py
index ed2a5075b4..172410dc1a 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -326,7 +326,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
 
     frame_idx = 0
     with tqdm.tqdm(total=len(message_chunks), desc="Rendering", unit="frame") as pbar:
-      for should_render in gui_app.render():
+      for should_render, _, _ in gui_app.render():
         if frame_idx >= len(message_chunks):
           break
         _, frame_bytes = frame_queue.get()

From 0e58ac33ad8f2cc000ea63c743bb4e67851073ed Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Tue, 5 May 2026 11:50:52 -0700
Subject: [PATCH 086/210] lpa: move comma-profile check to Profile.is_comma
 (#37965)

---
 system/hardware/base.py     | 7 ++++---
 system/hardware/tici/lpa.py | 7 +++++--
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/system/hardware/base.py b/system/hardware/base.py
index 0f578dffa4..5bcf886ae8 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -20,6 +20,10 @@ class Profile:
   enabled: bool
   provider: str
 
+  @property
+  def is_comma(self) -> bool:
+    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+
 @dataclass
 class ThermalZone:
   # a zone from /sys/class/thermal/thermal_zone*
@@ -98,9 +102,6 @@ class LPABase(ABC):
   def is_euicc(self) -> bool:
     pass
 
-  def is_comma_profile(self, iccid: str) -> bool:
-    return any(iccid.startswith(prefix) for prefix in ('8985235',))
-
 class HardwareBase(ABC):
   @staticmethod
   def get_cmdline() -> dict[str, str]:
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 1a52915325..3b8a6c6a84 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -19,7 +19,7 @@ from typing import Any
 from pathlib import Path
 
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.hardware.base import LPABase, LPAError, Profile
+from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
 
 GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
 
@@ -735,7 +735,10 @@ class TiciLPA(LPABase):
       process_notifications(self._client)
 
   def delete_profile(self, iccid: str) -> None:
-    if self.is_comma_profile(iccid):
+    profile = next((p for p in self.list_profiles() if p.iccid == iccid), None)
+    if profile is None:
+      raise LPAProfileNotFoundError(f"profile not found: {iccid}")
+    if profile.is_comma:
       raise LPAError("refusing to delete a comma profile")
     with self._acquire_channel():
       request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))

From 5adcff12215e294bdeb53d9fca234c5fea521cf3 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Wed, 6 May 2026 08:31:12 -0700
Subject: [PATCH 087/210] modem: register cellular DNS with systemd-resolved
 (#37955)

---
 selfdrive/test/test_onroad.py    |  2 +-
 system/hardware/tici/modem.py    | 43 ++++++++++++++++++++++++++++----
 system/manager/process_config.py |  2 +-
 3 files changed, 40 insertions(+), 7 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 63456a9e15..2dd4aa072e 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -68,7 +68,7 @@ PROCS = {
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
-  #"system.hardware.tici.modem": 2.0,
+  "system.hardware.tici.modem": 2.0,
 }
 
 TIMINGS = {
diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index f01aa79871..2f994eca5d 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -116,17 +116,17 @@ class PPPSession:
   def fails(self) -> int:
     return self._fails
 
-  def maybe_install_routes(self, ip: str, peer: str):
+  def maybe_install_routes(self, ip: str, peer: str) -> bool:
     """Install routes if peer changed; kill the session on failure so the state machine reconnects."""
     if not peer or peer == self._peer:
-      return
+      return False
     try:
       IPv4Address(ip)
       IPv4Address(peer)
     except AddressValueError:
       logging.warning(f"refusing route install with non-IPv4 ip={ip!r} peer={peer!r}")
       self.kill()
-      return
+      return False
     self.cleanup_routes()
     cmds = [
       ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "metric", "1000"],
@@ -139,9 +139,24 @@ class PPPSession:
         logging.warning(f"route install failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
         self.cleanup_routes()
         self.kill()
-        return
+        return False
     logging.info(f"route set up for {ip} via {peer}")
     self._peer = peer
+    return True
+
+  def maybe_install_dns(self, dns_servers: list[str]) -> bool:
+    """Register DNS servers with systemd-resolved; kill the session on failure to force a retry."""
+    if not dns_servers:
+      return False
+    for cmd in (["sudo", "resolvectl", "dns", "ppp0", *dns_servers],
+                ["sudo", "resolvectl", "default-route", "ppp0", "yes"]):
+      r = subprocess.run(cmd, capture_output=True, text=True)
+      if r.returncode != 0:
+        logging.warning(f"resolvectl failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
+        self.kill()
+        return False
+    logging.info(f"resolvectl: ppp0 DNS = {dns_servers}")
+    return True
 
   @staticmethod
   def cleanup_routes():
@@ -150,6 +165,7 @@ class PPPSession:
     # rules don't have a flush; delete until none remain
     while subprocess.run(["sudo", "ip", "rule", "del", "table", "1000"], capture_output=True).returncode == 0:
       pass
+    subprocess.run(["sudo", "resolvectl", "revert", "ppp0"], capture_output=True)
 
 
 class Modem:
@@ -461,7 +477,8 @@ class Modem:
             peer = parts[parts.index("peer") + 1].split("/")[0]
           break
       if ip:
-        self._ppp.maybe_install_routes(ip, peer)
+        if self._ppp.maybe_install_routes(ip, peer):
+          self._ppp.maybe_install_dns(self._read_cellular_dns())
         return {"ip_address": ip, "connected": True}
       if self.S["connected"]:
         return {"connected": False, "ip_address": ""}
@@ -469,6 +486,22 @@ class Modem:
       pass
     return {}
 
+  def _read_cellular_dns(self) -> list[str]:
+    v = self._atv(f"AT+CGCONTRDP={DIAL_CID}", "+CGCONTRDP:")
+    if not v:
+      return []
+    # +CGCONTRDP: <cid>,<bearer_id>,<apn>,<local_addr>,<gw_addr>,<dns_prim>,<dns_sec>,...
+    fields = [f.strip().strip('"') for f in v.split(",")]
+    dns_servers = []
+    for d in fields[5:7]:
+      try:
+        dns_servers.append(str(IPv4Address(d)))
+      except (AddressValueError, ValueError):
+        pass
+    if not dns_servers:
+      logging.warning(f"no cellular DNS servers reported by modem: {v!r}")
+    return dns_servers
+
   def _poll_byte_counters(self) -> dict:
     try:
       with open("/sys/class/net/ppp0/statistics/tx_bytes") as f:
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index f39af059c0..f5a6c51072 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -106,7 +106,7 @@ procs = [
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=False),
+  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),

From 7a6dc191042d460d7eedb45a1fa6f098c28c46df Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 May 2026 18:52:00 -0700
Subject: [PATCH 088/210] Scroller: only horizontal snapping (#37974)

* kinda works

* can dedup this

* more dedup

* snap only for horizontal

* snap only for horizontal

* clean up

* clean up
---
 system/ui/widgets/scroller.py | 19 ++++++-------------
 1 file changed, 6 insertions(+), 13 deletions(-)

diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index a3a0d2b38f..faf9dd2987 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -75,6 +75,7 @@ class _Scroller(Widget):
     self._items: list[Widget] = []
     self._horizontal = horizontal
     self._snap_items = snap_items
+    assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
     self._spacing = spacing
     self._pad = pad
 
@@ -193,14 +194,11 @@ class _Scroller(Widget):
       return self.scroll_panel.get_offset()
 
     # Snap closest item to center
-    center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
+    center_pos = self._rect.x + self._rect.width / 2
     closest_delta_pos = float('inf')
     scroll_snap_idx: int | None = None
     for idx, item in enumerate(visible_items):
-      if self._horizontal:
-        delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
-      else:
-        delta_pos = (item.rect.y + item.rect.height / 2) - center_pos
+      delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
       if abs(delta_pos) < abs(closest_delta_pos):
         closest_delta_pos = delta_pos
         scroll_snap_idx = idx
@@ -212,14 +210,9 @@ class _Scroller(Widget):
         self._scroll_snap_filter.x = 0
       else:
         # TODO: this doesn't handle two small buttons at the edges well
-        if self._horizontal:
-          snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
-          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-          snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
-        else:
-          snap_delta_pos = (center_pos - (snap_item.rect.y + snap_item.rect.height / 2)) / 10
-          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-          snap_delta_pos = max(snap_delta_pos, (self._rect.height - self.scroll_panel.get_offset() - content_size) / 10)
+        snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
+        snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
+        snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
         self._scroll_snap_filter.update(snap_delta_pos)
 
       self.scroll_panel.set_offset(self.scroll_panel.get_offset() + self._scroll_snap_filter.x)

From 2596de85439dd281f59ee71a3b1148ab81bef164 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 6 May 2026 19:25:34 -0700
Subject: [PATCH 089/210] Revert "DM: Lancia Delta HF Integrale model (#37696)"
 (#37971)

This reverts commit d8569b07ebeed5fcb2b466fcd3824b968b4a8271.
---
 cereal/log.capnp                              | 12 +++++-----
 .../assets/icons_mici/onroad/glasses.png      |  3 +++
 selfdrive/modeld/dmonitoringmodeld.py         |  9 +++++---
 .../modeld/models/dmonitoring_model.onnx      |  4 ++--
 selfdrive/monitoring/policy.py                | 19 +++++++++++-----
 selfdrive/monitoring/test_monitoring.py       |  6 +++--
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../ui/mici/onroad/driver_camera_dialog.py    | 22 +++++++++++++++----
 8 files changed, 53 insertions(+), 24 deletions(-)
 create mode 100644 selfdrive/assets/icons_mici/onroad/glasses.png

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 677cc46926..73a34a2ea8 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2057,16 +2057,14 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    eyesVisibleProb @14 :Float32;
-    eyesClosedProb @15 :Float32;
+    leftEyeProb @5 :Float32;
+    rightEyeProb @6 :Float32;
+    leftBlinkProb @7 :Float32;
+    rightBlinkProb @8 :Float32;
+    sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
 
     deprecated :group {
-      leftEyeProb @5 :Float32;
-      rightEyeProb @6 :Float32;
-      leftBlinkProb @7 :Float32;
-      rightBlinkProb @8 :Float32;
-      sunglassesProb @9 :Float32;
       notReadyProb @12 :List(Float32);
       occludedProb @10 :Float32;
       readyProb @11 :List(Float32);
diff --git a/selfdrive/assets/icons_mici/onroad/glasses.png b/selfdrive/assets/icons_mici/onroad/glasses.png
new file mode 100644
index 0000000000..006972fd39
--- /dev/null
+++ b/selfdrive/assets/icons_mici/onroad/glasses.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56de402482b5987ed9a0ff3f793a1c89f857304b34fbb8a3deb5b5d4a332be1c
+size 3688
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 86b0edf7ce..7b073a5f50 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -75,7 +75,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -85,8 +85,11 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
   msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
   msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
+  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 628f385796..dc621bed03 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
-size 7364290
+oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
+size 7307246
diff --git a/selfdrive/monitoring/policy.py b/selfdrive/monitoring/policy.py
index acfbca258f..2315fc04d3 100644
--- a/selfdrive/monitoring/policy.py
+++ b/selfdrive/monitoring/policy.py
@@ -40,8 +40,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._MAX_TERMINAL_DURATION = int(30 / DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
     self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.5
-    self._BLINK_THRESHOLD = 0.5
+    self._EYE_THRESHOLD = 0.65
+    self._SG_THRESHOLD = 0.9
+    self._BLINK_THRESHOLD = 0.865
     self._PHONE_THRESH = 0.5
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -93,6 +94,11 @@ class DriverPose:
     self.cfactor_yaw = 1.
     self.steer_yaw_offset = 0.
 
+class DriverBlink:
+  def __init__(self):
+    self.left = 0.
+    self.right = 0.
+
 # model output refers to center of undistorted+leveled image
 ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].dcam
 dcam_undistorted_FL = 598.0
@@ -123,7 +129,7 @@ class DriverMonitoring:
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
     self.wheelpos_offsetter = RunningStatFilter(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
-    self.blink_prob = 0.
+    self.blink = DriverBlink()
     self.phone_prob = 0.
 
     self.alert_level = AlertLevel.none
@@ -220,7 +226,7 @@ class DriverMonitoring:
     yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
 
     self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
-    self.distracted_types['eye'] = bool(self.blink_prob > self.settings._BLINK_THRESHOLD)
+    self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
     self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
 
   def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
@@ -254,7 +260,10 @@ class DriverMonitoring:
     self.wheel_on_right_last = self.wheel_on_right
     self.model_std_max = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
     self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
-    self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
+    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
     self._get_distracted_types()
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 948931cb29..05ab4bfd91 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -18,8 +18,10 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.faceOrientation = [0., 0., 0.]
   ds.leftDriverData.facePosition = [0., 0.]
   ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.eyesVisibleProb = 1.
-  ds.leftDriverData.eyesClosedProb = 1. * distracted
+  ds.leftDriverData.leftEyeProb = 1.
+  ds.leftDriverData.rightEyeProb = 1.
+  ds.leftDriverData.leftBlinkProb = 1. * distracted
+  ds.leftDriverData.rightBlinkProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 880dc2138c..266f66aaf2 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
-                     (lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index 58b209bdf6..df5afe2e7c 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -34,6 +34,8 @@ class BaseDriverCameraDialog(Widget):
     self._eye_fill_texture = None
     self._eye_orange_texture = None
     self._eye_size = 74
+    self._glasses_texture = None
+    self._glasses_size = 171
 
     self._load_eye_textures()
 
@@ -152,6 +154,8 @@ class BaseDriverCameraDialog(Widget):
       self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
     if self._eye_orange_texture is None:
       self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
+    if self._glasses_texture is None:
+      self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
@@ -198,21 +202,31 @@ class BaseDriverCameraDialog(Widget):
     eye_offset_x = 10
     eye_offset_y = 10
     eye_spacing = self._eye_size + 15
-    eyes_prob = driver_data.eyesVisibleProb
 
     left_eye_x = rect.x + eye_offset_x
     left_eye_y = rect.y + eye_offset_y
+    left_eye_prob = driver_data.leftEyeProb
 
     right_eye_x = rect.x + eye_offset_x + eye_spacing
     right_eye_y = rect.y + eye_offset_y
+    right_eye_prob = driver_data.rightEyeProb
 
     # Draw eyes with opacity based on probability
-    fill_opacity = eyes_prob
-    orange_opacity = 1.0 - eyes_prob
-    for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
+    for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
+      fill_opacity = eye_prob
+      orange_opacity = 1.0 - eye_prob
+
       rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
       rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
 
+    # Draw sunglasses indicator based on sunglasses probability
+    # Position glasses centered between the two eyes at top left
+    glasses_x = rect.x + eye_offset_x - 4
+    glasses_y = rect.y
+    glasses_pos = rl.Vector2(glasses_x, glasses_y)
+    glasses_prob = driver_data.sunglassesProb
+    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
+
 
 class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
   def __init__(self):

From 695a2d783f4f1517cacfca78698fd51f50d74ba3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 May 2026 21:13:44 -0700
Subject: [PATCH 090/210] Scroller: snap logic in scroll panel (#37975)

* snap logic in scroll panel

* match previous snap speed

* velocity lookahead makes scrolling on main layout super easy

* turn off

* remove velocity lookahead

* cmts

* remove handle out of bounds

* cmts

* old style

* back

* clean up

* re-use

* revert

* finish snap when settings is clicked while moving

* rm cmt
---
 system/ui/lib/scroll_panel2.py | 30 +++++++++++++++++-------
 system/ui/widgets/scroller.py  | 42 ++++++++--------------------------
 2 files changed, 32 insertions(+), 40 deletions(-)

diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py
index 18fd8a9a67..7fae60119c 100644
--- a/system/ui/lib/scroll_panel2.py
+++ b/system/ui/lib/scroll_panel2.py
@@ -14,6 +14,7 @@ MIN_DRAG_PIXELS = 12
 AUTO_SCROLL_TC_SNAP = 0.025
 AUTO_SCROLL_TC = 0.18
 BOUNCE_RETURN_RATE = 10.0
+SNAP_RATE = 6.3  # matches previous Scroller snapping. exp rate of approach to snap target, 1/s
 REJECT_DECELERATION_FACTOR = 3
 MAX_SPEED = 10000.0  # px/s
 
@@ -44,10 +45,8 @@ class ScrollState(Enum):
 
 
 class GuiScrollPanel2:
-  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
+  def __init__(self, horizontal: bool = True) -> None:
     self._horizontal = horizontal
-    self._handle_out_of_bounds = handle_out_of_bounds
-    self._AUTO_SCROLL_TC = AUTO_SCROLL_TC_SNAP if not self._handle_out_of_bounds else AUTO_SCROLL_TC
     self._state = ScrollState.STEADY
     self._offset: rl.Vector2 = rl.Vector2(0, 0)
     self._initial_click_event: MouseEvent | None = None
@@ -63,7 +62,7 @@ class GuiScrollPanel2:
   def enabled(self) -> bool:
     return self._enabled() if callable(self._enabled) else self._enabled
 
-  def update(self, bounds: rl.Rectangle, content_size: float) -> float:
+  def update(self, bounds: rl.Rectangle, content_size: float, snap_target: float | None = None) -> float:
     if DEBUG:
       print('Old state:', self._state)
 
@@ -73,7 +72,7 @@ class GuiScrollPanel2:
       self._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
       self._previous_mouse_event = mouse_event
 
-    self._update_state(bounds_size, content_size)
+    self._update_state(bounds_size, content_size, snap_target)
 
     if DEBUG:
       print('Velocity:', self._velocity)
@@ -86,7 +85,7 @@ class GuiScrollPanel2:
     """Returns (max_offset, min_offset) for the given bounds and content size."""
     return 0.0, min(0.0, bounds_size - content_size)
 
-  def _update_state(self, bounds_size: float, content_size: float) -> None:
+  def _update_state(self, bounds_size: float, content_size: float, snap_target: float | None) -> None:
     """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
 
@@ -97,8 +96,9 @@ class GuiScrollPanel2:
 
     elif self._state == ScrollState.AUTO_SCROLL:
       # simple exponential return if out of bounds
+      # out of bounds is handled by snapping, so skip if set
       out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
-      if out_of_bounds and self._handle_out_of_bounds:
+      if out_of_bounds and snap_target is None:
         target = max_offset if self.get_offset() > max_offset else min_offset
 
         dt = rl.get_frame_time() or 1e-6
@@ -121,9 +121,23 @@ class GuiScrollPanel2:
       # Update the offset based on the current velocity
       dt = rl.get_frame_time()
       self.set_offset(self.get_offset() + self._velocity * dt)  # Adjust the offset based on velocity
-      alpha = 1 - (dt / (self._AUTO_SCROLL_TC + dt))
+      # fast decay in snap mode so velocity yields to the snap pull instead of fighting it
+      auto_scroll_tc = AUTO_SCROLL_TC_SNAP if snap_target is not None else AUTO_SCROLL_TC
+      alpha = 1 - (dt / (auto_scroll_tc + dt))
       self._velocity *= alpha
 
+    # Ease toward snap target when not in user control. Composes with velocity coast above:
+    # high velocity dominates initially, snap dominates as velocity decays.
+    if snap_target is not None and self._state not in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL):
+      snap_target = max(min_offset, min(max_offset, snap_target))
+      dist = snap_target - self.get_offset()
+      if abs(dist) < 1:  # finished snap
+        self.set_offset(snap_target)
+      else:
+        dt = rl.get_frame_time() or 1e-6
+        factor = 1.0 - math.exp(-SNAP_RATE * dt)
+        self.set_offset(self.get_offset() + dist * factor)
+
   def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                           content_size: float) -> None:
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index faf9dd2987..13445655dd 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -93,10 +93,7 @@ class _Scroller(Widget):
 
     self._item_pos_filter = BounceFilter(0.0, 0.05, 1 / gui_app.target_fps)
 
-    # when not pressed, snap to closest item to be center
-    self._scroll_snap_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
-
-    self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items)
+    self.scroll_panel = GuiScrollPanel2(self._horizontal)
     self._scroll_enabled: bool | Callable[[], bool] = True
 
     self._show_scroll_indicator = scroll_indicator and self._horizontal
@@ -182,42 +179,23 @@ class _Scroller(Widget):
       self._scrolling_to_filter.update(self._scrolling_to[0])
       self.scroll_panel.set_offset(self._scrolling_to_filter.x)
 
-      if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:
+      if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:  # finished scroll
         self.scroll_panel.set_offset(self._scrolling_to[0])
         self._scrolling_to = None, False
 
   def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
     scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
     self.scroll_panel.set_enabled(scroll_enabled and self.enabled and not self._scrolling_to[1])
-    self.scroll_panel.update(self._rect, content_size)
-    if not self._snap_items:
-      return self.scroll_panel.get_offset()
 
-    # Snap closest item to center
-    center_pos = self._rect.x + self._rect.width / 2
-    closest_delta_pos = float('inf')
-    scroll_snap_idx: int | None = None
-    for idx, item in enumerate(visible_items):
-      delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
-      if abs(delta_pos) < abs(closest_delta_pos):
-        closest_delta_pos = delta_pos
-        scroll_snap_idx = idx
+    # Snap closest item to center. Skipped while scroll_to() is animating
+    snap_target: float | None = None
+    if self._snap_items and visible_items and self._scrolling_to[0] is None:
+      # TODO: this doesn't handle two small buttons at the edges well
+      center_pos = self._rect.x + self._rect.width / 2
+      closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
+      snap_target = self.scroll_panel.get_offset() - closest_delta_pos
 
-    if scroll_snap_idx is not None:
-      snap_item = visible_items[scroll_snap_idx]
-      if self.is_pressed:
-        # no snapping until released
-        self._scroll_snap_filter.x = 0
-      else:
-        # TODO: this doesn't handle two small buttons at the edges well
-        snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
-        snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-        snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
-        self._scroll_snap_filter.update(snap_delta_pos)
-
-      self.scroll_panel.set_offset(self.scroll_panel.get_offset() + self._scroll_snap_filter.x)
-
-    return self.scroll_panel.get_offset()
+    return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)
 
   @property
   def moving_items(self) -> bool:

From 6420e8d92aefa1a437d826a4ad4d4646f55dd480 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 May 2026 23:19:45 -0700
Subject: [PATCH 091/210] Scroller: restore tapping home to open settings while
 it's auto scrolling (#37978)

* restore tapping home to open settings while it's auto scrolling

* rename

* oneline
---
 .../ui/mici/layouts/settings/network/wifi_ui.py  |  2 +-
 system/ui/mici_setup.py                          |  4 ++--
 system/ui/widgets/scroller.py                    | 16 ++++++++--------
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
index 006027e258..8404faf9f7 100644
--- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
+++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -383,7 +383,7 @@ class WifiUIMici(NavScroller):
 
       if scroll:
         # Scroll to the new position of the network
-        self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True)
+        self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True, block_widget_interaction=True)
 
   def _update_state(self):
     super()._update_state()
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index d55fc5e1eb..2a23e4c4fd 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -316,7 +316,7 @@ class NetworkSetupPageBase(Scroller):
 
     def on_waiting_click():
       offset = (self._wifi_button.rect.x + self._wifi_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
-      self._scroller.scroll_to(offset, smooth=True, block_interaction=True)
+      self._scroller.scroll_to(offset, smooth=True, block_interrupt=True, block_widget_interaction=True)
       # trigger grow when wifi button in view
       self._pending_wifi_grow_animation = True
 
@@ -399,7 +399,7 @@ class NetworkSetupPageBase(Scroller):
     self._scroller._layout()
     end_offset = -(self._scroller.content_size - self._rect.width)
     remaining = self._scroller.scroll_panel.get_offset() - end_offset
-    self._scroller.scroll_to(remaining, smooth=True, block_interaction=True)
+    self._scroller.scroll_to(remaining, smooth=True, block_interrupt=True, block_widget_interaction=True)
     self._pending_continue_grow_animation = True
 
   def set_custom_software(self, custom_software: bool):
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index 13445655dd..b7b6bf5932 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -81,7 +81,7 @@ class _Scroller(Widget):
 
     self._reset_scroll_at_show = True
 
-    self._scrolling_to: tuple[float | None, bool] = (None, False)  # target offset, block_interaction
+    self._scrolling_to: tuple[float | None, bool, bool] = (None, False, False)  # target offset, block_interrupt, block_widget_interaction
     self._scrolling_to_filter = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps)
     self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps)
     self._zoom_out_t: float = 0.0
@@ -114,8 +114,8 @@ class _Scroller(Widget):
   def set_reset_scroll_at_show(self, scroll: bool):
     self._reset_scroll_at_show = scroll
 
-  def scroll_to(self, pos: float, smooth: bool = False, block_interaction: bool = False):
-    assert not block_interaction or smooth, "Instant scroll cannot block user interaction"
+  def scroll_to(self, pos: float, smooth: bool = False, block_interrupt: bool = False, block_widget_interaction: bool = False):
+    assert smooth or (not block_interrupt and not block_widget_interaction), "Instant scroll cannot block interaction"
 
     # already there
     if abs(pos) < 1:
@@ -125,7 +125,7 @@ class _Scroller(Widget):
     scroll_offset = self.scroll_panel.get_offset() - pos
     if smooth:
       self._scrolling_to_filter.x = self.scroll_panel.get_offset()
-      self._scrolling_to = scroll_offset, block_interaction
+      self._scrolling_to = scroll_offset, block_interrupt, block_widget_interaction
     else:
       self.scroll_panel.set_offset(scroll_offset)
 
@@ -146,7 +146,7 @@ class _Scroller(Widget):
 
     # preserve original touch valid callback
     original_touch_valid_callback = item._touch_valid_callback
-    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and self._scrolling_to[0] is None
+    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and not self._scrolling_to[2]
                                           and not self.moving_items and (original_touch_valid_callback() if
                                                                          original_touch_valid_callback else True))
 
@@ -173,7 +173,7 @@ class _Scroller(Widget):
     # Cancel auto-scroll if user starts manually scrolling (unless block_interaction)
     if (self.scroll_panel.state in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL) and
         self._scrolling_to[0] is not None and not self._scrolling_to[1]):
-      self._scrolling_to = None, False
+      self._scrolling_to = None, False, False
 
     if self._scrolling_to[0] is not None and len(self._pending_lift) == 0:
       self._scrolling_to_filter.update(self._scrolling_to[0])
@@ -181,7 +181,7 @@ class _Scroller(Widget):
 
       if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:  # finished scroll
         self.scroll_panel.set_offset(self._scrolling_to[0])
-        self._scrolling_to = None, False
+        self._scrolling_to = None, False, False
 
   def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
     scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
@@ -380,7 +380,7 @@ class _Scroller(Widget):
     self._move_lift.clear()
     self._pending_lift.clear()
     self._pending_move.clear()
-    self._scrolling_to = None, False
+    self._scrolling_to = None, False, False
     self._scrolling_to_filter.x = 0.0
 
   def hide_event(self):

From b7725c5cbb4232959bebef4c43be213cb69e4c7e Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Thu, 7 May 2026 14:31:58 -0700
Subject: [PATCH 092/210] lpa: treat any AT+CCHO error as non-eUICC in is_euicc
 (#37979)

---
 system/hardware/tici/lpa.py | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 3b8a6c6a84..618d11e5d1 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -774,13 +774,12 @@ class TiciLPA(LPABase):
         raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
 
   def is_euicc(self) -> bool:
-    # +CCHO:<n> -> eUICC; bare ERROR -> applet absent, non-eUICC; +CME ERROR -> applet
-    # exists but bus busy or modem in transient state, still eUICC.
+    # +CCHO:<n> -> ISD-R applet present, eUICC. Any error -> non-eUICC.
     with self._acquire_lock():
       try:
         lines = self._client.query(f'AT+CCHO="{ISDR_AID}"')
-      except RuntimeError as e:
-        return "+CME ERROR" in str(e)
+      except RuntimeError:
+        return False
       for line in lines:
         if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
           try:

From a544cd7d39c8056bc8b998f81262168504efb2ea Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 May 2026 15:36:42 -0700
Subject: [PATCH 093/210] don't need nproc, scons is smart!

---
 tools/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/README.md b/tools/README.md
index 90696ab4e6..1ea42bbe1d 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -29,7 +29,7 @@ source .venv/bin/activate
 
 **4. Build openpilot**
 ``` bash
-scons -u -j$(nproc)
+scons -u
 ```
 
 ## WSL on Windows

From bd1c7f39eceb0f957ee8cb909ae0c4561ccd8c34 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 May 2026 18:50:52 -0700
Subject: [PATCH 094/210] scons build cleanups (#37981)

* simpler progress

* lil less

* cleanup

* handle cache in scons

* no j

* lil more

* rm atexit

* fix?

* cleanup
---
 .github/workflows/tests.yaml       |  8 ++---
 SConstruct                         | 56 ++++++++++++++++++++++++------
 docs/how-to/turn-the-speed-blue.md |  2 +-
 release/build_release.sh           |  6 ++--
 selfdrive/test/scons_build_test.sh |  2 +-
 selfdrive/test/test_updated.py     |  2 +-
 system/camerad/test/debug.sh       |  2 +-
 system/manager/build.py            | 50 ++++++--------------------
 tools/cabana/cabana                |  2 +-
 9 files changed, 67 insertions(+), 63 deletions(-)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 91a8e5c324..e0dcac53a0 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -107,7 +107,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       run: |
@@ -130,7 +130,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Run replay
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       continue-on-error: ${{ github.ref == 'refs/heads/master' }}
@@ -197,7 +197,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Driving test
       timeout-minutes: 2
       run: |
@@ -218,7 +218,7 @@ jobs:
           submodules: true
       - run: ./tools/op.sh setup
       - name: Build openpilot
-        run: scons -j$(nproc)
+        run: scons
       - name: Create UI Report
         run: |
           source selfdrive/test/setup_xvfb.sh
diff --git a/SConstruct b/SConstruct
index dcc567c74a..782b84dc26 100644
--- a/SConstruct
+++ b/SConstruct
@@ -14,7 +14,7 @@ SCons.Warnings.warningAsException(True)
 
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
@@ -174,16 +174,6 @@ if not GetOption('verbose'):
   ):
     env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
 
-# progress output
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
 # ********** Cython build environment **********
 envCython = env.Clone()
 envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
@@ -203,9 +193,19 @@ Export('env', 'arch')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
+def prune_cache_dir(target=None, source=None, env=None):
+  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
+  cache_size = sum(os.path.getsize(f) for f in cache_files)
+  for f in cache_files:
+    if cache_size < cache_size_limit:
+      break
+    cache_size -= os.path.getsize(f)
+    os.unlink(f)
+
 # ********** start building stuff **********
 
 # Build common module
@@ -264,3 +264,37 @@ if GetOption('extras') and arch != "larch64":
 
 
 env.CompilationDatabase('compile_commands.json')
+
+# progress output
+def count_scons_nodes(nodes):
+  seen = set()
+  stack = list(nodes)
+
+  while stack:
+    node = stack.pop().disambiguate()
+    if node in seen:
+      continue
+    seen.add(node)
+    executor = node.get_executor()
+    if executor is not None:
+      stack += executor.get_all_prerequisites() + executor.get_all_children()
+
+  return len(seen)
+
+progress_interval = 5
+progress_count = 0
+progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
+
+def progress_function(node):
+  global progress_count
+  if progress_count >= progress_total:
+    return
+  progress_count = min(progress_count + progress_interval, progress_total)
+  progress = round(100. * progress_count / progress_total, 1)
+  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
+  if progress == 100. and sys.stderr.isatty():
+    sys.stderr.write("\n")
+  sys.stderr.flush()
+
+Progress(progress_function, interval=progress_interval)
+AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index bc1d634012..b5692daff7 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -20,7 +20,7 @@ source .venv/bin/activate
 
 Then, compile openpilot:
 ```bash
-scons -j$(nproc)
+scons
 ```
 
 ## 2. Run replay
diff --git a/release/build_release.sh b/release/build_release.sh
index 7bc6732c68..e9ca24e3d1 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -46,14 +46,14 @@ git commit -a -m "openpilot v$VERSION release"
 
 # Build
 export PYTHONPATH="$BUILD_DIR"
-scons -j$(nproc) --minimal
+op build
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw
-  CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons panda/
 else
   # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
-  scons -j$(nproc) panda/
+  scons panda/
 fi
 
 # Ensure no submodules in release
diff --git a/selfdrive/test/scons_build_test.sh b/selfdrive/test/scons_build_test.sh
index 5ffdb4379e..d4a0733569 100755
--- a/selfdrive/test/scons_build_test.sh
+++ b/selfdrive/test/scons_build_test.sh
@@ -13,7 +13,7 @@ cd $BASEDIR
 
 cd $BASEDIR/opendbc_repo/
 scons --clean
-scons --no-cache --random -j$(nproc)
+scons --no-cache --random
 if ! scons -q; then
   echo "FAILED: all build products not up to date after first pass."
   exit 1
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index 95365640f5..22fee9bab2 100644
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -50,7 +50,7 @@ class TestUpdated:
       f"git clone {BASEDIR} {self.git_remote_dir}",
       f"git clone {self.git_remote_dir} {self.basedir}",
       f"cd {self.basedir} && git submodule init && git submodule update",
-      f"cd {self.basedir} && scons -j{os.cpu_count()} cereal/ common/"
+      f"cd {self.basedir} && scons cereal/ common/"
     ])
 
     self.params = Params(os.path.join(self.basedir, "persist/params"))
diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh
index a031be6923..eba167ce6a 100755
--- a/system/camerad/test/debug.sh
+++ b/system/camerad/test/debug.sh
@@ -8,7 +8,7 @@ echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 #echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 
 sudo dmesg -C
-scons -u -j8 --minimal .
+scons -u --minimal .
 export DEBUG_FRAMES=1
 export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
 #export DISABLE_DRIVER=1
diff --git a/system/manager/build.py b/system/manager/build.py
index d79e7fd2ad..af66782273 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -1,41 +1,27 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-from pathlib import Path
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.spinner import Spinner
 from openpilot.common.text_window import TextWindow
-from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.hardware import HARDWARE, AGNOS
-from openpilot.system.version import get_build_metadata
 
-MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
-CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
-
-TOTAL_SCONS_NODES = 2705
-MAX_BUILD_PROGRESS = 100
-
-def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
+def build() -> None:
+  spinner = Spinner()
+  spinner.update_progress(0, 100)
   env = os.environ.copy()
-  env['SCONS_PROGRESS'] = "1"
-  nproc = os.cpu_count()
-  if nproc is None:
-    nproc = 2
-
-  extra_args = ["--minimal"] if minimal else []
 
+  HARDWARE.set_power_save(False)
   if AGNOS:
-    HARDWARE.set_power_save(False)
     os.sched_setaffinity(0, range(8))  # ensure we can use the isolcpus cores
 
-  # building with all cores can result in using too
-  # much memory, so retry with less parallelism
+  # building with all cores can result in using too much memory, so retry serially
   compile_output: list[bytes] = []
-  for n in (nproc, nproc/2, 1):
+  for parallelism in ([], ["-j4"], ["-j1"]):
     compile_output.clear()
-    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+    scons: subprocess.Popen = subprocess.Popen(["scons", *parallelism], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
     assert scons.stderr is not None
 
     # Read progress from stderr and update spinner
@@ -48,8 +34,8 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 
         prefix = b'progress: '
         if line.startswith(prefix):
-          i = int(line[len(prefix):])
-          spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
+          progress = float(line[len(prefix):])
+          spinner.update_progress(100 * min(1., progress / 100.), 100.)
         elif len(line):
           compile_output.append(line)
           print(line.decode('utf8', 'replace'))
@@ -66,8 +52,6 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 
     # Build failed log errors
     error_s = b"\n".join(compile_output).decode('utf8', 'replace')
-    add_file_handler(cloudlog)
-    cloudlog.error("scons build failed\n" + error_s)
 
     # Show TextWindow
     spinner.close()
@@ -76,19 +60,5 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
         t.wait_for_exit()
     exit(1)
 
-  # enforce max cache size
-  cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]
-  cache_files.sort(key=lambda f: f.stat().st_mtime)
-  cache_size = sum(f.stat().st_size for f in cache_files)
-  for f in cache_files:
-    if cache_size < MAX_CACHE_SIZE:
-      break
-    cache_size -= f.stat().st_size
-    f.unlink()
-
-
 if __name__ == "__main__":
-  spinner = Spinner()
-  spinner.update_progress(0, 100)
-  build_metadata = get_build_metadata()
-  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
+  build()
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
index cd9bf1dd79..5eb15eabf0 100755
--- a/tools/cabana/cabana
+++ b/tools/cabana/cabana
@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons -j4 tools/cabana/_cabana cereal/messaging/bridge
+scons tools/cabana/_cabana cereal/messaging/bridge
 
 exec "$DIR/_cabana" "$@"

From 01e7606b709c4e915bf6376f8f6dce380e1bdbbd Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Thu, 7 May 2026 19:03:08 -0700
Subject: [PATCH 095/210] esim.py: subcommand CLI with indexed profile
 selection (#37968)

Lets you `esim.py switch 2` instead of typing the full iccid. Profiles
are stable-sorted by iccid so indices are deterministic.
---
 system/hardware/esim.py | 72 ++++++++++++++++++++++++++++++-----------
 1 file changed, 54 insertions(+), 18 deletions(-)

diff --git a/system/hardware/esim.py b/system/hardware/esim.py
index 54407693b3..18d84de983 100755
--- a/system/hardware/esim.py
+++ b/system/hardware/esim.py
@@ -2,33 +2,69 @@
 
 import argparse
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.base import LPABase, Profile
+
+
+def sorted_profiles(lpa: LPABase) -> list[Profile]:
+  return sorted(lpa.list_profiles(), key=lambda p: p.iccid)
+
+
+def resolve_iccid(lpa: LPABase, ref: str) -> str:
+  # ref is either a 1-based index into the sorted list, or a literal iccid
+  if ref.isdigit():
+    profiles = sorted_profiles(lpa)
+    idx = int(ref) - 1
+    if not 0 <= idx < len(profiles):
+      raise SystemExit(f'no profile at index {ref} (have {len(profiles)})')
+    return profiles[idx].iccid
+  return ref
+
+
+def print_profiles(lpa: LPABase) -> None:
+  profiles = sorted_profiles(lpa)
+  print(f'\n{len(profiles)} profile{"s" if len(profiles) != 1 else ""}:')
+  for i, p in enumerate(profiles, start=1):
+    print(f'{i}. {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
 
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
-  parser.add_argument('--switch', metavar='iccid', help='switch to profile')
-  parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
-  parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
-  parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
+  sub = parser.add_subparsers(dest='cmd')
+
+  sub.add_parser('list', help='list profiles')
+
+  p_switch = sub.add_parser('switch', help='switch to profile')
+  p_switch.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_delete = sub.add_parser('delete', help='delete profile (warning: this cannot be undone)')
+  p_delete.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_download = sub.add_parser('download', help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
+  p_download.add_argument('qr')
+  p_download.add_argument('name')
+
+  p_nickname = sub.add_parser('nickname', help='update the nickname for a profile')
+  p_nickname.add_argument('profile', help='iccid or 1-based index from `list`')
+  p_nickname.add_argument('name')
+
   args = parser.parse_args()
 
   lpa = HARDWARE.get_sim_lpa()
-  if args.switch:
-    lpa.switch_profile(args.switch)
-  elif args.delete:
-    confirm = input('are you sure you want to delete this profile? (y/N) ')
+  if args.cmd == 'switch':
+    lpa.switch_profile(resolve_iccid(lpa, args.profile))
+  elif args.cmd == 'delete':
+    iccid = resolve_iccid(lpa, args.profile)
+    confirm = input(f'are you sure you want to delete profile {iccid}? (y/N) ')
     if confirm == 'y':
-      lpa.delete_profile(args.delete)
+      lpa.delete_profile(iccid)
     else:
       print('cancelled')
       exit(0)
-  elif args.download:
-    lpa.download_profile(args.download[0], args.download[1])
-  elif args.nickname:
-    lpa.nickname_profile(args.nickname[0], args.nickname[1])
+  elif args.cmd == 'download':
+    lpa.download_profile(args.qr, args.name)
+  elif args.cmd == 'nickname':
+    lpa.nickname_profile(resolve_iccid(lpa, args.profile), args.name)
   else:
-    parser.print_help()
-    profiles = lpa.list_profiles()
-    print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
-    for p in profiles:
-      print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
+    if args.cmd is None:
+      parser.print_help()
+    print_profiles(lpa)

From 32671d1c3f274223ecc02a1d15e5c0af533641c1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 7 May 2026 23:34:53 -0700
Subject: [PATCH 096/210] ui: nonblocking Params writes (#37982)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

ui: nonblocking writes for ExperimentalMode + DriverView toggles + cycle-restart

All four put calls fire from the main render thread on user interaction
and block on disk fsync, causing visible UI frame spikes.

Each consumer is safe under nonblocking:
- onboarding inactivity_callback: write-and-forget (~25 ms saved)
- home long-press exp toggle: ui_state.experimental_mode owns visual state (~10 ms)
- onroad exp_button: $held_mode + selfdriveState owns visual state
- restart_needed_callback (OnroadCycleRequested): cross-process signal,
  consumer is selfdrived which polls the param

BigParamControl-driven toggles in settings (developer.py, toggles.py)
are intentionally left blocking — those widgets refresh visual state
from disk every frame to mirror external changes, which would race a
nonblocking write.
---
 selfdrive/ui/layouts/settings/common.py          | 2 +-
 selfdrive/ui/mici/layouts/onboarding.py          | 2 +-
 selfdrive/ui/mici/onroad/driver_camera_dialog.py | 4 ++--
 selfdrive/ui/onroad/exp_button.py                | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/layouts/settings/common.py b/selfdrive/ui/layouts/settings/common.py
index bba8606e64..13d1c743df 100644
--- a/selfdrive/ui/layouts/settings/common.py
+++ b/selfdrive/ui/layouts/settings/common.py
@@ -2,4 +2,4 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 
 
 def restart_needed_callback(_=None):
-  ui_state.params.put_bool("OnroadCycleRequested", True)
+  ui_state.params.put_bool_nonblocking("OnroadCycleRequested", True)
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 054d719bd6..85731564ea 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -109,7 +109,7 @@ class TrainingGuideDMTutorial(NavWidget):
 
     # Disable driver monitoring model when device times out for inactivity
     def inactivity_callback():
-      ui_state.params.put_bool("IsDriverViewEnabled", False)
+      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
 
     device.add_interactive_timeout_callback(inactivity_callback)
 
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index df5afe2e7c..ddc084c148 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -41,7 +41,7 @@ class BaseDriverCameraDialog(Widget):
 
   def show_event(self):
     super().show_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
     self._publish_alert_sound(None)
     device.set_override_interactive_timeout(300)
     ui_state.params.remove("DriverTooDistracted")
@@ -49,7 +49,7 @@ class BaseDriverCameraDialog(Widget):
 
   def hide_event(self):
     super().hide_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
     device.set_override_interactive_timeout(None)
 
   def _handle_mouse_release(self, _):
diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py
index 9a92ebc3c3..ff0bad7479 100644
--- a/selfdrive/ui/onroad/exp_button.py
+++ b/selfdrive/ui/onroad/exp_button.py
@@ -36,7 +36,7 @@ class ExpButton(Widget):
     super()._handle_mouse_release(_)
     if self._is_toggle_allowed():
       new_mode = not self._experimental_mode
-      self._params.put_bool("ExperimentalMode", new_mode)
+      self._params.put_bool_nonblocking("ExperimentalMode", new_mode)
 
       # Hold new state temporarily
       self._held_mode = new_mode

From ab1a962803d151cb2f7690c1b06e4ef9fe506f21 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 May 2026 00:48:43 -0700
Subject: [PATCH 097/210] ui: measure ui state time in CPU time (#37983)

* all

* rename
---
 selfdrive/ui/ui.py | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index c571177855..3d3536855b 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import time
 
 from cereal import messaging
 from openpilot.system.hardware import TICI
@@ -24,14 +25,10 @@ def main():
 
   pm = messaging.PubMaster(['uiDebug'])
   for should_render, frame_time, cpu_time in gui_app.render():
+    extra_start = time.monotonic()
     ui_state.update()
 
     if should_render:
-      msg = messaging.new_message('uiDebug')
-      msg.uiDebug.cpuTimeMillis = cpu_time * 1000
-      msg.uiDebug.frameTimeMillis = frame_time * 1000
-      pm.send('uiDebug', msg)
-
       # reaffine after power save offlines our core
       if TICI and os.sched_getaffinity(0) != cores:
         try:
@@ -39,6 +36,12 @@ def main():
         except OSError:
           pass
 
+      extra_cpu = time.monotonic() - extra_start
+      msg = messaging.new_message('uiDebug')
+      msg.uiDebug.cpuTimeMillis = (cpu_time + extra_cpu) * 1000
+      msg.uiDebug.frameTimeMillis = frame_time * 1000
+      pm.send('uiDebug', msg)
+
 
 if __name__ == "__main__":
   main()

From fd37cd1d030faf18c838b8e2565f0e702a7ff99e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 May 2026 01:23:21 -0700
Subject: [PATCH 098/210] ui: prevent raylib sleep drifting from vblank
 (#37970)

* fix?

* fix planner contention

* Update system/ui/lib/application.py

* back

* cmt

* back

---------

Co-authored-by: Shane Smiskol <shane@Shanes-MacBook-Air.local>
---
 system/ui/lib/application.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index d2ef9973f1..2513086edd 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -316,8 +316,9 @@ class GuiApplication:
         self._ffmpeg_thread = threading.Thread(target=self._ffmpeg_writer_thread, daemon=True)
         self._ffmpeg_thread.start()
 
-      # OFFSCREEN disables FPS limiting for fast offline rendering (e.g. clips)
-      rl.set_target_fps(0 if OFFSCREEN else fps)
+      # four display runs slightly faster than 60 FPS, let it dictate rate so we don't drift and drop frames
+      vblank_control = HARDWARE.get_device_type() == 'mici'
+      rl.set_target_fps(0 if OFFSCREEN or vblank_control else fps)
 
       self._target_fps = fps
       self._set_styles()

From 5745909e9b438eba09a32d149f6e9aa458424bea Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 May 2026 02:13:00 -0700
Subject: [PATCH 099/210] ui: bump priority above plannerd and radard (#37984)

* bump ui prio

* use prio
---
 selfdrive/ui/ui.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index 3d3536855b..e01ddb2513 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -4,7 +4,7 @@ import time
 
 from cereal import messaging
 from openpilot.system.hardware import TICI
-from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
@@ -15,7 +15,8 @@ BIG_UI = gui_app.big_ui()
 
 def main():
   cores = {5, }
-  config_realtime_process(0, 51)
+  # above plannerd and radard
+  config_realtime_process(0, Priority.CTRL_HIGH)
 
   gui_app.init_window("UI")
   if BIG_UI:

From a3d3d0fea6ed727c7d0f755fe4768ec7a6b6a320 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 9 May 2026 01:27:47 -0700
Subject: [PATCH 100/210] Firehose and PrimeState: put_nonblocking

---
 selfdrive/ui/lib/prime_state.py                | 2 +-
 selfdrive/ui/mici/layouts/settings/firehose.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index 1aed949bee..4292962b39 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -65,7 +65,7 @@ class PrimeState:
     with self._lock:
       if prime_type != self.prime_type:
         self.prime_type = prime_type
-        self._params.put("PrimeType", int(prime_type))
+        self._params.put_nonblocking("PrimeType", int(prime_type))
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 4c27a909f9..64cd3a29c9 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -207,7 +207,7 @@ class FirehoseLayoutBase(Widget):
       if response.status_code == 200:
         data = response.json()
         self._segment_count = data.get("firehose", 0)
-        self._params.put(self.PARAM_KEY, data)
+        self._params.put_nonblocking(self.PARAM_KEY, data)
     except Exception as e:
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 

From f18aa113a53aa7857e2dbace29b62ebe88fefc7f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 17:27:54 -0700
Subject: [PATCH 101/210] bump up modem.py expected cpu

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 2dd4aa072e..abb6e96069 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -68,7 +68,7 @@ PROCS = {
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
-  "system.hardware.tici.modem": 2.0,
+  "system.hardware.tici.modem": 10.0,
 }
 
 TIMINGS = {

From 9fdcbae8de2b00d289ac27dcb21d95dcd08fba88 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:08:09 -0700
Subject: [PATCH 102/210] agnos 18.1.1 (#37989)

---
 launch_env.sh                            |  2 +-
 system/hardware/tici/agnos.json          | 62 +++++++++----------
 system/hardware/tici/all-partitions.json | 78 ++++++++++++------------
 3 files changed, 71 insertions(+), 71 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 275f5e42f4..1f096bca16 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.1"
+  export AGNOS_VERSION="18.1.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index e6dfb6b91a..bde39e35b4 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,83 +1,83 @@
 [
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
-    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
-    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
-    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
-    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
-    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
-    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
-    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
-    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04.img.xz",
-    "hash": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
-    "hash_raw": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
-    "size": 17500160,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73.img.xz",
+    "hash": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "hash_raw": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "4e12accbcbb03fd9eebc5c1231a7b79dc1d9e15341cce56dc88930832ee86207"
+    "ondevice_hash": "51f13aaf26d3716ab6032badeb04d28552c77247912554bd6f1c566fe9150094"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img.xz",
-    "hash": "bb4ccf77037120ace841cbcd94387c0650b317595cd0eab555b3ba0beb74e840",
-    "hash_raw": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img.xz",
+    "hash": "a414abb7c37de6d6dd563ccd1436098f41d4a09b19969554be6da44eacf80a46",
+    "hash_raw": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "f1505151cde236f0d3ccdb764e3c604761ad2c1beb40f2c340ea9470d0cecc0e",
+    "ondevice_hash": "cb40885b4e2678d80d28d11816e93cb3bd6dd684305525371ba1f837e0f5466b",
     "alt": {
-      "hash": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img",
+      "hash": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 1d826a5dc9..534aa48723 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -130,47 +130,47 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
-    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
-    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
-    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
-    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
-    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
-    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
   },
   {
     "name": "bluetooth",
@@ -207,14 +207,14 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
-    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
-    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
   },
   {
     "name": "devinfo",
@@ -339,51 +339,51 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04.img.xz",
-    "hash": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
-    "hash_raw": "3a6285bc114d21cfdab312c42f5a76f81762328b41d404816ee46a2f83523f04",
-    "size": 17500160,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73.img.xz",
+    "hash": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "hash_raw": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "4e12accbcbb03fd9eebc5c1231a7b79dc1d9e15341cce56dc88930832ee86207"
+    "ondevice_hash": "51f13aaf26d3716ab6032badeb04d28552c77247912554bd6f1c566fe9150094"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img.xz",
-    "hash": "bb4ccf77037120ace841cbcd94387c0650b317595cd0eab555b3ba0beb74e840",
-    "hash_raw": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img.xz",
+    "hash": "a414abb7c37de6d6dd563ccd1436098f41d4a09b19969554be6da44eacf80a46",
+    "hash_raw": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "f1505151cde236f0d3ccdb764e3c604761ad2c1beb40f2c340ea9470d0cecc0e",
+    "ondevice_hash": "cb40885b4e2678d80d28d11816e93cb3bd6dd684305525371ba1f837e0f5466b",
     "alt": {
-      "hash": "82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-82ffa59e322c5abab18f2ec6fb83dce124f55c9658c5c673e9adbd4655d6e6a2.img",
+      "hash": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-6bf2fb546944f6fc0cdf865f92ade316430a75a7b1680d3fe891b34921c29b64.img.xz",
-    "hash": "f3badccff4330301cdae10e072a460a331421715f71253ea3bdcbf708f61d012",
-    "hash_raw": "6bf2fb546944f6fc0cdf865f92ade316430a75a7b1680d3fe891b34921c29b64",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-bef05b88eef9e34a2f21c7efa558d5f508c1942bffef326c518c05da98ef30da.img.xz",
+    "hash": "8ea6d720aaf0d549b9ff1420a8b8ab109928da2b3549e5d0998532fab6daeb4b",
+    "hash_raw": "bef05b88eef9e34a2f21c7efa558d5f508c1942bffef326c518c05da98ef30da",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "82e907612afc989363656c821b9cf2107cddcbdc5030cc9b5608a38855dd1c60"
+    "ondevice_hash": "ee80da4150cd885a17d9411865941050221ba4d408b52accae9b7678557a9b1f"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-575b01a0e84bff31180a1589b9d62810e2198e4012250e01fd80c2d5cd9ba9e1.img.xz",
-    "hash": "ebeebbe3b8e111fe807b88b993b2fa50c0ea15e838c531a3885dd3037338b1a4",
-    "hash_raw": "575b01a0e84bff31180a1589b9d62810e2198e4012250e01fd80c2d5cd9ba9e1",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-32a53ea75d4c8d91e4fb272f3e8178bc91b7a6cda60318dab4cbd5f855381251.img.xz",
+    "hash": "e997e7d143e35b4033533727e3414c1cdb3e46a3ac16cb3d5e1e32ca07be1054",
+    "hash_raw": "32a53ea75d4c8d91e4fb272f3e8178bc91b7a6cda60318dab4cbd5f855381251",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "2a9d00ad72978d94640e7fb6c4b20b398e1a1bbc7a0c32f7d02fa988f755bd12"
+    "ondevice_hash": "513279caaf06937932961577d94b21e5207dba5cbcf27613c2116da98093d342"
   }
 ]
\ No newline at end of file

From 76f1f189db6b72de2c28a23e4e09ae436fe2b57e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:10:04 -0700
Subject: [PATCH 103/210] back to scons

---
 release/build_release.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/release/build_release.sh b/release/build_release.sh
index e9ca24e3d1..1f7c839056 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -46,7 +46,7 @@ git commit -a -m "openpilot v$VERSION release"
 
 # Build
 export PYTHONPATH="$BUILD_DIR"
-op build
+scons
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw

From 1268227ce5f4afbe8c440b5cab02166bc50be7ed Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:14:37 -0700
Subject: [PATCH 104/210] Reapply "use catch2 dependency package (#37910)"
 (#37991)

This reverts commit 7002d2421399de7bdf3e99d2840491d0d1dbb535.
---
 SConstruct                                    |   3 +-
 third_party/catch2/include/catch2/catch.hpp   |   3 -
 .../catch2/catch_reporter_automake.hpp        |  62 -----
 .../catch2/catch_reporter_sonarqube.hpp       | 181 -------------
 .../include/catch2/catch_reporter_tap.hpp     | 254 ------------------
 .../catch2/catch_reporter_teamcity.hpp        | 219 ---------------
 6 files changed, 1 insertion(+), 721 deletions(-)
 delete mode 100644 third_party/catch2/include/catch2/catch.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_automake.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_tap.hpp
 delete mode 100644 third_party/catch2/include/catch2/catch_reporter_teamcity.hpp

diff --git a/SConstruct b/SConstruct
index 782b84dc26..2141961100 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 
 
@@ -111,7 +111,6 @@ env = Environment(
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
diff --git a/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
deleted file mode 100644
index 6a31e5b0ca..0000000000
--- a/third_party/catch2/include/catch2/catch.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:27da57c7a06d09be8dd81fab7246b79e7892b6ae7e4e49ba8631f1d5a955e3fc
-size 657276
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
deleted file mode 100644
index dbebe97516..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_automake.hpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *  Created by Justin R. Wilson on 2/19/2017.
- *  Copyright 2017 Justin R. Wilson. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-namespace Catch {
-
-    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
-        AutomakeReporter( ReporterConfig const& _config )
-          :   StreamingReporterBase( _config )
-        {}
-
-        ~AutomakeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the format of Automake .trs files";
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
-
-        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
-            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
-            stream << ":test-result: ";
-            if (_testCaseStats.totals.assertions.allPassed()) {
-                stream << "PASS";
-            } else if (_testCaseStats.totals.assertions.allOk()) {
-                stream << "XFAIL";
-            } else {
-                stream << "FAIL";
-            }
-            stream << ' ' << _testCaseStats.testInfo.name << '\n';
-            StreamingReporterBase::testCaseEnded( _testCaseStats );
-        }
-
-        void skipTest( TestCaseInfo const& testInfo ) override {
-            stream << ":test-result: SKIP " << testInfo.name << '\n';
-        }
-
-    };
-
-#ifdef CATCH_IMPL
-    AutomakeReporter::~AutomakeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
deleted file mode 100644
index bf7d9299a5..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- *  Created by Daniel Garcia on 2018-12-04.
- *  Copyright Social Point SL. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <map>
-
-namespace Catch {
-
-    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
-
-        SonarQubeReporter(ReporterConfig const& config)
-        : CumulativeReporterBase(config)
-        , xml(config.stream()) {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~SonarQubeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the Generic Test Data SonarQube XML format";
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void noMatchingTestCases(std::string const& /*spec*/) override {}
-
-        void testRunStarting(TestRunInfo const& testRunInfo) override {
-            CumulativeReporterBase::testRunStarting(testRunInfo);
-            xml.startElement("testExecutions");
-            xml.writeAttribute("version", "1");
-        }
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            CumulativeReporterBase::testGroupEnded(testGroupStats);
-            writeGroup(*m_testGroups.back());
-        }
-
-        void testRunEndedCumulative() override {
-            xml.endElement();
-        }
-
-        void writeGroup(TestGroupNode const& groupNode) {
-            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
-            for(auto const& child : groupNode.children)
-                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
-
-            for(auto const& kv : testsPerFile)
-                writeTestFile(kv.first.c_str(), kv.second);
-        }
-
-        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
-            XmlWriter::ScopedElement e = xml.scopedElement("file");
-            xml.writeAttribute("path", filename);
-
-            for(auto const& child : testCaseNodes)
-                writeTestCase(*child);
-        }
-
-        void writeTestCase(TestCaseNode const& testCaseNode) {
-            // All test cases have exactly one section - which represents the
-            // test case itself. That section may have 0-n nested sections
-            assert(testCaseNode.children.size() == 1);
-            SectionNode const& rootSection = *testCaseNode.children.front();
-            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
-        }
-
-        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
-            std::string name = trim(sectionNode.stats.sectionInfo.name);
-            if(!rootName.empty())
-                name = rootName + '/' + name;
-
-            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
-                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
-                xml.writeAttribute("name", name);
-                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
-
-                writeAssertions(sectionNode, okToFail);
-            }
-
-            for(auto const& childNode : sectionNode.childSections)
-                writeSection(name, *childNode, okToFail);
-        }
-
-        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
-            for(auto const& assertion : sectionNode.assertions)
-                writeAssertion( assertion, okToFail);
-        }
-
-        void writeAssertion(AssertionStats const& stats, bool okToFail) {
-            AssertionResult const& result = stats.assertionResult;
-            if(!result.isOk()) {
-                std::string elementName;
-                if(okToFail) {
-                    elementName = "skipped";
-                }
-                else {
-                    switch(result.getResultType()) {
-                        case ResultWas::ThrewException:
-                        case ResultWas::FatalErrorCondition:
-                            elementName = "error";
-                            break;
-                        case ResultWas::ExplicitFailure:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::ExpressionFailed:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::DidntThrowException:
-                            elementName = "failure";
-                            break;
-
-                            // We should never see these here:
-                        case ResultWas::Info:
-                        case ResultWas::Warning:
-                        case ResultWas::Ok:
-                        case ResultWas::Unknown:
-                        case ResultWas::FailureBit:
-                        case ResultWas::Exception:
-                            elementName = "internalError";
-                            break;
-                    }
-                }
-
-                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
-
-                ReusableStringStream messageRss;
-                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
-                xml.writeAttribute("message", messageRss.str());
-
-                ReusableStringStream textRss;
-                if (stats.totals.assertions.total() > 0) {
-                    textRss << "FAILED:\n";
-                    if (result.hasExpression()) {
-                        textRss << "\t" << result.getExpressionInMacro() << "\n";
-                    }
-                    if (result.hasExpandedExpression()) {
-                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
-                    }
-                }
-
-                if(!result.getMessage().empty())
-                    textRss << result.getMessage() << "\n";
-
-                for(auto const& msg : stats.infoMessages)
-                    if(msg.type == ResultWas::Info)
-                        textRss << msg.message << "\n";
-
-                textRss << "at " << result.getSourceInfo();
-                xml.writeText(textRss.str(), XmlFormatting::Newline);
-            }
-        }
-
-    private:
-        XmlWriter xml;
-    };
-
-#ifdef CATCH_IMPL
-    SonarQubeReporter::~SonarQubeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
-
-} // end namespace Catch
-
-#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
deleted file mode 100644
index 5ac8524ce7..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_tap.hpp
+++ /dev/null
@@ -1,254 +0,0 @@
-/*
- *  Created by Colton Wolkins on 2015-08-15.
- *  Copyright 2015 Martin Moene. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <algorithm>
-
-namespace Catch {
-
-    struct TAPReporter : StreamingReporterBase<TAPReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        TAPReporter( ReporterConfig const& config ):
-            StreamingReporterBase( config ) {
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~TAPReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in TAP format, suitable for test harnesses";
-        }
-
-        void noMatchingTestCases( std::string const& spec ) override {
-            stream << "# No test cases matched '" << spec << "'" << std::endl;
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& _assertionStats ) override {
-            ++counter;
-
-            stream << "# " << currentTestCaseInfo->name << std::endl;
-            AssertionPrinter printer( stream, _assertionStats, counter );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void testRunEnded( TestRunStats const& _testRunStats ) override {
-            printTotals( _testRunStats.totals );
-            stream << "\n" << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-    private:
-        std::size_t counter = 0;
-        class AssertionPrinter {
-        public:
-            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
-            AssertionPrinter( AssertionPrinter const& ) = delete;
-            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
-            : stream( _stream )
-            , result( _stats.assertionResult )
-            , messages( _stats.infoMessages )
-            , itMessage( _stats.infoMessages.begin() )
-            , printInfoMessages( true )
-            , counter(_counter)
-            {}
-
-            void print() {
-                itMessage = messages.begin();
-
-                switch( result.getResultType() ) {
-                    case ResultWas::Ok:
-                        printResultType( passedString() );
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if ( ! result.hasExpression() )
-                            printRemainingMessages( Colour::None );
-                        else
-                            printRemainingMessages();
-                        break;
-                    case ResultWas::ExpressionFailed:
-                        if (result.isOk()) {
-                            printResultType(passedString());
-                        } else {
-                            printResultType(failedString());
-                        }
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if (result.isOk()) {
-                            printIssue(" # TODO");
-                        }
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ThrewException:
-                        printResultType( failedString() );
-                        printIssue( "unexpected exception with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        printResultType( failedString() );
-                        printIssue( "fatal error condition with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::DidntThrowException:
-                        printResultType( failedString() );
-                        printIssue( "expected exception, got none" );
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Info:
-                        printResultType( "info" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Warning:
-                        printResultType( "warning" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        printResultType( failedString() );
-                        printIssue( "explicitly" );
-                        printRemainingMessages( Colour::None );
-                        break;
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        printResultType( "** internal error **" );
-                        break;
-                }
-            }
-
-        private:
-            static Colour::Code dimColour() { return Colour::FileName; }
-
-            static const char* failedString() { return "not ok"; }
-            static const char* passedString() { return "ok"; }
-
-            void printSourceInfo() const {
-                Colour colourGuard( dimColour() );
-                stream << result.getSourceInfo() << ":";
-            }
-
-            void printResultType( std::string const& passOrFail ) const {
-                if( !passOrFail.empty() ) {
-                    stream << passOrFail << ' ' << counter << " -";
-                }
-            }
-
-            void printIssue( std::string const& issue ) const {
-                stream << " " << issue;
-            }
-
-            void printExpressionWas() {
-                if( result.hasExpression() ) {
-                    stream << ";";
-                    {
-                        Colour colour( dimColour() );
-                        stream << " expression was:";
-                    }
-                    printOriginalExpression();
-                }
-            }
-
-            void printOriginalExpression() const {
-                if( result.hasExpression() ) {
-                    stream << " " << result.getExpression();
-                }
-            }
-
-            void printReconstructedExpression() const {
-                if( result.hasExpandedExpression() ) {
-                    {
-                        Colour colour( dimColour() );
-                        stream << " for: ";
-                    }
-                    std::string expr = result.getExpandedExpression();
-                    std::replace( expr.begin(), expr.end(), '\n', ' ');
-                    stream << expr;
-                }
-            }
-
-            void printMessage() {
-                if ( itMessage != messages.end() ) {
-                    stream << " '" << itMessage->message << "'";
-                    ++itMessage;
-                }
-            }
-
-            void printRemainingMessages( Colour::Code colour = dimColour() ) {
-                if (itMessage == messages.end()) {
-                    return;
-                }
-
-                const auto itEnd = messages.cend();
-                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
-
-                {
-                    Colour colourGuard( colour );
-                    stream << " with " << pluralise( N, "message" ) << ":";
-                }
-
-                while( itMessage != itEnd ) {
-                    // If this assertion is a warning ignore any INFO messages
-                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
-                        stream << " '" << itMessage->message << "'";
-                        if ( ++itMessage != itEnd ) {
-                            Colour colourGuard( dimColour() );
-                            stream << " and";
-                        }
-                        continue;
-                    }
-                    ++itMessage;
-                }
-            }
-
-        private:
-            std::ostream& stream;
-            AssertionResult const& result;
-            std::vector<MessageInfo> messages;
-            std::vector<MessageInfo>::const_iterator itMessage;
-            bool printInfoMessages;
-            std::size_t counter;
-        };
-
-        void printTotals( const Totals& totals ) const {
-            stream << "1.." << totals.assertions.total();
-            if( totals.testCases.total() == 0 ) {
-                stream << " # Skipped: No tests ran.";
-            }
-        }
-    };
-
-#ifdef CATCH_IMPL
-    TAPReporter::~TAPReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
deleted file mode 100644
index 47b7e4aac3..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
+++ /dev/null
@@ -1,219 +0,0 @@
-/*
- *  Created by Phil Nash on 19th December 2014
- *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <cstring>
-
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
-        TeamCityReporter( ReporterConfig const& _config )
-        :   StreamingReporterBase( _config )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-        }
-
-        static std::string escape( std::string const& str ) {
-            std::string escaped = str;
-            replaceInPlace( escaped, "|", "||" );
-            replaceInPlace( escaped, "'", "|'" );
-            replaceInPlace( escaped, "\n", "|n" );
-            replaceInPlace( escaped, "\r", "|r" );
-            replaceInPlace( escaped, "[", "|[" );
-            replaceInPlace( escaped, "]", "|]" );
-            return escaped;
-        }
-        ~TeamCityReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results as TeamCity service messages";
-        }
-
-        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
-        }
-
-        void noMatchingTestCases( std::string const& /* spec */ ) override {}
-
-        void testGroupStarting( GroupInfo const& groupInfo ) override {
-            StreamingReporterBase::testGroupStarting( groupInfo );
-            stream << "##teamcity[testSuiteStarted name='"
-                << escape( groupInfo.name ) << "']\n";
-        }
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
-            StreamingReporterBase::testGroupEnded( testGroupStats );
-            stream << "##teamcity[testSuiteFinished name='"
-                << escape( testGroupStats.groupInfo.name ) << "']\n";
-        }
-
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& assertionStats ) override {
-            AssertionResult const& result = assertionStats.assertionResult;
-            if( !result.isOk() ) {
-
-                ReusableStringStream msg;
-                if( !m_headerPrintedForThisSection )
-                    printSectionHeader( msg.get() );
-                m_headerPrintedForThisSection = true;
-
-                msg << result.getSourceInfo() << "\n";
-
-                switch( result.getResultType() ) {
-                    case ResultWas::ExpressionFailed:
-                        msg << "expression failed";
-                        break;
-                    case ResultWas::ThrewException:
-                        msg << "unexpected exception";
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        msg << "fatal error condition";
-                        break;
-                    case ResultWas::DidntThrowException:
-                        msg << "no exception was thrown where one was expected";
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        msg << "explicit failure";
-                        break;
-
-                    // We shouldn't get here because of the isOk() test
-                    case ResultWas::Ok:
-                    case ResultWas::Info:
-                    case ResultWas::Warning:
-                        CATCH_ERROR( "Internal error in TeamCity reporter" );
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        CATCH_ERROR( "Not implemented" );
-                }
-                if( assertionStats.infoMessages.size() == 1 )
-                    msg << " with message:";
-                if( assertionStats.infoMessages.size() > 1 )
-                    msg << " with messages:";
-                for( auto const& messageInfo : assertionStats.infoMessages )
-                    msg << "\n  \"" << messageInfo.message << "\"";
-
-
-                if( result.hasExpression() ) {
-                    msg <<
-                        "\n  " << result.getExpressionInMacro() << "\n"
-                        "with expansion:\n" <<
-                        "  " << result.getExpandedExpression() << "\n";
-                }
-
-                if( currentTestCaseInfo->okToFail() ) {
-                    msg << "- failure ignore as test marked as 'ok to fail'\n";
-                    stream << "##teamcity[testIgnored"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-                else {
-                    stream << "##teamcity[testFailed"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-            }
-            stream.flush();
-            return true;
-        }
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            m_headerPrintedForThisSection = false;
-            StreamingReporterBase::sectionStarting( sectionInfo );
-        }
-
-        void testCaseStarting( TestCaseInfo const& testInfo ) override {
-            m_testTimer.start();
-            StreamingReporterBase::testCaseStarting( testInfo );
-            stream << "##teamcity[testStarted name='"
-                << escape( testInfo.name ) << "']\n";
-            stream.flush();
-        }
-
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
-            StreamingReporterBase::testCaseEnded( testCaseStats );
-            if( !testCaseStats.stdOut.empty() )
-                stream << "##teamcity[testStdOut name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
-            if( !testCaseStats.stdErr.empty() )
-                stream << "##teamcity[testStdErr name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
-            stream << "##teamcity[testFinished name='"
-                    << escape( testCaseStats.testInfo.name ) << "' duration='"
-                    << m_testTimer.getElapsedMilliseconds() << "']\n";
-            stream.flush();
-        }
-
-    private:
-        void printSectionHeader( std::ostream& os ) {
-            assert( !m_sectionStack.empty() );
-
-            if( m_sectionStack.size() > 1 ) {
-                os << getLineOfChars<'-'>() << "\n";
-
-                std::vector<SectionInfo>::const_iterator
-                it = m_sectionStack.begin()+1, // Skip first section (test case)
-                itEnd = m_sectionStack.end();
-                for( ; it != itEnd; ++it )
-                    printHeaderString( os, it->name );
-                os << getLineOfChars<'-'>() << "\n";
-            }
-
-            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
-
-            os << lineInfo << "\n";
-            os << getLineOfChars<'.'>() << "\n\n";
-        }
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
-            std::size_t i = _string.find( ": " );
-            if( i != std::string::npos )
-                i+=2;
-            else
-                i = 0;
-            os << Column( _string )
-                           .indent( indent+i)
-                           .initialIndent( indent ) << "\n";
-        }
-    private:
-        bool m_headerPrintedForThisSection = false;
-        Timer m_testTimer;
-    };
-
-#ifdef CATCH_IMPL
-    TeamCityReporter::~TeamCityReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
-
-} // end namespace Catch
-
-#ifdef __clang__
-#   pragma clang diagnostic pop
-#endif
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED

From f87bc52405e35a0b467d9cc460915fde63d6ba08 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:32:54 -0700
Subject: [PATCH 105/210] use vendored acados (#37992)

* use vendored acados

* fix

* cleanup
---
 SConstruct                                    |   23 +-
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 303 files changed, 31 insertions(+), 59320 deletions(-)
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 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_timing.h
 delete mode 100644 third_party/acados/include/hpipm/include/hpipm_tree.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Bounds.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Constants.h
 delete mode 100644 third_party/acados/include/qpOASES_e/ConstraintProduct.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Constraints.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Flipper.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Indexlist.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Matrices.h
 delete mode 100644 third_party/acados/include/qpOASES_e/MessageHandling.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Options.h
 delete mode 100644 third_party/acados/include/qpOASES_e/QProblem.h
 delete mode 100644 third_party/acados/include/qpOASES_e/QProblemB.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Types.h
 delete mode 100644 third_party/acados/include/qpOASES_e/UnitTesting.h
 delete mode 100644 third_party/acados/include/qpOASES_e/Utils.h
 delete mode 100644 third_party/acados/include/qpOASES_e/extras/OQPinterface.h
 delete mode 100644 third_party/acados/larch64/lib/libacados.so
 delete mode 100644 third_party/acados/larch64/lib/libblasfeo.so
 delete mode 100644 third_party/acados/larch64/lib/libhpipm.so
 delete mode 120000 third_party/acados/larch64/lib/libqpOASES_e.so
 delete mode 100644 third_party/acados/larch64/lib/libqpOASES_e.so.3.1
 delete mode 100755 third_party/acados/larch64/t_renderer
 delete mode 100644 third_party/acados/x86_64/lib/libacados.so
 delete mode 100644 third_party/acados/x86_64/lib/libblasfeo.so
 delete mode 100644 third_party/acados/x86_64/lib/libhpipm.so
 delete mode 120000 third_party/acados/x86_64/lib/libqpOASES_e.so
 delete mode 100644 third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
 delete mode 100755 third_party/acados/x86_64/t_renderer

diff --git a/SConstruct b/SConstruct
index 2141961100..277ea1a317 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,8 +37,14 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
+acados = pkgs[pkg_names.index('acados')]
+acados_include_dirs = [
+  acados.INCLUDE_DIR,
+  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
+  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
+]
 
 
 # ***** enforce a whitelist of system libraries *****
@@ -82,10 +88,10 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+    "PYTHONPATH": Dir("#").abspath,
+    "ACADOS_SOURCE_DIR": acados.DIR,
+    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
+    "TERA_PATH": acados.TERA_PATH
   },
   CCFLAGS=[
     "-g",
@@ -108,9 +114,7 @@ env = Environment(
     "#third_party",
     "#third_party/json11",
     "#third_party/linux/include",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
+    acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
@@ -119,7 +123,6 @@ env = Environment(
     "#third_party",
     "#selfdrive/pandad",
     "#rednose/helpers",
-    f"#third_party/acados/{arch}/lib",
     [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[],
@@ -188,7 +191,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch')
+Export('env', 'arch', 'acados')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index c9ebf89207..80649444ae 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
 
 gen = "c_generated_code"
 
@@ -45,17 +45,17 @@ generated_files = [
   f'{gen}/lat_cost/lat_cost.h',
 ] + build_files
 
-acados_dir = '#third_party/acados'
-acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
+acados_include_dir = Dir(acados.INCLUDE_DIR)
+acados_template_dir = Dir(acados.TEMPLATE_DIR)
 
 source_list = ['lat_mpc.py',
   '#selfdrive/modeld/constants.py',
-  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_templates_dir}/acados_solver.in.c',
+  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
+  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
+acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
 lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 
@@ -77,8 +77,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
 
 # generate cython stuff
-acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
+acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
+acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index ad60861088..3b597b2e42 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -8,7 +8,7 @@ from casadi import SX, vertcat, sin, cos
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 if __name__ == '__main__':  # generating code
-  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
   from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 7a6c02a538..3946624521 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
 
 gen = "c_generated_code"
 
@@ -51,17 +51,17 @@ generated_files = [
   f'{gen}/long_cost/long_cost.h',
 ] + build_files
 
-acados_dir = '#third_party/acados'
-acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
+acados_include_dir = Dir(acados.INCLUDE_DIR)
+acados_template_dir = Dir(acados.TEMPLATE_DIR)
 
 source_list = ['long_mpc.py',
   '#selfdrive/modeld/constants.py',
-  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_templates_dir}/acados_solver.in.c',
+  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
+  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
+acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
 lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
@@ -82,8 +82,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
 
 # generate cython stuff
-acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
+acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
+acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index efdef9dd71..deae416489 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 if __name__ == '__main__':  # generating code
-  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
   from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore
deleted file mode 100644
index 0ae664dff6..0000000000
--- a/third_party/acados/.gitignore
+++ /dev/null
@@ -1,9 +0,0 @@
-acados_repo/
-/lib
-!x86_64/
-!larch64/
-!aarch64/
-!Darwin/
-!*.so
-!*.so.*
-!*.dylib
diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib
deleted file mode 100755
index 8cd5a41f14..0000000000
--- a/third_party/acados/Darwin/lib/libacados.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:620195ff61aaccf9adf00a66b8acf4e9915a0895d0a86f9f51ec952e44fad70a
-size 853776
diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib
deleted file mode 100755
index 442a6c736d..0000000000
--- a/third_party/acados/Darwin/lib/libblasfeo.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1d9dbeb68b2ac13c884f606a1f6032f399640e0928cecad4c22b700a8d8ae970
-size 2010877
diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib
deleted file mode 100755
index 019ec8019e..0000000000
--- a/third_party/acados/Darwin/lib/libhpipm.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:35783dba64c2d5bbe7e4c98ad01accac56b478b1bf874969ab5c31d7495499a2
-size 2290624
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
deleted file mode 100755
index caaa8ec775..0000000000
--- a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f57eea51f4b91deff47fbf599eedc3eafedd395f23465b5fb24b2148fdaa2859
-size 496707
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.dylib
deleted file mode 120000
index e3d94c4bc2..0000000000
--- a/third_party/acados/Darwin/lib/libqpOASES_e.dylib
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.3.1.dylib
\ No newline at end of file
diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer
deleted file mode 100755
index 83a74ea5a3..0000000000
--- a/third_party/acados/Darwin/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c6c78791cfdd841da14266c62a6099d0af53cec348051118f1a70518729aa5ba
-size 8483768
diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64
deleted file mode 120000
index 062c65e8d9..0000000000
--- a/third_party/acados/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/acados/acados_template/.gitignore b/third_party/acados/acados_template/.gitignore
deleted file mode 100644
index 63b741bb9d..0000000000
--- a/third_party/acados/acados_template/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-__pycache__/
-
-# Cython intermediates
-*_pyx.c
-*_pyx.o
-*_pyx.so
diff --git a/third_party/acados/acados_template/__init__.py b/third_party/acados/acados_template/__init__.py
deleted file mode 100644
index bfbe907990..0000000000
--- a/third_party/acados/acados_template/__init__.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from .acados_model import AcadosModel
-from .acados_ocp import AcadosOcp, AcadosOcpConstraints, AcadosOcpCost, AcadosOcpDims, AcadosOcpOptions
-from .acados_sim import AcadosSim, AcadosSimDims, AcadosSimOpts
-from .acados_ocp_solver import AcadosOcpSolver, get_simulink_default_opts, ocp_get_default_cmake_builder
-from .acados_sim_solver import AcadosSimSolver, sim_get_default_cmake_builder
-from .utils import print_casadi_expression, get_acados_path, get_python_interface_path, \
-    get_tera_exec_path, get_tera, check_casadi_version, acados_dae_model_json_dump, \
-    casadi_length, make_object_json_dumpable, J_to_idx, get_default_simulink_opts
-
-from .zoro_description import ZoroDescription, process_zoro_description
diff --git a/third_party/acados/acados_template/acados_layout.json b/third_party/acados/acados_template/acados_layout.json
deleted file mode 100644
index a1cc5bbdf3..0000000000
--- a/third_party/acados/acados_template/acados_layout.json
+++ /dev/null
@@ -1,834 +0,0 @@
-{
-    "code_export_directory": [
-        "str"
-    ],
-    "acados_include_path": [
-        "str"
-    ],
-    "cython_include_dirs": [
-        "list"
-    ],
-    "json_file": [
-        "str"
-    ],
-    "shared_lib_ext": [
-        "str"
-    ],
-    "model": {
-         "name" : [
-            "str"
-        ],
-        "dyn_ext_fun_type" : [
-            "str"
-        ],
-        "dyn_generic_source" : [
-            "str"
-        ],
-        "dyn_impl_dae_fun" : [
-            "str"
-        ],
-        "dyn_impl_dae_fun_jac" : [
-            "str"
-        ],
-        "dyn_impl_dae_jac" : [
-            "str"
-        ],
-        "dyn_disc_fun_jac_hess" : [
-            "str"
-        ],
-        "dyn_disc_fun_jac" : [
-            "str"
-        ],
-        "dyn_disc_fun" : [
-            "str"
-        ],
-        "gnsf" : {
-            "nontrivial_f_LO": [
-                "int"
-            ],
-            "purely_linear": [
-                "int"
-            ]
-        }
-    },
-    "parameter_values": [
-        "ndarray",
-        [
-            "np"
-        ]
-    ],
-    "acados_lib_path": [
-        "str"
-    ],
-    "problem_class": [
-        "str"
-    ],
-    "constraints": {
-        "constr_type": [
-            "str"
-        ],
-        "constr_type_e": [
-            "str"
-        ],
-        "lbx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "lbu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "ubx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "ubu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "idxbx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "idxbu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "lbx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "ubx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "idxbx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "lbx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "ubx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "idxbx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "idxbxe_0": [
-            "ndarray",
-            [
-                "nbxe_0"
-            ]
-        ],
-        "lg": [
-            "ndarray",
-            [
-                "ng"
-            ]
-        ],
-        "ug": [
-            "ndarray",
-            [
-                "ng"
-            ]
-        ],
-        "D": [
-            "ndarray",
-                [
-                    "ng",
-                    "nu"
-                ]
-        ],
-        "C": [
-            "ndarray",
-            [
-                "ng",
-                "nx"
-            ]
-        ],
-        "C_e": [
-            "ndarray",
-            [
-                "ng_e",
-                "nx"
-            ]
-        ],
-        "lg_e": [
-            "ndarray",
-            [
-                "ng_e"
-            ]
-        ],
-        "ug_e": [
-            "ndarray",
-            [
-                "ng_e"
-            ]
-        ],
-        "lh": [
-            "ndarray",
-            [
-                "nh"
-            ]
-        ],
-        "uh": [
-            "ndarray",
-            [
-                "nh"
-            ]
-        ],
-        "lh_e": [
-            "ndarray",
-            [
-                "nh_e"
-            ]
-        ],
-        "uh_e": [
-            "ndarray",
-            [
-                "nh_e"
-            ]
-        ],
-        "lphi": [
-            "ndarray",
-            [
-                "nphi"
-            ]
-        ],
-        "uphi": [
-            "ndarray",
-            [
-                "nphi"
-            ]
-        ],
-        "lphi_e": [
-            "ndarray",
-            [
-                "nphi_e"
-            ]
-        ],
-        "uphi_e": [
-            "ndarray",
-            [
-                "nphi_e"
-            ]
-        ],
-        "lsbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "usbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "lsbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "usbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "idxsbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "idxsbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "lsbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "usbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "idxsbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "lsg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "usg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "idxsg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "lsg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "usg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "idxsg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "lsh": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "ush": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "idxsh": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "lsh_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "ush_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "idxsh_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "lsphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "usphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "idxsphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "lsphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ],
-        "usphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ],
-        "idxsphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ]
-    },
-    "cost": {
-        "cost_type_0": [
-            "str"
-        ],
-        "cost_type": [
-            "str"
-        ],
-        "cost_type_e": [
-            "str"
-        ],
-        "cost_ext_fun_type_0": [
-            "str"
-        ],
-        "cost_ext_fun_type": [
-            "str"
-        ],
-        "cost_ext_fun_type_e": [
-            "str"
-        ],
-        "Vu_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nu"
-            ]
-        ],
-        "Vu": [
-            "ndarray",
-            [
-                "ny",
-                "nu"
-            ]
-        ],
-        "Vx_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nx"
-            ]
-        ],
-        "Vx": [
-            "ndarray",
-            [
-                "ny",
-                "nx"
-            ]
-        ],
-        "Vx_e": [
-            "ndarray",
-            [
-                "ny_e",
-                "nx"
-            ]
-        ],
-        "Vz_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nz"
-            ]
-        ],
-        "Vz": [
-            "ndarray",
-            [
-                "ny",
-                "nz"
-            ]
-        ],
-        "W_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "ny_0"
-            ]
-        ],
-        "W": [
-            "ndarray",
-            [
-                "ny",
-                "ny"
-            ]
-        ],
-        "Zl": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "Zu": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "zl": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "zu": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "W_e": [
-            "ndarray",
-            [
-                "ny_e",
-                "ny_e"
-            ]
-        ],
-        "yref_0": [
-            "ndarray",
-            [
-                "ny_0"
-            ]
-        ],
-        "yref": [
-            "ndarray",
-            [
-                "ny"
-            ]
-        ],
-        "yref_e": [
-            "ndarray",
-            [
-                "ny_e"
-            ]
-        ],
-        "Zl_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "Zu_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "zl_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "zu_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ]
-    },
-    "dims": {
-        "N": [
-            "int"
-        ],
-        "nbu": [
-            "int"
-        ],
-        "nbx": [
-            "int"
-        ],
-        "nsbu": [
-            "int"
-        ],
-        "nsbx": [
-            "int"
-        ],
-        "nsbx_e": [
-            "int"
-        ],
-        "nbx_0": [
-            "int"
-        ],
-        "nbx_e": [
-            "int"
-        ],
-        "nbxe_0": [
-            "int"
-        ],
-        "nsg": [
-            "int"
-        ],
-        "nsg_e": [
-            "int"
-        ],
-        "nsh": [
-            "int"
-        ],
-        "nsh_e": [
-            "int"
-        ],
-        "nsphi": [
-            "int"
-        ],
-        "nsphi_e": [
-            "int"
-        ],
-        "ns": [
-            "int"
-        ],
-        "ns_e": [
-            "int"
-        ],
-        "ng": [
-            "int"
-        ],
-        "ng_e": [
-            "int"
-        ],
-        "np": [
-            "int"
-        ],
-        "nr": [
-            "int"
-        ],
-        "nr_e": [
-            "int"
-        ],
-        "nh": [
-            "int"
-        ],
-        "nh_e": [
-            "int"
-        ],
-        "nphi": [
-            "int"
-        ],
-        "nphi_e": [
-            "int"
-        ],
-        "nu": [
-            "int"
-        ],
-        "nx": [
-            "int"
-        ],
-        "ny": [
-            "int"
-        ],
-        "ny_0": [
-            "int"
-        ],
-        "ny_e": [
-            "int"
-        ],
-        "nz": [
-            "int"
-        ],
-        "gnsf_nx1": [
-            "int"
-        ],
-        "gnsf_nz1": [
-            "int"
-        ],
-        "gnsf_nuhat": [
-            "int"
-        ],
-        "gnsf_ny": [
-            "int"
-        ],
-        "gnsf_nout": [
-            "int"
-        ]
-    },
-    "solver_options": {
-        "time_steps": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "hessian_approx": [
-            "str"
-        ],
-        "hpipm_mode": [
-            "str"
-        ],
-        "regularize_method": [
-            "str"
-        ],
-        "integrator_type": [
-            "str"
-        ],
-        "nlp_solver_type": [
-            "str"
-        ],
-        "collocation_type": [
-            "str"
-        ],
-        "globalization": [
-            "str"
-        ],
-        "nlp_solver_step_length": [
-            "float"
-        ],
-        "levenberg_marquardt": [
-            "float"
-        ],
-        "qp_solver": [
-            "str"
-        ],
-        "tf": [
-            "float"
-        ],
-        "Tsim": [
-            "float"
-        ],
-        "alpha_min": [
-            "float"
-        ],
-        "alpha_reduction": [
-            "float"
-        ],
-        "line_search_use_sufficient_descent": [
-            "int"
-        ],
-        "globalization_use_SOC": [
-            "int"
-        ],
-        "full_step_dual": [
-            "int"
-        ],
-        "eps_sufficient_descent": [
-            "float"
-        ],
-        "sim_method_num_stages": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "sim_method_num_steps": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "sim_method_newton_iter": [
-            "int"
-        ],
-        "sim_method_newton_tol": [
-            "float"
-        ],
-        "sim_method_jac_reuse": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "qp_solver_cond_N": [
-            "int"
-        ],
-        "qp_solver_warm_start": [
-            "int"
-        ],
-        "qp_solver_tol_stat": [
-            "float"
-        ],
-        "qp_solver_tol_eq": [
-            "float"
-        ],
-        "qp_solver_tol_ineq": [
-            "float"
-        ],
-        "qp_solver_tol_comp": [
-            "float"
-        ],
-        "qp_solver_iter_max": [
-            "int"
-        ],
-        "qp_solver_cond_ric_alg": [
-            "int"
-        ],
-        "qp_solver_ric_alg": [
-            "int"
-        ],
-        "nlp_solver_tol_stat": [
-            "float"
-        ],
-        "nlp_solver_tol_eq": [
-            "float"
-        ],
-        "nlp_solver_tol_ineq": [
-            "float"
-        ],
-        "nlp_solver_tol_comp": [
-            "float"
-        ],
-        "nlp_solver_max_iter": [
-            "int"
-        ],
-        "nlp_solver_ext_qp_res": [
-            "int"
-        ],
-        "print_level": [
-            "int"
-        ],
-        "initialize_t_slacks": [
-            "int"
-        ],
-        "exact_hess_cost": [
-            "int"
-        ],
-        "exact_hess_constr": [
-            "int"
-        ],
-        "exact_hess_dyn": [
-            "int"
-        ],
-        "ext_cost_num_hess": [
-            "int"
-        ],
-        "ext_fun_compile_flags": [
-            "str"
-        ],
-        "model_external_shared_lib_dir": [
-            "str"
-        ],
-        "model_external_shared_lib_name": [
-            "str"
-        ]
-    }
-}
diff --git a/third_party/acados/acados_template/acados_model.py b/third_party/acados/acados_template/acados_model.py
deleted file mode 100644
index b7c6945442..0000000000
--- a/third_party/acados/acados_template/acados_model.py
+++ /dev/null
@@ -1,154 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-class AcadosModel():
-    """
-    Class containing all the information to code generate the external CasADi functions
-    that are needed when creating an acados ocp solver or acados integrator.
-    Thus, this class contains:
-
-    a) the :py:attr:`name` of the model,
-    b) all CasADi variables/expressions needed in the CasADi function generation process.
-    """
-    def __init__(self):
-        ## common for OCP and Integrator
-        self.name = None
-        """
-        The model name is used for code generation. Type: string. Default: :code:`None`
-        """
-        self.x = None           #: CasADi variable describing the state of the system; Default: :code:`None`
-        self.xdot = None        #: CasADi variable describing the derivative of the state wrt time; Default: :code:`None`
-        self.u = None           #: CasADi variable describing the input of the system; Default: :code:`None`
-        self.z = []             #: CasADi variable describing the algebraic variables of the DAE; Default: :code:`empty`
-        self.p = []             #: CasADi variable describing parameters of the DAE; Default: :code:`empty`
-        # dynamics
-        self.f_impl_expr = None
-        """
-        CasADi expression for the implicit dynamics :math:`f_\\text{impl}(\dot{x}, x, u, z, p) = 0`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'IRK'.
-        Default: :code:`None`
-        """
-        self.f_expl_expr = None
-        """
-        CasADi expression for the explicit dynamics :math:`\dot{x} = f_\\text{expl}(x, u, p)`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'ERK'.
-        Default: :code:`None`
-        """
-        self.disc_dyn_expr = None
-        """
-        CasADi expression for the discrete dynamics :math:`x_{+} = f_\\text{disc}(x, u, p)`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'DISCRETE'.
-        Default: :code:`None`
-        """
-
-        self.dyn_ext_fun_type = 'casadi'  #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi'
-        self.dyn_generic_source = None  #: name of source file for discrete dyanamics; Default: :code:`None`
-        self.dyn_disc_fun_jac_hess = None  #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None`
-        self.dyn_disc_fun_jac = None  #: name of function discrete dyanamics + jacobian; Default: :code:`None`
-        self.dyn_disc_fun = None  #: name of function discrete dyanamics; Default: :code:`None`
-
-        # for GNSF models
-        self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0}
-        """
-        dictionary containing information on GNSF structure needed when rendering templates.
-        Contains integers `nontrivial_f_LO`, `purely_linear`.
-        """
-
-        ## for OCP
-        # constraints
-        # BGH(default): lh <= h(x, u) <= uh
-        self.con_h_expr = None  #: CasADi expression for the constraint :math:`h`; Default: :code:`None`
-        # BGP(convex over nonlinear): lphi <= phi(r(x, u)) <= uphi
-        self.con_phi_expr = None  #: CasADi expression for the constraint phi; Default: :code:`None`
-        self.con_r_expr = None  #: CasADi expression for the constraint phi(r); Default: :code:`None`
-        self.con_r_in_phi = None
-        # terminal
-        self.con_h_expr_e = None  #: CasADi expression for the terminal constraint :math:`h^e`; Default: :code:`None`
-        self.con_r_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
-        self.con_phi_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
-        self.con_r_in_phi_e = None
-        # cost
-        self.cost_y_expr = None  #: CasADi expression for nonlinear least squares; Default: :code:`None`
-        self.cost_y_expr_e = None  #: CasADi expression for nonlinear least squares, terminal; Default: :code:`None`
-        self.cost_y_expr_0 = None  #: CasADi expression for nonlinear least squares, initial; Default: :code:`None`
-        self.cost_expr_ext_cost = None  #: CasADi expression for external cost; Default: :code:`None`
-        self.cost_expr_ext_cost_e = None  #: CasADi expression for external cost, terminal; Default: :code:`None`
-        self.cost_expr_ext_cost_0 = None  #: CasADi expression for external cost, initial; Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess = None  #: CasADi expression for custom hessian (only for external cost); Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess_e = None  #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess_0 = None  #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None`
-
-        ## CONVEX_OVER_NONLINEAR convex-over-nonlinear cost: psi(y(x, u, p) - y_ref; p)
-        self.cost_psi_expr_0 = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_psi_expr = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_psi_expr_e = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr_0 = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr_e = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess_0 = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost); Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess_e = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
diff --git a/third_party/acados/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py
deleted file mode 100644
index d6236e1f6e..0000000000
--- a/third_party/acados/acados_template/acados_ocp.py
+++ /dev/null
@@ -1,3166 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import numpy as np
-import os
-from .acados_model import AcadosModel
-from .utils import get_acados_path, J_to_idx, J_to_idx_slack, get_lib_ext
-
-class AcadosOcpDims:
-    """
-    Class containing the dimensions of the optimal control problem.
-    """
-    def __init__(self):
-        self.__nx      = None
-        self.__nu      = None
-        self.__nz      = 0
-        self.__np      = 0
-        self.__ny      = 0
-        self.__ny_e    = 0
-        self.__ny_0    = 0
-        self.__nr      = 0
-        self.__nr_e    = 0
-        self.__nh      = 0
-        self.__nh_e    = 0
-        self.__nphi    = 0
-        self.__nphi_e  = 0
-        self.__nbx     = 0
-        self.__nbx_0   = 0
-        self.__nbx_e   = 0
-        self.__nbu     = 0
-        self.__nsbx    = 0
-        self.__nsbx_e  = 0
-        self.__nsbu    = 0
-        self.__nsh     = 0
-        self.__nsh_e   = 0
-        self.__nsphi   = 0
-        self.__nsphi_e = 0
-        self.__ns      = 0
-        self.__ns_e    = 0
-        self.__ng      = 0
-        self.__ng_e    = 0
-        self.__nsg     = 0
-        self.__nsg_e   = 0
-        self.__nbxe_0  = None
-        self.__N       = None
-
-
-    @property
-    def nx(self):
-        """:math:`n_x` - number of states.
-        Type: int; default: None"""
-        return self.__nx
-
-    @property
-    def nz(self):
-        """:math:`n_z` - number of algebraic variables.
-        Type: int; default: 0"""
-        return self.__nz
-
-    @property
-    def nu(self):
-        """:math:`n_u` - number of inputs.
-        Type: int; default: None"""
-        return self.__nu
-
-    @property
-    def np(self):
-        """:math:`n_p` - number of parameters.
-        Type: int; default: 0"""
-        return self.__np
-
-    @property
-    def ny(self):
-        """:math:`n_y` - number of residuals in Lagrange term.
-        Type: int; default: 0"""
-        return self.__ny
-
-    @property
-    def ny_0(self):
-        """:math:`n_{y}^0` - number of residuals in Mayer term.
-        Type: int; default: 0"""
-        return self.__ny_0
-
-    @property
-    def ny_e(self):
-        """:math:`n_{y}^e` - number of residuals in Mayer term.
-        Type: int; default: 0"""
-        return self.__ny_e
-
-    @property
-    def nr(self):
-        """:math:`n_{\pi}` - dimension of the image of the inner nonlinear function in positive definite constraints.
-        Type: int; default: 0"""
-        return self.__nr
-
-    @property
-    def nr_e(self):
-        """:math:`n_{\pi}^e` - dimension of the image of the inner nonlinear function in positive definite constraints.
-        Type: int; default: 0"""
-        return self.__nr_e
-
-    @property
-    def nh(self):
-        """:math:`n_h` - number of nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nh
-
-    @property
-    def nh_e(self):
-        """:math:`n_{h}^e` - number of nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nh_e
-
-    @property
-    def nphi(self):
-        """:math:`n_{\phi}` - number of convex-over-nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nphi
-
-    @property
-    def nphi_e(self):
-        """:math:`n_{\phi}^e` - number of convex-over-nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nphi_e
-
-    @property
-    def nbx(self):
-        """:math:`n_{b_x}` - number of state bounds.
-        Type: int; default: 0"""
-        return self.__nbx
-
-    @property
-    def nbxe_0(self):
-        """:math:`n_{be_{x0}}` - number of state bounds at initial shooting node that are equalities.
-        Type: int; default: None"""
-        return self.__nbxe_0
-
-    @property
-    def nbx_0(self):
-        """:math:`n_{b_{x0}}` - number of state bounds for initial state.
-        Type: int; default: 0"""
-        return self.__nbx_0
-
-    @property
-    def nbx_e(self):
-        """:math:`n_{b_x}` - number of state bounds at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nbx_e
-
-    @property
-    def nbu(self):
-        """:math:`n_{b_u}` - number of input bounds.
-        Type: int; default: 0"""
-        return self.__nbu
-
-    @property
-    def nsbx(self):
-        """:math:`n_{{sb}_x}` - number of soft state bounds.
-        Type: int; default: 0"""
-        return self.__nsbx
-
-    @property
-    def nsbx_e(self):
-        """:math:`n_{{sb}^e_{x}}` - number of soft state bounds at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsbx_e
-
-    @property
-    def nsbu(self):
-        """:math:`n_{{sb}_u}` - number of soft input bounds.
-        Type: int; default: 0"""
-        return self.__nsbu
-
-    @property
-    def nsg(self):
-        """:math:`n_{{sg}}` - number of soft general linear constraints.
-        Type: int; default: 0"""
-        return self.__nsg
-
-    @property
-    def nsg_e(self):
-        """:math:`n_{{sg}^e}` - number of soft general linear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsg_e
-
-    @property
-    def nsh(self):
-        """:math:`n_{{sh}}` - number of soft nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nsh
-
-    @property
-    def nsh_e(self):
-        """:math:`n_{{sh}}^e` - number of soft nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsh_e
-
-    @property
-    def nsphi(self):
-        """:math:`n_{{s\phi}}` - number of soft convex-over-nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nsphi
-
-    @property
-    def nsphi_e(self):
-        """:math:`n_{{s\phi}^e}` - number of soft convex-over-nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsphi_e
-
-    @property
-    def ns(self):
-        """:math:`n_{s}` - total number of slacks.
-        Type: int; default: 0"""
-        return self.__ns
-
-    @property
-    def ns_e(self):
-        """:math:`n_{s}^e` - total number of slacks at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__ns_e
-
-    @property
-    def ng(self):
-        """:math:`n_{g}` - number of general polytopic constraints.
-        Type: int; default: 0"""
-        return self.__ng
-
-    @property
-    def ng_e(self):
-        """:math:`n_{g}^e` - number of general polytopic constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__ng_e
-
-    @property
-    def N(self):
-        """:math:`N` - prediction horizon.
-        Type: int; default: None"""
-        return self.__N
-
-    @nx.setter
-    def nx(self, nx):
-        if isinstance(nx, int) and nx > 0:
-            self.__nx = nx
-        else:
-            raise Exception('Invalid nx value, expected positive integer.')
-
-    @nz.setter
-    def nz(self, nz):
-        if isinstance(nz, int) and nz > -1:
-            self.__nz = nz
-        else:
-            raise Exception('Invalid nz value, expected nonnegative integer.')
-
-    @nu.setter
-    def nu(self, nu):
-        if isinstance(nu, int) and nu > -1:
-            self.__nu = nu
-        else:
-            raise Exception('Invalid nu value, expected nonnegative integer.')
-
-    @np.setter
-    def np(self, np):
-        if isinstance(np, int) and np > -1:
-            self.__np = np
-        else:
-            raise Exception('Invalid np value, expected nonnegative integer.')
-
-    @ny_0.setter
-    def ny_0(self, ny_0):
-        if isinstance(ny_0, int) and ny_0 > -1:
-            self.__ny_0 = ny_0
-        else:
-            raise Exception('Invalid ny_0 value, expected nonnegative integer.')
-
-    @ny.setter
-    def ny(self, ny):
-        if isinstance(ny, int) and ny > -1:
-            self.__ny = ny
-        else:
-            raise Exception('Invalid ny value, expected nonnegative integer.')
-
-    @ny_e.setter
-    def ny_e(self, ny_e):
-        if isinstance(ny_e, int) and ny_e > -1:
-            self.__ny_e = ny_e
-        else:
-            raise Exception('Invalid ny_e value, expected nonnegative integer.')
-
-    @nr.setter
-    def nr(self, nr):
-        if isinstance(nr, int) and nr > -1:
-            self.__nr = nr
-        else:
-            raise Exception('Invalid nr value, expected nonnegative integer.')
-
-    @nr_e.setter
-    def nr_e(self, nr_e):
-        if isinstance(nr_e, int) and nr_e > -1:
-            self.__nr_e = nr_e
-        else:
-            raise Exception('Invalid nr_e value, expected nonnegative integer.')
-
-    @nh.setter
-    def nh(self, nh):
-        if isinstance(nh, int) and nh > -1:
-            self.__nh = nh
-        else:
-            raise Exception('Invalid nh value, expected nonnegative integer.')
-
-    @nh_e.setter
-    def nh_e(self, nh_e):
-        if isinstance(nh_e, int) and nh_e > -1:
-            self.__nh_e = nh_e
-        else:
-            raise Exception('Invalid nh_e value, expected nonnegative integer.')
-
-    @nphi.setter
-    def nphi(self, nphi):
-        if isinstance(nphi, int) and nphi > -1:
-            self.__nphi = nphi
-        else:
-            raise Exception('Invalid nphi value, expected nonnegative integer.')
-
-    @nphi_e.setter
-    def nphi_e(self, nphi_e):
-        if isinstance(nphi_e, int) and nphi_e > -1:
-            self.__nphi_e = nphi_e
-        else:
-            raise Exception('Invalid nphi_e value, expected nonnegative integer.')
-
-    @nbx.setter
-    def nbx(self, nbx):
-        if isinstance(nbx, int) and nbx > -1:
-            self.__nbx = nbx
-        else:
-            raise Exception('Invalid nbx value, expected nonnegative integer.')
-
-    @nbxe_0.setter
-    def nbxe_0(self, nbxe_0):
-        if isinstance(nbxe_0, int) and nbxe_0 > -1:
-            self.__nbxe_0 = nbxe_0
-        else:
-            raise Exception('Invalid nbxe_0 value, expected nonnegative integer.')
-
-    @nbx_0.setter
-    def nbx_0(self, nbx_0):
-        if isinstance(nbx_0, int) and nbx_0 > -1:
-            self.__nbx_0 = nbx_0
-        else:
-            raise Exception('Invalid nbx_0 value, expected nonnegative integer.')
-
-    @nbx_e.setter
-    def nbx_e(self, nbx_e):
-        if isinstance(nbx_e, int) and nbx_e > -1:
-            self.__nbx_e = nbx_e
-        else:
-            raise Exception('Invalid nbx_e value, expected nonnegative integer.')
-
-    @nbu.setter
-    def nbu(self, nbu):
-        if isinstance(nbu, int) and nbu > -1:
-            self.__nbu = nbu
-        else:
-            raise Exception('Invalid nbu value, expected nonnegative integer.')
-
-    @nsbx.setter
-    def nsbx(self, nsbx):
-        if isinstance(nsbx, int) and nsbx > -1:
-            self.__nsbx = nsbx
-        else:
-            raise Exception('Invalid nsbx value, expected nonnegative integer.')
-
-    @nsbx_e.setter
-    def nsbx_e(self, nsbx_e):
-        if isinstance(nsbx_e, int) and nsbx_e > -1:
-            self.__nsbx_e = nsbx_e
-        else:
-            raise Exception('Invalid nsbx_e value, expected nonnegative integer.')
-
-    @nsbu.setter
-    def nsbu(self, nsbu):
-        if isinstance(nsbu, int) and nsbu > -1:
-            self.__nsbu = nsbu
-        else:
-            raise Exception('Invalid nsbu value, expected nonnegative integer.')
-
-    @nsg.setter
-    def nsg(self, nsg):
-        if isinstance(nsg, int) and nsg > -1:
-            self.__nsg = nsg
-        else:
-            raise Exception('Invalid nsg value, expected nonnegative integer.')
-
-    @nsg_e.setter
-    def nsg_e(self, nsg_e):
-        if isinstance(nsg_e, int) and nsg_e > -1:
-            self.__nsg_e = nsg_e
-        else:
-            raise Exception('Invalid nsg_e value, expected nonnegative integer.')
-
-    @nsh.setter
-    def nsh(self, nsh):
-        if isinstance(nsh, int) and nsh > -1:
-            self.__nsh = nsh
-        else:
-            raise Exception('Invalid nsh value, expected nonnegative integer.')
-
-    @nsh_e.setter
-    def nsh_e(self, nsh_e):
-        if isinstance(nsh_e, int) and nsh_e > -1:
-            self.__nsh_e = nsh_e
-        else:
-            raise Exception('Invalid nsh_e value, expected nonnegative integer.')
-
-    @nsphi.setter
-    def nsphi(self, nsphi):
-        if isinstance(nsphi, int) and nsphi > -1:
-            self.__nsphi = nsphi
-        else:
-            raise Exception('Invalid nsphi value, expected nonnegative integer.')
-
-    @nsphi_e.setter
-    def nsphi_e(self, nsphi_e):
-        if isinstance(nsphi_e, int) and nsphi_e > -1:
-            self.__nsphi_e = nsphi_e
-        else:
-            raise Exception('Invalid nsphi_e value, expected nonnegative integer.')
-
-    @ns.setter
-    def ns(self, ns):
-        if isinstance(ns, int) and ns > -1:
-            self.__ns = ns
-        else:
-            raise Exception('Invalid ns value, expected nonnegative integer.')
-
-    @ns_e.setter
-    def ns_e(self, ns_e):
-        if isinstance(ns_e, int) and ns_e > -1:
-            self.__ns_e = ns_e
-        else:
-            raise Exception('Invalid ns_e value, expected nonnegative integer.')
-
-    @ng.setter
-    def ng(self, ng):
-        if isinstance(ng, int) and ng > -1:
-            self.__ng = ng
-        else:
-            raise Exception('Invalid ng value, expected nonnegative integer.')
-
-    @ng_e.setter
-    def ng_e(self, ng_e):
-        if isinstance(ng_e, int) and ng_e > -1:
-            self.__ng_e = ng_e
-        else:
-            raise Exception('Invalid ng_e value, expected nonnegative integer.')
-
-    @N.setter
-    def N(self, N):
-        if isinstance(N, int) and N > 0:
-            self.__N = N
-        else:
-            raise Exception('Invalid N value, expected positive integer.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcpCost:
-    """
-    Class containing the numerical data of the cost:
-
-    NOTE: all cost terms, except for the terminal one are weighted with the corresponding time step.
-    This means given the time steps are :math:`\Delta t_0,..., \Delta t_N`, the total cost is given by:
-    :math:`c_\\text{total} = \Delta t_0 \cdot c_0(x_0, u_0, p_0, z_0) + ... + \Delta t_{N-1} \cdot c_{N-1}(x_0, u_0, p_0, z_0) + c_N(x_N, p_N)`.
-
-    This means the Lagrange cost term is given in continuous time, this makes up for a seeminglessly OCP discretization with a nonuniform time grid.
-
-    In case of LINEAR_LS:
-    stage cost is
-    :math:`l(x,u,z) = || V_x \, x + V_u \, u + V_z \, z - y_\\text{ref}||^2_W`,
-    terminal cost is
-    :math:`m(x) = || V^e_x \, x - y_\\text{ref}^e||^2_{W^e}`
-
-    In case of NONLINEAR_LS:
-    stage cost is
-    :math:`l(x,u,z,p) = || y(x,u,z,p) - y_\\text{ref}||^2_W`,
-    terminal cost is
-    :math:`m(x,p) = || y^e(x,p) - y_\\text{ref}^e||^2_{W^e}`
-
-    In case of CONVEX_OVER_NONLINEAR:
-    stage cost is
-    :math:`l(x,u,p) = \psi(y(x,u,p) - y_\\text{ref}, p)`,
-    terminal cost is
-    :math:`m(x, p) = \psi^e (y^e(x,p) - y_\\text{ref}^e, p)`
-    """
-    def __init__(self):
-        # initial stage
-        self.__cost_type_0 = None
-        self.__W_0 = None
-        self.__Vx_0 = None
-        self.__Vu_0 = None
-        self.__Vz_0 = None
-        self.__yref_0 = None
-        self.__cost_ext_fun_type_0 = 'casadi'
-        # Lagrange term
-        self.__cost_type   = 'LINEAR_LS'  # cost type
-        self.__W           = np.zeros((0,0))
-        self.__Vx          = np.zeros((0,0))
-        self.__Vu          = np.zeros((0,0))
-        self.__Vz          = np.zeros((0,0))
-        self.__yref        = np.array([])
-        self.__Zl          = np.array([])
-        self.__Zu          = np.array([])
-        self.__zl          = np.array([])
-        self.__zu          = np.array([])
-        self.__cost_ext_fun_type = 'casadi'
-        # Mayer term
-        self.__cost_type_e = 'LINEAR_LS'
-        self.__W_e         = np.zeros((0,0))
-        self.__Vx_e        = np.zeros((0,0))
-        self.__yref_e      = np.array([])
-        self.__Zl_e        = np.array([])
-        self.__Zu_e        = np.array([])
-        self.__zl_e        = np.array([])
-        self.__zu_e        = np.array([])
-        self.__cost_ext_fun_type_e = 'casadi'
-
-    # initial stage
-    @property
-    def cost_type_0(self):
-        """Cost type at initial shooting node (0)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR} or :code:`None`.
-        Default: :code:`None`.
-
-            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
-
-            .. note:: If :py:attr:`cost_type_0` is set to :code:`None` values in :py:attr:`W_0`, :py:attr:`Vx_0`, :py:attr:`Vu_0`, :py:attr:`Vz_0` and :py:attr:`yref_0` are ignored (set to :code:`None`).
-        """
-        return self.__cost_type_0
-
-    @property
-    def W_0(self):
-        """:math:`W_0` - weight matrix at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__W_0
-
-    @property
-    def Vx_0(self):
-        """:math:`V_x^0` - x matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vx_0
-
-    @property
-    def Vu_0(self):
-        """:math:`V_u^0` - u matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vu_0
-
-    @property
-    def Vz_0(self):
-        """:math:`V_z^0` - z matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vz_0
-
-    @property
-    def yref_0(self):
-        """:math:`y_\\text{ref}^0` - reference at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__yref_0
-
-    @property
-    def cost_ext_fun_type_0(self):
-        """Type of external function for cost at initial shooting node (0)
-        -- string in {casadi, generic} or :code:`None`
-        Default: :code:'casadi'.
-
-            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
-        """
-        return self.__cost_ext_fun_type_0
-
-    @yref_0.setter
-    def yref_0(self, yref_0):
-        if isinstance(yref_0, np.ndarray) and len(yref_0.shape) == 1:
-            self.__yref_0 = yref_0
-        else:
-            raise Exception('Invalid yref_0 value, expected 1-dimensional numpy array.')
-
-    @W_0.setter
-    def W_0(self, W_0):
-        if isinstance(W_0, np.ndarray) and len(W_0.shape) == 2:
-            self.__W_0 = W_0
-        else:
-            raise Exception('Invalid cost W_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vx_0.setter
-    def Vx_0(self, Vx_0):
-        if isinstance(Vx_0, np.ndarray) and len(Vx_0.shape) == 2:
-            self.__Vx_0 = Vx_0
-        else:
-            raise Exception('Invalid cost Vx_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vu_0.setter
-    def Vu_0(self, Vu_0):
-        if isinstance(Vu_0, np.ndarray) and len(Vu_0.shape) == 2:
-            self.__Vu_0 = Vu_0
-        else:
-            raise Exception('Invalid cost Vu_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vz_0.setter
-    def Vz_0(self, Vz_0):
-        if isinstance(Vz_0, np.ndarray) and len(Vz_0.shape) == 2:
-            self.__Vz_0 = Vz_0
-        else:
-            raise Exception('Invalid cost Vz_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @cost_ext_fun_type_0.setter
-    def cost_ext_fun_type_0(self, cost_ext_fun_type_0):
-        if cost_ext_fun_type_0 in ['casadi', 'generic']:
-            self.__cost_ext_fun_type_0 = cost_ext_fun_type_0
-        else:
-            raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array.')
-
-    # Lagrange term
-    @property
-    def cost_type(self):
-        """
-        Cost type at intermediate shooting nodes (1 to N-1)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
-        Default: 'LINEAR_LS'.
-        """
-        return self.__cost_type
-
-    @property
-    def W(self):
-        """:math:`W` - weight matrix at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__W
-
-    @property
-    def Vx(self):
-        """:math:`V_x` - x matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vx
-
-    @property
-    def Vu(self):
-        """:math:`V_u` - u matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vu
-
-    @property
-    def Vz(self):
-        """:math:`V_z` - z matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vz
-
-    @property
-    def yref(self):
-        """:math:`y_\\text{ref}` - reference at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__yref
-
-    @property
-    def Zl(self):
-        """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zl
-
-    @property
-    def Zu(self):
-        """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zu
-
-    @property
-    def zl(self):
-        """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zl
-
-    @property
-    def zu(self):
-        """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zu
-
-    @property
-    def cost_ext_fun_type(self):
-        """Type of external function for cost at intermediate shooting nodes (1 to N-1).
-        -- string in {casadi, generic}
-        Default: :code:'casadi'.
-        """
-        return self.__cost_ext_fun_type
-
-    @cost_type.setter
-    def cost_type(self, cost_type):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-        if cost_type in cost_types:
-            self.__cost_type = cost_type
-        else:
-            raise Exception('Invalid cost_type value.')
-
-    @cost_type_0.setter
-    def cost_type_0(self, cost_type_0):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-        if cost_type_0 in cost_types:
-            self.__cost_type_0 = cost_type_0
-        else:
-            raise Exception('Invalid cost_type_0 value.')
-
-    @W.setter
-    def W(self, W):
-        if isinstance(W, np.ndarray) and len(W.shape) == 2:
-            self.__W = W
-        else:
-            raise Exception('Invalid cost W value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-
-    @Vx.setter
-    def Vx(self, Vx):
-        if isinstance(Vx, np.ndarray) and len(Vx.shape) == 2:
-            self.__Vx = Vx
-        else:
-            raise Exception('Invalid cost Vx value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vu.setter
-    def Vu(self, Vu):
-        if isinstance(Vu, np.ndarray) and len(Vu.shape) == 2:
-            self.__Vu = Vu
-        else:
-            raise Exception('Invalid cost Vu value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vz.setter
-    def Vz(self, Vz):
-        if isinstance(Vz, np.ndarray) and len(Vz.shape) == 2:
-            self.__Vz = Vz
-        else:
-            raise Exception('Invalid cost Vz value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @yref.setter
-    def yref(self, yref):
-        if isinstance(yref, np.ndarray) and len(yref.shape) == 1:
-            self.__yref = yref
-        else:
-            raise Exception('Invalid yref value, expected 1-dimensional numpy array.')
-
-    @Zl.setter
-    def Zl(self, Zl):
-        if isinstance(Zl, np.ndarray):
-            self.__Zl = Zl
-        else:
-            raise Exception('Invalid Zl value, expected numpy array.')
-
-    @Zu.setter
-    def Zu(self, Zu):
-        if isinstance(Zu, np.ndarray):
-            self.__Zu = Zu
-        else:
-            raise Exception('Invalid Zu value, expected numpy array.')
-
-    @zl.setter
-    def zl(self, zl):
-        if isinstance(zl, np.ndarray):
-            self.__zl = zl
-        else:
-            raise Exception('Invalid zl value, expected numpy array.')
-
-    @zu.setter
-    def zu(self, zu):
-        if isinstance(zu, np.ndarray):
-            self.__zu = zu
-        else:
-            raise Exception('Invalid zu value, expected numpy array.')
-
-    @cost_ext_fun_type.setter
-    def cost_ext_fun_type(self, cost_ext_fun_type):
-        if cost_ext_fun_type in ['casadi', 'generic']:
-            self.__cost_ext_fun_type = cost_ext_fun_type
-        else:
-            raise Exception("Invalid cost_ext_fun_type value, expected one in ['casadi', 'generic'].")
-
-    # Mayer term
-    @property
-    def cost_type_e(self):
-        """
-        Cost type at terminal shooting node (N)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
-        Default: 'LINEAR_LS'.
-        """
-        return self.__cost_type_e
-
-    @property
-    def W_e(self):
-        """:math:`W_e` - weight matrix at terminal shooting node (N).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__W_e
-
-    @property
-    def Vx_e(self):
-        """:math:`V_x^e` - x matrix coefficient for cost at terminal shooting node (N).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vx_e
-
-    @property
-    def yref_e(self):
-        """:math:`y_\\text{ref}^e` - cost reference at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__yref_e
-
-    @property
-    def Zl_e(self):
-        """:math:`Z_l^e` - diagonal of Hessian wrt lower slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zl_e
-
-    @property
-    def Zu_e(self):
-        """:math:`Z_u^e` - diagonal of Hessian wrt upper slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zu_e
-
-    @property
-    def zl_e(self):
-        """:math:`z_l^e` - gradient wrt lower slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zl_e
-
-    @property
-    def zu_e(self):
-        """:math:`z_u^e` - gradient wrt upper slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zu_e
-
-    @property
-    def cost_ext_fun_type_e(self):
-        """Type of external function for cost at terminal shooting node (N).
-        -- string in {casadi, generic}
-        Default: :code:'casadi'.
-        """
-        return self.__cost_ext_fun_type_e
-
-    @cost_type_e.setter
-    def cost_type_e(self, cost_type_e):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-
-        if cost_type_e in cost_types:
-            self.__cost_type_e = cost_type_e
-        else:
-            raise Exception('Invalid cost_type_e value.')
-
-    @W_e.setter
-    def W_e(self, W_e):
-        if isinstance(W_e, np.ndarray) and len(W_e.shape) == 2:
-            self.__W_e = W_e
-        else:
-            raise Exception('Invalid cost W_e value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vx_e.setter
-    def Vx_e(self, Vx_e):
-        if isinstance(Vx_e, np.ndarray) and len(Vx_e.shape) == 2:
-            self.__Vx_e = Vx_e
-        else:
-            raise Exception('Invalid cost Vx_e value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @yref_e.setter
-    def yref_e(self, yref_e):
-        if isinstance(yref_e, np.ndarray) and len(yref_e.shape) == 1:
-            self.__yref_e = yref_e
-        else:
-            raise Exception('Invalid yref_e value, expected 1-dimensional numpy array.')
-
-    @Zl_e.setter
-    def Zl_e(self, Zl_e):
-        if isinstance(Zl_e, np.ndarray):
-            self.__Zl_e = Zl_e
-        else:
-            raise Exception('Invalid Zl_e value, expected numpy array.')
-
-    @Zu_e.setter
-    def Zu_e(self, Zu_e):
-        if isinstance(Zu_e, np.ndarray):
-            self.__Zu_e = Zu_e
-        else:
-            raise Exception('Invalid Zu_e value, expected numpy array.')
-
-    @zl_e.setter
-    def zl_e(self, zl_e):
-        if isinstance(zl_e, np.ndarray):
-            self.__zl_e = zl_e
-        else:
-            raise Exception('Invalid zl_e value, expected numpy array.')
-
-    @zu_e.setter
-    def zu_e(self, zu_e):
-        if isinstance(zu_e, np.ndarray):
-            self.__zu_e = zu_e
-        else:
-            raise Exception('Invalid zu_e value, expected numpy array.')
-
-    @cost_ext_fun_type_e.setter
-    def cost_ext_fun_type_e(self, cost_ext_fun_type_e):
-        if cost_ext_fun_type_e in ['casadi', 'generic']:
-            self.__cost_ext_fun_type_e = cost_ext_fun_type_e
-        else:
-            raise Exception("Invalid cost_ext_fun_type_e value, expected one in ['casadi', 'generic'].")
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-def print_J_to_idx_note():
-    print("NOTE: J* matrix is converted to zero based vector idx* vector, which is returned here.")
-
-
-class AcadosOcpConstraints:
-    """
-    class containing the description of the constraints
-    """
-    def __init__(self):
-        self.__constr_type   = 'BGH'
-        self.__constr_type_e = 'BGH'
-        # initial x
-        self.__lbx_0   = np.array([])
-        self.__ubx_0   = np.array([])
-        self.__idxbx_0 = np.array([])
-        self.__idxbxe_0 = np.array([])
-        # state bounds
-        self.__lbx     = np.array([])
-        self.__ubx     = np.array([])
-        self.__idxbx   = np.array([])
-        # bounds on x at shooting node N
-        self.__lbx_e   = np.array([])
-        self.__ubx_e   = np.array([])
-        self.__idxbx_e = np.array([])
-        # bounds on u
-        self.__lbu     = np.array([])
-        self.__ubu     = np.array([])
-        self.__idxbu   = np.array([])
-        # polytopic constraints
-        self.__lg      = np.array([])
-        self.__ug      = np.array([])
-        self.__D       = np.zeros((0,0))
-        self.__C       = np.zeros((0,0))
-        # polytopic constraints at shooting node N
-        self.__C_e     = np.zeros((0,0))
-        self.__lg_e    = np.array([])
-        self.__ug_e    = np.array([])
-        # nonlinear constraints
-        self.__lh      = np.array([])
-        self.__uh      = np.array([])
-        # nonlinear constraints at shooting node N
-        self.__uh_e    = np.array([])
-        self.__lh_e    = np.array([])
-        # convex-over-nonlinear constraints
-        self.__lphi    = np.array([])
-        self.__uphi    = np.array([])
-        # nonlinear constraints at shooting node N
-        self.__uphi_e = np.array([])
-        self.__lphi_e = np.array([])
-        # SLACK BOUNDS
-        # soft bounds on x
-        self.__lsbx   = np.array([])
-        self.__usbx   = np.array([])
-        self.__idxsbx = np.array([])
-        # soft bounds on u
-        self.__lsbu   = np.array([])
-        self.__usbu   = np.array([])
-        self.__idxsbu = np.array([])
-        # soft bounds on x at shooting node N
-        self.__lsbx_e  = np.array([])
-        self.__usbx_e  = np.array([])
-        self.__idxsbx_e= np.array([])
-        # soft bounds on general linear constraints
-        self.__lsg    = np.array([])
-        self.__usg    = np.array([])
-        self.__idxsg  = np.array([])
-        # soft bounds on nonlinear constraints
-        self.__lsh    = np.array([])
-        self.__ush    = np.array([])
-        self.__idxsh  = np.array([])
-        # soft bounds on nonlinear constraints
-        self.__lsphi  = np.array([])
-        self.__usphi  = np.array([])
-        self.__idxsphi  = np.array([])
-        # soft bounds on general linear constraints at shooting node N
-        self.__lsg_e    = np.array([])
-        self.__usg_e    = np.array([])
-        self.__idxsg_e  = np.array([])
-        # soft bounds on nonlinear constraints at shooting node N
-        self.__lsh_e    = np.array([])
-        self.__ush_e    = np.array([])
-        self.__idxsh_e  = np.array([])
-        # soft bounds on nonlinear constraints at shooting node N
-        self.__lsphi_e    = np.array([])
-        self.__usphi_e    = np.array([])
-        self.__idxsphi_e  = np.array([])
-
-
-    # types
-    @property
-    def constr_type(self):
-        """Constraints type for shooting nodes (0 to N-1). string in {BGH, BGP}.
-        Default: BGH; BGP is for convex over nonlinear."""
-        return self.__constr_type
-
-    @property
-    def constr_type_e(self):
-        """Constraints type for terminal shooting node N. string in {BGH, BGP}.
-        Default: BGH; BGP is for convex over nonlinear."""
-        return self.__constr_type_e
-
-    # initial bounds on x
-    @property
-    def lbx_0(self):
-        """:math:`\\underline{x_0}` - lower bounds on x at initial stage 0.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`."""
-        return self.__lbx_0
-
-    @property
-    def ubx_0(self):
-        """:math:`\\bar{x_0}` - upper bounds on x at initial stage 0.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx_0
-
-    @property
-    def Jbx_0(self):
-        """:math:`J_{bx,0}` - matrix coefficient for bounds on x at initial stage 0.
-        Translated internally to :py:attr:`idxbx_0`"""
-        print_J_to_idx_note()
-        return self.__idxbx_0
-
-    @property
-    def idxbx_0(self):
-        """Indices of bounds on x at initial stage 0
-        -- can be set automatically via x0.
-        Can be set by using :py:attr:`Jbx_0`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx_0
-
-    @property
-    def idxbxe_0(self):
-        """Indices of bounds on x0 that are equalities -- can be set automatically via :py:attr:`x0`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbxe_0
-
-    # bounds on x
-    @property
-    def lbx(self):
-        """:math:`\\underline{x}` - lower bounds on x at intermediate shooting nodes (1 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__lbx
-
-    @property
-    def ubx(self):
-        """:math:`\\bar{x}` - upper bounds on x at intermediate shooting nodes (1 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx
-
-    @property
-    def idxbx(self):
-        """indices of bounds on x (defines :math:`J_{bx}`) at intermediate shooting nodes (1 to N-1).
-        Can be set by using :py:attr:`Jbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx
-
-    @property
-    def Jbx(self):
-        """:math:`J_{bx}` - matrix coefficient for bounds on x
-        at intermediate shooting nodes (1 to N-1).
-        Translated internally into :py:attr:`idxbx`."""
-        print_J_to_idx_note()
-        return self.__idxbx
-
-    # bounds on x at shooting node N
-    @property
-    def lbx_e(self):
-        """:math:`\\underline{x}^e` - lower bounds on x at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__lbx_e
-
-    @property
-    def ubx_e(self):
-        """:math:`\\bar{x}^e` - upper bounds on x at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx_e
-
-    @property
-    def idxbx_e(self):
-        """Indices for bounds on x at terminal shooting node N (defines :math:`J_{bx}^e`).
-        Can be set by using :py:attr:`Jbx_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx_e
-
-    @property
-    def Jbx_e(self):
-        """:math:`J_{bx}^e` matrix coefficient for bounds on x at terminal shooting node N.
-        Translated internally into :py:attr:`idxbx_e`."""
-        print_J_to_idx_note()
-        return self.__idxbx_e
-
-    # bounds on u
-    @property
-    def lbu(self):
-        """:math:`\\underline{u}` - lower bounds on u at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lbu
-
-    @property
-    def ubu(self):
-        """:math:`\\bar{u}` - upper bounds on u at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__ubu
-
-    @property
-    def idxbu(self):
-        """Indices of bounds on u (defines :math:`J_{bu}`) at shooting nodes (0 to N-1).
-        Can be set by using :py:attr:`Jbu`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__idxbu
-
-    @property
-    def Jbu(self):
-        """:math:`J_{bu}` - matrix coefficient for bounds on u at shooting nodes (0 to N-1).
-        Translated internally to :py:attr:`idxbu`.
-        """
-        print_J_to_idx_note()
-        return self.__idxbu
-
-    # polytopic constraints
-    @property
-    def C(self):
-        """:math:`C` - C matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
-        """
-        return self.__C
-
-    @property
-    def D(self):
-        """:math:`D` - D matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`
-        """
-        return self.__D
-
-    @property
-    def lg(self):
-        """:math:`\\underline{g}` - lower bound for general polytopic inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lg
-
-    @property
-    def ug(self):
-        """:math:`\\bar{g}` - upper bound for general polytopic inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__ug
-
-    # polytopic constraints at shooting node N
-    @property
-    def C_e(self):
-        """:math:`C^e` - C matrix at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
-        """
-        return self.__C_e
-
-    @property
-    def lg_e(self):
-        """:math:`\\underline{g}^e` - lower bound on general polytopic inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lg_e
-
-    @property
-    def ug_e(self):
-        """:math:`\\bar{g}^e` - upper bound on general polytopic inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__ug_e
-
-
-    # nonlinear constraints
-    @property
-    def lh(self):
-        """:math:`\\underline{h}` - lower bound for nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lh
-
-    @property
-    def uh(self):
-        """:math:`\\bar{h}` - upper bound for nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uh
-
-    # nonlinear constraints at shooting node N
-    @property
-    def lh_e(self):
-        """:math:`\\underline{h}^e` - lower bound on nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lh_e
-
-    @property
-    def uh_e(self):
-        """:math:`\\bar{h}^e` - upper bound on nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uh_e
-
-    # convex-over-nonlinear constraints
-    @property
-    def lphi(self):
-        """:math:`\\underline{\phi}` - lower bound for convex-over-nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lphi
-
-    @property
-    def uphi(self):
-        """:math:`\\bar{\phi}` - upper bound for convex-over-nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uphi
-
-    # convex-over-nonlinear constraints at shooting node N
-    @property
-    def lphi_e(self):
-        """:math:`\\underline{\phi}^e` - lower bound on convex-over-nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lphi_e
-
-    @property
-    def uphi_e(self):
-        """:math:`\\bar{\phi}^e` - upper bound on convex-over-nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uphi_e
-
-
-    # SLACK bounds
-    # soft bounds on x
-    @property
-    def lsbx(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on x
-        at stages (1 to N-1);
-        not required - zeros by default"""
-        return self.__lsbx
-
-    @property
-    def usbx(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on x
-        at stages (1 to N-1);
-        not required - zeros by default"""
-        return self.__usbx
-
-    @property
-    def idxsbx(self):
-        """Indices of soft bounds on x within the indices of bounds on x
-        at stages (1 to N-1).
-        Can be set by using :py:attr:`Jsbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbx
-
-    @property
-    def Jsbx(self):
-        """:math:`J_{sbx}` - matrix coefficient for soft bounds on x
-        at stages (1 to N-1);
-        Translated internally into :py:attr:`idxsbx`."""
-        print_J_to_idx_note()
-        return self.__idxsbx
-
-    # soft bounds on u
-    @property
-    def lsbu(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on u
-        at stages (0 to N-1).
-        Not required - zeros by default."""
-        return self.__lsbu
-
-    @property
-    def usbu(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on u
-        at stages (0 to N-1);
-        not required - zeros by default"""
-        return self.__usbu
-
-    @property
-    def idxsbu(self):
-        """Indices of soft bounds on u within the indices of bounds on u
-        at stages (0 to N-1).
-        Can be set by using :py:attr:`Jsbu`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbu
-
-    @property
-    def Jsbu(self):
-        """:math:`J_{sbu}` - matrix coefficient for soft bounds on u
-        at stages (0 to N-1);
-        internally translated into :py:attr:`idxsbu`"""
-        print_J_to_idx_note()
-        return self.__idxsbu
-
-    # soft bounds on x at shooting node N
-    @property
-    def lsbx_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on x at shooting node N.
-        Not required - zeros by default"""
-        return self.__lsbx_e
-
-    @property
-    def usbx_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on x at shooting node N.
-        Not required - zeros by default"""
-        return self.__usbx_e
-
-    @property
-    def idxsbx_e(self):
-        """Indices of soft bounds on x at shooting node N, within the indices of bounds on x at terminal shooting node N.
-        Can be set by using :py:attr:`Jsbx_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbx_e
-
-    @property
-    def Jsbx_e(self):
-        """:math:`J_{sbx}^e` - matrix coefficient for soft bounds on x at terminal shooting node N.
-        Translated internally to :py:attr:`idxsbx_e`"""
-        print_J_to_idx_note()
-        return self.__idxsbx_e
-
-    # soft general linear constraints
-    @property
-    def lsg(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints
-        at stages (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lsg
-
-    @property
-    def usg(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints.
-        Not required - zeros by default"""
-        return self.__usg
-
-    @property
-    def idxsg(self):
-        """Indices of soft general linear constraints within the indices of general linear constraints.
-        Can be set by using :py:attr:`Jsg`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsg
-
-    @property
-    def Jsg(self):
-        """:math:`J_{sg}` - matrix coefficient for soft bounds on general linear constraints.
-        Translated internally to :py:attr:`idxsg`"""
-        print_J_to_idx_note()
-        return self.__idxsg
-
-    # soft nonlinear constraints
-    @property
-    def lsh(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__lsh
-
-    @property
-    def ush(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__ush
-
-    @property
-    def idxsh(self):
-        """Indices of soft nonlinear constraints within the indices of nonlinear constraints.
-        Can be set by using :py:attr:`Jbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsh
-
-    @property
-    def Jsh(self):
-        """:math:`J_{sh}` - matrix coefficient for soft bounds on nonlinear constraints.
-        Translated internally to :py:attr:`idxsh`"""
-        print_J_to_idx_note()
-        return self.__idxsh
-
-    # soft bounds on convex-over-nonlinear constraints
-    @property
-    def lsphi(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__lsphi
-
-    @property
-    def usphi(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__usphi
-
-    @property
-    def idxsphi(self):
-        """Indices of soft convex-over-nonlinear constraints within the indices of nonlinear constraints.
-        Can be set by using :py:attr:`Jsphi`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsphi
-
-    @property
-    def Jsphi(self):
-        """:math:`J_{s, \phi}` - matrix coefficient for soft bounds on convex-over-nonlinear constraints.
-        Translated internally into :py:attr:`idxsphi`."""
-        print_J_to_idx_note()
-        return self.__idxsphi
-
-
-    # soft bounds on general linear constraints at shooting node N
-    @property
-    def lsg_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints at shooting node N.
-        Not required - zeros by default"""
-        return self.__lsg_e
-
-    @property
-    def usg_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints at shooting node N.
-        Not required - zeros by default"""
-        return self.__usg_e
-
-    @property
-    def idxsg_e(self):
-        """Indices of soft general linear constraints at shooting node N within the indices of general linear constraints at shooting node N.
-        Can be set by using :py:attr:`Jsg_e`."""
-        return self.__idxsg_e
-
-    @property
-    def Jsg_e(self):
-        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on general linear constraints at terminal shooting node N.
-        Translated internally to :py:attr:`idxsg_e`"""
-        print_J_to_idx_note()
-        return self.__idxsg_e
-
-
-    # soft bounds on nonlinear constraints at shooting node N
-    @property
-    def lsh_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__lsh_e
-
-    @property
-    def ush_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__ush_e
-
-    @property
-    def idxsh_e(self):
-        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
-        Can be set by using :py:attr:`Jsh_e`."""
-        return self.__idxsh_e
-
-    @property
-    def Jsh_e(self):
-        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on nonlinear constraints at terminal shooting node N; fills :py:attr:`idxsh_e`"""
-        print_J_to_idx_note()
-        return self.__idxsh_e
-
-    # soft bounds on convex-over-nonlinear constraints at shooting node N
-    @property
-    def lsphi_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__lsphi_e
-
-    @property
-    def usphi_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__usphi_e
-
-    @property
-    def idxsphi_e(self):
-        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
-        Can be set by using :py:attr:`Jsphi_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsphi_e
-
-    @property
-    def Jsphi_e(self):
-        """:math:`J_{sh}^e` - matrix coefficient for soft bounds on convex-over-nonlinear constraints at shooting node N.
-        Translated internally to :py:attr:`idxsphi_e`"""
-        print_J_to_idx_note()
-        return self.__idxsphi_e
-
-    @property
-    def x0(self):
-        """:math:`x_0 \\in \mathbb{R}^{n_x}` - initial state --
-        Translated internally to :py:attr:`idxbx_0`, :py:attr:`lbx_0`, :py:attr:`ubx_0`, :py:attr:`idxbxe_0` """
-        print("x0 is converted to lbx_0, ubx_0, idxbx_0")
-        print("idxbx_0: ", self.__idxbx_0)
-        print("lbx_0: ", self.__lbx_0)
-        print("ubx_0: ", self.__ubx_0)
-        print("idxbxe_0: ", self.__idxbxe_0)
-        return None
-
-    # SETTERS
-    @constr_type.setter
-    def constr_type(self, constr_type):
-        constr_types = ('BGH', 'BGP')
-        if constr_type in constr_types:
-            self.__constr_type = constr_type
-        else:
-            raise Exception('Invalid constr_type value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\n')
-
-    @constr_type_e.setter
-    def constr_type_e(self, constr_type_e):
-        constr_types = ('BGH', 'BGP')
-        if constr_type_e in constr_types:
-            self.__constr_type_e = constr_type_e
-        else:
-            raise Exception('Invalid constr_type_e value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\n')
-
-    # initial x
-    @lbx_0.setter
-    def lbx_0(self, lbx_0):
-        if isinstance(lbx_0, np.ndarray):
-            self.__lbx_0 = lbx_0
-        else:
-            raise Exception('Invalid lbx_0 value.')
-
-    @ubx_0.setter
-    def ubx_0(self, ubx_0):
-        if isinstance(ubx_0, np.ndarray):
-            self.__ubx_0 = ubx_0
-        else:
-            raise Exception('Invalid ubx_0 value.')
-
-    @idxbx_0.setter
-    def idxbx_0(self, idxbx_0):
-        if isinstance(idxbx_0, np.ndarray):
-            self.__idxbx_0 = idxbx_0
-        else:
-            raise Exception('Invalid idxbx_0 value.')
-
-    @Jbx_0.setter
-    def Jbx_0(self, Jbx_0):
-        if isinstance(Jbx_0, np.ndarray):
-            self.__idxbx_0 = J_to_idx(Jbx_0)
-        else:
-            raise Exception('Invalid Jbx_0 value.')
-
-    @idxbxe_0.setter
-    def idxbxe_0(self, idxbxe_0):
-        if isinstance(idxbxe_0, np.ndarray):
-            self.__idxbxe_0 = idxbxe_0
-        else:
-            raise Exception('Invalid idxbxe_0 value.')
-
-
-    @x0.setter
-    def x0(self, x0):
-        if isinstance(x0, np.ndarray):
-            self.__lbx_0 = x0
-            self.__ubx_0 = x0
-            self.__idxbx_0 = np.arange(x0.size)
-            self.__idxbxe_0 = np.arange(x0.size)
-        else:
-            raise Exception('Invalid x0 value.')
-
-    # bounds on x
-    @lbx.setter
-    def lbx(self, lbx):
-        if isinstance(lbx, np.ndarray):
-            self.__lbx = lbx
-        else:
-            raise Exception('Invalid lbx value.')
-
-    @ubx.setter
-    def ubx(self, ubx):
-        if isinstance(ubx, np.ndarray):
-            self.__ubx = ubx
-        else:
-            raise Exception('Invalid ubx value.')
-
-    @idxbx.setter
-    def idxbx(self, idxbx):
-        if isinstance(idxbx, np.ndarray):
-            self.__idxbx = idxbx
-        else:
-            raise Exception('Invalid idxbx value.')
-
-    @Jbx.setter
-    def Jbx(self, Jbx):
-        if isinstance(Jbx, np.ndarray):
-            self.__idxbx = J_to_idx(Jbx)
-        else:
-            raise Exception('Invalid Jbx value.')
-
-    # bounds on u
-    @lbu.setter
-    def lbu(self, lbu):
-        if isinstance(lbu, np.ndarray):
-            self.__lbu = lbu
-        else:
-            raise Exception('Invalid lbu value.')
-
-    @ubu.setter
-    def ubu(self, ubu):
-        if isinstance(ubu, np.ndarray):
-            self.__ubu = ubu
-        else:
-            raise Exception('Invalid ubu value.')
-
-    @idxbu.setter
-    def idxbu(self, idxbu):
-        if isinstance(idxbu, np.ndarray):
-            self.__idxbu = idxbu
-        else:
-            raise Exception('Invalid idxbu value.')
-
-    @Jbu.setter
-    def Jbu(self, Jbu):
-        if isinstance(Jbu, np.ndarray):
-            self.__idxbu = J_to_idx(Jbu)
-        else:
-            raise Exception('Invalid Jbu value.')
-
-    # bounds on x at shooting node N
-    @lbx_e.setter
-    def lbx_e(self, lbx_e):
-        if isinstance(lbx_e, np.ndarray):
-            self.__lbx_e = lbx_e
-        else:
-            raise Exception('Invalid lbx_e value.')
-
-    @ubx_e.setter
-    def ubx_e(self, ubx_e):
-        if isinstance(ubx_e, np.ndarray):
-            self.__ubx_e = ubx_e
-        else:
-            raise Exception('Invalid ubx_e value.')
-
-    @idxbx_e.setter
-    def idxbx_e(self, idxbx_e):
-        if isinstance(idxbx_e, np.ndarray):
-            self.__idxbx_e = idxbx_e
-        else:
-            raise Exception('Invalid idxbx_e value.')
-
-    @Jbx_e.setter
-    def Jbx_e(self, Jbx_e):
-        if isinstance(Jbx_e, np.ndarray):
-            self.__idxbx_e = J_to_idx(Jbx_e)
-        else:
-            raise Exception('Invalid Jbx_e value.')
-
-    # polytopic constraints
-    @D.setter
-    def D(self, D):
-        if isinstance(D, np.ndarray) and len(D.shape) == 2:
-            self.__D = D
-        else:
-            raise Exception('Invalid constraint D value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @C.setter
-    def C(self, C):
-        if isinstance(C, np.ndarray) and len(C.shape) == 2:
-            self.__C = C
-        else:
-            raise Exception('Invalid constraint C value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @lg.setter
-    def lg(self, lg):
-        if isinstance(lg, np.ndarray):
-            self.__lg = lg
-        else:
-            raise Exception('Invalid lg value.')
-
-    @ug.setter
-    def ug(self, ug):
-        if isinstance(ug, np.ndarray):
-            self.__ug = ug
-        else:
-            raise Exception('Invalid ug value.')
-
-    # polytopic constraints at shooting node N
-    @C_e.setter
-    def C_e(self, C_e):
-        if isinstance(C_e, np.ndarray) and len(C_e.shape) == 2:
-            self.__C_e = C_e
-        else:
-            raise Exception('Invalid constraint C_e value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @lg_e.setter
-    def lg_e(self, lg_e):
-        if isinstance(lg_e, np.ndarray):
-            self.__lg_e = lg_e
-        else:
-            raise Exception('Invalid lg_e value.')
-
-    @ug_e.setter
-    def ug_e(self, ug_e):
-        if isinstance(ug_e, np.ndarray):
-            self.__ug_e = ug_e
-        else:
-            raise Exception('Invalid ug_e value.')
-
-    # nonlinear constraints
-    @lh.setter
-    def lh(self, lh):
-        if isinstance(lh, np.ndarray):
-            self.__lh = lh
-        else:
-            raise Exception('Invalid lh value.')
-
-    @uh.setter
-    def uh(self, uh):
-        if isinstance(uh, np.ndarray):
-            self.__uh = uh
-        else:
-            raise Exception('Invalid uh value.')
-
-    # convex-over-nonlinear constraints
-    @lphi.setter
-    def lphi(self, lphi):
-        if isinstance(lphi, np.ndarray):
-            self.__lphi = lphi
-        else:
-            raise Exception('Invalid lphi value.')
-
-    @uphi.setter
-    def uphi(self, uphi):
-        if isinstance(uphi, np.ndarray):
-            self.__uphi = uphi
-        else:
-            raise Exception('Invalid uphi value.')
-
-    # nonlinear constraints at shooting node N
-    @lh_e.setter
-    def lh_e(self, lh_e):
-        if isinstance(lh_e, np.ndarray):
-            self.__lh_e = lh_e
-        else:
-            raise Exception('Invalid lh_e value.')
-
-    @uh_e.setter
-    def uh_e(self, uh_e):
-        if isinstance(uh_e, np.ndarray):
-            self.__uh_e = uh_e
-        else:
-            raise Exception('Invalid uh_e value.')
-
-    # convex-over-nonlinear constraints at shooting node N
-    @lphi_e.setter
-    def lphi_e(self, lphi_e):
-        if isinstance(lphi_e, np.ndarray):
-            self.__lphi_e = lphi_e
-        else:
-            raise Exception('Invalid lphi_e value.')
-
-    @uphi_e.setter
-    def uphi_e(self, uphi_e):
-        if isinstance(uphi_e, np.ndarray):
-            self.__uphi_e = uphi_e
-        else:
-            raise Exception('Invalid uphi_e value.')
-
-    # SLACK bounds
-    # soft bounds on x
-    @lsbx.setter
-    def lsbx(self, lsbx):
-        if isinstance(lsbx, np.ndarray):
-            self.__lsbx = lsbx
-        else:
-            raise Exception('Invalid lsbx value.')
-
-    @usbx.setter
-    def usbx(self, usbx):
-        if isinstance(usbx, np.ndarray):
-            self.__usbx = usbx
-        else:
-            raise Exception('Invalid usbx value.')
-
-    @idxsbx.setter
-    def idxsbx(self, idxsbx):
-        if isinstance(idxsbx, np.ndarray):
-            self.__idxsbx = idxsbx
-        else:
-            raise Exception('Invalid idxsbx value.')
-
-    @Jsbx.setter
-    def Jsbx(self, Jsbx):
-        if isinstance(Jsbx, np.ndarray):
-            self.__idxsbx = J_to_idx_slack(Jsbx)
-        else:
-            raise Exception('Invalid Jsbx value, expected numpy array.')
-
-    # soft bounds on u
-    @lsbu.setter
-    def lsbu(self, lsbu):
-        if isinstance(lsbu, np.ndarray):
-            self.__lsbu = lsbu
-        else:
-            raise Exception('Invalid lsbu value.')
-
-    @usbu.setter
-    def usbu(self, usbu):
-        if isinstance(usbu, np.ndarray):
-            self.__usbu = usbu
-        else:
-            raise Exception('Invalid usbu value.')
-
-    @idxsbu.setter
-    def idxsbu(self, idxsbu):
-        if isinstance(idxsbu, np.ndarray):
-            self.__idxsbu = idxsbu
-        else:
-            raise Exception('Invalid idxsbu value.')
-
-    @Jsbu.setter
-    def Jsbu(self, Jsbu):
-        if isinstance(Jsbu, np.ndarray):
-            self.__idxsbu = J_to_idx_slack(Jsbu)
-        else:
-            raise Exception('Invalid Jsbu value.')
-
-    # soft bounds on x at shooting node N
-    @lsbx_e.setter
-    def lsbx_e(self, lsbx_e):
-        if isinstance(lsbx_e, np.ndarray):
-            self.__lsbx_e = lsbx_e
-        else:
-            raise Exception('Invalid lsbx_e value.')
-
-    @usbx_e.setter
-    def usbx_e(self, usbx_e):
-        if isinstance(usbx_e, np.ndarray):
-            self.__usbx_e = usbx_e
-        else:
-            raise Exception('Invalid usbx_e value.')
-
-    @idxsbx_e.setter
-    def idxsbx_e(self, idxsbx_e):
-        if isinstance(idxsbx_e, np.ndarray):
-            self.__idxsbx_e = idxsbx_e
-        else:
-            raise Exception('Invalid idxsbx_e value.')
-
-    @Jsbx_e.setter
-    def Jsbx_e(self, Jsbx_e):
-        if isinstance(Jsbx_e, np.ndarray):
-            self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
-        else:
-            raise Exception('Invalid Jsbx_e value.')
-
-
-    # soft bounds on general linear constraints
-    @lsg.setter
-    def lsg(self, lsg):
-        if isinstance(lsg, np.ndarray):
-            self.__lsg = lsg
-        else:
-            raise Exception('Invalid lsg value.')
-
-    @usg.setter
-    def usg(self, usg):
-        if isinstance(usg, np.ndarray):
-            self.__usg = usg
-        else:
-            raise Exception('Invalid usg value.')
-
-    @idxsg.setter
-    def idxsg(self, idxsg):
-        if isinstance(idxsg, np.ndarray):
-            self.__idxsg = idxsg
-        else:
-            raise Exception('Invalid idxsg value.')
-
-    @Jsg.setter
-    def Jsg(self, Jsg):
-        if isinstance(Jsg, np.ndarray):
-            self.__idxsg = J_to_idx_slack(Jsg)
-        else:
-            raise Exception('Invalid Jsg value, expected numpy array.')
-
-
-    # soft bounds on nonlinear constraints
-    @lsh.setter
-    def lsh(self, lsh):
-        if isinstance(lsh, np.ndarray):
-            self.__lsh = lsh
-        else:
-            raise Exception('Invalid lsh value.')
-
-    @ush.setter
-    def ush(self, ush):
-        if isinstance(ush, np.ndarray):
-            self.__ush = ush
-        else:
-            raise Exception('Invalid ush value.')
-
-    @idxsh.setter
-    def idxsh(self, idxsh):
-        if isinstance(idxsh, np.ndarray):
-            self.__idxsh = idxsh
-        else:
-            raise Exception('Invalid idxsh value.')
-
-
-    @Jsh.setter
-    def Jsh(self, Jsh):
-        if isinstance(Jsh, np.ndarray):
-            self.__idxsh = J_to_idx_slack(Jsh)
-        else:
-            raise Exception('Invalid Jsh value, expected numpy array.')
-
-    # soft bounds on convex-over-nonlinear constraints
-    @lsphi.setter
-    def lsphi(self, lsphi):
-        if isinstance(lsphi, np.ndarray):
-            self.__lsphi = lsphi
-        else:
-            raise Exception('Invalid lsphi value.')
-
-    @usphi.setter
-    def usphi(self, usphi):
-        if isinstance(usphi, np.ndarray):
-            self.__usphi = usphi
-        else:
-            raise Exception('Invalid usphi value.')
-
-    @idxsphi.setter
-    def idxsphi(self, idxsphi):
-        if isinstance(idxsphi, np.ndarray):
-            self.__idxsphi = idxsphi
-        else:
-            raise Exception('Invalid idxsphi value.')
-
-    @Jsphi.setter
-    def Jsphi(self, Jsphi):
-        if isinstance(Jsphi, np.ndarray):
-            self.__idxsphi = J_to_idx_slack(Jsphi)
-        else:
-            raise Exception('Invalid Jsphi value, expected numpy array.')
-
-    # soft bounds on general linear constraints at shooting node N
-    @lsg_e.setter
-    def lsg_e(self, lsg_e):
-        if isinstance(lsg_e, np.ndarray):
-            self.__lsg_e = lsg_e
-        else:
-            raise Exception('Invalid lsg_e value.')
-
-    @usg_e.setter
-    def usg_e(self, usg_e):
-        if isinstance(usg_e, np.ndarray):
-            self.__usg_e = usg_e
-        else:
-            raise Exception('Invalid usg_e value.')
-
-    @idxsg_e.setter
-    def idxsg_e(self, idxsg_e):
-        if isinstance(idxsg_e, np.ndarray):
-            self.__idxsg_e = idxsg_e
-        else:
-            raise Exception('Invalid idxsg_e value.')
-
-    @Jsg_e.setter
-    def Jsg_e(self, Jsg_e):
-        if isinstance(Jsg_e, np.ndarray):
-            self.__idxsg_e = J_to_idx_slack(Jsg_e)
-        else:
-            raise Exception('Invalid Jsg_e value, expected numpy array.')
-
-    # soft bounds on nonlinear constraints at shooting node N
-    @lsh_e.setter
-    def lsh_e(self, lsh_e):
-        if isinstance(lsh_e, np.ndarray):
-            self.__lsh_e = lsh_e
-        else:
-            raise Exception('Invalid lsh_e value.')
-
-    @ush_e.setter
-    def ush_e(self, ush_e):
-        if isinstance(ush_e, np.ndarray):
-            self.__ush_e = ush_e
-        else:
-            raise Exception('Invalid ush_e value.')
-
-    @idxsh_e.setter
-    def idxsh_e(self, idxsh_e):
-        if isinstance(idxsh_e, np.ndarray):
-            self.__idxsh_e = idxsh_e
-        else:
-            raise Exception('Invalid idxsh_e value.')
-
-    @Jsh_e.setter
-    def Jsh_e(self, Jsh_e):
-        if isinstance(Jsh_e, np.ndarray):
-            self.__idxsh_e = J_to_idx_slack(Jsh_e)
-        else:
-            raise Exception('Invalid Jsh_e value, expected numpy array.')
-
-
-    # soft bounds on convex-over-nonlinear constraints at shooting node N
-    @lsphi_e.setter
-    def lsphi_e(self, lsphi_e):
-        if isinstance(lsphi_e, np.ndarray):
-            self.__lsphi_e = lsphi_e
-        else:
-            raise Exception('Invalid lsphi_e value.')
-
-    @usphi_e.setter
-    def usphi_e(self, usphi_e):
-        if isinstance(usphi_e, np.ndarray):
-            self.__usphi_e = usphi_e
-        else:
-            raise Exception('Invalid usphi_e value.')
-
-    @idxsphi_e.setter
-    def idxsphi_e(self, idxsphi_e):
-        if isinstance(idxsphi_e, np.ndarray):
-            self.__idxsphi_e = idxsphi_e
-        else:
-            raise Exception('Invalid idxsphi_e value.')
-
-    @Jsphi_e.setter
-    def Jsphi_e(self, Jsphi_e):
-        if isinstance(Jsphi_e, np.ndarray):
-            self.__idxsphi_e = J_to_idx_slack(Jsphi_e)
-        else:
-            raise Exception('Invalid Jsphi_e value.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcpOptions:
-    """
-    class containing the description of the solver options
-    """
-    def __init__(self):
-        self.__qp_solver        = 'PARTIAL_CONDENSING_HPIPM'  # qp solver to be used in the NLP solver
-        self.__hessian_approx   = 'GAUSS_NEWTON'              # hessian approximation
-        self.__integrator_type  = 'ERK'                       # integrator type
-        self.__tf               = None                        # prediction horizon
-        self.__nlp_solver_type  = 'SQP_RTI'                   # NLP solver
-        self.__globalization = 'FIXED_STEP'
-        self.__nlp_solver_step_length = 1.0                   # fixed Newton step length
-        self.__levenberg_marquardt = 0.0
-        self.__collocation_type = 'GAUSS_LEGENDRE'
-        self.__sim_method_num_stages  = 4                     # number of stages in the integrator
-        self.__sim_method_num_steps   = 1                     # number of steps in the integrator
-        self.__sim_method_newton_iter = 3                     # number of Newton iterations in simulation method
-        self.__sim_method_newton_tol = 0.0
-        self.__sim_method_jac_reuse = 0
-        self.__qp_solver_tol_stat = None                      # QP solver stationarity tolerance
-        self.__qp_solver_tol_eq   = None                      # QP solver equality tolerance
-        self.__qp_solver_tol_ineq = None                      # QP solver inequality
-        self.__qp_solver_tol_comp = None                      # QP solver complementarity
-        self.__qp_solver_iter_max = 50                        # QP solver max iter
-        self.__qp_solver_cond_N = None                        # QP solver: new horizon after partial condensing
-        self.__qp_solver_warm_start = 0
-        self.__qp_solver_cond_ric_alg = 1
-        self.__qp_solver_ric_alg = 1
-        self.__nlp_solver_tol_stat = 1e-6                     # NLP solver stationarity tolerance
-        self.__nlp_solver_tol_eq   = 1e-6                     # NLP solver equality tolerance
-        self.__nlp_solver_tol_ineq = 1e-6                     # NLP solver inequality
-        self.__nlp_solver_tol_comp = 1e-6                     # NLP solver complementarity
-        self.__nlp_solver_max_iter = 100                      # NLP solver maximum number of iterations
-        self.__nlp_solver_ext_qp_res = 0
-        self.__Tsim = None                                    # automatically calculated as tf/N
-        self.__print_level = 0                                # print level
-        self.__initialize_t_slacks = 0                        # possible values: 0, 1
-        self.__regularize_method = None
-        self.__time_steps = None
-        self.__shooting_nodes = None
-        self.__exact_hess_cost = 1
-        self.__exact_hess_dyn = 1
-        self.__exact_hess_constr = 1
-        self.__ext_cost_num_hess = 0
-        self.__alpha_min = 0.05
-        self.__alpha_reduction = 0.7
-        self.__line_search_use_sufficient_descent = 0
-        self.__globalization_use_SOC = 0
-        self.__full_step_dual = 0
-        self.__eps_sufficient_descent = 1e-4
-        self.__hpipm_mode = 'BALANCE'
-        # TODO: move those out? they are more about generation than about the acados OCP solver.
-        self.__ext_fun_compile_flags = '-O2'
-        self.__model_external_shared_lib_dir   = None         # path to the the .so lib
-        self.__model_external_shared_lib_name  = None         # name of the the .so lib
-        self.__custom_update_filename = ''
-        self.__custom_update_header_filename = ''
-        self.__custom_templates = []
-        self.__custom_update_copy = True
-
-    @property
-    def qp_solver(self):
-        """QP solver to be used in the NLP solver.
-        String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', 'FULL_CONDENSING_DAQP').
-        Default: 'PARTIAL_CONDENSING_HPIPM'.
-        """
-        return self.__qp_solver
-
-    @property
-    def ext_fun_compile_flags(self):
-        """
-        String with compiler flags for external function compilation.
-        Default: '-O2'.
-        """
-        return self.__ext_fun_compile_flags
-
-
-    @property
-    def custom_update_filename(self):
-        """
-        Filename of the custom C function to update solver data and parameters in between solver calls
-
-        This file has to implement the functions
-        int custom_update_init_function([model.name]_solver_capsule* capsule);
-        int custom_update_function([model.name]_solver_capsule* capsule);
-        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
-
-
-        Default: ''.
-        """
-        return self.__custom_update_filename
-
-
-    @property
-    def custom_templates(self):
-        """
-        List of tuples of the form:
-        (input_filename, output_filename)
-
-        Custom templates are render in OCP solver generation.
-
-        Default: [].
-        """
-        return self.__custom_templates
-
-
-    @property
-    def custom_update_header_filename(self):
-        """
-        Header filename of the custom C function to update solver data and parameters in between solver calls
-
-        This file has to declare the custom_update functions and look as follows:
-
-        ```
-        // Called at the end of solver creation.
-        // This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
-        int custom_update_init_function([model.name]_solver_capsule* capsule);
-
-        // Custom update function that can be called between solver calls
-        int custom_update_function([model.name]_solver_capsule* capsule, double* data, int data_len);
-
-        // Called just before destroying the solver.
-        // Responsible to free allocated memory, stored at capsule->custom_update_memory.
-        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
-
-        Default: ''.
-        """
-        return self.__custom_update_header_filename
-
-    @property
-    def custom_update_copy(self):
-        """
-        Boolean;
-        If True, the custom update function files are copied into the `code_export_directory`.
-        """
-        return self.__custom_update_copy
-
-
-    @property
-    def hpipm_mode(self):
-        """
-        Mode of HPIPM to be used,
-
-        String in ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST').
-
-        Default: 'BALANCE'.
-
-        see https://cdn.syscop.de/publications/Frison2020a.pdf
-        and the HPIPM code:
-        https://github.com/giaf/hpipm/blob/master/ocp_qp/x_ocp_qp_ipm.c#L69
-        """
-        return self.__hpipm_mode
-
-    @property
-    def hessian_approx(self):
-        """Hessian approximation.
-        String in ('GAUSS_NEWTON', 'EXACT').
-        Default: 'GAUSS_NEWTON'.
-        """
-        return self.__hessian_approx
-
-    @property
-    def integrator_type(self):
-        """
-        Integrator type.
-        String in ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK').
-        Default: 'ERK'.
-        """
-        return self.__integrator_type
-
-    @property
-    def nlp_solver_type(self):
-        """NLP solver.
-        String in ('SQP', 'SQP_RTI').
-        Default: 'SQP_RTI'.
-        """
-        return self.__nlp_solver_type
-
-    @property
-    def globalization(self):
-        """Globalization type.
-        String in ('FIXED_STEP', 'MERIT_BACKTRACKING').
-        Default: 'FIXED_STEP'.
-
-        .. note:: preliminary implementation.
-        """
-        return self.__globalization
-
-    @property
-    def collocation_type(self):
-        """Collocation type: relevant for implicit integrators
-        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}.
-
-        Default: GAUSS_LEGENDRE
-        """
-        return self.__collocation_type
-
-    @property
-    def regularize_method(self):
-        """Regularization method for the Hessian.
-        String in ('NO_REGULARIZE', 'MIRROR', 'PROJECT', 'PROJECT_REDUC_HESS', 'CONVEXIFY') or :code:`None`.
-
-        - MIRROR: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, abs(D_ii))
-        - PROJECT: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, D_ii)
-        - CONVEXIFY: Algorithm 6 from Verschueren2017, https://cdn.syscop.de/publications/Verschueren2017.pdf
-        - PROJECT_REDUC_HESS: experimental
-
-        Note: default eps = 1e-4
-
-        Default: :code:`None`.
-        """
-        return self.__regularize_method
-
-    @property
-    def nlp_solver_step_length(self):
-        """
-        Fixed Newton step length.
-        Type: float > 0.
-        Default: 1.0.
-        """
-        return self.__nlp_solver_step_length
-
-    @property
-    def levenberg_marquardt(self):
-        """
-        Factor for LM regularization.
-        Type: float >= 0
-        Default: 0.0.
-        """
-        return self.__levenberg_marquardt
-
-    @property
-    def sim_method_num_stages(self):
-        """
-        Number of stages in the integrator.
-        Type: int > 0 or ndarray of ints > 0 of shape (N,).
-        Default: 4
-        """
-        return self.__sim_method_num_stages
-
-    @property
-    def sim_method_num_steps(self):
-        """
-        Number of steps in the integrator.
-        Type: int > 0 or ndarray of ints > 0 of shape (N,).
-        Default: 1
-        """
-        return self.__sim_method_num_steps
-
-    @property
-    def sim_method_newton_iter(self):
-        """
-        Number of Newton iterations in simulation method.
-        Type: int > 0
-        Default: 3
-        """
-        return self.__sim_method_newton_iter
-
-    @property
-    def sim_method_newton_tol(self):
-        """
-        Tolerance of Newton system in simulation method.
-        Type: float: 0.0 means not used
-        Default: 0.0
-        """
-        return self.__sim_method_newton_tol
-
-    @property
-    def sim_method_jac_reuse(self):
-        """
-        Integer determining if jacobians are reused within integrator or ndarray of ints > 0 of shape (N,).
-        0: False (no reuse); 1: True (reuse)
-        Default: 0
-        """
-        return self.__sim_method_jac_reuse
-
-    @property
-    def qp_solver_tol_stat(self):
-        """
-        QP solver stationarity tolerance.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_stat
-
-    @property
-    def qp_solver_tol_eq(self):
-        """
-        QP solver equality tolerance.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_eq
-
-    @property
-    def qp_solver_tol_ineq(self):
-        """
-        QP solver inequality.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_ineq
-
-    @property
-    def qp_solver_tol_comp(self):
-        """
-        QP solver complementarity.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_comp
-
-    @property
-    def qp_solver_cond_N(self):
-        """QP solver: New horizon after partial condensing.
-        Set to N by default -> no condensing."""
-        return self.__qp_solver_cond_N
-
-    @property
-    def qp_solver_warm_start(self):
-        """
-        QP solver: Warm starting.
-        0: no warm start; 1: warm start; 2: hot start.
-        Default: 0
-        """
-        return self.__qp_solver_warm_start
-
-    @property
-    def qp_solver_cond_ric_alg(self):
-        """
-        QP solver: Determines which algorithm is used in HPIPM condensing.
-        0: dont factorize hessian in the condensing; 1: factorize.
-        Default: 1
-        """
-        return self.__qp_solver_cond_ric_alg
-
-    @property
-    def qp_solver_ric_alg(self):
-        """
-        QP solver: Determines which algorithm is used in HPIPM OCP QP solver.
-        0 classical Riccati, 1 square-root Riccati.
-
-        Note: taken from [HPIPM paper]:
-
-        (a) the classical implementation requires the reduced Hessian with respect to the dynamics
-            equality constraints to be positive definite, but allows the full-space Hessian to be indefinite)
-        (b) the square-root implementation, which in order to reduce the flop count employs the Cholesky
-            factorization of the Riccati recursion matrix, and therefore requires the full-space Hessian to be positive definite
-
-        [HPIPM paper]: HPIPM: a high-performance quadratic programming framework for model predictive control, Frison and Diehl, 2020
-        https://cdn.syscop.de/publications/Frison2020a.pdf
-
-        Default: 1
-        """
-        return self.__qp_solver_ric_alg
-
-    @property
-    def qp_solver_iter_max(self):
-        """
-        QP solver: maximum number of iterations.
-        Type: int > 0
-        Default: 50
-        """
-        return self.__qp_solver_iter_max
-
-    @property
-    def tol(self):
-        """
-        NLP solver tolerance. Sets or gets the max of :py:attr:`nlp_solver_tol_eq`,
-        :py:attr:`nlp_solver_tol_ineq`, :py:attr:`nlp_solver_tol_comp`
-        and :py:attr:`nlp_solver_tol_stat`.
-        """
-        return max([self.__nlp_solver_tol_eq, self.__nlp_solver_tol_ineq,\
-                    self.__nlp_solver_tol_comp, self.__nlp_solver_tol_stat])
-
-    @property
-    def qp_tol(self):
-        """
-        QP solver tolerance.
-        Sets all of the following at once or gets the max of
-        :py:attr:`qp_solver_tol_eq`, :py:attr:`qp_solver_tol_ineq`,
-        :py:attr:`qp_solver_tol_comp` and
-        :py:attr:`qp_solver_tol_stat`.
-        """
-        return max([self.__qp_solver_tol_eq, self.__qp_solver_tol_ineq,\
-                    self.__qp_solver_tol_comp, self.__qp_solver_tol_stat])
-
-    @property
-    def nlp_solver_tol_stat(self):
-        """
-        NLP solver stationarity tolerance.
-        Type: float > 0
-        Default: 1e-6
-        """
-        return self.__nlp_solver_tol_stat
-
-    @property
-    def nlp_solver_tol_eq(self):
-        """NLP solver equality tolerance"""
-        return self.__nlp_solver_tol_eq
-
-    @property
-    def alpha_min(self):
-        """Minimal step size for globalization MERIT_BACKTRACKING, default: 0.05."""
-        return self.__alpha_min
-
-    @property
-    def alpha_reduction(self):
-        """Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7."""
-        return self.__alpha_reduction
-
-    @property
-    def line_search_use_sufficient_descent(self):
-        """
-        Determines if sufficient descent (Armijo) condition is used in line search.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__line_search_use_sufficient_descent
-
-    @property
-    def eps_sufficient_descent(self):
-        """
-        Factor for sufficient descent (Armijo) conditon, see line_search_use_sufficient_descent.
-        Type: float,
-        default: 1e-4.
-        """
-        return self.__eps_sufficient_descent
-
-    @property
-    def globalization_use_SOC(self):
-        """
-        Determines if second order correction (SOC) is done when using MERIT_BACKTRACKING.
-        SOC is done if preliminary line search does not return full step.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__globalization_use_SOC
-
-    @property
-    def full_step_dual(self):
-        """
-        Determines if dual variables are updated with full steps (alpha=1.0) when primal variables are updated with smaller step.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__full_step_dual
-
-    @property
-    def nlp_solver_tol_ineq(self):
-        """NLP solver inequality tolerance"""
-        return self.__nlp_solver_tol_ineq
-
-    @property
-    def nlp_solver_ext_qp_res(self):
-        """Determines if residuals of QP are computed externally within NLP solver (for debugging)
-
-        Type: int; 0 or 1;
-        Default: 0.
-        """
-        return self.__nlp_solver_ext_qp_res
-
-    @property
-    def nlp_solver_tol_comp(self):
-        """NLP solver complementarity tolerance"""
-        return self.__nlp_solver_tol_comp
-
-    @property
-    def nlp_solver_max_iter(self):
-        """
-        NLP solver maximum number of iterations.
-        Type: int > 0
-        Default: 100
-        """
-        return self.__nlp_solver_max_iter
-
-    @property
-    def time_steps(self):
-        """
-        Vector with time steps between the shooting nodes. Set automatically to uniform discretization if :py:attr:`N` and :py:attr:`tf` are provided.
-        Default: :code:`None`
-        """
-        return self.__time_steps
-
-    @property
-    def shooting_nodes(self):
-        """
-        Vector with the shooting nodes, time_steps will be computed from it automatically.
-        Default: :code:`None`
-        """
-        return self.__shooting_nodes
-
-    @property
-    def tf(self):
-        """
-        Prediction horizon
-        Type: float > 0
-        Default: :code:`None`
-        """
-        return self.__tf
-
-    @property
-    def Tsim(self):
-        """
-        Time horizon for one integrator step. Automatically calculated as :py:attr:`tf`/:py:attr:`N`.
-        Default: :code:`None`
-        """
-        return self.__Tsim
-
-    @property
-    def print_level(self):
-        """
-        Verbosity of printing.
-        Type: int >= 0
-        Default: 0
-        """
-        return self.__print_level
-
-    @property
-    def model_external_shared_lib_dir(self):
-        """Path to the .so lib"""
-        return self.__model_external_shared_lib_dir
-
-    @property
-    def model_external_shared_lib_name(self):
-        """Name of the .so lib"""
-        return self.__model_external_shared_lib_name
-
-    @property
-    def exact_hess_constr(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the constraints module.
-        """
-        return self.__exact_hess_constr
-
-    @property
-    def exact_hess_cost(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the cost module.
-        """
-        return self.__exact_hess_cost
-
-    @property
-    def exact_hess_dyn(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the dynamics module.
-        """
-        return self.__exact_hess_dyn
-
-    @property
-    def ext_cost_num_hess(self):
-        """
-        Determines if custom hessian approximation for cost contribution is used (> 0).\n
-        Or if hessian contribution is evaluated exactly using CasADi external function (=0 - default).
-        """
-        return self.__ext_cost_num_hess
-
-    @qp_solver.setter
-    def qp_solver(self, qp_solver):
-        qp_solvers = ('PARTIAL_CONDENSING_HPIPM', \
-                'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', \
-                'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', \
-                'FULL_CONDENSING_DAQP')
-        if qp_solver in qp_solvers:
-            self.__qp_solver = qp_solver
-        else:
-            raise Exception('Invalid qp_solver value. Possible values are:\n\n' \
-                    + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\n')
-
-    @regularize_method.setter
-    def regularize_method(self, regularize_method):
-        regularize_methods = ('NO_REGULARIZE', 'MIRROR', 'PROJECT', \
-                                'PROJECT_REDUC_HESS', 'CONVEXIFY')
-        if regularize_method in regularize_methods:
-            self.__regularize_method = regularize_method
-        else:
-            raise Exception('Invalid regularize_method value. Possible values are:\n\n' \
-                    + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\n')
-
-    @collocation_type.setter
-    def collocation_type(self, collocation_type):
-        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
-        if collocation_type in collocation_types:
-            self.__collocation_type = collocation_type
-        else:
-            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
-
-    @hpipm_mode.setter
-    def hpipm_mode(self, hpipm_mode):
-        hpipm_modes = ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST')
-        if hpipm_mode in hpipm_modes:
-            self.__hpipm_mode = hpipm_mode
-        else:
-            raise Exception('Invalid hpipm_mode value. Possible values are:\n\n' \
-                    + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\n')
-
-    @ext_fun_compile_flags.setter
-    def ext_fun_compile_flags(self, ext_fun_compile_flags):
-        if isinstance(ext_fun_compile_flags, str):
-            self.__ext_fun_compile_flags = ext_fun_compile_flags
-        else:
-            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
-
-
-    @custom_update_filename.setter
-    def custom_update_filename(self, custom_update_filename):
-        if isinstance(custom_update_filename, str):
-            self.__custom_update_filename = custom_update_filename
-        else:
-            raise Exception('Invalid custom_update_filename, expected a string.\n')
-
-    @custom_templates.setter
-    def custom_templates(self, custom_templates):
-        if not isinstance(custom_templates, list):
-            raise Exception('Invalid custom_templates, expected a list.\n')
-        for tup in custom_templates:
-            if not isinstance(tup, tuple):
-                raise Exception('Invalid custom_templates, shoubld be list of tuples.\n')
-            for s in tup:
-                if not isinstance(s, str):
-                    raise Exception('Invalid custom_templates, shoubld be list of tuples of strings.\n')
-        self.__custom_templates = custom_templates
-
-    @custom_update_header_filename.setter
-    def custom_update_header_filename(self, custom_update_header_filename):
-        if isinstance(custom_update_header_filename, str):
-            self.__custom_update_header_filename = custom_update_header_filename
-        else:
-            raise Exception('Invalid custom_update_header_filename, expected a string.\n')
-
-    @custom_update_copy.setter
-    def custom_update_copy(self, custom_update_copy):
-        if isinstance(custom_update_copy, bool):
-            self.__custom_update_copy = custom_update_copy
-        else:
-            raise Exception('Invalid custom_update_copy, expected a bool.\n')
-
-    @hessian_approx.setter
-    def hessian_approx(self, hessian_approx):
-        hessian_approxs = ('GAUSS_NEWTON', 'EXACT')
-        if hessian_approx in hessian_approxs:
-            self.__hessian_approx = hessian_approx
-        else:
-            raise Exception('Invalid hessian_approx value. Possible values are:\n\n' \
-                    + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\n')
-
-    @integrator_type.setter
-    def integrator_type(self, integrator_type):
-        integrator_types = ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK')
-        if integrator_type in integrator_types:
-            self.__integrator_type = integrator_type
-        else:
-            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
-
-    @tf.setter
-    def tf(self, tf):
-        self.__tf = tf
-
-    @time_steps.setter
-    def time_steps(self, time_steps):
-        if isinstance(time_steps, np.ndarray):
-            if len(time_steps.shape) == 1:
-                    self.__time_steps = time_steps
-            else:
-                raise Exception('Invalid time_steps, expected np.ndarray of shape (N,).')
-        else:
-            raise Exception('Invalid time_steps, expected np.ndarray.')
-
-    @shooting_nodes.setter
-    def shooting_nodes(self, shooting_nodes):
-        if isinstance(shooting_nodes, np.ndarray):
-            if len(shooting_nodes.shape) == 1:
-                self.__shooting_nodes = shooting_nodes
-            else:
-                raise Exception('Invalid shooting_nodes, expected np.ndarray of shape (N+1,).')
-        else:
-            raise Exception('Invalid shooting_nodes, expected np.ndarray.')
-
-    @Tsim.setter
-    def Tsim(self, Tsim):
-        self.__Tsim = Tsim
-
-    @globalization.setter
-    def globalization(self, globalization):
-        globalization_types = ('MERIT_BACKTRACKING', 'FIXED_STEP')
-        if globalization in globalization_types:
-            self.__globalization = globalization
-        else:
-            raise Exception('Invalid globalization value. Possible values are:\n\n' \
-                    + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\n')
-
-    @alpha_min.setter
-    def alpha_min(self, alpha_min):
-        self.__alpha_min = alpha_min
-
-    @alpha_reduction.setter
-    def alpha_reduction(self, alpha_reduction):
-        self.__alpha_reduction = alpha_reduction
-
-    @line_search_use_sufficient_descent.setter
-    def line_search_use_sufficient_descent(self, line_search_use_sufficient_descent):
-        if line_search_use_sufficient_descent in [0, 1]:
-            self.__line_search_use_sufficient_descent = line_search_use_sufficient_descent
-        else:
-            raise Exception(f'Invalid value for line_search_use_sufficient_descent. Possible values are 0, 1, got {line_search_use_sufficient_descent}')
-
-    @globalization_use_SOC.setter
-    def globalization_use_SOC(self, globalization_use_SOC):
-        if globalization_use_SOC in [0, 1]:
-            self.__globalization_use_SOC = globalization_use_SOC
-        else:
-            raise Exception(f'Invalid value for globalization_use_SOC. Possible values are 0, 1, got {globalization_use_SOC}')
-
-    @full_step_dual.setter
-    def full_step_dual(self, full_step_dual):
-        if full_step_dual in [0, 1]:
-            self.__full_step_dual = full_step_dual
-        else:
-            raise Exception(f'Invalid value for full_step_dual. Possible values are 0, 1, got {full_step_dual}')
-
-    @eps_sufficient_descent.setter
-    def eps_sufficient_descent(self, eps_sufficient_descent):
-        if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0:
-            self.__eps_sufficient_descent = eps_sufficient_descent
-        else:
-            raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float.')
-
-    @sim_method_num_stages.setter
-    def sim_method_num_stages(self, sim_method_num_stages):
-
-        # if isinstance(sim_method_num_stages, int):
-        #     self.__sim_method_num_stages = sim_method_num_stages
-        # else:
-        #     raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer.')
-
-        self.__sim_method_num_stages = sim_method_num_stages
-
-    @sim_method_num_steps.setter
-    def sim_method_num_steps(self, sim_method_num_steps):
-
-        # if isinstance(sim_method_num_steps, int):
-        #     self.__sim_method_num_steps = sim_method_num_steps
-        # else:
-        #     raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer.')
-        self.__sim_method_num_steps = sim_method_num_steps
-
-
-    @sim_method_newton_iter.setter
-    def sim_method_newton_iter(self, sim_method_newton_iter):
-
-        if isinstance(sim_method_newton_iter, int):
-            self.__sim_method_newton_iter = sim_method_newton_iter
-        else:
-            raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer.')
-
-    @sim_method_jac_reuse.setter
-    def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        # if sim_method_jac_reuse in (True, False):
-        self.__sim_method_jac_reuse = sim_method_jac_reuse
-        # else:
-            # raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.')
-
-    @nlp_solver_type.setter
-    def nlp_solver_type(self, nlp_solver_type):
-        nlp_solver_types = ('SQP', 'SQP_RTI')
-        if nlp_solver_type in nlp_solver_types:
-            self.__nlp_solver_type = nlp_solver_type
-        else:
-            raise Exception('Invalid nlp_solver_type value. Possible values are:\n\n' \
-                    + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\n')
-
-    @nlp_solver_step_length.setter
-    def nlp_solver_step_length(self, nlp_solver_step_length):
-        if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0:
-            self.__nlp_solver_step_length = nlp_solver_step_length
-        else:
-            raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float.')
-
-    @levenberg_marquardt.setter
-    def levenberg_marquardt(self, levenberg_marquardt):
-        if isinstance(levenberg_marquardt, float) and levenberg_marquardt >= 0:
-            self.__levenberg_marquardt = levenberg_marquardt
-        else:
-            raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float.')
-
-    @qp_solver_iter_max.setter
-    def qp_solver_iter_max(self, qp_solver_iter_max):
-        if isinstance(qp_solver_iter_max, int) and qp_solver_iter_max > 0:
-            self.__qp_solver_iter_max = qp_solver_iter_max
-        else:
-            raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int.')
-
-    @qp_solver_ric_alg.setter
-    def qp_solver_ric_alg(self, qp_solver_ric_alg):
-        if qp_solver_ric_alg in [0, 1]:
-            self.__qp_solver_ric_alg = qp_solver_ric_alg
-        else:
-            raise Exception(f'Invalid qp_solver_ric_alg value. qp_solver_ric_alg must be in [0, 1], got {qp_solver_ric_alg}.')
-
-    @qp_solver_cond_ric_alg.setter
-    def qp_solver_cond_ric_alg(self, qp_solver_cond_ric_alg):
-        if qp_solver_cond_ric_alg in [0, 1]:
-            self.__qp_solver_cond_ric_alg = qp_solver_cond_ric_alg
-        else:
-            raise Exception(f'Invalid qp_solver_cond_ric_alg value. qp_solver_cond_ric_alg must be in [0, 1], got {qp_solver_cond_ric_alg}.')
-
-
-    @qp_solver_cond_N.setter
-    def qp_solver_cond_N(self, qp_solver_cond_N):
-        if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0:
-            self.__qp_solver_cond_N = qp_solver_cond_N
-        else:
-            raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int.')
-
-    @qp_solver_warm_start.setter
-    def qp_solver_warm_start(self, qp_solver_warm_start):
-        if qp_solver_warm_start in [0, 1, 2]:
-            self.__qp_solver_warm_start = qp_solver_warm_start
-        else:
-            raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2.')
-
-    @qp_tol.setter
-    def qp_tol(self, qp_tol):
-        if isinstance(qp_tol, float) and qp_tol > 0:
-            self.__qp_solver_tol_eq = qp_tol
-            self.__qp_solver_tol_ineq = qp_tol
-            self.__qp_solver_tol_stat = qp_tol
-            self.__qp_solver_tol_comp = qp_tol
-        else:
-            raise Exception('Invalid qp_tol value. qp_tol must be a positive float.')
-
-    @qp_solver_tol_stat.setter
-    def qp_solver_tol_stat(self, qp_solver_tol_stat):
-        if isinstance(qp_solver_tol_stat, float) and qp_solver_tol_stat > 0:
-            self.__qp_solver_tol_stat = qp_solver_tol_stat
-        else:
-            raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float.')
-
-    @qp_solver_tol_eq.setter
-    def qp_solver_tol_eq(self, qp_solver_tol_eq):
-        if isinstance(qp_solver_tol_eq, float) and qp_solver_tol_eq > 0:
-            self.__qp_solver_tol_eq = qp_solver_tol_eq
-        else:
-            raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float.')
-
-    @qp_solver_tol_ineq.setter
-    def qp_solver_tol_ineq(self, qp_solver_tol_ineq):
-        if isinstance(qp_solver_tol_ineq, float) and qp_solver_tol_ineq > 0:
-            self.__qp_solver_tol_ineq = qp_solver_tol_ineq
-        else:
-            raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float.')
-
-    @qp_solver_tol_comp.setter
-    def qp_solver_tol_comp(self, qp_solver_tol_comp):
-        if isinstance(qp_solver_tol_comp, float) and qp_solver_tol_comp > 0:
-            self.__qp_solver_tol_comp = qp_solver_tol_comp
-        else:
-            raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float.')
-
-    @tol.setter
-    def tol(self, tol):
-        if isinstance(tol, float) and tol > 0:
-            self.__nlp_solver_tol_eq = tol
-            self.__nlp_solver_tol_ineq = tol
-            self.__nlp_solver_tol_stat = tol
-            self.__nlp_solver_tol_comp = tol
-        else:
-            raise Exception('Invalid tol value. tol must be a positive float.')
-
-    @nlp_solver_tol_stat.setter
-    def nlp_solver_tol_stat(self, nlp_solver_tol_stat):
-        if isinstance(nlp_solver_tol_stat, float) and nlp_solver_tol_stat > 0:
-            self.__nlp_solver_tol_stat = nlp_solver_tol_stat
-        else:
-            raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float.')
-
-    @nlp_solver_tol_eq.setter
-    def nlp_solver_tol_eq(self, nlp_solver_tol_eq):
-        if isinstance(nlp_solver_tol_eq, float) and nlp_solver_tol_eq > 0:
-            self.__nlp_solver_tol_eq = nlp_solver_tol_eq
-        else:
-            raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float.')
-
-    @nlp_solver_tol_ineq.setter
-    def nlp_solver_tol_ineq(self, nlp_solver_tol_ineq):
-        if isinstance(nlp_solver_tol_ineq, float) and nlp_solver_tol_ineq > 0:
-            self.__nlp_solver_tol_ineq = nlp_solver_tol_ineq
-        else:
-            raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float.')
-
-    @nlp_solver_ext_qp_res.setter
-    def nlp_solver_ext_qp_res(self, nlp_solver_ext_qp_res):
-        if nlp_solver_ext_qp_res in [0, 1]:
-            self.__nlp_solver_ext_qp_res = nlp_solver_ext_qp_res
-        else:
-            raise Exception('Invalid nlp_solver_ext_qp_res value. nlp_solver_ext_qp_res must be in [0, 1].')
-
-    @nlp_solver_tol_comp.setter
-    def nlp_solver_tol_comp(self, nlp_solver_tol_comp):
-        if isinstance(nlp_solver_tol_comp, float) and nlp_solver_tol_comp > 0:
-            self.__nlp_solver_tol_comp = nlp_solver_tol_comp
-        else:
-            raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float.')
-
-    @nlp_solver_max_iter.setter
-    def nlp_solver_max_iter(self, nlp_solver_max_iter):
-
-        if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0:
-            self.__nlp_solver_max_iter = nlp_solver_max_iter
-        else:
-            raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int.')
-
-    @print_level.setter
-    def print_level(self, print_level):
-        if isinstance(print_level, int) and print_level >= 0:
-            self.__print_level = print_level
-        else:
-            raise Exception('Invalid print_level value. print_level takes one of the values >=0.')
-
-    @model_external_shared_lib_dir.setter
-    def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
-        if isinstance(model_external_shared_lib_dir, str) :
-            self.__model_external_shared_lib_dir = model_external_shared_lib_dir
-        else:
-            raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\n')
-
-    @model_external_shared_lib_name.setter
-    def model_external_shared_lib_name(self, model_external_shared_lib_name):
-        if isinstance(model_external_shared_lib_name, str) :
-            if model_external_shared_lib_name[-3:] == '.so' : 
-                raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
-            else :
-                self.__model_external_shared_lib_name = model_external_shared_lib_name
-        else:
-            raise Exception('Invalid model_external_shared_lib_name value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
-
-    @exact_hess_constr.setter
-    def exact_hess_constr(self, exact_hess_constr):
-        if exact_hess_constr in [0, 1]:
-            self.__exact_hess_constr = exact_hess_constr
-        else:
-            raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1.')
-
-    @exact_hess_cost.setter
-    def exact_hess_cost(self, exact_hess_cost):
-        if exact_hess_cost in [0, 1]:
-            self.__exact_hess_cost = exact_hess_cost
-        else:
-            raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1.')
-
-    @exact_hess_dyn.setter
-    def exact_hess_dyn(self, exact_hess_dyn):
-        if exact_hess_dyn in [0, 1]:
-            self.__exact_hess_dyn = exact_hess_dyn
-        else:
-            raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1.')
-
-    @ext_cost_num_hess.setter
-    def ext_cost_num_hess(self, ext_cost_num_hess):
-        if ext_cost_num_hess in [0, 1]:
-            self.__ext_cost_num_hess = ext_cost_num_hess
-        else:
-            raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcp:
-    """
-    Class containing the full description of the optimal control problem.
-    This object can be used to create an :py:class:`acados_template.acados_ocp_solver.AcadosOcpSolver`.
-
-    The class has the following properties that can be modified to formulate a specific OCP, see below:
-
-        - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosOcpDims`
-        - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
-        - :py:attr:`cost` of type :py:class:`acados_template.acados_ocp.AcadosOcpCost`
-        - :py:attr:`constraints` of type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`
-        - :py:attr:`solver_options` of type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`
-
-        - :py:attr:`acados_include_path` (set automatically)
-        - :py:attr:`shared_lib_ext` (set automatically)
-        - :py:attr:`acados_lib_path` (set automatically)
-        - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
-    """
-    def __init__(self, acados_path=''):
-        """
-        Keyword arguments:
-        acados_path -- path of your acados installation
-        """
-        if acados_path == '':
-            acados_path = get_acados_path()
-
-        self.dims = AcadosOcpDims()
-        """Dimension definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpDims`"""
-        self.model = AcadosModel()
-        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
-        self.cost = AcadosOcpCost()
-        """Cost definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpCost`"""
-        self.constraints = AcadosOcpConstraints()
-        """Constraints definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`"""
-        self.solver_options = AcadosOcpOptions()
-        """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`"""
-
-        self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to acados include directory (set automatically), type: `string`"""
-        self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to where acados library is located, type: `string`"""
-        self.shared_lib_ext = get_lib_ext()
-
-        # get cython paths
-        from sysconfig import get_paths
-        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
-
-        self.__parameter_values = np.array([])
-        self.__problem_class = 'OCP'
-
-        self.code_export_directory = 'c_generated_code'
-        """Path to where code will be exported. Default: `c_generated_code`."""
-
-    @property
-    def parameter_values(self):
-        """:math:`p` - initial values for parameter - can be updated stagewise"""
-        return self.__parameter_values
-
-    @parameter_values.setter
-    def parameter_values(self, parameter_values):
-        if isinstance(parameter_values, np.ndarray):
-            self.__parameter_values = parameter_values
-        else:
-            raise Exception('Invalid parameter_values value. ' +
-                            f'Expected numpy array, got {type(parameter_values)}.')
-
-    def set(self, attr, value):
-        # tokenize string
-        tokens = attr.split('_', 1)
-        if len(tokens) > 1:
-            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
-        else:
-            setter_to_call = getattr(self, 'set')
-
-        setter_to_call(tokens[1], value)
-
-        return
diff --git a/third_party/acados/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py
deleted file mode 100644
index 229bdf6039..0000000000
--- a/third_party/acados/acados_template/acados_ocp_solver.py
+++ /dev/null
@@ -1,1990 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import sys
-import os
-import json
-import numpy as np
-from datetime import datetime
-import importlib
-import shutil
-
-from subprocess import DEVNULL, call, STDOUT
-
-from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
-
-from copy import deepcopy
-from pathlib import Path
-
-from .casadi_function_generation import generate_c_code_explicit_ode, \
-    generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_discrete_dynamics, \
-    generate_c_code_constraint, generate_c_code_nls_cost, generate_c_code_conl_cost, \
-    generate_c_code_external_cost
-from .gnsf.detect_gnsf_structure import detect_gnsf_structure
-from .acados_ocp import AcadosOcp
-from .acados_model import AcadosModel
-from .utils import is_column, is_empty, casadi_length, render_template,\
-     format_class_dict, make_object_json_dumpable, make_model_consistent,\
-     set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path, get_lib_ext, check_casadi_version
-from .builders import CMakeBuilder
-
-
-def make_ocp_dims_consistent(acados_ocp: AcadosOcp):
-    dims = acados_ocp.dims
-    cost = acados_ocp.cost
-    constraints = acados_ocp.constraints
-    model = acados_ocp.model
-    opts = acados_ocp.solver_options
-
-    # nx
-    if is_column(model.x):
-        dims.nx = casadi_length(model.x)
-    else:
-        raise Exception('model.x should be column vector!')
-
-    # nu
-    if is_empty(model.u):
-        dims.nu = 0
-    else:
-        dims.nu = casadi_length(model.u)
-
-    # nz
-    if is_empty(model.z):
-        dims.nz = 0
-    else:
-        dims.nz = casadi_length(model.z)
-
-    # np
-    if is_empty(model.p):
-        dims.np = 0
-    else:
-        dims.np = casadi_length(model.p)
-    if acados_ocp.parameter_values.shape[0] != dims.np:
-        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
-            f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n')
-
-    ## cost
-    # initial stage - if not set, copy fields from path constraints
-    if cost.cost_type_0 is None:
-        cost.cost_type_0 = cost.cost_type
-        cost.W_0 = cost.W
-        cost.Vx_0 = cost.Vx
-        cost.Vu_0 = cost.Vu
-        cost.Vz_0 = cost.Vz
-        cost.yref_0 = cost.yref
-        cost.cost_ext_fun_type_0 = cost.cost_ext_fun_type
-        model.cost_y_expr_0 = model.cost_y_expr
-        model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost
-        model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess
-
-        model.cost_psi_expr_0 = model.cost_psi_expr
-        model.cost_r_in_psi_expr_0 = model.cost_r_in_psi_expr
-
-    if cost.cost_type_0 == 'LINEAR_LS':
-        ny_0 = cost.W_0.shape[0]
-        if cost.Vx_0.shape[0] != ny_0 or cost.Vu_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}]\n')
-        if dims.nz != 0 and cost.Vz_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0, Vz_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}], Vz_0[{cost.Vz_0.shape}]\n')
-        if cost.Vx_0.shape[1] != dims.nx and ny_0 != 0:
-            raise Exception('inconsistent dimension: Vx_0 should have nx columns.')
-        if cost.Vu_0.shape[1] != dims.nu and ny_0 != 0:
-            raise Exception('inconsistent dimension: Vu_0 should have nu columns.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], yref_0[{cost.yref_0.shape}]\n')
-        dims.ny_0 = ny_0
-
-    elif cost.cost_type_0 == 'NONLINEAR_LS':
-        ny_0 = cost.W_0.shape[0]
-        if is_empty(model.cost_y_expr_0) and ny_0 != 0:
-            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
-        elif casadi_length(model.cost_y_expr_0) != ny_0:
-            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
-                            f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n')
-        dims.ny_0 = ny_0
-
-    elif cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr_0):
-            raise Exception('cost_y_expr_0 and/or cost_y_expr not provided.')
-        ny_0 = casadi_length(model.cost_y_expr_0)
-        if is_empty(model.cost_r_in_psi_expr_0) or casadi_length(model.cost_r_in_psi_expr_0) != ny_0:
-            raise Exception('inconsistent dimension ny_0: regarding cost_y_expr_0 and cost_r_in_psi_0.')
-        if is_empty(model.cost_psi_expr_0) or casadi_length(model.cost_psi_expr_0) != 1:
-            raise Exception('cost_psi_expr_0 not provided or not scalar-valued.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding yref_0 and cost_y_expr_0, cost_r_in_psi_0.')
-        dims.ny_0 = ny_0
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-    elif cost.cost_type_0 == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_0 is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type_0: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    # path
-    if cost.cost_type == 'LINEAR_LS':
-        ny = cost.W.shape[0]
-        if cost.Vx.shape[0] != ny or cost.Vu.shape[0] != ny:
-            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu.' + \
-                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}]\n')
-        if dims.nz != 0 and cost.Vz.shape[0] != ny:
-            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu, Vz.' + \
-                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}], Vz[{cost.Vz.shape}]\n')
-        if cost.Vx.shape[1] != dims.nx and ny != 0:
-            raise Exception('inconsistent dimension: Vx should have nx columns.')
-        if cost.Vu.shape[1] != dims.nu and ny != 0:
-            raise Exception('inconsistent dimension: Vu should have nu columns.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding W, yref.' + \
-                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
-        dims.ny = ny
-
-    elif cost.cost_type == 'NONLINEAR_LS':
-        ny = cost.W.shape[0]
-        if is_empty(model.cost_y_expr) and ny != 0:
-            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
-        elif casadi_length(model.cost_y_expr) != ny:
-            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding W, yref.' + \
-                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
-        dims.ny = ny
-
-    elif cost.cost_type == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr):
-            raise Exception('cost_y_expr and/or cost_y_expr not provided.')
-        ny = casadi_length(model.cost_y_expr)
-        if is_empty(model.cost_r_in_psi_expr) or casadi_length(model.cost_r_in_psi_expr) != ny:
-            raise Exception('inconsistent dimension ny: regarding cost_y_expr and cost_r_in_psi.')
-        if is_empty(model.cost_psi_expr) or casadi_length(model.cost_psi_expr) != 1:
-            raise Exception('cost_psi_expr not provided or not scalar-valued.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding yref and cost_y_expr, cost_r_in_psi.')
-        dims.ny = ny
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-
-    elif cost.cost_type == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    # terminal
-    if cost.cost_type_e == 'LINEAR_LS':
-        ny_e = cost.W_e.shape[0]
-        if cost.Vx_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.' + \
-                f'\nGot W_e[{cost.W_e.shape}], Vx_e[{cost.Vx_e.shape}]')
-        if cost.Vx_e.shape[1] != dims.nx and ny_e != 0:
-            raise Exception('inconsistent dimension: Vx_e should have nx columns.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
-        dims.ny_e = ny_e
-
-    elif cost.cost_type_e == 'NONLINEAR_LS':
-        ny_e = cost.W_e.shape[0]
-        if is_empty(model.cost_y_expr_e) and ny_e != 0:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
-        elif casadi_length(model.cost_y_expr_e) != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
-        dims.ny_e = ny_e
-
-    elif cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr_e):
-            raise Exception('cost_y_expr_e not provided.')
-        ny_e = casadi_length(model.cost_y_expr_e)
-        if is_empty(model.cost_r_in_psi_expr_e) or casadi_length(model.cost_r_in_psi_expr_e) != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding cost_y_expr_e and cost_r_in_psi_e.')
-        if is_empty(model.cost_psi_expr_e) or casadi_length(model.cost_psi_expr_e) != 1:
-            raise Exception('cost_psi_expr_e not provided or not scalar-valued.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding yref_e and cost_y_expr_e, cost_r_in_psi_e.')
-        dims.ny_e = ny_e
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-
-
-    elif cost.cost_type_e == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_e is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type_e: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    ## constraints
-    # initial
-    this_shape = constraints.lbx_0.shape
-    other_shape = constraints.ubx_0.shape
-    if not this_shape == other_shape:
-        raise Exception('lbx_0, ubx_0 have different shapes!')
-    if not is_column(constraints.lbx_0):
-        raise Exception('lbx_0, ubx_0 must be column vectors!')
-    dims.nbx_0 = constraints.lbx_0.size
-
-    if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \
-        and dims.nbxe_0 is None \
-        and (constraints.idxbxe_0.shape == constraints.idxbx_0.shape)\
-            and all(constraints.idxbxe_0 == constraints.idxbx_0):
-        # case: x0 was set: nbx0 are all equlities.
-        dims.nbxe_0 = dims.nbx_0
-    elif constraints.idxbxe_0 is not None:
-        dims.nbxe_0 = constraints.idxbxe_0.shape[0]
-    elif dims.nbxe_0 is None:
-        # case: x0 and idxbxe_0 were not set -> dont assume nbx0 to be equality constraints.
-        dims.nbxe_0 = 0
-
-    # path
-    nbx = constraints.idxbx.shape[0]
-    if constraints.ubx.shape[0] != nbx or constraints.lbx.shape[0] != nbx:
-        raise Exception('inconsistent dimension nbx, regarding idxbx, ubx, lbx.')
-    else:
-        dims.nbx = nbx
-
-    nbu = constraints.idxbu.shape[0]
-    if constraints.ubu.shape[0] != nbu or constraints.lbu.shape[0] != nbu:
-        raise Exception('inconsistent dimension nbu, regarding idxbu, ubu, lbu.')
-    else:
-        dims.nbu = nbu
-
-    ng = constraints.lg.shape[0]
-    if constraints.ug.shape[0] != ng or constraints.C.shape[0] != ng \
-       or constraints.D.shape[0] != ng:
-        raise Exception('inconsistent dimension ng, regarding lg, ug, C, D.')
-    else:
-        dims.ng = ng
-
-    if not is_empty(model.con_h_expr):
-        nh = casadi_length(model.con_h_expr)
-    else:
-        nh = 0
-
-    if constraints.uh.shape[0] != nh or constraints.lh.shape[0] != nh:
-        raise Exception('inconsistent dimension nh, regarding lh, uh, con_h_expr.')
-    else:
-        dims.nh = nh
-
-    if is_empty(model.con_phi_expr):
-        dims.nphi = 0
-        dims.nr = 0
-    else:
-        dims.nphi = casadi_length(model.con_phi_expr)
-        if is_empty(model.con_r_expr):
-            raise Exception('convex over nonlinear constraints: con_r_expr but con_phi_expr is nonempty')
-        else:
-            dims.nr = casadi_length(model.con_r_expr)
-
-    # terminal
-    nbx_e = constraints.idxbx_e.shape[0]
-    if constraints.ubx_e.shape[0] != nbx_e or constraints.lbx_e.shape[0] != nbx_e:
-        raise Exception('inconsistent dimension nbx_e, regarding idxbx_e, ubx_e, lbx_e.')
-    else:
-        dims.nbx_e = nbx_e
-
-    ng_e = constraints.lg_e.shape[0]
-    if constraints.ug_e.shape[0] != ng_e or constraints.C_e.shape[0] != ng_e:
-        raise Exception('inconsistent dimension ng_e, regarding_e lg_e, ug_e, C_e.')
-    else:
-        dims.ng_e = ng_e
-
-    if not is_empty(model.con_h_expr_e):
-        nh_e = casadi_length(model.con_h_expr_e)
-    else:
-        nh_e = 0
-
-    if constraints.uh_e.shape[0] != nh_e or constraints.lh_e.shape[0] != nh_e:
-        raise Exception('inconsistent dimension nh_e, regarding lh_e, uh_e, con_h_expr_e.')
-    else:
-        dims.nh_e = nh_e
-
-    if is_empty(model.con_phi_expr_e):
-        dims.nphi_e = 0
-        dims.nr_e = 0
-    else:
-        dims.nphi_e = casadi_length(model.con_phi_expr_e)
-        if is_empty(model.con_r_expr_e):
-            raise Exception('convex over nonlinear constraints: con_r_expr_e but con_phi_expr_e is nonempty')
-        else:
-            dims.nr_e = casadi_length(model.con_r_expr_e)
-
-    # Slack dimensions
-    nsbx = constraints.idxsbx.shape[0]
-    if nsbx > nbx:
-        raise Exception(f'inconsistent dimension nsbx = {nsbx}. Is greater than nbx = {nbx}.')
-    if is_empty(constraints.lsbx):
-        constraints.lsbx = np.zeros((nsbx,))
-    elif constraints.lsbx.shape[0] != nsbx:
-        raise Exception('inconsistent dimension nsbx, regarding idxsbx, lsbx.')
-    if is_empty(constraints.usbx):
-        constraints.usbx = np.zeros((nsbx,))
-    elif constraints.usbx.shape[0] != nsbx:
-        raise Exception('inconsistent dimension nsbx, regarding idxsbx, usbx.')
-    dims.nsbx = nsbx
-
-    nsbu = constraints.idxsbu.shape[0]
-    if nsbu > nbu:
-        raise Exception(f'inconsistent dimension nsbu = {nsbu}. Is greater than nbu = {nbu}.')
-    if is_empty(constraints.lsbu):
-        constraints.lsbu = np.zeros((nsbu,))
-    elif constraints.lsbu.shape[0] != nsbu:
-        raise Exception('inconsistent dimension nsbu, regarding idxsbu, lsbu.')
-    if is_empty(constraints.usbu):
-        constraints.usbu = np.zeros((nsbu,))
-    elif constraints.usbu.shape[0] != nsbu:
-        raise Exception('inconsistent dimension nsbu, regarding idxsbu, usbu.')
-    dims.nsbu = nsbu
-
-    nsh = constraints.idxsh.shape[0]
-    if nsh > nh:
-        raise Exception(f'inconsistent dimension nsh = {nsh}. Is greater than nh = {nh}.')
-    if is_empty(constraints.lsh):
-        constraints.lsh = np.zeros((nsh,))
-    elif constraints.lsh.shape[0] != nsh:
-        raise Exception('inconsistent dimension nsh, regarding idxsh, lsh.')
-    if is_empty(constraints.ush):
-        constraints.ush = np.zeros((nsh,))
-    elif constraints.ush.shape[0] != nsh:
-        raise Exception('inconsistent dimension nsh, regarding idxsh, ush.')
-    dims.nsh = nsh
-
-    nsphi = constraints.idxsphi.shape[0]
-    if nsphi > dims.nphi:
-        raise Exception(f'inconsistent dimension nsphi = {nsphi}. Is greater than nphi = {dims.nphi}.')
-    if is_empty(constraints.lsphi):
-        constraints.lsphi = np.zeros((nsphi,))
-    elif constraints.lsphi.shape[0] != nsphi:
-        raise Exception('inconsistent dimension nsphi, regarding idxsphi, lsphi.')
-    if is_empty(constraints.usphi):
-        constraints.usphi = np.zeros((nsphi,))
-    elif constraints.usphi.shape[0] != nsphi:
-        raise Exception('inconsistent dimension nsphi, regarding idxsphi, usphi.')
-    dims.nsphi = nsphi
-
-    nsg = constraints.idxsg.shape[0]
-    if nsg > ng:
-        raise Exception(f'inconsistent dimension nsg = {nsg}. Is greater than ng = {ng}.')
-    if is_empty(constraints.lsg):
-        constraints.lsg = np.zeros((nsg,))
-    elif constraints.lsg.shape[0] != nsg:
-        raise Exception('inconsistent dimension nsg, regarding idxsg, lsg.')
-    if is_empty(constraints.usg):
-        constraints.usg = np.zeros((nsg,))
-    elif constraints.usg.shape[0] != nsg:
-        raise Exception('inconsistent dimension nsg, regarding idxsg, usg.')
-    dims.nsg = nsg
-
-    ns = nsbx + nsbu + nsh + nsg + nsphi
-    wrong_field = ""
-    if cost.Zl.shape[0] != ns:
-        wrong_field = "Zl"
-        dim = cost.Zl.shape[0]
-    elif cost.Zu.shape[0] != ns:
-        wrong_field = "Zu"
-        dim = cost.Zu.shape[0]
-    elif cost.zl.shape[0] != ns:
-        wrong_field = "zl"
-        dim = cost.zl.shape[0]
-    elif cost.zu.shape[0] != ns:
-        wrong_field = "zu"
-        dim = cost.zu.shape[0]
-
-    if wrong_field != "":
-        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
-            + f'Detected ns = {ns} = nsbx + nsbu + nsg + nsh + nsphi.\n\t'\
-            + f'With nsbx = {nsbx}, nsbu = {nsbu}, nsg = {nsg}, nsh = {nsh}, nsphi = {nsphi}')
-
-    dims.ns = ns
-
-    nsbx_e = constraints.idxsbx_e.shape[0]
-    if nsbx_e > nbx_e:
-        raise Exception(f'inconsistent dimension nsbx_e = {nsbx_e}. Is greater than nbx_e = {nbx_e}.')
-    if is_empty(constraints.lsbx_e):
-        constraints.lsbx_e = np.zeros((nsbx_e,))
-    elif constraints.lsbx_e.shape[0] != nsbx_e:
-        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, lsbx_e.')
-    if is_empty(constraints.usbx_e):
-        constraints.usbx_e = np.zeros((nsbx_e,))
-    elif constraints.usbx_e.shape[0] != nsbx_e:
-        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, usbx_e.')
-    dims.nsbx_e = nsbx_e
-
-    nsh_e = constraints.idxsh_e.shape[0]
-    if nsh_e > nh_e:
-        raise Exception(f'inconsistent dimension nsh_e = {nsh_e}. Is greater than nh_e = {nh_e}.')
-    if is_empty(constraints.lsh_e):
-        constraints.lsh_e = np.zeros((nsh_e,))
-    elif constraints.lsh_e.shape[0] != nsh_e:
-        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, lsh_e.')
-    if is_empty(constraints.ush_e):
-        constraints.ush_e = np.zeros((nsh_e,))
-    elif constraints.ush_e.shape[0] != nsh_e:
-        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, ush_e.')
-    dims.nsh_e = nsh_e
-
-    nsg_e = constraints.idxsg_e.shape[0]
-    if nsg_e > ng_e:
-        raise Exception(f'inconsistent dimension nsg_e = {nsg_e}. Is greater than ng_e = {ng_e}.')
-    if is_empty(constraints.lsg_e):
-        constraints.lsg_e = np.zeros((nsg_e,))
-    elif constraints.lsg_e.shape[0] != nsg_e:
-        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, lsg_e.')
-    if is_empty(constraints.usg_e):
-        constraints.usg_e = np.zeros((nsg_e,))
-    elif constraints.usg_e.shape[0] != nsg_e:
-        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, usg_e.')
-    dims.nsg_e = nsg_e
-
-    nsphi_e = constraints.idxsphi_e.shape[0]
-    if nsphi_e > dims.nphi_e:
-        raise Exception(f'inconsistent dimension nsphi_e = {nsphi_e}. Is greater than nphi_e = {dims.nphi_e}.')
-    if is_empty(constraints.lsphi_e):
-        constraints.lsphi_e = np.zeros((nsphi_e,))
-    elif constraints.lsphi_e.shape[0] != nsphi_e:
-        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, lsphi_e.')
-    if is_empty(constraints.usphi_e):
-        constraints.usphi_e = np.zeros((nsphi_e,))
-    elif constraints.usphi_e.shape[0] != nsphi_e:
-        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, usphi_e.')
-    dims.nsphi_e = nsphi_e
-
-    # terminal
-    ns_e = nsbx_e + nsh_e + nsg_e + nsphi_e
-    wrong_field = ""
-    if cost.Zl_e.shape[0] != ns_e:
-        wrong_field = "Zl_e"
-        dim = cost.Zl_e.shape[0]
-    elif cost.Zu_e.shape[0] != ns_e:
-        wrong_field = "Zu_e"
-        dim = cost.Zu_e.shape[0]
-    elif cost.zl_e.shape[0] != ns_e:
-        wrong_field = "zl_e"
-        dim = cost.zl_e.shape[0]
-    elif cost.zu_e.shape[0] != ns_e:
-        wrong_field = "zu_e"
-        dim = cost.zu_e.shape[0]
-
-    if wrong_field != "":
-        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
-            + f'Detected ns_e = {ns_e} = nsbx_e + nsg_e + nsh_e + nsphi_e.\n\t'\
-            + f'With nsbx_e = {nsbx_e}, nsg_e = {nsg_e}, nsh_e = {nsh_e}, nsphi_e = {nsphi_e}')
-
-    dims.ns_e = ns_e
-
-    # discretization
-    if is_empty(opts.time_steps) and is_empty(opts.shooting_nodes):
-        # uniform discretization
-        opts.time_steps = opts.tf / dims.N * np.ones((dims.N,))
-
-    elif not is_empty(opts.shooting_nodes):
-        if np.shape(opts.shooting_nodes)[0] != dims.N+1:
-            raise Exception('inconsistent dimension N, regarding shooting_nodes.')
-
-        time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
-        # identify constant time_steps: due to numerical reasons the content of time_steps might vary a bit
-        avg_time_steps = np.average(time_steps)
-        # criterion for constant time step detection: the min/max difference in values normalized by the average
-        check_const_time_step = (np.max(time_steps)-np.min(time_steps)) / avg_time_steps
-        # if the criterion is small, we have a constant time_step
-        if check_const_time_step < 1e-9:
-            time_steps[:] = avg_time_steps  # if we have a constant time_step: apply the average time_step
-
-        opts.time_steps = time_steps
-
-    elif (not is_empty(opts.time_steps)) and (not is_empty(opts.shooting_nodes)):
-        Exception('Please provide either time_steps or shooting_nodes for nonuniform discretization')
-
-    tf = np.sum(opts.time_steps)
-    if (tf - opts.tf) / tf > 1e-15:
-        raise Exception(f'Inconsistent discretization: {opts.tf}'\
-            f' = tf != sum(opts.time_steps) = {tf}.')
-
-    # num_steps
-    if isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == 1:
-        opts.sim_method_num_steps = opts.sim_method_num_steps.item()
-
-    if isinstance(opts.sim_method_num_steps, (int, float)) and opts.sim_method_num_steps % 1 == 0:
-        opts.sim_method_num_steps = opts.sim_method_num_steps * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_num_steps, 1), 0)):
-        opts.sim_method_num_steps = np.reshape(opts.sim_method_num_steps, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_num_steps. Should be either int or array of ints of shape (N,).")
-
-    # num_stages
-    if isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == 1:
-        opts.sim_method_num_stages = opts.sim_method_num_stages.item()
-
-    if isinstance(opts.sim_method_num_stages, (int, float)) and opts.sim_method_num_stages % 1 == 0:
-        opts.sim_method_num_stages = opts.sim_method_num_stages * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_num_stages, 1), 0)):
-        opts.sim_method_num_stages = np.reshape(opts.sim_method_num_stages, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_num_stages. Should be either int or array of ints of shape (N,).")
-
-    # jac_reuse
-    if isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == 1:
-        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse.item()
-
-    if isinstance(opts.sim_method_jac_reuse, (int, float)) and opts.sim_method_jac_reuse % 1 == 0:
-        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_jac_reuse, 1), 0)):
-        opts.sim_method_jac_reuse = np.reshape(opts.sim_method_jac_reuse, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).")
-
-
-def get_simulink_default_opts():
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
-    with open(abs_path , 'r') as f:
-        simulink_default_opts = json.load(f)
-    return simulink_default_opts
-
-
-def ocp_formulation_json_dump(acados_ocp, simulink_opts=None, json_file='acados_ocp_nlp.json'):
-    # Load acados_ocp_nlp structure description
-    ocp_layout = get_ocp_nlp_layout()
-
-    # Copy input ocp object dictionary
-    ocp_nlp_dict = dict(deepcopy(acados_ocp).__dict__)
-    # TODO: maybe make one function with formatting
-
-    for acados_struct, v in ocp_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict):
-            continue
-        #  setattr(ocp_nlp, acados_struct, dict(getattr(acados_ocp, acados_struct).__dict__))
-        # Copy ocp object attributes dictionaries
-        ocp_nlp_dict[acados_struct]=dict(getattr(acados_ocp, acados_struct).__dict__)
-
-    ocp_nlp_dict = format_class_dict(ocp_nlp_dict)
-
-    if simulink_opts is not None:
-        ocp_nlp_dict['simulink_opts'] = simulink_opts
-
-    with open(json_file, 'w') as f:
-        json.dump(ocp_nlp_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-
-
-
-def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'):
-    # Load acados_ocp_nlp structure description
-    ocp_layout = get_ocp_nlp_layout()
-
-    with open(json_file, 'r') as f:
-        ocp_nlp_json = json.load(f)
-
-    ocp_nlp_dict = json2dict(ocp_nlp_json, ocp_nlp_json['dims'])
-
-    # Instantiate AcadosOcp object
-    acados_ocp = AcadosOcp()
-
-    # load class dict
-    acados_ocp.__dict__ = ocp_nlp_dict
-
-    # load class attributes dict, dims, constraints, etc
-    for acados_struct, v in ocp_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict):
-            continue
-        acados_attribute = getattr(acados_ocp, acados_struct)
-        acados_attribute.__dict__ = ocp_nlp_dict[acados_struct]
-        setattr(acados_ocp, acados_struct, acados_attribute)
-
-    return acados_ocp
-
-
-def ocp_generate_external_functions(acados_ocp: AcadosOcp, model: AcadosModel):
-
-    model = make_model_consistent(model)
-
-    if acados_ocp.solver_options.hessian_approx == 'EXACT':
-        opts = dict(generate_hess=1)
-    else:
-        opts = dict(generate_hess=0)
-
-    # create code_export_dir, model_dir
-    code_export_dir = acados_ocp.code_export_directory
-    opts['code_export_directory'] = code_export_dir
-    model_dir = os.path.join(code_export_dir, model.name + '_model')
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-
-    check_casadi_version()
-    # TODO: remove dir gen from all the generate_c_* functions
-    if acados_ocp.model.dyn_ext_fun_type == 'casadi':
-        if acados_ocp.solver_options.integrator_type == 'ERK':
-            generate_c_code_explicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'IRK':
-            generate_c_code_implicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK':
-            generate_c_code_implicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'GNSF':
-            generate_c_code_gnsf(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'DISCRETE':
-            generate_c_code_discrete_dynamics(model, opts)
-        else:
-            raise Exception("ocp_generate_external_functions: unknown integrator type.")
-    else:
-        target_location = os.path.join(code_export_dir, model_dir, model.dyn_generic_source)
-        shutil.copyfile(model.dyn_generic_source, target_location)
-
-    if acados_ocp.dims.nphi > 0 or acados_ocp.dims.nh > 0:
-        generate_c_code_constraint(model, model.name, False, opts)
-
-    if acados_ocp.dims.nphi_e > 0 or acados_ocp.dims.nh_e > 0:
-        generate_c_code_constraint(model, model.name, True, opts)
-
-    if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'initial', opts)
-    elif acados_ocp.cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'initial', opts)
-    elif acados_ocp.cost.cost_type_0 == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'initial', opts)
-
-    if acados_ocp.cost.cost_type == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'path', opts)
-    elif acados_ocp.cost.cost_type == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'path', opts)
-    elif acados_ocp.cost.cost_type == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'path', opts)
-
-    if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'terminal', opts)
-    elif acados_ocp.cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'terminal', opts)
-    elif acados_ocp.cost.cost_type_e == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'terminal', opts)
-
-
-def ocp_get_default_cmake_builder() -> CMakeBuilder:
-    """
-    If :py:class:`~acados_template.acados_ocp_solver.AcadosOcpSolver` is used with `CMake` this function returns a good first setting.
-    :return: default :py:class:`~acados_template.builders.CMakeBuilder`
-    """
-    cmake_builder = CMakeBuilder()
-    cmake_builder.options_on = ['BUILD_ACADOS_OCP_SOLVER_LIB']
-    return cmake_builder
-
-
-
-def ocp_render_templates(acados_ocp: AcadosOcp, json_file, cmake_builder=None, simulink_opts=None):
-
-    # setting up loader and environment
-    json_path = os.path.abspath(json_file)
-
-    if not os.path.exists(json_path):
-        raise Exception(f'Path "{json_path}" not found!')
-
-    # Render templates
-    template_list = __ocp_get_template_list(acados_ocp, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
-    for tup in template_list:
-        if len(tup) > 2:
-            output_dir = tup[2]
-        else:
-            output_dir = acados_ocp.code_export_directory
-        render_template(tup[0], tup[1], output_dir, json_path)
-
-    # Custom templates
-    acados_template_path = os.path.dirname(os.path.abspath(__file__))
-    custom_template_glob = os.path.join(acados_template_path, 'custom_update_templates', '*')
-    for tup in acados_ocp.solver_options.custom_templates:
-        render_template(tup[0], tup[1], acados_ocp.code_export_directory, json_path, template_glob=custom_template_glob)
-
-    return
-
-
-
-def __ocp_get_template_list(acados_ocp: AcadosOcp, cmake_builder=None, simulink_opts=None) -> list:
-    """
-    returns a list of tuples in the form:
-    (input_filename, output_filname)
-    or
-    (input_filename, output_filname, output_directory)
-    """
-    name = acados_ocp.model.name
-    code_export_directory = acados_ocp.code_export_directory
-    template_list = []
-
-    template_list.append(('main.in.c', f'main_{name}.c'))
-    template_list.append(('acados_solver.in.c', f'acados_solver_{name}.c'))
-    template_list.append(('acados_solver.in.h', f'acados_solver_{name}.h'))
-    template_list.append(('acados_solver.in.pxd', f'acados_solver.pxd'))
-    if cmake_builder is not None:
-        template_list.append(('CMakeLists.in.txt', 'CMakeLists.txt'))
-    else:
-        template_list.append(('Makefile.in', 'Makefile'))
-
-
-    # sim
-    template_list.append(('acados_sim_solver.in.c', f'acados_sim_solver_{name}.c'))
-    template_list.append(('acados_sim_solver.in.h', f'acados_sim_solver_{name}.h'))
-    template_list.append(('main_sim.in.c', f'main_sim_{name}.c'))
-
-    # model
-    model_dir = os.path.join(code_export_directory, f'{name}_model')
-    template_list.append(('model.in.h', f'{name}_model.h', model_dir))
-    # constraints
-    constraints_dir = os.path.join(code_export_directory, f'{name}_constraints')
-    template_list.append(('constraints.in.h', f'{name}_constraints.h', constraints_dir))
-    # cost
-    cost_dir = os.path.join(code_export_directory, f'{name}_cost')
-    template_list.append(('cost.in.h', f'{name}_cost.h', cost_dir))
-
-    # Simulink
-    if simulink_opts is not None:
-        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
-        template_list.append((template_file, f'acados_solver_sfunction_{name}.c'))
-        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
-        template_list.append((template_file, f'make_sfun_{name}.m'))
-
-    return template_list
-
-
-def remove_x0_elimination(acados_ocp):
-    acados_ocp.constraints.idxbxe_0 = np.zeros((0,))
-    acados_ocp.dims.nbxe_0 = 0
-
-
-class AcadosOcpSolver:
-    """
-    Class to interact with the acados ocp solver C object.
-
-        :param acados_ocp: type :py:class:`~acados_template.acados_ocp.AcadosOcp` - description of the OCP for acados
-        :param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
-        :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
-    """
-    if sys.platform=="win32":
-        from ctypes import wintypes
-        from ctypes import WinDLL
-        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
-        dlclose.argtypes = [wintypes.HMODULE]
-    else:
-        dlclose = CDLL(None).dlclose
-        dlclose.argtypes = [c_void_p]
-
-    @classmethod
-    def generate(cls, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None):
-        """
-        Generates the code for an acados OCP solver, given the description in acados_ocp.
-            :param acados_ocp: type AcadosOcp - description of the OCP for acados
-            :param json_file: name for the json file used to render the templated code - default: `acados_ocp_nlp.json`
-            :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible inputs and
-                   outputs; default: `None`
-            :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
-                   the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-                   `MS Visual Studio`); default: `None`
-        """
-        model = acados_ocp.model
-        acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
-
-        # make dims consistent
-        make_ocp_dims_consistent(acados_ocp)
-
-        # module dependent post processing
-        if acados_ocp.solver_options.integrator_type == 'GNSF':
-            if 'gnsf_model' in acados_ocp.__dict__:
-                set_up_imported_gnsf_model(acados_ocp)
-            else:
-                detect_gnsf_structure(acados_ocp)
-
-        if acados_ocp.solver_options.qp_solver == 'PARTIAL_CONDENSING_QPDUNES':
-            remove_x0_elimination(acados_ocp)
-
-        # set integrator time automatically
-        acados_ocp.solver_options.Tsim = acados_ocp.solver_options.time_steps[0]
-
-        # generate external functions
-        ocp_generate_external_functions(acados_ocp, model)
-
-        # dump to json
-        acados_ocp.json_file = json_file
-        ocp_formulation_json_dump(acados_ocp, simulink_opts=simulink_opts, json_file=json_file)
-
-        # render templates
-        ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
-
-        # copy custom update function
-        if acados_ocp.solver_options.custom_update_filename != "" and acados_ocp.solver_options.custom_update_copy:
-            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_filename)
-            shutil.copyfile(acados_ocp.solver_options.custom_update_filename, target_location)
-        if acados_ocp.solver_options.custom_update_header_filename != "" and acados_ocp.solver_options.custom_update_copy:
-            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_header_filename)
-            shutil.copyfile(acados_ocp.solver_options.custom_update_header_filename, target_location)
-
-
-    @classmethod
-    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-        """
-        Builds the code for an acados OCP solver, that has been generated in code_export_dir
-            :param code_export_dir: directory in which acados OCP solver has been generated, see generate()
-            :param with_cython: option indicating if the cython interface is build, default: False.
-            :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
-                   the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-                   `MS Visual Studio`); default: `None`
-            :param verbose: indicating if build command is printed
-        """
-        code_export_dir = os.path.abspath(code_export_dir)
-        cwd = os.getcwd()
-        os.chdir(code_export_dir)
-        if with_cython:
-            call(
-                ['make', 'clean_all'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            call(
-                ['make', 'ocp_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-        else:
-            if cmake_builder is not None:
-                cmake_builder.exec(code_export_dir)
-            else:
-                call(
-                    ['make', 'clean_ocp_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-                call(
-                    ['make', 'ocp_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-        os.chdir(cwd)
-
-
-    @classmethod
-    def create_cython_solver(cls, json_file):
-        """
-        Returns an `AcadosOcpSolverCython` object.
-
-        This is an alternative Cython based Python wrapper to the acados OCP solver in C.
-        This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code.
-
-        The default wrapper `AcadosOcpSolver` is based on ctypes.
-        """
-        with open(json_file, 'r') as f:
-            acados_ocp_json = json.load(f)
-        code_export_directory = acados_ocp_json['code_export_directory']
-
-        importlib.invalidate_caches()
-        rel_code_export_directory = os.path.relpath(code_export_directory)
-        acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx')
-
-        AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython')
-        return AcadosOcpSolverCython(acados_ocp_json['model']['name'],
-                    acados_ocp_json['solver_options']['nlp_solver_type'],
-                    acados_ocp_json['dims']['N'])
-
-
-    def __init__(self, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None, verbose=True):
-
-        self.solver_created = False
-        if generate:
-            self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder)
-
-        # load json, store options in object
-        with open(json_file, 'r') as f:
-            acados_ocp_json = json.load(f)
-        self.N = acados_ocp_json['dims']['N']
-        self.model_name = acados_ocp_json['model']['name']
-        self.solver_options = acados_ocp_json['solver_options']
-
-        acados_lib_path = acados_ocp_json['acados_lib_path']
-        code_export_directory = acados_ocp_json['code_export_directory']
-
-        if build:
-            self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder, verbose=verbose)
-
-        # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
-
-        # Load acados library to avoid unloading the library.
-        # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
-        # Unloading a library which uses OpenMP results in a segfault (on any platform?).
-        # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
-        # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
-        libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_lib_path, libacados_name)
-        self.__acados_lib = CDLL(libacados_filepath)
-        # find out if acados was compiled with OpenMP
-        try:
-            self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
-        except AttributeError as e:
-            self.__acados_lib_uses_omp = False
-        if self.__acados_lib_uses_omp:
-            print('acados was compiled with OpenMP.')
-        else:
-            print('acados was compiled without OpenMP.')
-        libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}'
-        self.shared_lib_name = os.path.join(code_export_directory, libacados_ocp_solver_name)
-
-        # get shared_lib
-        self.shared_lib = CDLL(self.shared_lib_name)
-
-        # create capsule
-        getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule")()
-
-        # create solver
-        getattr(self.shared_lib, f"{self.model_name}_acados_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_create").restype = c_int
-        assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0
-        self.solver_created = True
-
-        self.acados_ocp = acados_ocp
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-        self.status = 0
-
-        # gettable fields
-        self.__qp_dynamics_fields = ['A', 'B', 'b']
-        self.__qp_cost_fields = ['Q', 'R', 'S', 'q', 'r']
-        self.__qp_constraint_fields = ['C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
-
-
-    def __get_pointers_solver(self):
-        # """
-        # Private function to get the pointers for solver
-        # """
-        # get pointers solver
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p
-        self.nlp_opts = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").restype = c_void_p
-        self.nlp_dims = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").restype = c_void_p
-        self.nlp_config = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p
-        self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").restype = c_void_p
-        self.sens_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p
-        self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p
-        self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
-
-
-
-    def solve_for_x0(self, x0_bar):
-        """
-        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
-        """
-        self.set(0, "lbx", x0_bar)
-        self.set(0, "ubx", x0_bar)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_ocp_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados acados_ocp_solver returned status {status}')
-
-        u0 = self.get(0, "u")
-        return u0
-
-
-    def solve(self):
-        """
-        Solve the ocp with current input.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int
-        self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
-
-        return self.status
-
-
-    def custom_update(self, data_: np.ndarray):
-        """
-        A custom function that can be implemented by a user to be called between solver calls.
-        By default this does nothing.
-        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
-        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
-        """
-        data = np.ascontiguousarray(data_, dtype=np.float64)
-        c_data = cast(data.ctypes.data, POINTER(c_double))
-        data_len = len(data)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").argtypes = [c_void_p, POINTER(c_double), c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").restype = c_int
-        status = getattr(self.shared_lib, f"{self.model_name}_acados_custom_update")(self.capsule, c_data, data_len)
-
-        return status
-
-
-    def reset(self, reset_qp_solver_mem=1):
-        """
-        Sets current iterate to all zeros.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p, c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset").restype = c_int
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule, reset_qp_solver_mem)
-
-        return
-
-
-    def set_new_time_steps(self, new_time_steps):
-        """
-        Set new time steps.
-        Recreates the solver if N changes.
-
-            :param new_time_steps: 1 dimensional np array of new time steps for the solver
-
-            .. note:: This allows for different use-cases: either set a new size of time_steps or a new distribution of
-                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
-                      do not require a new code export and compilation.
-        """
-
-        # unlikely but still possible
-        if not self.solver_created:
-            raise Exception('Solver was not yet created!')
-
-        # check if time steps really changed in value
-        if np.array_equal(self.solver_options['time_steps'], new_time_steps):
-            return
-
-        N = new_time_steps.size
-        new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double))
-
-        # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
-        if len(self.solver_options['time_steps']) == N:
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0
-        else:  # recreate the solver with the new time steps
-            self.solver_created = False
-
-            # delete old memory (analog to __del__)
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
-
-            # create solver with new time steps
-            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization")(self.capsule, N, new_time_steps_data) == 0
-
-            self.solver_created = True
-
-            # get pointers solver
-            self.__get_pointers_solver()
-
-        # store time_steps, N
-        self.solver_options['time_steps'] = new_time_steps
-        self.N = N
-        self.solver_options['Tsim'] = self.solver_options['time_steps'][0]
-
-
-    def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
-        """
-        Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
-        This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
-        the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
-            :param qp_solver_cond_N: new number of condensing stages for the solver
-
-            .. note:: This function can only be used in combination with a partial condensing QP solver.
-
-            .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
-                      necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
-                      `qp_solver_cond_N < N`.
-        """
-        # unlikely but still possible
-        if not self.solver_created:
-            raise Exception('Solver was not yet created!')
-        if self.N < qp_solver_cond_N:
-            raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
-        if self.solver_options['qp_solver_cond_N'] != qp_solver_cond_N:
-            self.solver_created = False
-
-            # recreate the solver
-            fun_name = f'{self.model_name}_acados_update_qp_solver_cond_N'
-            getattr(self.shared_lib, fun_name).argtypes = [c_void_p, c_int]
-            getattr(self.shared_lib, fun_name).restype = c_int
-            assert getattr(self.shared_lib, fun_name)(self.capsule, qp_solver_cond_N) == 0
-
-            # store the new value
-            self.solver_options['qp_solver_cond_N'] = qp_solver_cond_N
-            self.solver_created = True
-
-            # get pointers solver
-            self.__get_pointers_solver()
-
-
-    def eval_param_sens(self, index, stage=0, field="ex"):
-        """
-        Calculate the sensitivity of the curent solution with respect to the initial state component of index
-
-            :param index: integer corresponding to initial state index in range(nx)
-        """
-
-        field_ = field
-        field = field_.encode('utf-8')
-
-        # checks
-        if not isinstance(index, int):
-            raise Exception('AcadosOcpSolver.eval_param_sens(): index must be Integer.')
-
-        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-        nx = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
-
-        if index < 0 or index > nx:
-            raise Exception(f'AcadosOcpSolver.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
-
-        # actual eval_param
-        self.shared_lib.ocp_nlp_eval_param_sens.argtypes = [c_void_p, c_char_p, c_int, c_int, c_void_p]
-        self.shared_lib.ocp_nlp_eval_param_sens.restype = None
-        self.shared_lib.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
-
-        return
-
-
-    def get(self, stage_, field_):
-        """
-        Get the last solution of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-
-        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
-        # mem_fields = ['sl', 'su']
-        sens_fields = ['sens_u', "sens_x"]
-        all_fields = out_fields + sens_fields
-
-        field = field_
-
-        if (field_ not in all_fields):
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): \'{field_}\' is an invalid argument.\
-                    \n Possible values are {all_fields}.')
-
-        if not isinstance(stage_, int):
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be an integer, got type {type(stage_)}.')
-
-        if stage_ < 0 or stage_ > self.N:
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be in [0, {self.N}], got: {stage_}.')
-
-        if stage_ == self.N and field_ == 'pi':
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): field \'{field_}\' does not exist at final stage {stage_}.')
-
-        if field_ in sens_fields:
-            field = field_.replace('sens_', '')
-
-        field = field.encode('utf-8')
-
-        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-
-        dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field)
-
-        out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        if (field_ in out_fields):
-            self.shared_lib.ocp_nlp_out_get.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, stage_, field, out_data)
-        # elif field_ in mem_fields:
-        #     self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
-        #         [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        #     self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
-        #         self.nlp_dims, self.nlp_solver, stage_, field, out_data)
-        elif field_ in sens_fields:
-            self.shared_lib.ocp_nlp_out_get.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
-                self.nlp_dims, self.sens_out, stage_, field, out_data)
-
-        return out
-
-
-    def print_statistics(self):
-        """
-        prints statistics of previous solver run as a table:
-            - iter: iteration number
-            - res_stat: stationarity residual
-            - res_eq: residual wrt equality constraints (dynamics)
-            - res_ineq: residual wrt inequality constraints (constraints)
-            - res_comp: residual wrt complementarity conditions
-            - qp_stat: status of QP solver
-            - qp_iter: number of QP iterations
-            - alpha: SQP step size
-            - qp_res_stat: stationarity residual of the last QP solution
-            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
-            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
-            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
-        """
-        stat = self.get_stats("statistics")
-
-        if self.solver_options['nlp_solver_type'] == 'SQP':
-            print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha')
-            if stat.shape[0]>8:
-                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
-            for jj in range(stat.shape[1]):
-                print(f'{int(stat[0][jj]):d}\t{stat[1][jj]:e}\t{stat[2][jj]:e}\t{stat[3][jj]:e}\t' +
-                      f'{stat[4][jj]:e}\t{int(stat[5][jj]):d}\t{int(stat[6][jj]):d}\t{stat[7][jj]:e}\t')
-                if stat.shape[0]>8:
-                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
-                        stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj]))
-            print('\n')
-        elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-            print('\niter\tqp_stat\tqp_iter')
-            if stat.shape[0]>3:
-                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
-            for jj in range(stat.shape[1]):
-                print('{:d}\t{:d}\t{:d}'.format( int(stat[0][jj]), int(stat[1][jj]), int(stat[2][jj])))
-                if stat.shape[0]>3:
-                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
-                         stat[3][jj], stat[4][jj], stat[5][jj], stat[6][jj]))
-            print('\n')
-
-        return
-
-
-    def store_iterate(self, filename: str = '', overwrite=False):
-        """
-        Stores the current iterate of the ocp solver in a json file.
-
-            :param filename: if not set, use f'{self.model_name}_iterate.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        if filename == '':
-            filename = f'{self.model_name}_iterate.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get iterate:
-        solution = dict()
-
-        lN = len(str(self.N+1))
-        for i in range(self.N+1):
-            i_string = f'{i:0{lN}d}'
-            solution['x_'+i_string] = self.get(i,'x')
-            solution['u_'+i_string] = self.get(i,'u')
-            solution['z_'+i_string] = self.get(i,'z')
-            solution['lam_'+i_string] = self.get(i,'lam')
-            solution['t_'+i_string] = self.get(i, 't')
-            solution['sl_'+i_string] = self.get(i, 'sl')
-            solution['su_'+i_string] = self.get(i, 'su')
-            if i < self.N:
-                solution['pi_'+i_string] = self.get(i,'pi')
-
-        for k in list(solution.keys()):
-            if len(solution[k]) == 0:
-                del solution[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(solution, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-        print("stored current iterate in ", os.path.join(os.getcwd(), filename))
-
-
-
-    def dump_last_qp_to_json(self, filename: str = '', overwrite=False):
-        """
-        Dumps the latest QP data into a json file
-
-            :param filename: if not set, use model_name + timestamp + '.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        if filename == '':
-            filename = f'{self.model_name}_QP.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get QP data:
-        qp_data = dict()
-
-        lN = len(str(self.N+1))
-        for field in self.__qp_dynamics_fields:
-            for i in range(self.N):
-                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
-
-        for field in self.__qp_constraint_fields + self.__qp_cost_fields:
-            for i in range(self.N+1):
-                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
-
-        # remove empty fields
-        for k in list(qp_data.keys()):
-            if len(qp_data[k]) == 0:
-                del qp_data[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(qp_data, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-        print("stored qp from solver memory in ", os.path.join(os.getcwd(), filename))
-
-
-
-    def load_iterate(self, filename):
-        """
-        Loads the iterate stored in json file with filename into the ocp solver.
-        """
-        if not os.path.isfile(filename):
-            raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
-
-        with open(filename, 'r') as f:
-            solution = json.load(f)
-
-        print(f"loading iterate {filename}")
-        for key in solution.keys():
-            (field, stage) = key.split('_')
-            self.set(int(stage), field, np.array(solution[key]))
-
-
-    def get_stats(self, field_):
-        """
-        Get the information of the last solver call.
-
-            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter', 'residuals', 'qp_iter', 'alpha']
-
-        Available fileds:
-            - time_tot: total CPU time previous call
-            - time_lin: CPU time for linearization
-            - time_sim: CPU time for integrator
-            - time_sim_ad: CPU time for integrator contribution of external function calls
-            - time_sim_la: CPU time for integrator contribution of linear algebra
-            - time_qp: CPU time qp solution
-            - time_qp_solver_call: CPU time inside qp solver (without converting the QP)
-            - time_qp_xcond: time_glob: CPU time globalization
-            - time_solution_sensitivities: CPU time for previous call to eval_param_sens
-            - time_reg: CPU time regularization
-            - sqp_iter: number of SQP iterations
-            - qp_iter: vector of QP iterations for last SQP call
-            - statistics: table with info about last iteration
-            - stat_m: number of rows in statistics matrix
-            - stat_n: number of columns in statistics matrix
-            - residuals: residuals of last iterate
-            - alpha: step sizes of SQP iterations
-        """
-
-        double_fields = ['time_tot',
-                  'time_lin',
-                  'time_sim',
-                  'time_sim_ad',
-                  'time_sim_la',
-                  'time_qp',
-                  'time_qp_solver_call',
-                  'time_qp_xcond',
-                  'time_glob',
-                  'time_solution_sensitivities',
-                  'time_reg'
-        ]
-        fields = double_fields + [
-                  'sqp_iter',
-                  'qp_iter',
-                  'statistics',
-                  'stat_m',
-                  'stat_n',
-                  'residuals',
-                  'alpha',
-                ]
-        field = field_.encode('utf-8')
-
-
-        if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
-            out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64)
-            out_data = cast(out.ctypes.data, POINTER(c_int64))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        # TODO: just return double instead of np.
-        elif field_ in double_fields:
-            out = np.zeros((1,))
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        elif field_ == 'statistics':
-            sqp_iter = self.get_stats("sqp_iter")
-            stat_m = self.get_stats("stat_m")
-            stat_n = self.get_stats("stat_n")
-            min_size = min([stat_m, sqp_iter+1])
-            out = np.ascontiguousarray(
-                        np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        elif field_ == 'qp_iter':
-            full_stats = self.get_stats('statistics')
-            if self.solver_options['nlp_solver_type'] == 'SQP':
-                return full_stats[6, :]
-            elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-                return full_stats[2, :]
-
-        elif field_ == 'alpha':
-            full_stats = self.get_stats('statistics')
-            if self.solver_options['nlp_solver_type'] == 'SQP':
-                return full_stats[7, :]
-            else: # self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-                raise Exception("alpha values are not available for SQP_RTI")
-
-        elif field_ == 'residuals':
-            return self.get_residuals()
-
-        else:
-            raise Exception(f'AcadosOcpSolver.get_stats(): \'{field}\' is not a valid argument.'
-                    + f'\n Possible values are {fields}.')
-
-
-    def get_cost(self):
-        """
-        Returns the cost value of the current solution.
-        """
-        # compute cost internally
-        self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
-        self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        # call getter
-        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-
-        field = "cost_value".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        return out[0]
-
-
-    def get_residuals(self, recompute=False):
-        """
-        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
-        This residual has to be computed for SQP_RTI solver, since it is not available by default.
-
-        - res_stat: stationarity residual
-        - res_eq: residual wrt equality constraints (dynamics)
-        - res_ineq: residual wrt inequality constraints (constraints)
-        - res_comp: residual wrt complementarity conditions
-        """
-        # compute residuals if RTI
-        if self.solver_options['nlp_solver_type'] == 'SQP_RTI' or recompute:
-            self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p]
-            self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        out = np.ascontiguousarray(np.zeros((4, 1)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        # call getters
-        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-
-        field = "res_stat".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[1].ctypes.data, POINTER(c_double))
-        field = "res_eq".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[2].ctypes.data, POINTER(c_double))
-        field = "res_ineq".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[3].ctypes.data, POINTER(c_double))
-        field = "res_comp".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-        return out.flatten()
-
-
-    # Note: this function should not be used anymore, better use cost_set, constraints_set
-    def set(self, stage_, field_, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p', 'xdot_guess', 'z_guess']
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-        cost_fields = ['y_ref', 'yref']
-        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
-        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
-        mem_fields = ['xdot_guess', 'z_guess']
-
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_.encode('utf-8')
-
-        stage = c_int(stage_)
-
-        # treat parameters separately
-        if field_ == 'p':
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double), c_int]
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
-
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
-        else:
-            if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
-                raise Exception(f"AcadosOcpSolver.set(): '{field}' is not a valid argument.\n"
-                    f" Possible values are {constraints_fields + cost_fields + out_fields + mem_fields + ['p']}.")
-
-            self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-            self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-
-            dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, stage_, field)
-
-            if value_.shape[0] != dims:
-                msg = f'AcadosOcpSolver.set(): mismatching dimension for field "{field_}" '
-                msg += f'with dimension {dims} (you have {value_.shape[0]})'
-                raise Exception(msg)
-
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-            value_data_p = cast((value_data), c_void_p)
-
-            if field_ in constraints_fields:
-                self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-            elif field_ in cost_fields:
-                self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-            elif field_ in out_fields:
-                self.shared_lib.ocp_nlp_out_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_out, stage, field, value_data_p)
-            elif field_ in mem_fields:
-                self.shared_lib.ocp_nlp_set.argtypes = \
-                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, value_data_p)
-            # also set z_guess, when setting z.
-            if field_ == 'z':
-                field = 'z_guess'.encode('utf-8')
-                self.shared_lib.ocp_nlp_set.argtypes = \
-                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, value_data_p)
-        return
-
-
-    def cost_set(self, stage_, field_, value_, api='warn'):
-        """
-        Set numerical data in the cost module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu'
-            :param value: of appropriate size
-        """
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_
-        field = field.encode('utf-8')
-
-        stage = c_int(stage_)
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-
-        elif len(value_shape) == 2:
-            if api=='old':
-                pass
-            elif api=='warn':
-                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
-                    raise Exception("Ambiguity in API detected.\n"
-                                    "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
-                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    f"  You are relying on a now-fixed bug in cost_set for field '{field_}'.\n" +
-                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
-                                    "  Two options to fix this error: \n" +
-                                    "   * Add api='old' to cost_set to restore old incorrect behaviour\n" +
-                                    "   * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
-                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
-                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            elif api=='new':
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            else:
-                raise Exception("Unknown api: '{}'".format(api))
-
-        if value_shape != tuple(dims):
-            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-
-        return
-
-
-    def constraints_set(self, stage_, field_, value_, api='warn'):
-        """
-        Set numerical data in the constraint module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
-            :param value: of appropriate size
-        """
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_
-        field = field.encode('utf-8')
-
-        stage = c_int(stage_)
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-        elif len(value_shape) == 2:
-            if api=='old':
-                pass
-            elif api=='warn':
-                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
-                    raise Exception("Ambiguity in API detected.\n"
-                                    "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
-                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    f"  You are relying on a now-fixed bug in constraints_set for field '{field}'.\n" +
-                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
-                                    "  Two options to fix this error: \n" +
-                                    "   * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
-                                    "   * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
-                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
-                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            elif api=='new':
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            else:
-                raise Exception(f"Unknown api: '{api}'")
-
-        if value_shape != tuple(dims):
-            raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-
-        return
-
-
-    def get_from_qp_in(self, stage_: int, field_: str):
-        """
-        Get numerical data from the current QP.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['A', 'B', 'b', 'Q', 'R', 'S', 'q', 'r', 'C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
-        """
-        # idx* should be added too..
-        if not isinstance(stage_, int):
-            raise TypeError("stage should be int")
-        if stage_ > self.N:
-            raise Exception("stage should be <= self.N")
-        if field_ in self.__qp_dynamics_fields and stage_ >= self.N:
-            raise ValueError(f"dynamics field {field_} not available at terminal stage")
-        if field_ not in self.__qp_dynamics_fields + self.__qp_cost_fields + self.__qp_constraint_fields:
-            raise Exception(f"field {field_} not supported.")
-
-        field = field_.encode('utf-8')
-        stage = c_int(stage_)
-
-        # get dims
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        # create output data
-        out = np.ascontiguousarray(np.zeros((np.prod(dims),)), dtype=np.float64)
-        out = out.reshape(dims[0], dims[1], order='F')
-
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-        out_data_p = cast((out_data), c_void_p)
-
-        # call getter
-        self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
-            self.nlp_dims, self.nlp_solver, stage, field, out_data_p)
-
-        return out
-
-
-    def options_set(self, field_, value_):
-        """
-        Set options of the solver.
-
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
-
-            :param value: of type int, float, string
-
-            - qp_tol_stat: QP solver tolerance stationarity
-            - qp_tol_eq: QP solver tolerance equalities
-            - qp_tol_ineq: QP solver tolerance inequalities
-            - qp_tol_comp: QP solver tolerance complementarity
-            - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
-            - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
-            - warm_start_first_qp: indicates if first QP in SQP is warm_started
-        """
-        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start',
-                      'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction',
-                         'eps_sufficient_descent', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
-        string_fields = ['globalization']
-
-        # check field availability and type
-        if field_ in int_fields:
-            if not isinstance(value_, int):
-                raise Exception(f'solver option \'{field_}\' must be of type int. You have {type(value_)}.')
-            else:
-                value_ctypes = c_int(value_)
-
-        elif field_ in double_fields:
-            if not isinstance(value_, float):
-                raise Exception(f'solver option \'{field_}\' must be of type float. You have {type(value_)}.')
-            else:
-                value_ctypes = c_double(value_)
-
-        elif field_ in string_fields:
-            if not isinstance(value_, str):
-                raise Exception(f'solver option \'{field_}\' must be of type str. You have {type(value_)}.')
-            else:
-                value_ctypes = value_.encode('utf-8')
-        else:
-            fields = ', '.join(int_fields + double_fields + string_fields)
-            raise Exception(f'AcadosOcpSolver.options_set() does not support field \'{field_}\'.\n'\
-                f' Possible values are {fields}.')
-
-
-        if field_ == 'rti_phase':
-            if value_ < 0 or value_ > 2:
-                raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
-                    'take only values 0, 1, 2 for SQP-RTI-type solvers')
-            if self.solver_options['nlp_solver_type'] != 'SQP_RTI' and value_ > 0:
-                raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
-                    'take only value 0 for SQP-type solvers')
-
-        # encode
-        field = field_
-        field = field.encode('utf-8')
-
-        # call C interface
-        if field_ in string_fields:
-            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
-                [c_void_p, c_void_p, c_char_p, c_char_p]
-            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
-                self.nlp_opts, field, value_ctypes)
-        else:
-            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
-                [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
-                self.nlp_opts, field, byref(value_ctypes))
-        return
-
-
-    def set_params_sparse(self, stage_, idx_values_, param_values_):
-        """
-        set parameters of the solvers external function partially:
-        Pseudo: solver.param[idx_values_] = param_values_;
-        Parameters:
-            :param stage_: integer corresponding to shooting node
-            :param idx_values_: 0 based np array (or iterable) of integers: indices of parameter to be set
-            :param param_values_: new parameter values as numpy array
-        """
-
-        # if not isinstance(idx_values_, np.ndarray) or not issubclass(type(idx_values_[0]), np.integer):
-        #     raise Exception('idx_values_ must be np.array of integers.')
-
-        if not isinstance(param_values_, np.ndarray):
-            raise Exception('param_values_ must be np.array.')
-        elif np.float64 != param_values_.dtype:
-            raise TypeError('param_values_ must be np.array of float64.')
-
-        if param_values_.shape[0] != len(idx_values_):
-            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
-                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
-
-        if any(idx_values_ >= self.acados_ocp.dims.np):
-            raise Exception(f'idx_values_ contains value >= np = {self.acados_ocp.dims.np}')
-
-        stage = c_int(stage_)
-        n_update = c_int(len(param_values_))
-
-        param_data = cast(param_values_.ctypes.data, POINTER(c_double))
-        c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
-        idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
-                        [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
-                                    (self.capsule, stage, idx_data, param_data, n_update)
-
-    def __del__(self):
-        if self.solver_created:
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
-
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule")(self.capsule)
-
-            try:
-                self.dlclose(self.shared_lib._handle)
-            except:
-                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosOcpSolver {self.model_name}.\n",
-                     "Attempting to create a new one with the same name will likely result in the old one being used!")
-                pass
diff --git a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
deleted file mode 100644
index bc03ba086f..0000000000
--- a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
+++ /dev/null
@@ -1,794 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-# cython: language_level=3
-# cython: profile=False
-# distutils: language=c
-
-cimport cython
-from libc cimport string
-
-cimport acados_solver_common
-# TODO: make this import more clear? it is not a general solver, but problem specific.
-cimport acados_solver
-
-cimport numpy as cnp
-
-import os
-from datetime import datetime
-import numpy as np
-
-
-cdef class AcadosOcpSolverCython:
-    """
-    Class to interact with the acados ocp solver C object.
-    """
-
-    cdef acados_solver.nlp_solver_capsule *capsule
-    cdef void *nlp_opts
-    cdef acados_solver_common.ocp_nlp_dims *nlp_dims
-    cdef acados_solver_common.ocp_nlp_config *nlp_config
-    cdef acados_solver_common.ocp_nlp_out *nlp_out
-    cdef acados_solver_common.ocp_nlp_out *sens_out
-    cdef acados_solver_common.ocp_nlp_in *nlp_in
-    cdef acados_solver_common.ocp_nlp_solver *nlp_solver
-
-    cdef bint solver_created
-
-    cdef str model_name
-    cdef int N
-
-    cdef str nlp_solver_type
-
-    def __cinit__(self, model_name, nlp_solver_type, N):
-
-        self.solver_created = False
-
-        self.N = N
-        self.model_name = model_name
-        self.nlp_solver_type = nlp_solver_type
-
-        # create capsule
-        self.capsule = acados_solver.acados_create_capsule()
-
-        # create solver
-        assert acados_solver.acados_create(self.capsule) == 0
-        self.solver_created = True
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-
-    def __get_pointers_solver(self):
-        """
-        Private function to get the pointers for solver
-        """
-        # get pointers solver
-        self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
-        self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
-        self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
-        self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
-        self.sens_out = acados_solver.acados_get_sens_out(self.capsule)
-        self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
-        self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
-
-
-    def solve_for_x0(self, x0_bar):
-        """
-        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
-        """
-        self.set(0, "lbx", x0_bar)
-        self.set(0, "ubx", x0_bar)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_ocp_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados acados_ocp_solver returned status {status}')
-
-        u0 = self.get(0, "u")
-        return u0
-
-
-    def solve(self):
-        """
-        Solve the ocp with current input.
-        """
-        return acados_solver.acados_solve(self.capsule)
-
-
-    def reset(self, reset_qp_solver_mem=1):
-        """
-        Sets current iterate to all zeros.
-        """
-        return acados_solver.acados_reset(self.capsule, reset_qp_solver_mem)
-
-
-    def custom_update(self, data_):
-        """
-        A custom function that can be implemented by a user to be called between solver calls.
-        By default this does nothing.
-        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
-        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
-        """
-        data_len = len(data_)
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] data = np.ascontiguousarray(data_, dtype=np.float64)
-
-        return acados_solver.acados_custom_update(self.capsule, <double *> data.data, data_len)
-
-
-    def set_new_time_steps(self, new_time_steps):
-        """
-        Set new time steps.
-        Recreates the solver if N changes.
-
-            :param new_time_steps: 1 dimensional np array of new time steps for the solver
-
-            .. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
-                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
-                      do not require a new code export and compilation.
-        """
-
-        raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature")
-        # # unlikely but still possible
-        # if not self.solver_created:
-        #     raise Exception('Solver was not yet created!')
-
-        # ## check if time steps really changed in value
-        # # get time steps
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64)
-        # assert acados_solver.acados_get_time_steps(self.capsule, self.N, <double *> old_time_steps.data)
-
-        # if np.array_equal(old_time_steps, new_time_steps):
-        #     return
-
-        # N = new_time_steps.size
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64)
-
-        # # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
-        # if len(old_time_steps) == N:
-        #     assert acados_solver.acados_update_time_steps(self.capsule, N, <double *> value.data) == 0
-
-        # else:  # recreate the solver with the new time steps
-        #     self.solver_created = False
-
-        #     # delete old memory (analog to __del__)
-        #     acados_solver.acados_free(self.capsule)
-
-        #     # create solver with new time steps
-        #     assert acados_solver.acados_create_with_discretization(self.capsule, N, <double *> value.data) == 0
-
-        #     self.solver_created = True
-
-        #     # get pointers solver
-        #     self.__get_pointers_solver()
-
-        # # store time_steps, N
-        # self.time_steps = new_time_steps
-        # self.N = N
-
-
-    def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
-        """
-        Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
-        This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
-        the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
-            :param qp_solver_cond_N: new number of condensing stages for the solver
-
-            .. note:: This function can only be used in combination with a partial condensing QP solver.
-
-            .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
-                      necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
-                      `qp_solver_cond_N < N`.
-        """
-        raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature")
-
-        # # unlikely but still possible
-        # if not self.solver_created:
-        #     raise Exception('Solver was not yet created!')
-        # if self.N < qp_solver_cond_N:
-        #     raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
-        # if self.qp_solver_cond_N != qp_solver_cond_N:
-        #     self.solver_created = False
-
-        #     # recreate the solver
-        #     acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N)
-
-        #     # store the new value
-        #     self.qp_solver_cond_N = qp_solver_cond_N
-        #     self.solver_created = True
-
-        #     # get pointers solver
-        #     self.__get_pointers_solver()
-
-
-    def eval_param_sens(self, index, stage=0, field="ex"):
-        """
-        Calculate the sensitivity of the curent solution with respect to the initial state component of index
-
-            :param index: integer corresponding to initial state index in range(nx)
-        """
-
-        field_ = field
-        field = field_.encode('utf-8')
-
-        # checks
-        if not isinstance(index, int):
-            raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.')
-
-        cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
-
-        if index < 0 or index > nx:
-            raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
-
-        # actual eval_param
-        acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
-
-        return
-
-
-    def get(self, int stage, str field_):
-        """
-        Get the last solution of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-
-        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
-        field = field_.encode('utf-8')
-
-        if field_ not in out_fields:
-            raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
-                    \n Possible values are {}.'.format(field_, out_fields))
-
-        if stage < 0 or stage > self.N:
-            raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N))
-
-        if stage == self.N and field_ == 'pi':
-            raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\
-                .format(field_, stage))
-
-        cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
-            self.nlp_dims, self.nlp_out, stage, field)
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims,))
-        acados_solver_common.ocp_nlp_out_get(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, <void *> out.data)
-
-        return out
-
-
-    def print_statistics(self):
-        """
-        prints statistics of previous solver run as a table:
-            - iter: iteration number
-            - res_stat: stationarity residual
-            - res_eq: residual wrt equality constraints (dynamics)
-            - res_ineq: residual wrt inequality constraints (constraints)
-            - res_comp: residual wrt complementarity conditions
-            - qp_stat: status of QP solver
-            - qp_iter: number of QP iterations
-            - qp_res_stat: stationarity residual of the last QP solution
-            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
-            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
-            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
-        """
-        acados_solver.acados_print_stats(self.capsule)
-
-
-    def store_iterate(self, filename='', overwrite=False):
-        """
-        Stores the current iterate of the ocp solver in a json file.
-
-            :param filename: if not set, use model_name + timestamp + '.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        import json
-        if filename == '':
-            filename += self.model_name + '_' + 'iterate' + '.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get iterate:
-        solution = dict()
-
-        lN = len(str(self.N+1))
-        for i in range(self.N+1):
-            i_string = f'{i:0{lN}d}'
-            solution['x_'+i_string] = self.get(i,'x')
-            solution['u_'+i_string] = self.get(i,'u')
-            solution['z_'+i_string] = self.get(i,'z')
-            solution['lam_'+i_string] = self.get(i,'lam')
-            solution['t_'+i_string] = self.get(i, 't')
-            solution['sl_'+i_string] = self.get(i, 'sl')
-            solution['su_'+i_string] = self.get(i, 'su')
-            if i < self.N:
-                solution['pi_'+i_string] = self.get(i,'pi')
-
-        for k in list(solution.keys()):
-            if len(solution[k]) == 0:
-                del solution[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True)
-        print("stored current iterate in ", os.path.join(os.getcwd(), filename))
-
-
-    def load_iterate(self, filename):
-        """
-        Loads the iterate stored in json file with filename into the ocp solver.
-        """
-        import json
-        if not os.path.isfile(filename):
-            raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
-
-        with open(filename, 'r') as f:
-            solution = json.load(f)
-
-        for key in solution.keys():
-            (field, stage) = key.split('_')
-            self.set(int(stage), field, np.array(solution[key]))
-
-
-    def get_stats(self, field_):
-        """
-        Get the information of the last solver call.
-
-            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
-        Available fileds:
-            - time_tot: total CPU time previous call
-            - time_lin: CPU time for linearization
-            - time_sim: CPU time for integrator
-            - time_sim_ad: CPU time for integrator contribution of external function calls
-            - time_sim_la: CPU time for integrator contribution of linear algebra
-            - time_qp: CPU time qp solution
-            - time_qp_solver_call: CPU time inside qp solver (without converting the QP)
-            - time_qp_xcond: time_glob: CPU time globalization
-            - time_solution_sensitivities: CPU time for previous call to eval_param_sens
-            - time_reg: CPU time regularization
-            - sqp_iter: number of SQP iterations
-            - qp_iter: vector of QP iterations for last SQP call
-            - statistics: table with info about last iteration
-            - stat_m: number of rows in statistics matrix
-            - stat_n: number of columns in statistics matrix
-            - residuals: residuals of last iterate
-            - alpha: step sizes of SQP iterations
-        """
-
-        double_fields = ['time_tot',
-                  'time_lin',
-                  'time_sim',
-                  'time_sim_ad',
-                  'time_sim_la',
-                  'time_qp',
-                  'time_qp_solver_call',
-                  'time_qp_xcond',
-                  'time_glob',
-                  'time_solution_sensitivities',
-                  'time_reg'
-        ]
-        fields = double_fields + [
-                  'sqp_iter',
-                  'qp_iter',
-                  'statistics',
-                  'stat_m',
-                  'stat_n',
-                  'residuals',
-                  'alpha',
-                ]
-        field = field_.encode('utf-8')
-
-        if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
-            return self.__get_stat_int(field)
-
-        elif field_ in double_fields:
-            return self.__get_stat_double(field)
-
-        elif field_ == 'statistics':
-            sqp_iter = self.get_stats("sqp_iter")
-            stat_m = self.get_stats("stat_m")
-            stat_n = self.get_stats("stat_n")
-            min_size = min([stat_m, sqp_iter+1])
-            return self.__get_stat_matrix(field, stat_n+1, min_size)
-
-        elif field_ == 'qp_iter':
-            full_stats = self.get_stats('statistics')
-            if self.nlp_solver_type == 'SQP':
-                return full_stats[6, :]
-            elif self.nlp_solver_type == 'SQP_RTI':
-                return full_stats[2, :]
-
-        elif field_ == 'alpha':
-            full_stats = self.get_stats('statistics')
-            if self.nlp_solver_type == 'SQP':
-                return full_stats[7, :]
-            else: # self.nlp_solver_type == 'SQP_RTI':
-                raise Exception("alpha values are not available for SQP_RTI")
-
-        elif field_ == 'residuals':
-            return self.get_residuals()
-
-        else:
-            raise NotImplementedError("TODO!")
-
-
-    def __get_stat_int(self, field):
-        cdef int out
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
-        return out
-
-    def __get_stat_double(self, field):
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,))
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
-        return out
-
-    def __get_stat_matrix(self, field, n, m):
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64)
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out_mat.data)
-        return out_mat
-
-
-    def get_cost(self):
-        """
-        Returns the cost value of the current solution.
-        """
-        # compute cost internally
-        acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output
-        cdef double out
-
-        # call getter
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, "cost_value", <void *> &out)
-
-        return out
-
-
-    def get_residuals(self, recompute=False):
-        """
-        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
-        """
-        # compute residuals if RTI
-        if self.nlp_solver_type == 'SQP_RTI' or recompute:
-            acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64))
-        cdef double double_value
-
-        field = "res_stat".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[0] = double_value
-
-        field = "res_eq".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[1] = double_value
-
-        field = "res_ineq".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[2] = double_value
-
-        field = "res_comp".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[3] = double_value
-
-        return out
-
-
-    # Note: this function should not be used anymore, better use cost_set, constraints_set
-    def set(self, int stage, str field_, value_):
-
-        """
-        Set numerical data inside the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"set: value must be numpy array, got {type(value_)}.")
-        cost_fields = ['y_ref', 'yref']
-        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
-        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
-        mem_fields = ['xdot_guess', 'z_guess']
-
-        field = field_.encode('utf-8')
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64)
-
-        # treat parameters separately
-        if field_ == 'p':
-            assert acados_solver.acados_update_params(self.capsule, stage, <double *> value.data, value.shape[0]) == 0
-        else:
-            if field_ not in constraints_fields + cost_fields + out_fields:
-                raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
-                    \nPossible values are {}.".format(field, \
-                    constraints_fields + cost_fields + out_fields + ['p']))
-
-            dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
-                self.nlp_dims, self.nlp_out, stage, field)
-
-            if value_.shape[0] != dims:
-                msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_)
-                msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
-                raise Exception(msg)
-
-            if field_ in constraints_fields:
-                acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
-            elif field_ in cost_fields:
-                acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
-            elif field_ in out_fields:
-                acados_solver_common.ocp_nlp_out_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_out, stage, field, <void *> value.data)
-            elif field_ in mem_fields:
-                acados_solver_common.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, <void *> value.data)
-
-            if field_ == 'z':
-                field = 'z_guess'.encode('utf-8')
-                acados_solver_common.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, <void *> value.data)
-        return
-
-    def cost_set(self, int stage, str field_, value_):
-        """
-        Set numerical data in the cost module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
-            :param value: of appropriate size
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"cost_set: value must be numpy array, got {type(value_)}.")
-        field = field_.encode('utf-8')
-
-        cdef int dims[2]
-        acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        cdef double[::1,:] value
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-            value = np.asfortranarray(value_[None,:])
-
-        elif len(value_shape) == 2:
-            # Get elements in column major order
-            value = np.asfortranarray(value_)
-
-        if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
-            raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
-
-
-    def constraints_set(self, int stage, str field_, value_):
-        """
-        Set numerical data in the constraint module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
-            :param value: of appropriate size
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"constraints_set: value must be numpy array, got {type(value_)}.")
-
-        field = field_.encode('utf-8')
-
-        cdef int dims[2]
-        acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        cdef double[::1,:] value
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-            value = np.asfortranarray(value_[None,:])
-
-        elif len(value_shape) == 2:
-            # Get elements in column major order
-            value = np.asfortranarray(value_)
-
-        if value_shape != tuple(dims):
-            raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
-
-        return
-
-
-    def get_from_qp_in(self, int stage, str field_):
-        """
-        Get numerical data from the dynamics module of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'A'
-        """
-        field = field_.encode('utf-8')
-
-        # get dims
-        cdef int[2] dims
-        acados_solver_common.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        # create output data
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F')
-
-        # call getter
-        acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)
-
-        return out
-
-
-    def options_set(self, str field_, value_):
-        """
-        Set options of the solver.
-
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
-
-            :param value: of type int, float, string
-
-            - qp_tol_stat: QP solver tolerance stationarity
-            - qp_tol_eq: QP solver tolerance equalities
-            - qp_tol_ineq: QP solver tolerance inequalities
-            - qp_tol_comp: QP solver tolerance complementarity
-            - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
-            - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
-            - warm_start_first_qp: indicates if first QP in SQP is warm_started
-        """
-        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent',
-        'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
-        string_fields = ['globalization']
-
-        # encode
-        field = field_.encode('utf-8')
-
-        cdef int int_value
-        cdef double double_value
-        cdef unsigned char[::1] string_value
-
-        # check field availability and type
-        if field_ in int_fields:
-            if not isinstance(value_, int):
-                raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_)))
-
-            if field_ == 'rti_phase':
-                if value_ < 0 or value_ > 2:
-                    raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
-                        'take only values 0, 1, 2 for SQP-RTI-type solvers')
-                if self.nlp_solver_type != 'SQP_RTI' and value_ > 0:
-                    raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
-                        'take only value 0 for SQP-type solvers')
-
-            int_value = value_
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &int_value)
-
-        elif field_ in double_fields:
-            if not isinstance(value_, float):
-                raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_)))
-
-            double_value = value_
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &double_value)
-
-        elif field_ in string_fields:
-            if not isinstance(value_, bytes):
-                raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_)))
-
-            string_value = value_.encode('utf-8')
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
-
-        else:
-            raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\
-                '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
-
-
-    def set_params_sparse(self, int stage, idx_values_, param_values_):
-        """
-        set parameters of the solvers external function partially:
-        Pseudo: solver.param[idx_values_] = param_values_;
-        Parameters:
-            :param stage_: integer corresponding to shooting node
-            :param idx_values_: 0 based integer array corresponding to parameter indices to be set
-            :param param_values_: new parameter values as numpy array
-        """
-
-        if not isinstance(param_values_, np.ndarray):
-            raise Exception('param_values_ must be np.array.')
-
-        if param_values_.shape[0] != len(idx_values_):
-            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
-                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
-
-        # n_update = c_int(len(param_values_))
-
-        # param_data = cast(param_values_.ctypes.data, POINTER(c_double))
-        # c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
-        # idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
-
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
-        #                 [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
-        #                             (self.capsule, stage, idx_data, param_data, n_update)
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(param_values_, dtype=np.float64)
-        # cdef cnp.ndarray[cnp.intc, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
-
-        # NOTE: this does throw an error somehow:
-        # ValueError: Buffer dtype mismatch, expected 'int object' but got 'int'
-        # cdef cnp.ndarray[cnp.int, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
-
-        cdef cnp.ndarray[cnp.int32_t, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.int32)
-        cdef int n_update = value.shape[0]
-        # print(f"in set_params_sparse Cython n_update {n_update}")
-
-        assert acados_solver.acados_update_params_sparse(self.capsule, stage, <int *> idx.data, <double *> value.data, n_update) == 0
-        return
-
-
-    def __del__(self):
-        if self.solver_created:
-            acados_solver.acados_free(self.capsule)
-            acados_solver.acados_free_capsule(self.capsule)
diff --git a/third_party/acados/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py
deleted file mode 100644
index 7faa49fb12..0000000000
--- a/third_party/acados/acados_template/acados_sim.py
+++ /dev/null
@@ -1,366 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import numpy as np
-import os
-from .acados_model import AcadosModel
-from .utils import get_acados_path, get_lib_ext
-
-class AcadosSimDims:
-    """
-    Class containing the dimensions of the model to be simulated.
-    """
-    def __init__(self):
-        self.__nx = None
-        self.__nu = None
-        self.__nz = 0
-        self.__np = 0
-
-    @property
-    def nx(self):
-        """:math:`n_x` - number of states. Type: int > 0"""
-        return self.__nx
-
-    @property
-    def nz(self):
-        """:math:`n_z` - number of algebraic variables. Type: int >= 0"""
-        return self.__nz
-
-    @property
-    def nu(self):
-        """:math:`n_u` - number of inputs. Type: int >= 0"""
-        return self.__nu
-
-    @property
-    def np(self):
-        """:math:`n_p` - number of parameters. Type: int >= 0"""
-        return self.__np
-
-    @nx.setter
-    def nx(self, nx):
-        if isinstance(nx, int) and nx > 0:
-            self.__nx = nx
-        else:
-            raise Exception('Invalid nx value, expected positive integer.')
-
-    @nz.setter
-    def nz(self, nz):
-        if isinstance(nz, int) and nz > -1:
-            self.__nz = nz
-        else:
-            raise Exception('Invalid nz value, expected nonnegative integer.')
-
-    @nu.setter
-    def nu(self, nu):
-        if isinstance(nu, int) and nu > -1:
-            self.__nu = nu
-        else:
-            raise Exception('Invalid nu value, expected nonnegative integer.')
-
-    @np.setter
-    def np(self, np):
-        if isinstance(np, int) and np > -1:
-            self.__np = np
-        else:
-            raise Exception('Invalid np value, expected nonnegative integer.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosSimOpts:
-    """
-    class containing the solver options
-    """
-    def __init__(self):
-        self.__integrator_type = 'ERK'
-        self.__collocation_type = 'GAUSS_LEGENDRE'
-        self.__Tsim = None
-        # ints
-        self.__sim_method_num_stages = 1
-        self.__sim_method_num_steps = 1
-        self.__sim_method_newton_iter = 3
-        # doubles
-        self.__sim_method_newton_tol = 0.0
-        # bools
-        self.__sens_forw = True
-        self.__sens_adj = False
-        self.__sens_algebraic = False
-        self.__sens_hess = False
-        self.__output_z = True
-        self.__sim_method_jac_reuse = 0
-        self.__ext_fun_compile_flags = '-O2'
-
-    @property
-    def integrator_type(self):
-        """Integrator type. Default: 'ERK'."""
-        return self.__integrator_type
-
-    @property
-    def num_stages(self):
-        """Number of stages in the integrator. Default: 1"""
-        return self.__sim_method_num_stages
-
-    @property
-    def num_steps(self):
-        """Number of steps in the integrator. Default: 1"""
-        return self.__sim_method_num_steps
-
-    @property
-    def newton_iter(self):
-        """Number of Newton iterations in simulation method. Default: 3"""
-        return self.__sim_method_newton_iter
-
-    @property
-    def newton_tol(self):
-        """
-        Tolerance for Newton system solved in implicit integrator (IRK, GNSF).
-        0.0 means this is not used and exactly newton_iter iterations are carried out.
-        Default: 0.0
-        """
-        return self.__sim_method_newton_tol
-
-    @property
-    def sens_forw(self):
-        """Boolean determining if forward sensitivities are computed. Default: True"""
-        return self.__sens_forw
-
-    @property
-    def sens_adj(self):
-        """Boolean determining if adjoint sensitivities are computed. Default: False"""
-        return self.__sens_adj
-
-    @property
-    def sens_algebraic(self):
-        """Boolean determining if sensitivities wrt algebraic variables are computed. Default: False"""
-        return self.__sens_algebraic
-
-    @property
-    def sens_hess(self):
-        """Boolean determining if hessians are computed. Default: False"""
-        return self.__sens_hess
-
-    @property
-    def output_z(self):
-        """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: True"""
-        return self.__output_z
-
-    @property
-    def sim_method_jac_reuse(self):
-        """Integer determining if jacobians are reused (0 or 1). Default: 0"""
-        return self.__sim_method_jac_reuse
-
-    @property
-    def T(self):
-        """Time horizon"""
-        return self.__Tsim
-
-    @property
-    def collocation_type(self):
-        """Collocation type: relevant for implicit integrators
-        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}
-
-        Default: GAUSS_LEGENDRE
-        """
-        return self.__collocation_type
-
-    @property
-    def ext_fun_compile_flags(self):
-        """
-        String with compiler flags for external function compilation.
-        Default: '-O2'.
-        """
-        return self.__ext_fun_compile_flags
-
-    @ext_fun_compile_flags.setter
-    def ext_fun_compile_flags(self, ext_fun_compile_flags):
-        if isinstance(ext_fun_compile_flags, str):
-            self.__ext_fun_compile_flags = ext_fun_compile_flags
-        else:
-            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
-
-    @integrator_type.setter
-    def integrator_type(self, integrator_type):
-        integrator_types = ('ERK', 'IRK', 'GNSF')
-        if integrator_type in integrator_types:
-            self.__integrator_type = integrator_type
-        else:
-            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
-
-    @collocation_type.setter
-    def collocation_type(self, collocation_type):
-        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
-        if collocation_type in collocation_types:
-            self.__collocation_type = collocation_type
-        else:
-            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
-
-    @T.setter
-    def T(self, T):
-        self.__Tsim = T
-
-    @num_stages.setter
-    def num_stages(self, num_stages):
-        if isinstance(num_stages, int):
-            self.__sim_method_num_stages = num_stages
-        else:
-            raise Exception('Invalid num_stages value. num_stages must be an integer.')
-
-    @num_steps.setter
-    def num_steps(self, num_steps):
-        if isinstance(num_steps, int):
-            self.__sim_method_num_steps = num_steps
-        else:
-            raise Exception('Invalid num_steps value. num_steps must be an integer.')
-
-    @newton_iter.setter
-    def newton_iter(self, newton_iter):
-        if isinstance(newton_iter, int):
-            self.__sim_method_newton_iter = newton_iter
-        else:
-            raise Exception('Invalid newton_iter value. newton_iter must be an integer.')
-
-    @newton_tol.setter
-    def newton_tol(self, newton_tol):
-        if isinstance(newton_tol, float):
-            self.__sim_method_newton_tol = newton_tol
-        else:
-            raise Exception('Invalid newton_tol value. newton_tol must be an float.')
-
-    @sens_forw.setter
-    def sens_forw(self, sens_forw):
-        if sens_forw in (True, False):
-            self.__sens_forw = sens_forw
-        else:
-            raise Exception('Invalid sens_forw value. sens_forw must be a Boolean.')
-
-    @sens_adj.setter
-    def sens_adj(self, sens_adj):
-        if sens_adj in (True, False):
-            self.__sens_adj = sens_adj
-        else:
-            raise Exception('Invalid sens_adj value. sens_adj must be a Boolean.')
-
-    @sens_hess.setter
-    def sens_hess(self, sens_hess):
-        if sens_hess in (True, False):
-            self.__sens_hess = sens_hess
-        else:
-            raise Exception('Invalid sens_hess value. sens_hess must be a Boolean.')
-
-    @sens_algebraic.setter
-    def sens_algebraic(self, sens_algebraic):
-        if sens_algebraic in (True, False):
-            self.__sens_algebraic = sens_algebraic
-        else:
-            raise Exception('Invalid sens_algebraic value. sens_algebraic must be a Boolean.')
-
-    @output_z.setter
-    def output_z(self, output_z):
-        if output_z in (True, False):
-            self.__output_z = output_z
-        else:
-            raise Exception('Invalid output_z value. output_z must be a Boolean.')
-
-    @sim_method_jac_reuse.setter
-    def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        if sim_method_jac_reuse in (0, 1):
-            self.__sim_method_jac_reuse = sim_method_jac_reuse
-        else:
-            raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be 0 or 1.')
-
-class AcadosSim:
-    """
-    The class has the following properties that can be modified to formulate a specific simulation problem, see below:
-
-    :param acados_path: string with the path to acados. It is used to generate the include and lib paths.
-
-    - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosSimDims` - are automatically detected from model
-    - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
-    - :py:attr:`solver_options` of type :py:class:`acados_template.acados_sim.AcadosSimOpts`
-
-    - :py:attr:`acados_include_path` (set automatically)
-    - :py:attr:`shared_lib_ext` (set automatically)
-    - :py:attr:`acados_lib_path` (set automatically)
-    - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
-
-    """
-    def __init__(self, acados_path=''):
-        if acados_path == '':
-            acados_path = get_acados_path()
-        self.dims = AcadosSimDims()
-        """Dimension definitions, automatically detected from :py:attr:`model`. Type :py:class:`acados_template.acados_sim.AcadosSimDims`"""
-        self.model = AcadosModel()
-        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
-        self.solver_options = AcadosSimOpts()
-        """Solver Options, type :py:class:`acados_template.acados_sim.AcadosSimOpts`"""
-
-        self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to acados include directory (set automatically), type: `string`"""
-        self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to where acados library is located (set automatically), type: `string`"""
-
-        self.code_export_directory = 'c_generated_code'
-        """Path to where code will be exported. Default: `c_generated_code`."""
-        self.shared_lib_ext = get_lib_ext()
-
-        # get cython paths
-        from sysconfig import get_paths
-        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
-
-        self.__parameter_values = np.array([])
-        self.__problem_class = 'SIM'
-
-    @property
-    def parameter_values(self):
-        """:math:`p` - initial values for parameter - can be updated"""
-        return self.__parameter_values
-
-    @parameter_values.setter
-    def parameter_values(self, parameter_values):
-        if isinstance(parameter_values, np.ndarray):
-            self.__parameter_values = parameter_values
-        else:
-            raise Exception('Invalid parameter_values value. ' +
-                            f'Expected numpy array, got {type(parameter_values)}.')
-
-    def set(self, attr, value):
-        # tokenize string
-        tokens = attr.split('_', 1)
-        if len(tokens) > 1:
-            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
-        else:
-            setter_to_call = getattr(self, 'set')
-
-        setter_to_call(tokens[1], value)
-
-        return
diff --git a/third_party/acados/acados_template/acados_sim_layout.json b/third_party/acados/acados_template/acados_sim_layout.json
deleted file mode 100644
index e3ca4b575b..0000000000
--- a/third_party/acados/acados_template/acados_sim_layout.json
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-    "acados_include_path": [
-        "str"
-    ],
-     "model": {
-         "name" : [
-            "str"
-        ]
-    },
-    "acados_lib_path": [
-        "str"
-    ],
-    "dims": {
-        "np": [
-            "int"
-        ],
-        "nu": [
-            "int"
-        ],
-        "nx": [
-            "int" 
-        ],
-        "nz": [
-            "int"
-        ]
-    },
-    "solver_options": {
-        "integrator_type": [
-            "str"
-        ],
-        "collocation_type": [
-            "str"
-        ],
-        "Tsim": [
-            "float"
-        ],
-        "sim_method_num_stages": [
-            "int"
-        ],
-        "sim_method_num_steps": [
-            "int"
-        ],
-        "sim_method_newton_iter": [
-            "int"
-        ],
-        "sim_method_newton_tol": [
-            "float"
-        ],
-        "ext_fun_compile_flags": [
-            "str"
-        ]
-    }
-}
diff --git a/third_party/acados/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py
deleted file mode 100644
index de5ee10709..0000000000
--- a/third_party/acados/acados_template/acados_sim_solver.py
+++ /dev/null
@@ -1,558 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import sys
-import os
-import json
-import importlib
-
-import numpy as np
-
-from subprocess import DEVNULL, call, STDOUT
-
-from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_bool, byref
-from copy import deepcopy
-
-from .casadi_function_generation import generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_explicit_ode
-from .acados_sim import AcadosSim
-from .acados_ocp import AcadosOcp
-from .utils import is_column, render_template, format_class_dict, make_object_json_dumpable,\
-     make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path, get_lib_ext,\
-     casadi_length, is_empty, check_casadi_version
-from .builders import CMakeBuilder
-from .gnsf.detect_gnsf_structure import detect_gnsf_structure
-
-
-
-def make_sim_dims_consistent(acados_sim: AcadosSim):
-    dims = acados_sim.dims
-    model = acados_sim.model
-    # nx
-    if is_column(model.x):
-        dims.nx = casadi_length(model.x)
-    else:
-        raise Exception('model.x should be column vector!')
-
-    # nu
-    if is_empty(model.u):
-        dims.nu = 0
-    else:
-        dims.nu = casadi_length(model.u)
-
-    # nz
-    if is_empty(model.z):
-        dims.nz = 0
-    else:
-        dims.nz = casadi_length(model.z)
-
-    # np
-    if is_empty(model.p):
-        dims.np = 0
-    else:
-        dims.np = casadi_length(model.p)
-    if acados_sim.parameter_values.shape[0] != dims.np:
-        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
-            f'\nGot np = {dims.np}, acados_sim.parameter_values.shape = {acados_sim.parameter_values.shape[0]}\n')
-
-
-def get_sim_layout():
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'acados_sim_layout.json')
-    with open(abs_path, 'r') as f:
-        sim_layout = json.load(f)
-    return sim_layout
-
-
-def sim_formulation_json_dump(acados_sim: AcadosSim, json_file='acados_sim.json'):
-    # Load acados_sim structure description
-    sim_layout = get_sim_layout()
-
-    # Copy input sim object dictionary
-    sim_dict = dict(deepcopy(acados_sim).__dict__)
-
-    for key, v in sim_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict): continue
-        # Copy sim object attributes dictionaries
-        sim_dict[key]=dict(getattr(acados_sim, key).__dict__)
-
-    sim_json = format_class_dict(sim_dict)
-
-    with open(json_file, 'w') as f:
-        json.dump(sim_json, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-
-
-def sim_get_default_cmake_builder() -> CMakeBuilder:
-    """
-    If :py:class:`~acados_template.acados_sim_solver.AcadosSimSolver` is used with `CMake` this function returns a good first setting.
-    :return: default :py:class:`~acados_template.builders.CMakeBuilder`
-    """
-    cmake_builder = CMakeBuilder()
-    cmake_builder.options_on = ['BUILD_ACADOS_SIM_SOLVER_LIB']
-    return cmake_builder
-
-
-def sim_render_templates(json_file, model_name: str, code_export_dir, cmake_options: CMakeBuilder = None):
-    # setting up loader and environment
-    json_path = os.path.join(os.getcwd(), json_file)
-
-    if not os.path.exists(json_path):
-        raise Exception(f"{json_path} not found!")
-
-    # Render templates
-    in_file = 'acados_sim_solver.in.c'
-    out_file = f'acados_sim_solver_{model_name}.c'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'acados_sim_solver.in.h'
-    out_file = f'acados_sim_solver_{model_name}.h'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'acados_sim_solver.in.pxd'
-    out_file = f'acados_sim_solver.pxd'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    # Builder
-    if cmake_options is not None:
-        in_file = 'CMakeLists.in.txt'
-        out_file = 'CMakeLists.txt'
-        render_template(in_file, out_file, code_export_dir, json_path)
-    else:
-        in_file = 'Makefile.in'
-        out_file = 'Makefile'
-        render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'main_sim.in.c'
-    out_file = f'main_sim_{model_name}.c'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    # folder model
-    model_dir = os.path.join(code_export_dir, model_name + '_model')
-
-    in_file = 'model.in.h'
-    out_file = f'{model_name}_model.h'
-    render_template(in_file, out_file, model_dir, json_path)
-
-
-def sim_generate_external_functions(acados_sim: AcadosSim):
-    model = acados_sim.model
-    model = make_model_consistent(model)
-
-    integrator_type = acados_sim.solver_options.integrator_type
-
-    opts = dict(generate_hess = acados_sim.solver_options.sens_hess,
-                code_export_directory = acados_sim.code_export_directory)
-
-    # create code_export_dir, model_dir
-    code_export_dir = acados_sim.code_export_directory
-    opts['code_export_directory'] = code_export_dir
-    model_dir = os.path.join(code_export_dir, model.name + '_model')
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-
-    # generate external functions
-    check_casadi_version()
-    if integrator_type == 'ERK':
-        generate_c_code_explicit_ode(model, opts)
-    elif integrator_type == 'IRK':
-        generate_c_code_implicit_ode(model, opts)
-    elif integrator_type == 'GNSF':
-        generate_c_code_gnsf(model, opts)
-
-
-class AcadosSimSolver:
-    """
-    Class to interact with the acados integrator C object.
-
-        :param acados_sim: type :py:class:`~acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`~acados_template.acados_sim.AcadosSim`) or :py:class:`~acados_template.acados_sim.AcadosSim`
-        :param json_file: Default: 'acados_sim.json'
-        :param build: Default: True
-        :param cmake_builder: type :py:class:`~acados_template.utils.CMakeBuilder` generate a `CMakeLists.txt` and use
-            the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-            `MS Visual Studio`); default: `None`
-    """
-    if sys.platform=="win32":
-        from ctypes import wintypes
-        from ctypes import WinDLL
-        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
-        dlclose.argtypes = [wintypes.HMODULE]
-    else:
-        dlclose = CDLL(None).dlclose
-        dlclose.argtypes = [c_void_p]
-
-
-    @classmethod
-    def generate(cls, acados_sim: AcadosSim, json_file='acados_sim.json', cmake_builder: CMakeBuilder = None):
-        """
-        Generates the code for an acados sim solver, given the description in acados_sim
-        """
-
-        acados_sim.code_export_directory = os.path.abspath(acados_sim.code_export_directory)
-
-        # make dims consistent
-        make_sim_dims_consistent(acados_sim)
-
-        # module dependent post processing
-        if acados_sim.solver_options.integrator_type == 'GNSF':
-            if acados_sim.solver_options.sens_hess == True:
-                raise Exception("AcadosSimSolver: GNSF does not support sens_hess = True.")
-            if 'gnsf_model' in acados_sim.__dict__:
-                set_up_imported_gnsf_model(acados_sim)
-            else:
-                detect_gnsf_structure(acados_sim)
-
-        # generate external functions
-        sim_generate_external_functions(acados_sim)
-
-        # dump to json
-        sim_formulation_json_dump(acados_sim, json_file)
-
-        # render templates
-        sim_render_templates(json_file, acados_sim.model.name, acados_sim.code_export_directory, cmake_builder)
-
-
-    @classmethod
-    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-        # Compile solver
-        cwd = os.getcwd()
-        os.chdir(code_export_dir)
-        if with_cython:
-            call(
-                ['make', 'clean_sim_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            call(
-                ['make', 'sim_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-        else:
-            if cmake_builder is not None:
-                cmake_builder.exec(code_export_dir, verbose=verbose)
-            else:
-                call(
-                    ['make', 'sim_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-        os.chdir(cwd)
-
-
-    @classmethod
-    def create_cython_solver(cls, json_file):
-        """
-        """
-        with open(json_file, 'r') as f:
-            acados_sim_json = json.load(f)
-        code_export_directory = acados_sim_json['code_export_directory']
-
-        importlib.invalidate_caches()
-        rel_code_export_directory = os.path.relpath(code_export_directory)
-        acados_sim_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_sim_solver_pyx')
-
-        AcadosSimSolverCython = getattr(acados_sim_solver_pyx, 'AcadosSimSolverCython')
-        return AcadosSimSolverCython(acados_sim_json['model']['name'])
-
-    def __init__(self, acados_sim, json_file='acados_sim.json', generate=True, build=True, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-
-        self.solver_created = False
-        self.acados_sim = acados_sim
-        model_name = acados_sim.model.name
-        self.model_name = model_name
-
-        code_export_dir = os.path.abspath(acados_sim.code_export_directory)
-
-        # reuse existing json and casadi functions, when creating integrator from ocp
-        if generate and not isinstance(acados_sim, AcadosOcp):
-            self.generate(acados_sim, json_file=json_file, cmake_builder=cmake_builder)
-
-        if build:
-            self.build(code_export_dir, cmake_builder=cmake_builder, verbose=True)
-
-        # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
-
-        # Load acados library to avoid unloading the library.
-        # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
-        # Unloading a library which uses OpenMP results in a segfault (on any platform?).
-        # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
-        # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
-        libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
-        self.__acados_lib = CDLL(libacados_filepath)
-        # find out if acados was compiled with OpenMP
-        try:
-            self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
-        except AttributeError as e:
-            self.__acados_lib_uses_omp = False
-        if self.__acados_lib_uses_omp:
-            print('acados was compiled with OpenMP.')
-        else:
-            print('acados was compiled without OpenMP.')
-        libacados_sim_solver_name = f'{lib_prefix}acados_sim_solver_{self.model_name}{lib_ext}'
-        self.shared_lib_name = os.path.join(code_export_dir, libacados_sim_solver_name)
-
-        # get shared_lib
-        self.shared_lib = CDLL(self.shared_lib_name)
-
-        # create capsule
-        getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")()
-
-        # create solver
-        getattr(self.shared_lib, f"{model_name}_acados_sim_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_sim_create").restype = c_int
-        assert getattr(self.shared_lib, f"{model_name}_acados_sim_create")(self.capsule)==0
-        self.solver_created = True
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").restype = c_void_p
-        self.sim_opts = getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").restype = c_void_p
-        self.sim_dims = getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").restype = c_void_p
-        self.sim_config = getattr(self.shared_lib, f"{model_name}_acados_get_sim_config")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").restype = c_void_p
-        self.sim_out = getattr(self.shared_lib, f"{model_name}_acados_get_sim_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").restype = c_void_p
-        self.sim_in = getattr(self.shared_lib, f"{model_name}_acados_get_sim_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p
-        self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule)
-
-        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
-        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
-        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-
-
-    def simulate(self, x=None, u=None, z=None, p=None):
-        """
-        Simulate the system forward for the given x, u, z, p and return x_next.
-        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
-        """
-        if x is not None:
-            self.set('x', x)
-        if u is not None:
-            self.set('u', u)
-        if z is not None:
-            self.set('z', z)
-        if p is not None:
-            self.set('p', p)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_sim_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
-
-        x_next = self.get('x')
-        return x_next
-
-
-    def solve(self):
-        """
-        Solve the simulation problem with current input.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").restype = c_int
-
-        status = getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve")(self.capsule)
-        return status
-
-
-    def get(self, field_):
-        """
-        Get the last solution of the solver.
-
-            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-        """
-        field = field_.encode('utf-8')
-
-        if field_ in self.gettable_vectors:
-            # get dims
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            # allocate array
-            out = np.ascontiguousarray(np.zeros((dims[0],)), dtype=np.float64)
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
-
-        elif field_ in self.gettable_matrices:
-            # get dims
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            out = np.zeros((dims[0], dims[1]), order='F')
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
-
-        elif field_ in self.gettable_scalars:
-            scalar = c_double()
-            scalar_data = byref(scalar)
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, scalar_data)
-
-            out = scalar.value
-        else:
-            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.gettable_vectors+self.gettable_matrices)}, {", ".join(self.gettable_scalars)}')
-
-        return out
-
-
-
-    def set(self, field_: str, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param field: string in ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T']
-            :param value: the value with appropriate size.
-        """
-        settable = ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T'] # S_forw
-
-        # TODO: check and throw error here. then remove checks in Cython for speed
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-
-        value_ = value_.astype(float)
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        field = field_.encode('utf-8')
-
-        # treat parameters separately
-        if field_ == 'p':
-            model_name = self.acados_sim.model.name
-            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int]
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0])
-            return
-        else:
-            # dimension check
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            value_ = np.ravel(value_, order='F')
-
-            value_shape = value_.shape
-            if len(value_shape) == 1:
-                value_shape = (value_shape[0], 0)
-
-            if value_shape != tuple(dims):
-                raise Exception(f'AcadosSimSolver.set(): mismatching dimension' \
-                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
-
-        # set
-        if field_ in ['xdot', 'z']:
-            self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p)
-        elif field_ in settable:
-            self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p)
-        else:
-            raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \
-                f' available fields are {", ".join(settable)}')
-
-        return
-
-
-    def options_set(self, field_: str, value_: bool):
-        """
-        Set solver options
-
-            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
-            :param value: Boolean
-        """
-        fields = ['sens_forw', 'sens_adj', 'sens_hess']
-        if field_ not in fields:
-            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
-
-        field = field_.encode('utf-8')
-        value_ctypes = c_bool(value_)
-
-        if not isinstance(value_, bool):
-            raise TypeError("options_set: expected boolean for value")
-
-        # only allow setting
-        if getattr(self.acados_sim.solver_options, field_) or value_ == False:
-            self.shared_lib.sim_opts_set.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_bool)]
-            self.shared_lib.sim_opts_set(self.sim_config, self.sim_opts, field, value_ctypes)
-        else:
-            raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
-
-        return
-
-
-    def __del__(self):
-
-        if self.solver_created:
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free")(self.capsule)
-
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule")(self.capsule)
-
-            try:
-                self.dlclose(self.shared_lib._handle)
-            except:
-                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosSimSolver {self.model_name}.\n",
-                     "Attempting to create a new one with the same name will likely result in the old one being used!")
-                pass
diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd
deleted file mode 100644
index 7c20a6d24d..0000000000
--- a/third_party/acados/acados_template/acados_sim_solver_common.pxd
+++ /dev/null
@@ -1,63 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-cdef extern from "acados/sim/sim_common.h":
-    ctypedef struct sim_config:
-        pass
-
-    ctypedef struct sim_opts:
-        pass
-
-    ctypedef struct sim_in:
-        pass
-
-    ctypedef struct sim_out:
-        pass
-
-
-cdef extern from "acados_c/sim_interface.h":
-
-    ctypedef struct sim_plan:
-        pass
-
-    ctypedef struct sim_solver:
-        pass
-
-    # out
-    void sim_out_get(sim_config *config, void *dims, sim_out *out, const char *field, void *value)
-    int sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, void *dims_data)
-
-    # opts
-    void sim_opts_set(sim_config *config, void *opts_, const char *field, void *value)
-
-    # get/set
-    void sim_in_set(sim_config *config, void *dims, sim_in *sim_in, const char *field, void *value)
-    void sim_solver_set(sim_solver *solver, const char *field, void *value)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
deleted file mode 100644
index 01964fd7a0..0000000000
--- a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
+++ /dev/null
@@ -1,255 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-# cython: language_level=3
-# cython: profile=False
-# distutils: language=c
-
-cimport cython
-from libc cimport string
-# from libc cimport bool as bool_t
-
-cimport acados_sim_solver_common
-cimport acados_sim_solver
-
-cimport numpy as cnp
-
-import os
-from datetime import datetime
-import numpy as np
-
-
-cdef class AcadosSimSolverCython:
-    """
-    Class to interact with the acados sim solver C object.
-    """
-
-    cdef acados_sim_solver.sim_solver_capsule *capsule
-    cdef void *sim_dims
-    cdef acados_sim_solver_common.sim_opts *sim_opts
-    cdef acados_sim_solver_common.sim_config *sim_config
-    cdef acados_sim_solver_common.sim_out *sim_out
-    cdef acados_sim_solver_common.sim_in *sim_in
-    cdef acados_sim_solver_common.sim_solver *sim_solver
-
-    cdef bint solver_created
-
-    cdef str model_name
-
-    cdef str sim_solver_type
-
-    cdef list gettable_vectors
-    cdef list gettable_matrices
-    cdef list gettable_scalars
-
-    def __cinit__(self, model_name):
-
-        self.solver_created = False
-
-        self.model_name = model_name
-
-        # create capsule
-        self.capsule = acados_sim_solver.acados_sim_solver_create_capsule()
-
-        # create solver
-        assert acados_sim_solver.acados_sim_create(self.capsule) == 0
-        self.solver_created = True
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
-        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
-        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-
-    def __get_pointers_solver(self):
-        """
-        Private function to get the pointers for solver
-        """
-        # get pointers solver
-        self.sim_opts = acados_sim_solver.acados_get_sim_opts(self.capsule)
-        self.sim_dims = acados_sim_solver.acados_get_sim_dims(self.capsule)
-        self.sim_config = acados_sim_solver.acados_get_sim_config(self.capsule)
-        self.sim_out = acados_sim_solver.acados_get_sim_out(self.capsule)
-        self.sim_in = acados_sim_solver.acados_get_sim_in(self.capsule)
-        self.sim_solver = acados_sim_solver.acados_get_sim_solver(self.capsule)
-
-
-    def simulate(self, x=None, u=None, z=None, p=None):
-        """
-        Simulate the system forward for the given x, u, z, p and return x_next.
-        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
-        """
-        if x is not None:
-            self.set('x', x)
-        if u is not None:
-            self.set('u', u)
-        if z is not None:
-            self.set('z', z)
-        if p is not None:
-            self.set('p', p)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_sim_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
-
-        x_next = self.get('x')
-        return x_next
-
-
-    def solve(self):
-        """
-        Solve the sim with current input.
-        """
-        return acados_sim_solver.acados_sim_solve(self.capsule)
-
-
-    def get(self, field_):
-        """
-        Get the last solution of the solver.
-
-            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-        """
-        field = field_.encode('utf-8')
-
-        if field_ in self.gettable_vectors:
-            return self.__get_vector(field)
-        elif field_ in self.gettable_matrices:
-            return self.__get_matrix(field)
-        elif field_ in self.gettable_scalars:
-            return self.__get_scalar(field)
-        else:
-            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.gettable.keys())}')
-
-
-    def __get_scalar(self, field):
-        cdef double scalar
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> &scalar)
-        return scalar
-
-
-    def __get_vector(self, field):
-        cdef int[2] dims
-        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((dims[0],), dtype=np.float64))
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims[0]),)
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
-        return out
-
-
-    def __get_matrix(self, field):
-        cdef int[2] dims
-        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
-        return out
-
-
-    def set(self, field_: str, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param field: string in ['p', 'seed_adj', 'T', 'x', 'u', 'xdot', 'z']
-            :param value: the value with appropriate size.
-        """
-        settable = ['seed_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw
-
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        # if len(value_.shape) > 1:
-            # raise RuntimeError('AcadosSimSolverCython.set(): value_ should be 1 dimensional')
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64).flatten()
-
-        field = field_.encode('utf-8')
-        cdef int[2] dims
-
-        # treat parameters separately
-        if field_ == 'p':
-            assert acados_sim_solver.acados_sim_update_params(self.capsule, <double *> value.data, value.shape[0]) == 0
-            return
-        else:
-            acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-
-            value_ = np.ravel(value_, order='F')
-
-            value_shape = value_.shape
-            if len(value_shape) == 1:
-                value_shape = (value_shape[0], 0)
-
-            if value_shape != tuple(dims):
-                raise Exception(f'AcadosSimSolverCython.set(): mismatching dimension' \
-                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
-
-        # set
-        if field_ in ['xdot', 'z']:
-            acados_sim_solver_common.sim_solver_set(self.sim_solver, field, <void *> value.data)
-        elif field_ in settable:
-            acados_sim_solver_common.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, <void *> value.data)
-        else:
-            raise Exception(f'AcadosSimSolverCython.set(): Unknown field {field_},' \
-                f' available fields are {", ".join(settable)}')
-
-
-    def options_set(self, field_: str, value_: bool):
-        """
-        Set solver options
-
-            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
-            :param value: Boolean
-        """
-        fields = ['sens_forw', 'sens_adj', 'sens_hess']
-        if field_ not in fields:
-            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
-
-        field = field_.encode('utf-8')
-
-        if not isinstance(value_, bool):
-            raise TypeError("options_set: expected boolean for value")
-
-        cdef bint bool_value = value_
-        acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
-        # TODO: only allow setting
-        # if getattr(self.acados_sim.solver_options, field_) or value_ == False:
-        #     acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
-        # else:
-        #     raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
-
-        return
-
-
-    def __del__(self):
-        if self.solver_created:
-            acados_sim_solver.acados_sim_free(self.capsule)
-            acados_sim_solver.acados_sim_solver_free_capsule(self.capsule)
diff --git a/third_party/acados/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd
deleted file mode 100644
index 75d021626f..0000000000
--- a/third_party/acados/acados_template/acados_solver_common.pxd
+++ /dev/null
@@ -1,99 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-cdef extern from "acados/ocp_nlp/ocp_nlp_common.h":
-    ctypedef struct ocp_nlp_config:
-        pass
-
-    ctypedef struct ocp_nlp_dims:
-        pass
-
-    ctypedef struct ocp_nlp_in:
-        pass
-
-    ctypedef struct ocp_nlp_out:
-        pass
-
-
-cdef extern from "acados_c/ocp_nlp_interface.h":
-    ctypedef enum ocp_nlp_solver_t:
-        pass
-
-    ctypedef enum ocp_nlp_cost_t:
-        pass
-
-    ctypedef enum ocp_nlp_dynamics_t:
-        pass
-
-    ctypedef enum ocp_nlp_constraints_t:
-        pass
-
-    ctypedef enum ocp_nlp_reg_t:
-        pass
-
-    ctypedef struct ocp_nlp_plan:
-        pass
-
-    ctypedef struct ocp_nlp_solver:
-        pass
-
-    int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in_,
-        int start_stage, const char *field, void *value)
-    int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in_, int stage, const char *field, void *value)
-
-    # out
-    void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value)
-    void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value)
-    void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value)
-    int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field)
-    void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-    void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-    void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-
-    # opts
-    void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value)
-
-    # solver
-    void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
-    void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out)
-    void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
-
-    # get/set
-    void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, const char *field, void *return_value_)
-    void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, int stage, const char *field, void *value)
diff --git a/third_party/acados/acados_template/builders.py b/third_party/acados/acados_template/builders.py
deleted file mode 100644
index 8acc05b528..0000000000
--- a/third_party/acados/acados_template/builders.py
+++ /dev/null
@@ -1,130 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-import sys
-from subprocess import DEVNULL, call, STDOUT
-
-
-class CMakeBuilder:
-    """
-    Class to work with the `CMake` build system.
-    """
-    def __init__(self):
-        self._source_dir = None  # private source directory, this is set to code_export_dir
-        self.build_dir = 'build'
-        self._build_dir = None  # private build directory, usually rendered to abspath(build_dir)
-        self.generator = None
-        """Defines the generator, options can be found via `cmake --help` under 'Generator'. Type: string. Linux default 'Unix Makefiles', Windows 'Visual Studio 15 2017 Win64'; default value: `None`."""
-        # set something for Windows
-        if os.name == 'nt':
-            self.generator = 'Visual Studio 15 2017 Win64'
-        self.build_targets = None
-        """A comma-separated list of the build targets, if `None` then all targets will be build; type: List of strings; default: `None`."""
-        self.options_on = None
-        """List of strings as CMake options which are translated to '-D Opt[0]=ON -D Opt[1]=ON ...'; default: `None`."""
-
-    # Generate the command string for handling the cmake command.
-    def get_cmd1_cmake(self):
-        defines_str = ''
-        if self.options_on is not None:
-            defines_arr = [f' -D{opt}=ON' for opt in self.options_on]
-            defines_str = ' '.join(defines_arr)
-        generator_str = ''
-        if self.generator is not None:
-            generator_str = f' -G"{self.generator}"'
-        return f'cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="{self._source_dir}"{defines_str}{generator_str} -Wdev -S"{self._source_dir}" -B"{self._build_dir}"'
-
-    # Generate the command string for handling the build.
-    def get_cmd2_build(self):
-        import multiprocessing
-        cmd = f'cmake --build "{self._build_dir}" --config Release -j{multiprocessing.cpu_count()}'
-        if self.build_targets is not None:
-            cmd += f' -t {self.build_targets}'
-        return cmd
-
-    # Generate the command string for handling the install command.
-    def get_cmd3_install(self):
-        return f'cmake --install "{self._build_dir}"'
-
-    def exec(self, code_export_directory, verbose=True):
-        """
-        Execute the compilation using `CMake` with the given settings.
-        :param code_export_directory: must be the absolute path to the directory where the code was exported to
-        """
-        if(os.path.isabs(code_export_directory) is False):
-            print(f'(W) the code export directory "{code_export_directory}" is not an absolute path!')
-        self._source_dir = code_export_directory
-        self._build_dir = os.path.abspath(self.build_dir)
-        try:
-            os.mkdir(self._build_dir)
-        except FileExistsError as e:
-            pass
-
-        try:
-            os.chdir(self._build_dir)
-            cmd_str = self.get_cmd1_cmake()
-            print(f'call("{cmd_str})"')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}')
-            cmd_str = self.get_cmd2_build()
-            print(f'call("{cmd_str}")')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}')
-            cmd_str = self.get_cmd3_install()
-            print(f'call("{cmd_str}")')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}')
-        except OSError as e:
-            print("Execution failed:", e, file=sys.stderr)
-        except Exception as e:
-            print("Execution failed:", e, file=sys.stderr)
-            exit(1)
diff --git a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
deleted file mode 100644
index 99bc26f750..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
+++ /dev/null
@@ -1,397 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-{%- if solver_options.qp_solver %}
-	{%- set qp_solver = solver_options.qp_solver %}
-{%- else %}
-	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
-{%- endif %}
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{%- if constraints.constr_type %}
-	{%- set constr_type = constraints.constr_type %}
-{%- else %}
-	{%- set constr_type = "NONE" %}
-{%- endif %}
-
-{%- if constraints.constr_type_e %}
-	{%- set constr_type_e = constraints.constr_type_e %}
-{%- else %}
-	{%- set constr_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type %}
-	{%- set cost_type = cost.cost_type %}
-{%- else %}
-	{%- set cost_type = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_e %}
-	{%- set cost_type_e = cost.cost_type_e %}
-{%- else %}
-	{%- set cost_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_0 %}
-	{%- set cost_type_0 = cost.cost_type_0 %}
-{%- else %}
-	{%- set cost_type_0 = "NONE" %}
-{%- endif %}
-
-{%- if dims.nh %}
-	{%- set dims_nh = dims.nh %}
-{%- else %}
-	{%- set dims_nh = 0 %}
-{%- endif %}
-
-{%- if dims.nphi %}
-	{%- set dims_nphi = dims.nphi %}
-{%- else %}
-	{%- set dims_nphi = 0 %}
-{%- endif %}
-
-{%- if dims.nh_e %}
-	{%- set dims_nh_e = dims.nh_e %}
-{%- else %}
-	{%- set dims_nh_e = 0 %}
-{%- endif %}
-
-{%- if dims.nphi_e %}
-	{%- set dims_nphi_e = dims.nphi_e %}
-{%- else %}
-	{%- set dims_nphi_e = 0 %}
-{%- endif %}
-
-{%- if solver_options.model_external_shared_lib_dir %}
-	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
-{%- endif %}
-
-{%- if solver_options.model_external_shared_lib_name %}
-	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
-{%- endif %}
-
-{#- control operator #}
-{%- if os and os == "pc" %}
-	{%- set control = "&" %}
-{%- else %}
-	{%- set control = ";" %}
-{%- endif %}
-
-{%- if acados_link_libs and os and os == "pc" %}{# acados linking libraries and flags #}
-	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
-	{%- set openmp_flag = acados_link_libs.openmp %}
-{%- else %}
-	{%- set openmp_flag = " " %}
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-		{%- set link_libs = "-lqpOASES_e" %}
-	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
-		{%- set link_libs = "-ldaqp" %}
-	{%- else %}
-		{%- set link_libs = "" %}
-	{%- endif %}
-{%- endif %}
-
-cmake_minimum_required(VERSION 3.13)
-
-project({{ model.name }})
-
-# build options.
-option(BUILD_ACADOS_SOLVER_LIB "Should the solver library acados_solver_{{ model.name }} be build?" OFF)
-option(BUILD_ACADOS_OCP_SOLVER_LIB "Should the OCP solver library acados_ocp_solver_{{ model.name }} be build?" OFF)
-option(BUILD_EXAMPLE "Should the example main_{{ model.name }} be build?" OFF)
-{%- if solver_options.integrator_type != "DISCRETE" %}
-option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name }} be build?" OFF)
-option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF)
-{%- endif %}
-
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows")
-    # MinGW, change to .lib such that mex recognizes it
-    set(CMAKE_SHARED_LIBRARY_SUFFIX ".lib")
-    set(CMAKE_SHARED_LIBRARY_PREFIX "")
-endif()
-
-
-# object target names
-set(MODEL_OBJ model_{{ model.name }})
-set(OCP_OBJ ocp_{{ model.name }})
-set(SIM_OBJ sim_{{ model.name }})
-
-# model
-set(MODEL_SRC
-	{%- if model.dyn_ext_fun_type == "casadi" %}
-{%- if  solver_options.integrator_type == "ERK" %}
-    {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
-    {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
-    {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-	{% if model.gnsf.purely_linear != 1 %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
-		{% if model.gnsf.nontrivial_f_LO == 1 %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
-		{%- endif %}
-	{%- endif %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
-		{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
-		{%- endif %}
-{%- endif -%}
-	{%- else %}
-    {{ model.name }}_model/{{ model.dyn_generic_source }}
-	{%- endif %}
-)
-add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} )
-
-# optimal control problem - mostly CasADi exports
-if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMPLE})
-    set(OCP_SRC
-{%- if constr_type == "BGP" and dims_nphi > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
-{%- endif %}
-{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
-{%- endif %}
-
-{%- if constr_type == "BGH" and dims_nh > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
-    {%- if hessian_approx == "EXACT" %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
-    {%- endif %}
-{%- endif %}
-
-{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
-    {%- if hessian_approx == "EXACT" %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
-    {%- endif %}
-{%- endif %}
-
-{%- if cost_type_0 == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
-{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
-{%- elif cost_type_0 == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
-    {%- else %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
-    {%- endif %}
-{%- endif %}
-{%- if cost_type == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
-{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
-{%- elif cost_type == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
-    {%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
-    {%- endif %}
-{%- endif %}
-{%- if cost_type_e == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
-{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
-{%- elif cost_type_e == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
-    {%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
-    {%- endif %}
-{%- endif %}
-        acados_solver_{{ model.name }}.c)
-    add_library(${OCP_OBJ} OBJECT ${OCP_SRC})
-endif()
-
-{%- if solver_options.integrator_type != "DISCRETE" %}
-# for sim solver
-if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_EXAMPLE}
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-    OR ${BUILD_SIM_EXAMPLE} OR ${BUILD_ACADOS_SIM_SOLVER_LIB}
-    {%- endif -%}
-    )
-    set(SIM_SRC acados_sim_solver_{{ model.name }}.c)
-    add_library(${SIM_OBJ} OBJECT ${SIM_SRC})
-endif()
-{%- endif %}
-
-# for target example
-set(EX_SRC main_{{ model.name }}.c)
-set(EX_EXE main_{{ model.name }})
-
-{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
-set(EXTERNAL_DIR {{ model_external_shared_lib_dir | replace(from="\", to="/")  }})
-set(EXTERNAL_LIB {{ model_external_shared_lib_name }})
-{%- else %}
-set(EXTERNAL_DIR)
-set(EXTERNAL_LIB)
-{%- endif %}
-
-# set some search paths for preprocessor and linker
-set(ACADOS_INCLUDE_PATH {{ acados_include_path | replace(from="\", to="/")  }} CACHE PATH "Define the path which contains the include directory for acados.")
-set(ACADOS_LIB_PATH {{ acados_lib_path | replace(from="\", to="/") }} CACHE PATH "Define the path which contains the lib directory for acados.")
-
-# c-compiler flags for debugging
-set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb")
-
-set(CMAKE_C_FLAGS "-fPIC -std=c99 {{ openmp_flag }}
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" -%}
-    -DACADOS_WITH_QPOASES
-{%- endif -%}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" -%}
-    -DACADOS_WITH_DAQP
-{%- endif -%}
-{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%}
-    -DACADOS_WITH_OSQP
-{%- endif -%}
-{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%}
-    -DACADOS_WITH_QPDUNES
-{%- endif -%}
-")
-#-fno-diagnostics-show-line-numbers -g
-
-include_directories(
-   ${ACADOS_INCLUDE_PATH}
-   ${ACADOS_INCLUDE_PATH}/acados
-   ${ACADOS_INCLUDE_PATH}/blasfeo/include
-   ${ACADOS_INCLUDE_PATH}/hpipm/include
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-   ${ACADOS_INCLUDE_PATH}/qpOASES_e/
-{%- endif %}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-   ${ACADOS_INCLUDE_PATH}/daqp/include
-{%- endif %}
-)
-
-# linker flags
-link_directories(${ACADOS_LIB_PATH})
-
-# link to libraries
-if(UNIX)
-    link_libraries(acados hpipm blasfeo m {{ link_libs }})
-else()
-    link_libraries(acados hpipm blasfeo {{ link_libs }})
-endif()
-
-# the targets
-
-# bundled_shared_lib
-if(${BUILD_ACADOS_SOLVER_LIB})
-    set(LIB_ACADOS_SOLVER acados_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-        $<TARGET_OBJECTS:${SIM_OBJ}>
-    {%- endif -%}
-    )
-    install(TARGETS ${LIB_ACADOS_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_SOLVER_LIB})
-
-# ocp_shared_lib
-if(${BUILD_ACADOS_OCP_SOLVER_LIB})
-    set(LIB_ACADOS_OCP_SOLVER acados_ocp_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_OCP_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>)
-    # Specify libraries or flags to use when linking a given target and/or its dependents.
-    target_link_libraries(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_LIB})
-    target_link_directories(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_DIR})
-    install(TARGETS ${LIB_ACADOS_OCP_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_OCP_SOLVER_LIB})
-
-# example
-if(${BUILD_EXAMPLE})
-    add_executable(${EX_EXE} ${EX_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-        $<TARGET_OBJECTS:${SIM_OBJ}>
-    {%- endif -%}
-    )
-    install(TARGETS ${EX_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_EXAMPLE})
-
-{% if solver_options.integrator_type != "DISCRETE" -%}
-# example_sim
-if(${BUILD_SIM_EXAMPLE})
-    set(EX_SIM_SRC main_sim_{{ model.name }}.c)
-    set(EX_SIM_EXE main_sim_{{ model.name }})
-    add_executable(${EX_SIM_EXE} ${EX_SIM_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
-    install(TARGETS ${EX_SIM_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_SIM_EXAMPLE})
-
-# sim_shared_lib
-if(${BUILD_ACADOS_SIM_SOLVER_LIB})
-    set(LIB_ACADOS_SIM_SOLVER acados_sim_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_SIM_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
-    install(TARGETS ${LIB_ACADOS_SIM_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_SIM_SOLVER_LIB})
-{%- endif %}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/Makefile.in b/third_party/acados/acados_template/c_templates_tera/Makefile.in
deleted file mode 100644
index fbefc08e38..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/Makefile.in
+++ /dev/null
@@ -1,468 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-{%- if solver_options.qp_solver %}
-	{%- set qp_solver = solver_options.qp_solver %}
-{%- else %}
-	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
-{%- endif %}
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{%- if constraints.constr_type %}
-	{%- set constr_type = constraints.constr_type %}
-{%- else %}
-	{%- set constr_type = "NONE" %}
-{%- endif %}
-
-{%- if constraints.constr_type_e %}
-	{%- set constr_type_e = constraints.constr_type_e %}
-{%- else %}
-	{%- set constr_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type %}
-	{%- set cost_type = cost.cost_type %}
-{%- else %}
-	{%- set cost_type = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_e %}
-	{%- set cost_type_e = cost.cost_type_e %}
-{%- else %}
-	{%- set cost_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_0 %}
-	{%- set cost_type_0 = cost.cost_type_0 %}
-{%- else %}
-	{%- set cost_type_0 = "NONE" %}
-{%- endif %}
-
-{%- if dims.nh %}
-	{%- set dims_nh = dims.nh %}
-{%- else %}
-	{%- set dims_nh = 0 %}
-{%- endif %}
-
-{%- if dims.nphi %}
-	{%- set dims_nphi = dims.nphi %}
-{%- else %}
-	{%- set dims_nphi = 0 %}
-{%- endif %}
-
-{%- if dims.nh_e %}
-	{%- set dims_nh_e = dims.nh_e %}
-{%- else %}
-	{%- set dims_nh_e = 0 %}
-{%- endif %}
-
-{%- if dims.nphi_e %}
-	{%- set dims_nphi_e = dims.nphi_e %}
-{%- else %}
-	{%- set dims_nphi_e = 0 %}
-{%- endif %}
-{%- if solver_options.model_external_shared_lib_dir %}
-	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
-{%- endif %}
-{%- if solver_options.model_external_shared_lib_name %}
-	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
-{%- endif %}
-
-{# control operator #}
-{%- if os and os == "pc" %}
-	{%- set control = "&" %}
-{%- else %}
-	{%- set control = ";" %}
-{%- endif %}
-
-{# acados linking libraries and flags #}
-{%- if acados_link_libs and os and os == "pc" %}
-	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
-	{%- set openmp_flag = acados_link_libs.openmp %}
-{%- else %}
-	{%- set openmp_flag = " " %}
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-		{%- set link_libs = "-lqpOASES_e" %}
-	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
-		{%- set link_libs = "-ldaqp" %}
-	{%- else %}
-		{%- set link_libs = "" %}
-	{%- endif %}
-{%- endif %}
-
-# define sources and use make's implicit rules to generate object files (*.o)
-
-# model
-MODEL_SRC=
-	{%- if model.dyn_ext_fun_type == "casadi" %}
-{%- if solver_options.integrator_type == "ERK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
-	{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-		{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-		{%- endif %}
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
-	{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-	{% if model.gnsf.purely_linear != 1 %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
-		{% if model.gnsf.nontrivial_f_LO == 1 %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
-		{%- endif %}
-	{%- endif %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
-		{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
-		{%- endif %}
-{%- endif %}
-	{%- else %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_generic_source }}
-	{%- endif %}
-MODEL_OBJ := $(MODEL_SRC:.c=.o)
-
-# optimal control problem - mostly CasADi exports
-OCP_SRC=
-{%- if constr_type == "BGP" and dims_nphi > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
-{%- endif %}
-{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
-{%- endif %}
-
-{%- if constr_type == "BGH" and dims_nh > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
-	{%- if hessian_approx == "EXACT" %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
-	{%- endif %}
-{%- endif %}
-
-{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
-	{%- if hessian_approx == "EXACT" %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
-	{%- endif %}
-{%- endif %}
-
-{%- if cost_type_0 == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
-{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
-{%- elif cost_type_0 == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type_0 == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
-	{%- else %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
-	{%- endif %}
-{%- endif %}
-{%- if cost_type == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
-{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
-{%- elif cost_type == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
-	{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
-	{%- endif %}
-{%- endif %}
-{%- if cost_type_e == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
-{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
-{%- elif cost_type_e == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type_e == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
-	{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
-	{%- endif %}
-{%- endif %}
-{%- if solver_options.custom_update_filename %}
-	{%- if solver_options.custom_update_filename != "" %}
-OCP_SRC+= {{ solver_options.custom_update_filename }}
-	{%- endif %}
-{%- endif %}
-
-OCP_SRC+= acados_solver_{{ model.name }}.c
-OCP_OBJ := $(OCP_SRC:.c=.o)
-
-# for sim solver
-SIM_SRC= acados_sim_solver_{{ model.name }}.c
-SIM_OBJ := $(SIM_SRC:.c=.o)
-
-# for target example
-EX_SRC= main_{{ model.name }}.c
-EX_OBJ := $(EX_SRC:.c=.o)
-EX_EXE := $(EX_SRC:.c=)
-
-# for target example_sim
-EX_SIM_SRC= main_sim_{{ model.name }}.c
-EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
-EX_SIM_EXE := $(EX_SIM_SRC:.c=)
-
-# combine model, sim and ocp object files
-OBJ=
-OBJ+= $(MODEL_OBJ)
-{%- if solver_options.integrator_type != "DISCRETE" %}
-OBJ+= $(SIM_OBJ)
-{%- endif %}
-OBJ+= $(OCP_OBJ)
-
-EXTERNAL_DIR=
-EXTERNAL_LIB=
-
-{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
-EXTERNAL_DIR+= {{ model_external_shared_lib_dir  }}
-EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
-{%- endif %}
-
-INCLUDE_PATH = {{ acados_include_path }}
-LIB_PATH = {{ acados_lib_path }}
-
-# preprocessor flags for make's implicit rules
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-CPPFLAGS += -DACADOS_WITH_QPOASES
-{%- endif %}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-CPPFLAGS += -DACADOS_WITH_DAQP
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
-CPPFLAGS += -DACADOS_WITH_OSQP
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
-CPPFLAGS += -DACADOS_WITH_QPDUNES
-{%- endif %}
-CPPFLAGS+= -I$(INCLUDE_PATH)
-CPPFLAGS+= -I$(INCLUDE_PATH)/acados
-CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
-CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
- {%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
- {%- endif %}
- {%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-CPPFLAGS+= -I $(INCLUDE_PATH)/daqp/include
- {%- endif %}
-
-{# c-compiler flags #}
-# define the c-compiler flags for make's implicit rules
-CFLAGS = -fPIC -std=c99 {{ openmp_flag }} {{ solver_options.ext_fun_compile_flags }}#-fno-diagnostics-show-line-numbers -g
-# # Debugging
-# CFLAGS += -g3
-
-# linker flags
-LDFLAGS+= -L$(LIB_PATH)
-
-# link to libraries
-LDLIBS+= -lacados
-LDLIBS+= -lhpipm
-LDLIBS+= -lblasfeo
-LDLIBS+= -lm
-LDLIBS+= {{ link_libs }}
-
-# libraries
-LIBACADOS_SOLVER=libacados_solver_{{ model.name }}{{ shared_lib_ext }}
-LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
-LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c={{ shared_lib_ext }})
-
-# virtual targets
-.PHONY : all clean
-
-#all: clean example_sim example shared_lib
-{% if solver_options.integrator_type == "DISCRETE" -%}
-all: clean example
-shared_lib: ocp_shared_lib
-{%- else %}
-all: clean example_sim example
-shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
-{%- endif %}
-
-# some linker targets
-example: $(EX_OBJ) $(OBJ)
-	$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
-
-example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
-	$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
-
-{% if solver_options.integrator_type != "DISCRETE" -%}
-bundled_shared_lib: $(OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
-{%- endif %}
-
-ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
-	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
-
-sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
-
-
-# Cython targets
-ocp_cython_c: ocp_shared_lib
-	cython \
-	-o acados_ocp_solver_pyx.c \
-	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
-	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
-	-I {{ code_export_directory }} \
-
-ocp_cython_o: ocp_cython_c
-	$(CC) $(ACADOS_FLAGS) -c -O2 \
-	-fPIC \
-	-o acados_ocp_solver_pyx.o \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	{%- for path in cython_include_dirs %}
-	-I {{ path }} \
-	{%- endfor %}
-	acados_ocp_solver_pyx.c \
-
-ocp_cython: ocp_cython_o
-	$(CC) $(ACADOS_FLAGS) -shared \
-	-o acados_ocp_solver_pyx{{ shared_lib_ext }} \
-	-Wl,-rpath=$(LIB_PATH) \
-	acados_ocp_solver_pyx.o \
-	$(abspath .)/libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} \
-	$(LDFLAGS) $(LDLIBS)
-
-# Sim Cython targets
-sim_cython_c: sim_shared_lib
-	cython \
-	-o acados_sim_solver_pyx.c \
-	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
-	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
-	-I {{ code_export_directory }} \
-
-sim_cython_o: sim_cython_c
-	$(CC) $(ACADOS_FLAGS) -c -O2 \
-	-fPIC \
-	-o acados_sim_solver_pyx.o \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	{%- for path in cython_include_dirs %}
-	-I {{ path }} \
-	{%- endfor %}
-	acados_sim_solver_pyx.c \
-
-sim_cython: sim_cython_o
-	$(CC) $(ACADOS_FLAGS) -shared \
-	-o acados_sim_solver_pyx{{ shared_lib_ext }} \
-	-Wl,-rpath=$(LIB_PATH) \
-	acados_sim_solver_pyx.o \
-	$(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \
-	$(LDFLAGS) $(LDLIBS)
-
-{%- if os and os == "pc" %}
-
-clean:
-	del \Q *.o 2>nul
-	del \Q *{{ shared_lib_ext }} 2>nul
-	del \Q main_{{ model.name }} 2>nul
-
-clean_ocp_shared_lib:
-	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_solver_{{ model.name }}.o 2>nul
-
-clean_ocp_cython:
-	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_solver_{{ model.name }}.o 2>nul
-	del \Q acados_ocp_solver_pyx{{ shared_lib_ext }} 2>nul
-	del \Q acados_ocp_solver_pyx.o 2>nul
-
-clean_sim_cython:
-	del \Q libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_sim_solver_{{ model.name }}.o 2>nul
-	del \Q acados_sim_solver_pyx{{ shared_lib_ext }} 2>nul
-	del \Q acados_sim_solver_pyx.o 2>nul
-
-{%- else %}
-
-clean:
-	$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
-	$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
-	$(RM) $(EX_EXE) $(EX_SIM_EXE)
-
-clean_ocp_shared_lib:
-	$(RM) $(LIBACADOS_OCP_SOLVER)
-	$(RM) $(OCP_OBJ)
-
-clean_ocp_cython:
-	$(RM) libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
-	$(RM) acados_solver_{{ model.name }}.o
-	$(RM) acados_ocp_solver_pyx{{ shared_lib_ext }}
-	$(RM) acados_ocp_solver_pyx.o
-
-clean_sim_cython:
-	$(RM) libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }}
-	$(RM) acados_sim_solver_{{ model.name }}.o
-	$(RM) acados_sim_solver_pyx{{ shared_lib_ext }}
-	$(RM) acados_sim_solver_pyx.o
-
-{%- endif %}
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
deleted file mode 100644
index 0cd098273c..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
+++ /dev/null
@@ -1,526 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-
-// acados
-#include "acados_c/external_function_interface.h"
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/print.h"
-
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-
-// ** solver data **
-
-sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule()
-{
-    void* capsule_mem = malloc(sizeof(sim_solver_capsule));
-    sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem;
-
-    return capsule;
-}
-
-
-int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule * capsule)
-{
-    free(capsule);
-    return 0;
-}
-
-
-int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
-{
-    // initialize
-    const int nx = {{ model.name | upper }}_NX;
-    const int nu = {{ model.name | upper }}_NU;
-    const int nz = {{ model.name | upper }}_NZ;
-    const int np = {{ model.name | upper }}_NP;
-    bool tmp_bool;
-
-    {#// double Tsim = {{ solver_options.tf / dims.N }};#}
-    double Tsim = {{ solver_options.Tsim }};
-
-    {% if solver_options.integrator_type == "IRK" %}
-    capsule->sim_impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-  {%- if model.dyn_ext_fun_type == "casadi" %}
-    // external functions (implicit model)
-    capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun;
-    capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work;
-    capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in;
-    capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out;
-    capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in;
-    capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun, np);
-
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np);
-
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np);
-  {%- else %}
-    capsule->sim_impl_dae_fun->fun = &{{ model.dyn_impl_dae_fun }};
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->fun = &{{ model.dyn_impl_dae_fun_jac }};
-    capsule->sim_impl_dae_jac_x_xdot_u_z->fun = &{{ model.dyn_impl_dae_jac }};
-  {%- endif %}
-
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess;
-    capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work;
-    capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in;
-    capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out;
-    capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in;
-    capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_hess, np);
-{%- endif %}
-
-    {% elif solver_options.integrator_type == "ERK" %}
-    // explicit ode
-    capsule->sim_forw_vde_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_vde_adj_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_expl_ode_fun_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-    capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw;
-    capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in;
-    capsule->sim_forw_vde_casadi->casadi_n_out = &{{ model.name }}_expl_vde_forw_n_out;
-    capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in;
-    capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out;
-    capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_forw_vde_casadi, np);
-
-    capsule->sim_vde_adj_casadi->casadi_fun = &{{ model.name }}_expl_vde_adj;
-    capsule->sim_vde_adj_casadi->casadi_n_in = &{{ model.name }}_expl_vde_adj_n_in;
-    capsule->sim_vde_adj_casadi->casadi_n_out = &{{ model.name }}_expl_vde_adj_n_out;
-    capsule->sim_vde_adj_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_adj_sparsity_in;
-    capsule->sim_vde_adj_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_adj_sparsity_out;
-    capsule->sim_vde_adj_casadi->casadi_work = &{{ model.name }}_expl_vde_adj_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_vde_adj_casadi, np);
-
-    capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun;
-    capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in;
-    capsule->sim_expl_ode_fun_casadi->casadi_n_out = &{{ model.name }}_expl_ode_fun_n_out;
-    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in;
-    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out;
-    capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_fun_casadi, np);
-
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_expl_ode_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess;
-    capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work;
-    capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in;
-    capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out;
-    capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in;
-    capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_hess, np);
-{%- endif %}
-
-    {% elif solver_options.integrator_type == "GNSF" -%}
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-  {%- endif %}
-  {%- endif %}
-    capsule->sim_gnsf_get_matrices_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun;
-    capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in;
-    capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out;
-    capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in;
-    capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out;
-    capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun, np);
-
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_jac_y_n_out;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun_jac_y, np);
-
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_out;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
-
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
-  {%- endif %}
-  {%- endif %}
-
-    capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
-    capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
-    capsule->sim_gnsf_get_matrices_fun->casadi_n_out = &{{ model.name }}_gnsf_get_matrices_fun_n_out;
-    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in;
-    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out;
-    capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_get_matrices_fun, np);
-    {% endif %}
-
-    // sim plan & config
-    sim_solver_plan_t plan;
-    plan.sim_solver = {{ solver_options.integrator_type }};
-
-    // create correct config based on plan
-    sim_config * {{ model.name }}_sim_config = sim_config_create(plan);
-    capsule->acados_sim_config = {{ model.name }}_sim_config;
-
-    // sim dims
-    void *{{ model.name }}_sim_dims = sim_dims_create({{ model.name }}_sim_config);
-    capsule->acados_sim_dims = {{ model.name }}_sim_dims;
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx", &nx);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nu", &nu);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz", &nz);
-{% if solver_options.integrator_type == "GNSF" %}
-    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
-    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
-    int gnsf_nout = {{ dims.gnsf_nout }};
-    int gnsf_ny = {{ dims.gnsf_ny }};
-    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
-
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx1", &gnsf_nx1);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz1", &gnsf_nz1);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nout", &gnsf_nout);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "ny", &gnsf_ny);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nuhat", &gnsf_nuhat);
-{% endif %}
-
-    // sim opts
-    sim_opts *{{ model.name }}_sim_opts = sim_opts_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_opts = {{ model.name }}_sim_opts;
-    int tmp_int = {{ solver_options.sim_method_newton_iter }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int);
-    double tmp_double = {{ solver_options.sim_method_newton_tol }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_tol", &tmp_double);
-    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type);
-
-{% if problem_class == "SIM" %}
-    tmp_int = {{ solver_options.sim_method_num_stages }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
-    tmp_int = {{ solver_options.sim_method_num_steps }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
-
-    // options that are not available to AcadosOcpSolver
-    //  (in OCP they will be determined by other options, like exact_hessian)
-    tmp_bool = {{ solver_options.sens_forw }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_forw", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_adj }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_adj", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_algebraic }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_algebraic", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_hess }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_hess", &tmp_bool);
-    tmp_bool = {{ solver_options.output_z }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "output_z", &tmp_bool);
-
-{% else %} {# num_stages and num_steps of first shooting interval are used #}
-    tmp_int = {{ solver_options.sim_method_num_stages[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
-    tmp_int = {{ solver_options.sim_method_num_steps[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
-    tmp_bool = {{ solver_options.sim_method_jac_reuse[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool);
-{% endif %}
-
-    // sim in / out
-    sim_in *{{ model.name }}_sim_in = sim_in_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_in = {{ model.name }}_sim_in;
-    sim_out *{{ model.name }}_sim_out = sim_out_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_out = {{ model.name }}_sim_out;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "T", &Tsim);
-
-    // model functions
-{%- if solver_options.integrator_type == "IRK" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_fun", capsule->sim_impl_dae_fun);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_fun_jac_x_xdot", capsule->sim_impl_dae_fun_jac_x_xdot_z);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_jac_x_xdot_u", capsule->sim_impl_dae_jac_x_xdot_u_z);
-{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                "impl_dae_hess", capsule->sim_impl_dae_hess);
-{%- endif %}
-
-{%- elif solver_options.integrator_type == "ERK" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_vde_forw", capsule->sim_forw_vde_casadi);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_vde_adj", capsule->sim_vde_adj_casadi);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_ode_fun", capsule->sim_expl_ode_fun_casadi);
-{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                "expl_ode_hess", capsule->sim_expl_ode_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_fun", capsule->sim_gnsf_phi_fun);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun);
-{%- endif %}
-
-    // sim solver
-    sim_solver *{{ model.name }}_sim_solver = sim_solver_create({{ model.name }}_sim_config,
-                                               {{ model.name }}_sim_dims, {{ model.name }}_sim_opts);
-    capsule->acados_sim_solver = {{ model.name }}_sim_solver;
-
-{% if dims.np > 0 %}
-    /* initialize parameter values */
-    double* p = calloc(np, sizeof(double));
-    {% for item in parameter_values %}
-        {%- if item != 0 %}
-    p[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-
-    {{ model.name }}_acados_sim_update_params(capsule, p, np);
-    free(p);
-{% endif %}{# if dims.np #}
-
-    /* initialize input */
-    // x
-    double x0[{{ dims.nx }}];
-    for (int ii = 0; ii < {{ dims.nx }}; ii++)
-        x0[ii] = 0.0;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "x", x0);
-
-
-    // u
-    double u0[{{ dims.nu }}];
-    for (int ii = 0; ii < {{ dims.nu }}; ii++)
-        u0[ii] = 0.0;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "u", u0);
-
-    // S_forw
-    double S_forw[{{ dims.nx * (dims.nx + dims.nu) }}];
-    for (int ii = 0; ii < {{ dims.nx * (dims.nx + dims.nu) }}; ii++)
-        S_forw[ii] = 0.0;
-    for (int ii = 0; ii < {{ dims.nx }}; ii++)
-        S_forw[ii + ii * {{ dims.nx }} ] = 1.0;
-
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "S_forw", S_forw);
-
-    int status = sim_precompute({{ model.name }}_sim_solver, {{ model.name }}_sim_in, {{ model.name }}_sim_out);
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule)
-{
-    // integrate dynamics using acados sim_solver
-    int status = sim_solve(capsule->acados_sim_solver,
-                           capsule->acados_sim_in, capsule->acados_sim_out);
-    if (status != 0)
-        printf("error in {{ model.name }}_acados_sim_solve()! Exiting.\n");
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
-{
-    // free memory
-    sim_solver_destroy(capsule->acados_sim_solver);
-    sim_in_destroy(capsule->acados_sim_in);
-    sim_out_destroy(capsule->acados_sim_out);
-    sim_opts_destroy(capsule->acados_sim_opts);
-    sim_dims_destroy(capsule->acados_sim_dims);
-    sim_config_destroy(capsule->acados_sim_config);
-
-    // free external function
-{%- if solver_options.integrator_type == "IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun_jac_x_xdot_z);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_jac_x_xdot_u_z);
-{%- if hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "ERK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_forw_vde_casadi);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_vde_adj_casadi);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_fun_casadi);
-{%- if hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun_jac_y);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_get_matrices_fun);
-{% endif %}
-
-    return 0;
-}
-
-
-int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np)
-{
-    int status = 0;
-    int casadi_np = {{ model.name | upper }}_NP;
-
-    if (casadi_np != np) {
-        printf("{{ model.name }}_acados_sim_update_params: trying to set %i parameters for external functions."
-            " External function has %i parameters. Exiting.\n", np, casadi_np);
-        exit(1);
-    }
-
-{%- if solver_options.integrator_type == "ERK" %}
-    capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
-    capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p);
-    capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p);
-{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-    capsule->sim_impl_dae_fun[0].set_param(capsule->sim_impl_dae_fun, p);
-    capsule->sim_impl_dae_fun_jac_x_xdot_z[0].set_param(capsule->sim_impl_dae_fun_jac_x_xdot_z, p);
-    capsule->sim_impl_dae_jac_x_xdot_u_z[0].set_param(capsule->sim_impl_dae_jac_x_xdot_u_z, p);
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p);
-    capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p);
-    capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p);
-  {%- endif %}
-  {%- endif %}
-    capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p);
-{% endif %}
-
-    return status;
-}
-
-/* getters pointers to C objects*/
-sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_config;
-};
-
-sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_in;
-};
-
-sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_out;
-};
-
-void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_dims;
-};
-
-sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_opts;
-};
-
-sim_solver  * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_solver;
-};
-
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
deleted file mode 100644
index 59aee62f49..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_SIM_{{ model.name }}_H_
-#define ACADOS_SIM_{{ model.name }}_H_
-
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#define {{ model.name | upper }}_NX     {{ dims.nx }}
-#define {{ model.name | upper }}_NZ     {{ dims.nz }}
-#define {{ model.name | upper }}_NU     {{ dims.nu }}
-#define {{ model.name | upper }}_NP     {{ dims.np }}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// ** capsule for solver data **
-typedef struct sim_solver_capsule
-{
-    // acados objects
-    sim_in *acados_sim_in;
-    sim_out *acados_sim_out;
-    sim_solver *acados_sim_solver;
-    sim_opts *acados_sim_opts;
-    sim_config *acados_sim_config;
-    void *acados_sim_dims;
-
-    /* external functions */
-    // ERK
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_forw_vde_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_vde_adj_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_fun_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_hess;
-
-    // IRK
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun_jac_x_xdot_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_jac_x_xdot_u_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_hess;
-
-    // GNSF
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun_jac_y;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_jac_y_uhat;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_get_matrices_fun;
-
-} sim_solver_capsule;
-
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
-
-ACADOS_SYMBOL_EXPORT sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
-
-
-ACADOS_SYMBOL_EXPORT sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_SIM_{{ model.name }}_H_
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
deleted file mode 100644
index 153f98d13a..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
+++ /dev/null
@@ -1,51 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-cimport acados_sim_solver_common
-
-cdef extern from "acados_sim_solver_{{ model.name }}.h":
-    ctypedef struct sim_solver_capsule "sim_solver_capsule":
-        pass
-
-    sim_solver_capsule * acados_sim_solver_create_capsule "{{ model.name }}_acados_sim_solver_create_capsule"()
-    int acados_sim_solver_free_capsule "{{ model.name }}_acados_sim_solver_free_capsule"(sim_solver_capsule *capsule)
-
-    int acados_sim_create "{{ model.name }}_acados_sim_create"(sim_solver_capsule * capsule)
-    int acados_sim_solve "{{ model.name }}_acados_sim_solve"(sim_solver_capsule * capsule)
-    int acados_sim_free "{{ model.name }}_acados_sim_free"(sim_solver_capsule * capsule)
-    int acados_sim_update_params "{{ model.name }}_acados_sim_update_params"(sim_solver_capsule * capsule, double *value, int np_)
-    # int acados_sim_update_params_sparse "{{ model.name }}_acados_sim_update_params_sparse"(sim_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-
-    acados_sim_solver_common.sim_in *acados_get_sim_in "{{ model.name }}_acados_get_sim_in"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_out *acados_get_sim_out "{{ model.name }}_acados_get_sim_out"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_solver *acados_get_sim_solver "{{ model.name }}_acados_get_sim_solver"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_config *acados_get_sim_config "{{ model.name }}_acados_get_sim_config"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_opts *acados_get_sim_opts "{{ model.name }}_acados_get_sim_opts"(sim_solver_capsule * capsule)
-    void *acados_get_sim_dims "{{ model.name }}_acados_get_sim_dims"(sim_solver_capsule * capsule)
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
deleted file mode 100644
index 5e36a53d10..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
+++ /dev/null
@@ -1,2741 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <assert.h>
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "{{ model.name }}_constraints/{{ model.name }}_constraints.h"
-
-{%- if cost.cost_type != "LINEAR_LS" or cost.cost_type_e != "LINEAR_LS" or cost.cost_type_0 != "LINEAR_LS" %}
-#include "{{ model.name }}_cost/{{ model.name }}_cost.h"
-{%- endif %}
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-{%- if not solver_options.custom_update_header_filename %}
-    {%- set custom_update_header_filename = "" %}
-{% else %}
-    {%- set custom_update_header_filename = solver_options.custom_update_header_filename %}
-{%- endif %}
-{%- if custom_update_header_filename != "" %}
-#include "{{ custom_update_header_filename }}"
-{%- endif %}
-
-
-#include "acados_solver_{{ model.name }}.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-#define NBX    {{ model.name | upper }}_NBX
-#define NBX0   {{ model.name | upper }}_NBX0
-#define NBU    {{ model.name | upper }}_NBU
-#define NSBX   {{ model.name | upper }}_NSBX
-#define NSBU   {{ model.name | upper }}_NSBU
-#define NSH    {{ model.name | upper }}_NSH
-#define NSG    {{ model.name | upper }}_NSG
-#define NSPHI  {{ model.name | upper }}_NSPHI
-#define NSHN   {{ model.name | upper }}_NSHN
-#define NSGN   {{ model.name | upper }}_NSGN
-#define NSPHIN {{ model.name | upper }}_NSPHIN
-#define NSBXN  {{ model.name | upper }}_NSBXN
-#define NS     {{ model.name | upper }}_NS
-#define NSN    {{ model.name | upper }}_NSN
-#define NG     {{ model.name | upper }}_NG
-#define NBXN   {{ model.name | upper }}_NBXN
-#define NGN    {{ model.name | upper }}_NGN
-#define NY0    {{ model.name | upper }}_NY0
-#define NY     {{ model.name | upper }}_NY
-#define NYN    {{ model.name | upper }}_NYN
-// #define N      {{ model.name | upper }}_N
-#define NH     {{ model.name | upper }}_NH
-#define NPHI   {{ model.name | upper }}_NPHI
-#define NHN    {{ model.name | upper }}_NHN
-#define NPHIN  {{ model.name | upper }}_NPHIN
-#define NR     {{ model.name | upper }}_NR
-
-
-// ** solver data **
-
-{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void)
-{
-    void* capsule_mem = malloc(sizeof({{ model.name }}_solver_capsule));
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) capsule_mem;
-
-    return capsule;
-}
-
-
-int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule)
-{
-    free(capsule);
-    return 0;
-}
-
-
-int {{ model.name }}_acados_create({{ model.name }}_solver_capsule* capsule)
-{
-    int N_shooting_intervals = {{ model.name | upper }}_N;
-    double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps
-    return {{ model.name }}_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps);
-}
-
-
-int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps)
-{
-    if (N != capsule->nlp_solver_plan->N) {
-        fprintf(stderr, "{{ model.name }}_acados_update_time_steps: given number of time steps (= %d) " \
-            "differs from the currently allocated number of " \
-            "time steps (= %d)!\n" \
-            "Please recreate with new discretization and provide a new vector of time_stamps!\n",
-            N, capsule->nlp_solver_plan->N);
-        return 1;
-    }
-
-    ocp_nlp_config * nlp_config = capsule->nlp_config;
-    ocp_nlp_dims * nlp_dims = capsule->nlp_dims;
-    ocp_nlp_in * nlp_in = capsule->nlp_in;
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]);
-    }
-    return 0;
-}
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 1
- */
-void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N)
-{
-    assert(N == nlp_solver_plan->N);
-
-    /************************************************
-    *  plan
-    ************************************************/
-
-    {%- if solver_options.nlp_solver_type == "SQP" %}
-    nlp_solver_plan->nlp_solver = SQP;
-    {%- else %}
-    nlp_solver_plan->nlp_solver = SQP_RTI;
-    {%- endif %}
-
-    nlp_solver_plan->ocp_qp_solver_plan.qp_solver = {{ solver_options.qp_solver }};
-
-    nlp_solver_plan->nlp_cost[0] = {{ cost.cost_type_0 }};
-    for (int i = 1; i < N; i++)
-        nlp_solver_plan->nlp_cost[i] = {{ cost.cost_type }};
-
-    nlp_solver_plan->nlp_cost[N] = {{ cost.cost_type_e }};
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if solver_options.integrator_type == "DISCRETE" %}
-        nlp_solver_plan->nlp_dynamics[i] = DISCRETE_MODEL;
-        // discrete dynamics does not need sim solver option, this field is ignored
-        nlp_solver_plan->sim_solver_plan[i].sim_solver = INVALID_SIM_SOLVER;
-        {%- else %}
-        nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL;
-        nlp_solver_plan->sim_solver_plan[i].sim_solver = {{ solver_options.integrator_type }};
-        {%- endif %}
-    }
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if constraints.constr_type == "BGP" %}
-        nlp_solver_plan->nlp_constraints[i] = BGP;
-        {%- else -%}
-        nlp_solver_plan->nlp_constraints[i] = BGH;
-        {%- endif %}
-    }
-
-    {%- if constraints.constr_type_e == "BGP" %}
-    nlp_solver_plan->nlp_constraints[N] = BGP;
-    {%- else %}
-    nlp_solver_plan->nlp_constraints[N] = BGH;
-    {%- endif %}
-
-    {%- if solver_options.regularize_method == "NO_REGULARIZE" %}
-    nlp_solver_plan->regularization = NO_REGULARIZE;
-    {%- elif solver_options.regularize_method == "MIRROR" %}
-    nlp_solver_plan->regularization = MIRROR;
-    {%- elif solver_options.regularize_method == "PROJECT" %}
-    nlp_solver_plan->regularization = PROJECT;
-    {%- elif solver_options.regularize_method == "PROJECT_REDUC_HESS" %}
-    nlp_solver_plan->regularization = PROJECT_REDUC_HESS;
-    {%- elif solver_options.regularize_method == "CONVEXIFY" %}
-    nlp_solver_plan->regularization = CONVEXIFY;
-    {%- endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 2
- */
-ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ model.name }}_solver_capsule* capsule)
-{
-    ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan;
-    const int N = nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-
-    /************************************************
-    *  dimensions
-    ************************************************/
-    #define NINTNP1MEMS 17
-    int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS );
-
-    int* nx    = intNp1mem + (N+1)*0;
-    int* nu    = intNp1mem + (N+1)*1;
-    int* nbx   = intNp1mem + (N+1)*2;
-    int* nbu   = intNp1mem + (N+1)*3;
-    int* nsbx  = intNp1mem + (N+1)*4;
-    int* nsbu  = intNp1mem + (N+1)*5;
-    int* nsg   = intNp1mem + (N+1)*6;
-    int* nsh   = intNp1mem + (N+1)*7;
-    int* nsphi = intNp1mem + (N+1)*8;
-    int* ns    = intNp1mem + (N+1)*9;
-    int* ng    = intNp1mem + (N+1)*10;
-    int* nh    = intNp1mem + (N+1)*11;
-    int* nphi  = intNp1mem + (N+1)*12;
-    int* nz    = intNp1mem + (N+1)*13;
-    int* ny    = intNp1mem + (N+1)*14;
-    int* nr    = intNp1mem + (N+1)*15;
-    int* nbxe  = intNp1mem + (N+1)*16;
-
-    for (int i = 0; i < N+1; i++)
-    {
-        // common
-        nx[i]     = NX;
-        nu[i]     = NU;
-        nz[i]     = NZ;
-        ns[i]     = NS;
-        // cost
-        ny[i]     = NY;
-        // constraints
-        nbx[i]    = NBX;
-        nbu[i]    = NBU;
-        nsbx[i]   = NSBX;
-        nsbu[i]   = NSBU;
-        nsg[i]    = NSG;
-        nsh[i]    = NSH;
-        nsphi[i]  = NSPHI;
-        ng[i]     = NG;
-        nh[i]     = NH;
-        nphi[i]   = NPHI;
-        nr[i]     = NR;
-        nbxe[i]   = 0;
-    }
-
-    // for initial state
-    nbx[0]  = NBX0;
-    nsbx[0] = 0;
-    ns[0] = NS - NSBX;
-    nbxe[0] = {{ dims.nbxe_0 }};
-    ny[0] = NY0;
-
-    // terminal - common
-    nu[N]   = 0;
-    nz[N]   = 0;
-    ns[N]   = NSN;
-    // cost
-    ny[N]   = NYN;
-    // constraint
-    nbx[N]   = NBXN;
-    nbu[N]   = 0;
-    ng[N]    = NGN;
-    nh[N]    = NHN;
-    nphi[N]  = NPHIN;
-    nr[N]    = {{ dims.nr_e }};
-
-    nsbx[N]  = NSBXN;
-    nsbu[N]  = 0;
-    nsg[N]   = NSGN;
-    nsh[N]   = NSHN;
-    nsphi[N] = NSPHIN;
-
-    /* create and set ocp_nlp_dims */
-    ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config);
-
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns);
-
-    for (int i = 0; i <= N; i++)
-    {
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]);
-    }
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR"%}
-    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]);
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR"%}
-    for (int i = 1; i < N; i++)
-        ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]);
-{%- endif %}
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]);
-        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nr", &nr[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nphi", &nphi[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsphi", &nsphi[i]);
-        {%- endif %}
-    }
-
-{%- if constraints.constr_type_e == "BGH" %}
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]);
-{%- elif constraints.constr_type_e == "BGP" %}
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nr", &nr[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]);
-{%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR"%}
-    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]);
-{%- endif %}
-    free(intNp1mem);
-
-{%- if solver_options.integrator_type == "GNSF" -%}
-    // GNSF specific dimensions
-    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
-    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
-    int gnsf_nout = {{ dims.gnsf_nout }};
-    int gnsf_ny = {{ dims.gnsf_ny }};
-    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
-
-    for (int i = 0; i < N; i++)
-    {
-        if (nlp_solver_plan->sim_solver_plan[i].sim_solver == GNSF)
-        {
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nx1", &gnsf_nx1);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nz1", &gnsf_nz1);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nout", &gnsf_nout);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_ny", &gnsf_ny);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nuhat", &gnsf_nuhat);
-        }
-    }
-{%- endif %}
-return nlp_dims;
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 3
- */
-void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-
-    /************************************************
-    *  external functions
-    ************************************************/
-
-#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \
-        capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\
-        capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \
-        capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \
-        capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \
-        capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \
-        capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \
-        external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , {{ dims.np }}); \
-    }while(false)
-
-{% if constraints.constr_type == "BGP" %}
-    // constraints.constr_type == "BGP"
-    capsule->phi_constraint = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++)
-    {
-        // nonlinear part of convex-composite constraint
-        MAP_CASADI_FNC(phi_constraint[i], {{ model.name }}_phi_constraint);
-    }
-{%- endif %}
-
-{%- if constraints.constr_type_e == "BGP" %}
-    // constraints.constr_type_e == "BGP"
-    // nonlinear part of convex-composite constraint
-    MAP_CASADI_FNC(phi_e_constraint, {{ model.name }}_phi_e_constraint);
-{%- endif %}
-
-{%- if constraints.constr_type == "BGH" and dims.nh > 0  %}
-    // constraints.constr_type == "BGH" and dims.nh > 0
-    capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun_jac[i], {{ model.name }}_constr_h_fun_jac_uxt_zt);
-    }
-    capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun[i], {{ model.name }}_constr_h_fun);
-    }
-    {% if solver_options.hessian_approx == "EXACT" %}
-    capsule->nl_constr_h_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun_jac_hess[i], {{ model.name }}_constr_h_fun_jac_uxt_zt_hess);
-    }
-    {% endif %}
-{% endif %}
-
-{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    MAP_CASADI_FNC(nl_constr_h_e_fun_jac, {{ model.name }}_constr_h_e_fun_jac_uxt_zt);
-    MAP_CASADI_FNC(nl_constr_h_e_fun, {{ model.name }}_constr_h_e_fun);
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    MAP_CASADI_FNC(nl_constr_h_e_fun_jac_hess, {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess);
-    {% endif %}
-{%- endif %}
-
-{% if solver_options.integrator_type == "ERK" %}
-    // explicit ode
-    capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(forw_vde_casadi[i], {{ model.name }}_expl_vde_forw);
-    }
-
-    capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(expl_ode_fun[i], {{ model.name }}_expl_ode_fun);
-    }
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->hess_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(hess_vde_casadi[i], {{ model.name }}_expl_ode_hess);
-    }
-    {%- endif %}
-
-{% elif solver_options.integrator_type == "IRK" %}
-    // implicit dae
-    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
-    {%- else %}
-        capsule->impl_dae_fun[i].fun = &{{ model.dyn_impl_dae_fun }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_z[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_z);
-    {%- else %}
-        capsule->impl_dae_fun_jac_x_xdot_z[i].fun = &{{ model.dyn_impl_dae_fun_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun_jac_x_xdot_z[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_jac_x_xdot_u_z[i], {{ model.name }}_impl_dae_jac_x_xdot_u_z);
-    {%- else %}
-        capsule->impl_dae_jac_x_xdot_u_z[i].fun = &{{ model.dyn_impl_dae_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_jac_x_xdot_u_z[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_hess[i], {{ model.name }}_impl_dae_hess);
-    }
-    {%- endif %}
-{% elif solver_options.integrator_type == "LIFTED_IRK" %}
-    // external functions (implicit model)
-    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
-    }
-
-    capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_u[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_u);
-    }
-
-{% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-    capsule->gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_fun[i], {{ model.name }}_gnsf_phi_fun);
-    }
-
-    capsule->gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_fun_jac_y[i], {{ model.name }}_gnsf_phi_fun_jac_y);
-    }
-
-    capsule->gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_jac_y_uhat[i], {{ model.name }}_gnsf_phi_jac_y_uhat);
-    }
-
-    {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_f_lo_jac_x1_x1dot_u_z[i], {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz);
-    }
-    {%- endif %}
-    {%- endif %}
-    capsule->gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_get_matrices_fun[i], {{ model.name }}_gnsf_get_matrices_fun);
-    }
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    // discrete dynamics
-    capsule->discr_dyn_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun[i], {{ model.name }}_dyn_disc_phi_fun);
-        {%- else %}
-        capsule->discr_dyn_phi_fun[i].fun = &{{ model.dyn_disc_fun }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->discr_dyn_phi_fun_jac_ut_xt = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt[i], {{ model.name }}_dyn_disc_phi_fun_jac);
-        {%- else %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt[i].fun = &{{ model.dyn_disc_fun_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->discr_dyn_phi_fun_jac_ut_xt_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ model.name }}_dyn_disc_phi_fun_jac_hess);
-        {%- else %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].fun = &{{ model.dyn_disc_fun_jac_hess }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ dims.np }});
-        {%- endif %}
-    }
-  {%- endif %}
-{%- endif %}
-
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    // nonlinear least squares function
-    MAP_CASADI_FNC(cost_y_0_fun, {{ model.name }}_cost_y_0_fun);
-    MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, {{ model.name }}_cost_y_0_fun_jac_ut_xt);
-    MAP_CASADI_FNC(cost_y_0_hess, {{ model.name }}_cost_y_0_hess);
-
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    MAP_CASADI_FNC(conl_cost_0_fun, {{ model.name }}_conl_cost_0_fun);
-    MAP_CASADI_FNC(conl_cost_0_fun_jac_hess, {{ model.name }}_conl_cost_0_fun_jac_hess);
-
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun, {{ model.name }}_cost_ext_cost_0_fun);
-    {%- else %}
-    capsule->ext_cost_0_fun.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun, {{ dims.np }});
-    {%- endif %}
-
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun_jac, {{ model.name }}_cost_ext_cost_0_fun_jac);
-    {%- else %}
-    capsule->ext_cost_0_fun_jac.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac, {{ dims.np }});
-    {%- endif %}
-
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun_jac_hess, {{ model.name }}_cost_ext_cost_0_fun_jac_hess);
-    {%- else %}
-    capsule->ext_cost_0_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac_hess, {{ dims.np }});
-    {%- endif %}
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    // nonlinear least squares cost
-    capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_fun[i], {{ model.name }}_cost_y_fun);
-    }
-
-    capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], {{ model.name }}_cost_y_fun_jac_ut_xt);
-    }
-
-    capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_hess[i], {{ model.name }}_cost_y_hess);
-    }
-
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    capsule->conl_cost_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(conl_cost_fun[i], {{ model.name }}_conl_cost_fun);
-    }
-    capsule->conl_cost_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(conl_cost_fun_jac_hess[i], {{ model.name }}_conl_cost_fun_jac_hess);
-    }
-
-{%- elif cost.cost_type == "EXTERNAL" %}
-    // external cost
-    capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun[i], {{ model.name }}_cost_ext_cost_fun);
-        {%- else %}
-        capsule->ext_cost_fun[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->ext_cost_fun_jac = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun_jac[i], {{ model.name }}_cost_ext_cost_fun_jac);
-        {%- else %}
-        capsule->ext_cost_fun_jac[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->ext_cost_fun_jac_hess = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun_jac_hess[i], {{ model.name }}_cost_ext_cost_fun_jac_hess);
-        {%- else %}
-        capsule->ext_cost_fun_jac_hess[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac_hess[i], {{ dims.np }});
-        {%- endif %}
-    }
-{%- endif %}
-
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    // nonlinear least square function
-    MAP_CASADI_FNC(cost_y_e_fun, {{ model.name }}_cost_y_e_fun);
-    MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, {{ model.name }}_cost_y_e_fun_jac_ut_xt);
-    MAP_CASADI_FNC(cost_y_e_hess, {{ model.name }}_cost_y_e_hess);
-
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    MAP_CASADI_FNC(conl_cost_e_fun, {{ model.name }}_conl_cost_e_fun);
-    MAP_CASADI_FNC(conl_cost_e_fun_jac_hess, {{ model.name }}_conl_cost_e_fun_jac_hess);
-
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    // external cost - function
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun, {{ model.name }}_cost_ext_cost_e_fun);
-    {% else %}
-    capsule->ext_cost_e_fun.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun, {{ dims.np }});
-    {%- endif %}
-
-    // external cost - jacobian
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun_jac, {{ model.name }}_cost_ext_cost_e_fun_jac);
-    {%- else %}
-    capsule->ext_cost_e_fun_jac.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac, {{ dims.np }});
-    {%- endif %}
-
-    // external cost - hessian
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun_jac_hess, {{ model.name }}_cost_ext_cost_e_fun_jac_hess);
-    {%- else %}
-    capsule->ext_cost_e_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac_hess, {{ dims.np }});
-    {%- endif %}
-{%- endif %}
-
-#undef MAP_CASADI_FNC
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 4
- */
-void {{ model.name }}_acados_create_4_set_default_parameters({{ model.name }}_solver_capsule* capsule) {
-{%- if dims.np > 0 %}
-    const int N = capsule->nlp_solver_plan->N;
-    // initialize parameters to nominal value
-    double* p = calloc(NP, sizeof(double));
-    {%- for item in parameter_values %}
-        {%- if item != 0 %}
-    p[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i <= N; i++) {
-        {{ model.name }}_acados_update_params(capsule, i, p, NP);
-    }
-    free(p);
-{%- else %}
-    // no parameters defined
-{%- endif %}{# if dims.np #}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 5
- */
-void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule* capsule, const int N, double* new_time_steps)
-{
-    assert(N == capsule->nlp_solver_plan->N);
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-
-    /************************************************
-    *  nlp_in
-    ************************************************/
-//    ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims);
-//    capsule->nlp_in = nlp_in;
-    ocp_nlp_in * nlp_in = capsule->nlp_in;
-
-    // set up time_steps
-    {% set all_equal = true -%}
-    {%- set val = solver_options.time_steps[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.time_steps[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-    if (new_time_steps) {
-        {{ model.name }}_acados_update_time_steps(capsule, N, new_time_steps);
-    } else {
-    {%- if all_equal == true -%}
-        // all time_steps are identical
-        double time_step = {{ solver_options.time_steps[0] }};
-        for (int i = 0; i < N; i++)
-        {
-            ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step);
-            ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step);
-        }
-    {%- else -%}
-        // time_steps are different
-        double* time_steps = malloc(N*sizeof(double));
-        {%- for j in range(end=dims.N) %}
-        time_steps[{{ j }}] = {{ solver_options.time_steps[j] }};
-        {%- endfor %}
-        {{ model.name }}_acados_update_time_steps(capsule, N, time_steps);
-        free(time_steps);
-    {%- endif %}
-    }
-
-    /**** Dynamics ****/
-    for (int i = 0; i < N; i++)
-    {
-    {%- if solver_options.integrator_type == "ERK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_hess", &capsule->hess_vde_casadi[i]);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "IRK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_fun_jac_x_xdot_z", &capsule->impl_dae_fun_jac_x_xdot_z[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_jac_x_xdot_u", &capsule->impl_dae_jac_x_xdot_u_z[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_hess", &capsule->impl_dae_hess[i]);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_fun_jac_x_xdot_u", &capsule->impl_dae_fun_jac_x_xdot_u[i]);
-    {% elif solver_options.integrator_type == "GNSF" %}
-        {% if model.gnsf.purely_linear != 1 %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun", &capsule->gnsf_phi_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun_jac_y", &capsule->gnsf_phi_fun_jac_y[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_jac_y_uhat", &capsule->gnsf_phi_jac_y_uhat[i]);
-            {% if model.gnsf.nontrivial_f_LO == 1 %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "f_lo_jac_x1_x1dot_u_z",
-                                   &capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
-            {%- endif %}
-        {%- endif %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "gnsf_get_matrices_fun",
-                                   &capsule->gnsf_get_matrices_fun[i]);
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun", &capsule->discr_dyn_phi_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac",
-                                   &capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac_hess",
-                                   &capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
-        {%- endif %}
-    {%- endif %}
-    }
-
-    /**** Cost ****/
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    double* yref_0 = calloc(NY0, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- if cost.yref_0[j] != 0 %}
-    yref_0[{{ j }}] = {{ cost.yref_0[j] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0);
-    free(yref_0);
-{%- endif %}
-
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    double* yref = calloc(NY, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- if cost.yref[j] != 0 %}
-    yref[{{ j }}] = {{ cost.yref[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref);
-    }
-    free(yref);
-{%- endif %}
-
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    double* yref_e = calloc(NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- if cost.yref_e[j] != 0 %}
-    yref_e[{{ j }}] = {{ cost.yref_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e);
-    free(yref_e);
-{%- endif %}
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %}
-   double* W_0 = calloc(NY0*NY0, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.ny_0) %}
-            {%- if cost.W_0[j][k] != 0 %}
-    W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0);
-    free(W_0);
-{%- endif %}
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %}
-    double* W = calloc(NY*NY, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.ny) %}
-            {%- if cost.W[j][k] != 0 %}
-    W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W);
-    }
-    free(W);
-{%- endif %}
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %}
-    double* W_e = calloc(NYN*NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.ny_e) %}
-            {%- if cost.W_e[j][k] != 0 %}
-    W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e);
-    free(W_e);
-{%- endif %}
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "LINEAR_LS" %}
-    double* Vx_0 = calloc(NY0*NX, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx_0[j][k] != 0 %}
-    Vx_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vx_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0);
-    free(Vx_0);
-
-    {%- if dims.nu > 0 %}
-    double* Vu_0 = calloc(NY0*NU, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nu) %}
-            {%- if cost.Vu_0[j][k] != 0 %}
-    Vu_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vu_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vu", Vu_0);
-    free(Vu_0);
-    {%- endif %}
-
-    {%- if dims.nz > 0 %}
-    double* Vz_0 = calloc(NY0*NZ, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nz) %}
-            {%- if cost.Vz_0[j][k] != 0 %}
-    Vz_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vz_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0);
-    free(Vz_0);
-    {%- endif %}
-{%- endif %}
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "LINEAR_LS" %}
-    double* Vx = calloc(NY*NX, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx[j][k] != 0 %}
-    Vx[{{ j }}+(NY) * {{ k }}] = {{ cost.Vx[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vx", Vx);
-    }
-    free(Vx);
-
-    {% if dims.nu > 0 %}
-    double* Vu = calloc(NY*NU, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nu) %}
-            {%- if cost.Vu[j][k] != 0 %}
-    Vu[{{ j }}+(NY) * {{ k }}] = {{ cost.Vu[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vu", Vu);
-    }
-    free(Vu);
-    {%- endif %}
-
-    {%- if dims.nz > 0 %}
-    double* Vz = calloc(NY*NZ, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nz) %}
-            {%- if cost.Vz[j][k] != 0 %}
-    Vz[{{ j }}+(NY) * {{ k }}] = {{ cost.Vz[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vz", Vz);
-    }
-    free(Vz);
-    {%- endif %}
-{%- endif %}{# LINEAR LS #}
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "LINEAR_LS" %}
-    double* Vx_e = calloc(NYN*NX, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx_e[j][k] != 0 %}
-    Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e);
-    free(Vx_e);
-{%- endif %}
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess);
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun", &capsule->conl_cost_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun_jac_hess", &capsule->conl_cost_0_fun_jac_hess);
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac_hess", &capsule->ext_cost_0_fun_jac_hess);
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]);
-    }
-{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun", &capsule->conl_cost_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun_jac_hess", &capsule->conl_cost_fun_jac_hess[i-1]);
-    }
-{%- elif cost.cost_type == "EXTERNAL" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun", &capsule->ext_cost_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac", &capsule->ext_cost_fun_jac[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac_hess", &capsule->ext_cost_fun_jac_hess[i-1]);
-    }
-{%- endif %}
-
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess);
-
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun", &capsule->conl_cost_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun_jac_hess", &capsule->conl_cost_e_fun_jac_hess);
-
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess);
-{%- endif %}
-
-
-{%- if dims.ns > 0 %}
-    // slacks
-    double* zlumem = calloc(4*NS, sizeof(double));
-    double* Zl = zlumem+NS*0;
-    double* Zu = zlumem+NS*1;
-    double* zl = zlumem+NS*2;
-    double* zu = zlumem+NS*3;
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.Zl[j] != 0 %}
-    Zl[{{ j }}] = {{ cost.Zl[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.Zu[j] != 0 %}
-    Zu[{{ j }}] = {{ cost.Zu[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.zl[j] != 0 %}
-    zl[{{ j }}] = {{ cost.zl[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.zu[j] != 0 %}
-    zu[{{ j }}] = {{ cost.zu[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu);
-    }
-    free(zlumem);
-{%- endif %}
-
-{% if dims.ns_e > 0 %}
-    // slacks terminal
-    double* zluemem = calloc(4*NSN, sizeof(double));
-    double* Zl_e = zluemem+NSN*0;
-    double* Zu_e = zluemem+NSN*1;
-    double* zl_e = zluemem+NSN*2;
-    double* zu_e = zluemem+NSN*3;
-
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.Zl_e[j] != 0 %}
-    Zl_e[{{ j }}] = {{ cost.Zl_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.Zu_e[j] != 0 %}
-    Zu_e[{{ j }}] = {{ cost.Zu_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.zl_e[j] != 0 %}
-    zl_e[{{ j }}] = {{ cost.zl_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.zu_e[j] != 0 %}
-    zu_e[{{ j }}] = {{ cost.zu_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zl", Zl_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zu", Zu_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zl", zl_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zu", zu_e);
-    free(zluemem);
-{%- endif %}
-
-    /**** Constraints ****/
-
-    // bounds for initial stage
-{%- if dims.nbx_0 > 0 %}
-    // x0
-    int* idxbx0 = malloc(NBX0 * sizeof(int));
-    {%- for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double* lubx0 = calloc(2*NBX0, sizeof(double));
-    double* lbx0 = lubx0;
-    double* ubx0 = lubx0 + NBX0;
-    // change only the non-zero elements:
-    {%- for i in range(end=dims.nbx_0) %}
-        {%- if constraints.lbx_0[i] != 0 %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-        {%- endif %}
-        {%- if constraints.ubx_0[i] != 0 %}
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-    free(idxbx0);
-    free(lubx0);
-{%- endif %}
-
-{%- if dims.nbxe_0 > 0 %}
-    // idxbxe_0
-    int* idxbxe_0 = malloc({{ dims.nbxe_0 }} * sizeof(int));
-    {% for i in range(end=dims.nbxe_0) %}
-    idxbxe_0[{{ i }}] = {{ constraints.idxbxe_0[i] }};
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0);
-    free(idxbxe_0);
-{%- endif %}
-
-    /* constraints that are the same for initial and intermediate */
-{%- if dims.nsbx > 0 %}
-{# TODO: introduce nsbx0 & move this block down!! #}
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxsbx", idxsbx);
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lsbx", lsbx);
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "usbx", usbx);
-
-    // soft bounds on x
-    int* idxsbx = malloc(NSBX * sizeof(int));
-    {%- for i in range(end=dims.nsbx) %}
-    idxsbx[{{ i }}] = {{ constraints.idxsbx[i] }};
-    {%- endfor %}
-
-    double* lusbx = calloc(2*NSBX, sizeof(double));
-    double* lsbx = lusbx;
-    double* usbx = lusbx + NSBX;
-    {%- for i in range(end=dims.nsbx) %}
-        {%- if constraints.lsbx[i] != 0 %}
-    lsbx[{{ i }}] = {{ constraints.lsbx[i] }};
-        {%- endif %}
-        {%- if constraints.usbx[i] != 0 %}
-    usbx[{{ i }}] = {{ constraints.usbx[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx);
-    }
-    free(idxsbx);
-    free(lusbx);
-{%- endif %}
-
-
-{%- if dims.nbu > 0 %}
-    // u
-    int* idxbu = malloc(NBU * sizeof(int));
-    {% for i in range(end=dims.nbu) %}
-    idxbu[{{ i }}] = {{ constraints.idxbu[i] }};
-    {%- endfor %}
-    double* lubu = calloc(2*NBU, sizeof(double));
-    double* lbu = lubu;
-    double* ubu = lubu + NBU;
-    {% for i in range(end=dims.nbu) %}
-        {%- if constraints.lbu[i] != 0 %}
-    lbu[{{ i }}] = {{ constraints.lbu[i] }};
-        {%- endif %}
-        {%- if constraints.ubu[i] != 0 %}
-    ubu[{{ i }}] = {{ constraints.ubu[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbu", idxbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbu", lbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubu", ubu);
-    }
-    free(idxbu);
-    free(lubu);
-{%- endif %}
-
-{%- if dims.nsbu > 0 %}
-    // set up soft bounds for u
-    int* idxsbu = malloc(NSBU * sizeof(int));
-    {% for i in range(end=dims.nsbu) %}
-    idxsbu[{{ i }}] = {{ constraints.idxsbu[i] }};
-    {%- endfor %}
-    double* lusbu = calloc(2*NSBU, sizeof(double));
-    double* lsbu = lusbu;
-    double* usbu = lusbu + NSBU;
-    {% for i in range(end=dims.nsbu) %}
-        {%- if constraints.lsbu[i] != 0 %}
-    lsbu[{{ i }}] = {{ constraints.lsbu[i] }};
-        {%- endif %}
-        {%- if constraints.usbu[i] != 0 %}
-    usbu[{{ i }}] = {{ constraints.usbu[i] }};
-        {%- endif %}
-    {%- endfor %}
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbu", idxsbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbu", lsbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbu", usbu);
-    }
-    free(idxsbu);
-    free(lusbu);
-{%- endif %}
-
-{% if dims.nsg > 0 %}
-    // set up soft bounds for general linear constraints
-    int* idxsg = malloc(NSG * sizeof(int));
-    {% for i in range(end=dims.nsg) %}
-    idxsg[{{ i }}] = {{ constraints.idxsg[i] }};
-    {%- endfor %}
-    double* lusg = calloc(2*NSG, sizeof(double));
-    double* lsg = lusg;
-    double* usg = lusg + NSG;
-    {% for i in range(end=dims.nsg) %}
-        {%- if constraints.lsg[i] != 0 %}
-    lsg[{{ i }}] = {{ constraints.lsg[i] }};
-        {%- endif %}
-        {%- if constraints.usg[i] != 0 %}
-    usg[{{ i }}] = {{ constraints.usg[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsg", idxsg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsg", lsg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usg", usg);
-    }
-    free(idxsg);
-    free(lusg);
-{%- endif %}
-
-{% if dims.nsh > 0 %}
-    // set up soft bounds for nonlinear constraints
-    int* idxsh = malloc(NSH * sizeof(int));
-    {% for i in range(end=dims.nsh) %}
-    idxsh[{{ i }}] = {{ constraints.idxsh[i] }};
-    {%- endfor %}
-    double* lush = calloc(2*NSH, sizeof(double));
-    double* lsh = lush;
-    double* ush = lush + NSH;
-    {% for i in range(end=dims.nsh) %}
-        {%- if constraints.lsh[i] != 0 %}
-    lsh[{{ i }}] = {{ constraints.lsh[i] }};
-        {%- endif %}
-        {%- if constraints.ush[i] != 0 %}
-    ush[{{ i }}] = {{ constraints.ush[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush);
-    }
-    free(idxsh);
-    free(lush);
-{%- endif %}
-
-{% if dims.nsphi > 0 %}
-    // set up soft bounds for convex-over-nonlinear constraints
-    int* idxsphi = malloc(NSPHI * sizeof(int));
-    {% for i in range(end=dims.nsphi) %}
-    idxsphi[{{ i }}] = {{ constraints.idxsphi[i] }};
-    {%- endfor %}
-    double* lusphi = calloc(2*NSPHI, sizeof(double));
-    double* lsphi = lusphi;
-    double* usphi = lusphi + NSPHI;
-    {% for i in range(end=dims.nsphi) %}
-        {%- if constraints.lsphi[i] != 0 %}
-    lsphi[{{ i }}] = {{ constraints.lsphi[i] }};
-        {%- endif %}
-        {%- if constraints.usphi[i] != 0 %}
-    usphi[{{ i }}] = {{ constraints.usphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsphi", idxsphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsphi", lsphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usphi", usphi);
-    }
-    free(idxsphi);
-    free(lusphi);
-{%- endif %}
-
-{% if dims.nbx > 0 %}
-    // x
-    int* idxbx = malloc(NBX * sizeof(int));
-    {% for i in range(end=dims.nbx) %}
-    idxbx[{{ i }}] = {{ constraints.idxbx[i] }};
-    {%- endfor %}
-    double* lubx = calloc(2*NBX, sizeof(double));
-    double* lbx = lubx;
-    double* ubx = lubx + NBX;
-    {% for i in range(end=dims.nbx) %}
-        {%- if constraints.lbx[i] != 0 %}
-    lbx[{{ i }}] = {{ constraints.lbx[i] }};
-        {%- endif %}
-        {%- if constraints.ubx[i] != 0 %}
-    ubx[{{ i }}] = {{ constraints.ubx[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx);
-    }
-    free(idxbx);
-    free(lubx);
-{%- endif %}
-
-{% if dims.ng > 0 %}
-    // set up general constraints for stage 0 to N-1
-    double* D = calloc(NG*NU, sizeof(double));
-    double* C = calloc(NG*NX, sizeof(double));
-    double* lug = calloc(2*NG, sizeof(double));
-    double* lg = lug;
-    double* ug = lug + NG;
-
-    {% for j in range(end=dims.ng) -%}
-        {% for k in range(end=dims.nu) %}
-            {%- if constraints.D[j][k] != 0 %}
-    D[{{ j }}+NG * {{ k }}] = {{ constraints.D[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ng) -%}
-        {% for k in range(end=dims.nx) %}
-            {%- if constraints.C[j][k] != 0 %}
-    C[{{ j }}+NG * {{ k }}] = {{ constraints.C[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng) %}
-        {%- if constraints.lg[i] != 0 %}
-    lg[{{ i }}] = {{ constraints.lg[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng) %}
-        {%- if constraints.ug[i] != 0 %}
-    ug[{{ i }}] = {{ constraints.ug[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "D", D);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "C", C);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lg", lg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ug", ug);
-    }
-    free(D);
-    free(C);
-    free(lug);
-{%- endif %}
-
-{% if dims.nh > 0 %}
-    // set up nonlinear constraints for stage 0 to N-1
-    double* luh = calloc(2*NH, sizeof(double));
-    double* lh = luh;
-    double* uh = luh + NH;
-
-    {% for i in range(end=dims.nh) %}
-        {%- if constraints.lh[i] != 0 %}
-    lh[{{ i }}] = {{ constraints.lh[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nh) %}
-        {%- if constraints.uh[i] != 0 %}
-    uh[{{ i }}] = {{ constraints.uh[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        // nonlinear constraints for stages 0 to N-1
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac",
-                                      &capsule->nl_constr_h_fun_jac[i]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun",
-                                      &capsule->nl_constr_h_fun[i]);
-        {% if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                      "nl_constr_h_fun_jac_hess", &capsule->nl_constr_h_fun_jac_hess[i]);
-        {% endif %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh);
-    }
-    free(luh);
-{%- endif %}
-
-{% if dims.nphi > 0 and constraints.constr_type == "BGP" %}
-    // set up convex-over-nonlinear constraints for stage 0 to N-1
-    double* luphi = calloc(2*NPHI, sizeof(double));
-    double* lphi = luphi;
-    double* uphi = luphi + NPHI;
-    {% for i in range(end=dims.nphi) %}
-        {%- if constraints.lphi[i] != 0 %}
-    lphi[{{ i }}] = {{ constraints.lphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nphi) %}
-        {%- if constraints.uphi[i] != 0 %}
-    uphi[{{ i }}] = {{ constraints.uphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                      "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_constraint[i]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lphi", lphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uphi", uphi);
-    }
-    free(luphi);
-{%- endif %}
-
-    /* terminal constraints */
-{% if dims.nbx_e > 0 %}
-    // set up bounds for last stage
-    // x
-    int* idxbx_e = malloc(NBXN * sizeof(int));
-    {% for i in range(end=dims.nbx_e) %}
-    idxbx_e[{{ i }}] = {{ constraints.idxbx_e[i] }};
-    {%- endfor %}
-    double* lubx_e = calloc(2*NBXN, sizeof(double));
-    double* lbx_e = lubx_e;
-    double* ubx_e = lubx_e + NBXN;
-    {% for i in range(end=dims.nbx_e) %}
-        {%- if constraints.lbx_e[i] != 0 %}
-    lbx_e[{{ i }}] = {{ constraints.lbx_e[i] }};
-        {%- endif %}
-        {%- if constraints.ubx_e[i] != 0 %}
-    ubx_e[{{ i }}] = {{ constraints.ubx_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxbx", idxbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", lbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", ubx_e);
-    free(idxbx_e);
-    free(lubx_e);
-{%- endif %}
-
-{% if dims.nsg_e > 0 %}
-    // set up soft bounds for general linear constraints
-    int* idxsg_e = calloc(NSGN, sizeof(int));
-    {% for i in range(end=dims.nsg_e) %}
-    idxsg_e[{{ i }}] = {{ constraints.idxsg_e[i] }};
-    {%- endfor %}
-    double* lusg_e = calloc(2*NSGN, sizeof(double));
-    double* lsg_e = lusg_e;
-    double* usg_e = lusg_e + NSGN;
-    {% for i in range(end=dims.nsg_e) %}
-        {%- if constraints.lsg_e[i] != 0 %}
-    lsg_e[{{ i }}] = {{ constraints.lsg_e[i] }};
-        {%- endif %}
-        {%- if constraints.usg_e[i] != 0 %}
-    usg_e[{{ i }}] = {{ constraints.usg_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsg", idxsg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsg", lsg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usg", usg_e);
-    free(idxsg_e);
-    free(lusg_e);
-{%- endif %}
-
-{% if dims.nsh_e > 0 %}
-    // set up soft bounds for nonlinear constraints
-    int* idxsh_e = malloc(NSHN * sizeof(int));
-    {% for i in range(end=dims.nsh_e) %}
-    idxsh_e[{{ i }}] = {{ constraints.idxsh_e[i] }};
-    {%- endfor %}
-    double* lush_e = calloc(2*NSHN, sizeof(double));
-    double* lsh_e = lush_e;
-    double* ush_e = lush_e + NSHN;
-    {% for i in range(end=dims.nsh_e) %}
-        {%- if constraints.lsh_e[i] != 0 %}
-    lsh_e[{{ i }}] = {{ constraints.lsh_e[i] }};
-        {%- endif %}
-        {%- if constraints.ush_e[i] != 0 %}
-    ush_e[{{ i }}] = {{ constraints.ush_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsh", idxsh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsh", lsh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ush", ush_e);
-    free(idxsh_e);
-    free(lush_e);
-{%- endif %}
-
-{% if dims.nsphi_e > 0 %}
-    // set up soft bounds for convex-over-nonlinear constraints
-    int* idxsphi_e = malloc(NSPHIN * sizeof(int));
-    {% for i in range(end=dims.nsphi_e) %}
-    idxsphi_e[{{ i }}] = {{ constraints.idxsphi_e[i] }};
-    {%- endfor %}
-    double* lusphi_e = calloc(2*NSPHIN, sizeof(double));
-    double* lsphi_e = lusphi_e;
-    double* usphi_e = lusphi_e + NSPHIN;
-    {% for i in range(end=dims.nsphi_e) %}
-        {%- if constraints.lsphi_e[i] != 0 %}
-    lsphi_e[{{ i }}] = {{ constraints.lsphi_e[i] }};
-        {%- endif %}
-        {%- if constraints.usphi_e[i] != 0 %}
-    usphi_e[{{ i }}] = {{ constraints.usphi_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsphi", idxsphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsphi", lsphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usphi", usphi_e);
-    free(idxsphi_e);
-    free(lusphi_e);
-{%- endif %}
-
-{% if dims.nsbx_e > 0 %}
-    // soft bounds on x
-    int* idxsbx_e = malloc(NSBXN * sizeof(int));
-    {% for i in range(end=dims.nsbx_e) %}
-    idxsbx_e[{{ i }}] = {{ constraints.idxsbx_e[i] }};
-    {%- endfor %}
-    double* lusbx_e = calloc(2*NSBXN, sizeof(double));
-    double* lsbx_e = lusbx_e;
-    double* usbx_e = lusbx_e + NSBXN;
-    {% for i in range(end=dims.nsbx_e) %}
-        {%- if constraints.lsbx_e[i] != 0 %}
-    lsbx_e[{{ i }}] = {{ constraints.lsbx_e[i] }};
-        {%- endif %}
-        {%- if constraints.usbx_e[i] != 0 %}
-    usbx_e[{{ i }}] = {{ constraints.usbx_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsbx", idxsbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsbx", lsbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usbx", usbx_e);
-    free(idxsbx_e);
-    free(lusbx_e);
-{% endif %}
-
-{% if dims.ng_e > 0 %}
-    // set up general constraints for last stage
-    double* C_e = calloc(NGN*NX, sizeof(double));
-    double* lug_e = calloc(2*NGN, sizeof(double));
-    double* lg_e = lug_e;
-    double* ug_e = lug_e + NGN;
-
-    {% for j in range(end=dims.ng_e) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if constraints.C_e[j][k] != 0 %}
-    C_e[{{ j }}+NGN * {{ k }}] = {{ constraints.C_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng_e) %}
-        {%- if constraints.lg_e[i] != 0 %}
-    lg_e[{{ i }}] = {{ constraints.lg_e[i] }};
-        {%- endif %}
-        {%- if constraints.ug_e[i] != 0 %}
-    ug_e[{{ i }}] = {{ constraints.ug_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "C", C_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", lg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", ug_e);
-    free(C_e);
-    free(lug_e);
-{%- endif %}
-
-{% if dims.nh_e > 0 %}
-    // set up nonlinear constraints for last stage
-    double* luh_e = calloc(2*NHN, sizeof(double));
-    double* lh_e = luh_e;
-    double* uh_e = luh_e + NHN;
-    {% for i in range(end=dims.nh_e) %}
-        {%- if constraints.lh_e[i] != 0 %}
-    lh_e[{{ i }}] = {{ constraints.lh_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nh_e) %}
-        {%- if constraints.uh_e[i] != 0 %}
-    uh_e[{{ i }}] = {{ constraints.uh_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac", &capsule->nl_constr_h_e_fun_jac);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun", &capsule->nl_constr_h_e_fun);
-    {% if solver_options.hessian_approx == "EXACT" %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac_hess",
-                                  &capsule->nl_constr_h_e_fun_jac_hess);
-    {% endif %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", lh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", uh_e);
-    free(luh_e);
-{%- endif %}
-
-{% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %}
-    // set up convex-over-nonlinear constraints for last stage
-    double* luphi_e = calloc(2*NPHIN, sizeof(double));
-    double* lphi_e = luphi_e;
-    double* uphi_e = luphi_e + NPHIN;
-    {% for i in range(end=dims.nphi_e) %}
-        {%- if constraints.lphi_e[i] != 0 %}
-    lphi_e[{{ i }}] = {{ constraints.lphi_e[i] }};
-        {%- endif %}
-        {%- if constraints.uphi_e[i] != 0 %}
-    uphi_e[{{ i }}] = {{ constraints.uphi_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lphi", lphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uphi", uphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N,
-                                  "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_e_constraint);
-    free(luphi_e);
-{% endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 6
- */
-void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    void *nlp_opts = capsule->nlp_opts;
-
-    /************************************************
-    *  opts
-    ************************************************/
-
-{% if solver_options.hessian_approx == "EXACT" %}
-    int nlp_solver_exact_hessian = 1;
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian);
-
-    int exact_hess_dyn = {{ solver_options.exact_hess_dyn }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_dyn", &exact_hess_dyn);
-
-    int exact_hess_cost = {{ solver_options.exact_hess_cost }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_cost", &exact_hess_cost);
-
-    int exact_hess_constr = {{ solver_options.exact_hess_constr }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_constr", &exact_hess_constr);
-{%- endif -%}
-
-{%- if solver_options.globalization == "FIXED_STEP" %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");
-{%- elif solver_options.globalization == "MERIT_BACKTRACKING" %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "merit_backtracking");
-
-    double alpha_min = {{ solver_options.alpha_min }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_min", &alpha_min);
-
-    double alpha_reduction = {{ solver_options.alpha_reduction }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_reduction", &alpha_reduction);
-
-    int line_search_use_sufficient_descent = {{ solver_options.line_search_use_sufficient_descent }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "line_search_use_sufficient_descent", &line_search_use_sufficient_descent);
-
-    int globalization_use_SOC = {{ solver_options.globalization_use_SOC }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "globalization_use_SOC", &globalization_use_SOC);
-
-    double eps_sufficient_descent = {{ solver_options.eps_sufficient_descent }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "eps_sufficient_descent", &eps_sufficient_descent);
-{%- endif -%}
-    int full_step_dual = {{ solver_options.full_step_dual }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual);
-
-{%- if dims.nz > 0 %}
-    // TODO: these options are lower level -> should be encapsulated! maybe through hessian approx option.
-    bool output_z_val = true;
-    bool sens_algebraic_val = true;
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_output_z", &output_z_val);
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_sens_algebraic", &sens_algebraic_val);
-{%- endif %}
-
-{%- if solver_options.integrator_type != "DISCRETE" %}
-
-    // set collocation type (relevant for implicit integrators)
-    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type);
-
-    // set up sim_method_num_steps
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_num_steps[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_num_steps[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-    {%- if all_equal == true %}
-    // all sim_method_num_steps are identical
-    int sim_method_num_steps = {{ solver_options.sim_method_num_steps[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps);
-    {%- else %}
-    // sim_method_num_steps are different
-    int* sim_method_num_steps = malloc(N*sizeof(int));
-    {%- for j in range(end=dims.N) %}
-    sim_method_num_steps[{{ j }}] = {{ solver_options.sim_method_num_steps[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps[i]);
-    free(sim_method_num_steps);
-    {%- endif %}
-
-    // set up sim_method_num_stages
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_num_stages[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_num_stages[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-  {%- if all_equal == true %}
-    // all sim_method_num_stages are identical
-    int sim_method_num_stages = {{ solver_options.sim_method_num_stages[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages);
-  {%- else %}
-    int* sim_method_num_stages = malloc(N*sizeof(int));
-    {%- for j in range(end=dims.N) %}
-    sim_method_num_stages[{{ j }}] = {{ solver_options.sim_method_num_stages[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages[i]);
-    free(sim_method_num_stages);
-  {%- endif %}
-
-    int newton_iter_val = {{ solver_options.sim_method_newton_iter }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val);
-
-
-    // set up sim_method_jac_reuse
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_jac_reuse[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_jac_reuse[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-  {%- if all_equal == true %}
-    bool tmp_bool = (bool) {{ solver_options.sim_method_jac_reuse[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool);
-  {%- else %}
-    bool* sim_method_jac_reuse = malloc(N*sizeof(bool));
-    {%- for j in range(end=dims.N) %}
-    sim_method_jac_reuse[{{ j }}] = (bool){{ solver_options.sim_method_jac_reuse[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &sim_method_jac_reuse[i]);
-    free(sim_method_jac_reuse);
-  {%- endif %}
-
-{%- endif %}
-
-    double nlp_solver_step_length = {{ solver_options.nlp_solver_step_length }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length);
-
-    {%- if solver_options.nlp_solver_warm_start_first_qp %}
-    int nlp_solver_warm_start_first_qp = {{ solver_options.nlp_solver_warm_start_first_qp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "warm_start_first_qp", &nlp_solver_warm_start_first_qp);
-    {%- endif %}
-
-    double levenberg_marquardt = {{ solver_options.levenberg_marquardt }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt);
-
-    /* options QP solver */
-{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %}
-    int qp_solver_cond_N;
-
-    {% if solver_options.qp_solver_cond_N -%}
-    const int qp_solver_cond_N_ori = {{ solver_options.qp_solver_cond_N }};
-    qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here
-    {%- else %}
-    // NOTE: there is no condensing happening here!
-    qp_solver_cond_N = N;
-    {%- endif %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N);
-{%- endif %}
-
-    int nlp_solver_ext_qp_res = {{ solver_options.nlp_solver_ext_qp_res }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res);
-
-{%- if solver_options.qp_solver is containing("HPIPM") %}
-    // set HPIPM mode: should be done before setting other QP solver options
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "{{ solver_options.hpipm_mode }}");
-{%- endif %}
-
-{% if solver_options.nlp_solver_type == "SQP" %}
-    // set SQP specific options
-    double nlp_solver_tol_stat = {{ solver_options.nlp_solver_tol_stat }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_stat", &nlp_solver_tol_stat);
-
-    double nlp_solver_tol_eq = {{ solver_options.nlp_solver_tol_eq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_eq", &nlp_solver_tol_eq);
-
-    double nlp_solver_tol_ineq = {{ solver_options.nlp_solver_tol_ineq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_ineq", &nlp_solver_tol_ineq);
-
-    double nlp_solver_tol_comp = {{ solver_options.nlp_solver_tol_comp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_comp", &nlp_solver_tol_comp);
-
-    int nlp_solver_max_iter = {{ solver_options.nlp_solver_max_iter }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "max_iter", &nlp_solver_max_iter);
-
-    int initialize_t_slacks = {{ solver_options.initialize_t_slacks }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "initialize_t_slacks", &initialize_t_slacks);
-{%- endif %}
-
-    int qp_solver_iter_max = {{ solver_options.qp_solver_iter_max }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max);
-
-{# NOTE: qp_solver tolerances must be set after NLP ones, since the setter for NLP tolerances sets the QP tolerances to the sam values. #}
-    {%- if solver_options.qp_solver_tol_stat %}
-    double qp_solver_tol_stat = {{ solver_options.qp_solver_tol_stat }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_eq %}
-    double qp_solver_tol_eq = {{ solver_options.qp_solver_tol_eq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_ineq %}
-    double qp_solver_tol_ineq = {{ solver_options.qp_solver_tol_ineq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_comp %}
-    double qp_solver_tol_comp = {{ solver_options.qp_solver_tol_comp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_warm_start %}
-    int qp_solver_warm_start = {{ solver_options.qp_solver_warm_start }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_warm_start", &qp_solver_warm_start);
-    {%- endif -%}
-
-    int print_level = {{ solver_options.print_level }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level);
-
-{%- if solver_options.qp_solver is containing('PARTIAL_CONDENSING') %}
-    int qp_solver_cond_ric_alg = {{ solver_options.qp_solver_cond_ric_alg }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg);
-{% endif %}
-
-{%- if solver_options.qp_solver  == 'PARTIAL_CONDENSING_HPIPM' %}
-    int qp_solver_ric_alg = {{ solver_options.qp_solver_ric_alg }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg);
-{% endif %}
-
-    int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }};
-{%- if cost.cost_type == "EXTERNAL" %}
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "cost_numerical_hessian", &ext_cost_num_hess);
-    }
-{%- endif %}
-{%- if cost.cost_type_e == "EXTERNAL" %}
-    ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, N, "cost_numerical_hessian", &ext_cost_num_hess);
-{%- endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 7
- */
-void {{ model.name }}_acados_create_7_set_nlp_out({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-    ocp_nlp_out* nlp_out = capsule->nlp_out;
-
-    // initialize primal solution
-    double* xu0 = calloc(NX+NU, sizeof(double));
-    double* x0 = xu0;
-{% if dims.nbx_0 == dims.nx %}
-    // initialize with x0
-    {% for item in constraints.lbx_0 %}
-        {%- if item != 0 %}
-    x0[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-{% else %}
-    // initialize with zeros
-{%- endif %}
-
-    double* u0 = xu0 + NX;
-
-    for (int i = 0; i < N; i++)
-    {
-        // x0
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0);
-        // u0
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-    }
-    ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0);
-    free(xu0);
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 8
- */
-//void {{ model.name }}_acados_create_8_create_solver({{ model.name }}_solver_capsule* capsule)
-//{
-//    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-//}
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 9
- */
-int {{ model.name }}_acados_create_9_precompute({{ model.name }}_solver_capsule* capsule) {
-    int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
-
-    if (status != ACADOS_SUCCESS) {
-        printf("\nocp_nlp_precompute failed!\n\n");
-        exit(1);
-    }
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps)
-{
-    // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given.
-    if (N != {{ model.name | upper }}_N && !new_time_steps) {
-        fprintf(stderr, "{{ model.name }}_acados_create_with_discretization: new_time_steps is NULL " \
-            "but the number of shooting intervals (= %d) differs from the number of " \
-            "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \
-             N, {{ model.name | upper }}_N);
-        return 1;
-    }
-
-    // number of expected runtime parameters
-    capsule->nlp_np = NP;
-
-    // 1) create and set nlp_solver_plan; create nlp_config
-    capsule->nlp_solver_plan = ocp_nlp_plan_create(N);
-    {{ model.name }}_acados_create_1_set_plan(capsule->nlp_solver_plan, N);
-    capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan);
-
-    // 3) create and set dimensions
-    capsule->nlp_dims = {{ model.name }}_acados_create_2_create_and_set_dimensions(capsule);
-    {{ model.name }}_acados_create_3_create_and_set_functions(capsule);
-
-    // 4) set default parameters in functions
-    {{ model.name }}_acados_create_4_set_default_parameters(capsule);
-
-    // 5) create and set nlp_in
-    capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_5_set_nlp_in(capsule, N, new_time_steps);
-
-    // 6) create and set nlp_opts
-    capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_6_set_opts(capsule);
-
-    // 7) create and set nlp_out
-    // 7.1) nlp_out
-    capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims);
-    // 7.2) sens_out
-    capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_7_set_nlp_out(capsule);
-
-    // 8) create solver
-    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-    //{{ model.name }}_acados_create_8_create_solver(capsule);
-
-    // 9) do precomputations
-    int status = {{ model.name }}_acados_create_9_precompute(capsule);
-
-    {%- if custom_update_filename != "" %}
-    // Initialize custom update function
-    custom_update_init_function(capsule);
-    {%- endif %}
-
-    return status;
-}
-
-/**
- * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export.
- */
-int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule* capsule, int qp_solver_cond_N)
-{
-{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %}
-    // 1) destroy solver
-    ocp_nlp_solver_destroy(capsule->nlp_solver);
-
-    // 2) set new value for "qp_cond_N"
-    const int N = capsule->nlp_solver_plan->N;
-    if(qp_solver_cond_N > N)
-        printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N);
-    ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N);
-
-    // 3) continue with the remaining steps from {{ model.name }}_acados_create_with_discretization(...):
-    // -> 8) create solver
-    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-
-    // -> 9) do precomputations
-    int status = {{ model.name }}_acados_create_9_precompute(capsule);
-    return status;
-{%- else %}
-    printf("\nacados_update_qp_solver_cond_N() failed, since no partial condensing solver is used!\n\n");
-    // Todo: what is an adequate behavior here?
-    exit(1);
-    return -1;
-{%- endif %}
-}
-
-
-int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem)
-{
-
-    // set initialization to all zeros
-{# TODO: use guess values / initial state value from json instead?! #}
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-    ocp_nlp_out* nlp_out = capsule->nlp_out;
-    ocp_nlp_in* nlp_in = capsule->nlp_in;
-    ocp_nlp_solver* nlp_solver = capsule->nlp_solver;
-
-    double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double));
-
-    for(int i=0; i<N+1; i++)
-    {
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "sl", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "su", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "lam", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "t", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "z", buffer);
-        if (i<N)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "pi", buffer);
-        {%- if solver_options.integrator_type == "IRK" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
-            ocp_nlp_set(nlp_config, nlp_solver, i, "z_guess", buffer);
-        {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
-        {% elif solver_options.integrator_type == "GNSF" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "gnsf_phi_guess", buffer);
-        {%- endif %}
-        }
-    }
-
-{%- if solver_options.qp_solver == 'PARTIAL_CONDENSING_HPIPM' %}
-    // get qp_status: if NaN -> reset memory
-    int qp_status;
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status);
-    if (reset_qp_solver_mem || (qp_status == 3))
-    {
-        // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status);
-        ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out);
-    }
-{%- endif %}
-
-    free(buffer);
-    return 0;
-}
-
-
-
-
-int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsule, int stage, double *p, int np)
-{
-    int solver_status = 0;
-
-    int casadi_np = {{ dims.np }};
-    if (casadi_np != np) {
-        printf("acados_update_params: trying to set %i parameters for external functions."
-            " External function has %i parameters. Exiting.\n", np, casadi_np);
-        exit(1);
-    }
-
-    const int N = capsule->nlp_solver_plan->N;
-    if (stage < N && stage >= 0)
-    {
-    {%- if solver_options.integrator_type == "IRK" %}
-        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
-        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p);
-        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param(capsule->impl_dae_jac_x_xdot_u_z+stage, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->impl_dae_hess[stage].set_param(capsule->impl_dae_hess+stage, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
-        capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_u+stage, p);
-    {% elif solver_options.integrator_type == "ERK" %}
-        capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p);
-        capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->hess_vde_casadi[stage].set_param(capsule->hess_vde_casadi+stage, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-        capsule->gnsf_phi_fun[stage].set_param(capsule->gnsf_phi_fun+stage, p);
-        capsule->gnsf_phi_fun_jac_y[stage].set_param(capsule->gnsf_phi_fun_jac_y+stage, p);
-        capsule->gnsf_phi_jac_y_uhat[stage].set_param(capsule->gnsf_phi_jac_y_uhat+stage, p);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-            capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, p);
-        {%- endif %}
-    {%- endif %}
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        capsule->discr_dyn_phi_fun[stage].set_param(capsule->discr_dyn_phi_fun+stage, p);
-        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, p);
-    {% endif %}
-    {%- endif %}{# integrator_type #}
-
-        // constraints
-    {% if constraints.constr_type == "BGP" %}
-        capsule->phi_constraint[stage].set_param(capsule->phi_constraint+stage, p);
-    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-        capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p);
-        capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_fun_jac_hess[stage].set_param(capsule->nl_constr_h_fun_jac_hess+stage, p);
-    {%- endif %}
-    {%- endif %}
-
-        // cost
-        if (stage == 0)
-        {
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p);
-            capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p);
-            capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p);
-        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_0_fun.set_param(&capsule->conl_cost_0_fun, p);
-            capsule->conl_cost_0_fun_jac_hess.set_param(&capsule->conl_cost_0_fun_jac_hess, p);
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p);
-            capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p);
-            capsule->ext_cost_0_fun_jac_hess.set_param(&capsule->ext_cost_0_fun_jac_hess, p);
-        {% endif %}
-        }
-        else // 0 < stage < N
-        {
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p);
-            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p);
-            capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p);
-        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_fun[stage-1].set_param(capsule->conl_cost_fun+stage-1, p);
-            capsule->conl_cost_fun_jac_hess[stage-1].set_param(capsule->conl_cost_fun_jac_hess+stage-1, p);
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p);
-            capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p);
-            capsule->ext_cost_fun_jac_hess[stage-1].set_param(capsule->ext_cost_fun_jac_hess+stage-1, p);
-        {%- endif %}
-        }
-    }
-
-    else // stage == N
-    {
-        // terminal shooting node has no dynamics
-        // cost
-    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-        capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p);
-        capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p);
-        capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p);
-    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        capsule->conl_cost_e_fun.set_param(&capsule->conl_cost_e_fun, p);
-        capsule->conl_cost_e_fun_jac_hess.set_param(&capsule->conl_cost_e_fun_jac_hess, p);
-    {%- elif cost.cost_type_e == "EXTERNAL" %}
-        capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p);
-        capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p);
-        capsule->ext_cost_e_fun_jac_hess.set_param(&capsule->ext_cost_e_fun_jac_hess, p);
-    {% endif %}
-        // constraints
-    {% if constraints.constr_type_e == "BGP" %}
-        capsule->phi_e_constraint.set_param(&capsule->phi_e_constraint, p);
-    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-        capsule->nl_constr_h_e_fun_jac.set_param(&capsule->nl_constr_h_e_fun_jac, p);
-        capsule->nl_constr_h_e_fun.set_param(&capsule->nl_constr_h_e_fun, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_e_fun_jac_hess.set_param(&capsule->nl_constr_h_e_fun_jac_hess, p);
-    {%- endif %}
-    {% endif %}
-    }
-
-    return solver_status;
-}
-
-
-int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-{
-    int solver_status = 0;
-
-    int casadi_np = {{ dims.np }};
-    if (casadi_np < n_update) {
-        printf("{{ model.name }}_acados_update_params_sparse: trying to set %d parameters for external functions."
-            " External function has %d parameters. Exiting.\n", n_update, casadi_np);
-        exit(1);
-    }
-    // for (int i = 0; i < n_update; i++)
-    // {
-    //     if (idx[i] > casadi_np) {
-    //         printf("{{ model.name }}_acados_update_params_sparse: attempt to set parameters with index %d, while"
-    //             " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np);
-    //         exit(1);
-    //     }
-    //     printf("param %d value %e\n", idx[i], p[i]);
-    // }
-
-{%- if dims.np > 0 %}
-    const int N = capsule->nlp_solver_plan->N;
-    if (stage < N && stage >= 0)
-    {
-    {%- if solver_options.integrator_type == "IRK" %}
-        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
-        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_z+stage, n_update, idx, p);
-        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param_sparse(capsule->impl_dae_jac_x_xdot_u_z+stage, n_update, idx, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->impl_dae_hess[stage].set_param_sparse(capsule->impl_dae_hess+stage, n_update, idx, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
-        capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_u+stage, n_update, idx, p);
-    {% elif solver_options.integrator_type == "ERK" %}
-        capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p);
-        capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->hess_vde_casadi[stage].set_param_sparse(capsule->hess_vde_casadi+stage, n_update, idx, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-        capsule->gnsf_phi_fun[stage].set_param_sparse(capsule->gnsf_phi_fun+stage, n_update, idx, p);
-        capsule->gnsf_phi_fun_jac_y[stage].set_param_sparse(capsule->gnsf_phi_fun_jac_y+stage, n_update, idx, p);
-        capsule->gnsf_phi_jac_y_uhat[stage].set_param_sparse(capsule->gnsf_phi_jac_y_uhat+stage, n_update, idx, p);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-            capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param_sparse(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, n_update, idx, p);
-        {%- endif %}
-    {%- endif %}
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        capsule->discr_dyn_phi_fun[stage].set_param_sparse(capsule->discr_dyn_phi_fun+stage, n_update, idx, p);
-        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, n_update, idx, p);
-    {% endif %}
-    {%- endif %}{# integrator_type #}
-
-        // constraints
-    {% if constraints.constr_type == "BGP" %}
-        capsule->phi_constraint[stage].set_param_sparse(capsule->phi_constraint+stage, n_update, idx, p);
-    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-        capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p);
-        capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_fun_jac_hess[stage].set_param_sparse(capsule->nl_constr_h_fun_jac_hess+stage, n_update, idx, p);
-    {%- endif %}
-    {%- endif %}
-
-        // cost
-        if (stage == 0)
-        {
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p);
-            capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p);
-            capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p);
-        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_0_fun.set_param_sparse(&capsule->conl_cost_0_fun, n_update, idx, p);
-            capsule->conl_cost_0_fun_jac_hess.set_param_sparse(&capsule->conl_cost_0_fun_jac_hess, n_update, idx, p);
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            capsule->ext_cost_0_fun.set_param_sparse(&capsule->ext_cost_0_fun, n_update, idx, p);
-            capsule->ext_cost_0_fun_jac.set_param_sparse(&capsule->ext_cost_0_fun_jac, n_update, idx, p);
-            capsule->ext_cost_0_fun_jac_hess.set_param_sparse(&capsule->ext_cost_0_fun_jac_hess, n_update, idx, p);
-        {% endif %}
-        }
-        else // 0 < stage < N
-        {
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p);
-            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p);
-            capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p);
-        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_fun[stage-1].set_param_sparse(capsule->conl_cost_fun+stage-1, n_update, idx, p);
-            capsule->conl_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->conl_cost_fun_jac_hess+stage-1, n_update, idx, p);
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            capsule->ext_cost_fun[stage-1].set_param_sparse(capsule->ext_cost_fun+stage-1, n_update, idx, p);
-            capsule->ext_cost_fun_jac[stage-1].set_param_sparse(capsule->ext_cost_fun_jac+stage-1, n_update, idx, p);
-            capsule->ext_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->ext_cost_fun_jac_hess+stage-1, n_update, idx, p);
-        {%- endif %}
-        }
-    }
-
-    else // stage == N
-    {
-        // terminal shooting node has no dynamics
-        // cost
-    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-        capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p);
-        capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p);
-        capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p);
-    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        capsule->conl_cost_e_fun.set_param_sparse(&capsule->conl_cost_e_fun, n_update, idx, p);
-        capsule->conl_cost_e_fun_jac_hess.set_param_sparse(&capsule->conl_cost_e_fun_jac_hess, n_update, idx, p);
-    {%- elif cost.cost_type_e == "EXTERNAL" %}
-        capsule->ext_cost_e_fun.set_param_sparse(&capsule->ext_cost_e_fun, n_update, idx, p);
-        capsule->ext_cost_e_fun_jac.set_param_sparse(&capsule->ext_cost_e_fun_jac, n_update, idx, p);
-        capsule->ext_cost_e_fun_jac_hess.set_param_sparse(&capsule->ext_cost_e_fun_jac_hess, n_update, idx, p);
-    {% endif %}
-        // constraints
-    {% if constraints.constr_type_e == "BGP" %}
-        capsule->phi_e_constraint.set_param_sparse(&capsule->phi_e_constraint, n_update, idx, p);
-    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-        capsule->nl_constr_h_e_fun_jac.set_param_sparse(&capsule->nl_constr_h_e_fun_jac, n_update, idx, p);
-        capsule->nl_constr_h_e_fun.set_param_sparse(&capsule->nl_constr_h_e_fun, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_e_fun_jac_hess.set_param_sparse(&capsule->nl_constr_h_e_fun_jac_hess, n_update, idx, p);
-    {%- endif %}
-    {% endif %}
-    }
-{% endif %}{# if dims.np #}
-
-    return solver_status;
-}
-
-int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule* capsule)
-{
-    // solve NLP
-    int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
-
-    return solver_status;
-}
-
-
-int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
-{
-    // before destroying, keep some info
-    const int N = capsule->nlp_solver_plan->N;
-    {%- if custom_update_filename != "" %}
-    custom_update_terminate_function(capsule);
-    {%- endif %}
-    // free memory
-    ocp_nlp_solver_opts_destroy(capsule->nlp_opts);
-    ocp_nlp_in_destroy(capsule->nlp_in);
-    ocp_nlp_out_destroy(capsule->nlp_out);
-    ocp_nlp_out_destroy(capsule->sens_out);
-    ocp_nlp_solver_destroy(capsule->nlp_solver);
-    ocp_nlp_dims_destroy(capsule->nlp_dims);
-    ocp_nlp_config_destroy(capsule->nlp_config);
-    ocp_nlp_plan_destroy(capsule->nlp_solver_plan);
-
-    /* free external function */
-    // dynamics
-{%- if solver_options.integrator_type == "IRK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_jac_x_xdot_u_z[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_hess[i]);
-    {%- endif %}
-    }
-    free(capsule->impl_dae_fun);
-    free(capsule->impl_dae_fun_jac_x_xdot_z);
-    free(capsule->impl_dae_jac_x_xdot_u_z);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->impl_dae_hess);
-    {%- endif %}
-
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]);
-    }
-    free(capsule->impl_dae_fun);
-    free(capsule->impl_dae_fun_jac_x_xdot_u);
-
-{%- elif solver_options.integrator_type == "ERK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->forw_vde_casadi[i]);
-        external_function_param_casadi_free(&capsule->expl_ode_fun[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_casadi_free(&capsule->hess_vde_casadi[i]);
-    {%- endif %}
-    }
-    free(capsule->forw_vde_casadi);
-    free(capsule->expl_ode_fun);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->hess_vde_casadi);
-    {%- endif %}
-
-{%- elif solver_options.integrator_type == "GNSF" %}
-    for (int i = 0; i < N; i++)
-    {
-        {% if model.gnsf.purely_linear != 1 %}
-        external_function_param_casadi_free(&capsule->gnsf_phi_fun[i]);
-        external_function_param_casadi_free(&capsule->gnsf_phi_fun_jac_y[i]);
-        external_function_param_casadi_free(&capsule->gnsf_phi_jac_y_uhat[i]);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-        external_function_param_casadi_free(&capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
-        {%- endif %}
-        {%- endif %}
-        external_function_param_casadi_free(&capsule->gnsf_get_matrices_fun[i]);
-    }
-  {% if model.gnsf.purely_linear != 1 %}
-    free(capsule->gnsf_phi_fun);
-    free(capsule->gnsf_phi_fun_jac_y);
-    free(capsule->gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    free(capsule->gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    free(capsule->gnsf_get_matrices_fun);
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
-    {%- endif %}
-    }
-    free(capsule->discr_dyn_phi_fun);
-    free(capsule->discr_dyn_phi_fun_jac_ut_xt);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess);
-    {%- endif %}
-
-{%- endif %}
-
-    // cost
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    external_function_param_casadi_free(&capsule->cost_y_0_fun);
-    external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt);
-    external_function_param_casadi_free(&capsule->cost_y_0_hess);
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi_free(&capsule->conl_cost_0_fun);
-    external_function_param_casadi_free(&capsule->conl_cost_0_fun_jac_hess);
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun);
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac);
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac_hess);
-{%- endif %}
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_casadi_free(&capsule->cost_y_fun[i]);
-        external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]);
-        external_function_param_casadi_free(&capsule->cost_y_hess[i]);
-    }
-    free(capsule->cost_y_fun);
-    free(capsule->cost_y_fun_jac_ut_xt);
-    free(capsule->cost_y_hess);
-{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_casadi_free(&capsule->conl_cost_fun[i]);
-        external_function_param_casadi_free(&capsule->conl_cost_fun_jac_hess[i]);
-    }
-    free(capsule->conl_cost_fun);
-    free(capsule->conl_cost_fun_jac_hess);
-{%- elif cost.cost_type == "EXTERNAL" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun[i]);
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac[i]);
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac_hess[i]);
-    }
-    free(capsule->ext_cost_fun);
-    free(capsule->ext_cost_fun_jac);
-    free(capsule->ext_cost_fun_jac_hess);
-{%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    external_function_param_casadi_free(&capsule->cost_y_e_fun);
-    external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt);
-    external_function_param_casadi_free(&capsule->cost_y_e_hess);
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi_free(&capsule->conl_cost_e_fun);
-    external_function_param_casadi_free(&capsule->conl_cost_e_fun_jac_hess);
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun);
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac);
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac_hess);
-{%- endif %}
-
-    // constraints
-{%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]);
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]);
-    }
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac_hess[i]);
-    }
-  {%- endif %}
-    free(capsule->nl_constr_h_fun_jac);
-    free(capsule->nl_constr_h_fun);
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->nl_constr_h_fun_jac_hess);
-  {%- endif %}
-
-{%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->phi_constraint[i]);
-    }
-    free(capsule->phi_constraint);
-{%- endif %}
-
-{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac);
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun);
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac_hess);
-{%- endif %}
-{%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
-    external_function_param_casadi_free(&capsule->phi_e_constraint);
-{%- endif %}
-
-    return 0;
-}
-
-
-void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsule)
-{
-    int sqp_iter, stat_m, stat_n, tmp_int;
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter);
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n);
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m);
-
-    {% set stat_n_max = 12 %}
-    double stat[{{ solver_options.nlp_solver_max_iter * stat_n_max }}];
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat);
-
-    int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m;
-
-    printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha");
-    if (stat_n > 8)
-        printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp");
-    printf("\n");
-
-{%- if solver_options.nlp_solver_type == "SQP" %}
-
-    for (int i = 0; i < nrow; i++)
-    {
-        for (int j = 0; j < stat_n + 1; j++)
-        {
-            if (j == 0 || j == 5 || j == 6)
-            {
-                tmp_int = (int) stat[i + j * nrow];
-                printf("%d\t", tmp_int);
-            }
-            else
-            {
-                printf("%e\t", stat[i + j * nrow]);
-            }
-        }
-        printf("\n");
-    }
-{% else %}
-    printf("iter\tqp_stat\tqp_iter\n");
-    for (int i = 0; i < nrow; i++)
-    {
-        for (int j = 0; j < stat_n + 1; j++)
-        {
-            tmp_int = (int) stat[i + j * nrow];
-            printf("%d\t", tmp_int);
-        }
-        printf("\n");
-    }
-{%- endif %}
-}
-
-int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
-{
-{%- if custom_update_filename == "" %}
-    (void)capsule;
-    (void)data;
-    (void)data_len;
-    printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n");
-    printf("nothing set yet..\n");
-    return 1;
-{% else %}
-    custom_update_function(capsule, data, data_len);
-{%- endif %}
-}
-
-
-
-ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; }
-ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; }
-ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; }
-ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; }
-ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; }
-void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; }
-ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; }
-ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; }
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
deleted file mode 100644
index 5cf38aa8c8..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
+++ /dev/null
@@ -1,241 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_SOLVER_{{ model.name }}_H_
-#define ACADOS_SOLVER_{{ model.name }}_H_
-
-#include "acados/utils/types.h"
-
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#define {{ model.name | upper }}_NX     {{ dims.nx }}
-#define {{ model.name | upper }}_NZ     {{ dims.nz }}
-#define {{ model.name | upper }}_NU     {{ dims.nu }}
-#define {{ model.name | upper }}_NP     {{ dims.np }}
-#define {{ model.name | upper }}_NBX    {{ dims.nbx }}
-#define {{ model.name | upper }}_NBX0   {{ dims.nbx_0 }}
-#define {{ model.name | upper }}_NBU    {{ dims.nbu }}
-#define {{ model.name | upper }}_NSBX   {{ dims.nsbx }}
-#define {{ model.name | upper }}_NSBU   {{ dims.nsbu }}
-#define {{ model.name | upper }}_NSH    {{ dims.nsh }}
-#define {{ model.name | upper }}_NSG    {{ dims.nsg }}
-#define {{ model.name | upper }}_NSPHI  {{ dims.nsphi }}
-#define {{ model.name | upper }}_NSHN   {{ dims.nsh_e }}
-#define {{ model.name | upper }}_NSGN   {{ dims.nsg_e }}
-#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }}
-#define {{ model.name | upper }}_NSBXN  {{ dims.nsbx_e }}
-#define {{ model.name | upper }}_NS     {{ dims.ns }}
-#define {{ model.name | upper }}_NSN    {{ dims.ns_e }}
-#define {{ model.name | upper }}_NG     {{ dims.ng }}
-#define {{ model.name | upper }}_NBXN   {{ dims.nbx_e }}
-#define {{ model.name | upper }}_NGN    {{ dims.ng_e }}
-#define {{ model.name | upper }}_NY0    {{ dims.ny_0 }}
-#define {{ model.name | upper }}_NY     {{ dims.ny }}
-#define {{ model.name | upper }}_NYN    {{ dims.ny_e }}
-#define {{ model.name | upper }}_N      {{ dims.N }}
-#define {{ model.name | upper }}_NH     {{ dims.nh }}
-#define {{ model.name | upper }}_NPHI   {{ dims.nphi }}
-#define {{ model.name | upper }}_NHN    {{ dims.nh_e }}
-#define {{ model.name | upper }}_NPHIN  {{ dims.nphi_e }}
-#define {{ model.name | upper }}_NR     {{ dims.nr }}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-
-// ** capsule for solver data **
-typedef struct {{ model.name }}_solver_capsule
-{
-    // acados objects
-    ocp_nlp_in *nlp_in;
-    ocp_nlp_out *nlp_out;
-    ocp_nlp_out *sens_out;
-    ocp_nlp_solver *nlp_solver;
-    void *nlp_opts;
-    ocp_nlp_plan_t *nlp_solver_plan;
-    ocp_nlp_config *nlp_config;
-    ocp_nlp_dims *nlp_dims;
-
-    // number of expected runtime parameters
-    unsigned int nlp_np;
-
-    /* external functions */
-    // dynamics
-{% if solver_options.integrator_type == "ERK" %}
-    external_function_param_casadi *forw_vde_casadi;
-    external_function_param_casadi *expl_ode_fun;
-{% if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi *hess_vde_casadi;
-{%- endif %}
-{% elif solver_options.integrator_type == "IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_jac_x_xdot_u_z;
-{% if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_hess;
-{%- endif %}
-{% elif solver_options.integrator_type == "LIFTED_IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_u;
-{% elif solver_options.integrator_type == "GNSF" %}
-    external_function_param_casadi *gnsf_phi_fun;
-    external_function_param_casadi *gnsf_phi_fun_jac_y;
-    external_function_param_casadi *gnsf_phi_jac_y_uhat;
-    external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z;
-    external_function_param_casadi *gnsf_get_matrices_fun;
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess;
-{%- endif %}
-{%- endif %}
-
-
-    // cost
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    external_function_param_casadi *cost_y_fun;
-    external_function_param_casadi *cost_y_fun_jac_ut_xt;
-    external_function_param_casadi *cost_y_hess;
-{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi *conl_cost_fun;
-    external_function_param_casadi *conl_cost_fun_jac_hess;
-{%- elif cost.cost_type == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun;
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess;
-{% endif %}
-
-{% if cost.cost_type_0 == "NONLINEAR_LS" %}
-    external_function_param_casadi cost_y_0_fun;
-    external_function_param_casadi cost_y_0_fun_jac_ut_xt;
-    external_function_param_casadi cost_y_0_hess;
-{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi conl_cost_0_fun;
-    external_function_param_casadi conl_cost_0_fun_jac_hess;
-{% elif cost.cost_type_0 == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun;
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess;
-{%- endif %}
-
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    external_function_param_casadi cost_y_e_fun;
-    external_function_param_casadi cost_y_e_fun_jac_ut_xt;
-    external_function_param_casadi cost_y_e_hess;
-{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi conl_cost_e_fun;
-    external_function_param_casadi conl_cost_e_fun_jac_hess;
-{% elif cost.cost_type_e == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun;
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess;
-{%- endif %}
-
-    // constraints
-{%- if constraints.constr_type == "BGP" %}
-    external_function_param_casadi *phi_constraint;
-{% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-    external_function_param_casadi *nl_constr_h_fun_jac;
-    external_function_param_casadi *nl_constr_h_fun;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi *nl_constr_h_fun_jac_hess;
-{%- endif %}
-{%- endif %}
-
-
-{% if constraints.constr_type_e == "BGP" %}
-    external_function_param_casadi phi_e_constraint;
-{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    external_function_param_casadi nl_constr_h_e_fun_jac;
-    external_function_param_casadi nl_constr_h_e_fun;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi nl_constr_h_e_fun_jac_hess;
-{%- endif %}
-{%- endif %}
-
-{%- if custom_update_filename != "" %}
-    void * custom_update_memory;
-{%- endif %}
-
-} {{ model.name }}_solver_capsule;
-
-ACADOS_SYMBOL_EXPORT {{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem);
-
-/**
- * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than
- * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
- * generation, the time-steps from code generation is used.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
-/**
- * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
- * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
-/**
- * This function is used for updating an already initialized solver with a different number of qp_cond_N.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
-
-
-ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SOLVER_{{ model.name }}_H_
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
deleted file mode 100644
index 233e3f79da..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
+++ /dev/null
@@ -1,62 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-cimport acados_solver_common
-
-cdef extern from "acados_solver_{{ model.name }}.h":
-    ctypedef struct nlp_solver_capsule "{{ model.name }}_solver_capsule":
-        pass
-
-    nlp_solver_capsule * acados_create_capsule "{{ model.name }}_acados_create_capsule"()
-    int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule)
-
-    int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule)
-
-    int acados_create_with_discretization "{{ model.name }}_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps)
-    int acados_update_time_steps "{{ model.name }}_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps)
-    int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
-
-    int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
-    int acados_update_params_sparse "{{ model.name }}_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-    int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
-    int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem)
-    int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
-    void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule)
-
-    int acados_custom_update "{{ model.name }}_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len)
-
-    acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule)
-    void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "{{ model.name }}_acados_get_nlp_dims"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "{{ model.name }}_acados_get_nlp_plan"(nlp_solver_capsule * capsule)
diff --git a/third_party/acados/acados_template/c_templates_tera/constraints.in.h b/third_party/acados/acados_template/c_templates_tera/constraints.in.h
deleted file mode 100644
index d71ce5cc22..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/constraints.in.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef {{ model.name }}_CONSTRAINTS
-#define {{ model.name }}_CONSTRAINTS
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if dims.nphi > 0 %}
-int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_constraint_sparsity_out(int);
-int {{ model.name }}_phi_constraint_n_in(void);
-int {{ model.name }}_phi_constraint_n_out(void);
-{% endif %}
-
-{% if dims.nphi_e > 0 %}
-int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
-int {{ model.name }}_phi_e_constraint_n_in(void);
-int {{ model.name }}_phi_e_constraint_n_out(void);
-{% endif %}
-
-{% if dims.nh > 0 %}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
-
-int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_n_in(void);
-int {{ model.name }}_constr_h_fun_n_out(void);
-
-{% if solver_options.hessian_approx == "EXACT" -%}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
-{% endif %}
-{% endif %}
-
-{% if dims.nh_e > 0 %}
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void);
-
-int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_n_in(void);
-int {{ model.name }}_constr_h_e_fun_n_out(void);
-
-{% if solver_options.hessian_approx == "EXACT" -%}
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void);
-{% endif %}
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_CONSTRAINTS
diff --git a/third_party/acados/acados_template/c_templates_tera/cost.in.h b/third_party/acados/acados_template/c_templates_tera/cost.in.h
deleted file mode 100644
index 45eb09c12e..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/cost.in.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_COST
-#define {{ model.name }}_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// Cost at initial shooting node
-{% if cost.cost_type_0 == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_n_in(void);
-int {{ model.name }}_cost_y_0_fun_n_out(void);
-
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_0_hess_n_in(void);
-int {{ model.name }}_cost_y_0_hess_n_out(void);
-{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-
-int {{ model.name }}_conl_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_0_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_0_fun_n_in(void);
-int {{ model.name }}_conl_cost_0_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_n_out(void);
-
-{% elif cost.cost_type_0 == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-
-// Cost at path shooting node
-{% if cost.cost_type == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_n_in(void);
-int {{ model.name }}_cost_y_fun_n_out(void);
-
-int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_hess_n_in(void);
-int {{ model.name }}_cost_y_hess_n_out(void);
-
-{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-int {{ model.name }}_conl_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_fun_n_in(void);
-int {{ model.name }}_conl_cost_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_fun_jac_hess_n_out(void);
-{% elif cost.cost_type == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type == "casadi" %}
-int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-// Cost at terminal shooting node
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_n_in(void);
-int {{ model.name }}_cost_y_e_fun_n_out(void);
-
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_e_hess_n_in(void);
-int {{ model.name }}_cost_y_e_hess_n_out(void);
-{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-int {{ model.name }}_conl_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_e_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_e_fun_n_in(void);
-int {{ model.name }}_conl_cost_e_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_n_out(void);
-{% elif cost.cost_type_e == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_COST
diff --git a/third_party/acados/acados_template/c_templates_tera/main.in.c b/third_party/acados/acados_template/c_templates_tera/main.in.c
deleted file mode 100644
index 92a8b33eac..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/main.in.c
+++ /dev/null
@@ -1,226 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// blasfeo
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-#define NBX    {{ model.name | upper }}_NBX
-#define NBX0   {{ model.name | upper }}_NBX0
-#define NBU    {{ model.name | upper }}_NBU
-#define NSBX   {{ model.name | upper }}_NSBX
-#define NSBU   {{ model.name | upper }}_NSBU
-#define NSH    {{ model.name | upper }}_NSH
-#define NSG    {{ model.name | upper }}_NSG
-#define NSPHI  {{ model.name | upper }}_NSPHI
-#define NSHN   {{ model.name | upper }}_NSHN
-#define NSGN   {{ model.name | upper }}_NSGN
-#define NSPHIN {{ model.name | upper }}_NSPHIN
-#define NSBXN  {{ model.name | upper }}_NSBXN
-#define NS     {{ model.name | upper }}_NS
-#define NSN    {{ model.name | upper }}_NSN
-#define NG     {{ model.name | upper }}_NG
-#define NBXN   {{ model.name | upper }}_NBXN
-#define NGN    {{ model.name | upper }}_NGN
-#define NY0    {{ model.name | upper }}_NY0
-#define NY     {{ model.name | upper }}_NY
-#define NYN    {{ model.name | upper }}_NYN
-#define NH     {{ model.name | upper }}_NH
-#define NPHI   {{ model.name | upper }}_NPHI
-#define NHN    {{ model.name | upper }}_NHN
-#define NPHIN  {{ model.name | upper }}_NPHIN
-#define NR     {{ model.name | upper }}_NR
-
-
-int main()
-{
-
-    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
-    // there is an opportunity to change the number of shooting intervals in C without new code generation
-    int N = {{ model.name | upper }}_N;
-    // allocate the array and fill it accordingly
-    double* new_time_steps = NULL;
-    int status = {{ model.name }}_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps);
-
-    if (status)
-    {
-        printf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
-
-    // initial condition
-    int idxbx0[NBX0];
-    {%- for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double lbx0[NBX0];
-    double ubx0[NBX0];
-    {%- for i in range(end=dims.nbx_0) %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-
-    // initialization for state values
-    double x_init[NX];
-    {%- for i in range(end=dims.nx) %}
-    x_init[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // initial value for control input
-    double u0[NU];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-
-  {%- if dims.np > 0 %}
-    // set parameters
-    double p[NP];
-    {%- for item in parameter_values %}
-    p[{{ loop.index0 }}] = {{ item }};
-    {%- endfor %}
-
-    for (int ii = 0; ii <= N; ii++)
-    {
-        {{ model.name }}_acados_update_params(acados_ocp_capsule, ii, p, NP);
-    }
-  {% endif %}{# if np > 0 #}
-
-    // prepare evaluation
-    int NTIMINGS = 1;
-    double min_time = 1e12;
-    double kkt_norm_inf;
-    double elapsed_time;
-    int sqp_iter;
-
-    double xtraj[NX * (N+1)];
-    double utraj[NU * N];
-
-
-    // solve ocp in loop
-    int rti_phase = 0;
-
-    for (int ii = 0; ii < NTIMINGS; ii++)
-    {
-        // initialize solution
-        for (int i = 0; i < N; i++)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-        }
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init);
-        ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
-        status = {{ model.name }}_acados_solve(acados_ocp_capsule);
-        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
-        min_time = MIN(elapsed_time, min_time);
-    }
-
-    /* print solution and statistics */
-    for (int ii = 0; ii <= nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]);
-    for (int ii = 0; ii < nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]);
-
-    printf("\n--- xtraj ---\n");
-    d_print_exp_tran_mat( NX, N+1, xtraj, NX);
-    printf("\n--- utraj ---\n");
-    d_print_exp_tran_mat( NU, N, utraj, NU );
-    // ocp_nlp_out_print(nlp_solver->dims, nlp_out);
-
-    printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
-
-    if (status == ACADOS_SUCCESS)
-    {
-        printf("{{ model.name }}_acados_solve(): SUCCESS!\n");
-    }
-    else
-    {
-        printf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
-    }
-
-
-{%- if custom_update_filename != "" %}
-    {{ model.name }}_acados_custom_update(acados_ocp_capsule, xtraj, NX*(N+1));
-{%- endif %}
-
-    // get solution
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
-    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
-
-    {{ model.name }}_acados_print_stats(acados_ocp_capsule);
-
-    printf("\nSolver info:\n");
-    printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n",
-           sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf);
-
-    // free solver
-    status = {{ model.name }}_acados_free(acados_ocp_capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_free() returned status %d. \n", status);
-    }
-    // free solver capsule
-    status = {{ model.name }}_acados_free_capsule(acados_ocp_capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_free_capsule() returned status %d. \n", status);
-    }
-
-    return status;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
deleted file mode 100644
index 8960aa0035..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/sim_interface.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-
-
-int main()
-{
-    int status = 0;
-    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
-    status = {{ model.name }}_acados_sim_create(capsule);
-
-    if (status)
-    {
-        printf("acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
-    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
-    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
-    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
-
-    // initial condition
-    double x_current[NX];
-    {%- for i in range(end=dims.nx) %}
-    x_current[{{ i }}] = 0.0;
-    {%- endfor %}
-
-  {% if constraints.lbx_0 %}
-    {%- for i in range(end=dims.nbx_0) %}
-    x_current[{{ constraints.idxbx_0[i] }}] = {{ constraints.lbx_0[i] }};
-    {%- endfor %}
-    {% if dims.nbx_0 != dims.nx %}
-    printf("main_sim: NOTE: initial state not fully defined via lbx_0, using 0.0 for indices that are not in idxbx_0.");
-    {%- endif %}
-  {% else %}
-    printf("main_sim: initial state not defined, should be in lbx_0, using zero vector.");
-  {%- endif %}
-
-
-    // initial value for control input
-    double u0[NU];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-  {%- if dims.np > 0 %}
-    // set parameters
-    double p[NP];
-    {%- for item in parameter_values %}
-    p[{{ loop.index0 }}] = {{ item }};
-    {%- endfor %}
-
-    {{ model.name }}_acados_sim_update_params(capsule, p, NP);
-  {% endif %}{# if np > 0 #}
-
-    int n_sim_steps = 3;
-    // solve ocp in loop
-    for (int ii = 0; ii < n_sim_steps; ii++)
-    {
-        sim_in_set(acados_sim_config, acados_sim_dims,
-            acados_sim_in, "x", x_current);
-        status = {{ model.name }}_acados_sim_solve(capsule);
-
-        if (status != ACADOS_SUCCESS)
-        {
-            printf("acados_solve() failed with status %d.\n", status);
-        }
-
-        sim_out_get(acados_sim_config, acados_sim_dims,
-               acados_sim_out, "x", x_current);
-        
-        printf("\nx_current, %d\n", ii);
-        for (int jj = 0; jj < NX; jj++)
-        {
-            printf("%e\n", x_current[jj]);
-        }
-    }
-
-    printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps);
-
-    // free solver
-    status = {{ model.name }}_acados_sim_free(capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_sim_free() returned status %d. \n", status);
-    }
-
-    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
-
-    return status;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
deleted file mode 100644
index 24ae94ac2c..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
+++ /dev/null
@@ -1,384 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-// acados
-#include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    long long *l_ptr;
-    int status = 0;
-
-    // create solver
-    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
-
-    status = {{ model.name }}_acados_create(acados_ocp_capsule);
-
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_create() returned status %d.\n", status);
-    }
-    mexPrintf("{{ model.name }}_acados_create() -> success!\n");
-
-    // get pointers to nlp solver related objects
-    ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
-
-    // mexPrintf("acados: got pointer to objectes!\n");
-
-    // field names of output struct
-    #define FIELDS_OCP 9
-    #define FIELDS_EXT_FUN 25
-    #define MAX_FIELDS 25
-    char *fieldnames[MAX_FIELDS];
-
-    for (int i = 0; i < MAX_FIELDS; i++)
-    {
-        fieldnames[i] = (char*) mxMalloc(50);
-    }
-
-    memcpy(fieldnames[0],"config",sizeof("config"));
-    memcpy(fieldnames[1],"dims",sizeof("dims"));
-    memcpy(fieldnames[2],"opts",sizeof("opts"));
-    memcpy(fieldnames[3],"in",sizeof("in"));
-    memcpy(fieldnames[4],"out",sizeof("out"));
-    memcpy(fieldnames[5],"solver",sizeof("solver"));
-    memcpy(fieldnames[6],"sens_out",sizeof("sens_out"));
-    memcpy(fieldnames[7],"plan",sizeof("plan"));
-    memcpy(fieldnames[8],"capsule",sizeof("capsule"));
-
-    // create output struct - C_ocp
-    plhs[0] = mxCreateStructMatrix(1, 1, 9, (const char **) fieldnames);
-
-    // MEX: config, dims, opts, in, out, solver, sens_out, plan
-    // plan
-    mxArray *plan_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(plan_mat);
-    l_ptr[0] = (long long) nlp_plan;
-    mxSetField(plhs[0], 0, "plan", plan_mat);
-
-    // config
-    mxArray *config_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(config_mat);
-    l_ptr[0] = (long long) nlp_config;
-    mxSetField(plhs[0], 0, "config", config_mat);
-
-    // dims
-    mxArray *dims_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(dims_mat);
-    l_ptr[0] = (long long) nlp_dims;
-    mxSetField(plhs[0], 0, "dims", dims_mat);
-
-    // opts
-    mxArray *opts_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(opts_mat);
-    l_ptr[0] = (long long) nlp_opts;
-    mxSetField(plhs[0], 0, "opts", opts_mat);
-
-    // in
-    mxArray *in_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(in_mat);
-    l_ptr[0] = (long long) nlp_in;
-    mxSetField(plhs[0], 0, "in", in_mat);
-
-    // out
-    mxArray *out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(out_mat);
-    l_ptr[0] = (long long) nlp_out;
-    mxSetField(plhs[0], 0, "out", out_mat);
-
-    // solver
-    mxArray *solver_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(solver_mat);
-    l_ptr[0] = (long long) nlp_solver;
-    mxSetField(plhs[0], 0, "solver", solver_mat);
-
-    // TODO: sens_out not actually implemented in templates..
-    // sens_out
-    mxArray *sens_out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(sens_out_mat);
-    l_ptr[0] = (long long) 1;
-    mxSetField(plhs[0], 0, "sens_out", sens_out_mat);
-
-    // capsule
-    mxArray *capsule_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(capsule_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule;
-    mxSetField(plhs[0], 0, "capsule", capsule_mat);
-
-    /* store external function pointers */
-    // dyn
-    memcpy(fieldnames[0],"expl_ode_fun",sizeof("expl_ode_fun"));
-    memcpy(fieldnames[1],"forw_vde",sizeof("forw_vde"));
-    memcpy(fieldnames[2],"hess_vde",sizeof("hess_vde"));
-    memcpy(fieldnames[3],"impl_dae_fun",sizeof("impl_dae_fun"));
-    memcpy(fieldnames[4],"impl_dae_fun_jac_x_xdot_z",sizeof("impl_dae_fun_jac_x_xdot_z"));
-    memcpy(fieldnames[5],"impl_dae_jac_x_xdot_u_z",sizeof("impl_dae_jac_x_xdot_u_z"));
-    memcpy(fieldnames[6],"impl_dae_hess",sizeof("impl_dae_hess"));
-
-    memcpy(fieldnames[7],"gnsf_phi_fun",sizeof("gnsf_phi_fun"));
-    memcpy(fieldnames[8],"gnsf_phi_fun_jac_y",sizeof("gnsf_phi_fun_jac_y"));
-    memcpy(fieldnames[9],"gnsf_phi_jac_y_uhat",sizeof("gnsf_phi_jac_y_uhat"));
-    memcpy(fieldnames[10],"gnsf_f_lo_jac_x1_x1dot_u_z",sizeof("gnsf_f_lo_jac_x1_x1dot_u_z"));
-    memcpy(fieldnames[11],"gnsf_get_matrices_fun",sizeof("gnsf_get_matrices_fun"));
-
-    memcpy(fieldnames[12],"disc_phi_fun",sizeof("disc_phi_fun"));
-    memcpy(fieldnames[13],"disc_phi_fun_jac",sizeof("disc_phi_fun_jac"));
-    memcpy(fieldnames[14],"disc_phi_fun_jac_hess",sizeof("disc_phi_fun_jac_hess"));
-    
-    // cost
-    memcpy(fieldnames[15],"cost_y_fun",sizeof("cost_y_fun"));
-    memcpy(fieldnames[16],"cost_y_fun_jac_ut_xt",sizeof("cost_y_fun_jac_ut_xt"));
-    memcpy(fieldnames[17],"cost_y_hess",sizeof("cost_y_hess"));
-    memcpy(fieldnames[18],"ext_cost_fun",sizeof("ext_cost_fun"));
-    memcpy(fieldnames[19],"ext_cost_fun_jac",sizeof("ext_cost_fun_jac"));
-    memcpy(fieldnames[20],"ext_cost_fun_jac_hess",sizeof("ext_cost_fun_jac_hess"));
-
-    // constraints
-    memcpy(fieldnames[21],"phi_constraint",sizeof("phi_constraint"));
-    memcpy(fieldnames[22],"nl_constr_h_fun_jac",sizeof("nl_constr_h_fun_jac"));
-    memcpy(fieldnames[23],"nl_constr_h_fun",sizeof("nl_constr_h_fun"));
-    memcpy(fieldnames[24],"nl_constr_h_fun_jac_hess",sizeof("nl_constr_h_fun_jac_hess"));
-
-
-    // create output struct - C_ocp_ext_fun
-    plhs[1] = mxCreateStructMatrix(1, 1, FIELDS_EXT_FUN, (const char **) fieldnames);
-
-
-    for (int i = 0; i < FIELDS_EXT_FUN; i++)
-    {
-        mxFree( fieldnames[i] );
-    }
-
-/* dynamics */
-    mxArray *expl_ode_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *forw_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *hess_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_fun_jac_x_xdot_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_jac_x_xdot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-    mxArray *gnsf_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_phi_fun_jac_y_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_phi_jac_y_uhat_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_f_lo_jac_x1_x1dot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_get_matrices_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-    mxArray *disc_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *disc_phi_fun_jac_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *disc_phi_fun_jac_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-{% if solver_options.integrator_type == "ERK" %}
-    {# TODO: remove _casadi from these names.. #}
-    l_ptr = mxGetData(forw_vde_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->forw_vde_casadi;
-    l_ptr = mxGetData(expl_ode_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->expl_ode_fun;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(hess_vde_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->hess_vde_casadi;
-{%- endif %}
-{% elif solver_options.integrator_type == "IRK" %}
-    l_ptr = mxGetData(impl_dae_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun;
-    l_ptr = mxGetData(impl_dae_fun_jac_x_xdot_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun_jac_x_xdot_z;
-    l_ptr = mxGetData(impl_dae_jac_x_xdot_u_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_jac_x_xdot_u_z;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(impl_dae_hess_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess;
-{%- endif %}
-{% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-    l_ptr = mxGetData(gnsf_phi_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun;
-    l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y;
-    l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat;
-    {% if model.gnsf.nontrivial_f_LO == 1 %}
-    l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z;
-    {%- endif %}
-    {%- endif %}
-    l_ptr = mxGetData(gnsf_get_matrices_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun;
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    l_ptr = mxGetData(disc_phi_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun;
-    l_ptr = mxGetData(disc_phi_fun_jac_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(disc_phi_fun_jac_hess_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt_hess;
-{%- endif %}
-{%- endif %}
-    mxSetField(plhs[1], 0, "expl_ode_fun", expl_ode_fun_mat);
-    mxSetField(plhs[1], 0, "forw_vde", forw_vde_mat);
-    mxSetField(plhs[1], 0, "hess_vde", hess_vde_mat);
-
-    mxSetField(plhs[1], 0, "gnsf_phi_fun", gnsf_phi_fun_mat);
-    mxSetField(plhs[1], 0, "gnsf_phi_fun_jac_y", gnsf_phi_fun_jac_y_mat);
-    mxSetField(plhs[1], 0, "gnsf_phi_jac_y_uhat", gnsf_phi_jac_y_uhat_mat);
-    mxSetField(plhs[1], 0, "gnsf_f_lo_jac_x1_x1dot_u_z", gnsf_f_lo_jac_x1_x1dot_u_z_mat);
-    mxSetField(plhs[1], 0, "gnsf_get_matrices_fun", gnsf_get_matrices_fun_mat);
-
-    mxSetField(plhs[1], 0, "impl_dae_fun", impl_dae_fun_mat);
-    mxSetField(plhs[1], 0, "impl_dae_fun_jac_x_xdot_z", impl_dae_fun_jac_x_xdot_z_mat);
-    mxSetField(plhs[1], 0, "impl_dae_jac_x_xdot_u_z", impl_dae_jac_x_xdot_u_z_mat);
-    mxSetField(plhs[1], 0, "impl_dae_hess", impl_dae_hess_mat);
-
-    mxSetField(plhs[1], 0, "disc_phi_fun", disc_phi_fun_mat);
-    mxSetField(plhs[1], 0, "disc_phi_fun_jac", disc_phi_fun_jac_mat);
-    mxSetField(plhs[1], 0, "disc_phi_fun_jac_hess", disc_phi_fun_jac_hess_mat);
-/* constaints */
-    mxArray *phi_constraint_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(phi_constraint_mat);
-{%- if constraints.constr_type == "BGP" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->phi_constraint;
-{% endif %}
-{% if constraints.constr_type_e == "BGP" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->phi_e_constraint;
-{% endif %}
-    mxSetField(plhs[1], 0, "phi_constraint", phi_constraint_mat);
-
-    mxArray *nl_constr_h_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_jac_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac", nl_constr_h_fun_jac_mat);
-
-    mxArray *nl_constr_h_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun", nl_constr_h_fun_mat);
-
-    mxArray *nl_constr_h_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_jac_hess_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 and solver_options.hessian_approx == "EXACT" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac_hess;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 and solver_options.hessian_approx == "EXACT" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac_hess", nl_constr_h_fun_jac_hess_mat);
-
-/* cost */
-    mxArray *cost_y_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_fun_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_fun", cost_y_fun_mat);
-
-    mxArray *cost_y_fun_jac_ut_xt_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_fun_jac_ut_xt_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun_jac_ut_xt;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun_jac_ut_xt;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_fun_jac_ut_xt", cost_y_fun_jac_ut_xt_mat);
-
-    mxArray *cost_y_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_hess_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_hess;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_hess", cost_y_hess_mat);
-
-    mxArray *ext_cost_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun", ext_cost_fun_mat);
-
-    mxArray *ext_cost_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_jac_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun_jac", ext_cost_fun_jac_mat);
-
-    mxArray *ext_cost_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_jac_hess_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac_hess;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun_jac_hess", ext_cost_fun_jac_hess_mat);
-
-
-    return;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
deleted file mode 100644
index bd457969b2..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// system
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-// acados
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    int status = 0;
-    long long *ptr;
-
-    // mexPrintf("\nin mex_acados_free\n");
-    const mxArray *C_ocp = prhs[0];
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-
-    status = {{ model.name }}_acados_free(capsule);
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
-    }
-
-    status = {{ model.name }}_acados_free_capsule(capsule);
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free_capsule() returned status %d.\n", status);
-    }
-
-    return;
-}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
deleted file mode 100644
index 78a308df49..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
+++ /dev/null
@@ -1,632 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-// acados
-#include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-#include "mex_macros.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-
-    long long *ptr;
-    int acados_size;
-    mxArray *mex_field;
-    char fun_name[20] = "ocp_set";
-    char buffer [500]; // for error messages
-
-    /* RHS */
-    int min_nrhs = 6;
-
-    // C ocp
-    const mxArray *C_ocp = prhs[2];
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-    // plan
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
-    ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0];
-    // config
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) );
-    ocp_nlp_config *config = (ocp_nlp_config *) ptr[0];
-    // dims
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "dims" ) );
-    ocp_nlp_dims *dims = (ocp_nlp_dims *) ptr[0];
-    // opts
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "opts" ) );
-    void *opts = (void *) ptr[0];
-    // in
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "in" ) );
-    ocp_nlp_in *in = (ocp_nlp_in *) ptr[0];
-    // out
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "out" ) );
-    ocp_nlp_out *out = (ocp_nlp_out *) ptr[0];
-    // solver
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "solver" ) );
-    ocp_nlp_solver *solver = (ocp_nlp_solver *) ptr[0];
-
-    const mxArray *C_ext_fun_pointers = prhs[3];
-    // field
-    char *field = mxArrayToString( prhs[4] );
-    // value
-    double *value = mxGetPr( prhs[5] );
-
-    // for checks
-    int matlab_size = (int) mxGetNumberOfElements( prhs[5] );
-    int nrow = (int) mxGetM( prhs[5] );
-    int ncol = (int) mxGetN( prhs[5] );
-
-    int N = dims->N;
-    int nu = dims->nu[0];
-    int nx = dims->nx[0];
-
-    // stage
-    int s0, se;
-    if (nrhs==min_nrhs)
-    {
-        s0 = 0;
-        se = N;
-    }
-    else if (nrhs==min_nrhs+1)
-    {
-        s0 = mxGetScalar( prhs[6] );
-        if (s0 > N)
-        {
-            sprintf(buffer, "ocp_set: N < specified stage = %d\n", s0);
-            mexErrMsgTxt(buffer);            
-        }
-        se = s0 + 1;
-    }
-    else
-    {
-        sprintf(buffer, "ocp_set: wrong nrhs: %d\n", nrhs);
-        mexErrMsgTxt(buffer);
-    }
-
-    /* Set value */
-    // constraints
-    if (!strcmp(field, "constr_x0"))
-    {
-        acados_size = nx;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        ocp_nlp_constraints_model_set(config, dims, in, 0, "lbx", value);
-        ocp_nlp_constraints_model_set(config, dims, in, 0, "ubx", value);
-    }
-    else if (!strcmp(field, "constr_C"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_MAT(fun_name, "constr_C", nrow, ncol, ng, nx);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "C", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lbx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbx");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbx", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ubx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubx");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubx", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lbu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbu");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbu", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ubu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubu");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubu", value);
-        }
-    }
-    else if (!strcmp(field, "constr_D"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_MAT(fun_name, "constr_D", nrow, ncol, ng, nu);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "D", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lg"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lg");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lg", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ug"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ug", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lh"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lh");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lh", value);
-        }
-    }
-    else if (!strcmp(field, "constr_uh"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "uh");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "uh", value);
-        }
-    }
-    // cost:
-    else if (!strcmp(field, "cost_y_ref"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "y_ref", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_y_ref_e"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, N, "y_ref");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        ocp_nlp_cost_model_set(config, dims, in, N, "y_ref", value);
-    }
-    else if (!strcmp(field, "cost_Vu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                int nu = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "u");
-                acados_size = ny * nu;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "Vu", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_Vx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                int nx = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "x");
-                acados_size = ny * nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "Vx", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_W"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "y_ref");
-                acados_size = ny * ny;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "W", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_Z"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_Z");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Z", value);
-        }
-    }
-    else if (!strcmp(field, "cost_Zl"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zl");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Zl", value);
-        }
-    }
-    else if (!strcmp(field, "cost_Zu"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zu");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Zu", value);
-        }
-    }
-    else if (!strcmp(field, "cost_z"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_z");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "z", value);
-        }
-    }
-    else if (!strcmp(field, "cost_zl"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zl");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "zl", value);
-        }
-    }
-    else if (!strcmp(field, "cost_zu"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zu");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "zu", value);
-        }
-    }
-    // constraints TODO
-    // // NOTE(oj): how is it with Jbx, Jbu, idxb can they be changed?!
-    // else if (!strcmp(field, "constr_lbx"))
-    // {
-    //     // bounds at 0 are a special case.
-    //     if (s0==0)
-    //     {
-    //         sprintf(buffer, "%s cannot set %s for stage 0", fun_name, field);
-    //         mexErrMsgTxt(buffer);
-    //     }
-    // }
-    // initializations
-    else if (!strcmp(field, "init_x") || !strcmp(field, "x"))
-    {
-        if (nrhs == min_nrhs)
-        {
-            acados_size = (N+1) * nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<=N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "x", value+ii*nx);
-            }
-        }
-        else // (nrhs == min_nrhs + 1)
-        {
-            acados_size = nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "x", value);
-        }
-    }
-    else if (!strcmp(field, "init_u") || !strcmp(field, "u"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            acados_size = N*nu;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "u", value+ii*nu);
-            }
-        }
-        else // (nrhs == min_nrhs + 1)
-        {
-            acados_size = nu;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "u", value);
-        }
-    }
-    else if (!strcmp(field, "init_z")||!strcmp(field, "z"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == IRK)
-        {
-            int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z");
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nz;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "z_guess", value+ii*nz);
-                }
-            }
-            else // (nrhs==min_nrhs+1)
-            {
-                acados_size = nz;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "z_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
-        }
-    }
-    else if (!strcmp(field, "init_xdot")||!strcmp(field, "xdot"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == IRK)
-        {
-            int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x");
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "xdot_guess", value+ii*nx);
-                }
-            }
-            else // nrhs==min_nrhs+1)
-            {
-                acados_size = nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "xdot_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
-        }
-    }
-    else if (!strcmp(field, "init_gnsf_phi")||!strcmp(field, "gnsf_phi"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == GNSF)
-        {
-            int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi");
-
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nout;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "gnsf_phi_guess", value+ii*nx);
-                }
-            }
-            else // (nrhs==min_nrhs+1)
-            {
-                acados_size = nout;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "gnsf_phi_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_gnsf_phi", "irk_gnsf")
-        }
-    }
-    else if (!strcmp(field, "init_pi")||!strcmp(field, "pi"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            acados_size = N*nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "pi", value+ii*nx);
-            }
-        }
-        else // (nrhs==min_nrhs+1)
-        {
-            acados_size = nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "pi", value);
-        }
-    }
-    else if (!strcmp(field, "init_lam")||!strcmp(field, "lam"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "lam");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "lam", value);
-        }
-    }
-    else if (!strcmp(field, "init_t")||!strcmp(field, "t"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "t");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "t", value);
-        }
-    }
-    else if (!strcmp(field, "init_sl")||!strcmp(field, "sl"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "sl");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, field, value);
-        }
-    }
-    else if (!strcmp(field, "init_su")||!strcmp(field, "su"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "su");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, field, value);
-        }
-    }
-    else if (!strcmp(field, "p"))
-    {
-        if (nrhs==min_nrhs) // all stages
-        {
-            for (int ii=0; ii<=N; ii++)
-            {
-                {{ model.name }}_acados_update_params(capsule, ii, value, matlab_size);
-            }
-        }
-        else if (nrhs==min_nrhs+1) // one stage
-        {
-            int stage = mxGetScalar( prhs[6] );
-            {{ model.name }}_acados_update_params(capsule, stage, value, matlab_size);
-        }
-    }
-    else if (!strcmp(field, "nlp_solver_max_iter"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int nlp_solver_max_iter = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "max_iter", &nlp_solver_max_iter);
-    }
-    else if (!strcmp(field, "rti_phase"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int rti_phase = (int) value[0];
-        if (plan->nlp_solver == SQP && rti_phase != 0)
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, field, "sqp_rti")
-        }
-        ocp_nlp_solver_opts_set(config, opts, "rti_phase", &rti_phase);
-    }
-    else if (!strcmp(field, "qp_warm_start"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int qp_warm_start = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "qp_warm_start", &qp_warm_start);
-    }
-    else if (!strcmp(field, "warm_start_first_qp"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int warm_start_first_qp = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "warm_start_first_qp", &warm_start_first_qp);
-    }
-    else if (!strcmp(field, "print_level"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int print_level = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "print_level", &print_level);
-    }
-    else
-    {
-        MEX_FIELD_NOT_SUPPORTED_SUGGEST(fun_name, field, "p, constr_x0,\
- constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh,\
- constr_lbu, constr_ubu, cost_y_ref[_e], sl, su, x, xdot, u, pi, lam, z, \
- cost_Vu, cost_Vx, cost_Vz, cost_W, cost_Z, cost_Zl, cost_Zu, cost_z,\
- cost_zl, cost_zu, init_x, init_u, init_z, init_xdot, init_gnsf_phi,\
- init_pi, nlp_solver_max_iter, qp_warm_start, warm_start_first_qp, print_level");
-    }
-
-    return;
-}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
deleted file mode 100644
index 300a440cc9..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// system
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-// acados
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    // C_ocp
-    long long *ptr;
-    const mxArray *C_ocp = prhs[0];
-
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-
-    // solve
-    {{ model.name }}_acados_solve(capsule);
-
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
deleted file mode 100644
index bd73ff69a4..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
+++ /dev/null
@@ -1,230 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#define S_FUNCTION_NAME   acados_sim_solver_sfunction_{{ model.name }}
-#define S_FUNCTION_LEVEL  2
-
-#define MDL_START
-
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-#include "simstruc.h"
-
-#define SAMPLINGTIME {{ solver_options.Tsim }}
-
-
-static void mdlInitializeSizes (SimStruct *S)
-{
-    // specify the number of continuous and discrete states
-    ssSetNumContStates(S, 0);
-    ssSetNumDiscStates(S, 0);
-
-    {# compute number of input ports #}
-    {%- set n_inputs = 1 %}  {# x0 #}
-    {%- if dims.nu > 0 %}  {# u0 -#}
-        {%- set n_inputs = n_inputs + 1 -%}
-    {%- endif %}
-    {%- if dims.np > 0 %}  {# parameters #}
-        {%- set n_inputs = n_inputs + 1 -%}
-    {%- endif %}
-
-    // specify the number of input ports
-    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
-        return;
-
-    // specify the number of output ports
-    if ( !ssSetNumOutputPorts(S, 1) )
-        return;
-
-    // specify dimension information for the input ports
-    {%- set i_input = 0 %}
-    // x0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx }});
-
-    {%- if dims.nu > 0 %}
-    {%- set i_input = i_input + 1 %}
-    // u0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu }});
-    {%- endif %}
-
-    {%- if dims.np > 0 %}
-    {%- set i_input = i_input + 1 %}
-    // parameters
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.np }});
-    {%- endif %}
-
-    // specify dimension information for the output ports
-    ssSetOutputPortVectorDimension(S, 0, {{ dims.nx }} ); // xnext
-
-    // specify the direct feedthrough status
-    // should be set to 1 for all inputs used in mdlOutputs
-    {%- for i in range(end=n_inputs) %}
-    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
-    {%- endfor %}
-
-    // one sample time
-    ssSetNumSampleTimes(S, 1);
-}
-
-
-#if defined(MATLAB_MEX_FILE)
-
-#define MDL_SET_INPUT_PORT_DIMENSION_INFO
-#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-#endif /* MATLAB_MEX_FILE */
-
-
-static void mdlInitializeSampleTimes(SimStruct *S)
-{
-    ssSetSampleTime(S, 0, SAMPLINGTIME);
-    ssSetOffsetTime(S, 0, 0.0);
-}
-
-
-static void mdlStart(SimStruct *S)
-{
-    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
-    {{ model.name }}_acados_sim_create(capsule);
-
-    ssSetUserData(S, (void*)capsule);
-}
-
-static void mdlOutputs(SimStruct *S, int_T tid)
-{
-    sim_solver_capsule *capsule = ssGetUserData(S);
-
-    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
-    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
-    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
-    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
-    // sim_opts * {{ model.name }}_acados_get_sim_opts(capsule);
-    // sim_solver * {{ model.name }}_acados_get_sim_solver(capsule);
-
-    InputRealPtrsType in_sign;
-    {% set input_sizes = [dims.nx, dims.nu, dims.np] %}
-
-    // local buffer
-    {%- set buffer_size =  input_sizes | sort | last %}
-    real_t buffer[{{ buffer_size }}];
-
-
-    /* go through inputs */
-    {%- set i_input = 0 %}
-    // initial condition
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nx }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    sim_in_set(acados_sim_config, acados_sim_dims,
-               acados_sim_in, "x", buffer);
-
-
-    // ssPrintf("\nin acados sim:\n");
-    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x0[%d] = %f\n", i, buffer[i]);
-    //     ssPrintf("\n");
-
-{% if dims.nu > 0 %}
-    // control input - u
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nu }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    sim_in_set(acados_sim_config, acados_sim_dims,
-               acados_sim_in, "u", buffer);
-{%- endif %}
-
-
-{% if dims.np > 0 %}
-    // parameters
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.np }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    // update value of parameters
-    {{ model.name }}_acados_sim_update_params(capsule, buffer, {{ dims.np }});
-{%- endif %}
-
-
-    /* call solver */
-    int acados_status = {{ model.name }}_acados_sim_solve(capsule);
-
-
-    /* set outputs */
-    real_t *out_x = ssGetOutputPortRealSignal(S, 0);
-
-    // get simulated state
-    sim_out_get(acados_sim_config, acados_sim_dims, acados_sim_out,
-                "xn", (void *) out_x);
-
-    // ssPrintf("\nacados sim solve: returned %d\n", acados_status);
-    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x_sim[%d] = %f\n", i, out_x[i]);
-    //     ssPrintf("\n");
-
-}
-
-
-static void mdlTerminate(SimStruct *S)
-{
-    sim_solver_capsule *capsule = ssGetUserData(S);
-
-    {{ model.name }}_acados_sim_free(capsule);
-    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
-}
-
-
-#ifdef  MATLAB_MEX_FILE
-#include "simulink.c"
-#else
-#include "cg_sfun.h"
-#endif
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
deleted file mode 100644
index 3dd248037a..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
+++ /dev/null
@@ -1,853 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#define S_FUNCTION_NAME acados_solver_sfunction_{{ model.name }}
-#define S_FUNCTION_LEVEL 2
-
-#define MDL_START
-
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_solver_{{ model.name }}.h"
-
-#include "simstruc.h"
-
-{% if simulink_opts.samplingtime == "t0" -%}
-#define SAMPLINGTIME {{ solver_options.time_steps[0] }}
-{%- elif simulink_opts.samplingtime == "-1" -%}
-#define SAMPLINGTIME -1
-{%- else -%}
-  {{ throw(message = "simulink_opts.samplingtime must be '-1' or 't0', got val") }}
-{%- endif %}
-
-static void mdlInitializeSizes (SimStruct *S)
-{
-    // specify the number of continuous and discrete states
-    ssSetNumContStates(S, 0);
-    ssSetNumDiscStates(S, 0);
-
-    int N = {{ model.name | upper }}_N;
-
-  {%- for key, val in simulink_opts.inputs -%}
-    {%- if val != 0 and val != 1 -%}
-      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
-    {%- endif -%}
-  {%- endfor -%}
-
-  {#- compute number of input ports #}
-  {%- set n_inputs = 0 -%}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 -%}  {#- y_ref_0 -#}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref -%}  {#- y_ref -#}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e -%}  {#- y_ref_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- for key, val in simulink_opts.inputs -%}
-    {%- if val != 0 and val != 1 -%}
-      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
-    {%- endif -%}
-  {%- endfor -%}
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set n_inputs = n_inputs + 1 %}
-  {%- endif -%}
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set n_inputs = n_inputs + 1 %}
-  {%- endif -%}
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.reset_solver -%}  {#- reset_solver #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-    // specify the number of input ports
-    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
-        return;
-
-    // specify the number of output ports
-    {%- set_global n_outputs = 0 %}
-    {%- for key, val in simulink_opts.outputs %}
-      {%- if val == 1 %}
-        {%- set_global n_outputs = n_outputs + val %}
-      {%- elif val != 0 %}
-        {{ throw(message = "simulink_opts.outputs must be 0 or 1, got val") }}
-      {%- endif %}
-    {%- endfor %}
-    if ( !ssSetNumOutputPorts(S, {{ n_outputs }}) )
-        return;
-
-    // specify dimension information for the input ports
-    {%- set i_input = -1 %}{# note here i_input is 0-based #}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    {%- set i_input = i_input + 1 %}
-    // lbx_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
-  {%- endif %}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    {%- set i_input = i_input + 1 %}
-    // ubx_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
-  {%- endif %}
-
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    {%- set i_input = i_input + 1 %}
-    // parameters
-    ssSetInputPortVectorDimension(S, {{ i_input }}, (N+1) * {{ dims.np }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.ny }});
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e }});
-  {%- endif %}
-
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    {%- set i_input = i_input + 1 %}
-    // lbx
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
-  {%- endif %}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    {%- set i_input = i_input + 1 %}
-    // ubx
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
-  {%- endif %}
-
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    {%- set i_input = i_input + 1 %}
-    // lbx_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
-  {%- endif %}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    {%- set i_input = i_input + 1 %}
-    // ubx_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
-  {%- endif %}
-
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    {%- set i_input = i_input + 1 %}
-    // lbu
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    {%- set i_input = i_input + 1 %}
-    // ubu
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
-  {%- endif -%}
-
-
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    {%- set i_input = i_input + 1 %}
-    // lg
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    {%- set i_input = i_input + 1 %}
-    // ug
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
-  {%- endif -%}
-
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    {%- set i_input = i_input + 1 %}
-    // lh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    {%- set i_input = i_input + 1 %}
-    // uh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
-  {%- endif -%}
-
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    {%- set i_input = i_input + 1 %}
-    // lh_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    {%- set i_input = i_input + 1 %}
-    // uh_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
-  {%- endif -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny * dims.ny }});
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e * dims.ny_e }});
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.reset_solver -%}  {#- reset_solver #}
-    {%- set i_input = i_input + 1 %}
-    // reset_solver
-    ssSetInputPortVectorDimension(S, {{ i_input }}, 1);
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
-    {%- set i_input = i_input + 1 %}
-    // x_init
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx * (dims.N+1) }});
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
-    {%- set i_input = i_input + 1 %}
-    // u_init
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu * (dims.N) }});
-  {%- endif -%}
-
-    /* specify dimension information for the OUTPUT ports */
-    {%- set i_output = -1 %}{# note here i_output is 0-based #}
-  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.utraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu * dims.N }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.xtraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx * (dims.N+1) }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.solver_status == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.cost_value == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residual == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 4 );
-  {%- endif %}
-
-  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.sqp_iter == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-    // specify the direct feedthrough status
-    // should be set to 1 for all inputs used in mdlOutputs
-    {%- for i in range(end=n_inputs) %}
-    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
-    {%- endfor %}
-
-    // one sample time
-    ssSetNumSampleTimes(S, 1);
-}
-
-
-#if defined(MATLAB_MEX_FILE)
-
-#define MDL_SET_INPUT_PORT_DIMENSION_INFO
-#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-#endif /* MATLAB_MEX_FILE */
-
-
-static void mdlInitializeSampleTimes(SimStruct *S)
-{
-    ssSetSampleTime(S, 0, SAMPLINGTIME);
-    ssSetOffsetTime(S, 0, 0.0);
-}
-
-
-static void mdlStart(SimStruct *S)
-{
-    {{ model.name }}_solver_capsule *capsule = {{ model.name }}_acados_create_capsule();
-    {{ model.name }}_acados_create(capsule);
-
-    ssSetUserData(S, (void*)capsule);
-}
-
-
-static void mdlOutputs(SimStruct *S, int_T tid)
-{
-    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
-
-    InputRealPtrsType in_sign;
-
-    int N = {{ model.name | upper }}_N;
-
-    {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbx_e, dims.nbu, dims.ng, dims.nh, dims.ng_e, dims.nh_e] -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}  {# y_ref_0 #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %}
-  {%- endif %}
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}  {# y_ref #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny)) %}
-  {%- endif %}
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}  {# y_ref_e #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e)) %}
-  {%- endif %}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0 * dims.ny_0)) %}
-  {%- endif %}
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny * dims.ny)) %}
-  {%- endif %}
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %}
-  {%- endif %}
-
-    // local buffer
-    {%- set buffer_size = buffer_sizes | sort | last %}
-    real_t buffer[{{ buffer_size }}];
-
-    /* go through inputs */
-    {%- set i_input = -1 %}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    // lbx_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer);
-  {%- endif %}
-
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    // ubx_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer);
-  {%- endif %}
-
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    // parameters - stage-variant !!!
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    // update value of parameters
-    for (int ii = 0; ii <= N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.np }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]);
-        {{ model.name }}_acados_update_params(capsule, ii, buffer, {{ dims.np }});
-    }
-  {%- endif %}
-
-  {% if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
-    // y_ref_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.ny_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer);
-  {%- endif %}
-
-  {% if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-    // y_ref - for stages 1 to N-1
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ny }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer);
-    }
-  {%- endif %}
-
-  {% if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-    // y_ref_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.ny_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", (void *) buffer);
-  {%- endif %}
-
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    // lbx
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer);
-    }
-  {%- endif %}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    // ubx
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer);
-    }
-  {%- endif %}
-
-
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    // lbx_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nbx_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", buffer);
-  {%- endif %}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    // ubx_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nbx_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", buffer);
-  {%- endif %}
-
-
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    // lbu
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbu", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    // ubu
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubu", (void *) buffer);
-    }
-  {%- endif -%}
-
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    // lg
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ng }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    // ug
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ng }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", (void *) buffer);
-    }
-  {%- endif -%}
-
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    // lh
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nh }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    // uh
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nh }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", (void *) buffer);
-    }
-  {%- endif -%}
-
-
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    // lh_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nh_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", buffer);
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    // uh_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nh_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", buffer);
-  {%- endif -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    // cost_W_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny_0 * dims.ny_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", buffer);
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    // cost_W
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny * dims.ny }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    for (int ii = 1; ii < N; ii++)
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer);
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    // cost_W_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", buffer);
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
-    // reset_solver
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    double reset = (double)(*in_sign[0]);
-    if (reset)
-    {
-        {{ model.name }}_acados_reset(capsule, 1);
-    }
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.x_init %}  {#- x_init #}
-    // x_init
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nx }}+jj]);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "x", (void *) buffer);
-    }
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.u_init %}  {#- u_init #}
-    // u_init
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nu }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "u", (void *) buffer);
-    }
-  {%- endif %}
-
-    /* call solver */
-    int rti_phase = 0;
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase);
-    int acados_status = {{ model.name }}_acados_solve(capsule);
-
-
-    /* set outputs */
-    // assign pointers to output signals
-    real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_KKT_residuals, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin, *out_cost_value;
-    int tmp_int;
-
-    {%- set i_output = -1 -%}{# note here i_output is 0-based #}
-  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_u0 = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.utraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }});
-    for (int ii = 0; ii < N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
-                        "u", (void *) (out_utraj + ii * {{ dims.nu }}));
-  {%- endif %}
-
-  {% if simulink_opts.outputs.xtraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-
-    out_xtraj = ssGetOutputPortRealSignal(S, {{ i_output }});
-    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
-                        "x", (void *) (out_xtraj + ii * {{ dims.nx }}));
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.solver_status == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_status = ssGetOutputPortRealSignal(S, {{ i_output }});
-    *out_status = (real_t) acados_status;
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.cost_value == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cost_value = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_eval_cost(capsule->nlp_solver, nlp_in, nlp_out);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "cost_value", (void *) out_cost_value);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residual == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }});
-    *out_KKT_res = (real_t) nlp_out->inf_norm_res;
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_KKT_residuals = ssGetOutputPortRealSignal(S, {{ i_output }});
-
-    {%- if solver_options.nlp_solver_type == "SQP_RTI" %}
-    ocp_nlp_eval_residuals(capsule->nlp_solver, nlp_in, nlp_out);
-    {%- endif %}
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_stat", (void *) &out_KKT_residuals[0]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_eq", (void *) &out_KKT_residuals[1]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_ineq", (void *) &out_KKT_residuals[2]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_comp", (void *) &out_KKT_residuals[3]);
-  {%- endif %}
-
-  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time = ssGetOutputPortRealSignal(S, {{ i_output }});
-    // get solution time
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_sim = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_sim", (void *) out_cpu_time_sim);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_qp = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_qp", (void *) out_cpu_time_qp);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_lin = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_lin", (void *) out_cpu_time_lin);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.sqp_iter == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_sqp_iter = ssGetOutputPortRealSignal(S, {{ i_output }});
-    // get sqp iter
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int);
-    *out_sqp_iter = (real_t) tmp_int;
-  {%- endif %}
-
-}
-
-static void mdlTerminate(SimStruct *S)
-{
-    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
-
-    {{ model.name }}_acados_free(capsule);
-    {{ model.name }}_acados_free_capsule(capsule);
-}
-
-
-#ifdef  MATLAB_MEX_FILE
-#include "simulink.c"
-#else
-#include "cg_sfun.h"
-#endif
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
deleted file mode 100644
index 851a3cc04f..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-// mex
-#include "mex.h"
-
-/* auxilary mex */
-// prints a matrix in column-major format (exponential notation)
-void MEX_print_exp_mat(int m, int n, double *A, int lda)
-{
-	for (int i=0; i<m; i++)
-    {
-		for (int j=0; j<n; j++)
-        {
-			mexPrintf("%e\t", A[i+lda*j]);
-        }
-		mexPrintf("\n");
-    }
-	mexPrintf("\n");
-}
-
-// prints the transposed of a matrix in column-major format (exponential notation)
-void MEX_print_exp_tran_mat(int row, int col, double *A, int lda)
-{
-	for (int j=0; j<col; j++)
-    {
-		for (int i=0; i<row; i++)
-        {
-			mexPrintf("%e\t", A[i+lda*j]);
-        }
-		mexPrintf("\n");
-    }
-	mexPrintf("\n");
-}
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-
-    int status = 0;
-    status = {{ model.name }}_acados_create();
-
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-
-    // get pointers to nlp solver related objects
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config();
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims();
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in();
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out();
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver();
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts();
-
-    // initial condition
-    int idxbx0[{{ dims.nbx_0 }}];
-    {% for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double lbx0[{{ dims.nbx_0 }}];
-    double ubx0[{{ dims.nbx_0 }}];
-    {% for i in range(end=dims.nbx_0) %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-
-    // initialization for state values
-    double x_init[{{ dims.nx }}];
-    {%- for i in range(end=dims.nx) %}
-    x_init[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // initial value for control input
-    double u0[{{ dims.nu }}];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // prepare evaluation
-    int NTIMINGS = 10;
-    double min_time = 1e12;
-    double kkt_norm_inf;
-    double elapsed_time;
-    int sqp_iter;
-
-    double xtraj[{{ dims.nx }} * ({{ dims.N }}+1)];
-    double utraj[{{ dims.nu }} * ({{ dims.N }})];
-
-    // solve ocp in loop
-    for (int ii = 0; ii < NTIMINGS; ii++)
-    {
-        // initialize primal solution
-        for (int i = 0; i <= nlp_dims->N; i++)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-        }
-        status = {{ model.name }}_acados_solve();
-        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
-        min_time = MIN(elapsed_time, min_time);
-    }
-
-    /* print solution and statistics */
-    for (int ii = 0; ii <= nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*{{ dims.nx }}]);
-    for (int ii = 0; ii < nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*{{ dims.nu }}]);
-
-    mexPrintf("\n--- xtraj ---\n");
-    MEX_print_exp_tran_mat( {{ dims.nx }}, {{ dims.N }}+1, xtraj, {{ dims.nx }} );
-    mexPrintf("\n--- utraj ---\n");
-    MEX_print_exp_tran_mat( {{ dims.nu }}, {{ dims.N }}, utraj, {{ dims.nu }} );
-
-    mexPrintf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
-
-    if (status == ACADOS_SUCCESS)
-        mexPrintf("{{ model.name }}_acados_solve(): SUCCESS!\n");
-    else
-        mexPrintf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
-
-    // get solution
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
-    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
-
-    mexPrintf("\nSolver info:\n");
-    mexPrintf(" SQP iterations %2d\n minimum time for 1 solve %f [ms]\n KKT %e\n",
-           sqp_iter, min_time*1000, kkt_norm_inf);
-
-    // free solver
-    status = {{ model.name }}_acados_free();
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
-    }
-
-    return;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
deleted file mode 100644
index d217948456..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
+++ /dev/null
@@ -1,103 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-function make_main_mex_{{ model.name }}()
-
-    opts.output_dir = pwd;
-
-    % get acados folder
-    acados_folder = getenv('ACADOS_INSTALL_DIR');
-
-    % set paths
-    acados_include = ['-I' fullfile(acados_folder, 'include')];
-    template_lib_include = ['-l' 'acados_solver_{{ model.name }}'];
-    template_lib_path = ['-L' fullfile(pwd)];
-
-    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
-    external_include = ['-I', fullfile(acados_folder, 'external')];
-    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
-    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
-
-    mex_names = { ...
-        'main_mex_{{ model.name }}' ...
-    };
-
-    mex_files = cell(length(mex_names), 1);
-    for k=1:length(mex_names)
-        mex_files{k} = fullfile([mex_names{k}, '.c']);
-    end
-
-    %% octave C flags
-    if is_octave()
-        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
-            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
-            diary on
-            mkoctfile -p CFLAGS
-            diary off
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-            cflags_tmp = fscanf(input_file, '%[^\n]s');
-            fclose(input_file);
-            if ~ismac()
-                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
-            else
-                cflags_tmp = [cflags_tmp, ' -std=c99'];
-            end
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
-            fprintf(input_file, '%s', cflags_tmp);
-            fclose(input_file);
-        end
-        % read cflags from file
-        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-        cflags_tmp = fscanf(input_file, '%[^\n]s');
-        fclose(input_file);
-        setenv('CFLAGS', cflags_tmp);
-    end
-
-    %% compile mex
-    for ii=1:length(mex_files)
-        disp(['compiling ', mex_files{ii}])
-        if is_octave()
-    %        mkoctfile -p CFLAGS
-            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-            acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
-        else
-            if ismac()
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
-            else
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
-            end
-            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
-        end
-    end
-
-
-end
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
deleted file mode 100644
index 5e35827137..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
+++ /dev/null
@@ -1,127 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-function make_mex_{{ model.name }}()
-
-    opts.output_dir = pwd;
-
-    % get acados folder
-    acados_folder = getenv('ACADOS_INSTALL_DIR');
-
-    % set paths
-    acados_include = ['-I' fullfile(acados_folder, 'include')];
-    template_lib_include = ['-l' 'acados_ocp_solver_{{ model.name }}'];
-    template_lib_path = ['-L' fullfile(pwd)];
-
-    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
-    external_include = ['-I', fullfile(acados_folder, 'external')];
-    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
-    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
-
-    % load linking information of compiled acados
-    link_libs_core_filename = fullfile(acados_folder, 'lib', 'link_libs.json');
-    addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-    link_libs = loadjson(link_libs_core_filename);
-
-    % add necessary link instructs
-    acados_lib_extra = {};
-    lib_names = fieldnames(link_libs);
-    for idx = 1 : numel(lib_names)
-        lib_name = lib_names{idx};
-        link_arg = link_libs.(lib_name);
-        if ~isempty(link_arg)
-            acados_lib_extra = [acados_lib_extra, link_arg];
-        end
-    end
-
-
-    mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')];
-
-    mex_names = { ...
-        'acados_mex_create_{{ model.name }}' ...
-        'acados_mex_free_{{ model.name }}' ...
-        'acados_mex_solve_{{ model.name }}' ...
-        'acados_mex_set_{{ model.name }}' ...
-    };
-
-    mex_files = cell(length(mex_names), 1);
-    for k=1:length(mex_names)
-        mex_files{k} = fullfile([mex_names{k}, '.c']);
-    end
-
-    %% octave C flags
-    if is_octave()
-        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
-            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
-            diary on
-            mkoctfile -p CFLAGS
-            diary off
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-            cflags_tmp = fscanf(input_file, '%[^\n]s');
-            fclose(input_file);
-            if ~ismac()
-                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
-            else
-                cflags_tmp = [cflags_tmp, ' -std=c99'];
-            end
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
-            fprintf(input_file, '%s', cflags_tmp);
-            fclose(input_file);
-        end
-        % read cflags from file
-        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-        cflags_tmp = fscanf(input_file, '%[^\n]s');
-        fclose(input_file);
-        setenv('CFLAGS', cflags_tmp);
-    end
-
-    %% compile mex
-    for ii=1:length(mex_files)
-        disp(['compiling ', mex_files{ii}])
-        if is_octave()
-    %        mkoctfile -p CFLAGS
-            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
-                acados_lib_extra{:}, mex_files{ii})
-        else
-            if ismac()
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
-            else
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
-            end
-            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
-                acados_lib_extra{:}, mex_files{ii})
-        end
-    end
-
-
-end
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
deleted file mode 100644
index 5d74c523f8..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
+++ /dev/null
@@ -1,432 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-SOURCES = { ...
-        {%- if solver_options.integrator_type == 'ERK' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c', ...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c',...
-            {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c',...
-            {%- endif %}
-        {%- elif solver_options.integrator_type == "IRK" %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c', ...
-            {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',...
-            {%- endif %}
-        {%- elif solver_options.integrator_type == "GNSF" %}
-            {% if model.gnsf.purely_linear != 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',...
-            {% if model.gnsf.nontrivial_f_LO == 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',...
-            {%- endif %}
-            {%- endif %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',...
-        {%- elif solver_options.integrator_type == "DISCRETE" %}
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',...
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c',...
-        {%- if solver_options.hessian_approx == "EXACT" %}
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c',...
-        {%- endif %}
-        {%- endif %}
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c',...
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c',...
-        {%- endif %}
-
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c',...
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c',...
-        {%- endif %}
-        {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c',...
-        {%- elif cost.cost_type_e == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c',...
-        {%- endif %}
-        {%- if constraints.constr_type == "BGH"  and dims.nh > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c', ...
-        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c', ...
-        {%- endif %}
-        {%- if constraints.constr_type_e == "BGH"  and dims.nh_e > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c', ...
-        {%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c', ...
-        {%- endif %}
-            'acados_solver_sfunction_{{ model.name }}.c', ...
-            'acados_solver_{{ model.name }}.c'
-          };
-
-INC_PATH = '{{ acados_include_path }}';
-
-INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'acados')], ...
-        ['-I', fullfile(INC_PATH)]};
-
-{% if solver_options.qp_solver is containing("QPOASES") %}
-INCS{end+1} = ['-I', fullfile(INC_PATH, 'qpOASES_e')];
-{% endif %}
-
-CFLAGS = 'CFLAGS=$CFLAGS';
-LDFLAGS = 'LDFLAGS=$LDFLAGS';
-COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
-COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
-
-{% if solver_options.qp_solver is containing("QPOASES") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPOASES ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPOASES ' ];
-{%- elif solver_options.qp_solver is containing("OSQP") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_OSQP ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ];
-{%- elif solver_options.qp_solver is containing("QPDUNES") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ];
-{%- elif solver_options.qp_solver is containing("DAQP") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_DAQP' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_DAQP' ];
-{%- elif solver_options.qp_solver is containing("HPMPC") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ];
-{% endif %}
-
-LIB_PATH = ['-L', fullfile('{{ acados_lib_path }}')];
-
-LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
-
-% acados linking libraries and flags
-{%- if acados_link_libs and os and os == "pc" %}
-LDFLAGS = [LDFLAGS ' {{ acados_link_libs.openmp }}'];
-COMPFLAGS = [COMPFLAGS ' {{ acados_link_libs.openmp }}'];
-LIBS{end+1} = '{{ acados_link_libs.qpoases }}';
-LIBS{end+1} = '{{ acados_link_libs.hpmpc }}';
-LIBS{end+1} = '{{ acados_link_libs.osqp }}';
-{%- else %}
-    {% if solver_options.qp_solver is containing("QPOASES") %}
-LIBS{end+1} = '-lqpOASES_e';
-    {% endif %}
-    {% if solver_options.qp_solver is containing("DAQP") %}
-LIBS{end+1} = '-ldaqp';
-    {% endif %}
-{%- endif %}
-
-
-try
-    %     mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-    mex('-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-            LIB_PATH, LIBS{:}, SOURCES{:}, ...
-            '-output', 'acados_solver_sfunction_{{ model.name }}' );
-catch exception
-    disp('make_sfun failed with the following exception:')
-    disp(exception);
-    disp('Try adding -v to the mex command above to get more information.')
-    keyboard
-end
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ...
-    eval('mexext')] );
-
-
-%% print note on usage of s-function, and create I/O port names vectors
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n';
-i_in = 1;
-
-global sfun_input_names
-sfun_input_names = {};
-
-{%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
-                    ' size [{{ dims.nbx_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx_0 [{{ dims.nbx_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
-                    ' size [{{ dims.nbx_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx_0 [{{ dims.nbx_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N,',...
-                    ' size [{{ (dims.N+1)*dims.np }}]\n ');
-sfun_input_names = [sfun_input_names; 'parameter_traj [{{ (dims.N+1)*dims.np }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref_0 [{{ dims.ny_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
-                    ' size [{{ (dims.N-1) * dims.ny }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref [{{ (dims.N-1) * dims.ny }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref_e [{{ dims.ny_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx [{{ (dims.N-1) * dims.nbx }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx [{{ (dims.N-1) * dims.nbx }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-
-{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx_e [{{ dims.nbx_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx_e [{{ dims.nbx_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbu [{{ dims.N*dims.nbu }}]'];
-i_in = i_in + 1;
-{%- endif -%}
-{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubu [{{ dims.N*dims.nbu }}]'];
-i_in = i_in + 1;
-{%- endif -%}
-
-{%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-input_note = strcat(input_note, num2str(i_in), ') lg for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
-sfun_input_names = [sfun_input_names; 'lg [{{ dims.N*dims.ng }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-input_note = strcat(input_note, num2str(i_in), ') ug for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
-sfun_input_names = [sfun_input_names; 'ug [{{ dims.N*dims.ng }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-input_note = strcat(input_note, num2str(i_in), ') lh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
-sfun_input_names = [sfun_input_names; 'lh [{{ dims.N*dims.nh }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-input_note = strcat(input_note, num2str(i_in), ') uh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
-sfun_input_names = [sfun_input_names; 'uh [{{ dims.N*dims.nh }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-input_note = strcat(input_note, num2str(i_in), ') lh_e, size [{{ dims.nh_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'lh_e [{{ dims.nh_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-input_note = strcat(input_note, num2str(i_in), ') uh_e, size [{{ dims.nh_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'uh_e [{{ dims.nh_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W_0 [{{ dims.ny_0 * dims.ny_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W [{{ dims.ny * dims.ny }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W_e [{{ dims.ny_e * dims.ny_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
-input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n ');
-sfun_input_names = [sfun_input_names; 'reset_solver [1]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.x_init %}  {#- x_init #}
-input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n ');
-sfun_input_names = [sfun_input_names; 'x_init [{{ dims.nx * (dims.N+1) }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.u_init %}  {#- u_init #}
-input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n ');
-sfun_input_names = [sfun_input_names; 'u_init [{{ dims.nu * (dims.N) }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-fprintf(input_note)
-
-disp(' ')
-
-output_note = 'Outputs are:\n';
-i_out = 0;
-
-global sfun_output_names
-sfun_output_names = {};
-
-{%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n ');
-sfun_output_names = [sfun_output_names; 'u0 [{{ dims.nu }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.utraj == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n ');
-sfun_output_names = [sfun_output_names; 'utraj [{{ dims.nu * dims.N }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.xtraj == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n ');
-sfun_output_names = [sfun_output_names; 'xtraj [{{ dims.nx * (dims.N + 1) }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.solver_status == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
-sfun_output_names = [sfun_output_names; 'solver_status'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.cost_value == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') cost function value\n ');
-sfun_output_names = [sfun_output_names; 'cost_value'];
-{%- endif %}
-
-
-{%- if simulink_opts.outputs.KKT_residual == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
-sfun_output_names = [sfun_output_names; 'KKT_residual'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.KKT_residuals == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residuals, size [4] (stat, eq, ineq, comp)\n ');
-sfun_output_names = [sfun_output_names; 'KKT_residuals [4]'];
-{%- endif %}
-
-{%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
-sfun_output_names = [sfun_output_names; 'x1'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_sim'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_qp'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_lin'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.sqp_iter == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
-sfun_output_names = [sfun_output_names; 'sqp_iter'];
-{%- endif %}
-
-fprintf(output_note)
-
-% The mask drawing command is:
-% ---
-% global sfun_input_names sfun_output_names
-% for i = 1:length(sfun_input_names)
-% 	port_label('input', i, sfun_input_names{i})
-% end
-% for i = 1:length(sfun_output_names)
-% 	port_label('output', i, sfun_output_names{i})
-% end
-% ---
-% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
-%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
deleted file mode 100644
index e4c32a8c19..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
+++ /dev/null
@@ -1,137 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
-            'acados_sim_solver_{{ model.name }}.c ', ...
-            {%- if  solver_options.integrator_type == 'ERK' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ',...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_adj.c ',...
-                {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',...
-                {%- endif %}
-            {%- elif solver_options.integrator_type == "IRK" %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ...
-                {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
-                {%- endif %}
-            {%- elif solver_options.integrator_type == "GNSF" %}
-                {%- if model.gnsf.purely_linear != 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ',...
-                {%- if model.gnsf.nontrivial_f_LO == 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ',...
-                {%- endif %}
-                {%- endif %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ',...
-            {%- endif %}
-          ];
-
-INC_PATH = '{{ acados_include_path }}';
-
-INCS = [ ' -I', fullfile(INC_PATH, 'blasfeo', 'include'), ...
-         ' -I', fullfile(INC_PATH, 'hpipm', 'include'), ...
-        ' -I', INC_PATH, ' -I', fullfile(INC_PATH, 'acados'), ' '];
-
-CFLAGS  = ' -O';
-
-LIB_PATH = '{{ acados_lib_path }}';
-
-LIBS = '-lacados -lblasfeo -lhpipm';
-
-try
-    % eval( [ 'mex -v -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
-    eval( [ 'mex -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
-        CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]);
-
-catch exception
-    disp('make_sfun failed with the following exception:')
-    disp(exception);
-    disp('Try adding -v to the mex command above to get more information.')
-    keyboard
-end
-
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ...
-    eval('mexext')] );
-
-
-global sfun_sim_input_names
-sfun_sim_input_names = {};
-
-%% print note on usage of s-function
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n ';
-i_in = 2;
-sfun_sim_input_names = [sfun_sim_input_names; 'x0 [{{ dims.nx }}]'];
-
-{%- if dims.nu > 0 %}
-input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n ');
-i_in = i_in + 1;
-sfun_sim_input_names = [sfun_sim_input_names; 'u [{{ dims.nu }}]'];
-{%- endif %}
-
-{%- if dims.np > 0 %}
-input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n ');
-i_in = i_in + 1;
-sfun_sim_input_names = [sfun_sim_input_names; 'p [{{ dims.np }}]'];
-{%- endif %}
-
-
-fprintf(input_note)
-
-disp(' ')
-
-global sfun_sim_output_names
-sfun_sim_output_names = {};
-
-output_note = strcat('Outputs are:\n', ...
-                '1) x1 - simulated state, size [{{ dims.nx }}]\n');
-sfun_sim_output_names = [sfun_sim_output_names; 'x1 [{{ dims.nx }}]'];
-
-fprintf(output_note)
-
-
-% The mask drawing command is:
-% ---
-% global sfun_sim_input_names sfun_sim_output_names
-% for i = 1:length(sfun_sim_input_names)
-% 	port_label('input', i, sfun_sim_input_names{i})
-% end
-% for i = 1:length(sfun_sim_output_names)
-% 	port_label('output', i, sfun_sim_output_names{i})
-% end
-% ---
-% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
-%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
deleted file mode 100644
index 3743212830..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
+++ /dev/null
@@ -1,270 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-classdef {{ model.name }}_mex_solver < handle
-
-    properties
-        C_ocp
-        C_ocp_ext_fun
-        cost_ext_fun_type
-        cost_ext_fun_type_e
-        N
-        name
-        code_gen_dir
-    end % properties
-
-
-
-    methods
-
-        % constructor
-        function obj = {{ model.name }}_mex_solver()
-            make_mex_{{ model.name }}();
-            [obj.C_ocp, obj.C_ocp_ext_fun] = acados_mex_create_{{ model.name }}();
-            % to have path to destructor when changing directory
-            addpath('.')
-            obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}';
-            obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}';
-            obj.N = {{ dims.N }};
-            obj.name = '{{ model.name }}';
-            obj.code_gen_dir = pwd();
-        end
-
-        % destructor
-        function delete(obj)
-            disp("delete template...");
-            return_dir = pwd();
-            cd(obj.code_gen_dir);
-            if ~isempty(obj.C_ocp)
-                acados_mex_free_{{ model.name }}(obj.C_ocp);
-            end
-            cd(return_dir);
-            disp("done.");
-        end
-
-        % solve
-        function solve(obj)
-            acados_mex_solve_{{ model.name }}(obj.C_ocp);
-        end
-
-        % set -- borrowed from MEX interface
-        function set(varargin)
-            obj = varargin{1};
-            field = varargin{2};
-            value = varargin{3};
-            if ~isa(field, 'char')
-                error('field must be a char vector, use '' ''');
-            end
-            if nargin==3
-                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value);
-            elseif nargin==4
-                stage = varargin{4};
-                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value, stage);
-            else
-                disp('acados_ocp.set: wrong number of input arguments (2 or 3 allowed)');
-            end
-        end
-
-        function value = get_cost(obj)
-            value = ocp_get_cost(obj.C_ocp);
-        end
-
-        % get -- borrowed from MEX interface
-        function value = get(varargin)
-            % usage:
-            % obj.get(field, value, [stage])
-            obj = varargin{1};
-            field = varargin{2};
-            if any(strfind('sens', field))
-                error('field sens* (sensitivities of optimal solution) not yet supported for templated MEX.')
-            end
-            if ~isa(field, 'char')
-                error('field must be a char vector, use '' ''');
-            end
-
-            if nargin==2
-                value = ocp_get(obj.C_ocp, field);
-            elseif nargin==3
-                stage = varargin{3};
-                value = ocp_get(obj.C_ocp, field, stage);
-            else
-                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
-            end
-        end
-
-
-        function [] = store_iterate(varargin)
-            %%%  Stores the current iterate of the ocp solver in a json file.
-            %%% param1: filename: if not set, use model_name + timestamp + '.json'
-            %%% param2: overwrite: if false and filename exists add timestamp to filename
-
-            obj = varargin{1};
-            filename = '';
-            overwrite = false;
-
-            if nargin>=2
-                filename = varargin{2};
-                if ~isa(filename, 'char')
-                    error('filename must be a char vector, use '' ''');
-                end
-            end
-
-            if nargin==3
-                overwrite = varargin{3};
-            end
-
-            if nargin > 3
-                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
-            end
-
-            if strcmp(filename,'')
-                filename = [obj.name '_iterate.json'];
-            end
-            if ~overwrite
-                % append timestamp
-                if exist(filename, 'file')
-                    filename = filename(1:end-5);
-                    filename = [filename '_' datestr(now,'yyyy-mm-dd-HH:MM:SS') '.json'];
-                end
-            end
-            filename = fullfile(pwd, filename);
-
-            % get iterate:
-            solution = struct();
-            for i=0:obj.N
-                solution.(['x_' num2str(i)]) = obj.get('x', i);
-                solution.(['lam_' num2str(i)]) = obj.get('lam', i);
-                solution.(['t_' num2str(i)]) = obj.get('t', i);
-                solution.(['sl_' num2str(i)]) = obj.get('sl', i);
-                solution.(['su_' num2str(i)]) = obj.get('su', i);
-            end
-            for i=0:obj.N-1
-                solution.(['z_' num2str(i)]) = obj.get('z', i);
-                solution.(['u_' num2str(i)]) = obj.get('u', i);
-                solution.(['pi_' num2str(i)]) = obj.get('pi', i);
-            end
-
-            acados_folder = getenv('ACADOS_INSTALL_DIR');
-            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-            savejson('', solution, filename);
-
-            json_string = savejson('', solution, 'ForceRootName', 0);
-
-            fid = fopen(filename, 'w');
-            if fid == -1, error('store_iterate: Cannot create JSON file'); end
-            fwrite(fid, json_string, 'char');
-            fclose(fid);
-
-            disp(['stored current iterate in ' filename]);
-        end
-
-
-        function [] = load_iterate(obj, filename)
-            %%%  Loads the iterate stored in json file with filename into the ocp solver.
-            acados_folder = getenv('ACADOS_INSTALL_DIR');
-            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-            filename = fullfile(pwd, filename);
-
-            if ~exist(filename, 'file')
-                error(['load_iterate: failed, file does not exist: ' filename])
-            end
-
-            solution = loadjson(filename);
-            keys = fieldnames(solution);
-
-            for k = 1:numel(keys)
-                key = keys{k};
-                key_parts = strsplit(key, '_');
-                field = key_parts{1};
-                stage = key_parts{2};
-
-                val = solution.(key);
-
-                % check if array is empty (can happen for z)
-                if numel(val) > 0
-                    obj.set(field, val, str2num(stage))
-                end
-            end
-        end
-
-
-        % print
-        function print(varargin)
-            if nargin < 2
-                field = 'stat';
-            else
-                field = varargin{2};
-            end
-
-            obj = varargin{1};
-
-            if strcmp(field, 'stat')
-                stat = obj.get('stat');
-                {%- if solver_options.nlp_solver_type == "SQP" %}
-                fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha');
-                if size(stat,2)>8
-                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
-                end
-                fprintf('\n');
-                for jj=1:size(stat,1)
-                    fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8));
-                    if size(stat,2)>8
-                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12));
-                    end
-                    fprintf('\n');
-                end
-                fprintf('\n');
-                {%- else %}
-                fprintf('\niter\tqp_status\tqp_iter');
-                if size(stat,2)>3
-                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
-                end
-                fprintf('\n');
-                for jj=1:size(stat,1)
-                    fprintf('%d\t%d\t\t%d', stat(jj,1), stat(jj,2), stat(jj,3));
-                    if size(stat,2)>3
-                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
-                    end
-                    fprintf('\n');
-                end
-                {% endif %}
-
-            else
-                fprintf('unsupported field in function print of acados_ocp.print, got %s', field);
-                keyboard
-            end
-
-        end
-
-    end % methods
-
-end % class
-
diff --git a/third_party/acados/acados_template/c_templates_tera/model.in.h b/third_party/acados/acados_template/c_templates_tera/model.in.h
deleted file mode 100644
index e5059df9ff..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/model.in.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef {{ model.name }}_MODEL
-#define {{ model.name }}_MODEL
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
-  {% if model.dyn_ext_fun_type == "casadi" %}
-// implicit ODE: function
-int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_n_in(void);
-int {{ model.name }}_impl_dae_fun_n_out(void);
-
-// implicit ODE: function + jacobians
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);
-
-// implicit ODE: jacobians only
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void);
-
-// implicit ODE - for lifted_irk
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);
-
-	{%- if hessian_approx == "EXACT" %}
-// implicit ODE - hessian
-int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
-int {{ model.name }}_impl_dae_hess_n_in(void);
-int {{ model.name }}_impl_dae_hess_n_out(void);
-	{% endif %}
-  {% else %}{# ext_fun_type #}
-    {%- if hessian_approx == "EXACT" %}
-int {{ model.dyn_impl_dae_hess }}(void **, void **, void *);
-    {% endif %}
-int {{ model.dyn_impl_dae_fun_jac }}(void **, void **, void *);
-int {{ model.dyn_impl_dae_jac }}(void **, void **, void *);
-int {{ model.dyn_impl_dae_fun }}(void **, void **, void *);
-  {% endif %}{# ext_fun_type #}
-
-{% elif solver_options.integrator_type == "GNSF" %}
-/* GNSF Functions */
-	{% if model.gnsf.purely_linear != 1 %}
-// phi_fun
-int        {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_n_in(void);
-int        {{ model.name }}_gnsf_phi_fun_n_out(void);
-
-// phi_fun_jac_y
-int        {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void);
-
-// phi_jac_y_uhat
-int        {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
-	{% if model.gnsf.nontrivial_f_LO == 1 %}
-// f_lo_fun_jac_x1k1uz
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
-const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
-	{%- endif %}
-	{%- endif %}
-// used to import model matrices
-int        {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
-const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
-int        {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
-
-{% elif solver_options.integrator_type == "ERK" %}
-/* explicit ODE */
-
-// explicit ODE
-int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_ode_fun_sparsity_in(int);
-const int *{{ model.name }}_expl_ode_fun_sparsity_out(int);
-int {{ model.name }}_expl_ode_fun_n_in(void);
-int {{ model.name }}_expl_ode_fun_n_out(void);
-
-// explicit forward VDE
-int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_vde_forw_sparsity_in(int);
-const int *{{ model.name }}_expl_vde_forw_sparsity_out(int);
-int {{ model.name }}_expl_vde_forw_n_in(void);
-int {{ model.name }}_expl_vde_forw_n_out(void);
-
-// explicit adjoint VDE
-int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_vde_adj_sparsity_in(int);
-const int *{{ model.name }}_expl_vde_adj_sparsity_out(int);
-int {{ model.name }}_expl_vde_adj_n_in(void);
-int {{ model.name }}_expl_vde_adj_n_out(void);
-
-{%- if hessian_approx == "EXACT" %}
-int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_ode_hess_sparsity_in(int);
-const int *{{ model.name }}_expl_ode_hess_sparsity_out(int);
-int {{ model.name }}_expl_ode_hess_n_in(void);
-int {{ model.name }}_expl_ode_hess_n_out(void);
-{%- endif %}
-
-{% elif solver_options.integrator_type == "DISCRETE" %}
-
-{% if model.dyn_ext_fun_type == "casadi" %}
-int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_n_out(void);
-
-int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void);
-
-{%- if hessian_approx == "EXACT" %}
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void);
-{%- endif %}
-{% else %}
-  {%- if hessian_approx == "EXACT" %}
-int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *);
-  {% endif %}
-int {{ model.dyn_disc_fun_jac }}(void **, void **, void *);
-int {{ model.dyn_disc_fun }}(void **, void **, void *);
-{% endif %}
-
-
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_MODEL
diff --git a/third_party/acados/acados_template/casadi_function_generation.py b/third_party/acados/acados_template/casadi_function_generation.py
deleted file mode 100644
index 6373a2809d..0000000000
--- a/third_party/acados/acados_template/casadi_function_generation.py
+++ /dev/null
@@ -1,708 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-import casadi as ca
-from .utils import is_empty, casadi_length
-
-
-def get_casadi_symbol(x):
-    if isinstance(x, ca.MX):
-        return ca.MX.sym
-    elif isinstance(x, ca.SX):
-        return ca.SX.sym
-    else:
-        raise TypeError("Expected casadi SX or MX.")
-
-################
-# Dynamics
-################
-
-
-def generate_c_code_discrete_dynamics( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    phi = model.disc_dyn_expr
-    model_name = model.name
-    nx = casadi_length(x)
-
-    symbol = get_casadi_symbol(x)
-    # assume nx1 = nx !!!
-    lam = symbol('lam', nx, 1)
-
-    # generate jacobians
-    ux = ca.vertcat(u,x)
-    jac_ux = ca.jacobian(phi, ux)
-    # generate adjoint
-    adj_ux = ca.jtimes(phi, ux, lam, True)
-    # generate hessian
-    hess_ux = ca.jacobian(adj_ux, ux)
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # set up & generate ca.Functions
-    fun_name = model_name + '_dyn_disc_phi_fun'
-    phi_fun = ca.Function(fun_name, [x, u, p], [phi])
-    phi_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac'
-    phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T])
-    phi_fun_jac_ut_xt.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
-    phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
-    phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-
-def generate_c_code_explicit_ode( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    generate_hess = opts["generate_hess"]
-
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    f_expl = model.f_expl_expr
-    model_name = model.name
-
-    ## get model dimensions
-    nx = x.size()[0]
-    nu = u.size()[0]
-
-    symbol = get_casadi_symbol(x)
-
-    ## set up functions to be exported
-    Sx = symbol('Sx', nx, nx)
-    Sp = symbol('Sp', nx, nu)
-    lambdaX = symbol('lambdaX', nx, 1)
-
-    fun_name = model_name + '_expl_ode_fun'
-
-    ## Set up functions
-    expl_ode_fun = ca.Function(fun_name, [x, u, p], [f_expl])
-
-    vdeX = ca.jtimes(f_expl,x,Sx)
-    vdeP = ca.jacobian(f_expl,u) + ca.jtimes(f_expl,x,Sp)
-
-    fun_name = model_name + '_expl_vde_forw'
-
-    expl_vde_forw = ca.Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP])
-
-    adj = ca.jtimes(f_expl, ca.vertcat(x, u), lambdaX, True)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj = ca.Function(fun_name, [x, lambdaX, u, p], [adj])
-
-    if generate_hess:
-        S_forw = ca.vertcat(ca.horzcat(Sx, Sp), ca.horzcat(ca.DM.zeros(nu,nx), ca.DM.eye(nu)))
-        hess = ca.mtimes(ca.transpose(S_forw),ca.jtimes(adj, ca.vertcat(x,u), S_forw))
-        hess2 = []
-        for j in range(nx+nu):
-            for i in range(j,nx+nu):
-                hess2 = ca.vertcat(hess2, hess[i,j])
-
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess = ca.Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2])
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # generate C code
-    fun_name = model_name + '_expl_ode_fun'
-    expl_ode_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_expl_vde_forw'
-    expl_vde_forw.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj.generate(fun_name, casadi_codegen_opts)
-
-    if generate_hess:
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess.generate(fun_name, casadi_codegen_opts)
-    os.chdir(cwd)
-
-    return
-
-
-def generate_c_code_implicit_ode( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load model
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-    f_impl = model.f_impl_expr
-    model_name = model.name
-
-    # get model dimensions
-    nx = casadi_length(x)
-    nz = casadi_length(z)
-
-    # generate jacobians
-    jac_x       = ca.jacobian(f_impl, x)
-    jac_xdot    = ca.jacobian(f_impl, xdot)
-    jac_u       = ca.jacobian(f_impl, u)
-    jac_z       = ca.jacobian(f_impl, z)
-
-    # Set up functions
-    p = model.p
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u])
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
-
-    if opts["generate_hess"]:
-        x_xdot_z_u = ca.vertcat(x, xdot, z, u)
-        symbol = get_casadi_symbol(x)
-        multiplier = symbol('multiplier', nx + nz)
-        ADJ = ca.jtimes(f_impl, x_xdot_z_u, multiplier, True)
-        HESS = ca.jacobian(ADJ, x_xdot_z_u)
-        fun_name = model_name + '_impl_dae_hess'
-        impl_dae_hess = ca.Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS])
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # generate C code
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_codegen_opts)
-
-    if opts["generate_hess"]:
-        fun_name = model_name + '_impl_dae_hess'
-        impl_dae_hess.generate(fun_name, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-def generate_c_code_gnsf( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    model_name = model.name
-
-    # set up directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # obtain gnsf dimensions
-    get_matrices_fun = model.get_matrices_fun
-    phi_fun = model.phi_fun
-
-    size_gnsf_A = get_matrices_fun.size_out(0)
-    gnsf_nx1 = size_gnsf_A[1]
-    gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    gnsf_nuhat = max(phi_fun.size_in(1))
-    gnsf_ny = max(phi_fun.size_in(0))
-    gnsf_nout = max(phi_fun.size_out(0))
-
-    # set up expressions
-    # if the model uses ca.MX because of cost/constraints
-    # the DAE can be exported as ca.SX -> detect GNSF in Matlab
-    # -> evaluated ca.SX GNSF functions with ca.MX.
-    u = model.u
-    symbol = get_casadi_symbol(u)
-
-    y = symbol("y", gnsf_ny, 1)
-    uhat = symbol("uhat", gnsf_nuhat, 1)
-    p = model.p
-    x1 = symbol("gnsf_x1", gnsf_nx1, 1)
-    x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1)
-    z1 = symbol("gnsf_z1", gnsf_nz1, 1)
-    dummy = symbol("gnsf_dummy", 1, 1)
-    empty_var = symbol("gnsf_empty_var", 0, 0)
-
-    ## generate C code
-    fun_name = model_name + '_gnsf_phi_fun'
-    phi_fun_ = ca.Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)])
-    phi_fun_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_phi_fun_jac_y'
-    phi_fun_jac_y = model.phi_fun_jac_y
-    phi_fun_jac_y_ = ca.Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p))
-    phi_fun_jac_y_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_phi_jac_y_uhat'
-    phi_jac_y_uhat = model.phi_jac_y_uhat
-    phi_jac_y_uhat_ = ca.Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p))
-    phi_jac_y_uhat_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz'
-    f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz
-    f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p)
-
-    # avoid codegeneration issue
-    if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval):
-        f_lo_fun_jac_x1k1uz_eval = [empty_var]
-
-    f_lo_fun_jac_x1k1uz_ = ca.Function(fun_name, [x1, x1dot, z1, u, p],
-                 f_lo_fun_jac_x1k1uz_eval)
-    f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_get_matrices_fun'
-    get_matrices_fun_ = ca.Function(fun_name, [dummy], get_matrices_fun(1))
-    get_matrices_fun_.generate(fun_name, casadi_codegen_opts)
-
-    # remove fields for json dump
-    del model.phi_fun
-    del model.phi_fun_jac_y
-    del model.phi_jac_y_uhat
-    del model.f_lo_fun_jac_x1k1uz
-    del model.get_matrices_fun
-
-    os.chdir(cwd)
-
-    return
-
-
-################
-# Cost
-################
-
-def generate_c_code_external_cost(model, stage_type, opts):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    p = model.p
-    u = model.u
-    z = model.z
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        suffix_name = "_cost_ext_cost_e_fun"
-        suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_e_fun_jac"
-        ext_cost = model.cost_expr_ext_cost_e
-        custom_hess = model.cost_expr_ext_cost_custom_hess_e
-        # Last stage cannot depend on u and z
-        u = symbol("u", 0, 0)
-        z = symbol("z", 0, 0)
-
-    elif stage_type == 'path':
-        suffix_name = "_cost_ext_cost_fun"
-        suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_fun_jac"
-        ext_cost = model.cost_expr_ext_cost
-        custom_hess = model.cost_expr_ext_cost_custom_hess
-
-    elif stage_type == 'initial':
-        suffix_name = "_cost_ext_cost_0_fun"
-        suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_0_fun_jac"
-        ext_cost = model.cost_expr_ext_cost_0
-        custom_hess = model.cost_expr_ext_cost_custom_hess_0
-
-    nunx = x.shape[0] + u.shape[0]
-
-    # set up functions to be exported
-    fun_name = model.name + suffix_name
-    fun_name_hess = model.name + suffix_name_hess
-    fun_name_jac = model.name + suffix_name_jac
-
-    # generate expression for full gradient and Hessian
-    hess_uxz, grad_uxz = ca.hessian(ext_cost, ca.vertcat(u, x, z))
-
-    hess_ux = hess_uxz[:nunx, :nunx]
-    hess_z = hess_uxz[nunx:, nunx:]
-    hess_z_ux = hess_uxz[nunx:, :nunx]
-
-    if custom_hess is not None:
-        hess_ux = custom_hess
-
-    ext_cost_fun = ca.Function(fun_name, [x, u, z, p], [ext_cost])
-
-    ext_cost_fun_jac_hess = ca.Function(
-        fun_name_hess, [x, u, z, p], [ext_cost, grad_uxz, hess_ux, hess_z, hess_z_ux]
-    )
-    ext_cost_fun_jac = ca.Function(
-        fun_name_jac, [x, u, z, p], [ext_cost, grad_uxz]
-    )
-
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    ext_cost_fun.generate(fun_name, casadi_codegen_opts)
-    ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_codegen_opts)
-    ext_cost_fun_jac.generate(fun_name_jac, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-def generate_c_code_nls_cost( model, cost_name, stage_type, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    z = model.z
-    p = model.p
-    u = model.u
-
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        middle_name = '_cost_y_e'
-        u = symbol('u', 0, 0)
-        y_expr = model.cost_y_expr_e
-
-    elif stage_type == 'initial':
-        middle_name = '_cost_y_0'
-        y_expr = model.cost_y_expr_0
-
-    elif stage_type == 'path':
-        middle_name = '_cost_y'
-        y_expr = model.cost_y_expr
-
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    # set up expressions
-    cost_jac_expr = ca.transpose(ca.jacobian(y_expr, ca.vertcat(u, x)))
-    dy_dz = ca.jacobian(y_expr, z)
-    ny = casadi_length(y_expr)
-
-    y = symbol('y', ny, 1)
-
-    y_adj = ca.jtimes(y_expr, ca.vertcat(u, x), y, True)
-    y_hess = ca.jacobian(y_adj, ca.vertcat(u, x))
-
-    ## generate C code
-    suffix_name = '_fun'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun = ca.Function( fun_name, [x, u, z, p], [ y_expr ])
-    y_fun.generate( fun_name, casadi_codegen_opts )
-
-    suffix_name = '_fun_jac_ut_xt'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun_jac_ut_xt = ca.Function(fun_name, [x, u, z, p], [ y_expr, cost_jac_expr, dy_dz ])
-    y_fun_jac_ut_xt.generate( fun_name, casadi_codegen_opts )
-
-    suffix_name = '_hess'
-    fun_name = cost_name + middle_name + suffix_name
-    y_hess = ca.Function(fun_name, [x, u, z, y, p], [ y_hess ])
-    y_hess.generate( fun_name, casadi_codegen_opts )
-
-    os.chdir(cwd)
-
-    return
-
-
-
-def generate_c_code_conl_cost(model, cost_name, stage_type, opts):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    z = model.z
-    p = model.p
-
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        u = symbol('u', 0, 0)
-
-        yref = model.cost_r_in_psi_expr_e
-        inner_expr = model.cost_y_expr_e - yref
-        outer_expr = model.cost_psi_expr_e
-        res_expr = model.cost_r_in_psi_expr_e
-
-        suffix_name_fun = '_conl_cost_e_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_e_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess_e
-
-    elif stage_type == 'initial':
-        u = model.u
-
-        yref = model.cost_r_in_psi_expr_0
-        inner_expr = model.cost_y_expr_0 - yref
-        outer_expr = model.cost_psi_expr_0
-        res_expr = model.cost_r_in_psi_expr_0
-
-        suffix_name_fun = '_conl_cost_0_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_0_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess_0
-
-    elif stage_type == 'path':
-        u = model.u
-
-        yref = model.cost_r_in_psi_expr
-        inner_expr = model.cost_y_expr - yref
-        outer_expr = model.cost_psi_expr
-        res_expr = model.cost_r_in_psi_expr
-
-        suffix_name_fun = '_conl_cost_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess
-
-    # set up function names
-    fun_name_cost_fun = model.name + suffix_name_fun
-    fun_name_cost_fun_jac_hess = model.name + suffix_name_fun_jac_hess
-
-    # set up functions to be exported
-    outer_loss_fun = ca.Function('psi', [res_expr, p], [outer_expr])
-    cost_expr = outer_loss_fun(inner_expr, p)
-
-    outer_loss_grad_fun = ca.Function('outer_loss_grad', [res_expr, p], [ca.jacobian(outer_expr, res_expr).T])
-
-    if custom_hess is None:
-        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [ca.hessian(outer_loss_fun(res_expr, p), res_expr)[0]])
-    else:
-        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [custom_hess])
-
-    Jt_ux_expr = ca.jacobian(inner_expr, ca.vertcat(u, x)).T
-    Jt_z_expr = ca.jacobian(inner_expr, z).T
-
-    cost_fun = ca.Function(
-        fun_name_cost_fun,
-        [x, u, z, yref, p],
-        [cost_expr])
-
-    cost_fun_jac_hess = ca.Function(
-        fun_name_cost_fun_jac_hess,
-        [x, u, z, yref, p],
-        [cost_expr, outer_loss_grad_fun(inner_expr, p), Jt_ux_expr, Jt_z_expr, outer_hess_fun(inner_expr, p)]
-    )
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    # generate C code
-    cost_fun.generate(fun_name_cost_fun, casadi_codegen_opts)
-    cost_fun_jac_hess.generate(fun_name_cost_fun_jac_hess, casadi_codegen_opts)
-
-    os.chdir(cwd)
-
-    return
-
-
-################
-# Constraints
-################
-def generate_c_code_constraint( model, con_name, is_terminal, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load constraint variables and expression
-    x = model.x
-    p = model.p
-
-    symbol = get_casadi_symbol(x)
-
-    if is_terminal:
-        con_h_expr = model.con_h_expr_e
-        con_phi_expr = model.con_phi_expr_e
-        # create dummy u, z
-        u = symbol('u', 0, 0)
-        z = symbol('z', 0, 0)
-    else:
-        con_h_expr = model.con_h_expr
-        con_phi_expr = model.con_phi_expr
-        u = model.u
-        z = model.z
-
-    if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)):
-        raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.")
-
-    if (is_empty(con_h_expr) and is_empty(con_phi_expr)):
-        # both empty -> nothing to generate
-        return
-
-    if is_empty(con_h_expr):
-        constr_type = 'BGP'
-    else:
-        constr_type = 'BGH'
-
-    if is_empty(p):
-        p = symbol('p', 0, 0)
-
-    if is_empty(z):
-        z = symbol('z', 0, 0)
-
-    if not (is_empty(con_h_expr)) and opts['generate_hess']:
-        # multipliers for hessian
-        nh = casadi_length(con_h_expr)
-        lam_h = symbol('lam_h', nh, 1)
-
-    # set up & change directory
-    cwd = os.getcwd()
-    constraints_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_constraints'))
-    if not os.path.exists(constraints_dir):
-        os.makedirs(constraints_dir)
-    os.chdir(constraints_dir)
-
-    # export casadi functions
-    if constr_type == 'BGH':
-        if is_terminal:
-            fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt'
-        else:
-            fun_name = con_name + '_constr_h_fun_jac_uxt_zt'
-
-        jac_ux_t = ca.transpose(ca.jacobian(con_h_expr, ca.vertcat(u,x)))
-        jac_z_t = ca.jacobian(con_h_expr, z)
-        constraint_fun_jac_tran = ca.Function(fun_name, [x, u, z, p], \
-                [con_h_expr, jac_ux_t, jac_z_t])
-
-        constraint_fun_jac_tran.generate(fun_name, casadi_codegen_opts)
-        if opts['generate_hess']:
-
-            if is_terminal:
-                fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess'
-            else:
-                fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess'
-
-            # adjoint
-            adj_ux = ca.jtimes(con_h_expr, ca.vertcat(u, x), lam_h, True)
-            # hessian
-            hess_ux = ca.jacobian(adj_ux, ca.vertcat(u, x))
-
-            adj_z = ca.jtimes(con_h_expr, z, lam_h, True)
-            hess_z = ca.jacobian(adj_z, z)
-
-            # set up functions
-            constraint_fun_jac_tran_hess = \
-                ca.Function(fun_name, [x, u, lam_h, z, p], \
-                    [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z])
-
-            # generate C code
-            constraint_fun_jac_tran_hess.generate(fun_name, casadi_codegen_opts)
-
-        if is_terminal:
-            fun_name = con_name + '_constr_h_e_fun'
-        else:
-            fun_name = con_name + '_constr_h_fun'
-        h_fun = ca.Function(fun_name, [x, u, z, p], [con_h_expr])
-        h_fun.generate(fun_name, casadi_codegen_opts)
-
-    else: # BGP constraint
-        if is_terminal:
-            fun_name = con_name + '_phi_e_constraint'
-            r = model.con_r_in_phi_e
-            con_r_expr = model.con_r_expr_e
-        else:
-            fun_name = con_name + '_phi_constraint'
-            r = model.con_r_in_phi
-            con_r_expr = model.con_r_expr
-
-        nphi = casadi_length(con_phi_expr)
-        con_phi_expr_x_u_z = ca.substitute(con_phi_expr, r, con_r_expr)
-        phi_jac_u = ca.jacobian(con_phi_expr_x_u_z, u)
-        phi_jac_x = ca.jacobian(con_phi_expr_x_u_z, x)
-        phi_jac_z = ca.jacobian(con_phi_expr_x_u_z, z)
-
-        hess = ca.hessian(con_phi_expr[0], r)[0]
-        for i in range(1, nphi):
-            hess = ca.vertcat(hess, ca.hessian(con_phi_expr[i], r)[0])
-
-        r_jac_u = ca.jacobian(con_r_expr, u)
-        r_jac_x = ca.jacobian(con_r_expr, x)
-
-        constraint_phi = \
-            ca.Function(fun_name, [x, u, z, p], \
-                [con_phi_expr_x_u_z, \
-                ca.vertcat(ca.transpose(phi_jac_u), ca.transpose(phi_jac_x)), \
-                ca.transpose(phi_jac_z), \
-                hess,
-                ca.vertcat(ca.transpose(r_jac_u), ca.transpose(r_jac_x))])
-
-        constraint_phi.generate(fun_name, casadi_codegen_opts)
-
-    # change directory back
-    os.chdir(cwd)
-
-    return
-
diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
deleted file mode 100644
index b39ff2e23b..0000000000
--- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
+++ /dev/null
@@ -1,819 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// This is a template based custom_update function
-#include <stdlib.h>
-#include <stdio.h>
-#include <assert.h>
-#include <math.h>
-
-#include "custom_update_function.h"
-#include "acados_solver_{{ model.name }}.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados/utils/mem.h"
-
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-#include "blasfeo/include/blasfeo_d_blasfeo_api.h"
-
-
-typedef struct custom_memory
-{
-    // covariance matrics
-    struct blasfeo_dmat *uncertainty_matrix_buffer;      // shape = (N+1, nx, nx)
-    // covariance matrix of the additive disturbance
-    struct blasfeo_dmat W_mat;                           // shape = (nw, nw)
-    struct blasfeo_dmat unc_jac_G_mat;                   // shape = (nx, nw)
-    struct blasfeo_dmat temp_GW_mat;                     // shape = (nx, nw)
-    struct blasfeo_dmat GWG_mat;                         // shape = (nx, nx)
-    // sensitivity matrices
-    struct blasfeo_dmat A_mat;                           // shape = (nx, nx)
-    struct blasfeo_dmat B_mat;                           // shape = (nx, nu)
-    // matrix in linear constraints
-    struct blasfeo_dmat Cg_mat;                          // shape = (ng, nx)
-    struct blasfeo_dmat Dg_mat;                          // shape = (ng, nu)
-    struct blasfeo_dmat Cg_e_mat;                        // shape = (ng_e, nx)
-    struct blasfeo_dmat dummy_Dgh_e_mat;                 // shape = (ngh_e_max, nu)
-    // matrix in nonlinear constraints
-    struct blasfeo_dmat Ch_mat;                          // shape = (nh, nx)
-    struct blasfeo_dmat Dh_mat;                          // shape = (nh, nu)
-    struct blasfeo_dmat Ch_e_mat;                        // shape = (nh_e, nx)
-    // feedback gain matrix
-    struct blasfeo_dmat K_mat;                           // shape = (nu, nx)
-    // AK = A - B@K
-    struct blasfeo_dmat AK_mat;                          // shape = (nx, nx)
-    // A@P_k
-    struct blasfeo_dmat temp_AP_mat;                     // shape = (nx, nx)
-    // K@P_k, K@P_k@K^T
-    struct blasfeo_dmat temp_KP_mat;                     // shape = (nu, nx)
-    struct blasfeo_dmat temp_KPK_mat;                    // shape = (nu, nu)
-    // C + D @ K, (C + D @ K) @ P_k
-    struct blasfeo_dmat temp_CaDK_mat;                   // shape = (ngh_me_max, nx)
-    struct blasfeo_dmat temp_CaDKmP_mat;                 // shape = (ngh_me_max, nx)
-    struct blasfeo_dmat temp_beta_mat;                   // shape = (ngh_me_max, ngh_me_max)
-
-    double *d_A_mat;                                     // shape = (nx, nx)
-    double *d_B_mat;                                     // shape = (nx, nu)
-    double *d_Cg_mat;                                    // shape = (ng, nx)
-    double *d_Dg_mat;                                    // shape = (ng, nu)
-    double *d_Cg_e_mat;                                  // shape = (ng_e, nx)
-    double *d_Cgh_mat;                                   // shape = (ng+nh, nx)
-    double *d_Dgh_mat;                                   // shape = (ng+nh, nu)
-    double *d_Cgh_e_mat;                                 // shape = (ng_e+nh_e, nx)
-    double *d_state_vec;
-    // upper and lower bounds on state variables
-    double *d_lbx;                                       // shape = (nbx,)
-    double *d_ubx;                                       // shape = (nbx,)
-    double *d_lbx_e;                                     // shape = (nbx_e,)
-    double *d_ubx_e;                                     // shape = (nbx_e,)
-    // tightened upper and lower bounds on state variables
-    double *d_lbx_tightened;                             // shape = (nbx,)
-    double *d_ubx_tightened;                             // shape = (nbx,)
-    double *d_lbx_e_tightened;                           // shape = (nbx_e,)
-    double *d_ubx_e_tightened;                           // shape = (nbx_e,)
-    // upper and lower bounds on control inputs
-    double *d_lbu;                                       // shape = (nbu,)
-    double *d_ubu;                                       // shape = (nbu,)
-    // tightened upper and lower bounds on control inputs
-    double *d_lbu_tightened;                             // shape = (nbu,)
-    double *d_ubu_tightened;                             // shape = (nbu,)
-    // upper and lower bounds on polytopic constraints
-    double *d_lg;                                        // shape = (ng,)
-    double *d_ug;                                        // shape = (ng,)
-    double *d_lg_e;                                      // shape = (ng_e,)
-    double *d_ug_e;                                      // shape = (ng_e,)
-    // tightened lower bounds on polytopic constraints
-    double *d_lg_tightened;                              // shape = (ng,)
-    double *d_ug_tightened;                              // shape = (ng,)
-    double *d_lg_e_tightened;                            // shape = (ng_e,)
-    double *d_ug_e_tightened;                            // shape = (ng_e,)
-    // upper and lower bounds on nonlinear constraints
-    double *d_lh;                                        // shape = (nh,)
-    double *d_uh;                                        // shape = (nh,)
-    double *d_lh_e;                                      // shape = (nh_e,)
-    double *d_uh_e;                                      // shape = (nh_e,)
-    // tightened upper and lower bounds on nonlinear constraints
-    double *d_lh_tightened;                              // shape = (nh,)
-    double *d_uh_tightened;                              // shape = (nh,)
-    double *d_lh_e_tightened;                            // shape = (nh_e,)
-    double *d_uh_e_tightened;                            // shape = (nh_e,)
-
-    int *idxbx;                                          // shape = (nbx,)
-    int *idxbu;                                          // shape = (nbu,)
-    int *idxbx_e;                                        // shape = (nbx_e,)
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-} custom_memory;
-
-static int int_max(int num1, int num2)
-{
-    return (num1 > num2 ) ? num1 : num2;
-}
-
-
-static int custom_memory_calculate_size(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
-    int nbx_e = {{ dims.nbx_e }};
-
-    assert({{zoro_description.nlbx_t}} <= nbx);
-    assert({{zoro_description.nubx_t}} <= nbx);
-    assert({{zoro_description.nlbu_t}} <= nbu);
-    assert({{zoro_description.nubu_t}} <= nbu);
-    assert({{zoro_description.nlg_t}} <= ng);
-    assert({{zoro_description.nug_t}} <= ng);
-    assert({{zoro_description.nlh_t}} <= nh);
-    assert({{zoro_description.nuh_t}} <= nh);
-    assert({{zoro_description.nlbx_e_t}} <= nbx_e);
-    assert({{zoro_description.nubx_e_t}} <= nbx_e);
-    assert({{zoro_description.nlg_e_t}} <= ng_e);
-    assert({{zoro_description.nug_e_t}} <= ng_e);
-    assert({{zoro_description.nlh_e_t}} <= nh_e);
-    assert({{zoro_description.nuh_e_t}} <= nh_e);
-
-    acados_size_t size = sizeof(custom_memory);
-    size += nbx * sizeof(int);
-    /* blasfeo structs */
-    size += (N + 1) * sizeof(struct blasfeo_dmat);
-    /* blasfeo mem: mat */
-    size += (N + 1) * blasfeo_memsize_dmat(nx, nx); // uncertainty_matrix_buffer
-    size += blasfeo_memsize_dmat(nw, nw);           // W_mat
-    size += 2 * blasfeo_memsize_dmat(nx, nw);       // unc_jac_G_mat, temp_GW_mat
-    size += 4 * blasfeo_memsize_dmat(nx, nx);       // GWG_mat, A_mat, AK_mat, temp_AP_mat
-    size += blasfeo_memsize_dmat(nx, nu);           // B_mat
-    size += 2 * blasfeo_memsize_dmat(nu, nx);       // K_mat, temp_KP_mat
-    size += blasfeo_memsize_dmat(nu, nu);           // temp_KPK_mat
-    size += blasfeo_memsize_dmat(ng, nx);           // Cg_mat
-    size += blasfeo_memsize_dmat(ng, nu);           // Dg_mat
-    size += blasfeo_memsize_dmat(ng_e, nx);         // Cg_e_mat
-    size += blasfeo_memsize_dmat(ngh_e_max, nu);    // dummy_Dgh_e_mat
-    size += blasfeo_memsize_dmat(nh, nx);           // Ch_mat
-    size += blasfeo_memsize_dmat(nh, nu);           // Dh_mat
-    size += blasfeo_memsize_dmat(nh_e, nx);         // Ch_e_mat
-    size += 2 * blasfeo_memsize_dmat(ngh_me_max, nx);           // temp_CaDK_mat, temp_CaDKmP_mat
-    size += blasfeo_memsize_dmat(ngh_me_max, ngh_me_max);       // temp_beta_mat
-    /* blasfeo mem: vec */
-    /* Arrays */
-    size += nx*nx *sizeof(double);                  // d_A_mat
-    size += nx*nu *sizeof(double);                  // d_B_mat
-    size += (ng + ng_e) * nx * sizeof(double);      // d_Cg_mat, d_Cg_e_mat
-    size += (ng) * nu * sizeof(double);             // d_Dg_mat
-    size += (nh + nh_e + ng + ng_e) * nx * sizeof(double);      // d_Cgh_mat, d_Cgh_e_mat
-    size += (nh + ng) * nu * sizeof(double);        // d_Dgh_mat
-    // d_state_vec
-    size += nx *sizeof(double);
-    // constraints and tightened constraints
-    size += 4 * (nbx + nbu + ng + nh)*sizeof(double);
-    size += 4 * (nbx_e + ng_e + nh_e)*sizeof(double);
-    size += (nbx + nbu + nbx_e)*sizeof(int);        // idxbx, idxbu, idxbx_e
-
-    size += 1 * 8; // initial alignment
-    make_int_multiple_of(64, &size);
-    size += 1 * 64;
-
-    return size;
-}
-
-
-static custom_memory *custom_memory_assign(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims, void *raw_memory)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
-    int nbx_e = {{ dims.nbx_e }};
-
-    char *c_ptr = (char *) raw_memory;
-    custom_memory *mem = (custom_memory *) c_ptr;
-    c_ptr += sizeof(custom_memory);
-
-    align_char_to(8, &c_ptr);
-    assign_and_advance_blasfeo_dmat_structs(N+1, &mem->uncertainty_matrix_buffer, &c_ptr);
-
-    align_char_to(64, &c_ptr);
-
-    for (int ii = 0; ii <= N; ii++)
-    {
-        assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->uncertainty_matrix_buffer[ii], &c_ptr);
-    }
-    // Disturbance Dynamics
-    assign_and_advance_blasfeo_dmat_mem(nw, nw, &mem->W_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->unc_jac_G_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->temp_GW_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->GWG_mat, &c_ptr);
-    // System Dynamics
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->A_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nu, &mem->B_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng, nx, &mem->Cg_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng, nu, &mem->Dg_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng_e, nx, &mem->Cg_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_e_max, nu, &mem->dummy_Dgh_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh, nx, &mem->Ch_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh, nu, &mem->Dh_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh_e, nx, &mem->Ch_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->K_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->AK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->temp_AP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->temp_KP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nu, &mem->temp_KPK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDKmP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, ngh_me_max, &mem->temp_beta_mat, &c_ptr);
-
-    assign_and_advance_double(nx*nx, &mem->d_A_mat, &c_ptr);
-    assign_and_advance_double(nx*nu, &mem->d_B_mat, &c_ptr);
-    assign_and_advance_double(ng*nx, &mem->d_Cg_mat, &c_ptr);
-    assign_and_advance_double(ng*nu, &mem->d_Dg_mat, &c_ptr);
-    assign_and_advance_double(ng_e*nx, &mem->d_Cg_e_mat, &c_ptr);
-    assign_and_advance_double((ng + nh)*nx, &mem->d_Cgh_mat, &c_ptr);
-    assign_and_advance_double((ng + nh)*nu, &mem->d_Dgh_mat, &c_ptr);
-    assign_and_advance_double((ng_e + nh_e)*nx, &mem->d_Cgh_e_mat, &c_ptr);
-    assign_and_advance_double(nx, &mem->d_state_vec, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_lbx, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_ubx, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_lbx_e, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_ubx_e, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_lbx_tightened, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_ubx_tightened, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_lbx_e_tightened, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_ubx_e_tightened, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_lbu, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_ubu, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_lbu_tightened, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_ubu_tightened, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_lg, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_ug, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_lg_e, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_ug_e, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_lg_tightened, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_ug_tightened, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_lg_e_tightened, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_ug_e_tightened, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_lh, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_uh, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_lh_e, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_uh_e, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_lh_tightened, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_uh_tightened, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_lh_e_tightened, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_uh_e_tightened, &c_ptr);
-
-    assign_and_advance_int(nbx, &mem->idxbx, &c_ptr);
-    assign_and_advance_int(nbu, &mem->idxbu, &c_ptr);
-    assign_and_advance_int(nbx_e, &mem->idxbx_e, &c_ptr);
-
-    assert((char *) raw_memory + custom_memory_calculate_size(nlp_config, nlp_dims) >= c_ptr);
-    mem->raw_memory = raw_memory;
-
-    return mem;
-}
-
-
-
-static void *custom_memory_create({{ model.name }}_solver_capsule* capsule)
-{
-    printf("\nin custom_memory_create_function\n");
-
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    acados_size_t bytes = custom_memory_calculate_size(nlp_config, nlp_dims);
-
-    void *ptr = acados_calloc(1, bytes);
-
-    custom_memory *custom_mem = custom_memory_assign(nlp_config, nlp_dims, ptr);
-    custom_mem->raw_memory = ptr;
-
-    return custom_mem;
-}
-
-
-static void custom_val_init_function(ocp_nlp_dims *nlp_dims, ocp_nlp_in *nlp_in, ocp_nlp_solver *nlp_solver, custom_memory *custom_mem)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int nbx_e = {{ dims.nbx_e }};
-
-    /* Get the state constraint bounds */
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbx", custom_mem->idxbx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "idxbx", custom_mem->idxbx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbu", custom_mem->idxbu);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu);
-    // Get the Jacobians and the bounds of the linear constraints
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "C", custom_mem->d_Cg_mat);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "D", custom_mem->d_Dg_mat);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "C", custom_mem->d_Cg_e_mat);
-    blasfeo_pack_dmat(ng, nx, custom_mem->d_Cg_mat, ng, &custom_mem->Cg_mat, 0, 0);
-    blasfeo_pack_dmat(ng, nu, custom_mem->d_Dg_mat, ng, &custom_mem->Dg_mat, 0, 0);
-    blasfeo_pack_dmat(ng_e, nx, custom_mem->d_Cg_e_mat, ng_e, &custom_mem->Cg_e_mat, 0, 0);
-    blasfeo_dgese(ngh_e_max, nu, 0., &custom_mem->dummy_Dgh_e_mat, 0, 0); //fill with zeros
-    // NOTE: fixed lower and upper bounds of nonlinear constraints
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e);
-
-    /* Initilize tightened constraints*/
-    // NOTE: tightened constraints are only initialized once
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
-
-    /* Initialize the W matrix */
-    // blasfeo_dgese(nw, nw, 0., &custom_mem->W_mat, 0, 0);
-{%- for ir in range(end=zoro_description.nw) %}
-    {%- for ic in range(end=zoro_description.nw) %}
-    blasfeo_dgein1({{zoro_description.W_mat[ir][ic]}}, &custom_mem->W_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-{%- for ir in range(end=dims.nx) %}
-    {%- for ic in range(end=zoro_description.nw) %}
-    blasfeo_dgein1({{zoro_description.unc_jac_G_mat[ir][ic]}}, &custom_mem->unc_jac_G_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-    // NOTE: if G is changing this is not in init!
-    // temp_GW_mat = unc_jac_G_mat * W_mat
-    blasfeo_dgemm_nn(nx, nw, nw, 1.0, &custom_mem->unc_jac_G_mat, 0, 0,
-                        &custom_mem->W_mat, 0, 0, 0.0,
-                        &custom_mem->temp_GW_mat, 0, 0, &custom_mem->temp_GW_mat, 0, 0);
-    // GWG_mat = temp_GW_mat * unc_jac_G_mat^T
-    blasfeo_dgemm_nt(nx, nx, nw, 1.0, &custom_mem->temp_GW_mat, 0, 0,
-                        &custom_mem->unc_jac_G_mat, 0, 0, 0.0,
-                        &custom_mem->GWG_mat, 0, 0, &custom_mem->GWG_mat, 0, 0);
-
-    /* Initialize the uncertainty_matrix_buffer[0] */
-{%- for ir in range(end=dims.nx) %}
-    {%- for ic in range(end=dims.nx) %}
-    blasfeo_dgein1({{zoro_description.P0_mat[ir][ic]}}, &custom_mem->uncertainty_matrix_buffer[0], {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-    /* Initialize the feedback gain matrix */
-{%- for ir in range(end=dims.nu) %}
-    {%- for ic in range(end=dims.nx) %}
-    blasfeo_dgein1({{zoro_description.fdbk_K_mat[ir][ic]}}, &custom_mem->K_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-}
-
-
-int custom_update_init_function({{ model.name }}_solver_capsule* capsule)
-{
-    capsule->custom_update_memory = custom_memory_create(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
-    custom_val_init_function(nlp_dims, nlp_in, nlp_solver, capsule->custom_update_memory);
-    return 1;
-}
-
-static void compute_gh_beta(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* C_mat,
-                         struct blasfeo_dmat* D_mat, struct blasfeo_dmat* CaDK_mat,
-                         struct blasfeo_dmat* CaDKmP_mat, struct blasfeo_dmat* beta_mat,
-                         struct blasfeo_dmat* P_mat,
-                         int n_cstr, int nx, int nu)
-{
-    // (C+DK)@P@(C^T+K^TD^T)
-    // CaDK_mat = C_mat + D_mat @ K_mat
-    blasfeo_dgemm_nn(n_cstr, nx, nu, 1.0, D_mat, 0, 0,
-                        K_mat, 0, 0, 1.0,
-                        C_mat, 0, 0, CaDK_mat, 0, 0);
-    // CaDKmP_mat = CaDK_mat @ P_mat
-    blasfeo_dgemm_nn(n_cstr, nx, nx, 1.0, CaDK_mat, 0, 0,
-                        P_mat, 0, 0, 0.0,
-                        CaDKmP_mat, 0, 0, CaDKmP_mat, 0, 0);
-    // beta_mat = CaDKmP_mat @ CaDK_mat^T
-    blasfeo_dgemm_nt(n_cstr, n_cstr, nx, 1.0, CaDKmP_mat, 0, 0,
-                        CaDK_mat, 0, 0, 0.0,
-                        beta_mat, 0, 0, beta_mat, 0, 0);
-}
-
-static void compute_KPK(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* temp_KP_mat,
-                        struct blasfeo_dmat* temp_KPK_mat, struct blasfeo_dmat* P_mat,
-                        int nx, int nu)
-{
-    // K @ P_k @ K^T
-    // temp_KP_mat = K_mat @ P_mat
-    blasfeo_dgemm_nn(nu, nx, nx, 1.0, K_mat, 0, 0,
-                     P_mat, 0, 0, 0.0,
-                     temp_KP_mat, 0, 0, temp_KP_mat, 0, 0);
-    // temp_KPK_mat = temp_KP_mat @ K_mat^T
-    blasfeo_dgemm_nt(nu, nu, nx, 1.0, temp_KP_mat, 0, 0,
-                     K_mat, 0, 0, 0.0,
-                     temp_KPK_mat, 0, 0, temp_KPK_mat, 0, 0);
-}
-
-static void compute_next_P_matrix(struct blasfeo_dmat* P_mat, struct blasfeo_dmat* P_next_mat,
-                                  struct blasfeo_dmat* A_mat, struct blasfeo_dmat* B_mat,
-                                  struct blasfeo_dmat* K_mat, struct blasfeo_dmat* W_mat,
-                                  struct blasfeo_dmat* AK_mat, struct blasfeo_dmat* temp_AP_mat, int nx, int nu)
-{
-    // AK_mat = -B@K + A
-    blasfeo_dgemm_nn(nx, nx, nu, -1.0, B_mat, 0, 0, K_mat, 0, 0,
-                        1.0, A_mat, 0, 0, AK_mat, 0, 0);
-    // temp_AP_mat = AK_mat @ P_k
-    blasfeo_dgemm_nn(nx, nx, nx, 1.0, AK_mat, 0, 0,
-                        P_mat, 0, 0, 0.0,
-                        temp_AP_mat, 0, 0, temp_AP_mat, 0, 0);
-    // P_{k+1} = temp_AP_mat @ AK_mat^T + GWG_mat
-    blasfeo_dgemm_nt(nx, nx, nx, 1.0, temp_AP_mat, 0, 0,
-                        AK_mat, 0, 0, 1.0,
-                        W_mat, 0, 0, P_next_mat, 0, 0);
-}
-
-static void reset_P0_matrix(ocp_nlp_dims *nlp_dims, struct blasfeo_dmat* P_mat, double* data)
-{
-    int nx = nlp_dims->nx[0];
-    blasfeo_pack_dmat(nx, nx, data, nx, P_mat, 0, 0);
-}
-
-static void uncertainty_propagate_and_update(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, custom_memory *custom_mem)
-{
-    ocp_nlp_config *nlp_config = solver->config;
-    ocp_nlp_dims *nlp_dims = solver->dims;
-
-    int N = nlp_dims->N;
-    int nx = nlp_dims->nx[0];
-    int nu = nlp_dims->nu[0];
-    int nx_sqr = nx*nx;
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int nbx_e = {{ dims.nbx_e }};
-    double backoff_scaling_gamma = {{ zoro_description.backoff_scaling_gamma }};
-
-    // First Stage
-    // NOTE: lbx_0 and ubx_0 should not be tightened.
-    // NOTE: lg_0 and ug_0 are not tightened.
-    // NOTE: lh_0 and uh_0 are not tightened.
-{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
-    compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
-                &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[0]), nx, nu);
-
-{%- if zoro_description.nlbu_t > 0 %}
-    // backoff lbu
-    {%- for it in zoro_description.idx_lbu_t %}
-    custom_mem->d_lbu_tightened[{{it}}]
-        = custom_mem->d_lbu[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbu", custom_mem->d_lbu_tightened);
-{%- endif %}
-{%- if zoro_description.nubu_t > 0 %}
-    // backoff ubu
-    {%- for it in zoro_description.idx_ubu_t %}
-    custom_mem->d_ubu_tightened[{{it}}]
-        = custom_mem->d_ubu[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubu", custom_mem->d_ubu_tightened);
-{%- endif %}
-{%- endif %}
-    // Middle Stages
-    // constraint tightening: for next stage based on dynamics of ii stage
-    // P[ii+1] = (A-B@K) @ P[ii] @ (A-B@K).T + G@W@G.T
-    for (int ii = 0; ii < N-1; ii++)
-    {
-        // get and pack: A, B
-        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "A", custom_mem->d_A_mat);
-        blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
-        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "B", custom_mem->d_B_mat);
-        blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
-
-        compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[ii]),
-                              &(custom_mem->uncertainty_matrix_buffer[ii+1]),
-                              &custom_mem->A_mat, &custom_mem->B_mat,
-                              &custom_mem->K_mat, &custom_mem->GWG_mat,
-                              &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
-
-        // state constraints
-{%- if zoro_description.nlbx_t + zoro_description.nubx_t> 0 %}
-    {%- if zoro_description.nlbx_t > 0 %}
-        // lbx
-        {%- for it in zoro_description.idx_lbx_t %}
-        custom_mem->d_lbx_tightened[{{it}}]
-            = custom_mem->d_lbx[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
-                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbx", custom_mem->d_lbx_tightened);
-    {%- endif %}
-    {% if zoro_description.nubx_t > 0 %}
-        // ubx
-        {%- for it in zoro_description.idx_ubx_t %}
-        custom_mem->d_ubx_tightened[{{it}}] = custom_mem->d_ubx[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
-                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubx", custom_mem->d_ubx_tightened);
-    {%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
-        // input constraints
-        compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
-            &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[ii+1]), nx, nu);
-
-    {%- if zoro_description.nlbu_t > 0 %}
-        {%- for it in zoro_description.idx_lbu_t %}
-        custom_mem->d_lbu_tightened[{{it}}] = custom_mem->d_lbu[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
-        {%- endfor %}
-
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbu", custom_mem->d_lbu_tightened);
-    {%- endif %}
-    {%- if zoro_description.nubu_t > 0 %}
-        {%- for it in zoro_description.idx_ubu_t %}
-        custom_mem->d_ubu_tightened[{{it}}] = custom_mem->d_ubu[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubu", custom_mem->d_ubu_tightened);
-    {%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlg_t + zoro_description.nug_t > 0 %}
-        // Linear constraints: g
-        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
-                     &custom_mem->Dg_mat, &custom_mem->temp_CaDK_mat,
-                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                     &custom_mem->uncertainty_matrix_buffer[ii+1], ng, nx, nu);
-
-    {%- if zoro_description.nlg_t > 0 %}
-        {%- for it in zoro_description.idx_lg_t %}
-        custom_mem->d_lg_tightened[{{it}}]
-            = custom_mem->d_lg[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lg", custom_mem->d_lg_tightened);
-    {%- endif %}
-    {%- if zoro_description.nug_t > 0 %}
-        {%- for it in zoro_description.idx_ug_t %}
-        custom_mem->d_ug_tightened[{{it}}]
-            = custom_mem->d_ug[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ug", custom_mem->d_ug_tightened);
-    {%- endif %}
-{%- endif %}
-
-
-{%- if zoro_description.nlh_t + zoro_description.nuh_t > 0 %}
-        // nonlinear constraints: h
-        // Get C_{k+1} and D_{k+1}
-        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "C", custom_mem->d_Cgh_mat);
-        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "D", custom_mem->d_Dgh_mat);
-        // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
-        blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
-        blasfeo_pack_dmat(nh, nu, custom_mem->d_Dgh_mat+ng, ng+nh, &custom_mem->Dh_mat, 0, 0);
-
-        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
-                     &custom_mem->Dh_mat, &custom_mem->temp_CaDK_mat,
-                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                     &custom_mem->uncertainty_matrix_buffer[ii+1], nh, nx, nu);
-
-    {%- if zoro_description.nlh_t > 0 %}
-        {%- for it in zoro_description.idx_lh_t %}
-        custom_mem->d_lh_tightened[{{it}}]
-            = custom_mem->d_lh[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lh", custom_mem->d_lh_tightened);
-    {%- endif %}
-    {%- if zoro_description.nuh_t > 0 %}
-        {%- for it in zoro_description.idx_uh_t %}
-        custom_mem->d_uh_tightened[{{it}}] = custom_mem->d_uh[{{it}}]
-                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "uh", custom_mem->d_uh_tightened);
-    {%- endif %}
-{%- endif %}
-    }
-
-    // Last stage
-    // get and pack: A, B
-    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "A", custom_mem->d_A_mat);
-    blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
-    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "B", custom_mem->d_B_mat);
-    blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
-    // AK_mat = -B*K + A
-    compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[N-1]),
-                        &(custom_mem->uncertainty_matrix_buffer[N]),
-                        &custom_mem->A_mat, &custom_mem->B_mat,
-                        &custom_mem->K_mat, &custom_mem->GWG_mat,
-                        &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
-
-    // state constraints nlbx_e_t
-{%- if zoro_description.nlbx_e_t + zoro_description.nubx_e_t> 0 %}
-{%- if zoro_description.nlbx_e_t > 0 %}
-    // lbx_e
-    {%- for it in zoro_description.idx_lbx_e_t %}
-    custom_mem->d_lbx_e_tightened[{{it}}]
-        = custom_mem->d_lbx_e[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
-                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
-{%- endif %}
-{% if zoro_description.nubx_e_t > 0 %}
-    // ubx_e
-    {%- for it in zoro_description.idx_ubx_e_t %}
-    custom_mem->d_ubx_e_tightened[{{it}}] = custom_mem->d_ubx_e[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
-                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
-{%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlg_e_t + zoro_description.nug_e_t > 0 %}
-    // Linear constraints: g
-    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
-                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
-                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                    &custom_mem->uncertainty_matrix_buffer[N], ng, nx, nu);
-
-{%- if zoro_description.nlg_e_t > 0 %}
-    {%- for it in zoro_description.idx_lg_e_t %}
-    custom_mem->d_lg_e_tightened[{{it}}]
-        = custom_mem->d_lg_e[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
-{%- endif %}
-{%- if zoro_description.nug_e_t > 0 %}
-    {%- for it in zoro_description.idx_ug_e_t %}
-    custom_mem->d_ug_e_tightened[{{it}}]
-        = custom_mem->d_ug_e[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
-{%- endif %}
-{%- endif %}
-
-
-{%- if zoro_description.nlh_e_t + zoro_description.nuh_e_t > 0 %}
-    // nonlinear constraints: h
-    // Get C_{k+1} and D_{k+1}
-    ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, N, "C", custom_mem->d_Cgh_mat);
-    // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
-    blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
-
-    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
-                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
-                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                    &custom_mem->uncertainty_matrix_buffer[N], nh, nx, nu);
-
-    {%- if zoro_description.nlh_e_t > 0 %}
-        {%- for it in zoro_description.idx_lh_e_t %}
-        custom_mem->d_lh_e_tightened[{{it}}]
-            = custom_mem->d_lh_e[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
-    {%- endif %}
-    {%- if zoro_description.nuh_e_t > 0 %}
-        {%- for it in zoro_description.idx_uh_e_t %}
-        custom_mem->d_uh_e_tightened[{{it}}] = custom_mem->d_uh_e[{{it}}]
-                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
-    {%- endif %}
-{%- endif %}
-
-}
-
-
-int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
-{
-    custom_memory *custom_mem = (custom_memory *) capsule->custom_update_memory;
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(capsule);
-
-    if (data_len > 0)
-    {
-        reset_P0_matrix(nlp_dims, &custom_mem->uncertainty_matrix_buffer[0], data);
-    }
-    uncertainty_propagate_and_update(nlp_solver, nlp_in, nlp_out, custom_mem);
-
-    return 1;
-}
-
-
-int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule)
-{
-    custom_memory *mem = capsule->custom_update_memory;
-
-    free(mem->raw_memory);
-    return 1;
-}
-
-// useful prints for debugging
-
-/*
-printf("A_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->A_mat, 0, 0);
-printf("B_mat:\n");
-blasfeo_print_exp_dmat(nx, nu, &custom_mem->B_mat, 0, 0);
-printf("K_mat:\n");
-blasfeo_print_exp_dmat(nu, nx, &custom_mem->K_mat, 0, 0);
-printf("AK_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->AK_mat, 0, 0);
-printf("temp_AP_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->temp_AP_mat, 0, 0);
-printf("W_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->W_mat, 0, 0);
-printf("P_k+1:\n");
-blasfeo_print_exp_dmat(nx, nx, &(custom_mem->uncertainty_matrix_buffer[ii+1]), 0, 0);*/
\ No newline at end of file
diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
deleted file mode 100644
index 9611ea210c..0000000000
--- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#include "acados_solver_{{ model.name }}.h"
-
-// Called at the end of solver creation.
-// This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
-int custom_update_init_function({{ model.name }}_solver_capsule* capsule);
-
-
-// Custom update function that can be called between solver calls
-int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
-
-
-// Called just before destroying the solver.
-// Responsible to free allocated memory, stored at capsule->custom_update_memory.
-int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule);
diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py
deleted file mode 100644
index 8b13789179..0000000000
--- a/third_party/acados/acados_template/gnsf/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/third_party/acados/acados_template/gnsf/check_reformulation.py b/third_party/acados/acados_template/gnsf/check_reformulation.py
deleted file mode 100644
index 2bdfbbc336..0000000000
--- a/third_party/acados/acados_template/gnsf/check_reformulation.py
+++ /dev/null
@@ -1,216 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from acados_template.utils import casadi_length
-from casadi import *
-import numpy as np
-
-
-def check_reformulation(model, gnsf, print_info):
-
-    ## Description:
-    # this function takes the implicit ODE/ index-1 DAE and a gnsf structure
-    # to evaluate both models at num_eval random points x0, x0dot, z0, u0
-    # if for all points the relative error is <= TOL, the function will return::
-    # 1, otherwise it will give an error.
-
-    TOL = 1e-14
-    num_eval = 10
-
-    # get dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-    nx1 = gnsf["nx1"]
-    nx2 = gnsf["nx2"]
-    nz1 = gnsf["nz1"]
-    nz2 = gnsf["nz2"]
-    n_out = gnsf["n_out"]
-
-    # get model matrices
-    A = gnsf["A"]
-    B = gnsf["B"]
-    C = gnsf["C"]
-    E = gnsf["E"]
-    c = gnsf["c"]
-
-    L_x = gnsf["L_x"]
-    L_xdot = gnsf["L_xdot"]
-    L_z = gnsf["L_z"]
-    L_u = gnsf["L_u"]
-
-    A_LO = gnsf["A_LO"]
-    E_LO = gnsf["E_LO"]
-    B_LO = gnsf["B_LO"]
-    c_LO = gnsf["c_LO"]
-
-    I_x1 = range(nx1)
-    I_x2 = range(nx1, nx)
-
-    I_z1 = range(nz1)
-    I_z2 = range(nz1, nz)
-
-    idx_perm_f = gnsf["idx_perm_f"]
-
-    # get casadi variables
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    z = gnsf["z"]
-    u = gnsf["u"]
-    y = gnsf["y"]
-    uhat = gnsf["uhat"]
-    p = gnsf["p"]
-
-    # create functions
-    impl_dae_fun = Function("impl_dae_fun", [x, xdot, u, z, p], [model.f_impl_expr])
-    phi_fun = Function("phi_fun", [y, uhat, p], [gnsf["phi_expr"]])
-    f_lo_fun = Function(
-        "f_lo_fun", [x[range(nx1)], xdot[range(nx1)], z, u, p], [gnsf["f_lo_expr"]]
-    )
-
-    # print(gnsf)
-    # print(gnsf["n_out"])
-
-    for i_check in range(num_eval):
-        # generate random values
-        x0 = np.random.rand(nx, 1)
-        x0dot = np.random.rand(nx, 1)
-        z0 = np.random.rand(nz, 1)
-        u0 = np.random.rand(nu, 1)
-
-        if gnsf["ny"] > 0:
-            y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0[I_z1]
-        else:
-            y0 = []
-        if gnsf["nuhat"] > 0:
-            uhat0 = L_u @ u0
-        else:
-            uhat0 = []
-
-        # eval functions
-        p0 = np.random.rand(gnsf["np"], 1)
-        f_impl_val = impl_dae_fun(x0, x0dot, u0, z0, p0).full()
-        phi_val = phi_fun(y0, uhat0, p0)
-        f_lo_val = f_lo_fun(x0[I_x1], x0dot[I_x1], z0[I_z1], u0, p0)
-
-        f_impl_val = f_impl_val[idx_perm_f]
-        # eval gnsf
-        if n_out > 0:
-            C_phi = C @ phi_val
-        else:
-            C_phi = np.zeros((nx1 + nz1, 1))
-        try:
-            gnsf_val1 = (
-                A @ x0[I_x1] + B @ u0 + C_phi + c - E @ vertcat(x0dot[I_x1], z0[I_z1])
-            )
-            # gnsf_1 = (A @ x[I_x1] + B @ u + C_phi + c - E @ vertcat(xdot[I_x1], z[I_z1]))
-        except:
-            import pdb
-
-            pdb.set_trace()
-
-        if nx2 > 0:  # eval LOS:
-            gnsf_val2 = (
-                A_LO @ x0[I_x2]
-                + B_LO @ u0
-                + c_LO
-                + f_lo_val
-                - E_LO @ vertcat(x0dot[I_x2], z0[I_z2])
-            )
-            gnsf_val = vertcat(gnsf_val1, gnsf_val2).full()
-        else:
-            gnsf_val = gnsf_val1.full()
-        # compute error and check
-        rel_error = np.linalg.norm(f_impl_val - gnsf_val) / np.linalg.norm(f_impl_val)
-
-        if rel_error > TOL:
-            print("transcription failed rel_error > TOL")
-            print("you are in debug mode now: import pdb; pdb.set_trace()")
-            abs_error = gnsf_val - f_impl_val
-            # T = table(f_impl_val, gnsf_val, abs_error)
-            # print(T)
-            print("abs_error:", abs_error)
-            #         error('transcription failed rel_error > TOL')
-            #         check = 0
-            import pdb
-
-            pdb.set_trace()
-    if print_info:
-        print(" ")
-        print("model reformulation checked: relative error <= TOL = ", str(TOL))
-        print(" ")
-        check = 1
-    ## helpful for debugging:
-    # # use in calling function and compare
-    # # compare f_impl(i) with gnsf_val1(i)
-    #
-
-    #     nx  = gnsf['nx']
-    #     nu  = gnsf['nu']
-    #     nz  = gnsf['nz']
-    #     nx1 = gnsf['nx1']
-    #     nx2 = gnsf['nx2']
-    #
-    #         A  = gnsf['A']
-    #     B  = gnsf['B']
-    #     C  = gnsf['C']
-    #     E  = gnsf['E']
-    #     c  = gnsf['c']
-    #
-    #     L_x    = gnsf['L_x']
-    #     L_z    = gnsf['L_z']
-    #     L_xdot = gnsf['L_xdot']
-    #     L_u    = gnsf['L_u']
-    #
-    #     A_LO = gnsf['A_LO']
-    #
-    #     x0 = rand(nx, 1)
-    #     x0dot = rand(nx, 1)
-    #     z0 = rand(nz, 1)
-    #     u0 = rand(nu, 1)
-    #     I_x1 = range(nx1)
-    #     I_x2 = nx1+range(nx)
-    #
-    #     y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0
-    #     uhat0 = L_u @ u0
-    #
-    #     gnsf_val1 = (A @ x[I_x1] + B @ u + #         C @ phi_current + c) - E @ [xdot[I_x1] z]
-    #     gnsf_val1 = gnsf_val1.simplify()
-    #
-    # #     gnsf_val2 = A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
-    #     gnsf_val2 =  A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
-    #
-    #
-    #     gnsf_val = [gnsf_val1 gnsf_val2]
-    #     gnsf_val = gnsf_val.simplify()
-    #     dyn_expr_f = dyn_expr_f.simplify()
-    # import pdb; pdb.set_trace()
-
-    return check
diff --git a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
deleted file mode 100644
index ebf1f373a4..0000000000
--- a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
+++ /dev/null
@@ -1,278 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from casadi import *
-from .check_reformulation import check_reformulation
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from ..utils import casadi_length, print_casadi_expression
-
-
-def detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info):
-
-    ## Description
-    # this function takes a gnsf structure with trivial model matrices (A, B,
-    # E, c are zeros, and C is eye).
-    # It detects all affine linear terms and sets up an equivalent model in the
-    # GNSF structure, where all affine linear terms are modeled through the
-    # matrices A, B, E, c and the linear output system (LOS) is empty.
-    # NOTE: model is just taken as an argument to check equivalence of the
-    # models within the function.
-
-    model = acados_ocp.model
-    if print_info:
-        print(" ")
-        print("====================================================================")
-        print(" ")
-        print("============  Detect affine-linear dependencies   ==================")
-        print(" ")
-        print("====================================================================")
-        print(" ")
-    # symbolics
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    u = gnsf["u"]
-    z = gnsf["z"]
-
-    # dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-
-    ny_old = gnsf["ny"]
-    nuhat_old = gnsf["nuhat"]
-
-    ## Represent all affine dependencies through the model matrices A, B, E, c
-    ## determine A
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for ix in range(nx):
-            var = x[ix]
-            varname = var.name
-            # symbolic jacobian of fii w.r.t. xi
-            jac_fii_xi = jacobian(fii, var)
-            if jac_fii_xi.is_constant():
-                # jacobian value
-                jac_fii_xi_fun = Function("jac_fii_xi_fun", [x[1]], [jac_fii_xi])
-                # x[1] as input just to have a scalar input and call the function as follows:
-                gnsf["A"][ii, ix] = jac_fii_xi_fun(0).full()
-            else:
-                gnsf["A"][ii, ix] = 0
-                if print_info:
-                    print(
-                        "phi(",
-                        str(ii),
-                        ") is nonlinear in x(",
-                        str(ix),
-                        ") = ",
-                        varname,
-                    )
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] - gnsf["A"] @ x
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix A:")
-        print(gnsf["A"])
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-    # assert(n_nodes_current >= n_nodes_next,'n_nodes_current >= n_nodes_next FAILED')
-    gnsf["phi_expr"] = f_next
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine B
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for iu in range(nu):
-            var = u[iu]
-            varname = var.name
-            # symbolic jacobian of fii w.r.t. ui
-            jac_fii_ui = jacobian(fii, var)
-            if jac_fii_ui.is_constant():  # i.e. hessian is structural zero:
-                # jacobian value
-                jac_fii_ui_fun = Function("jac_fii_ui_fun", [x[1]], [jac_fii_ui])
-                gnsf["B"][ii, iu] = jac_fii_ui_fun(0).full()
-            else:
-                gnsf["B"][ii, iu] = 0
-                if print_info:
-                    print(f"phi({ii}) is nonlinear in u(", str(iu), ") = ", varname)
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] - gnsf["B"] @ u
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix B:")
-        print(gnsf["B"])
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-
-    gnsf["phi_expr"] = f_next
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine E
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    k = vertcat(xdot, z)
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for ik in range(casadi_length(k)):
-            # symbolic jacobian of fii w.r.t. ui
-            var = k[ik]
-            varname = var.name
-            jac_fii_ki = jacobian(fii, var)
-            if jac_fii_ki.is_constant():
-                # jacobian value
-                jac_fii_ki_fun = Function("jac_fii_ki_fun", [x[1]], [jac_fii_ki])
-                gnsf["E"][ii, ik] = -jac_fii_ki_fun(0).full()
-            else:
-                gnsf["E"][ii, ik] = 0
-                if print_info:
-                    print(f"phi( {ii}) is nonlinear in xdot_z({ik}) = ", varname)
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] + gnsf["E"] @ k
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix E:")
-        print(gnsf["E"])
-        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
-
-    gnsf["phi_expr"] = f_next
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine constant term c
-
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        if fii.is_constant():
-            # function value goes into c
-            fii_fun = Function("fii_fun", [x[1]], [fii])
-            gnsf["c"][ii] = fii_fun(0).full()
-        else:
-            gnsf["c"][ii] = 0
-            if print_info:
-                print(f"phi(", str(ii), ") is NOT constant")
-                print(fii)
-                print("-----------------------------------------------------")
-    gnsf["phi_expr"] = gnsf["phi_expr"] - gnsf["c"]
-    gnsf["phi_expr"] = simplify(gnsf["phi_expr"])
-    n_nodes_next = n_nodes(gnsf["phi_expr"])
-
-    if print_info:
-        print("\n")
-        print(f"determined vector c:")
-        print(gnsf["c"])
-        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine nonlinearity & corresponding matrix C
-    ## Reduce dimension of phi
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    ind_non_zero = []
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        fii = simplify(fii)
-        if not fii.is_zero():
-            ind_non_zero = list(set.union(set(ind_non_zero), set([ii])))
-    gnsf["phi_expr"] = gnsf["phi_expr"][ind_non_zero]
-
-    # C
-    gnsf["C"] = np.zeros((nx + nz, len(ind_non_zero)))
-    for ii in range(len(ind_non_zero)):
-        gnsf["C"][ind_non_zero[ii], ii] = 1
-    gnsf = determine_input_nonlinearity_function(gnsf)
-    n_nodes_next = n_nodes(gnsf["phi_expr"])
-
-    if print_info:
-        print(" ")
-        print("determined matrix C:")
-        print(gnsf["C"])
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            "------------- Success: Affine linear terms detected -----------------------------"
-        )
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            f'reduced nonlinearity dimension n_out from  {nx+nz}  to  {gnsf["n_out"]}'
-        )
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-        print(" ")
-        print("phi now reads as:")
-        print_casadi_expression(gnsf["phi_expr"])
-
-    ## determine input of nonlinearity function
-    check_reformulation(model, gnsf, print_info)
-
-    gnsf["ny"] = casadi_length(gnsf["y"])
-    gnsf["nuhat"] = casadi_length(gnsf["uhat"])
-
-    if print_info:
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-        print(" ")
-        print(
-            f"reduced input ny    of phi from  ",
-            str(ny_old),
-            "   to  ",
-            str(gnsf["ny"]),
-        )
-        print(
-            f"reduced input nuhat of phi from  ",
-            str(nuhat_old),
-            "   to  ",
-            str(gnsf["nuhat"]),
-        )
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-
-    # if print_info:
-    #     print(f"gnsf: {gnsf}")
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
deleted file mode 100644
index 24ffe643b8..0000000000
--- a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
+++ /dev/null
@@ -1,240 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import Function, jacobian, SX, vertcat, horzcat
-
-from .determine_trivial_gnsf_transcription import determine_trivial_gnsf_transcription
-from .detect_affine_terms_reduce_nonlinearity import (
-    detect_affine_terms_reduce_nonlinearity,
-)
-from .reformulate_with_LOS import reformulate_with_LOS
-from .reformulate_with_invertible_E_mat import reformulate_with_invertible_E_mat
-from .structure_detection_print_summary import structure_detection_print_summary
-from .check_reformulation import check_reformulation
-
-
-def detect_gnsf_structure(acados_ocp, transcribe_opts=None):
-
-    ## Description
-    # This function takes a CasADi implicit ODE or index-1 DAE model "model"
-    # consisting of a CasADi expression f_impl in the symbolic CasADi
-    # variables x, xdot, u, z, (and possibly parameters p), which are also part
-    # of the model, as well as a model name.
-    # It will create a struct "gnsf" containing all information needed to use
-    # it with the gnsf integrator in acados.
-    # Additionally it will create the struct "reordered_model" which contains
-    # the permuted state vector and permuted f_impl, in which additionally some
-    # functions, which were made part of the linear output system of the gnsf,
-    # have changed signs.
-
-    # Options: transcribe_opts is a Matlab struct consisting of booleans:
-    #   print_info: if extensive information on how the model is processed
-    #       is printed to the console.
-    #   generate_gnsf_model: if the neccessary C functions to simulate the gnsf
-    #       model with the acados implementation of the GNSF exploiting
-    #       integrator should be generated.
-    #   generate_gnsf_model: if the neccessary C functions to simulate the
-    #       reordered model with the acados implementation of the IRK
-    #       integrator should be generated.
-    #   check_E_invertibility: if the transcription method should check if the
-    #       assumption that the main blocks of the matrix gnsf.E are invertible
-    #       holds. If not, the method will try to reformulate the gnsf model
-    #       with a different model, such that the assumption holds.
-
-    # acados_root_dir = getenv('ACADOS_INSTALL_DIR')
-
-    ## load transcribe_opts
-    if transcribe_opts is None:
-        print("WARNING: GNSF structure detection called without transcribe_opts")
-        print(" using default settings")
-        print("")
-        transcribe_opts = dict()
-
-    if "print_info" in transcribe_opts:
-        print_info = transcribe_opts["print_info"]
-    else:
-        print_info = 1
-        print("print_info option was not set - default is true")
-
-    if "detect_LOS" in transcribe_opts:
-        detect_LOS = transcribe_opts["detect_LOS"]
-    else:
-        detect_LOS = 1
-        if print_info:
-            print("detect_LOS option was not set - default is true")
-
-    if "check_E_invertibility" in transcribe_opts:
-        check_E_invertibility = transcribe_opts["check_E_invertibility"]
-    else:
-        check_E_invertibility = 1
-        if print_info:
-            print("check_E_invertibility option was not set - default is true")
-
-    ## Reformulate implicit index-1 DAE into GNSF form
-    # (Generalized nonlinear static feedback)
-    gnsf = determine_trivial_gnsf_transcription(acados_ocp, print_info)
-    gnsf = detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info)
-
-    if detect_LOS:
-        gnsf = reformulate_with_LOS(acados_ocp, gnsf, print_info)
-
-    if check_E_invertibility:
-        gnsf = reformulate_with_invertible_E_mat(gnsf, acados_ocp, print_info)
-
-    # detect purely linear model
-    if gnsf["nx1"] == 0 and gnsf["nz1"] == 0 and gnsf["nontrivial_f_LO"] == 0:
-        gnsf["purely_linear"] = 1
-    else:
-        gnsf["purely_linear"] = 0
-
-    structure_detection_print_summary(gnsf, acados_ocp)
-    check_reformulation(acados_ocp.model, gnsf, print_info)
-
-    ## copy relevant fields from gnsf to model
-    acados_ocp.model.get_matrices_fun = Function()
-    dummy = acados_ocp.model.x[0]
-    model_name = acados_ocp.model.name
-
-    get_matrices_fun = Function(
-        f"{model_name}_gnsf_get_matrices_fun",
-        [dummy],
-        [
-            gnsf["A"],
-            gnsf["B"],
-            gnsf["C"],
-            gnsf["E"],
-            gnsf["L_x"],
-            gnsf["L_xdot"],
-            gnsf["L_z"],
-            gnsf["L_u"],
-            gnsf["A_LO"],
-            gnsf["c"],
-            gnsf["E_LO"],
-            gnsf["B_LO"],
-            gnsf["nontrivial_f_LO"],
-            gnsf["purely_linear"],
-            gnsf["ipiv_x"] + 1,
-            gnsf["ipiv_z"] + 1,
-            gnsf["c_LO"],
-        ],
-    )
-
-    phi = gnsf["phi_expr"]
-    y = gnsf["y"]
-    uhat = gnsf["uhat"]
-    p = gnsf["p"]
-
-    jac_phi_y = jacobian(phi, y)
-    jac_phi_uhat = jacobian(phi, uhat)
-
-    phi_fun = Function(f"{model_name}_gnsf_phi_fun", [y, uhat, p], [phi])
-    acados_ocp.model.phi_fun = phi_fun
-    acados_ocp.model.phi_fun_jac_y = Function(
-        f"{model_name}_gnsf_phi_fun_jac_y", [y, uhat, p], [phi, jac_phi_y]
-    )
-    acados_ocp.model.phi_jac_y_uhat = Function(
-        f"{model_name}_gnsf_phi_jac_y_uhat", [y, uhat, p], [jac_phi_y, jac_phi_uhat]
-    )
-
-    x1 = acados_ocp.model.x[gnsf["idx_perm_x"][: gnsf["nx1"]]]
-    x1dot = acados_ocp.model.xdot[gnsf["idx_perm_x"][: gnsf["nx1"]]]
-    if gnsf["nz1"] > 0:
-        z1 = acados_ocp.model.z[gnsf["idx_perm_z"][: gnsf["nz1"]]]
-    else:
-        z1 = SX.sym("z1", 0, 0)
-    f_lo = gnsf["f_lo_expr"]
-    u = acados_ocp.model.u
-    acados_ocp.model.f_lo_fun_jac_x1k1uz = Function(
-        f"{model_name}_gnsf_f_lo_fun_jac_x1k1uz",
-        [x1, x1dot, z1, u, p],
-        [
-            f_lo,
-            horzcat(
-                jacobian(f_lo, x1),
-                jacobian(f_lo, x1dot),
-                jacobian(f_lo, u),
-                jacobian(f_lo, z1),
-            ),
-        ],
-    )
-
-    acados_ocp.model.get_matrices_fun = get_matrices_fun
-
-    size_gnsf_A = gnsf["A"].shape
-    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
-    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
-    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
-
-    # # dim
-    # model['dim_gnsf_nx1'] = gnsf['nx1']
-    # model['dim_gnsf_nx2'] = gnsf['nx2']
-    # model['dim_gnsf_nz1'] = gnsf['nz1']
-    # model['dim_gnsf_nz2'] = gnsf['nz2']
-    # model['dim_gnsf_nuhat'] = gnsf['nuhat']
-    # model['dim_gnsf_ny'] = gnsf['ny']
-    # model['dim_gnsf_nout'] = gnsf['n_out']
-
-    # # sym
-    # model['sym_gnsf_y'] = gnsf['y']
-    # model['sym_gnsf_uhat'] = gnsf['uhat']
-
-    # # data
-    # model['dyn_gnsf_A'] = gnsf['A']
-    # model['dyn_gnsf_A_LO'] = gnsf['A_LO']
-    # model['dyn_gnsf_B'] = gnsf['B']
-    # model['dyn_gnsf_B_LO'] = gnsf['B_LO']
-    # model['dyn_gnsf_E'] = gnsf['E']
-    # model['dyn_gnsf_E_LO'] = gnsf['E_LO']
-    # model['dyn_gnsf_C'] = gnsf['C']
-    # model['dyn_gnsf_c'] = gnsf['c']
-    # model['dyn_gnsf_c_LO'] = gnsf['c_LO']
-    # model['dyn_gnsf_L_x'] = gnsf['L_x']
-    # model['dyn_gnsf_L_xdot'] = gnsf['L_xdot']
-    # model['dyn_gnsf_L_z'] = gnsf['L_z']
-    # model['dyn_gnsf_L_u'] = gnsf['L_u']
-    # model['dyn_gnsf_idx_perm_x'] = gnsf['idx_perm_x']
-    # model['dyn_gnsf_ipiv_x'] = gnsf['ipiv_x']
-    # model['dyn_gnsf_idx_perm_z'] = gnsf['idx_perm_z']
-    # model['dyn_gnsf_ipiv_z'] = gnsf['ipiv_z']
-    # model['dyn_gnsf_idx_perm_f'] = gnsf['idx_perm_f']
-    # model['dyn_gnsf_ipiv_f'] = gnsf['ipiv_f']
-
-    # # flags
-    # model['dyn_gnsf_nontrivial_f_LO'] = gnsf['nontrivial_f_LO']
-    # model['dyn_gnsf_purely_linear'] = gnsf['purely_linear']
-
-    # # casadi expr
-    # model['dyn_gnsf_expr_phi'] = gnsf['phi_expr']
-    # model['dyn_gnsf_expr_f_lo'] = gnsf['f_lo_expr']
-
-    return acados_ocp
diff --git a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
deleted file mode 100644
index 94aa001c79..0000000000
--- a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
+++ /dev/null
@@ -1,110 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import *
-from ..utils import casadi_length, is_empty
-
-
-def determine_input_nonlinearity_function(gnsf):
-
-    ## Description
-    # this function takes a structure gnsf and updates the matrices L_x,
-    # L_xdot, L_z, L_u and CasADi vectors y, uhat of this structure as follows:
-
-    # given a CasADi expression phi_expr, which may depend on the variables
-    # (x1, x1dot, z, u), this function determines a vector y (uhat) consisting
-    # of all components of (x1, x1dot, z) (respectively u) that enter phi_expr.
-    # Additionally matrices L_x, L_xdot, L_z, L_u are determined such that
-    #           y    = L_x * x + L_xdot * xdot + L_z * z
-    #           uhat = L_u * u
-    # Furthermore the dimensions ny, nuhat, n_out are updated
-
-    ## y
-    y = SX.sym('y', 0, 0)
-    # components of x1
-    for ii in range(gnsf["nx1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["x"][ii])[0]:
-            y = vertcat(y, gnsf["x"][ii])
-        # else:
-        # x[ii] is not part of y
-    # components of x1dot
-    for ii in range(gnsf["nx1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["xdot"][ii])[0]:
-            print(gnsf["phi_expr"], "depends on", gnsf["xdot"][ii])
-            y = vertcat(y, gnsf["xdot"][ii])
-        # else:
-        # xdot[ii] is not part of y
-    # components of z
-    for ii in range(gnsf["nz1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["z"][ii])[0]:
-            y = vertcat(y, gnsf["z"][ii])
-        # else:
-        # z[ii] is not part of y
-    ## uhat
-    uhat = SX.sym('uhat', 0, 0)
-    # components of u
-    for ii in range(gnsf["nu"]):
-        if which_depends(gnsf["phi_expr"], gnsf["u"][ii])[0]:
-            uhat = vertcat(uhat, gnsf["u"][ii])
-        # else:
-        # u[ii] is not part of uhat
-    ## generate gnsf['phi_expr_fun']
-    # linear input matrices
-    if is_empty(y):
-        gnsf["L_x"] = []
-        gnsf["L_xdot"] = []
-        gnsf["L_u"] = []
-        gnsf["L_z"] = []
-    else:
-        dummy = SX.sym("dummy_input", 0)
-        L_x_fun = Function(
-            "L_x_fun", [dummy], [jacobian(y, gnsf["x"][range(gnsf["nx1"])])]
-        )
-        L_xdot_fun = Function(
-            "L_xdot_fun", [dummy], [jacobian(y, gnsf["xdot"][range(gnsf["nx1"])])]
-        )
-        L_z_fun = Function(
-            "L_z_fun", [dummy], [jacobian(y, gnsf["z"][range(gnsf["nz1"])])]
-        )
-        L_u_fun = Function("L_u_fun", [dummy], [jacobian(uhat, gnsf["u"])])
-
-        gnsf["L_x"] = L_x_fun(0).full()
-        gnsf["L_xdot"] = L_xdot_fun(0).full()
-        gnsf["L_u"] = L_u_fun(0).full()
-        gnsf["L_z"] = L_z_fun(0).full()
-    gnsf["y"] = y
-    gnsf["uhat"] = uhat
-
-    gnsf["ny"] = casadi_length(y)
-    gnsf["nuhat"] = casadi_length(uhat)
-    gnsf["n_out"] = casadi_length(gnsf["phi_expr"])
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
deleted file mode 100644
index 23c2440537..0000000000
--- a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
+++ /dev/null
@@ -1,155 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from casadi import *
-import numpy as np
-from ..utils import casadi_length, idx_perm_to_ipiv
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-
-
-def determine_trivial_gnsf_transcription(acados_ocp, print_info):
-    ## Description
-    # this function takes a model of an implicit ODE/ index-1 DAE and sets up
-    # an equivalent model in the GNSF structure, with empty linear output
-    # system and trivial model matrices, i.e. A, B, E, c are zeros, and C is
-    # eye. - no structure is exploited
-
-    model = acados_ocp.model
-    # initial print
-    print("*****************************************************************")
-    print(" ")
-    print(f"******      Restructuring {model.name} model    ***********")
-    print(" ")
-    print("*****************************************************************")
-
-    # load model
-    f_impl_expr = model.f_impl_expr
-
-    model_name_prefix = model.name
-
-    # x
-    x = model.x
-    nx = acados_ocp.dims.nx
-    # check type
-    if isinstance(x[0], SX):
-        isSX = True
-    else:
-        print("GNSF detection only works for SX CasADi type!!!")
-        import pdb
-
-        pdb.set_trace()
-    # xdot
-    xdot = model.xdot
-    # u
-    nu = acados_ocp.dims.nu
-    if nu == 0:
-        u = SX.sym("u", 0, 0)
-    else:
-        u = model.u
-
-    nz = acados_ocp.dims.nz
-    if nz == 0:
-        z = SX.sym("z", 0, 0)
-    else:
-        z = model.z
-
-    p = model.p
-    nparam = acados_ocp.dims.np
-
-    # avoid SX of size 0x1
-    if casadi_length(u) == 0:
-        u = SX.sym("u", 0, 0)
-        nu = 0
-    ## initialize gnsf struct
-    # dimensions
-    gnsf = {"nx": nx, "nu": nu, "nz": nz, "np": nparam}
-    gnsf["nx1"] = nx
-    gnsf["nx2"] = 0
-    gnsf["nz1"] = nz
-    gnsf["nz2"] = 0
-    gnsf["nuhat"] = nu
-    gnsf["ny"] = 2 * nx + nz
-
-    gnsf["phi_expr"] = f_impl_expr
-    gnsf["A"] = np.zeros((nx + nz, nx))
-    gnsf["B"] = np.zeros((nx + nz, nu))
-    gnsf["E"] = np.zeros((nx + nz, nx + nz))
-    gnsf["c"] = np.zeros((nx + nz, 1))
-    gnsf["C"] = np.eye(nx + nz)
-    gnsf["name"] = model_name_prefix
-
-    gnsf["x"] = x
-    gnsf["xdot"] = xdot
-    gnsf["z"] = z
-    gnsf["u"] = u
-    gnsf["p"] = p
-
-    gnsf = determine_input_nonlinearity_function(gnsf)
-
-    gnsf["A_LO"] = []
-    gnsf["E_LO"] = []
-    gnsf["B_LO"] = []
-    gnsf["c_LO"] = []
-    gnsf["f_lo_expr"] = []
-
-    # permutation
-    gnsf["idx_perm_x"] = range(nx)  # matlab-style)
-    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])  # blasfeo-style
-    gnsf["idx_perm_z"] = range(nz)
-    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
-    gnsf["idx_perm_f"] = range((nx + nz))
-    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
-
-    gnsf["nontrivial_f_LO"] = 0
-
-    check_reformulation(model, gnsf, print_info)
-    if print_info:
-        print(f"Success: Set up equivalent GNSF model with trivial matrices")
-        print(" ")
-    if print_info:
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-        print(" ")
-        print(
-            "reduced input ny    of phi from  ",
-            str(2 * nx + nz),
-            "   to  ",
-            str(gnsf["ny"]),
-        )
-        print(
-            "reduced input nuhat of phi from  ", str(nu), "   to  ", str(gnsf["nuhat"])
-        )
-        print(" ")
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/matlab to python.md b/third_party/acados/acados_template/gnsf/matlab to python.md
deleted file mode 100644
index 53a0ed971e..0000000000
--- a/third_party/acados/acados_template/gnsf/matlab to python.md	
+++ /dev/null
@@ -1,43 +0,0 @@
-# matlab to python
-
-% -> #
-
-; -> 
-
-from casadi import *
-->
-from casadi import *
-
-
-print\('(.*)'\)
-print('$1')
-
-print\(\['(.*)'\]\)
-print(f'$1')
-
-keyboard
-import pdb; pdb.set_trace()
-
-
-range((([^))]*))
-range($1)
-
-\s*end
-->
-nothing
-
-
-if (.*)
-if $1:
-
-else
-else:
-
-num2str
-str
-
-for ([a-z_]*) =
-for $1 in
-
-length\(
-len(
\ No newline at end of file
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
deleted file mode 100644
index 297a56556c..0000000000
--- a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
+++ /dev/null
@@ -1,394 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-from casadi import *
-from ..utils import casadi_length, idx_perm_to_ipiv, is_empty
-
-
-def reformulate_with_LOS(acados_ocp, gnsf, print_info):
-
-    ## Description:
-    # This function takes an intitial transcription of the implicit ODE model
-    # "model" into "gnsf" and reformulates "gnsf" with a linear output system
-    # (LOS), containing as many states of the model as possible.
-    # Therefore it might be that the state vector and the implicit function
-    # vector have to be reordered. This reordered model is part of the output,
-    # namely reordered_model.
-
-    ## import CasADi and load models
-    model = acados_ocp.model
-
-    # symbolics
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    u = gnsf["u"]
-    z = gnsf["z"]
-
-    # dimensions
-    nx = gnsf["nx"]
-    nz = gnsf["nz"]
-
-    # get model matrices
-    A = gnsf["A"]
-    B = gnsf["B"]
-    C = gnsf["C"]
-    E = gnsf["E"]
-    c = gnsf["c"]
-
-    A_LO = gnsf["A_LO"]
-
-    y = gnsf["y"]
-
-    phi_old = gnsf["phi_expr"]
-
-    if print_info:
-        print(" ")
-        print("=================================================================")
-        print(" ")
-        print("================    Detect Linear Output System   ===============")
-        print(" ")
-        print("=================================================================")
-        print(" ")
-    ## build initial I_x1 and I_x2_candidates
-    # I_xrange( all components of x for which either xii or xdot_ii enters y):
-    # I_LOS_candidates: the remaining components
-
-    I_nsf_components = set()
-    I_LOS_candidates = set()
-
-    if gnsf["ny"] > 0:
-        for ii in range(nx):
-            if which_depends(y, x[ii])[0] or which_depends(y, xdot[ii])[0]:
-                # i.e. xii or xiidot are part of y, and enter phi_expr
-                if print_info:
-                    print(f"x_{ii} is part of x1")
-                I_nsf_components = set.union(I_nsf_components, set([ii]))
-            else:
-                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
-                I_LOS_candidates = set.union(I_LOS_candidates, set([ii]))
-                if print_info:
-                    print(" ")
-        for ii in range(nz):
-            if which_depends(y, z[ii])[0]:
-                # i.e. xii or xiidot are part of y, and enter phi_expr
-                if print_info:
-                    print(f"z_{ii} is part of x1")
-                I_nsf_components = set.union(I_nsf_components, set([ii + nx]))
-            else:
-                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
-                I_LOS_candidates = set.union(I_LOS_candidates, set([ii + nx]))
-    else:
-        I_LOS_candidates = set(range((nx + nz)))
-    if print_info:
-        print(" ")
-        print(f"I_LOS_candidates {I_LOS_candidates}")
-    new_nsf_components = I_nsf_components
-    I_nsf_eq = set([])
-    unsorted_dyn = set(range(nx + nz))
-    xdot_z = vertcat(xdot, z)
-
-    ## determine components of Linear Output System
-    # determine maximal index set I_x2
-    # such that the components x(I_x2) can be written as a LOS
-    Eq_map = []
-    while True:
-        ## find equations corresponding to new_nsf_components
-        for ii in new_nsf_components:
-            current_var = xdot_z[ii]
-            var_name = current_var.name
-
-            # print( unsorted_dyn)
-            # print("np.nonzero(E[:,ii])[0]",np.nonzero(E[:,ii])[0])
-            I_eq = set.intersection(set(np.nonzero(E[:, ii])[0]), unsorted_dyn)
-            if len(I_eq) == 1:
-                i_eq = I_eq.pop()
-                if print_info:
-                    print(f"component {i_eq} is associated with state {ii}")
-            elif len(I_eq) > 1:  # x_ii_dot occurs in more than 1 eq linearly
-                # find the equation with least linear dependencies on
-                # I_LOS_cancidates
-                number_of_eq = 0
-                candidate_dependencies = np.zeros(len(I_eq), 1)
-                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
-                for eq in I_eq:
-                    depending_candidates = set.union(
-                        np.nonzero(E[eq, I_LOS_candidates])[0],
-                        np.nonzero(A[eq, I_x2_candidates])[0],
-                    )
-                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
-                    number_of_eq += 1
-                    number_of_eq = np.argmin(candidate_dependencies)
-                i_eq = I_eq[number_of_eq]
-            else:  ## x_ii_dot does not occur linearly in any of the unsorted dynamics
-                for j in unsorted_dyn:
-                    phi_eq_j = gnsf["phi_expr"][np.nonzero(C[j, :])[0]]
-                    if which_depends(phi_eq_j, xdot_z(ii))[0]:
-                        I_eq = set.union(I_eq, j)
-                if is_empty(I_eq):
-                    I_eq = unsorted_dyn
-                # find the equation with least linear dependencies on I_LOS_cancidates
-                number_of_eq = 0
-                candidate_dependencies = np.zeros(len(I_eq), 1)
-                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
-                for eq in I_eq:
-                    depending_candidates = set.union(
-                        np.nonzero(E[eq, I_LOS_candidates])[0],
-                        np.nonzero(A[eq, I_x2_candidates])[0],
-                    )
-                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
-                    number_of_eq += 1
-                    number_of_eq = np.argmin(candidate_dependencies)
-                i_eq = I_eq[number_of_eq]
-                ## add 1 * [xdot,z](ii) to both sides of i_eq
-                if print_info:
-                    print(
-                        "adding 1 * ",
-                        var_name,
-                        " to both sides of equation ",
-                        i_eq,
-                        ".",
-                    )
-                gnsf["E"][i_eq, ii] = 1
-                i_phi = np.nonzero(gnsf["C"][i_eq, :])
-                if is_empty(i_phi):
-                    i_phi = len(gnsf["phi_expr"]) + 1
-                    gnsf["C"][i_eq, i_phi] = 1  # add column to C with 1 entry
-                    gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], 0)
-                    gnsf["phi_expr"][i_phi] = (
-                        gnsf["phi_expr"](i_phi)
-                        + gnsf["E"][i_eq, ii] / gnsf["C"][i_eq, i_phi] * xdot_z[ii]
-                    )
-                if print_info:
-                    print(
-                        "detected equation ",
-                        i_eq,
-                        " to correspond to variable ",
-                        var_name,
-                    )
-            I_nsf_eq = set.union(I_nsf_eq, {i_eq})
-            # remove i_eq from unsorted_dyn
-            unsorted_dyn.remove(i_eq)
-            Eq_map.append([ii, i_eq])
-
-        ## add components to I_x1
-        for eq in I_nsf_eq:
-            I_linear_dependence = set.union(
-                set(np.nonzero(A[eq, :])[0]), set(np.nonzero(E[eq, :])[0])
-            )
-            I_nsf_components = set.union(I_linear_dependence, I_nsf_components)
-            # I_nsf_components = I_nsf_components[:]
-
-        new_nsf_components = set.intersection(I_LOS_candidates, I_nsf_components)
-        if is_empty(new_nsf_components):
-            if print_info:
-                print("new_nsf_components is empty")
-            break
-        # remove new_nsf_components from candidates
-        I_LOS_candidates = set.difference(I_LOS_candidates, new_nsf_components)
-    if not is_empty(Eq_map):
-        # [~, new_eq_order] = sort(Eq_map(1,:))
-        # I_nsf_eq = Eq_map(2, new_eq_order )
-        for count, m in enumerate(Eq_map):
-            m.append(count)
-        sorted(Eq_map, key=lambda x: x[1])
-        new_eq_order = [m[2] for m in Eq_map]
-        Eq_map = [Eq_map[i] for i in new_eq_order]
-        I_nsf_eq = [m[1] for m in Eq_map]
-
-    else:
-        I_nsf_eq = []
-
-    I_LOS_components = I_LOS_candidates
-    I_LOS_eq = sorted(set.difference(set(range(nx + nz)), I_nsf_eq))
-    I_nsf_eq = sorted(I_nsf_eq)
-
-    I_x1 = set.intersection(I_nsf_components, set(range(nx)))
-    I_z1 = set.intersection(I_nsf_components, set(range(nx, nx + nz)))
-    I_z1 = set([i - nx for i in I_z1])
-
-    I_x2 = set.intersection(I_LOS_components, set(range(nx)))
-    I_z2 = set.intersection(I_LOS_components, set(range(nx, nx + nz)))
-    I_z2 = set([i - nx for i in I_z2])
-
-    if print_info:
-        print(f"I_x1 {I_x1}, I_x2 {I_x2}")
-
-    ## permute x, xdot
-    if is_empty(I_x1):
-        x1 = []
-        x1dot = []
-    else:
-        x1 = x[list(I_x1)]
-        x1dot = xdot[list(I_x1)]
-    if is_empty(I_x2):
-        x2 = []
-        x2dot = []
-    else:
-        x2 = x[list(I_x2)]
-        x2dot = xdot[list(I_x2)]
-    if is_empty(I_z1):
-        z1 = []
-    else:
-        z1 = z(I_z1)
-    if is_empty(I_z2):
-        z2 = []
-    else:
-        z2 = z[list(I_z2)]
-
-    I_x1 = sorted(I_x1)
-    I_x2 = sorted(I_x2)
-    I_z1 = sorted(I_z1)
-    I_z2 = sorted(I_z2)
-    gnsf["xdot"] = vertcat(x1dot, x2dot)
-    gnsf["x"] = vertcat(x1, x2)
-    gnsf["z"] = vertcat(z1, z2)
-    gnsf["nx1"] = len(I_x1)
-    gnsf["nx2"] = len(I_x2)
-    gnsf["nz1"] = len(I_z1)
-    gnsf["nz2"] = len(I_z2)
-
-    # store permutations
-    gnsf["idx_perm_x"] = I_x1 + I_x2
-    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])
-    gnsf["idx_perm_z"] = I_z1 + I_z2
-    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
-    gnsf["idx_perm_f"] = I_nsf_eq + I_LOS_eq
-    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
-
-    f_LO = SX.sym("f_LO", 0, 0)
-
-    ## rewrite I_LOS_eq as LOS
-    if gnsf["n_out"] == 0:
-        C_phi = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        C_phi = C @ phi_old
-    if gnsf["nx1"] == 0:
-        Ax1 = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        Ax1 = A[:, sorted(I_x1)] @ x1
-    if gnsf["nx1"] + gnsf["nz1"] == 0:
-        lhs_nsf = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        lhs_nsf = E[:, sorted(I_nsf_components)] @ vertcat(x1, z1)
-    n_LO = len(I_LOS_eq)
-    B_LO = np.zeros((n_LO, gnsf["nu"]))
-    A_LO = np.zeros((gnsf["nx2"] + gnsf["nz2"], gnsf["nx2"]))
-    E_LO = np.zeros((n_LO, n_LO))
-    c_LO = np.zeros((n_LO, 1))
-
-    I_LOS_eq = list(I_LOS_eq)
-    for eq in I_LOS_eq:
-        i_LO = I_LOS_eq.index(eq)
-        f_LO = vertcat(f_LO, Ax1[eq] + C_phi[eq] - lhs_nsf[eq])
-        print(f"eq {eq} I_LOS_components {I_LOS_components}, i_LO {i_LO}, f_LO {f_LO}")
-        E_LO[i_LO, :] = E[eq, sorted(I_LOS_components)]
-        A_LO[i_LO, :] = A[eq, I_x2]
-        c_LO[i_LO, :] = c[eq]
-        B_LO[i_LO, :] = B[eq, :]
-    if casadi_length(f_LO) == 0:
-        f_LO = SX.zeros((gnsf["nx2"] + gnsf["nz2"], 1))
-    f_LO = simplify(f_LO)
-    gnsf["A_LO"] = A_LO
-    gnsf["E_LO"] = E_LO
-    gnsf["B_LO"] = B_LO
-    gnsf["c_LO"] = c_LO
-    gnsf["f_lo_expr"] = f_LO
-
-    ## remove I_LOS_eq from NSF type system
-    gnsf["A"] = gnsf["A"][np.ix_(sorted(I_nsf_eq), sorted(I_x1))]
-    gnsf["B"] = gnsf["B"][sorted(I_nsf_eq), :]
-    gnsf["C"] = gnsf["C"][sorted(I_nsf_eq), :]
-    gnsf["E"] = gnsf["E"][np.ix_(sorted(I_nsf_eq), sorted(I_nsf_components))]
-    gnsf["c"] = gnsf["c"][sorted(I_nsf_eq), :]
-
-    ## reduce phi, C
-    I_nonzero = []
-    for ii in range(gnsf["C"].shape[1]):  # n_colums of C:
-        print(f"ii {ii}")
-        if not all(gnsf["C"][:, ii] == 0):  # if column ~= 0
-            I_nonzero.append(ii)
-    gnsf["C"] = gnsf["C"][:, I_nonzero]
-    gnsf["phi_expr"] = gnsf["phi_expr"][I_nonzero]
-
-    gnsf = determine_input_nonlinearity_function(gnsf)
-
-    check_reformulation(model, gnsf, print_info)
-
-    gnsf["nontrivial_f_LO"] = 0
-    if not is_empty(gnsf["f_lo_expr"]):
-        for ii in range(casadi_length(gnsf["f_lo_expr"])):
-            fii = gnsf["f_lo_expr"][ii]
-            if not fii.is_zero():
-                gnsf["nontrivial_f_LO"] = 1
-            if not gnsf["nontrivial_f_LO"] and print_info:
-                print("f_LO is fully trivial (== 0)")
-    check_reformulation(model, gnsf, print_info)
-
-    if print_info:
-        print("")
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            "------------- Success: Linear Output System (LOS) detected ----------------------"
-        )
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print("")
-        print(
-            "==>>  moved  ",
-            gnsf["nx2"],
-            "differential states and ",
-            gnsf["nz2"],
-            " algebraic variables to the Linear Output System",
-        )
-        print(
-            "==>>  recuced output dimension of phi from  ",
-            casadi_length(phi_old),
-            " to ",
-            casadi_length(gnsf["phi_expr"]),
-        )
-        print(" ")
-        print("Matrices defining the LOS read as")
-        print(" ")
-        print("E_LO =")
-        print(gnsf["E_LO"])
-        print("A_LO =")
-        print(gnsf["A_LO"])
-        print("B_LO =")
-        print(gnsf["B_LO"])
-        print("c_LO =")
-        print(gnsf["c_LO"])
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
deleted file mode 100644
index 21ab8ebfd5..0000000000
--- a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
+++ /dev/null
@@ -1,167 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import *
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-
-
-def reformulate_with_invertible_E_mat(gnsf, model, print_info):
-    ## Description
-    # this function checks that the necessary condition to apply the gnsf
-    # structure exploiting integrator to a model, namely that the matrices E11,
-    # E22 are invertible holds.
-    # if this is not the case, it will make these matrices invertible and add:
-    # corresponding terms, to the term C * phi, such that the obtained model is
-    # still equivalent
-
-    # check invertibility of E11, E22 and reformulate if needed:
-    ind_11 = range(gnsf["nx1"])
-    ind_22 = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
-
-    if print_info:
-        print(" ")
-        print("----------------------------------------------------")
-        print("checking rank of E11 and E22")
-        print("----------------------------------------------------")
-    ## check if E11, E22 are invertible:
-    z_check = False
-    if gnsf["nz1"] > 0:
-        z_check = (
-            np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_22, ind_22)]) != gnsf["nz1"]
-        )
-
-    if (
-        np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_11, ind_11)]) != gnsf["nx1"]
-        or z_check
-    ):
-        # print warning (always)
-        print(f"the rank of E11 or E22 is not full after the reformulation")
-        print("")
-        print(
-            f"the script will try to reformulate the model with an invertible matrix instead"
-        )
-        print(
-            f"NOTE: this feature is based on a heuristic, it should be used with care!!!"
-        )
-
-        ## load models
-        xdot = gnsf["xdot"]
-        z = gnsf["z"]
-
-        # # GNSF
-        # get dimensions
-        nx1 = gnsf["nx1"]
-        x1dot = xdot[range(nx1)]
-
-        k = vertcat(x1dot, z)
-        for i in [1, 2]:
-            if i == 1:
-                ind = range(gnsf["nx1"])
-            else:
-                ind = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
-            mat = gnsf["E"][np.ix_(ind, ind)]
-            import pdb
-
-            pdb.set_trace()
-            while np.linalg.matrix_rank(mat) < len(ind):
-                # import pdb; pdb.set_trace()
-                if print_info:
-                    print(" ")
-                    print(f"the rank of E", str(i), str(i), " is not full")
-                    print(
-                        f"the algorithm will try to reformulate the model with an invertible matrix instead"
-                    )
-                    print(
-                        f"NOTE: this feature is not super stable and might need more testing!!!!!!"
-                    )
-                for sub_max in ind:
-                    sub_ind = range(min(ind), sub_max)
-                    # regard the submatrix mat(sub_ind, sub_ind)
-                    sub_mat = gnsf["E"][sub_ind, sub_ind]
-                    if np.linalg.matrix_rank(sub_mat) < len(sub_ind):
-                        # reformulate the model by adding a 1 to last diagonal
-                        # element and changing rhs respectively.
-                        gnsf["E"][sub_max, sub_max] = gnsf["E"][sub_max, sub_max] + 1
-                        # this means adding the term 1 * k(sub_max) to the sub_max
-                        # row of the l.h.s
-                        if len(np.nonzero(gnsf["C"][sub_max, :])[0]) == 0:
-                            # if isempty(find(gnsf['C'](sub_max,:), 1)):
-                            # add new nonlinearity entry
-                            gnsf["C"][sub_max, gnsf["n_out"] + 1] = 1
-                            gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], k[sub_max])
-                        else:
-                            ind_f = np.nonzero(gnsf["C"][sub_max, :])[0]
-                            if len(ind_f) != 1:
-                                raise Exception("C is assumed to be a selection matrix")
-                            else:
-                                ind_f = ind_f[0]
-                            # add term to corresponding nonlinearity entry
-                            # note: herbey we assume that C is a selection matrix,
-                            # i.e. gnsf['phi_expr'](ind_f) is only entering one equation
-
-                            gnsf["phi_expr"][ind_f] = (
-                                gnsf["phi_expr"][ind_f]
-                                + k[sub_max] / gnsf["C"][sub_max, ind_f]
-                            )
-                            gnsf = determine_input_nonlinearity_function(gnsf)
-                            check_reformulation(model, gnsf, print_info)
-        print("successfully reformulated the model with invertible matrices E11, E22")
-    else:
-        if print_info:
-            print(" ")
-            print(
-                "the rank of both E11 and E22 is naturally full after the reformulation "
-            )
-            print("==>  model reformulation finished")
-            print(" ")
-    if (gnsf['nx2'] > 0 or gnsf['nz2'] > 0) and det(gnsf["E_LO"]) == 0:
-        print(
-            "_______________________________________________________________________________________________________"
-        )
-        print(" ")
-        print("TAKE CARE ")
-        print("E_LO matrix is NOT regular after automatic transcription!")
-        print("->> this means the model CANNOT be used with the gnsf integrator")
-        print(
-            "->> it probably means that one entry (of xdot or z) that was moved to the linear output type system"
-        )
-        print("    does not appear in the model at all (zero column in E_LO)")
-        print(" OR: the columns of E_LO are linearly dependent ")
-        print(" ")
-        print(
-            " SOLUTIONs: a) go through your model & check equations the method wanted to move to LOS"
-        )
-        print("            b) deactivate the detect_LOS option")
-        print(
-            "_______________________________________________________________________________________________________"
-        )
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
deleted file mode 100644
index db2d18758e..0000000000
--- a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
+++ /dev/null
@@ -1,174 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import n_nodes
-import numpy as np
-
-
-def structure_detection_print_summary(gnsf, acados_ocp):
-
-    ## Description
-    # this function prints the most important info after determining a GNSF
-    # reformulation of the implicit model "initial_model" into "gnsf", which is
-    # equivalent to the "reordered_model".
-    model = acados_ocp.model
-    # # GNSF
-    # get dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-
-    nx1 = gnsf["nx1"]
-    nx2 = gnsf["nx2"]
-
-    nz1 = gnsf["nz1"]
-    nz2 = gnsf["nz2"]
-
-    # np = gnsf['np']
-    n_out = gnsf["n_out"]
-    ny = gnsf["ny"]
-    nuhat = gnsf["nuhat"]
-
-    #
-    f_impl_expr = model.f_impl_expr
-    n_nodes_initial = n_nodes(model.f_impl_expr)
-    # x_old = model.x
-    # f_impl_old = model.f_impl_expr
-
-    x = gnsf["x"]
-    z = gnsf["z"]
-
-    phi_current = gnsf["phi_expr"]
-
-    ## PRINT SUMMARY -- STRUCHTRE DETECTION
-    print(" ")
-    print(
-        "*********************************************************************************************"
-    )
-    print(" ")
-    print(
-        "******************        SUCCESS: GNSF STRUCTURE DETECTION COMPLETE !!!      ***************"
-    )
-    print(" ")
-    print(
-        "*********************************************************************************************"
-    )
-    print(" ")
-    print(
-        f"========================= STRUCTURE DETECTION SUMMARY ===================================="
-    )
-    print(" ")
-    print("-------- Nonlinear Static Feedback type system --------")
-    print(" ")
-    print(" successfully transcribed dynamic system model into GNSF structure ")
-    print(" ")
-    print(
-        "reduced dimension of nonlinearity phi from        ",
-        str(nx + nz),
-        " to ",
-        str(gnsf["n_out"]),
-    )
-    print(" ")
-    print(
-        "reduced input dimension of nonlinearity phi from  ",
-        2 * nx + nz + nu,
-        " to ",
-        gnsf["ny"] + gnsf["nuhat"],
-    )
-    print(" ")
-    print(f"reduced number of nodes in CasADi expression of nonlinearity phi from  {n_nodes_initial}  to  {n_nodes(phi_current)}\n")
-    print("----------- Linear Output System (LOS) ---------------")
-    if nx2 + nz2 > 0:
-        print(" ")
-        print(f"introduced Linear Output System of size           ", str(nx2 + nz2))
-        print(" ")
-        if nx2 > 0:
-            print("consisting of the states:")
-            print(" ")
-            print(x[range(nx1, nx)])
-            print(" ")
-        if nz2 > 0:
-            print("and algebraic variables:")
-            print(" ")
-            print(z[range(nz1, nz)])
-            print(" ")
-        if gnsf["purely_linear"] == 1:
-            print(" ")
-            print("Model is fully linear!")
-            print(" ")
-    if not all(gnsf["idx_perm_x"] == np.array(range(nx))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted differential state vector x, such that x_gnsf = x(idx_perm_x) with idx_perm_x ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_x"])
-    if nz != 0 and not all(gnsf["idx_perm_z"] == np.array(range(nz))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted algebraic state vector z, such that z_gnsf = z(idx_perm_z) with idx_perm_z ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_z"])
-    if not all(gnsf["idx_perm_f"] == np.array(range(nx + nz))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted rhs expression vector f, such that f_gnsf = f(idx_perm_f) with idx_perm_f ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_f"])
-    ## print GNSF dimensions
-    print(
-        "--------------------------------------------------------------------------------------------------------"
-    )
-    print(" ")
-    print("The dimensions of the GNSF reformulated model read as:")
-    print(" ")
-    # T_dim = table(nx, nu, nz, np, nx1, nz1, n_out, ny, nuhat)
-    # print( T_dim )
-    print(f"nx    ", {nx})
-    print(f"nu    ", {nu})
-    print(f"nz    ", {nz})
-    # print(f"np    ", {np})
-    print(f"nx1   ", {nx1})
-    print(f"nz1   ", {nz1})
-    print(f"n_out ", {n_out})
-    print(f"ny    ", {ny})
-    print(f"nuhat ", {nuhat})
diff --git a/third_party/acados/acados_template/simulink_default_opts.json b/third_party/acados/acados_template/simulink_default_opts.json
deleted file mode 100644
index 5d178fef85..0000000000
--- a/third_party/acados/acados_template/simulink_default_opts.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-    "outputs": {
-        "u0": 1,
-        "utraj": 0,
-        "xtraj": 0,
-        "solver_status": 1,
-        "cost_value": 0,
-        "KKT_residual": 1,
-        "KKT_residuals": 0,
-        "x1": 1,
-        "CPU_time": 1,
-        "CPU_time_sim": 0,
-        "CPU_time_qp": 0,
-        "CPU_time_lin": 0,
-        "sqp_iter": 1
-    },
-    "inputs": {
-        "lbx_0": 1,
-        "ubx_0": 1,
-        "parameter_traj": 1,
-        "y_ref_0": 1,
-        "y_ref": 1,
-        "y_ref_e": 1,
-        "lbx": 1,
-        "ubx": 1,
-        "lbx_e": 1,
-        "ubx_e": 1,
-        "lbu": 1,
-        "ubu": 1,
-        "lg": 1,
-        "ug": 1,
-        "lh": 1,
-        "uh": 1,
-        "lh_e": 1,
-        "uh_e": 1,
-        "cost_W_0": 0,
-        "cost_W": 0,
-        "cost_W_e": 0,
-        "reset_solver": 0,
-        "x_init": 0,
-        "u_init": 0
-    },
-    "samplingtime": "t0"
-}
diff --git a/third_party/acados/acados_template/utils.py b/third_party/acados/acados_template/utils.py
deleted file mode 100644
index f27617fa30..0000000000
--- a/third_party/acados/acados_template/utils.py
+++ /dev/null
@@ -1,434 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os, sys, json
-import urllib.request
-import shutil
-import numpy as np
-from casadi import SX, MX, DM, Function, CasadiMeta
-
-ALLOWED_CASADI_VERSIONS = ('3.5.6', '3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0')
-
-TERA_VERSION = "0.0.34"
-
-PLATFORM2TERA = {
-    "linux": "linux",
-    "darwin": "osx",
-    "win32": "windows"
-}
-
-
-def get_acados_path():
-    ACADOS_PATH = os.environ.get('ACADOS_SOURCE_DIR')
-    if not ACADOS_PATH:
-        acados_template_path = os.path.dirname(os.path.abspath(__file__))
-        acados_path = os.path.join(acados_template_path, '..','..','..')
-        ACADOS_PATH = os.path.realpath(acados_path)
-        msg = 'Warning: Did not find environment variable ACADOS_SOURCE_DIR, '
-        msg += 'guessed ACADOS_PATH to be {}.\n'.format(ACADOS_PATH)
-        msg += 'Please export ACADOS_SOURCE_DIR to avoid this warning.'
-        print(msg)
-    return ACADOS_PATH
-
-
-def get_python_interface_path():
-    ACADOS_PYTHON_INTERFACE_PATH = os.environ.get('ACADOS_PYTHON_INTERFACE_PATH')
-    if not ACADOS_PYTHON_INTERFACE_PATH:
-        acados_path = get_acados_path()
-        ACADOS_PYTHON_INTERFACE_PATH = os.path.join(acados_path, 'interfaces', 'acados_template', 'acados_template')
-    return ACADOS_PYTHON_INTERFACE_PATH
-
-
-def get_tera_exec_path():
-    TERA_PATH = os.environ.get('TERA_PATH')
-    if not TERA_PATH:
-        TERA_PATH = os.path.join(get_acados_path(), 'bin', 't_renderer')
-        if os.name == 'nt':
-            TERA_PATH += '.exe'
-    return TERA_PATH
-
-
-def check_casadi_version():
-    casadi_version = CasadiMeta.version()
-    if casadi_version in ALLOWED_CASADI_VERSIONS:
-        return
-    else:
-        msg =  'Warning: Please note that the following versions of CasADi  are '
-        msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS))
-        msg += 'If there is an incompatibility with the CasADi generated code, '
-        msg += 'please consider changing your CasADi version.\n'
-        msg += 'Version {} currently in use.'.format(casadi_version)
-        print(msg)
-
-
-def is_column(x):
-    if isinstance(x, np.ndarray):
-        if x.ndim == 1:
-            return True
-        elif x.ndim == 2 and x.shape[1] == 1:
-            return True
-        else:
-            return False
-    elif isinstance(x, (MX, SX, DM)):
-        if x.shape[1] == 1:
-            return True
-        elif x.shape[0] == 0 and x.shape[1] == 0:
-            return True
-        else:
-            return False
-    elif x == None or x == []:
-        return False
-    else:
-        raise Exception("is_column expects one of the following types: np.ndarray, casadi.MX, casadi.SX."
-                        + " Got: " + str(type(x)))
-
-
-def is_empty(x):
-    if isinstance(x, (MX, SX, DM)):
-        return x.is_empty()
-    elif isinstance(x, np.ndarray):
-        if np.prod(x.shape) == 0:
-            return True
-        else:
-            return False
-    elif x == None:
-        return True
-    elif isinstance(x, (set, list)):
-        if len(x)==0:
-            return True
-        else:
-            return False
-    else:
-        raise Exception("is_empty expects one of the following types: casadi.MX, casadi.SX, "
-                        + "None, numpy array empty list, set. Got: " + str(type(x)))
-
-
-def casadi_length(x):
-    if isinstance(x, (MX, SX, DM)):
-        return int(np.prod(x.shape))
-    else:
-        raise Exception("casadi_length expects one of the following types: casadi.MX, casadi.SX."
-                        + " Got: " + str(type(x)))
-
-
-def make_model_consistent(model):
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-
-    if isinstance(x, MX):
-        symbol = MX.sym
-    elif isinstance(x, SX):
-        symbol = SX.sym
-    else:
-        raise Exception("model.x must be casadi.SX or casadi.MX, got {}".format(type(x)))
-
-    if is_empty(p):
-        model.p = symbol('p', 0, 0)
-
-    if is_empty(z):
-        model.z = symbol('z', 0, 0)
-
-    return model
-
-def get_lib_ext():
-    lib_ext = '.so'
-    if sys.platform == 'darwin':
-        lib_ext = '.dylib'
-    elif os.name == 'nt':
-        lib_ext = ''
-
-    return lib_ext
-
-def get_tera():
-    tera_path = get_tera_exec_path()
-    acados_path = get_acados_path()
-
-    if os.path.exists(tera_path) and os.access(tera_path, os.X_OK):
-        return tera_path
-
-    repo_url = "https://github.com/acados/tera_renderer/releases"
-    url = "{}/download/v{}/t_renderer-v{}-{}".format(
-        repo_url, TERA_VERSION, TERA_VERSION, PLATFORM2TERA[sys.platform])
-
-    manual_install = 'For manual installation follow these instructions:\n'
-    manual_install += '1 Download binaries from {}\n'.format(url)
-    manual_install += '2 Copy them in {}/bin\n'.format(acados_path)
-    manual_install += '3 Strip the version and platform from the binaries: '
-    manual_install += 'as t_renderer-v0.0.34-X -> t_renderer)\n'
-    manual_install += '4 Enable execution privilege on the file "t_renderer" with:\n'
-    manual_install += '"chmod +x {}"\n\n'.format(tera_path)
-
-    msg = "\n"
-    msg += 'Tera template render executable not found, '
-    msg += 'while looking in path:\n{}\n'.format(tera_path)
-    msg += 'In order to be able to render the templates, '
-    msg += 'you need to download the tera renderer binaries from:\n'
-    msg += '{}\n\n'.format(repo_url)
-    msg += 'Do you wish to set up Tera renderer automatically?\n'
-    msg += 'y/N? (press y to download tera or any key for manual installation)\n'
-
-    if input(msg) == 'y':
-        print("Dowloading {}".format(url))
-        with urllib.request.urlopen(url) as response, open(tera_path, 'wb') as out_file:
-            shutil.copyfileobj(response, out_file)
-        print("Successfully downloaded t_renderer.")
-        os.chmod(tera_path, 0o755)
-        return tera_path
-
-    msg_cancel = "\nYou cancelled automatic download.\n\n"
-    msg_cancel += manual_install
-    msg_cancel += "Once installed re-run your script.\n\n"
-    print(msg_cancel)
-
-    sys.exit(1)
-
-
-def render_template(in_file, out_file, output_dir, json_path, template_glob=None):
-
-    acados_path = os.path.dirname(os.path.abspath(__file__))
-    if template_glob is None:
-        template_glob = os.path.join(acados_path, 'c_templates_tera', '**', '*')
-    cwd = os.getcwd()
-
-    if not os.path.exists(output_dir):
-        os.makedirs(output_dir)
-    os.chdir(output_dir)
-
-    tera_path = get_tera()
-
-    # call tera as system cmd
-    os_cmd = f"{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'"
-    # Windows cmd.exe can not cope with '...', so use "..." instead:
-    if os.name == 'nt':
-        os_cmd = os_cmd.replace('\'', '\"')
-
-    status = os.system(os_cmd)
-    if (status != 0):
-        raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\n')
-
-    os.chdir(cwd)
-
-
-## Conversion functions
-def make_object_json_dumpable(input):
-    if isinstance(input, (np.ndarray)):
-        return input.tolist()
-    elif isinstance(input, (SX)):
-        return input.serialize()
-    elif isinstance(input, (MX)):
-        # NOTE: MX expressions can not be serialized, only Functions.
-        return input.__str__()
-    elif isinstance(input, (DM)):
-        return input.full()
-    else:
-        raise TypeError(f"Cannot make input of type {type(input)} dumpable.")
-
-
-def format_class_dict(d):
-    """
-    removes the __ artifact from class to dict conversion
-    """
-    out = {}
-    for k, v in d.items():
-        if isinstance(v, dict):
-            v = format_class_dict(v)
-
-        out_key = k.split('__', 1)[-1]
-        out[k.replace(k, out_key)] = v
-    return out
-
-
-def get_ocp_nlp_layout() -> dict:
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'acados_layout.json')
-    with open(abs_path, 'r') as f:
-        ocp_nlp_layout = json.load(f)
-    return ocp_nlp_layout
-
-
-def get_default_simulink_opts() -> dict:
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
-    with open(abs_path, 'r') as f:
-        simulink_opts = json.load(f)
-    return simulink_opts
-
-
-def J_to_idx(J):
-    nrows = J.shape[0]
-    idx = np.zeros((nrows, ))
-    for i in range(nrows):
-        this_idx = np.nonzero(J[i,:])[0]
-        if len(this_idx) != 1:
-            raise Exception('Invalid J matrix structure detected, ' \
-                'must contain one nonzero element per row.')
-        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
-            raise Exception('J matrices can only contain 1s.')
-        idx[i] = this_idx[0]
-    return idx
-
-
-def J_to_idx_slack(J):
-    nrows = J.shape[0]
-    ncol = J.shape[1]
-    idx = np.zeros((ncol, ))
-    i_idx = 0
-    for i in range(nrows):
-        this_idx = np.nonzero(J[i,:])[0]
-        if len(this_idx) == 1:
-            idx[i_idx] = i
-            i_idx = i_idx + 1
-        elif len(this_idx) > 1:
-            raise Exception('J_to_idx_slack: Invalid J matrix. ' \
-                'Found more than one nonzero in row ' + str(i))
-        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
-            raise Exception('J_to_idx_slack: J matrices can only contain 1s, ' \
-                 'got J(' + str(i) + ', ' + str(this_idx[0]) + ') = ' + str(J[i,this_idx[0]]) )
-    if not i_idx == ncol:
-            raise Exception('J_to_idx_slack: J must contain a 1 in every column!')
-    return idx
-
-
-def acados_dae_model_json_dump(model):
-
-    # load model
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-
-    f_impl = model.f_impl_expr
-    model_name = model.name
-
-    # create struct with impl_dae_fun, casadi_version
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl])
-
-    casadi_version = CasadiMeta.version()
-    str_impl_dae_fun = impl_dae_fun.serialize()
-
-    dae_dict = {"str_impl_dae_fun": str_impl_dae_fun, "casadi_version": casadi_version}
-
-    # dump
-    json_file = model_name + '_acados_dae.json'
-    with open(json_file, 'w') as f:
-        json.dump(dae_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-    print("dumped ", model_name, " dae to file:", json_file, "\n")
-
-
-def set_up_imported_gnsf_model(acados_ocp):
-
-    gnsf = acados_ocp.gnsf_model
-
-    # check CasADi version
-    # dump_casadi_version = gnsf['casadi_version']
-    # casadi_version = CasadiMeta.version()
-
-    # if not casadi_version == dump_casadi_version:
-    #     print("WARNING: GNSF model was dumped with another CasADi version.\n"
-    #             + "This might yield errors. Please use the same version for compatibility, serialize version: "
-    #             + dump_casadi_version + " current Python CasADi verison: " + casadi_version)
-    #     input("Press any key to attempt to continue...")
-
-    # load model
-    phi_fun = Function.deserialize(gnsf['phi_fun'])
-    phi_fun_jac_y = Function.deserialize(gnsf['phi_fun_jac_y'])
-    phi_jac_y_uhat = Function.deserialize(gnsf['phi_jac_y_uhat'])
-    get_matrices_fun = Function.deserialize(gnsf['get_matrices_fun'])
-
-    # obtain gnsf dimensions
-    size_gnsf_A = get_matrices_fun.size_out(0)
-    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
-    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
-    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
-
-    # save gnsf functions in model
-    acados_ocp.model.phi_fun = phi_fun
-    acados_ocp.model.phi_fun_jac_y = phi_fun_jac_y
-    acados_ocp.model.phi_jac_y_uhat = phi_jac_y_uhat
-    acados_ocp.model.get_matrices_fun = get_matrices_fun
-
-    # get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},...
-    #  {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,...
-    #   nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO});
-    get_matrices_out = get_matrices_fun(0)
-    acados_ocp.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
-    acados_ocp.model.gnsf['purely_linear'] = int(get_matrices_out[13])
-
-    if "f_lo_fun_jac_x1k1uz" in gnsf:
-        f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz'])
-        acados_ocp.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz
-    else:
-        dummy_var_x1 = SX.sym('dummy_var_x1', acados_ocp.dims.gnsf_nx1)
-        dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_ocp.dims.gnsf_nx1)
-        dummy_var_z1 = SX.sym('dummy_var_z1', acados_ocp.dims.gnsf_nz1)
-        dummy_var_u = SX.sym('dummy_var_z1', acados_ocp.dims.nu)
-        dummy_var_p = SX.sym('dummy_var_z1', acados_ocp.dims.np)
-        empty_var = SX.sym('empty_var', 0, 0)
-
-        empty_fun = Function('empty_fun', \
-            [dummy_var_x1, dummy_var_x1dot, dummy_var_z1, dummy_var_u, dummy_var_p],
-                [empty_var])
-        acados_ocp.model.f_lo_fun_jac_x1k1uz = empty_fun
-
-    del acados_ocp.gnsf_model
-
-
-def idx_perm_to_ipiv(idx_perm):
-    n = len(idx_perm)
-    vec = list(range(n))
-    ipiv = np.zeros(n)
-
-    print(n, idx_perm)
-    # import pdb; pdb.set_trace()
-    for ii in range(n):
-        idx0 = idx_perm[ii]
-        for jj in range(ii,n):
-            if vec[jj]==idx0:
-                idx1 = jj
-                break
-        tmp = vec[ii]
-        vec[ii] = vec[idx1]
-        vec[idx1] = tmp
-        ipiv[ii] = idx1
-
-    ipiv = ipiv-1 # C 0-based indexing
-    return ipiv
-
-
-def print_casadi_expression(f):
-    for ii in range(casadi_length(f)):
-        print(f[ii,:])
diff --git a/third_party/acados/acados_template/zoro_description.py b/third_party/acados/acados_template/zoro_description.py
deleted file mode 100644
index 4d795c1502..0000000000
--- a/third_party/acados/acados_template/zoro_description.py
+++ /dev/null
@@ -1,78 +0,0 @@
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-
-from dataclasses import dataclass, field
-import numpy as np
-
-
-@dataclass
-class ZoroDescription:
-    """
-    Zero-Order Robust Optimization scheme.
-
-    For advanced users.
-    """
-    backoff_scaling_gamma: float = 1.0
-    fdbk_K_mat: np.ndarray = None
-    unc_jac_G_mat: np.ndarray = None    # default: an identity matrix
-    P0_mat: np.ndarray = None
-    W_mat: np.ndarray = None
-    idx_lbx_t: list = field(default_factory=list)
-    idx_ubx_t: list = field(default_factory=list)
-    idx_lbx_e_t: list = field(default_factory=list)
-    idx_ubx_e_t: list = field(default_factory=list)
-    idx_lbu_t: list = field(default_factory=list)
-    idx_ubu_t: list = field(default_factory=list)
-    idx_lg_t: list = field(default_factory=list)
-    idx_ug_t: list = field(default_factory=list)
-    idx_lg_e_t: list = field(default_factory=list)
-    idx_ug_e_t: list = field(default_factory=list)
-    idx_lh_t: list = field(default_factory=list)
-    idx_uh_t: list = field(default_factory=list)
-    idx_lh_e_t: list = field(default_factory=list)
-    idx_uh_e_t: list = field(default_factory=list)
-
-def process_zoro_description(zoro_description: ZoroDescription):
-    zoro_description.nw, _ = zoro_description.W_mat.shape
-    if zoro_description.unc_jac_G_mat is None:
-        zoro_description.unc_jac_G_mat = np.eye(zoro_description.nw)
-    zoro_description.nlbx_t = len(zoro_description.idx_lbx_t)
-    zoro_description.nubx_t = len(zoro_description.idx_ubx_t)
-    zoro_description.nlbx_e_t = len(zoro_description.idx_lbx_e_t)
-    zoro_description.nubx_e_t = len(zoro_description.idx_ubx_e_t)
-    zoro_description.nlbu_t = len(zoro_description.idx_lbu_t)
-    zoro_description.nubu_t = len(zoro_description.idx_ubu_t)
-    zoro_description.nlg_t = len(zoro_description.idx_lg_t)
-    zoro_description.nug_t = len(zoro_description.idx_ug_t)
-    zoro_description.nlg_e_t = len(zoro_description.idx_lg_e_t)
-    zoro_description.nug_e_t = len(zoro_description.idx_ug_e_t)
-    zoro_description.nlh_t = len(zoro_description.idx_lh_t)
-    zoro_description.nuh_t = len(zoro_description.idx_uh_t)
-    zoro_description.nlh_e_t = len(zoro_description.idx_lh_e_t)
-    zoro_description.nuh_e_t = len(zoro_description.idx_uh_e_t)
-    return zoro_description.__dict__
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
deleted file mode 100755
index 95b3913c4a..0000000000
--- a/third_party/acados/build.sh
+++ /dev/null
@@ -1,64 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME="x86_64"
-BLAS_TARGET="X64_AUTOMATIC"
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
-fi
-
-ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_MACOSX_RPATH=1"
-  ARCHNAME="Darwin"
-fi
-
-if [ ! -d acados_repo/ ]; then
-  git clone https://github.com/acados/acados.git $DIR/acados_repo
-  # git clone https://github.com/commaai/acados.git $DIR/acados_repo
-fi
-cd acados_repo
-git fetch --all
-git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2
-git submodule update --depth=1 --recursive --init
-
-# build
-mkdir -p build
-cd build
-cmake $ACADOS_FLAGS ..
-make -j20 install
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm $DIR/acados_repo/lib/*.json
-
-rm -rf $DIR/include $DIR/acados_template
-cp -r $DIR/acados_repo/include $DIR
-cp -r $DIR/acados_repo/lib $INSTALL_DIR
-cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
-#pip3 install -e $DIR/acados/interfaces/acados_template
-
-# skip macOS - sed is different :/
-if [[ "$OSTYPE" != "darwin"* ]]; then
-  # strip future_fstrings to avoid having to install the compatibility package
-  find $DIR/acados_template/ -type f -exec sed -i '/future.fstrings/d' {} +
-fi
-
-# build tera
-cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  cargo build --verbose --release --target aarch64-apple-darwin
-  cp target/aarch64-apple-darwin/release/t_renderer target/release/t_renderer
-else
-  cargo build --verbose --release
-fi
-cp target/release/t_renderer $INSTALL_DIR/
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
deleted file mode 100644
index 2a9a974f99..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_common.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
-#define ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_dense_qp.h"
-#include "hpipm/include/hpipm_d_dense_qp_res.h"
-#include "hpipm/include/hpipm_d_dense_qp_sol.h"
-// acados
-#include "acados/utils/types.h"
-
-typedef struct d_dense_qp_dim dense_qp_dims;
-typedef struct d_dense_qp dense_qp_in;
-typedef struct d_dense_qp_sol dense_qp_out;
-typedef struct d_dense_qp_res dense_qp_res;
-typedef struct d_dense_qp_res_ws dense_qp_res_ws;
-
-
-
-#ifndef QP_SOLVER_CONFIG_
-#define QP_SOLVER_CONFIG_
-typedef struct
-{
-    void (*dims_set)(void *config_, void *dims_, const char *field, const int* value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *args);
-    void (*opts_update)(void *config, void *dims, void *args);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *args);
-    void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args);
-    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work);
-    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} qp_solver_config;
-#endif
-
-
-
-#ifndef QP_INFO_
-#define QP_INFO_
-typedef struct
-{
-    double solve_QP_time;
-    double condensing_time;
-    double interface_time;
-    double total_time;
-    int num_iter;
-    int t_computed;
-} qp_info;
-#endif
-
-
-
-/* config */
-//
-acados_size_t dense_qp_solver_config_calculate_size();
-//
-qp_solver_config *dense_qp_solver_config_assign(void *raw_memory);
-
-/* dims */
-//
-acados_size_t dense_qp_dims_calculate_size();
-//
-dense_qp_dims *dense_qp_dims_assign(void *raw_memory);
-//
-void dense_qp_dims_set(void *config_, void *dims_, const char *field, const int* value);
-//
-
-/* in */
-//
-acados_size_t dense_qp_in_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_in *dense_qp_in_assign(dense_qp_dims *dims, void *raw_memory);
-
-/* out */
-//
-acados_size_t dense_qp_out_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_out *dense_qp_out_assign(dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_out_get(dense_qp_out *out, const char *field, void *value);
-
-/* res */
-//
-acados_size_t dense_qp_res_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_res *dense_qp_res_assign(dense_qp_dims *dims, void *raw_memory);
-//
-acados_size_t dense_qp_res_workspace_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_res_ws *dense_qp_res_workspace_assign(dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_compute_t(dense_qp_in *qp_in, dense_qp_out *qp_out);
-//
-void dense_qp_res_compute(dense_qp_in *qp_in, dense_qp_out *qp_out, dense_qp_res *qp_res, dense_qp_res_ws *res_ws);
-//
-void dense_qp_res_compute_nrm_inf(dense_qp_res *qp_res, double res[4]);
-
-/* misc */
-//
-void dense_qp_stack_slacks_dims(dense_qp_dims *in, dense_qp_dims *out);
-//
-void dense_qp_stack_slacks(dense_qp_in *in, dense_qp_in *out);
-//
-void dense_qp_unstack_slacks(dense_qp_out *in, dense_qp_in *qp_out, dense_qp_out *out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
deleted file mode 100644
index b262089b4f..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
-#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// daqp
-#include "daqp/include/types.h"
-
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-
-typedef struct dense_qp_daqp_opts_
-{
-    DAQPSettings* daqp_opts;
-    int warm_start;
-} dense_qp_daqp_opts;
-
-
-typedef struct dense_qp_daqp_memory_
-{
-    double* lb_tmp;
-    double* ub_tmp;
-    int* idxb;
-    int* idxv_to_idxb;
-    int* idxs;
-    int* idxdaqp_to_idxs;
-
-    double* Zl;
-    double* Zu;
-    double* zl;
-    double* zu;
-    double* d_ls;
-    double* d_us;
-
-    double time_qp_solver_call;
-    int iter;
-    DAQPWorkspace * daqp_work;
-
-} dense_qp_daqp_memory;
-
-// opts
-acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-// memory 
-acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-// functions
-int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_daqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
deleted file mode 100644
index 136279d666..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
-#define ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_dense_qp.h"
-#include "hpipm/include/hpipm_d_dense_qp_ipm.h"
-#include "hpipm/include/hpipm_d_dense_qp_sol.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct dense_qp_hpipm_opts_
-{
-    struct d_dense_qp_ipm_arg *hpipm_opts;
-} dense_qp_hpipm_opts;
-
-
-
-typedef struct dense_qp_hpipm_memory_
-{
-    struct d_dense_qp_ipm_ws *hpipm_workspace;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_hpipm_memory;
-
-
-
-//
-acados_size_t dense_qp_hpipm_opts_calculate_size(void *config, void *dims);
-//
-void *dense_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void dense_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void dense_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
-//
-acados_size_t dense_qp_hpipm_calculate_memory_size(void *dims, void *opts_);
-//
-void *dense_qp_hpipm_assign_memory(void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_hpipm_calculate_workspace_size(void *dims, void *opts_);
-//
-int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_hpipm_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
deleted file mode 100644
index d051cb15f7..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
-#define ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-enum dense_qp_ooqp_termination_code
-{
-  DENSE_SUCCESSFUL_TERMINATION = 0,
-  DENSE_NOT_FINISHED,
-  DENSE_MAX_ITS_EXCEEDED,
-  DENSE_INFEASIBLE,
-  DENSE_UNKNOWN
-};
-
-typedef struct dense_qp_ooqp_opts_
-{
-    int printLevel;
-    int useDiagonalWeights;  // TODO(dimitris): implement option
-    int fixHessian;
-    int fixDynamics;
-    int fixInequalities;
-} dense_qp_ooqp_opts;
-
-typedef struct dense_qp_ooqp_workspace_
-{
-    double *x;
-    double *gamma;
-    double *phi;
-    double *y;
-    double *z;
-    double *lambda;
-    double *pi;
-    double objectiveValue;
-} dense_qp_ooqp_workspace;
-
-typedef struct dense_qp_ooqp_memory_
-{
-    int firstRun;
-    int nx;
-    int my;
-    int mz;
-    double *c;
-    double *dQ;
-    double *xlow;
-    char *ixlow;
-    double *xupp;
-    char *ixupp;
-    double *dA;
-    double *bA;
-    double *dC;
-    double *clow;
-    char *iclow;
-    double *cupp;
-    char *icupp;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_ooqp_memory;
-
-//
-acados_size_t dense_qp_ooqp_opts_calculate_size(void *config_, dense_qp_dims *dims);
-//
-void *dense_qp_ooqp_opts_assign(void *config_, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_ooqp_opts_initialize_default(void *config_, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_ooqp_opts_update(void *config_, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_ooqp_memory_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_ooqp_memory_assign(void *config_, dense_qp_dims *dims, void *opts_,
-                                  void *raw_memory);
-//
-acados_size_t dense_qp_ooqp_workspace_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_ooqp(void *config_, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_,
-                  void *memory_, void *work_);
-//
-void dense_qp_ooqp_destroy(void *mem_, void *work);
-//
-void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_ooqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
deleted file mode 100644
index 392e472918..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
+++ /dev/null
@@ -1,124 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_QORE_H_
-#define ACADOS_DENSE_QP_DENSE_QP_QORE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// qore
-#include "qore/QPSOLVER_DENSE/include/qpsolver_dense.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct dense_qp_qore_opts_
-{
-    int nsmax;       // maximum size of Schur complement
-    int print_freq;  // print frequency,
-                     // prtfreq  < 0: disable printing;
-                     // prtfreq == 0: print on each call and include working set changes;
-                     // prtfreq  > 0: print on every prtfreq seconds, but do not include working set
-                     // changes;
-    int warm_start;  // warm start with updated matrices H and C
-    int warm_strategy;  // 0: ramp-up from zero homotopy; 1: setup homotopy from the previous
-                        // solution
-    int hot_start;      // hot start with unchanged matrices H and C
-    int max_iter;       // maximum number of iterations
-    int compute_t;      // compute t in qp_out (to have correct residuals in NLP)
-} dense_qp_qore_opts;
-
-typedef struct dense_qp_qore_memory_
-{
-    double *H;
-    double *HH;
-    double *g;
-    double *gg;
-    double *Zl;
-    double *Zu;
-    double *zl;
-    double *zu;
-    double *A;
-    double *b;
-    double *C;
-    double *CC;
-    double *Ct;
-    double *CCt;
-    double *d_lb0;
-    double *d_ub0;
-    double *d_lb;
-    double *d_ub;
-    double *d_lg;
-    double *d_ug;
-    double *d_ls;
-    double *d_us;
-    double *lb;
-    double *ub;
-    int *idxb;
-    int *idxb_stacked;
-    int *idxs;
-    double *prim_sol;
-    double *dual_sol;
-    QoreProblemDense *QP;
-    int num_iter;
-    dense_qp_in *qp_stacked;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_qore_memory;
-
-acados_size_t dense_qp_qore_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_qore_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_qore_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_qore_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_qore_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_qore_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_qore_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qore_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_QORE_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
deleted file mode 100644
index 0e13d3ef64..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
+++ /dev/null
@@ -1,126 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
-#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct dense_qp_qpoases_opts_
-{
-    double max_cputime;  // maximum cpu time in seconds
-    int max_nwsr;        // maximum number of working set recalculations
-    int warm_start;      // warm start with dual_sol in memory
-    int use_precomputed_cholesky;
-    int hotstart;  // this option requires constant data matrices! (eg linear MPC, inexact schemes
-                   // with frozen sensitivities)
-    int set_acado_opts;  // use same options as in acado code generation
-    int compute_t;       // compute t in qp_out (to have correct residuals in NLP)
-    double tolerance;  // terminationTolerance
-} dense_qp_qpoases_opts;
-
-typedef struct dense_qp_qpoases_memory_
-{
-    double *H;
-    double *HH;
-    double *R;
-    double *g;
-    double *gg;
-    double *Zl;
-    double *Zu;
-    double *zl;
-    double *zu;
-    double *A;
-    double *b;
-    double *d_lb0;
-    double *d_ub0;
-    double *d_lb;
-    double *d_ub;
-    double *C;
-    double *CC;
-    double *d_lg0;
-    double *d_ug0;
-    double *d_lg;
-    double *d_ug;
-    double *d_ls;
-    double *d_us;
-    int *idxb;
-    int *idxb_stacked;
-    int *idxs;
-    double *prim_sol;
-    double *dual_sol;
-    void *QPB;       // NOTE(giaf): cast to QProblemB to use
-    void *QP;        // NOTE(giaf): cast to QProblem to use
-    double cputime;  // cputime of qpoases
-    int nwsr;        // performed number of working set recalculations
-    int first_it;    // to be used with hotstart
-    dense_qp_in *qp_stacked;
-    double time_qp_solver_call; // equal to cputime
-    int iter;
-
-} dense_qp_qpoases_memory;
-
-acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qpoases_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qpoases_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
deleted file mode 100644
index ba97db9768..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
+++ /dev/null
@@ -1,446 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-
-/// \defgroup ocp_nlp ocp_nlp
-/// @{
-/// @}
-
-/// \defgroup ocp_nlp_solver ocp_nlp_solver
-/// @{
-/// @}
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \ingroup ocp_nlp_solver
-/// @{
-
-/// \defgroup ocp_nlp_common ocp_nlp_common
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct ocp_nlp_config
-{
-    int N;  // number of stages
-
-    // solver-specific implementations of memory management functions
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts_);
-    void (*opts_update)(void *config, void *dims, void *opts_);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts_);
-    void *(*memory_assign)(void *config, void *dims, void *opts_, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts_);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    void (*opts_set_at_stage)(void *config_, void *opts_, size_t stage, const char *field, void* value);
-    // evaluate solver // TODO rename into solve
-    int (*evaluate)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    void (*eval_param_sens)(void *config, void *dims, void *opts_, void *mem, void *work,
-                            char *field, int stage, int index, void *sens_nlp_out);
-    // prepare memory
-    int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    void (*memory_reset_qp_solver)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    // initalize this struct with default values
-    void (*config_initialize_default)(void *config);
-    // general getter
-    void (*get)(void *config_, void *dims, void *mem_, const char *field, void *return_value_);
-    void (*opts_get)(void *config_, void *dims, void *opts_, const char *field, void *return_value_);
-    void (*work_get)(void *config_, void *dims, void *work_, const char *field, void *return_value_);
-    // config structs of submodules
-    ocp_qp_xcond_solver_config *qp_solver; // TODO rename xcond_solver
-    ocp_nlp_dynamics_config **dynamics;
-    ocp_nlp_cost_config **cost;
-    ocp_nlp_constraints_config **constraints;
-    ocp_nlp_reg_config *regularize;
-
-} ocp_nlp_config;
-
-//
-acados_size_t ocp_nlp_config_calculate_size(int N);
-//
-ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory);
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-/// Structure to store dimensions/number of variables.
-typedef struct ocp_nlp_dims
-{
-    void **cost;
-    void **dynamics;
-    void **constraints;
-    ocp_qp_xcond_solver_dims *qp_solver;  // xcond solver instead ??
-    ocp_nlp_reg_dims *regularize;
-
-    int *nv;  // number of primal variables (states+controls+slacks)
-    int *nx;  // number of differential states
-    int *nu;  // number of inputs
-    int *ni;  // number of two-sided inequality constraints: nb+ng+nh+ns
-    int *nz;  // number of algebraic variables
-    int *ns;  // number of slack variables
-    int N;    // number of shooting nodes
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-} ocp_nlp_dims;
-
-//
-acados_size_t ocp_nlp_dims_calculate_size(void *config);
-//
-ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory);
-
-/// Sets the dimension of optimization variables
-/// (states, constrols, algebraic variables, slack variables).
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param field The type of optimization variables, either nx, nu, nz, or ns.
-/// \param value_array Number of variables for each stage.
-void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_,
-                               const char *field, const void* value_array);
-
-/// Sets the dimensions of constraints functions for a stage
-/// (bounds on states, bounds on controls, equality constraints,
-/// inequality constraints).
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh.
-/// \param value_field Number of constraints/bounds for the given stage.
-void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage,
-                                  const char *field, const void* value_field);
-
-/// Sets the dimensions of the cost terms for a stage.
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field Type of cost term, can be eiter ny.
-/// \param value_field Number of cost terms/residuals for the given stage.
-void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field,
-                           const void* value_field);
-
-/// Sets the dimensions of the dynamics for a stage.
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field TBD
-/// \param value TBD
-void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field,
-                               const void* value);
-
-/************************************************
- * Inputs
- ************************************************/
-
-/// Struct for storing the inputs of an OCP NLP solver
-typedef struct ocp_nlp_in
-{
-    /// Length of sampling intervals/timesteps.
-    double *Ts;
-
-    /// Pointers to cost functions (TBC).
-    void **cost;
-
-    /// Pointers to dynamics functions (TBC).
-    void **dynamics;
-
-    /// Pointers to constraints functions (TBC).
-    void **constraints;
-
-    /// Pointer to allocated memory, to be used for freeing.
-    void *raw_memory;
-
-} ocp_nlp_in;
-
-//
-acados_size_t ocp_nlp_in_calculate_size_self(int N);
-//
-acados_size_t ocp_nlp_in_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
-//
-ocp_nlp_in *ocp_nlp_in_assign_self(int N, void *raw_memory);
-//
-ocp_nlp_in *ocp_nlp_in_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, void *raw_memory);
-
-
-/************************************************
- * out
- ************************************************/
-
-typedef struct ocp_nlp_out
-{
-    struct blasfeo_dvec *ux;  // NOTE: this contains [u; x; s_l; s_u]! - rename to uxs?
-    struct blasfeo_dvec *z;  // algebraic vairables
-    struct blasfeo_dvec *pi;  // multipliers for dynamics
-    struct blasfeo_dvec *lam;  // inequality mulitpliers
-    struct blasfeo_dvec *t;  // slack variables corresponding to evaluation of all inequalities (at the solution)
-
-    // NOTE: the inequalities are internally organized in the following order:
-    // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-    double inf_norm_res;
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-
-} ocp_nlp_out;
-
-//
-acados_size_t ocp_nlp_out_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
-//
-ocp_nlp_out *ocp_nlp_out_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                void *raw_memory);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-/// Globalization types
-typedef enum
-{
-    FIXED_STEP,
-    MERIT_BACKTRACKING,
-} ocp_nlp_globalization_t;
-
-typedef struct ocp_nlp_opts
-{
-    ocp_qp_xcond_solver_opts *qp_solver_opts; // xcond solver opts instead ???
-    void *regularize;
-    void **dynamics;     // dynamics_opts
-    void **cost;         // cost_opts
-    void **constraints;  // constraints_opts
-    double step_length;  // step length in case of FIXED_STEP
-    double levenberg_marquardt;  // LM factor to be added to the hessian before regularization
-    int reuse_workspace;
-    int num_threads;
-    int print_level;
-
-    // TODO: move to separate struct?
-    ocp_nlp_globalization_t globalization;
-    int full_step_dual;
-    int line_search_use_sufficient_descent;
-    int globalization_use_SOC;
-    double alpha_min;
-    double alpha_reduction;
-    double eps_sufficient_descent;
-} ocp_nlp_opts;
-
-//
-acados_size_t ocp_nlp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_opts_set_at_stage(void *config, void *opts, int stage, const char *field, void *value);
-
-
-/************************************************
- * residuals
- ************************************************/
-
-typedef struct ocp_nlp_res
-{
-    struct blasfeo_dvec *res_stat;  // stationarity
-    struct blasfeo_dvec *res_eq;  // dynamics
-    struct blasfeo_dvec *res_ineq;  // inequality constraints
-    struct blasfeo_dvec *res_comp;  // complementarity
-    struct blasfeo_dvec tmp;  // tmp
-    double inf_norm_res_stat;
-    double inf_norm_res_eq;
-    double inf_norm_res_ineq;
-    double inf_norm_res_comp;
-    acados_size_t memsize;
-} ocp_nlp_res;
-
-//
-acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
-//
-ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
-//
-void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out);
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct ocp_nlp_memory
-{
-//    void *qp_solver_mem; // xcond solver mem instead ???
-    ocp_qp_xcond_solver_memory *qp_solver_mem; // xcond solver mem instead ???
-    void *regularize_mem;
-    void **dynamics;     // dynamics memory
-    void **cost;         // cost memory
-    void **constraints;  // constraints memory
-
-    // residuals
-    ocp_nlp_res *nlp_res;
-
-    // qp in & out
-    ocp_qp_in *qp_in;
-    ocp_qp_out *qp_out;
-    // QP stuff not entering the qp_in struct
-    struct blasfeo_dmat *dzduxt; // dzdux transposed
-    struct blasfeo_dvec *z_alg; // z_alg, output algebraic variables
-
-    struct blasfeo_dvec *cost_grad;
-    struct blasfeo_dvec *ineq_fun;
-    struct blasfeo_dvec *ineq_adj;
-    struct blasfeo_dvec *dyn_fun;
-    struct blasfeo_dvec *dyn_adj;
-
-    double cost_value;
-
-    bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
-    struct blasfeo_dvec *sim_guess;
-
-    int *sqp_iter; // pointer to iteration number
-
-} ocp_nlp_memory;
-
-//
-acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
-//
-ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                      ocp_nlp_opts *opts, void *raw_memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct ocp_nlp_workspace
-{
-
-    void *qp_work;
-    void **dynamics;     // dynamics_workspace
-    void **cost;         // cost_workspace
-    void **constraints;  // constraints_workspace
-
-    // for globalization: -> move to module?!
-    ocp_nlp_out *tmp_nlp_out;
-    ocp_nlp_out *weight_merit_fun;
-    struct blasfeo_dvec tmp_nxu;
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dvec dxnext_dy;
-
-} ocp_nlp_workspace;
-
-//
-acados_size_t ocp_nlp_workspace_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
-//
-ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                ocp_nlp_opts *opts, ocp_nlp_memory *mem, void *raw_memory);
-
-
-
-/************************************************
- * function
- ************************************************/
-
-void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_initialize_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_approximate_qp_vectors_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
-//
-int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
-            int check_early_termination);
-//
-double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-          ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_initialize_t_slacks(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out,
-                         ocp_nlp_res *res, ocp_nlp_memory *mem);
-//
-void ocp_nlp_cost_compute(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
deleted file mode 100644
index 9dbf16f6dc..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-    int nb;  // nbx + nbu
-    int nbu; // number of input box constraints
-    int nbx; // number of state box constraints
-    int ng;  // number of general linear constraints
-    int nh;  // number of nonlinear path constraints
-    int ns;  // nsbu + nsbx + nsg + nsh
-    int nsbu;  // number of softened input bounds
-    int nsbx;  // number of softened state bounds
-    int nsg;  // number of softened general linear constraints
-    int nsh;  // number of softened nonlinear constraints
-    int nbue; // number of input box constraints which are equality
-    int nbxe; // number of state box constraints which are equality
-    int nge;  // number of general linear constraints which are equality
-    int nhe;  // number of nonlinear path constraints which are equality
-} ocp_nlp_constraints_bgh_dims;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
-//
-void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
-                                      const char *field, const int* value);
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    int *idxb;
-    int *idxs;
-    int *idxe;
-    struct blasfeo_dvec d;  // gathers bounds
-    struct blasfeo_dmat DCt;  // general linear constraint matrix
-            // lg <= [D, C] * [u; x] <= ug
-    external_function_generic *nl_constr_h_fun;  // nonlinear: lh <= h(x,u) <= uh
-    external_function_generic *nl_constr_h_fun_jac;  // nonlinear: lh <= h(x,u) <= uh
-    external_function_generic *nl_constr_h_fun_jac_hess;  // nonlinear: lh <= h(x,u) <= uh
-} ocp_nlp_constraints_bgh_model;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-//
-void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_constraints_bgh_opts;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
-    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
-    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
-    int *idxb;                   // pointer to idxb[ii] in qp_in
-    int *idxs_rev;               // pointer to idxs_rev[ii] in qp_in
-    int *idxe;                   // pointer to idxe[ii] in qp_in
-} ocp_nlp_constraints_bgh_memory;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
-//
-void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_nv;
-    struct blasfeo_dmat tmp_nz_nh;
-    struct blasfeo_dmat tmp_nv_nh;
-    struct blasfeo_dmat tmp_nz_nv;
-    struct blasfeo_dmat hess_z;
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dvec tmp_nh;
-} ocp_nlp_constraints_bgh_workspace;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/* functions */
-
-//
-void ocp_nlp_constraints_bgh_config_initialize_default(void *config);
-//
-void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts,
-                                    void *mem, void *work);
-//
-void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-
-//
-void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
deleted file mode 100644
index eb05edf7a6..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/* dims */
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-    int nb;   // nbx + nbu
-    int nbu;
-    int nbx;
-    int ng;   // number of general linear constraints
-    int nphi; // dimension of convex outer part
-    int ns;   // nsbu + nsbx + nsg + nsphi
-    int nsbu; // number of softened input bounds
-    int nsbx; // number of softened state bounds
-    int nsg;  // number of softened general linear constraints
-    int nsphi;  // number of softened nonlinear constraints
-    int nr;   // dimension of nonlinear function in convex_over_nonlinear constraint
-    int nbue; // number of input box constraints which are equality
-    int nbxe; // number of state box constraints which are equality
-    int nge;  // number of general linear constraints which are equality
-    int nphie;  // number of nonlinear path constraints which are equality
-} ocp_nlp_constraints_bgp_dims;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config);
-//
-void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-/* model */
-
-typedef struct
-{
-    //  ocp_nlp_constraints_bgp_dims *dims;
-    int *idxb;
-    int *idxs;
-    int *idxe;
-    struct blasfeo_dvec d;
-    struct blasfeo_dmat DCt;
-    external_function_generic *nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux;
-    external_function_generic *nl_constr_phi_o_r_fun;
-    external_function_generic *nl_constr_r_fun_jac;
-} ocp_nlp_constraints_bgp_model;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-//
-void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-/* options */
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_constraints_bgp_opts;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_constraints_bgp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgp_opts_set(void *config, void *opts, char *field, void *value);
-
-/* memory */
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
-    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
-    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
-    int *idxb;                   // pointer to idxb[ii] in qp_in
-    int *idxs_rev;                   // pointer to idxs_rev[ii] in qp_in
-    int *idxe;                   // pointer to idxe[ii] in qp_in
-} ocp_nlp_constraints_bgp_memory;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_constraints_bgp_memory_assign(void *config, void *dims, void *opts,
-    void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_adj_ptr(void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
-//
-void ocp_nlp_constraints_bgp_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_idxb_ptr(int *idxb, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
-
-/* workspace */
-
-typedef struct
-{
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dmat jac_r_ux_tran;
-    struct blasfeo_dmat tmp_nr_nphi_nr;
-    struct blasfeo_dmat tmp_nv_nr;
-    struct blasfeo_dmat tmp_nv_nphi;
-    struct blasfeo_dmat tmp_nz_nphi;
-} ocp_nlp_constraints_bgp_workspace;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/* functions */
-
-//
-void ocp_nlp_constraints_bgp_config_initialize_default(void *config);
-//
-void ocp_nlp_constraints_bgp_initialize(void *config, void *dims, void *model,
-        void *opts, void *mem, void *work);
-//
-void ocp_nlp_constraints_bgp_update_qp_matrices(void *config_, void *dims,
-        void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims,
-        void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgp_bounds_update(void *config_, void *dims, void *model_,
-        void *opts_, void *memory_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
deleted file mode 100644
index bb73c468de..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_constraints ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value);
-    void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config, void *opts, char *field, void *value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory);
-    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
-    void (*memory_set_lam_ptr)(struct blasfeo_dvec *lam, void *memory);
-    void (*memory_set_tmp_lam_ptr)(struct blasfeo_dvec *tmp_lam, void *memory);
-    void (*memory_set_DCt_ptr)(struct blasfeo_dmat *DCt, void *memory);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
-    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzduxt, void *memory);
-    void (*memory_set_idxb_ptr)(int *idxb, void *memory);
-    void (*memory_set_idxs_rev_ptr)(int *idxs_rev, void *memory);
-    void (*memory_set_idxe_ptr)(int *idxe, void *memory);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*update_qp_matrices)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*compute_fun)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*bounds_update)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*config_initialize_default)(void *config);
-    // dimension setters
-    void (*dims_set)(void *config_, void *dims_, const char *field, const int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
-} ocp_nlp_constraints_config;
-
-//
-acados_size_t ocp_nlp_constraints_config_calculate_size();
-//
-ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
deleted file mode 100644
index eb40564036..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-///
-/// \defgroup ocp_nlp_cost ocp_nlp_cost
-///
-
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int *value);
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config, void *opts, const char *field, void *value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-	double *(*memory_get_fun_ptr)(void *memory);
-    struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
-    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzdux, void *memory);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
-    void (*memory_set_Z_ptr)(struct blasfeo_dvec *Z, void *memory);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-
-    // computes the function value, gradient and hessian (approximation) of the cost function
-    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    // computes the cost function value (intended for globalization)
-    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*config_initialize_default)(void *config);
-    void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-
-} ocp_nlp_cost_config;
-
-//
-acados_size_t ocp_nlp_cost_config_calculate_size();
-//
-ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
deleted file mode 100644
index 2eb3f5d127..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl
-/// \brief This module implements convex-over-nonlinear costs of the form
-/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$,
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_conl_dims;
-
-//
-acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
-//
-void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    external_function_generic *conl_cost_fun;
-    external_function_generic *conl_cost_fun_jac_hess;
-    struct blasfeo_dvec y_ref;
-    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
-    struct blasfeo_dvec z;              // gradient of slacks as vector
-    double scaling;
-} ocp_nlp_cost_conl_model;
-
-//
-acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    bool gauss_newton_hess;  // dummy options, we always use a gauss-newton hessian
-} ocp_nlp_cost_conl_opts;
-
-//
-acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-typedef struct
-{
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    double fun;                         ///< value of the cost function
-} ocp_nlp_cost_conl_memory;
-
-//
-acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat W;             // hessian of outer loss function
-    struct blasfeo_dmat W_chol;        // cholesky factor of hessian of outer loss function
-    struct blasfeo_dmat Jt_ux;         // jacobian of inner residual function
-    struct blasfeo_dmat Jt_ux_tilde;   // jacobian of inner residual function plus gradient contribution of algebraic variables
-    struct blasfeo_dmat Jt_z;          // jacobian of inner residual function wrt algebraic variables
-    struct blasfeo_dmat tmp_nv_ny;
-    struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;
-} ocp_nlp_cost_conl_workspace;
-
-//
-acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_conl_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
deleted file mode 100644
index 78958270de..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
+++ /dev/null
@@ -1,187 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_external_dims;
-
-//
-acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    external_function_generic *ext_cost_fun;  // function
-    external_function_generic *ext_cost_fun_jac_hess;  // function, gradient and hessian
-    external_function_generic *ext_cost_fun_jac;  // function, gradient
-    struct blasfeo_dvec Z;
-    struct blasfeo_dvec z;
-    struct blasfeo_dmat numerical_hessian;  // custom hessian approximation
-    double scaling;
-} ocp_nlp_cost_external_model;
-
-//
-acados_size_t ocp_nlp_cost_external_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_external_model_assign(void *config, void *dims, void *raw_memory);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int use_numerical_hessian;  // > 0 indicating custom hessian is used instead of CasADi evaluation
-} ocp_nlp_cost_external_opts;
-
-//
-acados_size_t ocp_nlp_cost_external_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_external_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_external_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_external_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_external_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-	double fun;                         ///< value of the cost function
-} ocp_nlp_cost_external_memory;
-
-//
-acados_size_t ocp_nlp_cost_external_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_external_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_external_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_external_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_external_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nunx_nunx;
-    struct blasfeo_dmat tmp_nz_nz;
-    struct blasfeo_dmat tmp_nz_nunx;
-    struct blasfeo_dvec tmp_nunxnz;
-    struct blasfeo_dvec tmp_2ns;  // temporary vector of dimension 2*ns
-} ocp_nlp_cost_external_workspace;
-
-//
-acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_external_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_external_initialize(void *config_, void *dims, void *model_,
-                                      void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_external_update_qp_matrices(void *config_, void *dims, void *model_,
-                                               void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_external_compute_fun(void *config_, void *dims, void *model_,
-                                       void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
deleted file mode 100644
index 801e9a5b87..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
+++ /dev/null
@@ -1,243 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_ls ocp_nlp_cost_ls
-/// \brief This module implements linear-least squares costs of the form
-/// \f$\min_{x,u,z} \| V_x x + V_u u + V_z z - y_{\text{ref}}\|_W^2\f$.
-/// @{
-
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     dims                                   //
-////////////////////////////////////////////////////////////////////////////////
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_ls_dims;
-
-
-///  Calculate the size of the ocp_nlp_cost_ls_dims struct
-///
-///  \param[in] config_ structure containing configuration of ocp_nlp_cost
-///  module
-///  \param[out] []
-///  \return \c size of ocp_nlp_dims struct
-acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config);
-
-
-///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct
-///
-///  \param[in] config structure containing configuration of ocp_nlp_cost
-///  module
-///  \param[in] raw_memory pointer to memory location
-///  \param[out] []
-///  \return dims
-void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     model                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-/// structure containing the data describing the linear least-square cost
-typedef struct
-{
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    struct blasfeo_dmat Cyt;            ///< output matrix: Cy * [u,x] = y; in transposed form
-    struct blasfeo_dmat Vz;             ///< Vz in ls cost Vx*x + Vu*u + Vz*z
-    struct blasfeo_dmat W;              ///< ls norm corresponding to this matrix
-    struct blasfeo_dvec y_ref;          ///< yref
-    struct blasfeo_dvec Z;              ///< diagonal Hessian of slacks as vector (lower and upper)
-    struct blasfeo_dvec z;              ///< gradient of slacks as vector (lower and upper)
-    double scaling;
-    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
-    int Cyt_or_scaling_changed;         ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed
-} ocp_nlp_cost_ls_model;
-
-//
-acados_size_t ocp_nlp_cost_ls_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_ls_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_ls_model_set(void *config_, void *dims_, void *model_,
-                              const char *field, void *value_);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                   options                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-typedef struct
-{
-    int dummy; // struct can't be void
-} ocp_nlp_cost_ls_opts;
-
-//
-acados_size_t ocp_nlp_cost_ls_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_ls_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_ls_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_ls_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     memory                                 //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-/// structure containing the memory associated with cost_ls component
-/// of the ocp_nlp module
-typedef struct
-{
-    struct blasfeo_dmat hess;           ///< hessian of cost function
-    struct blasfeo_dmat W_chol;         ///< cholesky factor of weight matrix
-    struct blasfeo_dvec res;            ///< ls residual r(x)
-    struct blasfeo_dvec grad;           ///< gradient of cost function
-    struct blasfeo_dvec *ux;            ///< pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;        ///< pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    struct blasfeo_dmat *RSQrq;         ///< pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;             ///< pointer to Z in qp_in
-	double fun;                         ///< value of the cost function
-} ocp_nlp_cost_ls_memory;
-
-//
-acados_size_t ocp_nlp_cost_ls_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_ls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_ls_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_ls_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                 workspace                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_ny;   // temporary matrix of dimensions nv, ny
-    struct blasfeo_dmat Cyt_tilde;   // updated Cyt (after z elimination)
-    struct blasfeo_dmat dzdux_tran;  // derivatives of z wrt u and x (tran)
-    struct blasfeo_dvec tmp_ny;      // temporary vector of dimension ny
-    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
-    struct blasfeo_dvec tmp_nz;      // temporary vector of dimension nz
-    struct blasfeo_dvec y_ref_tilde; // updated y_ref (after z elimination)
-} ocp_nlp_cost_ls_workspace;
-
-//
-acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                 functions                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-// computations that are done once when solver is created
-void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_ls_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_ls_initialize(void *config_, void *dims, void *model_, void *opts_,
-                                void *mem_, void *work_);
-//
-void ocp_nlp_cost_ls_update_qp_matrices(void *config_, void *dims, void *model_,
-                                        void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_ls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
deleted file mode 100644
index 5ec68cf580..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
+++ /dev/null
@@ -1,211 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls
-/// \brief This module implements nonlinear-least squares costs of the form
-/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$,
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_nls_dims;
-
-//
-acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    external_function_generic *nls_y_fun;  // evaluation of nls function
-    external_function_generic *nls_y_fun_jac;  // evaluation nls function and jacobian
-    external_function_generic *nls_y_hess;  // hessian*seeds of nls residuals
-    struct blasfeo_dmat W;                //
-    struct blasfeo_dvec y_ref;
-    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
-    struct blasfeo_dvec z;              // gradient of slacks as vector
-    double scaling;
-    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
-} ocp_nlp_cost_nls_model;
-
-//
-acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    bool gauss_newton_hess;  // gauss-newton hessian approximation
-} ocp_nlp_cost_nls_opts;
-
-//
-acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat W_chol;  // cholesky factor of weight matrix
-    struct blasfeo_dmat Jt;      // jacobian of nls fun
-    struct blasfeo_dvec res;     // nls residual r(x)
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;     // pointer to ux in tmp_nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    double fun;                         ///< value of the cost function
-} ocp_nlp_cost_nls_memory;
-
-//
-acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_ny;
-    struct blasfeo_dmat tmp_nv_nv;
-    struct blasfeo_dmat Vz;
-    struct blasfeo_dmat Cyt_tilde;
-    struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;
-    struct blasfeo_dvec tmp_nz;
-} ocp_nlp_cost_nls_workspace;
-
-//
-acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_nls_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
deleted file mode 100644
index 43fe71b12f..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_dynamics ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    void (*config_initialize_default)(void *config);
-    sim_config *sim_solver;
-    /* dims */
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
-    /* model */
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    void (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
-    /* opts */
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    /* memory */
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    // get shooting node gap x_next(x_n, u_n) - x_{n+1}
-    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
-    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory_);
-    void (*memory_set_ux1_ptr)(struct blasfeo_dvec *ux1, void *memory_);
-    void (*memory_set_tmp_ux1_ptr)(struct blasfeo_dvec *tmp_ux1, void *memory_);
-    void (*memory_set_pi_ptr)(struct blasfeo_dvec *pi, void *memory_);
-    void (*memory_set_tmp_pi_ptr)(struct blasfeo_dvec *tmp_pi, void *memory_);
-    void (*memory_set_BAbt_ptr)(struct blasfeo_dmat *BAbt, void *memory_);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory_);
-    void (*memory_set_dzduxt_ptr)(struct blasfeo_dmat *mat, void *memory_);
-    void (*memory_set_sim_guess_ptr)(struct blasfeo_dvec *vec, bool *bool_ptr, void *memory_);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *vec, void *memory_);
-    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void* value);
-    /* workspace */
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    int (*precompute)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-} ocp_nlp_dynamics_config;
-
-//
-acados_size_t ocp_nlp_dynamics_config_calculate_size();
-//
-ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
deleted file mode 100644
index 3afdc9f4ed..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-#include "acados_c/sim_interface.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    void *sim;
-    int nx;   // number of states at the current stage
-    int nz;   // number of algebraic states at the current stage
-    int nu;   // number of inputs at the current stage
-    int nx1;  // number of states at the next stage
-    int nu1;  // number of inputes at the next stage
-} ocp_nlp_dynamics_cont_dims;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
-//
-void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value);
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    void *sim_solver;
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_dynamics_cont_opts;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;            // pointer to ux in nlp_out at current stage
-    struct blasfeo_dvec *tmp_ux;        // pointer to ux in tmp_nlp_out at current stage
-    struct blasfeo_dvec *ux1;           // pointer to ux in nlp_out at next stage
-    struct blasfeo_dvec *tmp_ux1;       // pointer to ux in tmp_nlp_out at next stage
-    struct blasfeo_dvec *pi;            // pointer to pi in nlp_out at current stage
-    struct blasfeo_dvec *tmp_pi;        // pointer to pi in tmp_nlp_out at current stage
-    struct blasfeo_dmat *BAbt;          // pointer to BAbt in qp_in
-    struct blasfeo_dmat *RSQrq;         // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *z_alg;         // pointer to output z at t = 0
-    bool *set_sim_guess;                 // indicate if initialization for integrator is set from outside
-    struct blasfeo_dvec *sim_guess;     // initializations for integrator
-    // struct blasfeo_dvec *z;             // pointer to (input) z in nlp_out at current stage
-    struct blasfeo_dmat *dzduxt;        // pointer to dzdux transposed
-    void *sim_solver;                   // sim solver memory
-} ocp_nlp_dynamics_cont_memory;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat hess;
-    sim_in *sim_in;
-    sim_out *sim_out;
-    void *sim_solver;  // sim solver workspace
-} ocp_nlp_dynamics_cont_workspace;
-
-acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    void *sim_model;
-    // double *state_transition; // TODO
-    double T;  // simulation time
-} ocp_nlp_dynamics_cont_model;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_dynamics_cont_config_initialize_default(void *config);
-//
-void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
deleted file mode 100644
index 6ea26a7010..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;   // number of states at the current stage
-    int nu;   // number of inputs at the current stage
-    int nx1;  // number of states at the next stage
-    int nu1;  // number of inputes at the next stage
-} ocp_nlp_dynamics_disc_dims;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config);
-//
-void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value);
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_dynamics_disc_opts;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_disc_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_disc_opts_update(void *config, void *dims, void *opts);
-//
-int ocp_nlp_dynamics_disc_precompute(void *config_, void *dims, void *model_, void *opts_,
-                                        void *mem_, void *work_);
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out at current stage
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage
-    struct blasfeo_dvec *ux1;    // pointer to ux in nlp_out at next stage
-    struct blasfeo_dvec *tmp_ux1;// pointer to ux in tmp_nlp_out at next stage
-    struct blasfeo_dvec *pi;     // pointer to pi in nlp_out at current stage
-    struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage
-    struct blasfeo_dmat *BAbt;   // pointer to BAbt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_dynamics_disc_memory;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_dynamics_disc_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_fun_ptr(void *memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_adj_ptr(void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_nv;
-} ocp_nlp_dynamics_disc_workspace;
-
-acados_size_t ocp_nlp_dynamics_disc_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    external_function_generic *disc_dyn_fun;
-    external_function_generic *disc_dyn_fun_jac;
-    external_function_generic *disc_dyn_fun_jac_hess;
-} ocp_nlp_dynamics_disc_model;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_disc_model_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_dynamics_disc_config_initialize_default(void *config);
-//
-void ocp_nlp_dynamics_disc_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_disc_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
deleted file mode 100644
index 9388f3fd24..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_reg ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-
-
-/* dims */
-
-//typedef ocp_qp_dims ocp_nlp_reg_dims;
-typedef struct
-{
-    int *nx;
-    int *nu;
-    int *nbu;
-    int *nbx;
-    int *ng;
-    int N;
-} ocp_nlp_reg_dims;
-
-//
-acados_size_t ocp_nlp_reg_dims_calculate_size(int N);
-//
-ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory);
-//
-void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value);
-
-
-
-/* config */
-
-typedef struct
-{
-    /* dims */
-    acados_size_t (*dims_calculate_size)(int N);
-    ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory);
-    void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value);
-    /* opts */
-    acados_size_t (*opts_calculate_size)(void);
-    void *(*opts_assign)(void *raw_memory);
-    void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts);
-    void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value);
-    /* memory */
-    acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts);
-    void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-    void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value);
-    void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory);
-    void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    /* functions */
-    void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
-    void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
-} ocp_nlp_reg_config;
-
-//
-acados_size_t ocp_nlp_reg_config_calculate_size(void);
-//
-void *ocp_nlp_reg_config_assign(void *raw_memory);
-
-
-
-/* regularization help functions */
-void acados_reconstruct_A(int dim, double *A, double *V, double *d);
-void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon);
-void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
deleted file mode 100644
index cb523525e1..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double delta;
-    double epsilon;
-//    double gamma; // 0.0
-} ocp_nlp_reg_convexify_opts;
-
-//
-acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct {
-    double *R;
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-    double *reg_hess; // TODO move to workspace
-
-    struct blasfeo_dmat Q_tilde;
-    struct blasfeo_dmat Q_bar;
-    struct blasfeo_dmat BAQ;
-    struct blasfeo_dmat L;
-    struct blasfeo_dmat delta_eye;
-    struct blasfeo_dmat St_copy;
-
-    struct blasfeo_dmat *original_RSQrq;
-    struct blasfeo_dmat tmp_RSQ;
-
-	struct blasfeo_dvec tmp_nuxM;
-	struct blasfeo_dvec tmp_nbgM;
-
-//    struct blasfeo_dvec grad;
-//    struct blasfeo_dvec b2;
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec **rq;  // pointer to rq in qp_in
-    struct blasfeo_dmat **BAbt;  // pointer to BAbt in qp_in
-    struct blasfeo_dvec **b;  // pointer to b in qp_in
-    struct blasfeo_dmat **DCt;  // pointer to DCt in qp_in
-    struct blasfeo_dvec **ux;  // pointer to ux in qp_out
-    struct blasfeo_dvec **pi;  // pointer to pi in qp_out
-    struct blasfeo_dvec **lam;  // pointer to lam in qp_out
-	int **idxb; // pointer to idxb in qp_in
-
-} ocp_nlp_reg_convexify_memory;
-
-//
-acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
deleted file mode 100644
index 84a023cb69..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double epsilon;
-} ocp_nlp_reg_mirror_opts;
-
-//
-acados_size_t ocp_nlp_reg_mirror_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_mirror_memory;
-
-//
-acados_size_t ocp_nlp_reg_mirror_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_mirror_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_mirror_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
deleted file mode 100644
index b571f3bac1..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-
-/************************************************
- * options
- ************************************************/
-
-//
-acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-//
-acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_noreg_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
-// not needed
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_noreg_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
deleted file mode 100644
index 682ea206dc..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double epsilon;
-} ocp_nlp_reg_project_opts;
-
-//
-acados_size_t ocp_nlp_reg_project_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_project_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_project_memory;
-
-//
-acados_size_t ocp_nlp_reg_project_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_project_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_project_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
deleted file mode 100644
index 7e12952c15..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double thr_eig;
-    double min_eig;
-    double min_pivot;
-	int pivoting;
-} ocp_nlp_reg_project_reduc_hess_opts;
-
-//
-acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat L; // TODO move to workspace
-    struct blasfeo_dmat L2; // TODO move to workspace
-    struct blasfeo_dmat L3; // TODO move to workspace
-    struct blasfeo_dmat Ls; // TODO move to workspace
-    struct blasfeo_dmat P; // TODO move to workspace
-    struct blasfeo_dmat AL; // TODO move to workspace
-
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat **BAbt;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_project_reduc_hess_memory;
-
-//
-acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_project_reduc_hess_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_project_reduc_hess_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
deleted file mode 100644
index fdb96417f9..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
+++ /dev/null
@@ -1,170 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_solver
-/// @{
-/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_opts *nlp_opts;
-    double tol_stat;     // exit tolerance on stationarity condition
-    double tol_eq;       // exit tolerance on equality constraints
-    double tol_ineq;     // exit tolerance on inequality constraints
-    double tol_comp;     // exit tolerance on complementarity condition
-    int max_iter;
-    int ext_qp_res;      // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
-    int qp_warm_start;   // qp_warm_start in all but the first sqp iterations
-    bool warm_start_first_qp; // to set qp_warm_start in first iteration
-    int rti_phase;       // only phase 0 at the moment 
-    int initialize_t_slacks;  // 0-false or 1-true
-
-} ocp_nlp_sqp_opts;
-
-//
-acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    // nlp memory
-    ocp_nlp_memory *nlp_mem;
-
-    double time_qp_sol;
-    double time_qp_solver_call;
-    double time_qp_xcond;
-    double time_lin;
-    double time_reg;
-    double time_tot;
-    double time_glob;
-    double time_sim;
-    double time_sim_la;
-    double time_sim_ad;
-    double time_solution_sensitivities;
-
-    // statistics
-    double *stat;
-    int stat_m;
-    int stat_n;
-
-    int status;
-    int sqp_iter;
-
-} ocp_nlp_sqp_memory;
-
-//
-acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-void ocp_nlp_sqp_memory_reset_qp_solver(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-    void *opts_, void *mem_, void *work_);
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_workspace *nlp_work;
-
-    // temp QP in & out (to be used as workspace in param sens)
-    ocp_qp_in *tmp_qp_in;
-    ocp_qp_out *tmp_qp_out;
-
-    // qp residuals
-    ocp_qp_res *qp_res;
-    ocp_qp_res_ws *qp_res_ws;
-
-} ocp_nlp_sqp_workspace;
-
-//
-acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out,
-                void *args, void *mem, void *work_);
-//
-void ocp_nlp_sqp_config_initialize_default(void *config_);
-//
-int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-                void *opts_, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
deleted file mode 100644
index 364d0f4717..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
+++ /dev/null
@@ -1,163 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_solver
-/// @{
-/// \addtogroup ocp_nlp_sqp_rti ocp_nlp_sqp_rti
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_opts *nlp_opts;
-    int compute_dual_sol;
-    int ext_qp_res;           // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
-    int qp_warm_start;        // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
-    bool warm_start_first_qp; // to set qp_warm_start in first iteration
-    int rti_phase;            // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
-
-} ocp_nlp_sqp_rti_opts;
-
-//
-acados_size_t ocp_nlp_sqp_rti_opts_calculate_size(void *config_, void *dims_);
-//
-void *ocp_nlp_sqp_rti_opts_assign(void *config_, void *dims_, void *raw_memory);
-//
-void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *opts_);
-//
-void ocp_nlp_sqp_rti_opts_update(void *config_, void *dims_, void *opts_);
-//
-void ocp_nlp_sqp_rti_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_sqp_rti_opts_set_at_stage(void *config_, void *opts_, size_t stage,
-    const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    // nlp memory
-    ocp_nlp_memory *nlp_mem;
-
-    double time_qp_sol;
-    double time_qp_solver_call;
-    double time_qp_xcond;
-    double time_lin;
-    double time_reg;
-    double time_tot;
-    double time_glob;
-    double time_solution_sensitivities;
-
-    // statistics
-    double *stat;
-    int stat_m;
-    int stat_n;
-
-    int status;
-
-} ocp_nlp_sqp_rti_memory;
-
-//
-acados_size_t ocp_nlp_sqp_rti_memory_calculate_size(void *config_, void *dims_, void *opts_);
-//
-void *ocp_nlp_sqp_rti_memory_assign(void *config_, void *dims_, void *opts_,
-    void *raw_memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_workspace *nlp_work;
-
-    // temp QP in & out (to be used as workspace in param sens)
-    ocp_qp_in *tmp_qp_in;
-    ocp_qp_out *tmp_qp_out;
-
-    // qp residuals
-    ocp_qp_res *qp_res;
-    ocp_qp_res_ws *qp_res_ws;
-
-
-} ocp_nlp_sqp_rti_workspace;
-
-//
-acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims_, void *opts_);
-
-
-
-/************************************************
- * functions
- ************************************************/
-//
-int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-    void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_sqp_rti_config_initialize_default(void *config_);
-//
-int ocp_nlp_sqp_rti_precompute(void *config_, void *dims_,
-    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
deleted file mode 100644
index d1a45635e4..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_H_
-#define ACADOS_OCP_QP_OCP_QP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp.h"
-#include "hpipm/include/hpipm_d_ocp_qp_dim.h"
-#include "hpipm/include/hpipm_d_ocp_qp_res.h"
-#include "hpipm/include/hpipm_d_ocp_qp_sol.h"
-// acados
-#include "acados/utils/types.h"
-
-
-
-typedef struct d_ocp_qp_dim ocp_qp_dims;
-typedef struct d_ocp_qp ocp_qp_in;
-typedef struct d_ocp_qp_sol ocp_qp_out;
-typedef struct d_ocp_qp_res ocp_qp_res;
-typedef struct d_ocp_qp_res_ws ocp_qp_res_ws;
-
-
-
-#ifndef QP_SOLVER_CONFIG_
-#define QP_SOLVER_CONFIG_
-typedef struct
-{
-    void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} qp_solver_config;
-#endif
-
-
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config, int N);
-    void *(*dims_assign)(void *config, int N, void *raw_memory);
-    void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value);
-    void (*dims_get)(void *config, void *dims, const char *field, void* value);
-    // TODO add config everywhere !!!!!
-    acados_size_t (*opts_calculate_size)(void *dims);
-    void *(*opts_assign)(void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *dims, void *opts);
-    void (*opts_update)(void *dims, void *opts);
-    void (*opts_set)(void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *dims, void *opts);
-    void *(*memory_assign)(void *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config, void *mem, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *dims, void *opts);
-    int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} ocp_qp_xcond_config;
-
-
-
-/// Struct containing metrics of the qp solver.
-#ifndef QP_INFO_
-#define QP_INFO_
-typedef struct
-{
-    double solve_QP_time;
-    double condensing_time;
-    double interface_time;
-    double total_time;
-    int num_iter;
-    int t_computed;
-} qp_info;
-#endif
-
-
-
-/* config */
-//
-acados_size_t ocp_qp_solver_config_calculate_size();
-//
-qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory);
-//
-acados_size_t ocp_qp_condensing_config_calculate_size();
-//
-ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory);
-
-
-/* dims */
-//
-acados_size_t ocp_qp_dims_calculate_size(int N);
-//
-ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory);
-//
-void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value);
-//
-void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value);
-
-
-/* in */
-//
-acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory);
-
-
-/* out */
-//
-acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory);
-
-/* res */
-//
-acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory);
-//
-acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws);
-//
-void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]);
-
-
-/* misc */
-//
-void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out);
-//
-void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out);
-//
-void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
deleted file mode 100644
index f65f602c15..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
-#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-typedef struct
-{
-    int N;
-    int *nx;
-    int *nu;
-    int *nb;
-    int *nc;
-    double **A;
-    double **B;
-    double **b;
-    double **Q;
-    double **S;
-    double **R;
-    double **q;
-    double **r;
-    int **idxb;
-    double **lb;
-    double **ub;
-    double **Cx;
-    double **Cu;
-    double **lc;
-    double **uc;
-} colmaj_ocp_qp_in;
-
-typedef struct
-{
-    double **x;
-    double **u;
-    double **pi;
-    double **lam;
-} colmaj_ocp_qp_out;
-
-typedef struct
-{
-    double **res_r;
-    double **res_q;
-    double **res_ls;
-    double **res_us;
-    double **res_b;
-    double **res_d_lb;
-    double **res_d_ub;
-    double **res_d_lg;
-    double **res_d_ug;
-    double **res_d_ls;
-    double **res_d_us;
-    double **res_m_lb;
-    double **res_m_ub;
-    double **res_m_lg;
-    double **res_m_ug;
-    double **res_m_ls;
-    double **res_m_us;
-    double res_nrm_inf[4];
-} colmaj_ocp_qp_res;
-
-//
-acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr);
-//
-acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr);
-//
-acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr);
-//
-void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in);
-//
-void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out);
-//
-void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
deleted file mode 100644
index d23e658b48..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
-#define ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_red.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    ocp_qp_dims *red_dims; // dims of reduced qp
-    dense_qp_dims *fcond_dims;
-} ocp_qp_full_condensing_dims;
-
-
-
-typedef struct ocp_qp_full_condensing_opts_
-{
-    struct d_cond_qp_arg *hpipm_cond_opts;
-    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
-//    dense_qp_dims *fcond_dims;  // TODO(all): move to dims
-    int cond_hess; // 0 cond only rhs, 1 cond hess + rhs
-    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
-    int ric_alg;
-    int mem_qp_in; // allocate qp_in in memory
-} ocp_qp_full_condensing_opts;
-
-
-
-typedef struct ocp_qp_full_condensing_memory_
-{
-    struct d_cond_qp_ws *hpipm_cond_work;
-    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
-    // in memory
-    dense_qp_in *fcond_qp_in;
-    dense_qp_out *fcond_qp_out;
-    ocp_qp_in *red_qp; // reduced qp
-    ocp_qp_out *red_sol; // reduced qp sol
-    // only pointer
-    ocp_qp_in *ptr_qp_in;
-    qp_info *qp_out_info; // info in fcond_qp_in
-    double time_qp_xcond;
-} ocp_qp_full_condensing_memory;
-
-
-
-//
-acados_size_t ocp_qp_full_condensing_opts_calculate_size(void *dims);
-//
-void *ocp_qp_full_condensing_opts_assign(void *dims, void *raw_memory);
-//
-void ocp_qp_full_condensing_opts_initialize_default(void *dims, void *opts_);
-//
-void ocp_qp_full_condensing_opts_update(void *dims, void *opts_);
-//
-void ocp_qp_full_condensing_opts_set(void *opts_, const char *field, void* value);
-//
-acados_size_t ocp_qp_full_condensing_memory_calculate_size(void *dims, void *opts_);
-//
-void *ocp_qp_full_condensing_memory_assign(void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_full_condensing_workspace_calculate_size(void *dims, void *opts_);
-//
-int ocp_qp_full_condensing(void *in, void *out, void *opts, void *mem, void *work);
-//
-int ocp_qp_full_expansion(void *in, void *out, void *opts, void *mem, void *work);
-//
-void ocp_qp_full_condensing_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
deleted file mode 100644
index 261606b842..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_HPIPM_H_
-#define ACADOS_OCP_QP_OCP_QP_HPIPM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_ipm.h"
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-// struct of arguments to the solver
-// TODO(roversch): why not make this a typedef of the underlying struct?
-typedef struct ocp_qp_hpipm_opts_
-{
-    struct d_ocp_qp_ipm_arg *hpipm_opts;
-} ocp_qp_hpipm_opts;
-
-
-
-// TODO(roversch): why not make this a typedef of the underlying struct?
-// struct of the solver memory
-typedef struct ocp_qp_hpipm_memory_
-{
-    struct d_ocp_qp_ipm_ws *hpipm_workspace;
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_hpipm_memory;
-
-
-
-//
-acados_size_t ocp_qp_hpipm_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void ocp_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
-//
-void ocp_qp_hpipm_opts_set(void *config_, void *opts_, const char *field, void *value);
-//
-acados_size_t ocp_qp_hpipm_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_qp_hpipm_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_memory_reset(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_config_initialize_default(void *config);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
deleted file mode 100644
index 8db53a279d..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
+++ /dev/null
@@ -1,127 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_HPMPC_H_
-#define ACADOS_OCP_QP_OCP_QP_HPMPC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t;
-
-typedef struct ocp_qp_hpmpc_opts_
-{
-    double tol;
-    int max_iter;
-    double mu0;
-    double alpha_min;
-    int warm_start;
-    int N2;  // horizion length of the partially condensed problem
-
-    // partial tightening
-    double sigma_mu;
-    int N;
-    int M;
-} ocp_qp_hpmpc_opts;
-
-// struct of the solver memory
-typedef struct ocp_qp_hpmpc_memory_
-{
-    struct blasfeo_dvec *hpi;
-    double *stats;
-
-    // workspace
-    void *hpmpc_work;  // raw workspace
-
-    // partial tightening-specific (init of extra variables)
-    struct blasfeo_dvec *lam0;
-    struct blasfeo_dvec *ux0;
-    struct blasfeo_dvec *pi0;
-    struct blasfeo_dvec *t0;
-
-    // 2. workspace
-    struct blasfeo_dmat *hsL;
-    struct blasfeo_dmat *hsric_work_mat;
-    struct blasfeo_dmat sLxM;
-    struct blasfeo_dmat sPpM;
-
-    struct blasfeo_dvec *hsQx;
-    struct blasfeo_dvec *hsqx;
-    struct blasfeo_dvec *hstinv;
-    struct blasfeo_dvec *hsrq;
-    struct blasfeo_dvec *hsdux;
-
-    struct blasfeo_dvec *hsdlam;
-    struct blasfeo_dvec *hsdt;
-    struct blasfeo_dvec *hsdpi;
-    struct blasfeo_dvec *hslamt;
-
-    struct blasfeo_dvec *hsPb;
-
-    void *work_ric;
-
-    int out_iter;
-
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_hpmpc_memory;
-
-acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpmpc_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_HPMPC_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
deleted file mode 100644
index a535503f21..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_OOQP_H_
-#define ACADOS_OCP_QP_OCP_QP_OOQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-enum ocp_qp_ooqp_termination_code
-{
-  SPARSE_SUCCESSFUL_TERMINATION = 0,
-  SPARSE_NOT_FINISHED,
-  SPARSE_MAX_ITS_EXCEEDED,
-  SPARSE_INFEASIBLE,
-  SPARSE_UNKNOWN
-};
-
-typedef struct ocp_qp_ooqp_opts_
-{
-    int printLevel;
-    int useDiagonalWeights;  // TODO(dimitris): implement option
-    int fixHessian;
-    int fixHessianSparsity;
-    int fixDynamics;
-    int fixDynamicsSparsity;
-    int fixInequalities;
-    int fixInequalitiesSparsity;
-} ocp_qp_ooqp_opts;
-
-typedef struct ocp_qp_ooqp_workspace_
-{
-    double *x;
-    double *gamma;
-    double *phi;
-    double *y;
-    double *z;
-    double *lambda;
-    double *pi;
-    double objectiveValue;
-    int *tmpInt;    // temporary vector to sort indicies sparse matrices
-    double *tmpReal;  // temporary vector to sort data of sparse matrices
-    // int ierr;
-} ocp_qp_ooqp_workspace;
-
-typedef struct ocp_qp_ooqp_memory_
-{
-    int firstRun;
-    double *c;
-    int nx;
-    int *irowQ;
-    int nnzQ;
-    int *jcolQ;
-    int *orderQ;
-    double *dQ;
-    double *xlow;
-    char *ixlow;
-    double *xupp;
-    char *ixupp;
-    int *irowA;
-    int nnzA;
-    int *jcolA;
-    int *orderA;
-    double *dA;
-    double *bA;
-    int my;
-    int *irowC;
-    int nnzC;
-    int *jcolC;
-    int *orderC;
-    double *dC;
-    double *clow;
-    int mz;
-    char *iclow;
-    double *cupp;
-    char *icupp;
-    int nnz;  // max(nnzQ, nnzA, nnzC)
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_ooqp_memory;
-
-//
-acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
-                void *work_);
-//
-void ocp_qp_ooqp_destroy(void *mem_, void *work);
-//
-void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_ooqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
deleted file mode 100644
index 51df1b1cd6..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_OSQP_H_
-#define ACADOS_OCP_QP_OCP_QP_OSQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// osqp
-#include "osqp/include/types.h"
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct ocp_qp_osqp_opts_
-{
-    OSQPSettings *osqp_opts;
-} ocp_qp_osqp_opts;
-
-
-typedef struct ocp_qp_osqp_memory_
-{
-    c_int first_run;
-
-    c_float *q;
-    c_float *l;
-    c_float *u;
-
-    c_int P_nnzmax;
-    c_int *P_i;
-    c_int *P_p;
-    c_float *P_x;
-
-    c_int A_nnzmax;
-    c_int *A_i;
-    c_int *A_p;
-    c_float *A_x;
-
-    OSQPData *osqp_data;
-    OSQPWorkspace *osqp_work;
-
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_osqp_memory;
-
-acados_size_t ocp_qp_osqp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_qp_osqp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_qp_osqp_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void ocp_qp_osqp_opts_update(void *config, void *dims, void *opts_);
-//
-acados_size_t ocp_qp_osqp_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_qp_osqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_osqp_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-int ocp_qp_osqp(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_osqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_osqp_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_OSQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
deleted file mode 100644
index 844f6048fe..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
-#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_red.h"
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    ocp_qp_dims *red_dims; // dims of reduced qp
-    ocp_qp_dims *pcond_dims;
-    int *block_size;
-    int N2;
-    int N2_bkp;
-} ocp_qp_partial_condensing_dims;
-
-
-
-typedef struct ocp_qp_partial_condensing_opts_
-{
-    struct d_part_cond_qp_arg *hpipm_pcond_opts;
-    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
-//    ocp_qp_dims *pcond_dims;  // TODO(all): move to dims
-//    int *block_size;
-    int N2;
-    int N2_bkp;
-//    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
-    int ric_alg;
-    int mem_qp_in; // allocate qp_in in memory
-} ocp_qp_partial_condensing_opts;
-
-
-
-typedef struct ocp_qp_partial_condensing_memory_
-{
-    struct d_part_cond_qp_ws *hpipm_pcond_work;
-    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
-    // in memory
-    ocp_qp_in *pcond_qp_in;
-    ocp_qp_out *pcond_qp_out;
-    ocp_qp_in *red_qp; // reduced qp
-    ocp_qp_out *red_sol; // reduced qp sol
-    // only pointer
-    ocp_qp_in *ptr_qp_in;
-    ocp_qp_in *ptr_pcond_qp_in;
-    qp_info *qp_out_info; // info in pcond_qp_in
-    double time_qp_xcond;
-} ocp_qp_partial_condensing_memory;
-
-
-
-//
-acados_size_t ocp_qp_partial_condensing_opts_calculate_size(void *dims);
-//
-void *ocp_qp_partial_condensing_opts_assign(void *dims, void *raw_memory);
-//
-void ocp_qp_partial_condensing_opts_initialize_default(void *dims, void *opts_);
-//
-void ocp_qp_partial_condensing_opts_update(void *dims, void *opts_);
-//
-void ocp_qp_partial_condensing_opts_set(void *opts_, const char *field, void* value);
-//
-acados_size_t ocp_qp_partial_condensing_memory_calculate_size(void *dims, void *opts_);
-//
-void *ocp_qp_partial_condensing_memory_assign(void *dims, void *opts, void *raw_memory);
-//
-acados_size_t ocp_qp_partial_condensing_workspace_calculate_size(void *dims, void *opts_);
-//
-int ocp_qp_partial_condensing(void *in, void *out, void *opts, void *mem, void *work);
-//
-int ocp_qp_partial_expansion(void *in, void *out, void *opts, void *mem, void *work);
-//
-void ocp_qp_partial_condensing_config_initialize_default(void *config_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
deleted file mode 100644
index 3b875caeb5..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
-#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "qpDUNES.h"
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef enum qpdunes_options_t_ {
-    QPDUNES_DEFAULT_ARGUMENTS,
-    QPDUNES_LINEAR_MPC,     // TODO(dimitris): partly implemented
-    QPDUNES_NONLINEAR_MPC,  // TODO(dimitris): not implemented yet
-    QPDUNES_ACADO_SETTINGS
-} qpdunes_options_t;
-
-typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t;
-
-typedef struct ocp_qp_qpdunes_opts_
-{
-    qpOptions_t options;
-    qpdunes_stage_qp_solver_t stageQpSolver;
-    int warmstart;  // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult.
-    bool isLinearMPC;
-} ocp_qp_qpdunes_opts;
-
-typedef struct ocp_qp_qpdunes_memory_
-{
-    int firstRun;
-    int nx;
-    int nu;
-    int nz;
-    int nDmax;  // max(dims->ng)
-    qpData_t qpData;
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_qpdunes_memory;
-
-typedef struct ocp_qp_qpdunes_workspace_
-{
-    double *H;
-    double *Q;
-    double *R;
-    double *S;
-    double *g;
-    double *ABt;
-    double *b;
-    double *Ct;
-    double *lc;
-    double *uc;
-    double *zLow;
-    double *zUpp;
-} ocp_qp_qpdunes_workspace;
-
-//
-acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_qpdunes_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_qpdunes(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
-                   void *work_);
-//
-void ocp_qp_qpdunes_free_memory(void *mem_);
-//
-void ocp_qp_qpdunes_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_qpdunes_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
deleted file mode 100644
index a78bc65bb9..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
+++ /dev/null
@@ -1,150 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
-#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    void *xcond_dims;
-} ocp_qp_xcond_solver_dims;
-
-
-
-typedef struct ocp_qp_xcond_solver_opts_
-{
-    void *xcond_opts;
-    void *qp_solver_opts;
-} ocp_qp_xcond_solver_opts;
-
-
-
-typedef struct ocp_qp_xcond_solver_memory_
-{
-    void *xcond_memory;
-    void *solver_memory;
-    void *xcond_qp_in;
-    void *xcond_qp_out;
-} ocp_qp_xcond_solver_memory;
-
-
-
-typedef struct ocp_qp_xcond_solver_workspace_
-{
-    void *xcond_work;
-    void *qp_solver_work;
-} ocp_qp_xcond_solver_workspace;
-
-
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config, int N);
-    ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
-    void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-    void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-    acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
-    void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    void (*memory_reset)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
-    acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
-    void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work);
-    qp_solver_config *qp_solver;  // either ocp_qp_solver or dense_solver
-    ocp_qp_xcond_config *xcond;
-} ocp_qp_xcond_solver_config;  // pcond - partial condensing or fcond - full condensing
-
-
-
-/* config */
-//
-acados_size_t ocp_qp_xcond_solver_config_calculate_size();
-//
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory);
-
-/* dims */
-//
-acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N);
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory);
-//
-void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-
-/* opts */
-//
-acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims);
-//
-void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
-//
-void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value);
-
-/* memory */
-//
-acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory);
-
-/* workspace */
-//
-acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-/* config */
-//
-int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_);
-
-//
-void ocp_qp_xcond_solver_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h
deleted file mode 100644
index 045d165cbc..0000000000
--- a/third_party/acados/include/acados/sim/sim_collocation_utils.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
-#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-
-
-// enum Newton_type_collocation
-// {
-//     exact = 0,
-//     simplified_in,
-//     simplified_inis
-// };
-
-
-
-// typedef struct
-// {
-//     enum Newton_type_collocation type;
-//     double *eig;
-//     double *low_tria;
-//     bool single;
-//     bool freeze;
-
-//     double *transf1;
-//     double *transf2;
-
-//     double *transf1_T;
-//     double *transf2_T;
-// } Newton_scheme;
-
-
-typedef enum
-{
-    GAUSS_LEGENDRE,
-    GAUSS_RADAU_IIA,
-} sim_collocation_type;
-
-
-//
-// acados_size_t gauss_legendre_nodes_work_calculate_size(int ns);
-//
-// void gauss_legendre_nodes(int ns, double *nodes, void *raw_memory);
-//
-// acados_size_t gauss_simplified_work_calculate_size(int ns);
-// //
-// void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
-//
-acados_size_t butcher_tableau_work_calculate_size(int ns);
-//
-// void calculate_butcher_tableau_from_nodes(int ns, double *nodes, double *b, double *A, void *work);
-//
-void calculate_butcher_tableau(int ns, sim_collocation_type collocation_type, double *c_vec,
-                               double *b_vec, double *A_mat, void *work);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h
deleted file mode 100644
index c4bbd6ed2b..0000000000
--- a/third_party/acados/include/acados/sim/sim_common.h
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_COMMON_H_
-#define ACADOS_SIM_SIM_COMMON_H_
-
-#include <stdbool.h>
-
-#include "acados/sim/sim_collocation_utils.h"
-#include "acados/utils/timing.h"
-#include "acados/utils/types.h"
-
-#include "acados/utils/external_function_generic.h"
-
-// maximum number of integration stages
-#define NS_MAX 15
-
-
-
-typedef enum
-{
-    // ERK and LIFTED_ERK
-    EXPL_ODE_FUN,
-    EXPL_ODE_HES,  // wrt x and u ???
-    EXPL_VDE_FOR,
-    EXPL_VDE_ADJ,
-    // IRK
-    IMPL_ODE_FUN,
-    IMPL_ODE_FUN_JAC_X_XDOT,
-    IMPL_ODE_JAC_X_XDOT_U,
-    IMPL_ODE_FUN_JAC_X_XDOT_U,
-    IMPL_ODE_HESS,
-    // gnsf
-    PHI_FUN,
-    PHI_FUN_JAC_Y,
-    PHI_JAC_Y_UHAT,
-    LO_FUN,
-    GET_GNSF_MATRICES
-} sim_function_t;
-
-
-
-typedef struct
-{
-    void *dims;
-
-    double *x;  // x[NX] - initial state value for simulation
-    double *u;  // u[NU] - control - constant over simulation time
-
-    double *S_forw;  // forward seed [Sx, Su]
-    double *S_adj;   // backward seed
-
-    bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)]
-
-    void *model;
-
-    double T;  // simulation time
-
-} sim_in;
-
-
-
-typedef struct
-{
-    double CPUtime;  // in seconds
-    double LAtime;   // in seconds
-    double ADtime;   // in seconds
-
-} sim_info;
-
-
-
-typedef struct
-{
-    double *xn;      // xn[NX]
-    double *S_forw;  // S_forw[NX*(NX+NU)]
-    double *S_adj;   //
-    double *S_hess;  //
-
-    double *zn;           // z - algebraic variables - reported at start of simulation interval
-    double *S_algebraic;  // sensitivities of reported value of algebraic variables w.r.t.
-                          // initial stat & control (x_n,u)
-
-    double *grad;  // gradient correction
-
-    sim_info *info;
-
-} sim_out;
-
-
-
-typedef struct
-{
-    int ns;  // number of integration stages
-
-    int num_steps;
-    int num_forw_sens;
-
-    int tableau_size;  // check that is consistent with ns
-            // only update when butcher tableau is changed
-            // kind of private -> no setter!
-    double *A_mat;
-    double *c_vec;
-    double *b_vec;
-
-    bool sens_forw;
-    bool sens_adj;
-    bool sens_hess;
-
-    bool output_z;        // 1 -- if zn should be computed
-    bool sens_algebraic;  // 1 -- if S_algebraic should be computed
-    bool exact_z_output;  // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
-    sim_collocation_type collocation_type;
-
-    // for explicit integrators: newton_iter == 0 && scheme == NULL
-    // && jac_reuse=false
-    int newton_iter;
-    bool jac_reuse;
-    // Newton_scheme *scheme;
-
-    double newton_tol; // optinally used in implicit integrators
-
-    // workspace
-    void *work;
-
-} sim_opts;
-
-
-
-typedef struct
-{
-    int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
-    int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
-    // opts
-    acados_size_t (*opts_calculate_size)(void *config_, void *dims);
-    void *(*opts_assign)(void *config_, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config_, void *dims, void *opts);
-    void (*opts_update)(void *config_, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
-    void (*opts_get)(void *config_, void *opts_, const char *field, void *value);
-    // mem
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value);
-    int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field);
-    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value);
-    // work
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    // model
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *model, const char *field, void *value);
-    // config
-    void (*config_initialize_default)(void *config);
-    // dims
-    acados_size_t (*dims_calculate_size)();
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config, void *dims, const char *field, const int *value);
-    void (*dims_get)(void *config, void *dims, const char *field, int *value);
-
-} sim_config;
-
-
-
-/* config */
-//
-acados_size_t sim_config_calculate_size();
-//
-sim_config *sim_config_assign(void *raw_memory);
-
-/* in */
-//
-acados_size_t sim_in_calculate_size(void *config, void *dims);
-//
-sim_in *sim_in_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value);
-
-/* out */
-//
-acados_size_t sim_out_calculate_size(void *config, void *dims);
-//
-sim_out *sim_out_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value);
-
-/* opts */
-//
-void sim_opts_set_(sim_opts *opts, const char *field, void *value);
-//
-void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value);
-
-#endif  // ACADOS_SIM_SIM_COMMON_H_
diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h
deleted file mode 100644
index fd46cb4d99..0000000000
--- a/third_party/acados/include/acados/sim/sim_erk_integrator.h
+++ /dev/null
@@ -1,140 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-} sim_erk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // explicit ode
-    external_function_generic *expl_ode_fun;
-    // hessian explicit ode
-    external_function_generic *expl_ode_hes;
-    // forward explicit vde
-    external_function_generic *expl_vde_for;
-    // adjoint explicit vde
-    external_function_generic *expl_vde_adj;
-
-} erk_model;
-
-
-
-typedef struct
-{
-	// memory
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-	// workspace structs
-} sim_erk_memory;
-
-
-
-typedef struct
-{
-	// workspace mem
-    double *rhs_forw_in;  // x + S + p
-
-    double *K_traj;         // (stages*nX) or (steps*stages*nX) for adj
-    double *out_forw_traj;  // S or (steps+1)*nX for adj
-
-    double *rhs_adj_in;
-    double *out_adj_tmp;
-    double *adj_traj;
-
-} sim_erk_workspace;
-
-
-
-// dims
-acados_size_t sim_erk_dims_calculate_size();
-void *sim_erk_dims_assign(void *config_, void *raw_memory);
-void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value);
-void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// model
-acados_size_t sim_erk_model_calculate_size(void *config, void *dims);
-void *sim_erk_model_assign(void *config, void *dims, void *raw_memory);
-int sim_erk_model_set(void *model, const char *field, void *value);
-
-// opts
-acados_size_t sim_erk_opts_calculate_size(void *config, void *dims);
-//
-void sim_erk_opts_update(void *config_, void *dims, void *opts_);
-//
-void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-
-// memory
-acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
-
-
-// workspace
-acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_);
-
-//
-int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
-//
-void sim_erk_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h
deleted file mode 100644
index 404532a732..0000000000
--- a/third_party/acados/include/acados/sim/sim_gnsf.h
+++ /dev/null
@@ -1,364 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_GNSF_H_
-#define ACADOS_SIM_SIM_GNSF_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-
-#include "acados/utils/timing.h"
-#include "acados/utils/types.h"
-#include "acados/sim/sim_common.h"
-
-#include "blasfeo/include/blasfeo_common.h"
-// #include "blasfeo/include/blasfeo_d_aux.h"
-// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-// #include "blasfeo/include/blasfeo_d_blas.h"
-// #include "blasfeo/include/blasfeo_d_kernel.h"
-// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
-// #include "blasfeo/include/blasfeo_target.h"
-
-/* 
-GNSF - Generalized Nonlinear Static Feedback Model
-has the following form
-https://github.com/acados/acados/files/3359595/gnsf_structure_blo.pdf
-
-Details on the algorithm can be found in master thesis of Jonathan Frey,
-which presents a slightly different format without the terms B_LO, c_LO.
-https://github.com/acados/acados/files/2318322/gnsf_structure.pdf
-https://cdn.syscop.de/publications/Frey2018.pdf
-https://cdn.syscop.de/publications/Frey2019.pdf
-*/
-
-typedef struct
-{
-    int nx; // total number of differential states
-    int nu; // total number of inputs
-    int nz; // total number of algebraic states
-    int nx1; // number of differential states in NSF part
-    int nz1; // number of algebraic states in NSF part
-    int n_out; // output dimension of phi
-    int ny; // dimension of first input of phi
-    int nuhat; // dimension of second input of phi
-
-} sim_gnsf_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // phi: nonlinearity function
-    external_function_generic *phi_fun;
-    external_function_generic *phi_fun_jac_y;
-    external_function_generic *phi_jac_y_uhat;
-
-    // f_lo: linear output function
-    external_function_generic *f_lo_fun_jac_x1_x1dot_u_z;
-
-    // to import model matrices
-    external_function_generic *get_gnsf_matrices;
-
-    // flag indicating, if model defining matrices are imported via external (casadi) function,
-    //    [default]: true -> auto;
-    bool auto_import_gnsf;
-
-    // booleans from structure detection
-    bool nontrivial_f_LO; // indicates if f_LO is constant zero function
-    bool fully_linear; // indicates if model is fully linear LOS
-
-    /* model defining matrices */
-    // TODO: add setters to set manually
-    double *A;
-    double *B;
-    double *C;
-    double *E;
-
-    double *L_x;
-    double *L_xdot;
-    double *L_z;
-    double *L_u;
-
-    double *A_LO;
-    double *B_LO;
-    double *E_LO;
-
-    /* constant vector */
-    double *c;
-    double *c_LO;
-
-    // permutation vector - to have GNSF order of x, z within sim_gnsf only
-    int *ipiv_x;
-    int *ipiv_z;
-
-    double *ipiv_x_double;
-    double *ipiv_z_double;
-
-} gnsf_model;
-
-
-
-// pre_workspace - workspace used in the precomputation phase
-typedef struct
-{
-    struct blasfeo_dmat E11;
-    struct blasfeo_dmat E12;
-    struct blasfeo_dmat E21;
-    struct blasfeo_dmat E22;
-
-    struct blasfeo_dmat A1;
-    struct blasfeo_dmat A2;
-    struct blasfeo_dmat B1;
-    struct blasfeo_dmat B2;
-    struct blasfeo_dmat C1;
-    struct blasfeo_dmat C2;
-
-    struct blasfeo_dmat AA1;
-    struct blasfeo_dmat AA2;
-    struct blasfeo_dmat BB1;
-    struct blasfeo_dmat BB2;
-    struct blasfeo_dmat CC1;
-    struct blasfeo_dmat CC2;
-    struct blasfeo_dmat DD1;
-    struct blasfeo_dmat DD2;
-    struct blasfeo_dmat EE1;
-    struct blasfeo_dmat EE2;
-
-    struct blasfeo_dmat QQ1;
-
-    struct blasfeo_dmat LLZ;
-    struct blasfeo_dmat LLx;
-    struct blasfeo_dmat LLK;
-
-    int *ipivEE1;  // index of pivot vector
-    int *ipivEE2;
-    int *ipivQQ1;
-
-    // for algebraic sensitivity propagation
-    struct blasfeo_dmat Q1;
-
-    // for constant term in NSF
-    struct blasfeo_dvec cc1;
-    struct blasfeo_dvec cc2;
-
-} gnsf_pre_workspace;
-
-
-
-// workspace
-typedef struct
-{
-    double *Z_work;  // used to perform computations to get out->zn
-
-    int *ipiv;  // index of pivot vector
-
-    struct blasfeo_dvec *vv_traj;
-    struct blasfeo_dvec *yy_traj;
-    struct blasfeo_dmat *f_LO_jac_traj;
-
-    struct blasfeo_dvec K2_val;
-    struct blasfeo_dvec x0_traj;
-    struct blasfeo_dvec res_val;
-    struct blasfeo_dvec u0;
-    struct blasfeo_dvec lambda;
-    struct blasfeo_dvec lambda_old;
-
-    struct blasfeo_dvec yyu;
-    struct blasfeo_dvec yyss;
-
-    struct blasfeo_dvec K1_val;
-    struct blasfeo_dvec f_LO_val;
-    struct blasfeo_dvec x1_stage_val;
-    struct blasfeo_dvec Z1_val;
-
-    struct blasfeo_dvec K1u;
-    struct blasfeo_dvec Zu;
-    struct blasfeo_dvec ALOtimesx02;
-    struct blasfeo_dvec BLOtimesu0;
-
-    struct blasfeo_dvec uhat;
-
-    struct blasfeo_dmat J_r_vv;
-    struct blasfeo_dmat J_r_x1u;
-
-    struct blasfeo_dmat dK1_dx1;
-    struct blasfeo_dmat dK1_du;
-    struct blasfeo_dmat dZ_dx1;
-    struct blasfeo_dmat dZ_du;
-    struct blasfeo_dmat J_G2_K1;
-
-    struct blasfeo_dmat dK2_dx1;
-    struct blasfeo_dmat dK2_dvv;
-    struct blasfeo_dmat dxf_dwn;
-    struct blasfeo_dmat S_forw_new;
-    struct blasfeo_dmat S_algebraic_aux;
-
-    struct blasfeo_dmat dPsi_dvv;
-    struct blasfeo_dmat dPsi_dx;
-    struct blasfeo_dmat dPsi_du;
-
-    struct blasfeo_dmat dPHI_dyuhat;
-    struct blasfeo_dvec z0;
-
-    // memory only available if (opts->sens_algebraic)
-    // struct blasfeo_dvec y_one_stage;
-    // struct blasfeo_dvec x0dot_1;
-    // struct blasfeo_dmat dz10_dx1u;  // (nz1) * (nx1+nu);
-    // struct blasfeo_dmat dr0_dvv0;  // (n_out * n_out)
-    // struct blasfeo_dmat f_LO_jac0; // (nx2+nz2) * (2*nx1 + nz1 + nu)
-    // struct blasfeo_dmat sens_z2_rhs; // (nx2 + nz2) * (nx1 + nu)
-    // int *ipiv_vv0;
-
-} gnsf_workspace;
-
-
-
-// memory
-typedef struct
-{
-    bool first_call;
-
-    // simulation time for one step
-    double dt;
-
-    // (scaled) butcher table
-    double *A_dt;
-    double *b_dt;
-    double *c_butcher;
-
-    // value used to initialize integration variables - corresponding to value of phi
-    double *phi_guess;  //  n_out
-
-    struct blasfeo_dmat S_forw;
-    struct blasfeo_dmat S_algebraic;
-
-    // precomputed matrices
-    struct blasfeo_dmat KKv;
-    struct blasfeo_dmat KKx;
-    struct blasfeo_dmat KKu;
-
-    struct blasfeo_dmat YYv;
-    struct blasfeo_dmat YYx;
-    struct blasfeo_dmat YYu;
-
-    struct blasfeo_dmat ZZv;
-    struct blasfeo_dmat ZZx;
-    struct blasfeo_dmat ZZu;
-
-    struct blasfeo_dmat ALO;
-    struct blasfeo_dmat BLO;
-    struct blasfeo_dmat M2_LU;
-    int *ipivM2;
-
-    struct blasfeo_dmat dK2_dx2;
-    struct blasfeo_dmat dK2_du;
-    struct blasfeo_dmat dx2f_dx2u;
-
-    struct blasfeo_dmat Lu;
-
-    // precomputed vectors for constant term in NSF
-    struct blasfeo_dvec KK0;
-    struct blasfeo_dvec YY0;
-    struct blasfeo_dvec ZZ0;
-
-    // for algebraic sensitivities only;
-    // struct blasfeo_dmat *Z0x;
-    // struct blasfeo_dmat *Z0u;
-    // struct blasfeo_dmat *Z0v;
-
-    // struct blasfeo_dmat *Y0x;
-    // struct blasfeo_dmat *Y0u;
-    // struct blasfeo_dmat *Y0v;
-
-    // struct blasfeo_dmat *K0x;
-    // struct blasfeo_dmat *K0u;
-    // struct blasfeo_dmat *K0v;
-
-    // struct blasfeo_dmat *ELO_LU;
-    // int *ipiv_ELO;
-    // struct blasfeo_dmat *ELO_inv_ALO;
-
-    // struct blasfeo_dmat *Lx;
-    // struct blasfeo_dmat *Lxdot;
-    // struct blasfeo_dmat *Lz;
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-} sim_gnsf_memory;
-
-
-
-// gnsf dims
-acados_size_t sim_gnsf_dims_calculate_size();
-void *sim_gnsf_dims_assign(void *config_, void *raw_memory);
-
-// get & set functions
-void sim_gnsf_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_gnsf_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// opts
-acados_size_t sim_gnsf_opts_calculate_size(void *config, void *dims);
-void *sim_gnsf_opts_assign(void *config, void *dims, void *raw_memory);
-void sim_gnsf_opts_initialize_default(void *config, void *dims, void *opts_);
-void sim_gnsf_opts_update(void *config_, void *dims, void *opts_);
-void sim_gnsf_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-// model
-acados_size_t sim_gnsf_model_calculate_size(void *config, void *dims_);
-void *sim_gnsf_model_assign(void *config, void *dims_, void *raw_memory);
-int sim_gnsf_model_set(void *model_, const char *field, void *value);
-
-// precomputation
-int sim_gnsf_precompute(void *config_, sim_in *in, sim_out *out, void *opts_, void *mem_,
-                       void *work_);
-
-// workspace & memory
-acados_size_t sim_gnsf_workspace_calculate_size(void *config, void *dims_, void *args);
-acados_size_t sim_gnsf_memory_calculate_size(void *config, void *dims_, void *opts_);
-void *sim_gnsf_memory_assign(void *config, void *dims_, void *opts_, void *raw_memory);
-
-// interface
-void sim_gnsf_config_initialize_default(void *config_);
-
-// integrator
-int sim_gnsf(void *config, sim_in *in, sim_out *out, void *opts, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_GNSF_H_
diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h
deleted file mode 100644
index 5090aa0bb5..0000000000
--- a/third_party/acados/include/acados/sim/sim_irk_integrator.h
+++ /dev/null
@@ -1,183 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-#include "blasfeo/include/blasfeo_common.h"
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-
-} sim_irk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // implicit fun - can either be fully implicit ode or dae
-    //          - i.e. dae has z as additional last argument & nz > 0
-    external_function_generic *impl_ode_fun;
-    // implicit ode & jac_x & jax_xdot & jac_z
-    external_function_generic *impl_ode_fun_jac_x_xdot_z;
-    // jax_x & jac_xdot & jac_u & jac_z of implicit ode
-    external_function_generic *impl_ode_jac_x_xdot_u_z;
-    // hessian of implicit ode:
-    external_function_generic *impl_ode_hess;
-} irk_model;
-
-
-
-typedef struct
-{
-    struct blasfeo_dvec *rG;        // residuals of G (nx*ns)
-    struct blasfeo_dvec *K;         // internal K variables ((nx+nz)*ns)
-    struct blasfeo_dvec *xt;        // temporary x
-    struct blasfeo_dvec *xn;        // x at each integration step
-    struct blasfeo_dvec xtdot;      // temporary xdot
-
-    struct blasfeo_dvec *lambda;    // adjoint sensitivities (nx + nu)
-    struct blasfeo_dvec *lambdaK;   // auxiliary variable ((nx+nz)*ns) for adjoint propagation
-
-    struct blasfeo_dmat df_dx;     // temporary Jacobian of ode w.r.t x (nx+nz, nx)
-    struct blasfeo_dmat df_dxdot;  // temporary Jacobian of ode w.r.t xdot (nx+nz, nx)
-    struct blasfeo_dmat df_du;     // temporary Jacobian of ode w.r.t u (nx+nz, nu)
-    struct blasfeo_dmat df_dz;     // temporary Jacobian of ode w.r.t z (nx+nz, nu)
-
-    /* NOTE: the memory allocation corresponding to the following fields is CONDITIONAL */
-
-    // only allocated if (opts->sens_algebraic || opts->output_z)
-    int *ipiv_one_stage;  // index of pivot vector (nx + nz)
-    double *Z_work;  // used to perform computations to get out->zn (ns)
-
-    // df_dxdotz, dk0_dxu, only allocated if (opts->sens_algebraic && opts->exact_z_output)
-    //      used for algebraic sensitivity generation
-    struct blasfeo_dmat df_dxdotz;  // temporary Jacobian of ode w.r.t. xdot,z (nx+nz, nx+nz);
-    struct blasfeo_dmat dk0_dxu;    // intermediate result, (nx+nz, nx+nu)
-
-    // dK_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of (num_steps) blasfeo_dmat
-    //                                  to store intermediate results
-    struct blasfeo_dmat *dK_dxu;  // jacobian of (K,Z) over x and u ((nx+nz)*ns, nx+nu);
-
-    // S_forw: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of (num_steps + 1) blasfeo_dmat
-    //                                  to store intermediate results
-    struct blasfeo_dmat *S_forw;  // forward sensitivities (nx, nx+nu)
-
-    // dG_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
-    struct blasfeo_dmat *dG_dxu;  // jacobian of G over x and u ((nx+nz)*ns, nx+nu)
-
-    // dG_dK:  if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
-    struct blasfeo_dmat *dG_dK;   // jacobian of G over K ((nx+nz)*ns, (nx+nz)*ns)
-
-    // ipiv: index of pivot vector
-    //         if (!opts->sens_hess) - array (ns * (nx + nz)) that is reused
-    //         if ( opts->sens_hess) - array (ns * (nx + nz)) * num_steps, to store all
-    //              pivot vectors for dG_dxu
-    int *ipiv;  // index of pivot vector
-
-    // xn_traj, K_traj only available if( opts->sens_adj || opts->sens_hess )
-    struct blasfeo_dvec *xn_traj;  // xn trajectory
-    struct blasfeo_dvec *K_traj;   // K trajectory
-
-    /* the following variables are only available if (opts->sens_hess) */
-    // For Hessian propagation
-    struct blasfeo_dmat Hess;   // temporary Hessian (nx + nu, nx + nu)
-    // output of impl_ode_hess
-    struct blasfeo_dmat f_hess;  // size: (nx + nu, nx + nu)
-    struct blasfeo_dmat dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
-    struct blasfeo_dmat tmp_dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
-
-} sim_irk_workspace;
-
-
-typedef struct
-{
-    double *xdot;  // xdot[NX] - initialization for state derivatives k within the integrator
-    double *z;     // z[NZ] - initialization for algebraic variables z
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-} sim_irk_memory;
-
-
-// get & set functions
-void sim_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// dims
-acados_size_t sim_irk_dims_calculate_size();
-void *sim_irk_dims_assign(void *config_, void *raw_memory);
-
-// model
-acados_size_t sim_irk_model_calculate_size(void *config, void *dims);
-void *sim_irk_model_assign(void *config, void *dims, void *raw_memory);
-int sim_irk_model_set(void *model, const char *field, void *value);
-
-// opts
-acados_size_t sim_irk_opts_calculate_size(void *config, void *dims);
-void *sim_irk_opts_assign(void *config, void *dims, void *raw_memory);
-void sim_irk_opts_initialize_default(void *config, void *dims, void *opts_);
-void sim_irk_opts_update(void *config_, void *dims, void *opts_);
-void sim_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-// memory
-acados_size_t sim_irk_memory_calculate_size(void *config, void *dims, void *opts_);
-void *sim_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-int sim_irk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
-
-// workspace
-acados_size_t sim_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
-void sim_irk_config_initialize_default(void *config);
-
-// main
-int sim_irk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
deleted file mode 100644
index e60bb80ebf..0000000000
--- a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
+++ /dev/null
@@ -1,157 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-} sim_lifted_irk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // implicit ode
-    external_function_generic *impl_ode_fun;
-    // implicit ode & jax_x & jac_xdot & jac_u implicit ode
-    external_function_generic *impl_ode_fun_jac_x_xdot_u;
-
-} lifted_irk_model;
-
-
-
-typedef struct
-{
-
-    struct blasfeo_dmat *J_temp_x;     // temporary Jacobian of ode w.r.t x (nx, nx)
-    struct blasfeo_dmat *J_temp_xdot;  // temporary Jacobian of ode w.r.t xdot (nx, nx)
-    struct blasfeo_dmat *J_temp_u;     // temporary Jacobian of ode w.r.t u (nx, nu)
-
-    struct blasfeo_dvec *rG;      // residuals of G (nx*ns)
-    struct blasfeo_dvec *xt;      // temporary x
-    struct blasfeo_dvec *xn;      // x at each integration step (for evaluations)
-    struct blasfeo_dvec *xn_out;  // x at each integration step (output)
-    struct blasfeo_dvec *dxn;     // dx at each integration step
-    struct blasfeo_dvec *w;       // stacked x and u
-
-    int *ipiv;  // index of pivot vector
-
-} sim_lifted_irk_workspace;
-
-
-
-typedef struct
-{
-    // memory for lifted integrators
-    struct blasfeo_dmat *S_forw;    // forward sensitivities
-    struct blasfeo_dmat *JGK;       // jacobian of G over K (nx*ns, nx*ns)
-    struct blasfeo_dmat *JGf;       // jacobian of G over x and u (nx*ns, nx+nu);
-    struct blasfeo_dmat *JKf;       // jacobian of K over x and u (nx*ns, nx+nu);
-
-    struct blasfeo_dvec *K;         // internal variables (nx*ns)
-    struct blasfeo_dvec *x;         // states (nx) -- for expansion step
-    struct blasfeo_dvec *u;         // controls (nu) -- for expansion step
-
-    int update_sens;
-    // int init_K;
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-} sim_lifted_irk_memory;
-
-
-
-/* dims */
-void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-acados_size_t sim_lifted_irk_dims_calculate_size();
-//
-void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory);
-
-/* model */
-//
-acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims);
-//
-void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_lifted_irk_model_set(void *model_, const char *field, void *value);
-
-/* opts */
-//
-acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims);
-//
-void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_);
-//
-void sim_lifted_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-/* memory */
-//
-acados_size_t sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-
-/* workspace */
-//
-acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-void sim_lifted_irk_config_initialize_default(void *config);
-
-/* solver */
-//
-int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_,
-        void *mem_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h
deleted file mode 100644
index 1e68dc155d..0000000000
--- a/third_party/acados/include/acados/utils/external_function_generic.h
+++ /dev/null
@@ -1,242 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
-#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-/************************************************
- * generic external function
- ************************************************/
-
-// type of arguments
-typedef enum {
-    COLMAJ,
-    BLASFEO_DMAT,
-    BLASFEO_DVEC,
-    COLMAJ_ARGS,
-    BLASFEO_DMAT_ARGS,
-    BLASFEO_DVEC_ARGS,
-    IGNORE_ARGUMENT
-} ext_fun_arg_t;
-
-struct colmaj_args
-{
-    double *A;
-    int lda;
-};
-
-struct blasfeo_dmat_args
-{
-    struct blasfeo_dmat *A;
-    int ai;
-    int aj;
-};
-
-struct blasfeo_dvec_args
-{
-    struct blasfeo_dvec *x;
-    int xi;
-};
-
-// prototype of an external function
-typedef struct
-{
-    // public members (have to be before private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-    // private members
-    // .....
-} external_function_generic;
-
-
-
-/************************************************
- * generic external parametric function
- ************************************************/
-
-// prototype of a parametric external function
-typedef struct
-{
-    // public members for core (have to be before private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-	// public members for interfaces
-    void (*get_nparam)(void *, int *);
-    void (*set_param)(void *, double *);
-    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*fun)(void **, void **, void *);
-    double *p;  // parameters
-    int np;     // number of parameters
-    // .....
-} external_function_param_generic;
-
-//
-acados_size_t external_function_param_generic_struct_size();
-//
-void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value);
-//
-acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np);
-//
-void external_function_param_generic_assign(external_function_param_generic *fun, void *mem);
-//
-void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out);
-//
-void external_function_param_generic_get_nparam(void *self, int *np);
-//
-void external_function_param_generic_set_param(void *self, double *p);
-
-
-/************************************************
- * casadi external function
- ************************************************/
-
-typedef struct
-{
-    // public members (have to be the same as in the prototype, and before the private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*casadi_fun)(const double **, double **, int *, double *, void *);
-    int (*casadi_work)(int *, int *, int *, int *);
-    const int *(*casadi_sparsity_in)(int);
-    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)(void);
-    int (*casadi_n_out)(void);
-    double **args;
-    double **res;
-    double *w;
-    int *iw;
-    int *args_size;     // size of args[i]
-    int *res_size;      // size of res[i]
-    int args_num;       // number of args arrays
-    int args_size_tot;  // total size of args arrays
-    int res_num;        // number of res arrays
-    int res_size_tot;   // total size of res arrays
-    int in_num;         // number of input arrays
-    int out_num;        // number of output arrays
-    int iw_size;        // number of ints for worksapce
-    int w_size;         // number of doubles for workspace
-} external_function_casadi;
-
-//
-acados_size_t external_function_casadi_struct_size();
-//
-void external_function_casadi_set_fun(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_work(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_n_in(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_n_out(external_function_casadi *fun, void *value);
-//
-acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun);
-//
-void external_function_casadi_assign(external_function_casadi *fun, void *mem);
-//
-void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
-                                      ext_fun_arg_t *type_out, void **out);
-
-/************************************************
- * casadi external parametric function
- ************************************************/
-
-typedef struct
-{
-    // public members for core (have to be the same as in the prototype, and before the private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-	// public members for interfaces
-    void (*get_nparam)(void *, int *);
-    void (*set_param)(void *, double *);
-    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*casadi_fun)(const double **, double **, int *, double *, void *);
-    int (*casadi_work)(int *, int *, int *, int *);
-    const int *(*casadi_sparsity_in)(int);
-    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)(void);
-    int (*casadi_n_out)(void);
-    double **args;
-    double **res;
-    double *w;
-    int *iw;
-    int *args_size;     // size of args[i]
-    int *res_size;      // size of res[i]
-    int args_num;       // number of args arrays
-    int args_size_tot;  // total size of args arrays
-    int res_num;        // number of res arrays
-    int res_size_tot;   // total size of res arrays
-    int in_num;         // number of input arrays
-    int out_num;        // number of output arrays
-    int iw_size;        // number of ints for worksapce
-    int w_size;         // number of doubles for workspace
-    int np;             // number of parameters
-} external_function_param_casadi;
-
-//
-acados_size_t external_function_param_casadi_struct_size();
-//
-void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value);
-//
-acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np);
-//
-void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem);
-//
-void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
-                                            ext_fun_arg_t *type_out, void **out);
-//
-void external_function_param_casadi_get_nparam(void *self, int *np);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h
deleted file mode 100644
index 7156a82084..0000000000
--- a/third_party/acados/include/acados/utils/math.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_UTILS_MATH_H_
-#define ACADOS_UTILS_MATH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-#if defined(__MABX2__)
-double fmax(double a, double b);
-int isnan(double x);
-#endif
-
-#define MIN(a,b) (((a)<(b))?(a):(b))
-#define MAX(a,b) (((a)>(b))?(a):(b))
-
-void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc);
-// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y);
-// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y);
-// void dcopy_3l(int n, double *x, int incx, double *y, int incy);
-void daxpy_3l(int n, double da, double *dx, double *dy);
-void dscal_3l(int n, double da, double *dx);
-double twonormv(int n, double *ptrv);
-
-/* copies a matrix into another matrix */
-void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb);
-
-/* solution of a system of linear equations */
-void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
-
-/* matrix exponential */
-void expm(int row, double *A);
-
-int idamax_3l(int n, double *x);
-
-void dswap_3l(int n, double *x, int incx, double *y, int incy);
-
-void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A,
-             int lda);
-
-void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info);
-
-void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv);
-
-void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb);
-
-void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb);
-
-void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
-
-double onenorm(int row, int col, double *ptrA);
-
-// double twonormv(int n, double *ptrv);
-
-void padeapprox(int m, int row, double *A);
-
-void expm(int row, double *A);
-
-// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng,
-//                                      int *nvd, int *ned, int *nbd, int *ngd);
-
-void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e);
-
-double minimum_of_doubles(double *x, int n);
-
-void neville_algorithm(double xx, int n, double *x, double *Q, double *out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_MATH_H_
diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h
deleted file mode 100644
index 681a371e36..0000000000
--- a/third_party/acados/include/acados/utils/mem.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_MEM_H_
-#define ACADOS_UTILS_MEM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include <stdbool.h>
-
-#include "types.h"
-
-// blasfeo
-#include "blasfeo/include/blasfeo_d_aux.h"
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-
-// TODO(dimitris): probably does not belong here
-typedef struct
-{
-    int (*fun)(void *);
-    acados_size_t (*calculate_args_size)(void *);
-    void *(*assign_args)(void *);
-    void (*initialize_default_args)(void *);
-    acados_size_t (*calculate_memory_size)(void *);
-    void *(*assign_memory)(void *);
-    acados_size_t (*calculate_workspace_size)(void *);
-} module_solver;
-
-// make int counter of memory multiple of a number (typically 8 or 64)
-void make_int_multiple_of(acados_size_t num, acados_size_t *size);
-
-// align char pointer to number (typically 8 for pointers and doubles,
-// 64 for blasfeo structs) and return offset
-int align_char_to(int num, char **c_ptr);
-
-// switch between malloc and calloc (for valgrinding)
-void *acados_malloc(size_t nitems, acados_size_t size);
-
-// uses always calloc
-void *acados_calloc(size_t nitems, acados_size_t size);
-
-// allocate vector of pointers to vectors of doubles and advance pointer
-void assign_and_advance_double_ptrs(int n, double ***v, char **ptr);
-
-// allocate vector of pointers to vectors of ints and advance pointer
-void assign_and_advance_int_ptrs(int n, int ***v, char **ptr);
-
-// allocate vector of pointers to strvecs and advance pointer
-void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr);
-
-// allocate vector of pointers to strmats and advance pointer
-void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr);
-
-// allocate vector of pointers to vector of pointers to strmats and advance pointer
-void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr);
-
-// allocate vector of chars and advance pointer
-void assign_and_advance_char(int n, char **v, char **ptr);
-
-// allocate vector of ints and advance pointer
-void assign_and_advance_int(int n, int **v, char **ptr);
-
-// allocate vector of bools and advance pointer
-void assign_and_advance_bool(int n, bool **v, char **ptr);
-
-// allocate vector of doubles and advance pointer
-void assign_and_advance_double(int n, double **v, char **ptr);
-
-// allocate strvec and advance pointer
-void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr);
-
-// allocate strmat and advance pointer
-void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_MEM_H_
diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h
deleted file mode 100644
index 824d3cee22..0000000000
--- a/third_party/acados/include/acados/utils/print.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_PRINT_H_
-#define ACADOS_UTILS_PRINT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_common_frontend.h"
-#include "acados/utils/types.h"
-
-// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols);
-
-// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows,
-//                        const int_t ncols);
-
-// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols);
-
-// void print_array(char *file_name, real_t *array, int_t size);
-
-// void print_int_array(char *file_name, const int_t *array, int_t size);
-
-void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols);
-
-void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname);
-
-// ocp nlp
-// TODO(andrea): inconsistent naming
-void ocp_nlp_dims_print(ocp_nlp_dims *dims);
-// TODO(andrea): inconsistent naming
-void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
-// TODO(andrea): inconsistent naming
-void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
-
-// ocp qp
-// TODO: move printing routines below that print qp structures to HPIPM!
-void print_ocp_qp_dims(ocp_qp_dims *dims);
-
-// void print_dense_qp_dims(dense_qp_dims *dims);
-
-void print_ocp_qp_in(ocp_qp_in *qp_in);
-
-void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in);
-
-void print_ocp_qp_out(ocp_qp_out *qp_out);
-
-void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out);
-
-void print_ocp_qp_res(ocp_qp_res *qp_res);
-
-void print_dense_qp_in(dense_qp_in *qp_in);
-// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
-
-// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
-
-// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
-
-// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
-
-// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
-
-void print_qp_info(qp_info *info);
-
-// void acados_warning(char warning_string[]);
-
-// void acados_error(char error_string[]);
-
-// void acados_not_implemented(char feature_string[]);
-
-// blasfeo
-// void print_blasfeo_target();
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_PRINT_H_
diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h
deleted file mode 100644
index 62bdfb4891..0000000000
--- a/third_party/acados/include/acados/utils/strsep.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_STRSEP_H_
-#define ACADOS_UTILS_STRSEP_H_
-
-#ifdef __cplusplus
-#include <string>
-#define STD(x) std::x
-namespace std
-{
-#else
-#include <string.h>
-#define STD(x) x
-#endif
-
-char* strsep_acados(char** stringp, const char* delim)
-{
-    char* result;
-
-    if ((stringp == NULL) || (*stringp == NULL)) return NULL;
-
-    result = *stringp;
-
-    while (**stringp && !STD(strchr)(delim, **stringp)) ++*stringp;
-
-    if (**stringp)
-        *(*stringp)++ = '\0';
-    else
-        *stringp = NULL;
-
-    return result;
-}
-
-#ifdef __cplusplus
-}  // namespace std
-#endif
-
-#undef STD
-
-#endif  // ACADOS_UTILS_STRSEP_H_
diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h
deleted file mode 100644
index b0955932da..0000000000
--- a/third_party/acados/include/acados/utils/timing.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_TIMING_H_
-#define ACADOS_UTILS_TIMING_H_
-
-#include "acados/utils/types.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef MEASURE_TIMINGS
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-/* Use Windows QueryPerformanceCounter for timing. */
-#include <Windows.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    LARGE_INTEGER tic;
-    LARGE_INTEGER toc;
-    LARGE_INTEGER freq;
-} acados_timer;
-
-#elif defined(__APPLE__)
-
-#include <mach/mach_time.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    uint64_t tic;
-    uint64_t toc;
-    mach_timebase_info_data_t tinfo;
-} acados_timer;
-
-#elif defined(__MABX2__)
-
-#include <brtenv.h>
-
-typedef struct acados_timer_
-{
-    double time;
-} acados_timer;
-
-#else
-
-/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-#include <time.h>
-
-#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__)  // C99 Mode
-
-#include <sys/stat.h>
-#include <sys/time.h>
-
-typedef struct acados_timer_
-{
-    struct timeval tic;
-    struct timeval toc;
-} acados_timer;
-
-#else  // ANSI C Mode
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    struct timespec tic;
-    struct timespec toc;
-} acados_timer;
-
-#endif  // __STDC_VERSION__ >= 199901L
-
-#endif  // (defined _WIN32 || defined _WIN64)
-
-#else
-
-// Dummy type when timings are off
-typedef real_t acados_timer;
-
-#endif  // MEASURE_TIMINGS
-
-/** A function for measurement of the current time. */
-void acados_tic(acados_timer* t);
-
-/** A function which returns the elapsed time. */
-real_t acados_toc(acados_timer* t);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_TIMING_H_
diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h
deleted file mode 100644
index a27ef9e552..0000000000
--- a/third_party/acados/include/acados/utils/types.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_TYPES_H_
-#define ACADOS_UTILS_TYPES_H_
-
-/* Symbol visibility in DLLs */
-#ifndef ACADOS_SYMBOL_EXPORT
-  #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
-    #if defined(STATIC_LINKED)
-      #define ACADOS_SYMBOL_EXPORT
-    #else
-      #define ACADOS_SYMBOL_EXPORT __declspec(dllexport)
-    #endif
-  #elif defined(__GNUC__) && ((__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
-    #define ACADOS_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
-  #else
-    #define ACADOS_SYMBOL_EXPORT
-  #endif
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-
-#define MAX_STR_LEN 256
-#define ACADOS_EPS 1e-12
-#define ACADOS_NEG_INFTY -1.0e9
-#define ACADOS_POS_INFTY +1.0e9
-#define UNUSED(x) ((void)(x))
-
-
-
-typedef double real_t;
-typedef int int_t;
-typedef size_t acados_size_t;
-
-
-typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem);
-
-
-
-// enum of return values
-enum return_values
-{
-    ACADOS_SUCCESS,
-    ACADOS_NAN_DETECTED,
-    ACADOS_MAXITER,
-    ACADOS_MINSTEP,
-    ACADOS_QP_FAILURE,
-    ACADOS_READY,
-};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_TYPES_H_
diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h
deleted file mode 100644
index b4302078d6..0000000000
--- a/third_party/acados/include/acados_c/condensing_interface.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
-#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_full_condensing.h"
-#include "acados/ocp_qp/ocp_qp_partial_condensing.h"
-
-typedef enum {
-    PARTIAL_CONDENSING,
-    FULL_CONDENSING,
-} condensing_t;
-
-typedef struct
-{
-    condensing_t condensing_type;
-} condensing_plan;
-
-typedef struct
-{
-    ocp_qp_xcond_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} condensing_module;
-
-ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan);
-//
-void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_);
-//
-acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_);
-//
-condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_,
-                                            void *opts_, void *raw_memory);
-//
-condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_,
-                                            void *opts_);
-//
-int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out);
-//
-int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h
deleted file mode 100644
index b3af4bf682..0000000000
--- a/third_party/acados/include/acados_c/dense_qp_interface.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-
-typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t;
-
-typedef struct
-{
-    dense_qp_solver_t qp_solver;
-} dense_qp_solver_plan;
-
-typedef struct
-{
-    qp_solver_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} dense_qp_solver;
-
-qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan);
-//
-dense_qp_dims *dense_qp_dims_create();
-//
-dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
-//
-dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_,
-                                 void *raw_memory);
-//
-dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out);
-//
-void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out,
-                                 double *res);
-//
-bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in);
-//
-bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in);
-//
-bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr);
-//
-bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h
deleted file mode 100644
index d4f52db850..0000000000
--- a/third_party/acados/include/acados_c/external_function_interface.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
-#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/external_function_generic.h"
-
-
-
-/************************************************
- * generic external parametric function
- ************************************************/
-
-//
-void external_function_param_generic_create(external_function_param_generic *fun, int np);
-//
-void external_function_param_generic_free(external_function_param_generic *fun);
-
-
-
-/************************************************
- * casadi external function
- ************************************************/
-
-//
-void external_function_casadi_create(external_function_casadi *fun);
-//
-void external_function_casadi_free(external_function_casadi *fun);
-//
-void external_function_casadi_create_array(int size, external_function_casadi *funs);
-//
-void external_function_casadi_free_array(int size, external_function_casadi *funs);
-
-
-
-/************************************************
- * casadi external parametric function
- ************************************************/
-
-//
-void external_function_param_casadi_create(external_function_param_casadi *fun, int np);
-//
-void external_function_param_casadi_free(external_function_param_casadi *fun);
-//
-void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs,
-                                                 int np);
-//
-void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h
deleted file mode 100644
index dd3e596f8b..0000000000
--- a/third_party/acados/include/acados_c/ocp_nlp_interface.h
+++ /dev/null
@@ -1,428 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h"
-#include "acados/sim/sim_erk_integrator.h"
-#include "acados/sim/sim_irk_integrator.h"
-#include "acados/sim/sim_lifted_irk_integrator.h"
-#include "acados/sim/sim_gnsf.h"
-#include "acados/utils/types.h"
-// acados_c
-#include "acados_c/ocp_qp_interface.h"
-#include "acados_c/sim_interface.h"
-
-
-/// Solution methods for optimal control problems.
-typedef enum
-{
-    SQP,
-    SQP_RTI,
-    INVALID_NLP_SOLVER,
-} ocp_nlp_solver_t;
-
-
-/// Types of the cost function.
-typedef enum
-{
-    LINEAR_LS,
-    NONLINEAR_LS,
-    CONVEX_OVER_NONLINEAR,
-    EXTERNAL,
-    INVALID_COST,
-} ocp_nlp_cost_t;
-
-
-/// Types of the system dynamics, discrete or continuous time.
-typedef enum
-{
-    CONTINUOUS_MODEL,
-    DISCRETE_MODEL,
-    INVALID_DYNAMICS,
-} ocp_nlp_dynamics_t;
-
-
-/// Constraint types
-typedef enum
-{
-    /// Comprises simple bounds, polytopic constraints,
-    /// general non-linear constraints.
-    BGH,
-
-    /// Comprises simple bounds, polytopic constraints,
-    /// general non-linear constraints, and positive definite constraints.
-    BGP,
-
-    INVALID_CONSTRAINT,
-} ocp_nlp_constraints_t;
-
-
-/// Regularization types
-typedef enum
-{
-    NO_REGULARIZE,
-    MIRROR,
-    PROJECT,
-    PROJECT_REDUC_HESS,
-    CONVEXIFY,
-    INVALID_REGULARIZE,
-} ocp_nlp_reg_t;
-
-
-/// Structure to store the configuration of a non-linear program
-typedef struct ocp_nlp_plan_t
-{
-    /// QP solver configuration.
-    ocp_qp_solver_plan_t ocp_qp_solver_plan;
-
-    /// Simulation solver configuration for each stage.
-    sim_solver_plan_t *sim_solver_plan;
-
-    /// Nlp solver type.
-    ocp_nlp_solver_t nlp_solver;
-
-    /// Regularization type, defaults to no regularization.
-    ocp_nlp_reg_t regularization;
-
-    /// Cost type for each stage.
-    ocp_nlp_cost_t *nlp_cost;
-
-    /// Dynamics type for each stage.
-    ocp_nlp_dynamics_t *nlp_dynamics;
-
-    /// Constraints type for each stage.
-    ocp_nlp_constraints_t *nlp_constraints;
-
-    /// Horizon length.
-    int N;
-
-} ocp_nlp_plan_t;
-
-
-/// Structure to store the state/configuration for the non-linear programming solver
-typedef struct ocp_nlp_solver
-{
-    ocp_nlp_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} ocp_nlp_solver;
-
-
-/// Constructs an empty plan struct (user nlp configuration), all fields are set to a
-/// default/invalid state.
-///
-/// \param N Horizon length
-ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *ocp_nlp_plan_create(int N);
-
-/// Destructor for plan struct, frees memory.
-///
-/// \param plan_ The plan struct to destroy.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_plan_destroy(void* plan_);
-
-
-/// Constructs an nlp configuration struct from a plan.
-///
-/// \param plan The plan (user nlp configuration).
-ACADOS_SYMBOL_EXPORT ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);
-
-/// Desctructor of the nlp configuration.
-///
-/// \param config_ The configuration struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_config_destroy(void *config_);
-
-
-/// Constructs an struct that contains the dimensions of the variables.
-///
-/// \param config_ The configuration struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_dims *ocp_nlp_dims_create(void *config_);
-
-/// Destructor of The dimension struct.
-///
-/// \param dims_ The dimension struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_dims_destroy(void *dims_);
-
-
-/// Constructs an input struct for a non-linear programs.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the inputs struct.
-///
-/// \param in The inputs struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_in_destroy(void *in);
-
-
-/// Sets the sampling times for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field Has to be "Ts" (TBC other options).
-/// \param value The sampling times (floating point).
-ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
-        const char *field, void *value);
-
-///
-// void ocp_nlp_in_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
-//         const char *field, void *value);
-
-/// Sets the function pointers to the dynamics functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param fun_type The name of the function type, either impl_ode_fun,
-///     impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)
-/// \param fun_ptr Function pointer to the dynamics function.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-        int stage, const char *fun_type, void *fun_ptr);
-
-
-/// Sets the function pointers to the cost functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either nls_res_jac,
-///     y_ref, W (others TBC)
-/// \param value Cost values.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-        int stage, const char *field, void *value);
-
-
-/// Sets the function pointers to the constraints functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either lb, ub (others TBC)
-/// \param value Constraints function or values.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in, int stage, const char *field, void *value);
-
-///
-ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in, int stage, const char *field, void *value);
-
-/* out */
-
-/// Constructs an output struct for the non-linear program.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the output struct.
-///
-/// \param out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_destroy(void *out);
-
-
-/// Sets fields in the output struct of an nlp solver, used to initialize the solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param out The output struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either x, u, pi.
-/// \param value Initialization values.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value);
-
-
-/// Gets values of fields in the output struct of an nlp solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param out The output struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either x, u, z, pi.
-/// \param value Pointer to the output memory.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value);
-
-//
-ACADOS_SYMBOL_EXPORT void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value);
-
-// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below?
-ACADOS_SYMBOL_EXPORT int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-/* opts */
-
-/// Creates an options struct for the non-linear program.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the options.
-///
-/// \param opts The options struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_destroy(void *opts);
-
-/// Sets an option.
-///
-/// \param config The configuration struct.
-/// \param opts_ The options struct.
-/// \param field Name of the option.
-/// \param value Value of the option.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
-
-
-// ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_get(ocp_nlp_config *config, void *opts_, const char *field, void* value);
-
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
-
-
-/// TBC
-/// Updates the options.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
-
-
-/* solver */
-
-/// Creates an ocp solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-/// \return The solver.
-ACADOS_SYMBOL_EXPORT ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
-
-/// Destructor of the solver.
-///
-/// \param solver The solver struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_destroy(void *solver);
-
-/// Solves the optimal control problem. Call ocp_nlp_precompute before
-/// calling this functions (TBC).
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-
-/// Resets the memory of the QP solver
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_reset_qp_memory(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Performs precomputations for the solver. Needs to be called before
-/// ocl_nlp_solve (TBC).
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Computes cost function value.
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Computes the residuals.
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-//
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
-
-/* get */
-/// \param config The configuration struct.
-/// \param solver The solver struct.
-/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ...
-/// \param return_value_ Pointer to the output memory.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
-        const char *field, void *return_value_);
-
-/* set */
-/// Sets the initial guesses for the integrator for the given stage.
-///
-/// \param config The configuration struct.
-/// \param solver The ocp_nlp_solver struct.
-/// \param stage Stage number.
-/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK)
-/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used).
-ACADOS_SYMBOL_EXPORT void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h
deleted file mode 100644
index 3dc3f1a532..0000000000
--- a/third_party/acados/include/acados_c/ocp_qp_interface.h
+++ /dev/null
@@ -1,263 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
-
-
-/// QP solver types (Enumeration).
-///
-/// Full list of fields:
-///   PARTIAL_CONDENSING_HPIPM
-///   PARTIAL_CONDENSING_HPMPC
-///   PARTIAL_CONDENSING_OOQP
-///   PARTIAL_CONDENSING_OSQP
-///   PARTIAL_CONDENSING_QPDUNES
-///   FULL_CONDENSING_HPIPM
-///   FULL_CONDENSING_QPOASES
-///   FULL_CONDENSING_QORE
-///   FULL_CONDENSING_OOQP
-///   INVALID_QP_SOLVER
-///
-/// Note: In this enumeration the partial condensing solvers have to be
-///       specified before the full condensing solvers.
-typedef enum {
-    PARTIAL_CONDENSING_HPIPM,
-#ifdef ACADOS_WITH_HPMPC
-    PARTIAL_CONDENSING_HPMPC,
-#else
-    PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OOQP
-    PARTIAL_CONDENSING_OOQP,
-#else
-    PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OSQP
-    PARTIAL_CONDENSING_OSQP,
-#else
-    PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_QPDUNES
-    PARTIAL_CONDENSING_QPDUNES,
-#else
-    PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE,
-#endif
-    FULL_CONDENSING_HPIPM,
-#ifdef ACADOS_WITH_QPOASES
-    FULL_CONDENSING_QPOASES,
-#else
-    FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_DAQP
-    FULL_CONDENSING_DAQP,
-#else
-    FULL_CONDENSING_DAQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_QORE
-    FULL_CONDENSING_QORE,
-#else
-    FULL_CONDENSING_QORE_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OOQP
-    FULL_CONDENSING_OOQP,
-#else
-    FULL_CONDENSING_OOQP_NOT_AVAILABLE,
-#endif
-    INVALID_QP_SOLVER,
-} ocp_qp_solver_t;
-
-
-/// Struct containing qp solver
-typedef struct
-{
-    ocp_qp_solver_t qp_solver;
-} ocp_qp_solver_plan_t;
-
-
-/// Linear ocp configuration.
-typedef struct
-{
-    ocp_qp_xcond_solver_config *config;
-    ocp_qp_xcond_solver_dims *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} ocp_qp_solver;
-
-
-/// Initializes the qp solver configuration.
-/// TBC should this be private/static - no, used in ocp_nlp
-void ocp_qp_xcond_solver_config_initialize_from_plan(
-    ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config);
-
-/// Constructs a qp solver config and Initializes with default values.
-///
-/// \param plan The qp solver plan struct.
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan);
-
-/// Destructor for config struct, frees memory.
-///
-/// \param config The config object to destroy.
-void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config);
-
-
-/// Constructs a struct that contains the dimensions for the variables of the qp.
-///
-/// \param N The number of variables.
-ocp_qp_dims *ocp_qp_dims_create(int N);
-
-/// Destructor of The dimension struct.
-///
-/// \param dims The dimension struct.
-void ocp_qp_dims_free(void *dims);
-
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N);
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims(
-    ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims);
-//
-void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_);
-
-void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims,
-                                  int stage, const char *field, int* value);
-
-
-/// Constructs an input object for the qp.
-///
-/// \param dims The dimension struct.
-ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims);
-
-
-void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in,
-                   int stage, char *field, void *value);
-
-/// Destructor of the inputs struct.
-///
-/// \param in_ The inputs struct.
-void ocp_qp_in_free(void *in_);
-
-
-/// Constructs an outputs object for the qp.
-///
-/// \param dims The dimension struct.
-ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims);
-
-/// Destructor of the output struct.
-///
-/// \param out_ The output struct.
-void ocp_qp_out_free(void *out_);
-
-
-/// Getter of output struct
-void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value);
-
-
-/// Constructs an options object for the qp.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config,
-                                      ocp_qp_xcond_solver_dims *dims);
-
-/// Destructor of the options struct.
-///
-/// \param opts The options struct to destroy.
-void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts);
-
-
-/// Setter of the options struct.
-///
-/// \param opts The options struct.
-void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config,
-           ocp_qp_xcond_solver_opts *opts, const char *field, void* value);
-
-/// TBC Should be private/static?
-acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// TBC Reserves memory? TBC Should this be private?
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-/// \param raw_memory Pointer to raw memory to assign to qp solver.
-ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims,
-                             void *opts_, void *raw_memory);
-
-/// Creates a qp solver. Reserves memory.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config,
-                             ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// Destroys a qp solver. Frees memory.
-///
-/// \param solver The qp solver
-void ocp_qp_solver_destroy(ocp_qp_solver *solver);
-
-void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config,
-                             ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// Solves the qp.
-///
-/// \param solver The solver.
-/// \param qp_in The inputs struct.
-/// \param qp_out The output struct.
-int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out);
-
-
-/// Calculates the infinity norm of the residuals.
-///
-/// \param dims The dimension struct.
-/// \param qp_in The inputs struct.
-/// \param qp_out The output struct.
-/// \param res Output array for the residuals.
-void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out,
-                               double *res);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h
deleted file mode 100644
index 09a05d6995..0000000000
--- a/third_party/acados/include/acados_c/sim_interface.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_
-#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-
-
-
-typedef enum
-{
-    ERK,
-    IRK,
-    GNSF,
-    LIFTED_IRK,
-    INVALID_SIM_SOLVER,
-} sim_solver_t;
-
-
-
-typedef struct
-{
-    sim_solver_t sim_solver;
-} sim_solver_plan_t;
-
-
-
-typedef struct
-{
-    sim_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} sim_solver;
-
-
-
-/* config */
-//
-ACADOS_SYMBOL_EXPORT sim_config *sim_config_create(sim_solver_plan_t plan);
-//
-ACADOS_SYMBOL_EXPORT void sim_config_destroy(void *config);
-
-/* dims */
-//
-ACADOS_SYMBOL_EXPORT void *sim_dims_create(void *config_);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_destroy(void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_get(sim_config *config, void *dims, const char *field, int* value);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out);
-
-/* in */
-//
-ACADOS_SYMBOL_EXPORT sim_in *sim_in_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_in_destroy(void *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
-
-
-/* out */
-//
-ACADOS_SYMBOL_EXPORT sim_out *sim_out_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_out_destroy(void *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
-
-/* opts */
-//
-ACADOS_SYMBOL_EXPORT void *sim_opts_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_destroy(void *opts);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_get(sim_config *config, void *opts, const char *field, void *value);
-
-/* solver */
-//
-ACADOS_SYMBOL_EXPORT acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_);
-//
-ACADOS_SYMBOL_EXPORT sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory);
-//
-ACADOS_SYMBOL_EXPORT sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
-//
-ACADOS_SYMBOL_EXPORT void sim_solver_destroy(void *solver);
-//
-ACADOS_SYMBOL_EXPORT int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_solver_set(sim_solver *solver, const char *field, void *value);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_SIM_INTERFACE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo.h b/third_party/acados/include/blasfeo/include/blasfeo.h
deleted file mode 100644
index c854918193..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#include "blasfeo_processor_features.h"
-#include "blasfeo_target.h"
-#include "blasfeo_block_size.h"
-#include "blasfeo_stdlib.h"
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux.h"
-#include "blasfeo_d_aux_ext_dep.h"
-#include "blasfeo_d_kernel.h"
-#include "blasfeo_d_blas.h"
-#include "blasfeo_s_aux.h"
-#include "blasfeo_s_aux_ext_dep.h"
-#include "blasfeo_s_kernel.h"
-#include "blasfeo_s_blas.h"
-#include "blasfeo_i_aux_ext_dep.h"
-#include "blasfeo_v_aux_ext_dep.h"
-#include "blasfeo_timing.h"
-#include "blasfeo_memory.h"
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
deleted file mode 100644
index 5d0907a61c..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
+++ /dev/null
@@ -1,447 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_BLOCK_SIZE_H_
-#define BLASFEO_BLOCK_SIZE_H_
-
-
-
-#define D_EL_SIZE 8 // double precision
-#define S_EL_SIZE 4 // single precision
-
-
-
-#if defined( TARGET_X64_INTEL_SKYLAKE_X )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) //(1024*1024) // L2 data cache size: 1 MB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (6*1024*1024) //(8*1024*1024) // LLC cache size: 8 MB ; TLB 1536*4 kB = 6 MB
-// double
-#define D_PS 8 // panel size
-#define D_PLD 8 // 4 // GCD of panel length
-#define D_M_KERNEL 24 // max kernel size
-#define D_N_KERNEL 8 // max kernel size
-#define D_KC 128 //256 // 192
-#define D_NC 144 //72 //96 //72 // 120 // 512
-#define D_MC 2400 // 6000
-// single
-#define S_PS 16 // panel size
-#define S_PLD 4 // GCD of panel length TODO probably 16 when writing assebly
-#define S_M_KERNEL 32 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 128 //256
-#define S_NC 128 //144
-#define S_MC 3000
-
-#elif defined( TARGET_X64_INTEL_HASWELL )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 8 // max kernel size
-#define D_KC 256 // 192
-#define D_NC 64 //96 //72 // 120 // 512
-#define D_MC 1500
-// single
-#define S_PS 8 // panel size
-#define S_PLD 4 // 2 // GCD of panel length
-#define S_M_KERNEL 24 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 144
-#define S_MC 3000
-
-#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256 //320 //256 //320
-#define D_NC 72 //64 //72 //60 // 120
-#define D_MC 1000 // 800
-// single
-#define S_PS 8 // panel size
-#define S_PLD 4 // 2 // GCD of panel length
-#define S_M_KERNEL 16 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 144
-#define S_MC 2000
-
-#elif defined( TARGET_X64_INTEL_CORE )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-#elif defined( TARGET_X64_AMD_BULLDOZER )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_X86_AMD_JAGUAR )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_X86_AMD_BARCELONA )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_APPLE_M1)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (128*1024) // L1 data cache size (big cores): 64 kB, ?-way ; DTLB1 ?
-#define LLC_CACHE_SIZE (12*1024*1024) // LLC (L2) cache size (big cores): 12 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 512 //256
-#define D_NC 128 //256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 512
-#define S_NC 256
-#define S_MC 6000
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 512 //256
-#define D_NC 128 //256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 512
-#define S_NC 256
-#define S_MC 6000
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 320
-#define D_NC 256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ???
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 128 //224 //256 //192
-#define D_NC 72 //40 //36 //48
-#define D_MC (4*192) //512 //488 //600
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB
-#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 224
-#define D_NC 160
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB
-#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 160
-#define D_NC 128
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 )
-// common
-#define CACHE_LINE_SIZE 32
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_GENERIC )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#else
-#error "Unknown architecture"
-#endif
-
-
-
-#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE)
-#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE)
-#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE)
-#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE)
-
-#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE)
-#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE)
-#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE)
-#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE)
-
-
-
-#endif  // BLASFEO_BLOCK_SIZE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_common.h b/third_party/acados/include/blasfeo/include/blasfeo_common.h
deleted file mode 100644
index 03b6c36d84..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_common.h
+++ /dev/null
@@ -1,274 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_COMMON_H_
-#define BLASFEO_COMMON_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER)
-#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES )))
-#elif defined (_MSC_VER)
-#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC
-#else
-#define ALIGNED(VEC, BYTES) VEC
-#endif
-
-
-
-
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) )
-
-#include "blasfeo_block_size.h"
-
-// matrix structure
-struct blasfeo_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-// vector structure
-struct blasfeo_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
-#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
-#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
-
-#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER)
-
-// matrix structure
-struct blasfeo_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a m*n array of doubles
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a m*n array of floats
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-// vector structure
-struct blasfeo_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
-
-#else
-
-#error : wrong LA or MF choice
-
-#endif
-
-
-
-// Explicitly panel-major matrix structure
-struct blasfeo_pm_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int ps; // panel size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int ps; // panel size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-// Explicitly column-major matrix structure
-struct blasfeo_cm_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a m*n array of doubles
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a m*n array of floats
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-
-#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
-#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
-#define BLASFEO_PM_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_PM_SVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_CM_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_CM_SVECEL(sa,ai) ((sa)->pa[ai])
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_COMMON_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
deleted file mode 100644
index a6d6119c6c..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operations header
- *
- * include/blasfeo_aux_lib*.h
- *
- */
-
-#ifndef BLASFEO_D_AUX_H_
-#define BLASFEO_D_AUX_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux_old.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// --- memory size calculations
-//
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_memsize_dmat(int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a dmat
-size_t blasfeo_memsize_diag_dmat(int m, int n);
-// returns the memory size (in bytes) needed for a dvec
-size_t blasfeo_memsize_dvec(int m);
-
-// --- creation
-//
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- packing
-// pack the column-major matrix A into the matrix struct B
-void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the lower-triangular column-major matrix A into the matrix struct B
-void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the upper-triangular column-major matrix A into the matrix struct B
-void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// transpose and pack the column-major matrix A into the matrix struct B
-void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the vector x into the vector structure y
-void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
-// unpack the matrix structure A into the column-major matrix B
-void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// transpose and unpack the matrix structure A into the column-major matrix B
-void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// pack the vector structure x into the vector y
-void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
-
-// --- cast
-//
-//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
-//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
-//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
-
-
-// ge
-// --- insert/extract
-//
-// sA[ai, aj] <= a
-void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// <= sA[ai, aj]
-double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- set
-// A <= alpha
-void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- copy / scale
-// B <= A
-void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// A <= alpha*A
-void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// B <= alpha*A
-void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A, A lower triangular
-void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- sum
-// B <= B + alpha*A
-void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// y <= y + alpha*x
-void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-
-// --- traspositions
-// B <= A'
-void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A lower triangular
-void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A upper triangular
-void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-
-// dia
-// diag(A) += alpha
-void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A) <= alpha*x
-void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] <= alpha*x
-void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// x <= diag(A)
-void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// x <= diag(A)[idx]
-void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// diag(A) += alpha*x
-void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] += alpha*x
-void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// diag(A)[idx] = y + alpha*x
-void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-
-// row
-void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// col
-void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// vec
-// a <= alpha
-void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// sx[xi] <= a
-void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// <= sx[xi]
-double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
-// y <= x
-void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// x <= alpha*x
-void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// y <= alpha*x
-void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// z[idx] += alpha * x
-void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// z[idx] <= alpha * x
-void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// z <= alpha * x[idx]
-void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_dveccl(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_dveccl_mask(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
-	struct blasfeo_dvec *sm, int mi);
-
-void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_pm_memsize_dmat(int ps, int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
-// print
-void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj);
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_cm_memsize_dmat(int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// aux
-void blasfeo_cm_dgetr(int m, int n, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
deleted file mode 100644
index bee9e986f1..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
+++ /dev/null
@@ -1,145 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operation external dependancies header
- *
- * include/blasfeo_d_aux_ext_dep.h
- *
- * - dynamic memory allocation
- * - print
- *
- */
-
-#ifndef BLASFEO_D_AUX_EXT_DEP_H_
-#define BLASFEO_D_AUX_EXT_DEP_H_
-
-
-
-#include <stdio.h>
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-/* column-major matrices */
-
-// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros(double **pA, int row, int col);
-// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros_align(double **pA, int row, int col);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros_align_bytes(double **pA, int size);
-// free the memory allocated by d_zeros
-void d_free(double *pA);
-// free the memory allocated by d_zeros_align or d_zeros_align_bytes
-void d_free_align(double *pA);
-// print a column-major matrix
-void d_print_mat(int m, int n, double *A, int lda);
-// print the transposed of a column-major matrix
-void d_print_tran_mat(int row, int col, double *A, int lda);
-// print to file a column-major matrix
-void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda);
-// print to file a column-major matrix in exponential format
-void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
-// print to string a column-major matrix
-void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda);
-// print to file the transposed of a column-major matrix
-void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda);
-// print to file the transposed of a column-major matrix in exponential format
-void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
-// print in exponential notation a column-major matrix
-void d_print_exp_mat(int m, int n, double *A, int lda);
-// print in exponential notation the transposed of a column-major matrix
-void d_print_exp_tran_mat(int row, int col, double *A, int lda);
-
-/* strmat and strvec */
-
-// create a strmat for a matrix of size m*n by dynamically allocating memory
-void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
-// create a strvec for a vector of size m by dynamically allocating memory
-void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
-// free the memory allocated by blasfeo_allocate_dmat
-void blasfeo_free_dmat(struct blasfeo_dmat *sA);
-// free the memory allocated by blasfeo_allocate_dvec
-void blasfeo_free_dvec(struct blasfeo_dvec *sa);
-// print a strmat
-void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print in exponential notation a strmat
-void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to file a strmat
-void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to file a strmat in exponential format
-void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to string a strmat
-void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print the transposed of a strmat
-void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print a strvec
-void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print in exponential notation a strvec
-void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print to file a strvec
-void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-// print to string a strvec
-void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-// print the transposed of a strvec
-void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print in exponential notation the transposed of a strvec
-void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print to file the transposed of a strvec
-void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-// print to string the transposed of a strvec
-void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
deleted file mode 100644
index 81b811f032..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operation external dependancies header
- *
- * include/blasfeo_d_aux_ext_dep.h
- *
- * - dynamic memory allocation
- * - print
- *
- */
-
-#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_
-#define BLASFEO_D_AUX_EXT_DEP_REF_H_
-
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// expose reference BLASFEO for testing
-// see blasfeo_d_aux_exp_dep.h for help
-
-void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA);
-void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa);
-void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA);
-void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa);
-void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
deleted file mode 100644
index 3a1847a6a0..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * ----------- TOMOVE
- *
- * expecting column major matrices
- *
- */
-
-#include "blasfeo_common.h"
-
-
-void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
-void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
-// TODO remove ???
-void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd);
-// TODO ddiaad1
-void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd);
-
-
-void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
-void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
-void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
-void drowin_lib(int kmax, double alpha, double *x, double *pD);
-void drowex_lib(int kmax, double alpha, double *pD, double *x);
-void drowad_lib(int kmax, double alpha, double *x, double *pD);
-void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
-void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
-void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
-void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
-void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
-void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
-void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dvecin_libsp(int kmax, int *idx, double *x, double *y);
-void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
deleted file mode 100644
index 1e007fa89e..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
+++ /dev/null
@@ -1,208 +0,0 @@
-
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_AUX_REF_H_
-#define BLASFEO_D_AUX_REF_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux_old.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// --- memory calculations
-//
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_ref_memsize_dmat(int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a dmat
-size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
-// returns the memory size (in bytes) needed for a dvec
-size_t blasfeo_ref_memsize_dvec(int m);
-
-// --- creation
-//
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- packing
-// pack the column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the lower-triangular column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the upper-triangular column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// transpose and pack the column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the vector x into the vector structure y
-void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
-// unpack the matrix structure A into the column-major matrix B
-void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// transpose and unpack the matrix structure A into the column-major matrix B
-void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// pack the vector structure x into the vector y
-void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
-
-// --- cast
-//
-void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
-void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
-void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
-
-
-// ge
-// --- insert/extract
-//
-// sA[ai, aj] <= a
-void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// <= sA[ai, aj]
-double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- set
-// A <= alpha
-void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- copy / scale
-// B <= A
-void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// A <= alpha*A
-void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// B <= alpha*A
-void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A, A lower triangular
-void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- sum
-// B <= B + alpha*A
-void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
-// y <= y + alpha*x
-void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-
-// --- traspositions
-// B <= A'
-void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A lower triangular
-void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A upper triangular
-void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-
-// dia
-// diag(A) += alpha
-void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A) <= alpha*x
-void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] <= alpha*x
-void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// x <= diag(A)
-void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// x <= diag(A)[idx]
-void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// diag(A) += alpha*x
-void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] += alpha*x
-void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// diag(A)[idx] = y + alpha*x
-void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-
-// row
-void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// col
-void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// vec
-// a <= alpha
-void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// sx[xi] <= a
-void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// <= sx[xi]
-double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
-// y <= x
-void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// x <= alpha*x
-void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// y <= alpha*x
-void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_ref_dveccl(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_ref_dveccl_mask(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
-	struct blasfeo_dvec *sm, int mi);
-
-void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
deleted file mode 100644
index 1c61635f3f..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
+++ /dev/null
@@ -1,226 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operations header
- *
- * include/blasfeo_aux_lib*.h
- *
- */
-
-#ifndef BLASFEO_D_AUX_TEST_H_
-#define BLASFEO_D_AUX_TEST_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// --- memory calculations
-int test_blasfeo_memsize_dmat(int m, int n);
-int test_blasfeo_memsize_diag_dmat(int m, int n);
-int test_blasfeo_memsize_dvec(int m);
-
-// --- creation
-void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- conversion
-void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
-void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi);
-void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
-
-// --- cast
-void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA);
-void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA);
-void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa);
-
-// ------ copy / scale
-
-// B <= A
-void test_blasfeo_dgecp(int m, int n,
-					struct blasfeo_dmat *sA, int ai, int aj,
-					struct blasfeo_dmat *sB, int bi, int bj);
-
-// A <= alpha*A
-void test_blasfeo_dgesc(int m, int n,
-					double alpha,
-					struct blasfeo_dmat *sA, int ai, int aj);
-
-// B <= alpha*A
-void test_blasfeo_dgecpsc(int m, int n,
-					double alpha,
-					struct blasfeo_dmat *sA, int ai, int aj,
-					struct blasfeo_dmat *sB, int bi, int bj);
-
-// // --- insert/extract
-// //
-// // <= sA[ai, aj]
-// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// // <= sA[ai, aj]
-// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-// // sx[xi] <= a
-// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// // <= sx[xi]
-// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
-// // A <= alpha
-
-// // --- set
-// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// // a <= alpha
-// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// // B <= A
-
-
-// // --- vector
-// // y <= x
-// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
-// // x <= alpha*x
-// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai);
-// // TODO
-// // x <= alpha*x
-// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
-
-
-// // B <= A, A lower triangular
-// void test_blasfeo_dtrcp_l(int m,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sB, int bi, int bj);
-
-// void test_blasfeo_dtrcpsc_l(int m, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sB, int bi, int bj);
-
-// void test_blasfeo_dtrsc_l(int m, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj);
-
-
-// // B <= B + alpha*A
-// void test_blasfeo_dgead(int m, int n, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sC, int ci, int cj);
-
-// // y <= y + alpha*x
-// void test_blasfeo_dvecad(int m, double alpha,
-//                     struct blasfeo_dvec *sa, int ai,
-//                     struct blasfeo_dvec *sc, int ci);
-
-// // --- traspositions
-// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
-// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
-// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
-// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_drowin_lib(int kmax, double alpha, double *x, double *pD);
-// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_drowex_lib(int kmax, double alpha, double *pD, double *x);
-// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_drowad_lib(int kmax, double alpha, double *x, double *pD);
-// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
-// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
-// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
-// void test_drowsw_lib(int kmax, double *pA, double *pC);
-// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
-// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
-// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
-// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y);
-// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
-// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi);
-// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-// ext_dep
-
-void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
-void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
-
-void test_blasfeo_free_dmat(struct blasfeo_dmat *sA);
-void test_blasfeo_free_dvec(struct blasfeo_dvec *sa);
-
-void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-
-void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-
-void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
deleted file mode 100644
index ea8d006731..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLAS_H_
-#define BLASFEO_D_BLAS_H_
-
-
-
-#include "blasfeo_d_blasfeo_api.h"
-#include "blasfeo_d_blas_api.h"
-
-
-
-#endif  // BLASFEO_D_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
deleted file mode 100644
index 2eab1e4094..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
+++ /dev/null
@@ -1,281 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef BLASFEO_D_BLAS_API_H_
-#define BLASFEO_D_BLAS_API_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef BLAS_API
-#ifdef CBLAS_API
-#ifndef BLASFEO_CBLAS_ENUM
-#define BLASFEO_CBLAS_ENUM
-#ifdef FORTRAN_BLAS_API
-#ifndef CBLAS_H
-enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102};
-enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */
-#endif // CBLAS_H
-#else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
-enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113};
-enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122};
-enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132};
-enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142};
-#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */
-#endif // FORTRAN_BLAS_API
-#endif // BLASFEO_CBLAS_ENUM
-#endif // CBLAS_API
-#endif // BLAS_API
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef BLAS_API
-
-
-
-#ifdef FORTRAN_BLAS_API
-
-
-
-// BLAS 1
-//
-void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
-//
-void dcopy_(int *n, double *x, int *incx, double *y, int *incy);
-//
-double ddot_(int *n, double *x, int *incx, double *y, int *incy);
-
-// BLAS 2
-//
-void dgemv_(char *tran, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void dsymv_(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// BLAS 3
-//
-void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-//
-void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-//
-void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void dsyr2k_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-
-
-// LAPACK
-//
-void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-//
-void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info);
-//
-void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
-//
-void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-//
-void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-
-
-
-// aux
-void dgetr_(int *m, int *n, double *A, int *lda, double *B, int *ldb);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
-//
-void cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
-//
-void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
-
-// CBLAS 2
-//
-void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
-
-// CBLAS 3
-//
-void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
-//
-void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
-//
-void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-//
-void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#else // BLASFEO_API
-
-
-
-// BLAS 1
-//
-void blasfeo_blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
-//
-double blasfeo_blas_ddot(int *n, double *x, int *incx, double *y, int *incy);
-//
-void blasfeo_blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
-
-// BLAS 2
-//
-void blasfeo_blas_dgemv(char *trans, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void blasfeo_blas_dsymv(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void blasfeo_blas_dger(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// BLAS 3
-//
-void blasfeo_blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-//
-void blasfeo_blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-//
-void blasfeo_blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void blasfeo_blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void blasfeo_blas_dsyr2k(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-
-
-// LAPACK
-//
-void blasfeo_lapack_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-//
-void blasfeo_lapack_dgetrf_np(int *m, int *n, double *A, int *lda, int *info);
-//
-void blasfeo_lapack_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
-//
-void blasfeo_lapack_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dpotrf(char *uplo, int *m, double *A, int *lda, int *info);
-//
-void blasfeo_lapack_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-
-
-
-// aux
-void blasfeo_blas_dgetr(int *m, int *n, double *A, int *lda, double *B, int *ldb);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void blasfeo_cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
-//
-void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
-//
-void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
-
-// CBLAS 2
-//
-void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
-
-// CBLAS 3
-//
-void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
-//
-void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
-//
-void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-//
-void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#endif // BLASFEO_API
-
-
-
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
deleted file mode 100644
index 88bb3fce22..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
+++ /dev/null
@@ -1,364 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_API_H_
-#define BLASFEO_D_BLASFEO_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
-// NB: Different arguments semantic compare to equivalent standard BLAS routine
-void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y
-void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z += x .* y
-void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// return x^T * y
-double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_drotg(double a, double b, double *c, double *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A^T * x
-void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(n)
-void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A lower triangular
-void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A lower triangular, unit diagonal
-void blasfeo_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A upper triangular
-void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A^T * x_t
-void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B^T
-void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
-void blasfeo_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
-void blasfeo_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
-void blasfeo_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
-void blasfeo_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-// D <= chol( C + A * B^T ) ; C, D lower triangular
-void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-int blasfeo_dgeqrf_worksize(int m, int n); // in bytes
-void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-int blasfeo_dgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// BLAS 3
-void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-// BLAS 2
-void blasfeo_cm_dgemv_n(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dgemv_t(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dsymv_l(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dsymv_u(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dger(int m, int n, double alpha, struct blasfeo_cm_dvec *sx, int xi, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-// LAPACK
-void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
deleted file mode 100644
index 141a1f0f06..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_API_REF_H_
-#define BLASFEO_D_BLASFEO_API_REF_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// expose reference BLASFEO for testing
-
-// --- level 1
-
-void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi);
-void blasfeo_drotg_ref(double a, double b, double *c, double *s);
-void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s);
-void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-// --- level 2
-
-// dense
-void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t);
-void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-
-// diagonal
-void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-
-
-// --- level 3
-
-// dense
-void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-// diagonal
-void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-// --- lapack
-
-void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
-void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h
deleted file mode 100644
index 405733f13e..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_HP_API_H_
-#define BLASFEO_D_BLASFEO_HP_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-
-// D <= beta * C + alpha * A^T * B
-void blasfeo_hp_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T; C, D lower triangular
-void blasfeo_hp_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * A^T ; C, D lower triangular
-void blasfeo_hp_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular
-void blasfeo_hp_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_hp_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_HP_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
deleted file mode 100644
index 1a8b22c67e..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
+++ /dev/null
@@ -1,283 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_REF_API_H_
-#define BLASFEO_D_BLASFEO_REF_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
-// NB: Different arguments semantic compare to equivalent standard BLAS routine
-void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y
-void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z += x .* y
-void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// return x^T * y
-double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_ref_drotg(double a, double b, double *c, double *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_ref_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_ref_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_ref_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_ref_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ref_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ref_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_ref_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B^T
-void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
-void blasfeo_ref_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
-void blasfeo_ref_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
-void blasfeo_ref_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
-void blasfeo_ref_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes
-void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_REF_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
deleted file mode 100644
index d20ac38bbd..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
+++ /dev/null
@@ -1,1321 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_KERNEL_H_
-#define BLASFEO_D_KERNEL_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// utils
-void blasfeo_align_2MB(void *ptr, void **ptr_align);
-void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
-void blasfeo_align_64_byte(void *ptr, void **ptr_align);
-
-
-//
-// lib8
-//
-
-// 24x8
-void kernel_dgemm_nt_24x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_24x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dtrsm_nt_rl_inv_24x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
-void kernel_dpotrf_nt_l_24x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_24x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_24x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
-void kernel_dgemm_dtrsm_nt_rl_inv_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dlarfb8_rn_24_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
-// 16x8
-void kernel_dgemm_nt_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nt_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nn_16x8_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nt_l_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrmm_nn_rl_16x8_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int m1, int n1);
-void kernel_dtrmm_nn_rl_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_16x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
-void kernel_dtrsm_nt_rl_inv_16x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
-void kernel_dpotrf_nt_l_16x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_16x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dgemm_dtrsm_nt_rl_inv_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dlarfb8_rn_16_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb8_rn_la_16_lib8(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb8_rn_lla_16_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-// 8x16
-void kernel_dgemm_tt_8x16_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_8x16_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_8x16_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nt_8x16_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_8x16_vs_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 8x8
-void kernel_dgemm_nt_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nt_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nn_8x8_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_8x8_vs_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nn_8x8_gen_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_8x8_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_8x8_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_8x8_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, int offc, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nt_l_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrmm_nn_rl_8x8_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_8x8_vs_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrmm_nn_rl_8x8_gen_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_8x8_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8_vs_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dpotrf_nt_l_8x8_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x8_vs_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int m1, int n1);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int m1, int n1);
-void kernel_dgelqf_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_pd_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_8_lib8(int kmax, double *pD, double *dD);
-void kernel_dgelqf_pd_8_lib8(int kmax, double *pD, double *dD);
-void kernel_dlarft_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarfb8_rn_8_lib8(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb8_rn_8_vs_lib8(int kmax, double *pV, double *pT, double *pD, int m1);
-void kernel_dlarfb8_rn_1_lib8(int kmax, double *pV, double *pT, double *pD);
-void kernel_dgelqf_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_la_vs_lib8(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
-void kernel_dgelqf_pd_la_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pA, double *pT);
-void kernel_dlarft_la_8_lib8(int n1, double *dD, double *pA, double *pT);
-void kernel_dlarfb8_rn_la_8_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dlarfb8_rn_la_8_vs_lib8(int n1, double *pVA, double *pT, double *pD, double *pA, int m1);
-void kernel_dlarfb8_rn_la_1_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dgelqf_pd_lla_vs_lib8(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
-void kernel_dgelqf_pd_lla_dlarft8_8_lib8(int n0, int n1, double *pD, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarft_lla_8_lib8(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarfb8_rn_lla_8_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-void kernel_dlarfb8_rn_lla_8_vs_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA, int m1);
-void kernel_dlarfb8_rn_lla_1_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-
-// panel copy / pack
-// 24
-void kernel_dpack_nn_24_lib8(int kmax, double *A, int lda, double *C, int sdc);
-void kernel_dpack_nn_24_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
-// 16
-void kernel_dpacp_nn_16_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_16_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-void kernel_dpack_nn_16_lib8(int kmax, double *A, int lda, double *C, int sdc);
-void kernel_dpack_nn_16_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
-// 8
-void kernel_dpacp_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_l_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_l_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_l_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_l_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpaad_nn_8_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B);
-void kernel_dpaad_nn_8_vs_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpack_nn_8_lib8(int kmax, double *A, int lda, double *C);
-void kernel_dpack_nn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
-void kernel_dpack_tn_8_lib8(int kmax, double *A, int lda, double *C);
-void kernel_dpack_tn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
-// 4
-void kernel_dpack_tt_4_lib8(int kmax, double *A, int lda, double *C, int sdc); // TODO offsetC 
-void kernel_dpack_tt_4_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); // TODO offsetC 
-
-// level 2 BLAS
-// 16
-void kernel_dgemv_n_16_lib8(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-// 8
-void kernel_dgemv_n_8_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_n_8_vs_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m1);
-//void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m0, int m1);
-void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, int offsetA, double *A, double *x, double *beta, double *y, double *z, int m1);
-void kernel_dgemv_t_8_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_8_vs_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int n1);
-void kernel_dgemv_nt_8_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_8_vs_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int n1);
-void kernel_dsymv_l_8_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z);
-void kernel_dsymv_l_8_vs_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z, int n1);
-void kernel_dsymv_l_8_gen_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrmv_n_ln_8_lib8(int k, double *A, double *x, double *z);
-void kernel_dtrmv_n_ln_8_vs_lib8(int k, double *A, double *x, double *z, int m1);
-void kernel_dtrmv_n_ln_8_gen_lib8(int k, int offsetA, double *A, double *x, double *z, int m1);
-void kernel_dtrmv_t_ln_8_lib8(int k, double *A, int sda, double *x, double *z);
-void kernel_dtrmv_t_ln_8_vs_lib8(int k, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrmv_t_ln_8_gen_lib8(int k, int offsetA, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrsv_n_l_inv_8_lib8(int k, double *A, double *inv_diag_A, double *x, double *z);
-void kernel_dtrsv_n_l_inv_8_vs_lib8(int k, double *A, double *inv_diag_A, double *x, double *z, int m1, int n1);
-void kernel_dtrsv_t_l_inv_8_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z);
-void kernel_dtrsv_t_l_inv_8_vs_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z, int m1, int n1);
-
-
-
-//
-// lib4
-//
-
-// level 2 BLAS
-// 12
-void kernel_dgemv_n_12_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-// 8
-void kernel_dgemv_n_8_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dtrmv_un_8_lib4(int k, double *A, int sda, double *x, double *z);
-// 4
-void kernel_dgemv_n_4_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_n_4_vs_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k1);
-void kernel_dgemv_n_4_gen_lib4(int kmax, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k0, int k1);
-void kernel_dgemv_t_4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int k1);
-void kernel_dtrsv_ln_inv_4_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ln_inv_4_vs_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z, int km, int kn);
-void kernel_dtrsv_lt_inv_4_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_3_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_2_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_1_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_4_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_3_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_2_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_1_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_ln_one_4_vs_lib4(int kmax, double *A, double *x, double *y, double *z, int km, int kn);
-void kernel_dtrsv_ln_one_4_lib4(int kmax, double *A, double *x, double *y, double *z);
-void kernel_dtrsv_un_inv_4_lib4(int kmax, double *A, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ut_inv_4_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ut_inv_4_vs_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z, int m1, int n1);
-void kernel_dtrmv_un_4_lib4(int k, double *A, double *x, double *z);
-void kernel_dtrmv_ut_4_lib4(int k, double *A, int sda, double *x, double *z);
-void kernel_dtrmv_ut_4_vs_lib4(int k, double *A, int sda, double *x, double *z, int km);
-void kernel_dgemv_nt_6_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_4_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_4_vs_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int km);
-void kernel_dsymv_l_4_lib4(int kmax, double *alpha, double *A, int sda, double *x, double *z);
-void kernel_dsymv_l_4_gen_lib4(int kmax, double *alpha, int offA, double *A, int sda, double *x, double *z, int km);
-
-
-
-// level 3 BLAS
-// 12x4
-void kernel_dgemm_nt_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nt_12x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dgemm_nn_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nn_12x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_12x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_tt_12x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nn_u_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nt_ru_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
-void kernel_dtrmm_nt_ru_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nn_rl_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
-void kernel_dtrsm_nn_ll_one_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_12x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_12x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x12
-void kernel_dgemm_nt_4x12_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x12_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nn_4x12_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x12_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x12_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x12_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrsm_nt_rl_inv_4x12_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x12_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x8
-void kernel_dgemm_nt_8x8l_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8u_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8l_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8u_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
-void kernel_dsyrk_nn_u_8x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_8x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x8_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [L00 *; A10 L11]
-void kernel_dsyrk_nt_l_8x8_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [L00 *; A10 L11]
-void kernel_dtrsm_nt_rl_inv_8x8l_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8l_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x8u_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8u_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x4
-void kernel_dgemm_nt_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nt_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dgemm_nn_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_8x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_tt_8x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nn_u_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dsyrk_nt_l_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dtrmm_nt_ru_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
-void kernel_dtrmm_nt_ru_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nn_rl_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
-void kernel_dtrmm_nn_rl_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
-void kernel_dtrsm_nn_ll_one_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_8x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_8x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x8
-void kernel_dgemm_nt_4x8_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x8_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nn_4x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x8_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x8_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrsm_nt_rl_inv_4x8_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x8_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x2
-void kernel_dgemm_nn_8x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 2x8
-void kernel_dgemm_nn_2x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_2x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 10xX
-void kernel_dgemm_nn_10x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_10x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_10x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_10x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 6xX
-void kernel_dgemm_nn_8x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 4x4
-void kernel_dgemm_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nt_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dgemm_nn_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nn_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_4x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x4_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nn_u_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dsyrk_nn_u_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dsyrk_nt_l_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dsyrk_nt_l_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dsyrk_nt_u_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_u_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dsyrk_nt_u_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib4(int k, double *alpha, double *A, double *B, double *D); //
-void kernel_dtrmm_nt_ru_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *D, int km, int kn); //
-void kernel_dtrmm_nn_rl_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nn_ll_one_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_lu_one_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E);
-void kernel_dtrsm_nn_lu_one_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, int km, int kn);
-// 4x2
-void kernel_dgemm_nn_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nt_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_nt_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1);
-void kernel_dsyrk_nt_l_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dtrmm_nn_rl_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x2_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x2_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-// 2x4
-void kernel_dgemm_nn_2x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_2x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 2x2
-void kernel_dgemm_nn_2x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_2x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_2x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-// diag
-void kernel_dgemm_diag_right_4_a0_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *D, int sdd);
-void kernel_dgemm_diag_right_4_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_3_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_2_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_1_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_left_4_a0_lib4(int kmax, double *alpha, double *A, double *B, double *D);
-void kernel_dgemm_diag_left_4_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_3_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_2_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_1_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-// low rank update
-void kernel_dger4_sub_12r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
-void kernel_dger4_sub_12r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
-void kernel_dger4_sub_8r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
-void kernel_dger4_sub_8r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
-void kernel_dger4_sub_4r_lib4(int n, double *A, double *B, double *C);
-void kernel_dger4_sub_4r_vs_lib4(int n, double *A, double *B, double *C, int km);
-
-
-
-// LAPACK
-// 12x4
-void kernel_dpotrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_l_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_l_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_m_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_m_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_r_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_r_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_m_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_m_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_r_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_r_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 8x8
-void kernel_dpotrf_nt_l_8x8_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x8_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 8x4
-void kernel_dpotrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_l_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_l_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_r_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_r_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_r_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_r_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x4
-void kernel_dpotrf_nt_l_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-#if defined(TARGET_X64_INTEL_SANDY_BRIDGE)
-void kernel_dlauum_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dlauum_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-#endif
-void kernel_dgetrf_nn_4x4_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D);
-void kernel_dgetrf_nn_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dgetrf_nt_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-void kernel_dgeqrf_4_lib4(int m, double *pD, int sdd, double *dD);
-void kernel_dgeqrf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dlarf_4_lib4(int m, int n, double *pV, int sdv, double *tau, double *pC, int sdc); // rank-4 reflector
-void kernel_dlarf_t_4_lib4(int m, int n, double *pD, int sdd, double *pVt, double *dD, double *pC0, int sdc, double *pW);
-void kernel_dgelqf_4_lib4(int n, double *pD, double *dD);
-void kernel_dgelqf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dlarft_4_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_3_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_2_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_1_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
-void kernel_dlarfb12_rn_12_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK);
-void kernel_dlarfb12_rn_4_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK, int km);
-void kernel_dlarfb4_rn_12_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb4_rn_8_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb4_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dgelqf_pd_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_4_lib4(int n, double *pD, double *dD);
-void kernel_dgelqf_pd_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_pd_la_vs_lib4(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
-void kernel_dlarft_4_la_lib4(int n1, double *dD, double *pA, double *pT);
-void kernel_dlarfb4_rn_12_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb4_rn_8_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb4_rn_4_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dlarfb4_rn_1_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dgelqf_pd_lla_vs_lib4(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
-void kernel_dlarft_4_lla_lib4(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarfb4_rn_12_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-void kernel_dlarfb4_rn_8_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-void kernel_dlarfb4_rn_4_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-void kernel_dlarfb4_rn_1_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-// 4x2
-void kernel_dpotrf_nt_l_4x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_4x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 2x2
-void kernel_dpotrf_nt_l_2x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_2x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 12
-void kernel_dgetrf_pivot_12_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_12_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
-// 8
-void kernel_dgetrf_pivot_8_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_8_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
-// 4
-void kernel_dgetrf_pivot_4_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_4_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n1);
-// vector
-void kernel_drowsw_lib4(int kmax, double *pA, double *pC);
-
-
-
-// merged routines
-// 12x4
-void kernel_dgemm_dtrsm_nt_rl_inv_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x12
-void kernel_dgemm_dtrsm_nt_rl_inv_4x12_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 8x8
-void kernel_dsyrk_dpotrf_nt_l_8x8_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8l_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8u_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 8x4
-void kernel_dgemm_dtrsm_nt_rl_inv_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x8
-void kernel_dgemm_dtrsm_nt_rl_inv_4x8_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x4
-void kernel_dgemm_dtrsm_nt_rl_inv_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 4x2
-void kernel_dgemm_dtrsm_nt_rl_inv_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 2x2
-void kernel_dsyrk_dpotrf_nt_l_2x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-
-/*
- *
- * Auxiliary routines
- *
- * cpsc copy and scale, scale
- * cp copy
- * add
- * set and scale
- * transpose and scale
- * set and scale
- *
- */
-
-// copy and scale
-void kernel_dgecpsc_8_0_lib4(int tri, int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
-void kernel_dgecpsc_8_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgecpsc_8_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgecpsc_8_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-
-void kernel_dgecpsc_4_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_4_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_4_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_4_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_3_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_3_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_3_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_2_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_2_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_1_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-
-// copy only
-void kernel_dgecp_8_0_lib4(int tri, int kmax, double *A, int sda, double *B, int sdb);
-
-void kernel_dgecp_4_0_lib4(int tri, int kmax, double *A, double *B);
-
-// add
-void kernel_dgead_8_0_lib4(int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
-void kernel_dgead_8_1_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_8_2_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_8_3_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_4_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_4_1_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_4_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_4_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_3_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_3_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_3_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_2_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_2_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_1_0_lib4(int kmax, double alpha, double *A, double *B);
-
-// set
-void kernel_dgeset_4_lib4(int kmax, double alpha, double *A);
-void kernel_dtrset_4_lib4(int kmax, double alpha, double *A);
-
-// traspose
-void kernel_dgetr_8_lib4(int tri, int kmax, int kna, double alpha, double *A, int sda, double *C, int sdc);
-void kernel_dgetr_4_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_3_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_2_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_1_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_4_0_lib4(int m, double *A, int sda, double *B);
-
-
-
-// pack
-// 12
-void kernel_dpack_nn_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_nn_12_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-void kernel_dpack_tt_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
-// 8
-void kernel_dpack_nn_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_nn_8_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-void kernel_dpack_tt_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
-// 4
-void kernel_dpack_nn_4_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_nn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
-void kernel_dpack_tn_4_p0_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_tn_4_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_tn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
-void kernel_dpack_tt_4_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_tt_4_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-// unpack
-// 12
-void kernel_dunpack_nn_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
-void kernel_dunpack_nn_12_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
-void kernel_dunpack_tt_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
-// 8
-void kernel_dunpack_nn_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
-void kernel_dunpack_nn_8_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
-void kernel_dunpack_tt_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
-// 4
-void kernel_dunpack_nn_4_lib4(int kmax, double *A, double *B, int ldb);
-void kernel_dunpack_nn_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
-void kernel_dunpack_nt_4_lib4(int kmax, double *A, double *B, int ldb);
-void kernel_dunpack_nt_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
-void kernel_dunpack_tt_4_lib4(int kmax, double *A, int sda, double *B, int ldb);
-
-// panel copy
-// 12
-void kernel_dpacp_nn_12_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_12_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-// 8
-void kernel_dpacp_nn_8_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_8_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-// 4
-void kernel_dpacp_nt_4_lib4(int kmax, double *A, int offsetB, double *B, int sdb);
-void kernel_dpacp_tn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_4_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-
-
-
-/************************************************
-* BLAS API kernels
-************************************************/
-
-//#if defined(BLAS_API)
-
-// A, B panel-major bs=4; C, D column-major
-// 12x4
-void kernel_dgemm_nt_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dsyrk_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_12x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_12x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x12
-void kernel_dgemm_nt_4x12_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_p0_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1, double *A_p, double *B_p);
-void kernel_dtrmm_nt_rl_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dsyrk_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dpotrf_nt_l_8x8_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_8x8_vs_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 8x4
-void kernel_dgemm_nt_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_8x4_p_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p);
-void kernel_dsyrk_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_8x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_8x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x8
-void kernel_dgemm_nt_4x8_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nt_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_4x4_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_4x4_vs_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x2
-void kernel_dgemm_nt_4x2_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-
-// A panel-major bs=4; B, C, D column-major
-// 12x4
-void kernel_dgemm_nn_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_12x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_12x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_l_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_l_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_m_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_m_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_r_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_r_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-// 4x12
-void kernel_dgemm_nn_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nn_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_8x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_l_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_l_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_r_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_r_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-// 4x8
-void kernel_dgemm_nn_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nn_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_4x4_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_4x4_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_4x4_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_4x4_vs_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-
-// B panel-major bs=4; A, C, D column-major
-// 12x4
-void kernel_dgemm_nt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x12
-void kernel_dgemm_nt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_dgemm_nt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A, C, D panel-major; B, E column-major
-// TODO merge with above
-// 12x4
-void kernel_dtrsm_nn_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-// 8x4
-void kernel_dtrsm_nn_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-// 4x4
-void kernel_dtrsm_nn_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-
-// A, B, C, D column-major
-// 12x4
-void kernel_dgemm_nn_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x12
-void kernel_dgemm_nn_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nn_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_dgemm_nn_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nn_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A column-major
-// 12
-void kernel_dgetrf_pivot_12_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_12_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-// 8
-void kernel_dgetrf_pivot_8_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_8_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-// 4
-void kernel_dgetrf_pivot_4_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_4_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-
-// vector
-void kernel_ddot_11_lib(int n, double *x, double *y, double *res);
-void kernel_daxpy_11_lib(int n, double *alpha, double *x, double *y);
-void kernel_drowsw_lib(int kmax, double *pA, int lda, double *pC, int ldc);
-
-//#endif // BLAS_API
-
-
-
-// larger kernels
-// 12
-void kernel_dgemm_nt_12xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_12xn_pl_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_mx12_p0_lib44cc(int m, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-// 8
-void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-
-
-
-// A, B panel-major bs=8; C, D column-major
-// 24x8
-void kernel_dgemm_nt_24x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_24x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 16x8
-void kernel_dgemm_nt_16x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_16x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A, panel-major bs=8; B, C, D column-major
-// 24x8
-void kernel_dgemm_nt_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 16x8
-void kernel_dgemm_nt_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// B, panel-major bs=8; A, C, D column-major
-// 8x24
-void kernel_dgemm_nt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x16
-void kernel_dgemm_nt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-
-// level 2 BLAS
-void kernel_dgemv_n_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dgemv_n_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dgemv_t_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z, int km);
-void kernel_dsymv_l_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dsymv_l_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dsymv_u_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dsymv_u_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dger_4_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd);
-void kernel_dger_4_vs_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd, int km);
-
-
-
-// aux
-void kernel_dvecld_inc1(int kmax, double *x);
-void kernel_dveccp_inc1(int kmax, double *x, double *y);
-
-//void kernel_dgetr_nt_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
-//void kernel_dgetr_nt_8_lib(int kmax, double *A, int lda, double *C, int ldc);
-//void kernel_dgetr_nt_4_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
-void kernel_dgetr_tn_8_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_4_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_4_vs_lib(int kmax, double *A, int lda, double *C, int ldc, int m1);
-
-
-// building blocks for blocked algorithms
-//
-void blasfeo_hp_dgemm_nt_m2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
-void blasfeo_hp_dgemm_nt_n2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
-//
-void kernel_dpack_buffer_fn(int m, int n, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ft(int m, int n, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ln(int m, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_lt(int m, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ut(int m, double *A, int lda, double *pA, int sda);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
deleted file mode 100644
index 74c3fb5c0a..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_I_AUX_EXT_DEP_H_
-#define BLASFEO_I_AUX_EXT_DEP_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-// i_aux_extern_depend_lib
-void int_zeros(int **pA, int row, int col);
-void int_zeros_align(int **pA, int row, int col);
-void int_free(int *pA);
-void int_free_align(int *pA);
-void int_print_mat(int row, int col, int *A, int lda);
-int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_I_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
deleted file mode 100644
index 6248853e29..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_M_AUX_H_
-#define BLASFEO_M_AUX_H_
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi);
-void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi);
-void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis);
-void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_M_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_memory.h b/third_party/acados/include/blasfeo/include/blasfeo_memory.h
deleted file mode 100644
index da4e7fa090..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_memory.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2020 by Gianluca Frison.                                                          *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef BLASFEO_MEMORY_H_
-#define BLASFEO_MEMORY_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-int blasfeo_is_init();
-//
-void blasfeo_init();
-//
-void blasfeo_quit();
-//
-void *blasfeo_get_buffer();
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // BLASFEO_MEMORY_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_naming.h b/third_party/acados/include/blasfeo/include/blasfeo_naming.h
deleted file mode 100644
index c289443b17..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_naming.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-/*
- * ----------- Naming conventions
- *
- *  (precision)(data)
- *
- * 1) d(double)
- *    s(single)
- *
- * 2) ge(general)
- *    tr(triangular)
- *    vec(vector)
- *    row(row)
- *    col(column)
- *    dia(diagonal)
- *
- * 3) se(set)
- *    cp(copy)
- *    sc(scale)
- *    ad(add)
- *    tr(transpose)
- *    in(insert)
- *    ex(extract)
- *    pe(premute)
- *    sw(swap)
- *
- *    f(factorization)
- *
- *    lqf(LQ factorization)
- *    qrf (factorization)
- *    trf (LU factorization using partial pivoting with row interchanges.)
- *
- * 4) _l(lower) / _u(upper)
- *    _lib8 (hp implementation, 8 rows kernel)
- *    _lib4 (hp implementation, 4 rows kernel)
- *    _lib0 (hp interface with reference implentation)
- *    _lib (reference implementation)
- *    _libref (reference implementation with dedicated namespace)
- *
- * 5) _sp(sparse)
- *    _exp(exponential format)
- */
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
deleted file mode 100644
index 67a0a4da04..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Ian McInerney                                                                           *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_PROCESSOR_FEATURES_H_
-#define BLASFEO_PROCESSOR_FEATURES_H_
-
-/**
- * Flags to indicate the different processor features
- */
-//enum
-//{
-//    // x86-64 CPU features
-//    BLASFEO_PROCESSOR_FEATURE_AVX  = 0x0001,    /// AVX instruction set
-//    BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002,    /// AVX2 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_FMA  = 0x0004,    /// FMA instruction set
-//    BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008,    /// SSE3 instruction set
-//
-//    // ARM CPU features
-//    BLASFEO_PROCESSOR_FEATURE_VFPv3  = 0x0100,  /// VFPv3 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_NEON   = 0x0100,  /// NEON instruction set
-//    BLASFEO_PROCESSOR_FEATURE_VFPv4  = 0x0100,  /// VFPv4 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100,  /// NEONv2 instruction set
-//} BLASFEO_PROCESSOR_FEATURES;
-
-/**
- * Test the features that this processor provides against what the library was compiled with.
- *
- * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
- * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
- */
-int blasfeo_processor_cpu_features( int* features );
-
-/**
- * Test the features that this processor provides against what the library was compiled with.
- *
- * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
- * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
- */
-void blasfeo_processor_library_features( int* features );
-
-/**
- * Create a string listing the features the current processor supports.
- *
- * @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported
- * @param featureString - Character array to store the feature string in
- */
-void blasfeo_processor_feature_string( int features, char* featureString );
-
-/**
- * Get a string listing the processor features that this library version needs to run.
- *
- * @param featureString - Character array to store the feature string in
- */
-void blasfeo_processor_library_string( char* featureString );
-
-#endif  // BLASFEO_PROCESSOR_FEATURES_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
deleted file mode 100644
index f43f5e83ce..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
+++ /dev/null
@@ -1,168 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_H_
-#define BLASFEO_S_AUX_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_s_aux_old.h"
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-// returns the memory size (in bytes) needed for a smat
-size_t blasfeo_memsize_smat(int m, int n);
-size_t blasfeo_memsize_smat_ps(int ps, int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a smat
-size_t blasfeo_memsize_diag_smat(int m, int n);
-// returns the memory size (in bytes) needed for a svec
-size_t blasfeo_memsize_svec(int m);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-
-// ge
-void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// tr
-void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// dia
-void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// row
-void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// col
-void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// vec
-void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
-float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
-void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_pm_memsize_smat(int ps, int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory);
-
-
-
-/*
-* Explicitly column-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_cm_memsize_smat(int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
deleted file mode 100644
index 5209d20d37..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_EXT_DEP_H_
-#define BLASFEO_S_AUX_EXT_DEP_H_
-
-
-
-#include <stdio.h>
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-/************************************************
-* s_aux_extern_depend_lib.c
-************************************************/
-
-/* column-major matrices */
-
-// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros(float **pA, int row, int col);
-// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros_align(float **pA, int row, int col);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros_align_bytes(float **pA, int size);
-// free the memory allocated by d_zeros
-void s_free(float *pA);
-// free the memory allocated by d_zeros_align or d_zeros_align_bytes
-void s_free_align(float *pA);
-// print a column-major matrix
-void s_print_mat(int m, int n, float *A, int lda);
-// print the transposed of a column-major matrix
-void s_print_tran_mat(int row, int col, float *A, int lda);
-// print to file a column-major matrix
-void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda);
-// print to file a column-major matrix in exponential format
-void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
-// print to string a column-major matrix
-void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda);
-// print to file the transposed of a column-major matrix
-void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda);
-// print to file the transposed of a column-major matrix in exponential format
-void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
-// print in exponential notation a column-major matrix
-void s_print_exp_mat(int m, int n, float *A, int lda);
-// print in exponential notation the transposed of a column-major matrix
-void s_print_exp_tran_mat(int row, int col, float *A, int lda);
-
-/* strmat and strvec */
-
-// create a strmat for a matrix of size m*n by dynamically allocating memory
-void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
-// create a strvec for a vector of size m by dynamically allocating memory
-void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
-// free the memory allocated by blasfeo_allocate_dmat
-void blasfeo_free_smat(struct blasfeo_smat *sA);
-// free the memory allocated by blasfeo_allocate_dvec
-void blasfeo_free_svec(struct blasfeo_svec *sa);
-// print a strmat
-void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print in exponential notation a strmat
-void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to file a strmat
-void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to file a strmat in exponential format
-void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to string a strmat
-void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print the transpose of a strmat
-void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print a strvec
-void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-// print in exponential notation a strvec
-void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-// print to file a strvec
-void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-// print to string a strvec
-void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-// print the transposed of a strvec
-void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-// print in exponential notation the transposed of a strvec
-void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-// print to file the transposed of a strvec
-void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-// print to string the transposed of a strvec
-void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // BLASFEO_S_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
deleted file mode 100644
index 6640e20a40..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_EXT_DEP_REF_H_
-#define BLASFEO_S_AUX_EXT_DEP_REF_H_
-
-#if defined(EXT_DEP)
-
-
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// expose reference BLASFEO for testing
-// see blasfeo_s_aux_exp_dep.h for help
-
-void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA);
-void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa);
-void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA);
-void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa);
-void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // EXT_DEP
-
-#endif  // BLASFEO_S_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
deleted file mode 100644
index 5c6db37bab..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-// TODO remove
-//
-void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
-void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
-void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
-void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
-void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
-void srowin_lib(int kmax, float alpha, float *x, float *pD);
-void srowex_lib(int kmax, float alpha, float *pD, float *x);
-void srowad_lib(int kmax, float alpha, float *x, float *pD);
-void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
-void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
-void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
-void srowsw_lib(int kmax, float *pA, float *pC);
-void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
-void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
-void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
-void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void svecin_libsp(int kmax, int *idx, float *x, float *y);
-void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
deleted file mode 100644
index 998e1d8999..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
+++ /dev/null
@@ -1,147 +0,0 @@
-
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_REF_H_
-#define BLASFEO_S_AUX_REF_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_s_aux_old.h"
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-// returns the memory size (in bytes) needed for a smat
-size_t blasfeo_ref_memsize_smat(int m, int n);
-size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a smat
-size_t blasfeo_ref_memsize_diag_smat(int m, int n);
-// returns the memory size (in bytes) needed for a svec
-size_t blasfeo_ref_memsize_svec(int m);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
-void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
-void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-
-// ge
-void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// tr
-void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// dia
-void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// row
-void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// col
-void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// vec
-void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi);
-float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_REF_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
deleted file mode 100644
index 08d9a14a6a..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
+++ /dev/null
@@ -1,177 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_TEST_H_
-#define BLASFEO_S_AUX_TEST_H_
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-int test_blasfeo_memsize_smat(int m, int n);
-int test_blasfeo_memsize_diag_smat(int m, int n);
-int test_blasfeo_memsize_svec(int m);
-
-void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-
-void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-
-void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-// copy and scale
-void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-
-// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
-// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
-
-// // A <= alpha
-// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-// // a <= alpha
-// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-
-
-// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-
-// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-
-// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
-// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
-// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
-// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
-// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
-// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_srowin_lib(int kmax, float alpha, float *x, float *pD);
-// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_srowex_lib(int kmax, float alpha, float *pD, float *x);
-// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-// void test_srowad_lib(int kmax, float alpha, float *x, float *pD);
-// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
-// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
-// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
-// void test_srowsw_lib(int kmax, float *pA, float *pC);
-// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
-// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
-// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
-// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// void test_svecin_libsp(int kmax, int *idx, float *x, float *y);
-// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
-// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-// ext_dep
-
-void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
-void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
-
-void test_blasfeo_free_smat(struct blasfeo_smat *sA);
-void test_blasfeo_free_svec(struct blasfeo_svec *sa);
-
-void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-
-void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-
-void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
deleted file mode 100644
index 200f1f51b1..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLAS_H_
-#define BLASFEO_S_BLAS_H_
-
-
-
-#include "blasfeo_s_blasfeo_api.h"
-#include "blasfeo_s_blas_api.h"
-
-
-
-#endif  // BLASFEO_S_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
deleted file mode 100644
index cf2b3e0a2d..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
+++ /dev/null
@@ -1,182 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef BLASFEO_S_BLAS_API_H_
-#define BLASFEO_S_BLAS_API_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef BLAS_API
-#ifdef CBLAS_API
-#ifndef BLASFEO_CBLAS_ENUM
-#define BLASFEO_CBLAS_ENUM
-#ifdef FORTRAN_BLAS_API
-#ifndef CBLAS_H
-enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
-enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#endif // CBLAS_H
-#else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
-enum BLASFEO_CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum BLASFEO_CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum BLASFEO_CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum BLASFEO_CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#endif // FORTRAN_BLAS_API
-#endif // BLASFEO_CBLAS_ENUM
-#endif // CBLAS_API
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef BLAS_API
-
-
-
-#ifdef FORTRAN_BLAS_API
-
-
-
-// BLAS 1
-//
-void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
-//
-float sdot_(int *n, float *x, int *incx, float *y, int *incy);
-
-// BLAS 3
-//
-void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-//
-void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-
-
-
-// LAPACK
-//
-void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
-
-// CBLAS 3
-//
-void cblas_sgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
-//
-void cblas_strsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#else // BLASFEO_API
-
-
-
-// BLAS 1
-//
-void blasfeo_blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
-//
-float blasfeo_blas_sdot(int *n, float *x, int *incx, float *y, int *incy);
-
-// BLAS 3
-//
-void blasfeo_blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-//
-void blasfeo_blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-
-
-
-// LAPACK
-//
-void blasfeo_lapack_spotrf(char *uplo, int *m, float *A, int *lda, int *info);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void blasfeo_cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
-
-// CBLAS 3
-//
-void blasfeo_cblas_sgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
-//
-void blasfeo_cblas_strsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#endif // BLASFEO_API
-
-
-
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
deleted file mode 100644
index 8b98104735..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
+++ /dev/null
@@ -1,284 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_API_H_
-#define BLASFEO_S_BLASFEO_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y
-void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z += x .* y
-void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// return x^T * y
-float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_srotg(float a, float b, float *c, float *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^T ; B upper triangular
-void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
-void blasfeo_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
-void blasfeo_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
-void blasfeo_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
-void blasfeo_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_sgeqrf_worksize(int m, int n); // in bytes
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_sgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
-
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// BLAS 3
-void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-// LAPACK
-void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
deleted file mode 100644
index f429a79dc3..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_API_REF_H_
-#define BLASFEO_S_BLASFEO_API_REF_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// expose reference BLASFEO for testing
-
-// --- level 1
-
-void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi);
-void blasfeo_srotg_ref(float a, float b, float *c, float *s);
-void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s);
-void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-// --- level 2
-
-// dense
-void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t);
-void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-
-// diagonal
-void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-
-
-// --- level 3
-
-// dense
-void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-// diagonal
-void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-// --- lapack
-
-void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
-void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
deleted file mode 100644
index 17cb179695..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
+++ /dev/null
@@ -1,252 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_REF_API_H_
-#define BLASFEO_S_BLASFEO_REF_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y
-void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z += x .* y
-void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// return x^T * y
-float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_ref_srotg(float a, float b, float *c, float *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_ref_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_ref_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_ref_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_ref_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ref_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ref_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_ref_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^T ; B upper triangular
-void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
-void blasfeo_ref_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
-void blasfeo_ref_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
-void blasfeo_ref_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
-void blasfeo_ref_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_REF_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
deleted file mode 100644
index 99d2b28c82..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
+++ /dev/null
@@ -1,692 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_KERNEL_H_
-#define BLASFEO_S_KERNEL_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// utils
-void blasfeo_align_2MB(void *ptr, void **ptr_align);
-void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
-void blasfeo_align_64_byte(void *ptr, void **ptr_align);
-
-
-
-//
-// lib8
-//
-
-// 24x4
-void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
-void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
-
-// 16x8
-void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil);
-
-// 16x4
-void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
-void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
-void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-
-// 8x8
-void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
-void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-
-// 8x4
-void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
-void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
-void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn);
-void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D);
-void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn);
-
-// 4x8
-void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-
-// 8
-void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
-void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
-void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
-void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
-void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
-void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
-
-// -------- aux
-
-// ---- copy
-
-// lib4
-//
-void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B);
-
-void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B);
-void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B);
-void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B);
-
-// lib8
-//
-void kernel_sgecp_8_0_lib8(int m, float *A, float *B);
-void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1);
-void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1);
-
-void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A);
-void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1);
-void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1);
-
-void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B);
-void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
-void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1);
-
-void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-// transpose
-//
-void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
-
-// add
-//
-void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B);
-void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
-void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-
-//
-// lib4
-//
-
-
-
-// level 2 BLAS
-// 4
-void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
-void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z);
-void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z);
-void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km);
-void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
-void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n);
-void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km);
-
-
-
-// level 3 BLAS
-// 12x4
-void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 12x4
-void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-// 8x4
-void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); //
-void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
-void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
-void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); //
-void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); //
-void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
-void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
-void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); //
-void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); //
-void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
-void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E);
-void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-// diag
-void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd);
-void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D);
-void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-
-
-
-// LAPACK
-// 16x4
-void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 12x4
-void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 8x4
-void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 4x4
-void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D);
-void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv);
-void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv);
-
-
-
-// merged routines
-// 4x4
-void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-
-
-
-// auxiliary routines
-void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B);
-void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B);
-// TODO
-void kernel_sgeset_4_lib4(int kmax, float alpha, float *A);
-void kernel_strset_4_lib4(int kmax, float alpha, float *A);
-void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-
-
-
-// pack
-// 24 lib 8
-void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 16 lib 8
-void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 8 lib 8
-void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B);
-void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B);
-void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 8 lib 4
-void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
-//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
-// 4
-void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B);
-void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B);
-void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// unpack
-// 8
-void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
-void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1);
-//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
-// 4
-void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb);
-void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
-void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb);
-void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
-void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb);
-
-// panel copy
-// 4
-void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb);
-void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
-void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
-void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1);
-
-
-
-/************************************************
-* BLAS API kernels
-************************************************/
-
-//#if defined(BLAS_API)
-
-// A, B panel-major bs=8; C, D column-major
-// 24x4
-void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 16x4
-void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
-void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-// 8x4
-void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A, B panel-major bs=4; C, D column-major
-// 8x8
-void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-// 8x4
-void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
-void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
-void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
-void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
-
-// B panel-major bs=8; A, C, D column-major
-// 4x24
-void kernel_sgemm_nt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x16
-void kernel_sgemm_nt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// B panel-major bs=4; A, C, D column-major
-// 8x8
-void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A panel-major bs=8; B, C, D column-major
-// 24x4
-void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 16x4
-void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A panel-major bs=4; B, C, D column-major
-// 8x8
-void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-// 8x4
-void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-
-// A, C, D panel-major; B, E column-major
-// TODO merge with above
-// 4x4
-void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-
-// A, B, C, D column-major
-void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// vector
-void kernel_sdot_11_lib(int n, float *x, float *y, float *res);
-void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y);
-
-
-//#endif // BLAS_API
-
-
-
-// larger kernels
-// 24
-void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p);
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
deleted file mode 100644
index 9bd248b1d4..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_STDLIB_H_
-#define BLASFEO_STDLIB_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#include <stdlib.h>
-
-//
-void blasfeo_malloc(void **ptr, size_t size);
-//
-void blasfeo_malloc_align(void **ptr, size_t size);
-//
-void blasfeo_free(void *ptr);
-//
-void blasfeo_free_align(void *ptr);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // BLASFEO_STDLIB_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h
deleted file mode 100644
index 51f617a649..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_target.h
+++ /dev/null
@@ -1,73 +0,0 @@
-#ifndef TARGET_X64_INTEL_HASWELL
-#define TARGET_X64_INTEL_HASWELL
-#endif
-
-#ifndef TARGET_NEED_FEATURE_AVX2
-#define TARGET_NEED_FEATURE_AVX2 1
-#endif
-
-#ifndef TARGET_NEED_FEATURE_FMA
-#define TARGET_NEED_FEATURE_FMA 1
-#endif
-
-#ifndef TARGET_NEED_FEATURE_SSE3
-/* #undef TARGET_NEED_FEATURE_SSE3 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_AVX
-/* #undef TARGET_NEED_FEATURE_AVX */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_VFPv3
-/* #undef TARGET_NEED_FEATURE_VFPv3 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_NEON
-/* #undef TARGET_NEED_FEATURE_NEON */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_VFPv4
-/* #undef TARGET_NEED_FEATURE_VFPv4 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_NEONv2
-/* #undef TARGET_NEED_FEATURE_NEONv2 */
-#endif
-
-#ifndef LA_HIGH_PERFORMANCE
-#define LA_HIGH_PERFORMANCE
-#endif
-
-#ifndef MF_PANELMAJ
-#define MF_PANELMAJ
-#endif
-
-#ifndef EXT_DEP
-#define ON 1
-#define OFF 0
-#if ON==ON
-#define EXT_DEP
-#endif
-#undef ON
-#undef OFF
-#endif
-
-#ifndef BLAS_API
-#define ON 1
-#define OFF 0
-#if OFF==ON
-#define BLAS_API
-#endif
-#undef ON
-#undef OFF
-#endif
-
-#ifndef FORTRAN_BLAS_API
-#define ON 1
-#define OFF 0
-#if OFF==ON
-#define FORTRAN_BLAS_API
-#endif
-#undef ON
-#undef OFF
-#endif
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_timing.h b/third_party/acados/include/blasfeo/include/blasfeo_timing.h
deleted file mode 100644
index 5671b888fe..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_timing.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_TIMING_H_
-#define BLASFEO_TIMING_H_
-
-//#include <stdbool.h>
-
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-	/* Use Windows QueryPerformanceCounter for timing. */
-	#include <Windows.h>
-
-	/** A structure for keeping internal timer data. */
-	typedef struct blasfeo_timer_ {
-		LARGE_INTEGER tic;
-		LARGE_INTEGER toc;
-		LARGE_INTEGER freq;
-	} blasfeo_timer;
-
-#elif(defined __APPLE__)
-
-	#include <mach/mach_time.h>
-
-	/** A structure for keeping internal timer data. */
-	typedef struct blasfeo_timer_ {
-		uint64_t tic;
-		uint64_t toc;
-		mach_timebase_info_data_t tinfo;
-	} blasfeo_timer;
-
-#elif(defined __DSPACE__)
-
-	#include <brtenv.h>
-
-	typedef struct blasfeo_timer_ {
-		double time;
-	} blasfeo_timer;
-
-#elif(defined __XILINX_NONE_ELF__ || defined __XILINX_ULTRASCALE_NONE_ELF_JAILHOUSE__)
-
-	#include "xtime_l.h"
-
-	typedef struct blasfeo_timer_ {
-		uint64_t tic;
-		uint64_t toc;
-	} blasfeo_timer;
-
-#else
-
-	/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-	#include <time.h>
-
-	#if __STDC_VERSION__ >= 199901L  // C99 Mode
-
-		#include <sys/stat.h>
-		#include <sys/time.h>
-
-		typedef struct blasfeo_timer_ {
-			struct timeval tic;
-			struct timeval toc;
-		} blasfeo_timer;
-
-	#else  // ANSI C Mode
-
-		/** A structure for keeping internal timer data. */
-		typedef struct blasfeo_timer_ {
-			struct timespec tic;
-			struct timespec toc;
-		} blasfeo_timer;
-
-	#endif  // __STDC_VERSION__ >= 199901L
-
-#endif  // (defined _WIN32 || defined _WIN64)
-
-/** A function for measurement of the current time. */
-void blasfeo_tic(blasfeo_timer* t);
-
-/** A function which returns the elapsed time. */
-double blasfeo_toc(blasfeo_timer* t);
-
-#endif  // BLASFEO_TIMING_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
deleted file mode 100644
index 1598551185..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_V_AUX_EXT_DEP_H_
-#define BLASFEO_V_AUX_EXT_DEP_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-/************************************************
-* d_aux_extern_depend_lib.c
-************************************************/
-
-#ifdef EXT_DEP
-
-void v_zeros(void **ptrA, int size);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to void; set allocated memory to zero
-void v_zeros_align(void **ptrA, int size);
-// free the memory allocated by v_zeros
-void v_free(void *ptrA);
-// free the memory allocated by v_zeros_aligned
-void v_free_align(void *ptrA);
-// dynamically allocate size bytes of memory and set accordingly a pointer to char; set allocated memory to zero
-void c_zeros(char **ptrA, int size);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to char; set allocated memory to zero
-void c_zeros_align(char **ptrA, int size);
-// free the memory allocated by c_zeros
-void c_free(char *ptrA);
-// free the memory allocated by c_zeros_aligned
-void c_free_align(char *ptrA);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // BLASFEO_V_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/d_blas.h b/third_party/acados/include/blasfeo/include/d_blas.h
deleted file mode 100644
index ffd2578da3..0000000000
--- a/third_party/acados/include/blasfeo/include/d_blas.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-double ddot_(int *m, double *x, int *incx, double *y, int *incy);
-void dcopy_(int *m, double *x, int *incx, double *y, int *incy);
-void daxpy_(int *m, double *alpha, double *x, int *incx, double *y, int *incy);
-void dscal_(int *m, double *alpha, double *x, int *incx);
-void drot_(int *m, double *x, int *incx, double *y, int *incy, double *c, double *s);
-void drotg_(double *a, double *b, double *c, double *s);
-
-// level 2
-void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-void dsymv_(char *uplo, int *m, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-void dtrmv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
-void dtrsv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
-void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// level 3
-void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-void dsyrk_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-void dtrmm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-void dtrsm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-void dsyr2k_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-// lapack
-void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-void dgeqrf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-void dgeqr2_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *info);
-void dgelqf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-void dorglq_(int *m, int *n, int *k, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/d_blas_64.h b/third_party/acados/include/blasfeo/include/d_blas_64.h
deleted file mode 100644
index 4f40d00dfb..0000000000
--- a/third_party/acados/include/blasfeo/include/d_blas_64.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-double ddot_(long long *m, double *x, long long *incx, double *y, long long *incy);
-void dcopy_(long long *m, double *x, long long *incx, double *y, long long *incy);
-void daxpy_(long long *m, double *alpha, double *x, long long *incx, double *y, long long *incy);
-void dscal_(long long *m, double *alpha, double *x, long long *incx);
-
-// level 2
-void dgemv_(char *ta, long long *m, long long *n, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
-void dsymv_(char *uplo, long long *m, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
-void dtrmv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
-void dtrsv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
-void dger_(long long *m, long long *n, double *alpha, double *x, long long *incx, double *y, long long *incy, double *A, long long *lda);
-
-// level 3
-void dgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, double *alpha, double *A, long long *lda, double *B, long long *ldb, double *beta, double *C, long long *ldc);
-void dsyrk_(char *uplo, char *trans, long long *n, long long *k, double *alpha, double *A, long long *lda, double *beta, double *C, long long *ldc);
-void dtrmm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
-void dtrsm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
-
-// lapack
-void dpotrf_(char *uplo, long long *m, double *A, long long *lda, long long *info);
-void dgetrf_(long long *m, long long *n, double *A, long long *lda, long long *ipiv, long long *info);
-void dgeqrf_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *lwork, long long *info);
-void dgeqr2_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas.h b/third_party/acados/include/blasfeo/include/s_blas.h
deleted file mode 100644
index 3b299ce64c..0000000000
--- a/third_party/acados/include/blasfeo/include/s_blas.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-float sdot_(int *m, float *x, int *incx, float *y, int *incy);
-void scopy_(int *m, float *x, int *incx, float *y, int *incy);
-void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy);
-void sscal_(int *m, float *alpha, float *x, int *incx);
-void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s);
-void srotg_(float *a, float *b, float *c, float *s);
-
-// level 2
-void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
-void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
-void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda);
-
-// level 3
-void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc);
-void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-void ssyr2k_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-
-// lapack
-void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info);
-void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info);
-void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas_64.h b/third_party/acados/include/blasfeo/include/s_blas_64.h
deleted file mode 100644
index b9efab6c23..0000000000
--- a/third_party/acados/include/blasfeo/include/s_blas_64.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-float sdot_(long long *m, float *x, long long *incx, float *y, long long *incy);
-void scopy_(long long *m, float *x, long long *incx, float *y, long long *incy);
-void saxpy_(long long *m, float *alpha, float *x, long long *incx, float *y, long long *incy);
-void sscal_(long long *m, float *alpha, float *x, long long *incx);
-
-// level 2
-void sgemv_(char *ta, long long *m, long long *n, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
-void ssymv_(char *uplo, long long *m, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
-void strmv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
-void strsv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
-void sger_(long long *m, long long *n, float *alpha, float *x, long long *incx, float *y, long long *incy, float *A, long long *lda);
-
-// level 3
-void sgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, float *alpha, float *A, long long *lda, float *B, long long *ldb, float *beta, float *C, long long *ldc);
-void ssyrk_(char *uplo, char *trans, long long *n, long long *k, float *alpha, float *A, long long *lda, float *beta, float *C, long long *ldc);
-void strmm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
-void strsm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
-
-// lapack
-void spotrf_(char *uplo, long long *m, float *A, long long *lda, long long *info);
-void sgetrf_(long long *m, long long *n, float *A, long long *lda, long long *ipiv, long long *info);
-void sgeqrf_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *lwork, long long *info);
-void sgeqr2_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
deleted file mode 100644
index 7bd3d7e8bc..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_AUX_MEM_H_
-#define HPIPM_AUX_MEM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void hpipm_zero_memset(hpipm_size_t memsize, void *mem);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_AUX_MEM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_string.h b/third_party/acados/include/hpipm/include/hpipm_aux_string.h
deleted file mode 100644
index 804cba5dc1..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_aux_string.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_AUX_STRING_H_
-#define HPIPM_AUX_STRING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define MAX_STR_LEN 5
-int hpipm_strcmp(char *str1, char *str2);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_AUX_STRING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_common.h b/third_party/acados/include/hpipm/include/hpipm_common.h
deleted file mode 100644
index 0cc96a7b50..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_common.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_COMMON_H_
-#define HPIPM_COMMON_H_
-
-#include <stddef.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef size_t hpipm_size_t;
-
-enum hpipm_mode
-	{
-	SPEED_ABS, // focus on speed, absolute IPM formulation
-	SPEED, // focus on speed, relative IPM formulation
-	BALANCE, // balanced mode, relative IPM formulation
-	ROBUST, // focus on robustness, relative IPM formulation
-	};
-
-enum hpipm_status
-	{
-	SUCCESS, // found solution satisfying accuracy tolerance
-	MAX_ITER, // maximum iteration number reached
-	MIN_STEP, // minimum step length reached
-	NAN_SOL, // NaN in solution detected
-	INCONS_EQ, // unconsistent equality constraints
-	};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_COMMON_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
deleted file mode 100644
index 0e4c41f221..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_CAST_QCQP_H_
-#define HPIPM_D_CAST_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp.h"
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_cast_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
-//
-void d_cast_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_CAST_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_cond.h
deleted file mode 100644
index 5900a2ab10..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_H_
-#define HPIPM_D_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_d_dense_qp_sol.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qp_dim.h"
-#include "hpipm_d_ocp_qp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_cond_qp_arg
-	{
-	int cond_last_stage; // condense last stage
-	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_cond_qp_ws
-	{
-	struct blasfeo_dmat *Gamma;
-	struct blasfeo_dmat *GammaQ;
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Lx;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dvec *Gammab;
-	struct blasfeo_dvec *l;
-	struct blasfeo_dvec *tmp_nbgM;
-	struct blasfeo_dvec *tmp_nuxM;
-	int bs; // block size
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_cond_qp_arg_memsize();
-//
-void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem);
-//
-void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg);
-// condensing algorithm: 0 N2-nx3, 1 N3-nx2
-void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg);
-
-//
-void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim);
-//
-hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem);
-//
-void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-// TODO remove
-void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-//
-void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
deleted file mode 100644
index 73afba3c7e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_AUX_H_
-#define HPIPM_D_COND_AUX_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_cond_BAbt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_BAt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_b(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_RSQrq(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_RSQ(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_rq(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_DCtd(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_DCt(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_d(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-//
-void d_update_cond_BAbt(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_update_cond_RSQrq_N2nx3(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_update_cond_DCtd(int *idxc, struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, int *idxs2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
deleted file mode 100644
index 266567bb8d..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_QCQP_H_
-#define HPIPM_D_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp.h"
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_cond_qcqp_arg
-	{
-	struct d_cond_qp_arg *qp_arg;
-	int cond_last_stage; // condense last stage
-//	int cond_variant; // TODO
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_cond_qcqp_ws
-	{
-	struct d_cond_qp_ws *qp_ws;
-	struct blasfeo_dmat *hess_array; // TODO remove
-	struct blasfeo_dmat *zero_hess; // TODO remove
-	struct blasfeo_dvec *grad_array; // TODO remove
-	struct blasfeo_dvec *zero_grad; // TODO remove
-	struct blasfeo_dvec *tmp_nvc;
-	struct blasfeo_dvec *tmp_nuxM;
-	struct blasfeo_dmat *GammaQ;
-	struct blasfeo_dmat *tmp_DCt;
-	struct blasfeo_dmat *tmp_nuM_nxM;
-//	struct blasfeo_dvec *d_qp;
-//	struct blasfeo_dvec *d_mask_qp;
-	hpipm_size_t memsize;
-	};
-
-
-//
-hpipm_size_t d_cond_qcqp_arg_memsize();
-//
-void d_cond_qcqp_arg_create(struct d_cond_qcqp_arg *cond_arg, void *mem);
-//
-void d_cond_qcqp_arg_set_default(struct d_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void d_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_cond_qcqp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void d_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qcqp_arg *cond_arg);
-
-//
-void d_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
-//
-hpipm_size_t d_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg);
-//
-void d_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws, void *mem);
-//
-void d_cond_qcqp_qc(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_qc_lhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_qc_rhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp_sol *dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_QCQP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
deleted file mode 100644
index f39d9a9b50..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_CORE_QP_IPM_
-#define HPIPM_D_CORE_QP_IPM_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_core_qp_ipm_workspace
-	{
-	double *v; // primal variables
-	double *pi; // equality constraints multipliers
-	double *lam; // inequality constraints multipliers
-	double *t; // inequality constraints slacks
-	double *t_inv; // inverse of t
-	double *v_bkp; // backup of primal variables
-	double *pi_bkp; // backup of equality constraints multipliers
-	double *lam_bkp; // backup of inequality constraints multipliers
-	double *t_bkp; // backup of inequality constraints slacks
-	double *dv; // step in v
-	double *dpi; // step in pi
-	double *dlam; // step in lam
-	double *dt; // step in t
-	double *res_g; // q-residuals
-	double *res_b; // b-residuals
-	double *res_d; // d-residuals
-	double *res_m; // m-residuals
-	double *res_m_bkp; // m-residuals
-	double *Gamma; // Hessian update
-	double *gamma; // gradient update
-	double alpha; // step length
-	double alpha_prim; // step length
-	double alpha_dual; // step length
-	double sigma; // centering XXX
-	double mu; // duality measuere
-	double mu_aff; // affine duality measuere
-	double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints
-	double nc_mask_inv; // 1.0/nc_mask
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double t_min_inv; // inverse of min value in t vector
-	double tau_min; // min value of barrier parameter
-	int nv; // number of primal variables
-	int ne; // number of equality constraints
-	int nc; // (twice the) number of (two-sided) inequality constraints
-	int nc_mask; // total number of ineq constr after masking
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc);
-//
-void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem);
-//
-void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
deleted file mode 100644
index 30cc824bad..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_AUX_
-#define HPIPM_S_CORE_QP_IPM_AUX_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_update_var_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_backup_res_m(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
deleted file mode 100644
index 3da5716493..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
+++ /dev/null
@@ -1,199 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_H_
-#define HPIPM_D_DENSE_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
-	struct blasfeo_dmat *A; // equality constraint matrix
-	struct blasfeo_dmat *Ct; // inequality constraints matrix
-	struct blasfeo_dmat *Hq; // hessians of quadratic constraints
-	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *b; // equality constraint vector
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory);
-
-//
-void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp);
-
-// getters (COLMAJ)
-
-void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H);
-//
-void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g);
-//
-void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A);
-//
-void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b);
-//
-void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb);
-//
-void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb);
-//
-void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb);
-//
-void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub);
-//
-void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub);
-//
-void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C);
-//
-void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg);
-//
-void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg);
-//
-void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug);
-//
-void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug);
-//
-void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs);
-//
-void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev);
-//
-void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl);
-//
-void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu);
-//
-void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl);
-//
-void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu);
-//
-void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls);
-//
-void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls);
-//
-void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us);
-//
-void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
deleted file mode 100644
index fa8c574a1e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_DIM_H_
-#define HPIPM_D_DENSE_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_dim
-	{
-	struct d_dense_qp_dim *qp_dim; // dim of qp approximation
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nq;  // number of quadratic constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int nsq; // number of softened quadratic constraints
-	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_dim_memsize();
-//
-void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory);
-//
-void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
deleted file mode 100644
index fa3f98fa79..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
+++ /dev/null
@@ -1,193 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_IPM_H_
-#define HPIPM_D_DENSE_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_dense_qcqp_dim.h>
-#include <hpipm_d_dense_qcqp.h>
-#include <hpipm_d_dense_qcqp_res.h>
-#include <hpipm_d_dense_qcqp_sol.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_ipm_arg
-	{
-	struct d_dense_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double reg_dual; // reg of dual hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qcqp_ipm_ws
-	{
-	struct d_dense_qp_ipm_ws *qp_ws;
-	struct d_dense_qp *qp;
-	struct d_dense_qp_sol *qp_sol;
-	struct d_dense_qcqp_res_ws *qcqp_res_ws;
-	struct d_dense_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nv;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem);
-//
-void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem);
-//
-void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value);
-//
-void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status);
-//
-void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter);
-//
-void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat);
-//
-void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-//
-void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-#if 0
-//
-void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-//
-void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-#endif
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_IPM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
deleted file mode 100644
index a76f16215e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_RES_H_
-#define HPIPM_D_DENSE_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_dense_qcqp_dim.h>
-#include <hpipm_d_dense_qcqp.h>
-#include <hpipm_d_dense_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_res
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // infinity norm of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nv; // work space of size nv
-	struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_ns; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem);
-//
-void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws);
-//
-void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QCQP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
deleted file mode 100644
index 6c697a8e69..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_SOL_H_
-#define HPIPM_D_DENSE_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_sol
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dvec *v;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory);
-//
-void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
deleted file mode 100644
index a34218bae4..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_UTILS_H_
-#define HPIPM_D_DENSE_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-//#include "hpipm_d_dense_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim);
-//
-//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim);
-//
-void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
-//
-//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol);
-//
-//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
deleted file mode 100644
index 02fba5a922..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_H_
-#define HPIPM_D_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
-	struct blasfeo_dmat *A; // equality constraint matrix
-	struct blasfeo_dmat *Ct; // inequality constraints matrix
-	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *b; // equality constraint vector
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory);
-
-// setters - colmaj
-//
-void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
-//
-void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
-//
-void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_H(double *H, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_g(double *g, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_A(double *A, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_b(double *b, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_C(double *C, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_us(double *us, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp);
-
-// getters - colmaj
-//
-void d_dense_qp_get_H(struct d_dense_qp *qp, double *H);
-//
-void d_dense_qp_get_g(struct d_dense_qp *qp, double *g);
-//
-void d_dense_qp_get_A(struct d_dense_qp *qp, double *A);
-//
-void d_dense_qp_get_b(struct d_dense_qp *qp, double *b);
-//
-void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb);
-//
-void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb);
-//
-void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb);
-//
-void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub);
-//
-void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub);
-//
-void d_dense_qp_get_C(struct d_dense_qp *qp, double *C);
-//
-void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg);
-//
-void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg);
-//
-void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug);
-//
-void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug);
-//
-void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs);
-//
-void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev);
-//
-void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl);
-//
-void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu);
-//
-void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl);
-//
-void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu);
-//
-void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls);
-//
-void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls);
-//
-void d_dense_qp_get_us(struct d_dense_qp *qp, double *us);
-//
-void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us);
-
-// setters - rowmaj
-//
-void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
-
-// getters - rowmaj
-//
-void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
deleted file mode 100644
index 98a551f312..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_DIM_H_
-#define HPIPM_D_DENSE_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_dim
-	{
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int ns;  // number of softened constraints (nsb+nsg)
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_dim_memsize();
-//
-void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory);
-//
-void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
deleted file mode 100644
index e6e5d5d9b5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_IPM_H_
-#define HPIPM_D_DENSE_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_dense_qp_dim.h>
-#include <hpipm_d_dense_qp.h>
-#include <hpipm_d_dense_qp_res.h>
-#include <hpipm_d_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_ipm_arg
-	{
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double reg_dual; // reg of dual hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int kkt_fact_alg; // 0 null-space, 1 schur-complement
-	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
-	int compute_obj; // compute obj on exit
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qp_ipm_ws
-	{
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_dense_qp_res_ws *res_ws;
-	struct d_dense_qp_sol *sol_step;
-	struct d_dense_qp_sol *sol_itref;
-	struct d_dense_qp *qp_step;
-	struct d_dense_qp *qp_itref;
-	struct d_dense_qp_res *res;
-	struct d_dense_qp_res *res_itref;
-	struct d_dense_qp_res *res_step;
-	struct blasfeo_dvec *Gamma; //
-	struct blasfeo_dvec *gamma; //
-	struct blasfeo_dvec *Zs_inv; //
-	struct blasfeo_dmat *Lv; //
-	struct blasfeo_dmat *AL; //
-	struct blasfeo_dmat *Le; //
-	struct blasfeo_dmat *Ctx; //
-	struct blasfeo_dvec *lv; //
-	struct blasfeo_dvec *sv; // scale for Lv
-	struct blasfeo_dvec *se; // scale for Le
-	struct blasfeo_dvec *tmp_nbg; // work space of size nb+ng
-	struct blasfeo_dvec *tmp_ns; // work space of size ns
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dmat *lq1;
-	struct blasfeo_dvec *tmp_m;
-	struct blasfeo_dmat *A_LQ;
-	struct blasfeo_dmat *A_Q;
-	struct blasfeo_dmat *Zt;
-	struct blasfeo_dmat *ZtH;
-	struct blasfeo_dmat *ZtHZ;
-	struct blasfeo_dvec *xy;
-	struct blasfeo_dvec *Yxy;
-	struct blasfeo_dvec *xz;
-	struct blasfeo_dvec *tmp_nv;
-	struct blasfeo_dvec *tmp_2ns;
-	struct blasfeo_dvec *tmp_nv2ns;
-	struct blasfeo_dmat *A_li; // A of linearly independent equality constraints
-	struct blasfeo_dvec *b_li; // b of linearly independent equality constraints
-	struct blasfeo_dmat *A_bkp; // pointer to backup A
-	struct blasfeo_dvec *b_bkp; // pointer to backup b
-	struct blasfeo_dmat *Ab_LU;
-	double *stat; // convergence statistics
-	int *ipiv_v;
-	int *ipiv_e;
-	int *ipiv_e1;
-	void *lq_work0;
-	void *lq_work1;
-	void *lq_work_null;
-	void *orglq_work_null;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // numer of recorded stat per ipm iter
-	int scale;
-	int use_hess_fact;
-	int use_A_fact;
-	int status;
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int ne_li; // number of linearly independent equality constraints
-	int ne_bkp; // ne backup
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_ipm_arg_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_ipm_arg_create(struct d_dense_qp_dim *dim, struct d_dense_qp_ipm_arg *arg, void *mem);
-//
-void d_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set(char *field, void *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_mu0(double *mu0, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_lam_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_t_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tau_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_compute_obj(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qp_ipm_arg *arg);
-
-//
-void d_dense_qp_ipm_arg_set_split_step(int *value, struct d_dense_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_dense_qp_ipm_ws_memsize(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_ws_create(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws, void *mem);
-//
-void d_dense_qp_ipm_get(char *field, struct d_dense_qp_ipm_ws *ws, void *value);
-//
-void d_dense_qp_ipm_get_status(struct d_dense_qp_ipm_ws *ws, int *status);
-//
-void d_dense_qp_ipm_get_iter(struct d_dense_qp_ipm_ws *ws, int *iter);
-//
-void d_dense_qp_ipm_get_max_res_stat(struct d_dense_qp_ipm_ws *ws, double *res_stat);
-//
-void d_dense_qp_ipm_get_max_res_eq(struct d_dense_qp_ipm_ws *ws, double *res_eq);
-//
-void d_dense_qp_ipm_get_max_res_ineq(struct d_dense_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_dense_qp_ipm_get_max_res_comp(struct d_dense_qp_ipm_ws *ws, double *res_comp);
-//
-void d_dense_qp_ipm_get_stat(struct d_dense_qp_ipm_ws *ws, double **stat);
-//
-void d_dense_qp_ipm_get_stat_m(struct d_dense_qp_ipm_ws *ws, int *stat_m);
-//
-void d_dense_qp_init_var(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_abs_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_delta_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_solve(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_predict(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_sens(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_compute_step_length(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
deleted file mode 100644
index 6d05779f4b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_KKT_H_
-#define HPIPM_D_DENSE_QP_KKT_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_remove_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_restore_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_compute_obj(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
deleted file mode 100644
index 7c2023257a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
+++ /dev/null
@@ -1,105 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_RES_H_
-#define HPIPM_D_DENSE_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_dense_qp_dim.h>
-#include <hpipm_d_dense_qp.h>
-#include <hpipm_d_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_res
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbg; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_ns; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_res_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_res_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res *res, void *mem);
-//
-hpipm_size_t d_dense_qp_res_ws_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_res_ws_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res_ws *workspace, void *mem);
-//
-void d_dense_qp_res_compute(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
-//
-void d_dense_qp_res_compute_lin(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_sol *qp_step, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
-//
-void d_dense_qp_res_compute_inf_norm(struct d_dense_qp_res *res);
-//
-void d_dense_qp_res_get_all(struct d_dense_qp_res *res, double *res_g, double *res_ls, double *res_us, double *res_b, double *res_d_lb, double *res_d_ub, double *res_d_lg, double *res_d_ug, double *res_d_ls, double *res_d_us, double *res_m_lb, double *res_m_ub, double *res_m_lg, double *res_m_ug, double *res_m_ls, double *res_m_us);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
deleted file mode 100644
index aaa3fdb0e4..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_SOL_H_
-#define HPIPM_D_DENSE_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_sol
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dvec *v;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	double obj;
-	int valid_obj;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_sol_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_sol_create(struct d_dense_qp_dim *dim, struct d_dense_qp_sol *qp_sol, void *memory);
-//
-void d_dense_qp_sol_get_all(struct d_dense_qp_sol *qp_sol, double *v, double *ls, double *us, double *pi, double *lam_lb, double *lam_ub, double *lam_lg, double *lam_ug, double *lam_ls, double *lam_us);
-//
-void d_dense_qp_sol_get(char *field, struct d_dense_qp_sol *sol, void *value);
-//
-void d_dense_qp_sol_get_v(struct d_dense_qp_sol *sol, double *v);
-//
-void d_dense_qp_sol_get_valid_obj(struct d_dense_qp_sol *sol, int *valid_obj);
-//
-void d_dense_qp_sol_get_obj(struct d_dense_qp_sol *sol, double *obj);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
deleted file mode 100644
index ccb77aaca3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_UTILS_H_
-#define HPIPM_D_DENSE_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_d_dense_qp_sol.h"
-#include "hpipm_d_dense_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_dense_qp_dim_print(struct d_dense_qp_dim *qp_dim);
-//
-//void d_dense_qp_dim_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim);
-//
-void d_dense_qp_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
-//
-//void d_dense_qp_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
-//
-void d_dense_qp_sol_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_sol *dense_qp_sol);
-//
-//void d_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_res_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_res *dense_qp_res);
-//
-void d_dense_qp_arg_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *qp_ipm_arg);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
deleted file mode 100644
index 240c9b04be..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
+++ /dev/null
@@ -1,303 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_H_
-#define HPIPM_D_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_dmat *DCt; // inequality constraints matrix
-	struct blasfeo_dmat **Hq; // hessians of quadratic constraints
-	struct blasfeo_dvec *b; // dynamics vector
-	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_strsize();
-//
-hpipm_size_t d_ocp_qcqp_memsize(struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp *qp, void *memory);
-//
-void d_ocp_qcqp_copy_all(struct d_ocp_qcqp *qp_orig, struct d_ocp_qcqp *qp_dest);
-
-// setters
-//
-void d_ocp_qcqp_set_all_zero(struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_rhs_zero(struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set(char *field_name, int stage, void *value, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_A(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_B(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_b(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Q(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_S(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_R(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_q(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_r(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lb(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lb_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ub(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ub_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxb(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxbx(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxbu(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_C(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_D(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lg(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lg_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ug(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ug_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Qq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Sq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Rq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_qq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_rq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_uq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_uq_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Zl(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Zu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_zl(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_zu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lls(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lls_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lus(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lus_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxs(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsg(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsq(int stage, double *vec, struct d_ocp_qcqp *qp);
-
-// getters
-//
-void d_ocp_qcqp_get(char *field, int stage, struct d_ocp_qcqp *qp, void *value);
-//
-void d_ocp_qcqp_get_A(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_B(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_b(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Q(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_S(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_R(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_q(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_r(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ub(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ub_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lb(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lb_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_idxb(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_idxbx(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jbx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-//void d_ocp_qcqp_get_idxbu(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jbu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_C(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_D(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_lg(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lg_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ug(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ug_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Zl(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Zu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_zl(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_zu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lls(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lls_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lus(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lus_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void d_ocp_qcqp_get_idxs(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-void d_ocp_qcqp_get_idxs_rev(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jsbu(int stage, struct d_ocp_qcqp *qp, float *vec);
-//
-//void d_ocp_qcqp_get_Jsbx(int stage, struct d_ocp_qcqp *qp, float *vec);
-//
-//void d_ocp_qcqp_get_Jsg(int stage, struct d_ocp_qcqp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
deleted file mode 100644
index 268628a2b2..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_DIM_H_
-#define HPIPM_D_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_dim
-	{
-	struct d_ocp_qp_dim *qp_dim; // dim of qp approximation
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of (two-sided) state box constraints
-	int *nbu; // number of (two-sided) input box constraints
-	int *ng; // number of (two-sided) general constraints
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of (two-sided) soft state box constraints
-	int *nsbu; // number of (two-sided) soft input box constraints
-	int *nsg; // number of (two-sided) soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t d_ocp_qcqp_dim_memsize(int N);
-//
-void d_ocp_qcqp_dim_create(int N, struct d_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void d_ocp_qcqp_dim_copy_all(struct d_ocp_qcqp_dim *dim_orig, struct d_ocp_qcqp_dim *dim_dest);
-//
-void d_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_ng(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nq(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_ns(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_get(struct d_ocp_qcqp_dim *dim, char *field, int stage, int *value);
-//
-void d_ocp_qcqp_dim_get_N(struct d_ocp_qcqp_dim *dim, int *value);
-//
-void d_ocp_qcqp_dim_get_nx(struct d_ocp_qcqp_dim *dim, int stage, int *value);
-//
-void d_ocp_qcqp_dim_get_nu(struct d_ocp_qcqp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
deleted file mode 100644
index 99f2329dcc..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_IPM_H_
-#define HPIPM_D_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qcqp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qcqp_res.h>
-#include <hpipm_d_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_ipm_arg
-	{
-	struct d_ocp_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qcqp_ipm_ws
-	{
-	struct d_ocp_qp_ipm_ws *qp_ws;
-	struct d_ocp_qp *qp;
-	struct d_ocp_qp_sol *qp_sol;
-	struct d_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct d_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t d_ocp_qcqp_ipm_arg_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_ipm_arg_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void d_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void d_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void d_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void d_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void d_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void d_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-void d_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void d_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void d_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void d_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t d_ocp_qcqp_ipm_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_ipm_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void d_ocp_qcqp_ipm_get(char *field, struct d_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void d_ocp_qcqp_ipm_get_status(struct d_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void d_ocp_qcqp_ipm_get_iter(struct d_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void d_ocp_qcqp_ipm_get_max_res_stat(struct d_ocp_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_ocp_qcqp_ipm_get_max_res_eq(struct d_ocp_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_ocp_qcqp_ipm_get_max_res_ineq(struct d_ocp_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_ocp_qcqp_ipm_get_max_res_comp(struct d_ocp_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_ocp_qcqp_ipm_get_stat(struct d_ocp_qcqp_ipm_ws *ws, double **stat);
-//
-void d_ocp_qcqp_ipm_get_stat_m(struct d_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_ocp_qcqp_init_var(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
-//
-void d_ocp_qcqp_ipm_solve(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QCQP_IPM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
deleted file mode 100644
index 077f134677..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_RES_H_
-#define HPIPM_D_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qcqp_dim.h>
-#include <hpipm_d_ocp_qcqp.h>
-#include <hpipm_d_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_res
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem);
-//
-void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws);
-//
-void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res);
-//
-void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QCQP_RES_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
deleted file mode 100644
index 68adbfce2d..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_SOL_H_
-#define HPIPM_D_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_sol
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_sol_strsize();
-//
-hpipm_size_t d_ocp_qcqp_sol_memsize(struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_sol_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void d_ocp_qcqp_sol_copy_all(struct d_ocp_qcqp_sol *qp_sol_orig, struct d_ocp_qcqp_sol *qp_sol_dest);
-//
-void d_ocp_qcqp_sol_get(char *field, int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_u(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_x(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_sl(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_su(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_pi(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_lb(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_ub(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_lg(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_ug(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_set(char *field, int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_u(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_x(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_sl(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_su(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
deleted file mode 100644
index 00248f1dbe..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_UTILS_H_
-#define HPIPM_D_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_ocp_qcqp_dim_print(struct d_ocp_qcqp_dim *qcqp_dim);
-//
-void d_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim);
-//
-void d_ocp_qcqp_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_sol_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void d_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_res_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
deleted file mode 100644
index ca26cdba34..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
+++ /dev/null
@@ -1,306 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_H_
-#define HPIPM_D_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_dmat *DCt; // inequality constraints matrix
-	struct blasfeo_dvec *b; // dynamics vector
-	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
-	int *diag_H_flag; // flag the fact that Hessian is diagonal
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_strsize();
-//
-hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory);
-//
-void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest);
-
-// setters
-//
-void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp);
-
-// getters
-//
-void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value);
-//
-void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec);
-//
-void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec);
-//
-//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec);
-//
-//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
deleted file mode 100644
index dcfb801d31..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
+++ /dev/null
@@ -1,142 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_DIM_H_
-#define HPIPM_D_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_dim
-	{
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of state box constraints
-	int *nbu; // number of input box constraints
-	int *ng; // number of general constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nbxe; // number of state box constraints which are equality
-	int *nbue; // number of input box constraints which are equality
-	int *nge; // number of general constraints which are equality
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_dim_strsize();
-//
-hpipm_size_t d_ocp_qp_dim_memsize(int N);
-//
-void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory);
-//
-void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest);
-//
-void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbxe(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbue(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nge(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value);
-//
-void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value);
-//
-void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_ng(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_ns(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsbx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsbu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsg(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbxe(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbue(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nge(struct d_ocp_qp_dim *dim, int stage, int *value);
-
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
deleted file mode 100644
index d2a2833f22..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
+++ /dev/null
@@ -1,250 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_IPM_H_
-#define HPIPM_D_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_res.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_ipm_arg
-	{
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different steps for primal and dual variables
-	int var_init_scheme; // variables initialization scheme
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qp_ipm_ws
-	{
-	double qp_res[4]; // infinity norm of residuals
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_ocp_qp_dim *dim; // cache dim
-	struct d_ocp_qp_res_ws *res_workspace;
-	struct d_ocp_qp_sol *sol_step;
-	struct d_ocp_qp_sol *sol_itref;
-	struct d_ocp_qp *qp_step;
-	struct d_ocp_qp *qp_itref;
-	struct d_ocp_qp_res *res_itref;
-	struct d_ocp_qp_res *res;
-	struct blasfeo_dvec *Gamma; // hessian update
-	struct blasfeo_dvec *gamma; // hessian update
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nxM
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *Pb; // Pb
-	struct blasfeo_dvec *Zs_inv;
-	struct blasfeo_dvec *tmp_m;
-	struct blasfeo_dvec *l; // cache linear part for _get_ric_xxx
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Ls;
-	struct blasfeo_dmat *P;
-	struct blasfeo_dmat *Lh;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dmat *tmp_nxM_nxM;
-	double *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int square_root_alg; // cache from arg
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int valid_ric_vec; // meaningful riccati vectors
-	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_ipm_arg_strsize();
-//
-hpipm_size_t d_ocp_qp_ipm_arg_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_ipm_arg_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, void *mem);
-//
-void d_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_arg_set(char *field, void *value, struct d_ocp_qp_ipm_arg *arg);
-// set maximum number of iterations
-void d_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_ocp_qp_ipm_arg *arg);
-// set minimum step lenght
-void d_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_ocp_qp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
-// set regularization of primal variables
-void d_ocp_qp_ipm_arg_set_reg_prim(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_ocp_qp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_ocp_qp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void d_ocp_qp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qp_ipm_arg *arg);
-// dual solution of equality constraints (only for abs_form==1)
-void d_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_ocp_qp_ipm_arg *arg);
-// compute residuals after solution
-void d_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qp_ipm_arg *arg);
-// compute residuals of prediction
-void d_ocp_qp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of lam in the solution
-void d_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of t in the solution
-void d_ocp_qp_ipm_arg_set_t_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of tau in the solution
-void d_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// set split step: 0 same step, 1 different step for primal and dual variables
-void d_ocp_qp_ipm_arg_set_split_step(int *value, struct d_ocp_qp_ipm_arg *arg);
-// variables initialization scheme
-void d_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct d_ocp_qp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_ocp_qp_ipm_ws_strsize();
-//
-hpipm_size_t d_ocp_qp_ipm_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, void *mem);
-//
-void d_ocp_qp_ipm_get(char *field, struct d_ocp_qp_ipm_ws *ws, void *value);
-//
-void d_ocp_qp_ipm_get_status(struct d_ocp_qp_ipm_ws *ws, int *status);
-//
-void d_ocp_qp_ipm_get_iter(struct d_ocp_qp_ipm_ws *ws, int *iter);
-//
-void d_ocp_qp_ipm_get_max_res_stat(struct d_ocp_qp_ipm_ws *ws, double *res_stat);
-//
-void d_ocp_qp_ipm_get_max_res_eq(struct d_ocp_qp_ipm_ws *ws, double *res_eq);
-//
-void d_ocp_qp_ipm_get_max_res_ineq(struct d_ocp_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_ocp_qp_ipm_get_max_res_comp(struct d_ocp_qp_ipm_ws *ws, double *res_comp);
-//
-void d_ocp_qp_ipm_get_stat(struct d_ocp_qp_ipm_ws *ws, double **stat);
-//
-void d_ocp_qp_ipm_get_stat_m(struct d_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void d_ocp_qp_ipm_get_ric_Lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Lr);
-//
-void d_ocp_qp_ipm_get_ric_Ls(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Ls);
-//
-void d_ocp_qp_ipm_get_ric_P(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *P);
-//
-void d_ocp_qp_ipm_get_ric_lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *lr);
-//
-void d_ocp_qp_ipm_get_ric_p(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *p);
-// feedback control gain in the form u = K x + k
-void d_ocp_qp_ipm_get_ric_K(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *K);
-// feedback control gain in the form u = K x + k
-void d_ocp_qp_ipm_get_ric_k(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *k);
-//
-void d_ocp_qp_init_var(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_abs_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_delta_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_solve(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_predict(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_sens(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
deleted file mode 100644
index 19dcec32ca..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_KKT_H_
-#define HPIPM_D_OCP_QP_KKT_H_
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//
-void d_ocp_qp_fact_solve_kkt_unconstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_fact_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_fact_lq_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
deleted file mode 100644
index f0482b0444..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_RED_H_
-#define HPIPM_D_OCP_QP_RED_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_reduce_eq_dof_arg
-	{
-	double lam_min;
-	double t_min;
-	int alias_unchanged; // do not keep copy unchanged stage
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-struct d_ocp_qp_reduce_eq_dof_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM;
-	struct blasfeo_dvec *tmp_nbgM;
-	int *e_imask_ux;
-	int *e_imask_d;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-void d_ocp_qp_dim_reduce_eq_dof(struct d_ocp_qp_dim *dim, struct d_ocp_qp_dim *dim_red);
-//
-hpipm_size_t d_ocp_qp_reduce_eq_dof_arg_memsize();
-//
-void d_ocp_qp_reduce_eq_dof_arg_create(struct d_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_default(struct d_ocp_qp_reduce_eq_dof_arg *arg);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-hpipm_size_t d_ocp_qp_reduce_eq_dof_ws_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_reduce_eq_dof_ws_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_reduce_eq_dof_ws *work, void *mem);
-//
-void d_ocp_qp_reduce_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_reduce_eq_dof_lhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_reduce_eq_dof_rhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_restore_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol_red, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_RED_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
deleted file mode 100644
index 061c5729cd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_RES_H_
-#define HPIPM_D_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_res
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem);
-//
-void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
-//
-void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
-//
-void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res);
-//
-void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
-//
-void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_RES_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
deleted file mode 100644
index eb91f3a7b1..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_SOL_H_
-#define HPIPM_D_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_sol
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_sol_strsize();
-//
-hpipm_size_t d_ocp_qp_sol_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_sol_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_sol *qp_sol, void *memory);
-//
-void d_ocp_qp_sol_copy_all(struct d_ocp_qp_sol *qp_sol_orig, struct d_ocp_qp_sol *qp_sol_dest);
-//
-void d_ocp_qp_sol_get_all(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_ocp_qp_sol_get_all_rowmaj(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_ocp_qp_sol_set_all(double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_get(char *field, int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lbu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lbx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ubu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ubx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lg(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ug(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_set(char *field, int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_su(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
deleted file mode 100644
index 217e9d94ae..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_UTILS_H_
-#define HPIPM_D_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qp_sol.h"
-#include "hpipm_d_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_ocp_qp_dim_print(struct d_ocp_qp_dim *qp_dim);
-//
-void d_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim);
-//
-void d_ocp_qp_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_sol_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_sol *ocp_qp_sol);
-//
-void d_ocp_qp_ipm_arg_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_res_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_UTILS_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
deleted file mode 100644
index 1c5f785035..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_PART_COND_H_
-#define HPIPM_D_PART_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_common.h"
-#include "hpipm_d_cond.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_part_cond_qp_arg
-	{
-	struct d_cond_qp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_part_cond_qp_ws
-	{
-	struct d_cond_qp_ws *cond_workspace;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_part_cond_qp_arg_memsize(int N2);
-//
-void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem);
-//
-void d_part_cond_qp_arg_set_default(struct d_part_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void d_part_cond_qp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_prim_sol(int value, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_part_cond_qp_arg *cond_arg);
-
-//
-void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
-//
-void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim);
-//
-hpipm_size_t d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem);
-//
-void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-
-//
-void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
deleted file mode 100644
index 2d6624e5bb..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_PART_COND_QCQP_H_
-#define HPIPM_D_PART_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_cond_qcqp.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_part_cond_qcqp_arg
-	{
-	struct d_cond_qcqp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_part_cond_qcqp_ws
-	{
-	struct d_cond_qcqp_ws *cond_ws;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_part_cond_qcqp_arg_memsize(int N2);
-//
-void d_part_cond_qcqp_arg_create(int N2, struct d_part_cond_qcqp_arg *cond_arg, void *mem);
-//
-void d_part_cond_qcqp_arg_set_default(struct d_part_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void d_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qcqp_arg *cond_arg);
-
-//
-void d_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
-//
-void d_part_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim);
-//
-hpipm_size_t d_part_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg);
-//
-void d_part_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws, void *mem);
-//
-void d_part_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_ocp_qcqp_sol *part_dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
deleted file mode 100644
index 320b66bb28..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_SIM_ERK_H_
-#define HPIPM_D_SIM_ERK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_sim_erk_arg
-	{
-	struct d_sim_rk_data *rk_data; // integrator data
-	double h; // step size
-	int steps; // number of steps
-//	int for_sens; // compute adjoint sensitivities
-//	int adj_sens; // compute adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_sim_erk_ws
-	{
-	void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode
-	void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde
-	void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde
-	void *ode_args; // pointer to ode args
-	struct d_sim_erk_arg *erk_arg; // erk arg
-	double *K; // internal variables
-	double *x_for; // states and forward sensitivities
-	double *x_traj; // states at all steps
-	double *l; // adjoint sensitivities
-	double *p; // parameter
-	double *x_tmp; // temporary states and forward sensitivities
-	double *adj_in;
-	double *adj_tmp;
-	int nx; // number of states
-	int np; // number of parameters
-	int nf; // number of forward sensitivities
-	int na; // number of adjoint sensitivities
-	int nf_max; // max number of forward sensitivities
-	int na_max; // max number of adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_sim_erk_arg_memsize();
-//
-void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem);
-//
-void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg);
-
-//
-hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
-//
-void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory);
-//
-void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work);
-// number of directions for forward sensitivities
-void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work);
-// parameters (e.g. inputs)
-void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work);
-// state
-void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work);
-// forward sensitivities
-void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work);
-// ode funtion
-void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
-// forward vde function
-void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
-// ode_args, passed straight to the ode/vde_for/vde_adj functions
-void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work);
-// state
-void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x);
-// forward sensitivities
-void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs);
-//
-void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_ERK_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
deleted file mode 100644
index a50dcbb491..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_SIM_RK_H_
-#define HPIPM_D_SIM_RK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_sim_rk_data
-	{
-	double *A_rk; // A in butcher tableau
-	double *B_rk; // b in butcher tableau
-	double *C_rk; // c in butcher tableau
-	int expl; // erk vs irk
-	int ns; // number of stages
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_sim_rk_data_memsize(int ns);
-//
-void d_sim_rk_data_create(int ns, struct d_sim_rk_data *rk_data, void *memory);
-//
-void d_sim_rk_data_init_default(char *field, struct d_sim_rk_data *rk_data);
-//
-void d_sim_rk_data_set_all(int expl, double *A_rk, double *B_rk, double *C_rk, struct d_sim_rk_data *rk_data);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_RK_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
deleted file mode 100644
index f36b51a064..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
+++ /dev/null
@@ -1,213 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_H_
-#define HPIPM_D_TREE_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_common.h"
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dmat *BAbt; // Nn-1
-	struct blasfeo_dmat *RSQrq; // Nn
-	struct blasfeo_dmat *DCt; // Nn
-	struct blasfeo_dmat **Hq; // Nn
-	struct blasfeo_dvec *b; // Nn-1
-	struct blasfeo_dvec *rqz; // Nn
-	struct blasfeo_dvec *d; // Nn
-	struct blasfeo_dvec *d_mask; // Nn
-	struct blasfeo_dvec *m; // Nn
-	struct blasfeo_dvec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_memsize(struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp *qp, void *memory);
-//
-void d_tree_ocp_qcqp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_A(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_B(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_b(int edge, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Q(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_S(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_R(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_q(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_r(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lb(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ub(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxb(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_C(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_D(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ug(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Qq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Sq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Rq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_qq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_rq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_uq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_uq_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lls(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lus(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxs(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxge(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jbue(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jge(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qcqp *qp);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
deleted file mode 100644
index 257b82b252..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_DIM_H_
-#define HPIPM_D_TREE_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_dim
-	{
-	struct d_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_dim_memsize(int Nn);
-//
-void d_tree_ocp_qcqp_dim_create(int Nn, struct d_tree_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void d_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
deleted file mode 100644
index 4a0fed1067..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_IPM_H_
-#define HPIPM_D_TREE_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qcqp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qcqp_res.h>
-#include <hpipm_d_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_ipm_arg
-	{
-	struct d_tree_ocp_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-//	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qcqp_ipm_ws
-	{
-	struct d_tree_ocp_qp_ipm_ws *qp_ws;
-	struct d_tree_ocp_qp *qp;
-	struct d_tree_ocp_qp_sol *qp_sol;
-	struct d_tree_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct d_tree_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_arg_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_ipm_arg_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void d_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void d_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void d_tree_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_tree_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_tree_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_tree_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_tree_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_tree_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void d_tree_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-//void d_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void d_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-//void d_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void d_tree_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void d_tree_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void d_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_ipm_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void d_tree_ocp_qcqp_ipm_get(char *field, struct d_tree_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void d_tree_ocp_qcqp_ipm_get_status(struct d_tree_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void d_tree_ocp_qcqp_ipm_get_iter(struct d_tree_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_eq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat);
-//
-void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_tree_ocp_qcqp_init_var(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
-//
-void d_tree_ocp_qcqp_ipm_solve(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
deleted file mode 100644
index 69eebb1ba4..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_RES_H_
-#define HPIPM_D_TREE_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qcqp_dim.h>
-#include <hpipm_d_tree_ocp_qcqp.h>
-#include <hpipm_d_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_res
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_res_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_res_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_tree_ocp_qcqp_res_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_res_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res_ws *ws, void *mem);
-//
-void d_tree_ocp_qcqp_res_compute(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_res *res, struct d_tree_ocp_qcqp_res_ws *ws);
-//
-void d_tree_ocp_qcqp_res_compute_inf_norm(struct d_tree_ocp_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
deleted file mode 100644
index cde8de5c51..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_SOL_H_
-#define HPIPM_D_TREE_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_tree_ocp_qcqp_sol
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
deleted file mode 100644
index 5ef04fcf66..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
-#define HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-#include "hpipm_d_tree_ocp_qcqp.h"
-#include "hpipm_d_tree_ocp_qcqp_sol.h"
-#include "hpipm_d_tree_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim);
-//
-//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim);
-//
-void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
deleted file mode 100644
index 1666ad7c71..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_H_
-#define HPIPM_D_TREE_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dmat *BAbt; // Nn-1
-	struct blasfeo_dmat *RSQrq; // Nn
-	struct blasfeo_dmat *DCt; // Nn
-	struct blasfeo_dvec *b; // Nn-1
-	struct blasfeo_dvec *rqz; // Nn
-	struct blasfeo_dvec *d; // Nn
-	struct blasfeo_dvec *d_mask; // Nn
-	struct blasfeo_dvec *m; // Nn
-	struct blasfeo_dvec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-//	int **idxs; // index of soft constraints
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory);
-//
-void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
deleted file mode 100644
index 659b664594..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_DIM_H_
-#define HPIPM_D_TREE_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_dim
-	{
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_dim_strsize();
-//
-hpipm_size_t d_tree_ocp_qp_dim_memsize(int Nn);
-//
-void d_tree_ocp_qp_dim_create(int Nn, struct d_tree_ocp_qp_dim *qp_dim, void *memory);
-//
-void d_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_ng(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_ns(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nge(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
deleted file mode 100644
index fb634208ce..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_TREE_OCP_QP_IPM_H_
-#define HPIPM_D_TREE_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qp_res.h>
-#include <hpipm_d_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_ipm_arg
-	{
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qp_ipm_ws
-	{
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_tree_ocp_qp_res_ws *res_workspace;
-	struct d_tree_ocp_qp_sol *sol_step;
-	struct d_tree_ocp_qp_sol *sol_itref;
-	struct d_tree_ocp_qp *qp_step;
-	struct d_tree_ocp_qp *qp_itref;
-	struct d_tree_ocp_qp_res *res_itref;
-	struct d_tree_ocp_qp_res *res;
-	struct blasfeo_dvec *Gamma; // hessian update
-	struct blasfeo_dvec *gamma; // hessian update
-	struct blasfeo_dvec *tmp_nxM; // work space of size nxM
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbgM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *Pb; // Pb
-	struct blasfeo_dvec *Zs_inv;
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Lh;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dvec *tmp_m;
-	double *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	double qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_ipm_arg_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_ipm_arg_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, void *mem);
-//
-void d_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_reg_prim(double *reg, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_tree_ocp_qp_ipm_ws_memsize(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_ws_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws, void *mem);
-//
-void d_tree_ocp_qp_ipm_get_status(struct d_tree_ocp_qp_ipm_ws *ws, int *status);
-//
-void d_tree_ocp_qp_ipm_get_iter(struct d_tree_ocp_qp_ipm_ws *ws, int *iter);
-//
-void d_tree_ocp_qp_ipm_get_max_res_stat(struct d_tree_ocp_qp_ipm_ws *ws, double *res_stat);
-//
-void d_tree_ocp_qp_ipm_get_max_res_eq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_eq);
-//
-void d_tree_ocp_qp_ipm_get_max_res_ineq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_tree_ocp_qp_ipm_get_max_res_comp(struct d_tree_ocp_qp_ipm_ws *ws, double *res_comp);
-//
-void d_tree_ocp_qp_ipm_get_stat(struct d_tree_ocp_qp_ipm_ws *ws, double **stat);
-//
-void d_tree_ocp_qp_ipm_get_stat_m(struct d_tree_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void d_tree_ocp_qp_init_var(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_abs_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_delta_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_solve(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
deleted file mode 100644
index 4afd52fe4b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//
-void d_tree_ocp_qp_fact_solve_kkt_unconstr(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_fact_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_fact_lq_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
deleted file mode 100644
index fe499080ea..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_RES_H_
-#define HPIPM_D_TREE_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_res
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_res_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
-//
-void d_tree_ocp_qp_res_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t d_tree_ocp_qp_res_ws_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
-//
-void d_tree_ocp_qp_res_ws_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res_ws *ws, void *mem);
-//
-void d_tree_ocp_qp_res_get_all(struct d_tree_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
-//
-void d_tree_ocp_qp_res_compute(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
-//
-void d_tree_ocp_qp_res_compute_lin(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_sol *qp_step, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
-//
-void d_tree_ocp_qp_res_compute_inf_norm(struct d_tree_ocp_qp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
deleted file mode 100644
index 343d5e8ca6..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_SOL_H_
-#define HPIPM_D_TREE_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_tree_ocp_qp_sol
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_sol_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_sol_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_sol *qp_sol, void *memory);
-//
-void d_tree_ocp_qp_sol_get_all(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_tree_ocp_qp_sol_get(char *field, int node_edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_u(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_x(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_sl(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_su(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_pi(int edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_lb(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_ub(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_lg(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_ug(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
deleted file mode 100644
index b689fdc0fa..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
-#define HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-#include "hpipm_d_tree_ocp_qp.h"
-#include "hpipm_d_tree_ocp_qp_sol.h"
-#include "hpipm_d_tree_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_tree_ocp_qp_dim_print(struct d_tree_ocp_qp_dim *qp_dim);
-//
-//void d_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim);
-//
-void d_tree_ocp_qp_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_sol_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_sol *ocp_qp_sol);
-//
-void d_tree_ocp_qp_ipm_arg_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-//void d_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_res_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
deleted file mode 100644
index 8bc101003e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-
-#ifndef HPIPM_M_DENSE_QP_H_
-#define HPIPM_M_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_s_dense_qp.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void cvt_d2s_dense_qp(struct d_dense_qp *qpd, struct s_dense_qp *qps);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_M_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
deleted file mode 100644
index 4610321b97..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-
-#ifndef HPIPM_M_DENSE_QP_DIM_H_
-#define HPIPM_M_DENSE_QP_DIM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void cvt_d2s_dense_qp_dim(struct d_dense_qp_dim *qpd, struct s_dense_qp_dim *qps);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_M_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
deleted file mode 100644
index 95c3dad1aa..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void m_cvt_d_ocp_qp_to_s_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
deleted file mode 100644
index 1c44acee2e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-struct m_ipm_hard_ocp_qp_workspace
-	{
-	struct d_ipm_hard_core_qp_workspace *core_workspace;
-	struct blasfeo_dvec *dux;
-	struct blasfeo_dvec *dpi;
-	struct blasfeo_dvec *dt_lb;
-	struct blasfeo_dvec *dt_lg;
-	struct blasfeo_svec *sdux; // XXX
-	struct blasfeo_svec *sdpi; // XXX
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals XXX remove ???
-	struct blasfeo_dvec *res_d_lb; // d-residuals
-	struct blasfeo_dvec *res_d_ub; // d-residuals
-	struct blasfeo_dvec *res_d_lg; // d-residuals
-	struct blasfeo_dvec *res_d_ug; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	struct blasfeo_dvec *res_m_lb; // m-residuals
-	struct blasfeo_dvec *res_m_ub; // m-residuals
-	struct blasfeo_dvec *res_m_lg; // m-residuals
-	struct blasfeo_dvec *res_m_ug; // m-residuals
-	struct blasfeo_svec *sres_g; // q-residuals // XXX
-	struct blasfeo_svec *sres_b; // b-residuals // XXX
-	struct blasfeo_dvec *Qx_lb; // hessian update
-	struct blasfeo_dvec *Qx_lg; // hessian update
-	struct blasfeo_dvec *qx_lb; // gradient update
-	struct blasfeo_dvec *qx_lg; // gradient update
-	struct blasfeo_svec *sQx_lb; // hessian update // XXX
-	struct blasfeo_svec *sQx_lg; // hessian update // XXX
-	struct blasfeo_svec *sqx_lb; // gradient update // XXX
-	struct blasfeo_svec *sqx_lg; // gradient update // XXX
-	struct blasfeo_dvec *tmp_nbM; // work space of size nbM
-	struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX
-	struct blasfeo_dvec *tmp_ngM; // work space of size ngM
-	struct blasfeo_svec *Pb; // Pb // XXX
-	struct blasfeo_smat *L; // XXX
-	struct blasfeo_smat *AL; // XXX
-	struct blasfeo_svec *sSx; // scaling
-	struct blasfeo_svec *sSi; // scaling inverted
-	double *stat; // convergence statistics
-	double res_mu; // mu-residual
-	int iter; // iteration number
-	int compute_Pb;
-	int scale;
-	};
-
-
-
-struct m_ipm_hard_ocp_qp_arg
-	{
-	double alpha_min; // exit cond on step length
-	double mu_max; // exit cond on duality measure
-	double mu0; // initial value for duality measure
-	int iter_max; // exit cond in iter number
-	};
-
-
-
-//
-hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg);
-//
-void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem);
-//
-void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
-//
-void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
deleted file mode 100644
index 032fe95b1f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void m_fact_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
-void m_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
deleted file mode 100644
index ba01ecb3bd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_CAST_QCQP_H_
-#define HPIPM_S_CAST_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp.h"
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_cast_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
-//
-void s_cast_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_CAST_QCQP_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_cond.h
deleted file mode 100644
index 30116798b7..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_H_
-#define HPIPM_S_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp.h"
-#include "hpipm_s_dense_qp_sol.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qp_dim.h"
-#include "hpipm_s_ocp_qp_sol.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_cond_qp_arg
-	{
-	int cond_last_stage; // condense last stage
-	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_cond_qp_ws
-	{
-	struct blasfeo_smat *Gamma;
-	struct blasfeo_smat *GammaQ;
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Lx;
-	struct blasfeo_smat *AL;
-	struct blasfeo_svec *Gammab;
-	struct blasfeo_svec *l;
-	struct blasfeo_svec *tmp_nbgM;
-	struct blasfeo_svec *tmp_nuxM;
-	int bs; // block size
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_cond_qp_arg_memsize();
-//
-void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem);
-//
-void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg);
-// condensing algorithm: 0 N2-nx3, 1 N3-nx2
-void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg);
-
-//
-void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim);
-//
-hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem);
-//
-void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-// TODO remove
-void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-//
-void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
deleted file mode 100644
index 003472ab9f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_AUX_H_
-#define HPIPM_S_COND_AUX_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_cond_BAbt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_BAt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_b(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_RSQrq(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_RSQ(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_rq(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_DCtd(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, int *idxs_rev2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_DCt(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, int *idxs_rev2, struct blasfeo_svec *Z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_d(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-//
-void s_update_cond_BAbt(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_update_cond_RSQrq_N2nx3(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_update_cond_DCtd(int *idxc, struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, int *idxs2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
deleted file mode 100644
index c36678abd5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
+++ /dev/null
@@ -1,130 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_QCQP_H_
-#define HPIPM_S_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp.h"
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_cond_qcqp_arg
-	{
-	struct s_cond_qp_arg *qp_arg;
-	int cond_last_stage; // condense last stage
-//	int cond_variant; // TODO
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_cond_qcqp_ws
-	{
-	struct s_cond_qp_ws *qp_ws;
-	struct blasfeo_smat *hess_array; // TODO remove
-	struct blasfeo_smat *zero_hess; // TODO remove
-	struct blasfeo_svec *zero_grad; // TODO remove
-	struct blasfeo_svec *grad_array; // TODO remove
-	struct blasfeo_svec *tmp_nvc;
-	struct blasfeo_svec *tmp_nuxM;
-	struct blasfeo_smat *GammaQ;
-	struct blasfeo_smat *tmp_DCt;
-	struct blasfeo_smat *tmp_nuM_nxM;
-//	struct blasfeo_svec *d_qp;
-//	struct blasfeo_svec *d_mask_qp;
-	hpipm_size_t memsize;
-	};
-
-
-//
-hpipm_size_t s_cond_qcqp_arg_memsize();
-//
-void s_cond_qcqp_arg_create(struct s_cond_qcqp_arg *cond_arg, void *mem);
-//
-void s_cond_qcqp_arg_set_default(struct s_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void s_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_cond_qcqp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void s_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qcqp_arg *cond_arg);
-
-//
-void s_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
-//
-hpipm_size_t s_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg);
-//
-void s_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws, void *mem);
-//
-void s_cond_qcqp_qc(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_qc_lhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_qc_rhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp_sol *dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
deleted file mode 100644
index 480392c7d9..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_
-#define HPIPM_S_CORE_QP_IPM_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_core_qp_ipm_workspace
-	{
-	float *v; // primal variables
-	float *pi; // equality constraints multipliers
-	float *lam; // inequality constraints multipliers
-	float *t; // inequality constraints slacks
-	float *t_inv; // inverse of t
-	float *v_bkp; // backup of primal variables
-	float *pi_bkp; // backup of equality constraints multipliers
-	float *lam_bkp; // backup of inequality constraints multipliers
-	float *t_bkp; // backup of inequality constraints slacks
-	float *dv; // step in v
-	float *dpi; // step in pi
-	float *dlam; // step in lam
-	float *dt; // step in t
-	float *res_g; // q-residuals
-	float *res_b; // b-residuals
-	float *res_d; // d-residuals
-	float *res_m; // m-residuals
-	float *res_m_bkp; // m-residuals
-	float *Gamma; // Hessian update
-	float *gamma; // gradient update
-	float alpha_prim; // step length
-	float alpha_dual; // step length
-	float alpha; // step length
-	float sigma; // centering XXX
-	float mu; // duality measuere
-	float mu_aff; // affine duality measuere
-	float nc_inv; // 1.0/nc, where nc is the total number of constraints
-	float nc_mask_inv; // 1.0/nc_mask
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float t_min_inv; // inverse of min value in t vector
-	float tau_min; // min value of barrier parameter
-	int nv; // number of primal variables
-	int ne; // number of equality constraints
-	int nc; // (twice the) number of (two-sided) inequality constraints
-	int nc_mask; // total number of ineq constr after masking
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_memsize_core_qp_ipm(int nv, int ne, int nc);
-//
-void s_create_core_qp_ipm(int nv, int ne, int nc, struct s_core_qp_ipm_workspace *workspace, void *mem);
-//
-void s_core_qp_ipm(struct s_core_qp_ipm_workspace *workspace);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
deleted file mode 100644
index 1ac3d7ede9..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_AUX_
-#define HPIPM_S_CORE_QP_IPM_AUX_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_compute_Gamma_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_lam_t_qp(float *res_d, float *res_m, float *dlam, float *dt, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_alpha_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_update_var_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_mu_aff_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_backup_res_m(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_centering_correction_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_centering_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_tau_min_qp(struct s_core_qp_ipm_workspace *rws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
deleted file mode 100644
index d03c065375..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
+++ /dev/null
@@ -1,200 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_H_
-#define HPIPM_S_DENSE_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_smat *Hv; // hessian of cost & vector work space
-	struct blasfeo_smat *A; // equality constraint matrix
-	struct blasfeo_smat *Ct; // inequality constraints matrix
-	struct blasfeo_smat *Hq; // hessians of quadratic constraints
-	struct blasfeo_svec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *b; // equality constraint vector
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory);
-
-//
-void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp);
-
-// getters (COLMAJ)
-
-void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H);
-//
-void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g);
-//
-void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A);
-//
-void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b);
-//
-void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb);
-//
-void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb);
-//
-void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb);
-//
-void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub);
-//
-void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub);
-//
-void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C);
-//
-void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg);
-//
-void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg);
-//
-void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug);
-//
-void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug);
-//
-void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs);
-//
-void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev);
-//
-void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl);
-//
-void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu);
-//
-void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl);
-//
-void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu);
-//
-void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls);
-//
-void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls);
-//
-void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us);
-//
-void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
deleted file mode 100644
index 04908c2c3a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_DIM_H_
-#define HPIPM_S_DENSE_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_dim
-	{
-	struct s_dense_qp_dim *qp_dim; // dim of qp approximation
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nq;  // number of quadratic constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int nsq; // number of softened quadratic constraints
-	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_dim_memsize();
-//
-void s_dense_qcqp_dim_create(struct s_dense_qcqp_dim *dim, void *memory);
-//
-void s_dense_qcqp_dim_set(char *fiels_name, int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nv(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ne(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nb(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ng(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nq(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsb(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsg(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsq(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ns(int value, struct s_dense_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
deleted file mode 100644
index 8f85768ee3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
+++ /dev/null
@@ -1,204 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_IPM_H_
-#define HPIPM_S_DENSE_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_dense_qcqp_dim.h>
-#include <hpipm_s_dense_qcqp.h>
-#include <hpipm_s_dense_qcqp_res.h>
-#include <hpipm_s_dense_qcqp_sol.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_ipm_arg
-	{
-	struct s_dense_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float reg_dual; // reg of dual hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qcqp_ipm_ws
-	{
-//	float qp_res[4]; // infinity norm of residuals
-	struct s_dense_qp_ipm_ws *qp_ws;
-	struct s_dense_qp *qp;
-	struct s_dense_qp_sol *qp_sol;
-	struct s_dense_qcqp_res_ws *qcqp_res_ws;
-	struct s_dense_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nv;
-//	float *stat; // convergence statistics
-//	void *lq_work0;
-//	void *lq_work1;
-	int iter; // iteration number
-//	int stat_max; // iterations saved in stat
-//	int stat_m; // numer of recorded stat per ipm iter
-//	int scale;
-//	int use_hess_fact;
-	int status;
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_ipm_arg_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_ipm_arg_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_ipm_arg *arg, void *mem);
-//
-void s_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set(char *field, void *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_mu0(float *mu0, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_lam_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_t_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_split_step(int *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_dense_qcqp_ipm_ws_memsize(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_ws_create(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws, void *mem);
-//
-void s_dense_qcqp_ipm_get(char *field, struct s_dense_qcqp_ipm_ws *ws, void *value);
-//
-void s_dense_qcqp_ipm_get_status(struct s_dense_qcqp_ipm_ws *ws, int *status);
-//
-void s_dense_qcqp_ipm_get_iter(struct s_dense_qcqp_ipm_ws *ws, int *iter);
-//
-void s_dense_qcqp_ipm_get_max_res_stat(struct s_dense_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_dense_qcqp_ipm_get_max_res_eq(struct s_dense_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_dense_qcqp_ipm_get_max_res_ineq(struct s_dense_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_dense_qcqp_ipm_get_max_res_comp(struct s_dense_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_dense_qcqp_ipm_get_stat(struct s_dense_qcqp_ipm_ws *ws, float **stat);
-//
-void s_dense_qcqp_ipm_get_stat_m(struct s_dense_qcqp_ipm_ws *ws, int *stat_m);
-#if 0
-//
-void s_dense_qcqp_init_var(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#endif
-//
-void s_dense_qcqp_ipm_solve(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#if 0
-//
-void s_dense_qcqp_ipm_predict(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-//
-void s_dense_qcqp_ipm_sens(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#endif
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
deleted file mode 100644
index 779658cc8f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_RES_H_
-#define HPIPM_S_DENSE_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_dense_qcqp_dim.h>
-#include <hpipm_s_dense_qcqp.h>
-#include <hpipm_s_dense_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_res
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // infinity norm of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nv; // work space of size nv
-	struct blasfeo_svec *tmp_nbgq; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_ns; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_res_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_res_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_dense_qcqp_res_ws_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_res_ws_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res_ws *workspace, void *mem);
-//
-void s_dense_qcqp_res_compute(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_res *res, struct s_dense_qcqp_res_ws *ws);
-//
-void s_dense_qcqp_res_compute_inf_norm(struct s_dense_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_DENSE_QCQP_RES_H_
-
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
deleted file mode 100644
index 197a690e52..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_SOL_H_
-#define HPIPM_S_DENSE_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_sol
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_svec *v;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_sol_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_sol_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_sol *qp_sol, void *memory);
-//
-void s_dense_qcqp_sol_get_v(struct s_dense_qcqp_sol *qp_sol, float *v);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_SOL_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
deleted file mode 100644
index 4f5aae26eb..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_UTILS_H_
-#define HPIPM_S_DENSE_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-//#include "hpipm_s_dense_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_dense_qcqp_dim_print(struct s_dense_qcqp_dim *qp_dim);
-//
-//void s_dense_qcqp_dim_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim);
-//
-void s_dense_qcqp_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
-//
-//void s_dense_qcqp_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_sol_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_sol *dense_qcqp_sol);
-//
-//void s_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_res_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_res *dense_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_UTILS_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
deleted file mode 100644
index 3c2517fe1b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_H_
-#define HPIPM_S_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_smat *Hv; // hessian & gradient
-	struct blasfeo_smat *A; // dynamics matrix
-	struct blasfeo_smat *Ct; // constraints matrix
-	struct blasfeo_svec *gz; // gradient & gradient of slacks
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *d; // constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory);
-
-// setters - colmaj
-//
-void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
-//
-void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
-//
-void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_H(float *H, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_g(float *g, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_A(float *A, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_b(float *b, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_C(float *C, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_us(float *us, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp);
-
-// getters - colmaj
-//
-void s_dense_qp_get_H(struct s_dense_qp *qp, float *H);
-//
-void s_dense_qp_get_g(struct s_dense_qp *qp, float *g);
-//
-void s_dense_qp_get_A(struct s_dense_qp *qp, float *A);
-//
-void s_dense_qp_get_b(struct s_dense_qp *qp, float *b);
-//
-void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb);
-//
-void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb);
-//
-void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb);
-//
-void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub);
-//
-void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub);
-//
-void s_dense_qp_get_C(struct s_dense_qp *qp, float *C);
-//
-void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg);
-//
-void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg);
-//
-void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug);
-//
-void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug);
-//
-void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs);
-//
-void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev);
-//
-void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl);
-//
-void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu);
-//
-void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl);
-//
-void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu);
-//
-void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls);
-//
-void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls);
-//
-void s_dense_qp_get_us(struct s_dense_qp *qp, float *us);
-//
-void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us);
-
-// setters - rowmaj
-//
-void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
-
-// getters - rowmaj
-//
-void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
deleted file mode 100644
index b979d24432..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_DIM_H_
-#define HPIPM_S_DENSE_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_dim
-	{
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int ns;  // number of softened constraints (nsb+nsg)
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_dim_memsize();
-//
-void s_dense_qp_dim_create(struct s_dense_qp_dim *qp_dim, void *memory);
-//
-void s_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set(char *fiels_name, int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nv(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ne(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nb(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ng(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nsb(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nsg(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ns(int value, struct s_dense_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
deleted file mode 100644
index f2d56d4529..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_IPM_H_
-#define HPIPM_S_DENSE_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_dense_qp_dim.h>
-#include <hpipm_s_dense_qp.h>
-#include <hpipm_s_dense_qp_res.h>
-#include <hpipm_s_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_ipm_arg
-	{
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float reg_dual; // reg of dual hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int kkt_fact_alg; // 0 null-space, 1 schur-complement
-	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
-	int compute_obj; // compute obj on exit
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_dense_qp_res_ws *res_ws;
-	struct s_dense_qp_sol *sol_step;
-	struct s_dense_qp_sol *sol_itref;
-	struct s_dense_qp *qp_step;
-	struct s_dense_qp *qp_itref;
-	struct s_dense_qp_res *res;
-	struct s_dense_qp_res *res_itref;
-	struct s_dense_qp_res *res_step;
-	struct blasfeo_svec *Gamma; //
-	struct blasfeo_svec *gamma; //
-	struct blasfeo_svec *Zs_inv; //
-	struct blasfeo_smat *Lv; //
-	struct blasfeo_smat *AL; //
-	struct blasfeo_smat *Le; //
-	struct blasfeo_smat *Ctx; //
-	struct blasfeo_svec *lv; //
-	struct blasfeo_svec *sv; // scale for Lv
-	struct blasfeo_svec *se; // scale for Le
-	struct blasfeo_svec *tmp_nbg; // work space of size nb+ng
-	struct blasfeo_svec *tmp_ns; // work space of size ns
-	struct blasfeo_smat *lq0;
-	struct blasfeo_smat *lq1;
-	struct blasfeo_svec *tmp_m;
-	struct blasfeo_smat *A_LQ;
-	struct blasfeo_smat *A_Q;
-	struct blasfeo_smat *Zt;
-	struct blasfeo_smat *ZtH;
-	struct blasfeo_smat *ZtHZ;
-	struct blasfeo_svec *xy;
-	struct blasfeo_svec *Yxy;
-	struct blasfeo_svec *xz;
-	struct blasfeo_svec *tmp_nv;
-	struct blasfeo_svec *tmp_2ns;
-	struct blasfeo_svec *tmp_nv2ns;
-	struct blasfeo_smat *A_li; // A of linearly independent equality constraints
-	struct blasfeo_svec *b_li; // b of linearly independent equality constraints
-	struct blasfeo_smat *A_bkp; // pointer to backup A
-	struct blasfeo_svec *b_bkp; // pointer to backup b
-	struct blasfeo_smat *Ab_LU;
-	float *stat; // convergence statistics
-	int *ipiv_v;
-	int *ipiv_e;
-	int *ipiv_e1;
-	void *lq_work0;
-	void *lq_work1;
-	void *lq_work_null;
-	void *orglq_work_null;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // numer of recorded stat per ipm iter
-	int scale;
-	int use_hess_fact;
-	int use_A_fact;
-	int status;
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int ne_li; // number of linearly independent equality constraints
-	int ne_bkp; // ne backup
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_ipm_arg_memsize(struct s_dense_qp_dim *qp_dim);
-//
-void s_dense_qp_ipm_arg_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, void *mem);
-//
-void s_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set(char *field, void *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_mu0(float *mu0, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_lam_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_t_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tau_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_compute_obj(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_split_step(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_dense_qp_ipm_ws_memsize(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_ws_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws, void *mem);
-//
-void s_dense_qp_ipm_get(char *field, struct s_dense_qp_ipm_ws *ws, void *value);
-//
-void s_dense_qp_ipm_get_status(struct s_dense_qp_ipm_ws *ws, int *status);
-//
-void s_dense_qp_ipm_get_iter(struct s_dense_qp_ipm_ws *ws, int *iter);
-//
-void s_dense_qp_ipm_get_max_res_stat(struct s_dense_qp_ipm_ws *ws, float *res_stat);
-//
-void s_dense_qp_ipm_get_max_res_eq(struct s_dense_qp_ipm_ws *ws, float *res_eq);
-//
-void s_dense_qp_ipm_get_max_res_ineq(struct s_dense_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_dense_qp_ipm_get_max_res_comp(struct s_dense_qp_ipm_ws *ws, float *res_comp);
-//
-void s_dense_qp_ipm_get_stat(struct s_dense_qp_ipm_ws *ws, float **stat);
-//
-void s_dense_qp_ipm_get_stat_m(struct s_dense_qp_ipm_ws *ws, int *stat_m);
-//
-void s_dense_qp_init_var(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_abs_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_delta_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_solve(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_predict(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_sens(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_compute_step_length(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
deleted file mode 100644
index 260dc0ab21..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_KKT_H_
-#define HPIPM_S_DENSE_QP_KKT_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_remove_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_restore_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_compute_obj(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
deleted file mode 100644
index 06b609c537..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_RES_H_
-#define HPIPM_S_DENSE_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_dense_qp_dim.h>
-#include <hpipm_s_dense_qp.h>
-#include <hpipm_s_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_res
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_ns; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem);
-//
-hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem);
-//
-void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
-//
-void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
-//
-void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res);
-//
-void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
deleted file mode 100644
index 1f40076378..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_SOL_H_
-#define HPIPM_S_DENSE_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_sol
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_svec *v;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	float obj;
-	int valid_obj;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_sol_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_sol_create(struct s_dense_qp_dim *dim, struct s_dense_qp_sol *qp_sol, void *memory);
-//
-void s_dense_qp_sol_get_all(struct s_dense_qp_sol *qp_sol, float *v, float *ls, float *us, float *pi, float *lam_lb, float *lam_ub, float *lam_lg, float *lam_ug, float *lam_ls, float *lam_us);
-//
-void s_dense_qp_sol_get(char *field, struct s_dense_qp_sol *sol, void *value);
-//
-void s_dense_qp_sol_get_v(struct s_dense_qp_sol *sol, float *v);
-//
-void s_dense_qp_sol_get_valid_obj(struct s_dense_qp_sol *sol, int *valid_obj);
-//
-void s_dense_qp_sol_get_obj(struct s_dense_qp_sol *sol, float *obj);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
deleted file mode 100644
index 3dd93259a5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_UTILS_H_
-#define HPIPM_S_DENSE_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-#include "hpipm_s_dense_qp.h"
-#include "hpipm_s_dense_qp_sol.h"
-#include "hpipm_s_dense_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_dense_qp_dim_print(struct s_dense_qp_dim *qp_dim);
-//
-//void s_dense_qp_dim_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim);
-//
-void s_dense_qp_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
-//
-//void s_dense_qp_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
-//
-void s_dense_qp_sol_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_sol *dense_qp_sol);
-//
-//void s_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_res_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_res *dense_qp_res);
-//
-void s_dense_qp_arg_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *qp_ipm_arg);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
deleted file mode 100644
index b90b2ac633..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
+++ /dev/null
@@ -1,303 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_H_
-#define HPIPM_S_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_smat *DCt; // inequality constraints matrix
-	struct blasfeo_smat **Hq; // hessians of quadratic constraints
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_strsize();
-//
-hpipm_size_t s_ocp_qcqp_memsize(struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp *qp, void *memory);
-//
-void s_ocp_qcqp_copy_all(struct s_ocp_qcqp *qp_orig, struct s_ocp_qcqp *qp_dest);
-
-// setters
-//
-void s_ocp_qcqp_set_all_zero(struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_rhs_zero(struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set(char *fiels_name, int stage, void *value, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_A(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_B(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_b(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Q(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_S(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_R(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_q(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_r(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lb(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lb_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ub(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ub_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxb(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxbx(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxbu(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_C(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_D(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lg(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lg_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ug(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ug_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Qq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Sq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Rq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_qq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_rq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_uq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_uq_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Zl(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Zu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_zl(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_zu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lls(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lls_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lus(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lus_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxs(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsg(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsq(int stage, float *vec, struct s_ocp_qcqp *qp);
-
-// getters
-//
-void s_ocp_qcqp_get(char *field, int stage, struct s_ocp_qcqp *qp, void *value);
-//
-void s_ocp_qcqp_get_A(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_B(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_b(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Q(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_S(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_R(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_q(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_r(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ub(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ub_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lb(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lb_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_idxb(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_idxbx(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_idxbu(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_C(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_D(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_lg(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lg_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ug(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ug_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Zl(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Zu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_zl(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_zu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lls(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lls_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lus(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lus_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void s_ocp_qcqp_get_idxs(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-void s_ocp_qcqp_get_idxs_rev(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jsbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_Jsbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_Jsg(int stage, struct s_ocp_qcqp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
deleted file mode 100644
index c09903f074..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_DIM_H_
-#define HPIPM_S_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_dim
-	{
-	struct s_ocp_qp_dim *qp_dim; // dim of qp approximation
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of (two-sided) state box constraints
-	int *nbu; // number of (two-sided) input box constraints
-	int *ng; // number of (two-sided) general constraints
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of (two-sided) soft state box constraints
-	int *nsbu; // number of (two-sided) soft input box constraints
-	int *nsg; // number of (two-sided) soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t s_ocp_qcqp_dim_memsize(int N);
-//
-void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest);
-//
-void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value);
-//
-void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value);
-//
-void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value);
-//
-void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
deleted file mode 100644
index c14fc1c9fd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_IPM_H_
-#define HPIPM_S_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qcqp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qcqp_res.h>
-#include <hpipm_s_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_ipm_arg
-	{
-	struct s_ocp_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qcqp_ipm_ws
-	{
-	struct s_ocp_qp_ipm_ws *qp_ws;
-	struct s_ocp_qp *qp;
-	struct s_ocp_qp_sol *qp_sol;
-	struct s_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct s_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t s_ocp_qcqp_ipm_arg_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_ipm_arg_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void s_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void s_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void s_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void s_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void s_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void s_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-void s_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void s_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void s_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void s_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t s_ocp_qcqp_ipm_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_ipm_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void s_ocp_qcqp_ipm_get(char *field, struct s_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void s_ocp_qcqp_ipm_get_status(struct s_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void s_ocp_qcqp_ipm_get_iter(struct s_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void s_ocp_qcqp_ipm_get_max_res_stat(struct s_ocp_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_ocp_qcqp_ipm_get_max_res_eq(struct s_ocp_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_ocp_qcqp_ipm_get_max_res_ineq(struct s_ocp_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_ocp_qcqp_ipm_get_max_res_comp(struct s_ocp_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_ocp_qcqp_ipm_get_stat(struct s_ocp_qcqp_ipm_ws *ws, float **stat);
-//
-void s_ocp_qcqp_ipm_get_stat_m(struct s_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void s_ocp_qcqp_init_var(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
-//
-void s_ocp_qcqp_ipm_solve(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
deleted file mode 100644
index 1ceeec93b7..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_RES_H_
-#define HPIPM_S_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qcqp_dim.h>
-#include <hpipm_s_ocp_qcqp.h>
-#include <hpipm_s_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_res
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_res_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_res_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_ocp_qcqp_res_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_res_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res_ws *workspace, void *mem);
-//
-void s_ocp_qcqp_res_compute(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_res *res, struct s_ocp_qcqp_res_ws *ws);
-//
-void s_ocp_qcqp_res_compute_inf_norm(struct s_ocp_qcqp_res *res);
-//
-void s_ocp_qcqp_res_get_max_res_stat(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_eq(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_ineq(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_comp(struct s_ocp_qcqp_res *res, float *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QCQP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
deleted file mode 100644
index 3d58022cc9..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_SOL_H_
-#define HPIPM_S_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_sol
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_sol_strsize();
-//
-hpipm_size_t s_ocp_qcqp_sol_memsize(struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_sol_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void s_ocp_qcqp_sol_copy_all(struct s_ocp_qcqp_sol *qp_sol_orig, struct s_ocp_qcqp_sol *qp_sol_dest);
-//
-void s_ocp_qcqp_sol_get(char *field, int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_u(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_x(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_sl(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_su(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_pi(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_lb(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_ub(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_lg(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_ug(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_set(char *field, int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_u(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_x(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_sl(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_su(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_SOL_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
deleted file mode 100644
index d64e3aabe7..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_UTILS_H_
-#define HPIPM_S_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_ocp_qcqp_dim_print(struct s_ocp_qcqp_dim *qcqp_dim);
-//
-void s_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim);
-//
-void s_ocp_qcqp_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_sol_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void s_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_res_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
deleted file mode 100644
index b49191f192..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
+++ /dev/null
@@ -1,306 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_H_
-#define HPIPM_S_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_smat *DCt; // inequality constraints matrix
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
-	int *diag_H_flag; // flag the fact that Hessian is diagonal
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_strsize();
-//
-hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory);
-//
-void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest);
-
-// setters
-//
-void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp);
-
-// getters
-//
-void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value);
-//
-void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec);
-//
-void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
deleted file mode 100644
index bce80243b3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_DIM_H_
-#define HPIPM_S_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_dim
-	{
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of state box constraints
-	int *nbu; // number of input box constraints
-	int *ng; // number of general constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nbxe; // number of state box constraints which are equality
-	int *nbue; // number of input box constraints which are equality
-	int *nge; // number of general constraints which are equality
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_dim_strsize();
-//
-hpipm_size_t s_ocp_qp_dim_memsize(int N);
-//
-void s_ocp_qp_dim_create(int N, struct s_ocp_qp_dim *qp_dim, void *memory);
-//
-void s_ocp_qp_dim_copy_all(struct s_ocp_qp_dim *dim_orig, struct s_ocp_qp_dim *dim_dest);
-//
-void s_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set(char *field, int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_ng(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_ns(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsbx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsbu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsg(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbxe(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbue(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nge(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_get(struct s_ocp_qp_dim *dim, char *field, int stage, int *value);
-//
-void s_ocp_qp_dim_get_N(struct s_ocp_qp_dim *dim, int *value);
-//
-void s_ocp_qp_dim_get_nx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_ng(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_ns(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsbx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsbu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsg(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbxe(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbue(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nge(struct s_ocp_qp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
deleted file mode 100644
index 11f3c47be6..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
+++ /dev/null
@@ -1,250 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_IPM_H_
-#define HPIPM_S_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_res.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_ipm_arg
-	{
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different steps for primal and dual variables
-	int var_init_scheme; // variables initialization scheme
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_ocp_qp_res_ws *res_workspace;
-	struct s_ocp_qp_dim *dim; // cache dim
-	struct s_ocp_qp_sol *sol_step;
-	struct s_ocp_qp_sol *sol_itref;
-	struct s_ocp_qp *qp_step;
-	struct s_ocp_qp *qp_itref;
-	struct s_ocp_qp_res *res;
-	struct s_ocp_qp_res *res_itref;
-	struct blasfeo_svec *Gamma; // hessian update
-	struct blasfeo_svec *gamma; // hessian update
-	struct blasfeo_svec *tmp_nuxM; // work space of size nxM
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *Pb; // Pb
-	struct blasfeo_svec *Zs_inv;
-	struct blasfeo_svec *tmp_m;
-	struct blasfeo_svec *l; // cache linear part for _get_ric_xxx
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Ls;
-	struct blasfeo_smat *P;
-	struct blasfeo_smat *Lh;
-	struct blasfeo_smat *AL;
-	struct blasfeo_smat *lq0;
-	struct blasfeo_smat *tmp_nxM_nxM;
-	float *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	float qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int square_root_alg; // cache from arg
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int valid_ric_vec; // meaningful riccati vectors
-	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_ipm_arg_strsize();
-//
-hpipm_size_t s_ocp_qp_ipm_arg_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_ipm_arg_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, void *mem);
-//
-void s_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_arg_set(char *field, void *value, struct s_ocp_qp_ipm_arg *arg);
-// set maximum number of iterations
-void s_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_ocp_qp_ipm_arg *arg);
-// set minimum step lenght
-void s_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_ocp_qp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
-// set regularization of primal variables
-void s_ocp_qp_ipm_arg_set_reg_prim(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_ocp_qp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_ocp_qp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void s_ocp_qp_ipm_arg_set_ric_alg(int *alg, struct s_ocp_qp_ipm_arg *arg);
-// dual solution of equality constraints (only for abs_form==1)
-void s_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_ocp_qp_ipm_arg *arg);
-// compute residuals after solution
-void s_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qp_ipm_arg *arg);
-// compute residuals of prediction
-void s_ocp_qp_ipm_arg_set_comp_res_pred(int *alg, struct s_ocp_qp_ipm_arg *arg);
-// min value of lam in the solution
-void s_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// min value of t in the solution
-void s_ocp_qp_ipm_arg_set_t_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// min value of tau in the solution
-void s_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// set split step: 0 same step, 1 different step for primal and dual variables
-void s_ocp_qp_ipm_arg_set_split_step(int *value, struct s_ocp_qp_ipm_arg *arg);
-// variables initialization scheme
-void s_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct s_ocp_qp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_ocp_qp_ipm_ws_strsize();
-//
-hpipm_size_t s_ocp_qp_ipm_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, void *mem);
-//
-void s_ocp_qp_ipm_get(char *field, struct s_ocp_qp_ipm_ws *ws, void *value);
-//
-void s_ocp_qp_ipm_get_status(struct s_ocp_qp_ipm_ws *ws, int *status);
-//
-void s_ocp_qp_ipm_get_iter(struct s_ocp_qp_ipm_ws *ws, int *iter);
-//
-void s_ocp_qp_ipm_get_max_res_stat(struct s_ocp_qp_ipm_ws *ws, float *res_stat);
-//
-void s_ocp_qp_ipm_get_max_res_eq(struct s_ocp_qp_ipm_ws *ws, float *res_eq);
-//
-void s_ocp_qp_ipm_get_max_res_ineq(struct s_ocp_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_ocp_qp_ipm_get_max_res_comp(struct s_ocp_qp_ipm_ws *ws, float *res_comp);
-//
-void s_ocp_qp_ipm_get_stat(struct s_ocp_qp_ipm_ws *ws, float **stat);
-//
-void s_ocp_qp_ipm_get_stat_m(struct s_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void s_ocp_qp_ipm_get_ric_Lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Lr);
-//
-void s_ocp_qp_ipm_get_ric_Ls(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Ls);
-//
-void s_ocp_qp_ipm_get_ric_P(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *P);
-//
-void s_ocp_qp_ipm_get_ric_lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *lr);
-//
-void s_ocp_qp_ipm_get_ric_p(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *p);
-// feedback control gain in the form u = K x + k
-void s_ocp_qp_ipm_get_ric_K(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *K);
-// feedback control gain in the form u = K x + k
-void s_ocp_qp_ipm_get_ric_k(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *k);
-//
-void s_ocp_qp_init_var(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_abs_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_delta_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_solve(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_predict(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_sens(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
deleted file mode 100644
index 3eb1f4aae8..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef HPIPM_S_OCP_QP_KKT_H_
-#define HPIPM_S_OCP_QP_KKT_H_
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_ocp_qp_fact_solve_kkt_unconstr(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_fact_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_fact_lq_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-#endif // HPIPM_S_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
deleted file mode 100644
index 5a7b3b0703..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_RED_H_
-#define HPIPM_S_OCP_QP_RED_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_reduce_eq_dof_arg
-	{
-	float lam_min;
-	float t_min;
-	int alias_unchanged; // do not keep copy unchanged stage
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-struct s_ocp_qp_reduce_eq_dof_ws
-	{
-	struct blasfeo_svec *tmp_nuxM;
-	struct blasfeo_svec *tmp_nbgM;
-	int *e_imask_ux;
-	int *e_imask_d;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-void s_ocp_qp_dim_reduce_eq_dof(struct s_ocp_qp_dim *dim, struct s_ocp_qp_dim *dim_red);
-//
-hpipm_size_t s_ocp_qp_reduce_eq_dof_arg_memsize();
-//
-void s_ocp_qp_reduce_eq_dof_arg_create(struct s_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_default(struct s_ocp_qp_reduce_eq_dof_arg *arg);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-hpipm_size_t s_ocp_qp_reduce_eq_dof_ws_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_reduce_eq_dof_ws_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_reduce_eq_dof_ws *work, void *mem);
-//
-void s_ocp_qp_reduce_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_reduce_eq_dof_lhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_reduce_eq_dof_rhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_restore_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol_red, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_RED_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
deleted file mode 100644
index 821585da65..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_RES_H_
-#define HPIPM_S_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_res
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_res_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_res_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t s_ocp_qp_res_ws_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_res_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res_ws *workspace, void *mem);
-//
-void s_ocp_qp_res_compute(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
-//
-void s_ocp_qp_res_compute_lin(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_sol *qp_step, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
-//
-void s_ocp_qp_res_compute_inf_norm(struct s_ocp_qp_res *res);
-//
-void s_ocp_qp_res_get_all(struct s_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
-//
-void s_ocp_qp_res_get_max_res_stat(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_eq(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_ineq(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_comp(struct s_ocp_qp_res *res, float *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
deleted file mode 100644
index 94dfa0d003..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_SOL_H_
-#define HPIPM_S_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_sol
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_sol_strsize();
-//
-hpipm_size_t s_ocp_qp_sol_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_sol_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_sol *qp_sol, void *memory);
-//
-void s_ocp_qp_sol_copy_all(struct s_ocp_qp_sol *qp_sol_orig, struct s_ocp_qp_sol *qp_sol_dest);
-//
-void s_qp_sol_get_all(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_qp_sol_get_all_rowmaj(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_ocp_qp_sol_set_all(float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_get(char *field, int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_u(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_x(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_sl(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_su(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_pi(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lb(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lbu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lbx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ub(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ubu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ubx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lg(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ug(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_set(char *field, int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_u(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_x(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_sl(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_su(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
deleted file mode 100644
index a4f832a5ea..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_UTILS_H_
-#define HPIPM_S_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qp_sol.h"
-#include "hpipm_s_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_ocp_qp_dim_print(struct s_ocp_qp_dim *qp_dim);
-//
-void s_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim);
-//
-void s_ocp_qp_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_sol_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_sol *ocp_qp_sol);
-//
-void s_ocp_qp_ipm_arg_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_res_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
deleted file mode 100644
index e40511e69f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_PART_COND_H_
-#define HPIPM_S_PART_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_cond.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_part_cond_qp_arg
-	{
-	struct s_cond_qp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_part_cond_qp_ws
-	{
-	struct s_cond_qp_ws *cond_workspace;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_part_cond_qp_arg_memsize(int N2);
-//
-void s_part_cond_qp_arg_create(int N2, struct s_part_cond_qp_arg *cond_arg, void *mem);
-//
-void s_part_cond_qp_arg_set_default(struct s_part_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void s_part_cond_qp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_prim_sol(int value, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_part_cond_qp_arg *cond_arg);
-
-//
-void s_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
-//
-void s_part_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim);
-//
-hpipm_size_t s_part_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws, void *mem);
-//
-void s_part_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_ocp_qp_sol *part_dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-
-//
-void s_part_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
deleted file mode 100644
index 311f7000bf..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_PART_COND_QCQP_H_
-#define HPIPM_S_PART_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_cond_qcqp.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_part_cond_qcqp_arg
-	{
-	struct s_cond_qcqp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_part_cond_qcqp_ws
-	{
-	struct s_cond_qcqp_ws *cond_ws;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_part_cond_qcqp_arg_memsize(int N2);
-//
-void s_part_cond_qcqp_arg_create(int N2, struct s_part_cond_qcqp_arg *cond_arg, void *mem);
-//
-void s_part_cond_qcqp_arg_set_default(struct s_part_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void s_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qcqp_arg *cond_arg);
-
-//
-void s_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
-//
-void s_part_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim);
-//
-hpipm_size_t s_part_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg);
-//
-void s_part_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws, void *mem);
-//
-void s_part_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_ocp_qcqp_sol *part_dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
deleted file mode 100644
index 1a05ad1a28..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_SIM_ERK_H_
-#define HPIPM_S_SIM_ERK_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_sim_erk_arg
-	{
-	struct s_sim_rk_data *rk_data; // integrator data
-	float h; // step size
-	int steps; // number of steps
-//	int for_sens; // compute adjoint sensitivities
-//	int adj_sens; // compute adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_sim_erk_ws
-	{
-	void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to ode
-	void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to forward vde
-	void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out); // function pointer to adjoint vde
-	void *ode_args; // pointer to ode args
-	struct s_sim_erk_arg *erk_arg; // erk arg
-	float *K; // internal variables
-	float *x_for; // states and forward sensitivities
-	float *x_traj; // states at all steps
-	float *l; // adjoint sensitivities
-	float *p; // parameter
-	float *x_tmp; // temporary states and forward sensitivities
-	float *adj_in;
-	float *adj_tmp;
-	int nx; // number of states
-	int np; // number of parameters
-	int nf; // number of forward sensitivities
-	int na; // number of adjoint sensitivities
-	int nf_max; // max number of forward sensitivities
-	int na_max; // max number of adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_sim_erk_arg_memsize();
-//
-void s_sim_erk_arg_create(struct s_sim_erk_arg *erk_arg, void *mem);
-//
-void s_sim_erk_arg_set_all(struct s_sim_rk_data *rk_data, float h, int steps, struct s_sim_erk_arg *erk_arg);
-
-//
-hpipm_size_t s_sim_erk_ws_memsize(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
-//
-void s_sim_erk_ws_create(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct s_sim_erk_ws *work, void *memory);
-//
-void s_sim_erk_ws_set_all(int nf, int na, float *x, float *fs, float *bs, float *p, void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out), void *ode_args, struct s_sim_erk_ws *work);
-// number of directions for forward sensitivities
-void s_sim_erk_ws_set_nf(int *nf, struct s_sim_erk_ws *work);
-// parameters (e.g. inputs)
-void s_sim_erk_ws_set_p(float *p, struct s_sim_erk_ws *work);
-// state
-void s_sim_erk_ws_set_x(float *x, struct s_sim_erk_ws *work);
-// forward sensitivities
-void s_sim_erk_ws_set_fs(float *fs, struct s_sim_erk_ws *work);
-// ode funtion
-void s_sim_erk_ws_set_ode(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
-// forward vde function
-void s_sim_erk_ws_set_vde_for(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
-// ode_args, passed straight to the ode/vde_for/vde_adj functions
-void s_sim_erk_ws_set_ode_args(void *ode_args, struct s_sim_erk_ws *work);
-// state
-void s_sim_erk_ws_get_x(struct s_sim_erk_ws *work, float *x);
-// forward sensitivities
-void s_sim_erk_ws_get_fs(struct s_sim_erk_ws *work, float *fs);
-//
-void s_sim_erk_solve(struct s_sim_erk_arg *arg, struct s_sim_erk_ws *work);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_ERK_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
deleted file mode 100644
index 53acd71498..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_SIM_RK_H_
-#define HPIPM_S_SIM_RK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_sim_rk_data
-	{
-	float *A_rk; // A in butcher tableau
-	float *B_rk; // b in butcher tableau
-	float *C_rk; // c in butcher tableau
-	int expl; // erk vs irk
-	int ns; // number of stages
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_sim_rk_data_memsize(int ns);
-//
-void s_sim_rk_data_create(int ns, struct s_sim_rk_data *rk_data, void *memory);
-//
-void s_sim_rk_data_init_default(char *field, struct s_sim_rk_data *rk_data);
-//
-void s_sim_rk_data_set_all(int expl, float *A_rk, float *B_rk, float *C_rk, struct s_sim_rk_data *rk_data);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_SIM_RK_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
deleted file mode 100644
index 450e992624..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
+++ /dev/null
@@ -1,213 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_H_
-#define HPIPM_S_TREE_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_smat *BAbt; // Nn-1
-	struct blasfeo_smat *RSQrq; // Nn
-	struct blasfeo_smat *DCt; // Nn
-	struct blasfeo_smat **Hq; // Nn
-	struct blasfeo_svec *b; // Nn-1
-	struct blasfeo_svec *rqz; // Nn
-	struct blasfeo_svec *d; // Nn
-	struct blasfeo_svec *d_mask; // Nn
-	struct blasfeo_svec *m; // Nn
-	struct blasfeo_svec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_memsize(struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp *qp, void *memory);
-//
-void s_tree_ocp_qcqp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_A(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_B(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_b(int edge, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Q(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_S(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_R(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_q(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_r(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lb(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ub(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxb(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_C(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_D(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ug(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Qq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Sq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Rq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_qq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_rq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_uq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_uq_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lls(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lus(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxs(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxge(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jbue(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jge(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qcqp *qp);
-
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
deleted file mode 100644
index 7a49d51995..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_DIM_H_
-#define HPIPM_S_TREE_OCP_QCQP_DIM_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_dim
-	{
-	struct s_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_dim_memsize(int Nn);
-//
-void s_tree_ocp_qcqp_dim_create(int Nn, struct s_tree_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void s_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
deleted file mode 100644
index 69d65914c5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_IPM_H_
-#define HPIPM_S_TREE_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qcqp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qcqp_res.h>
-#include <hpipm_s_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_ipm_arg
-	{
-	struct s_tree_ocp_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-//	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qcqp_ipm_ws
-	{
-	struct s_tree_ocp_qp_ipm_ws *qp_ws;
-	struct s_tree_ocp_qp *qp;
-	struct s_tree_ocp_qp_sol *qp_sol;
-	struct s_tree_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct s_tree_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_arg_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_ipm_arg_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void s_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void s_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void s_tree_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_tree_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_tree_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_tree_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_tree_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_tree_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void s_tree_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-//void s_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void s_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-//void s_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void s_tree_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void s_tree_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void s_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_ipm_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void s_tree_ocp_qcqp_ipm_get(char *field, struct s_tree_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void s_tree_ocp_qcqp_ipm_get_status(struct s_tree_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void s_tree_ocp_qcqp_ipm_get_iter(struct s_tree_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_eq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_ineq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_comp(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_tree_ocp_qcqp_ipm_get_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float **stat);
-//
-void s_tree_ocp_qcqp_ipm_get_stat_m(struct s_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void s_tree_ocp_qcqp_init_var(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
-//
-void s_tree_ocp_qcqp_ipm_solve(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_IPM_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
deleted file mode 100644
index d0d84a6f23..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_RES_H_
-#define HPIPM_S_TREE_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qcqp_dim.h>
-#include <hpipm_s_tree_ocp_qcqp.h>
-#include <hpipm_s_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_res
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_res_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_res_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_tree_ocp_qcqp_res_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_res_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res_ws *ws, void *mem);
-//
-void s_tree_ocp_qcqp_res_compute(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_res *res, struct s_tree_ocp_qcqp_res_ws *ws);
-//
-void s_tree_ocp_qcqp_res_compute_inf_norm(struct s_tree_ocp_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_RES_H_
-
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
deleted file mode 100644
index 47f038c6b3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_SOL_H_
-#define HPIPM_S_TREE_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_tree_ocp_qcqp_sol
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_sol_memsize(struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_sol_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void s_tree_ocp_qcqp_sol_get_u(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_x(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_sl(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_su(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_pi(int edge, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_lb(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_ub(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_lg(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_ug(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
deleted file mode 100644
index 79528de1ce..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-#define HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-#include "hpipm_s_tree_ocp_qcqp.h"
-#include "hpipm_s_tree_ocp_qcqp_sol.h"
-#include "hpipm_s_tree_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_tree_ocp_qcqp_dim_print(struct s_tree_ocp_qcqp_dim *qp_dim);
-//
-//void s_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim);
-//
-void s_tree_ocp_qcqp_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_sol_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void s_tree_ocp_qcqp_ipm_arg_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-//void s_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_res_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
deleted file mode 100644
index 722b930b9a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
+++ /dev/null
@@ -1,196 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_H_
-#define HPIPM_S_TREE_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_smat *BAbt; // Nn-1
-	struct blasfeo_smat *RSQrq; // Nn
-	struct blasfeo_smat *DCt; // Nn
-	struct blasfeo_svec *b; // Nn-1
-	struct blasfeo_svec *rqz; // Nn
-	struct blasfeo_svec *d; // Nn
-	struct blasfeo_svec *d_mask; // Nn
-	struct blasfeo_svec *m; // Nn
-	struct blasfeo_svec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-//	int **idxs; // index of soft constraints
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp *qp, void *memory);
-//
-void s_tree_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_A(int edge, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_B(int edge, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_b(int edge, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Q(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_S(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_R(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_q(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_r(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lb(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ub(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxb(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxbx(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxbu(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_C(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_D(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lg(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ug(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Zl(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Zu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_zl(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_zu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lls(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lus(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxs(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsg(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxe(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxbue(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxge(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jbue(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jge(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qp *qp);
-
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
deleted file mode 100644
index 90df57182b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_DIM_H_
-#define HPIPM_S_TREE_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_dim
-	{
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_dim_strsize();
-//
-hpipm_size_t s_tree_ocp_qp_dim_memsize(int Nn);
-//
-void s_tree_ocp_qp_dim_create(int Nn, struct s_tree_ocp_qp_dim *qp_dim, void *memory);
-//
-void s_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_ng(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_ns(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nge(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
deleted file mode 100644
index f8c26d3173..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
+++ /dev/null
@@ -1,208 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_TREE_OCP_QP_IPM_H_
-#define HPIPM_S_TREE_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qp_res.h>
-#include <hpipm_s_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_ipm_arg
-	{
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_tree_ocp_qp_res_ws *res_workspace;
-	struct s_tree_ocp_qp_sol *sol_step;
-	struct s_tree_ocp_qp_sol *sol_itref;
-	struct s_tree_ocp_qp *qp_step;
-	struct s_tree_ocp_qp *qp_itref;
-	struct s_tree_ocp_qp_res *res_itref;
-	struct s_tree_ocp_qp_res *res;
-	struct blasfeo_svec *Gamma; // hessian update
-	struct blasfeo_svec *gamma; // hessian update
-	struct blasfeo_svec *tmp_nxM; // work space of size nxM
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbgM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *Pb; // Pb
-	struct blasfeo_svec *Zs_inv;
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Lh;
-	struct blasfeo_smat *AL;
-	struct blasfeo_smat *lq0;
-	struct blasfeo_svec *tmp_m;
-	float *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	float qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_ipm_arg_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_ipm_arg_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, void *mem);
-//
-void s_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_reg_prim(float *reg, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_tree_ocp_qp_ipm_ws_memsize(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_ws_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws, void *mem);
-//
-void s_tree_ocp_qp_ipm_get_status(struct s_tree_ocp_qp_ipm_ws *ws, int *status);
-//
-void s_tree_ocp_qp_ipm_get_iter(struct s_tree_ocp_qp_ipm_ws *ws, int *iter);
-//
-void s_tree_ocp_qp_ipm_get_max_res_stat(struct s_tree_ocp_qp_ipm_ws *ws, float *res_stat);
-//
-void s_tree_ocp_qp_ipm_get_max_res_eq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_eq);
-//
-void s_tree_ocp_qp_ipm_get_max_res_ineq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_tree_ocp_qp_ipm_get_max_res_comp(struct s_tree_ocp_qp_ipm_ws *ws, float *res_comp);
-//
-void s_tree_ocp_qp_ipm_get_stat(struct s_tree_ocp_qp_ipm_ws *ws, float **stat);
-//
-void s_tree_ocp_qp_ipm_get_stat_m(struct s_tree_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void s_tree_ocp_qp_init_var(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_abs_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_delta_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_solve(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
deleted file mode 100644
index bcf7354783..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_tree_ocp_qp_fact_solve_kkt_unconstr(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_fact_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_fact_lq_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
deleted file mode 100644
index 5c6797204f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_RES_H_
-#define HPIPM_S_TREE_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_res
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_res_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
-//
-void s_tree_ocp_qp_res_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t s_tree_ocp_qp_res_ws_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
-//
-void s_tree_ocp_qp_res_ws_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res_ws *ws, void *mem);
-//
-void s_tree_ocp_qp_res_get_all(struct s_tree_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
-//
-void s_tree_ocp_qp_res_compute(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
-//
-void s_tree_ocp_qp_res_compute_lin(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_sol *qp_step, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
-//
-void s_tree_ocp_qp_res_compute_inf_norm(struct s_tree_ocp_qp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
deleted file mode 100644
index 71e887675b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_SOL_H_
-#define HPIPM_S_TREE_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_tree_ocp_qp_sol
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_sol_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_sol_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_sol *qp_sol, void *memory);
-//
-void s_tree_ocp_qp_sol_get_all(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_tree_ocp_qp_sol_get_u(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_x(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_sl(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_su(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_pi(int edge, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_lb(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_ub(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_lg(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_ug(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
deleted file mode 100644
index ec1747568f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_UTILS_H_
-#define HPIPM_S_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-#include "hpipm_s_tree_ocp_qp.h"
-#include "hpipm_s_tree_ocp_qp_sol.h"
-#include "hpipm_s_tree_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_tree_ocp_qp_dim_print(struct s_tree_ocp_qp_dim *qp_dim);
-//
-//void s_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim);
-//
-void s_tree_ocp_qp_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_sol_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_sol *ocp_qp_sol);
-//
-void s_tree_ocp_qp_ipm_arg_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-//void s_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_res_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
deleted file mode 100644
index a3c77a670a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_SCENARIO_TREE_H_
-#define HPIPM_SCENARIO_TREE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct sctree
-	{
-	struct node *root; // pointer to root
-	int *kids; // pointer to array of kids
-	int Nn; // numer of nodes
-	int md; // number of realizations
-	int Nr; // robust horizion
-	int Nh; // control horizion
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t sctree_memsize(int md, int Nr, int Nh);
-//
-void sctree_create(int md, int Nr, int Nh, struct sctree *st, void *memory);
-//
-void sctree_cast_to_tree(struct sctree *st, struct tree *tt);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_SCENARIO_TREE_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_timing.h b/third_party/acados/include/hpipm/include/hpipm_timing.h
deleted file mode 100644
index bd0f2dbcb3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_timing.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_TIMING_H_
-#define HPIPM_TIMING_H_
-
-
-
-#include <blasfeo_timing.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-typedef blasfeo_timer hpipm_timer;
-
-
-
-//
-void hpipm_tic(hpipm_timer *t);
-//
-double hpipm_toc(hpipm_timer *t);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_TIMING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_tree.h b/third_party/acados/include/hpipm/include/hpipm_tree.h
deleted file mode 100644
index f9d69ecddd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_tree.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef HPIPM_TREE_H_
-#define HPIPM_TREE_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct node
-	{
-	int *kids;  // 64 bits
-	int idx;    // 32 bits
-	int dad;    // 32 bits
-	int nkids;  // 32 bits
-	int stage;  // 32 bits
-	int real;   // 32 bits
-	int idxkid; // 32 bits // XXX needed ???
-	// total     256 bits
-	};
-
-
-
-struct tree
-	{
-	struct node *root; // pointer to root
-	int *kids; // pointer to array of kids
-	int Nn; // numer of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_TREE_H_
diff --git a/third_party/acados/include/qpOASES_e/Bounds.h b/third_party/acados/include/qpOASES_e/Bounds.h
deleted file mode 100644
index 4e41c1d163..0000000000
--- a/third_party/acados/include/qpOASES_e/Bounds.h
+++ /dev/null
@@ -1,543 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Bounds.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Bounds class designed to manage working sets of
- *	bounds within a QProblem.
- */
-
-
-#ifndef QPOASES_BOUNDS_H
-#define QPOASES_BOUNDS_H
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages working sets of bounds (= box constraints).
- *
- *	This class manages working sets of bounds (= box constraints)
- *	by storing index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Indexlist *freee;					/**< Index list of free variables. */
-	Indexlist *fixed;					/**< Index list of fixed variables. */
-
-	Indexlist *shiftedFreee;			/**< Memory for shifting free variables. */
-	Indexlist *shiftedFixed;			/**< Memory for shifting fixed variables. */
-
-	Indexlist *rotatedFreee;			/**< Memory for rotating free variables. */
-	Indexlist *rotatedFixed;			/**< Memory for rotating fixed variables. */
-
-	SubjectToType   *type; 				/**< Type of bounds. */
-	SubjectToStatus *status;			/**< Status of bounds. */
-
-	SubjectToType   *typeTmp;			/**< Temp memory for type of bounds. */
-	SubjectToStatus *statusTmp;			/**< Temp memory for status of bounds. */
-
-	BooleanType noLower;	 			/**< This flag indicates if there is no lower bound on any variable. */
-	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
-
-	int n;								/**< Total number of bounds. */
-} Bounds;
-
-int Bounds_calculateMemorySize( int n);
-
-char *Bounds_assignMemory(int n, Bounds **mem, void *raw_memory);
-
-Bounds *Bounds_createMemory( int n );
-
-/** Constructor which takes the number of bounds. */
-void BoundsCON(	Bounds* _THIS,
-				int _n									/**< Number of bounds. */
-				);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void BoundsCPY(	Bounds* FROM,
-				Bounds* TO
-				);
-
-
-/** Initialises object with given number of bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Bounds_init(	Bounds* _THIS,
-							int _n					/**< Number of bounds. */
-							);
-
-
-/** Initially adds number of a new (i.e. not yet in the list) bound to
- *  given index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_setupBound(	Bounds* _THIS,
-								int number,				/**< Number of new bound. */
-								SubjectToStatus _status	/**< Status of new bound. */
-								);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of free bounds; the order depends on the SujectToType
- *  of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllFree(	Bounds* _THIS
-									);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of fixed bounds (on their lower bounds);
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllLower(	Bounds* _THIS
-									);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of fixed bounds (on their upper bounds);
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllUpper(	Bounds* _THIS
-									);
-
-
-/** Moves index of a bound from index list of fixed to that of free bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_moveFixedToFree(	Bounds* _THIS,
-									int number				/**< Number of bound to be freed. */
-									);
-
-/** Moves index of a bound from index list of free to that of fixed bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_moveFreeToFixed(	Bounds* _THIS,
-									int number,				/**< Number of bound to be fixed. */
-									SubjectToStatus _status	/**< Status of bound to be fixed. */
-									);
-
-/** Flip fixed bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_flipFixed(	Bounds* _THIS,
-								int number
-								);
-
-/** Swaps the indices of two free bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED */
-returnValue Bounds_swapFree(	Bounds* _THIS,
-								int number1,					/**< Number of first bound. */
-								int number2						/**< Number of second bound. */
-								);
-
-
-/** Returns number of variables.
- *	\return Number of variables. */
-static inline int Bounds_getNV(	Bounds* _THIS
-							);
-
-/** Returns number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int Bounds_getNFV(	Bounds* _THIS
-									);
-
-/** Returns number of bounded (but possibly free) variables.
- *	\return Number of bounded (but possibly free) variables. */
-static inline int Bounds_getNBV(	Bounds* _THIS
-									);
-
-/** Returns number of unbounded variables.
- *	\return Number of unbounded variables. */
-static inline int Bounds_getNUV(	Bounds* _THIS
-									);
-
-/** Returns number of free variables.
- *	\return Number of free variables. */
-static inline int Bounds_getNFR(	Bounds* _THIS
-									);
-
-/** Returns number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int Bounds_getNFX(	Bounds* _THIS
-									);
-
-
-/** Returns a pointer to free variables index list.
- *	\return Pointer to free variables index list. */
-static inline Indexlist* Bounds_getFree(	Bounds* _THIS
-											);
-
-/** Returns a pointer to fixed variables index list.
- *	\return Pointer to fixed variables index list. */
-static inline Indexlist* Bounds_getFixed(	Bounds* _THIS
-											);
-
-
-/** Returns number of bounds with given SubjectTo type.
- *	\return Number of bounds with given type. */
-static inline int Bounds_getNumberOfType(	Bounds* _THIS,
-											SubjectToType _type	/**< Type of bound. */
-											);
-
-
-/** Returns type of bound.
- *	\return Type of bound \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline SubjectToType Bounds_getType(	Bounds* _THIS,
-											int i			/**< Number of bound. */
-											);
-
-/** Returns status of bound.
- *	\return Status of bound \n
- 			ST_UNDEFINED */
-static inline SubjectToStatus Bounds_getStatus(	Bounds* _THIS,
-												int i		/**< Number of bound. */
-												);
-
-
-/** Sets type of bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Bounds_setType(	Bounds* _THIS,
-											int i,				/**< Number of bound. */
-											SubjectToType value	/**< Type of bound. */
-											);
-
-/** Sets status of bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Bounds_setStatus(	Bounds* _THIS,
-											int i,					/**< Number of bound. */
-											SubjectToStatus value	/**< Status of bound. */
-											);
-
-
-/** Sets status of lower bounds. */
-static inline void Bounds_setNoLower(	Bounds* _THIS,
-										BooleanType _status		/**< Status of lower bounds. */
-										);
-
-/** Sets status of upper bounds. */
-static inline void Bounds_setNoUpper(	Bounds* _THIS,
-										BooleanType _status		/**< Status of upper bounds. */
-										);
-
-
-/** Returns status of lower bounds.
- *	\return BT_TRUE if there is no lower bound on any variable. */
-static inline BooleanType Bounds_hasNoLower(	Bounds* _THIS
-												);
-
-/** Returns status of upper bounds.
- *	\return BT_TRUE if there is no upper bound on any variable. */
-static inline BooleanType Bounds_hasNoUpper(	Bounds* _THIS
-												);
-
-
-/** Shifts forward type and status of all bounds by a given
- *  offset. This offset has to lie within the range [0,n/2] and has to
- *  be an integer divisor of the total number of bounds n.
- *  Type and status of the first \<offset\> bounds is thrown away,
- *  type and status of the last \<offset\> bounds is doubled,
- *  e.g. for offset = 2: \n
- *  shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_INVALID_ARGUMENTS \n
- 			RET_SHIFTING_FAILED */
-returnValue Bounds_shift(	Bounds* _THIS,
-							int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
-							);
-
-/** Rotates forward type and status of all bounds by a given
- *  offset. This offset has to lie within the range [0,n].
- *  Example for offset = 2: \n
- *  rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_ROTATING_FAILED */
-returnValue Bounds_rotate(	Bounds* _THIS,
-							int offset		/**< Rotation offset within the range [0,n]. */
-							);
-
-
-/** Prints information on bounds object
- *  (in particular, lists of free and fixed bounds.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INDEXLIST_CORRUPTED */
-returnValue Bounds_print(	Bounds* _THIS
-							);
-
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set corresponding to the desired status;
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAll(	Bounds* _THIS,
-								SubjectToStatus _status	/**< Desired initial status for all bounds. */
-								);
-
-
-/** Adds the index of a new bound to index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_addIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-								int newnumber,				/**< Number of new bound. */
-								SubjectToStatus newstatus	/**< Status of new bound. */
-								);
-
-/** Removes the index of a bound from index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_REMOVEINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_removeIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-								int removenumber			/**< Number of bound to be removed. */
-								);
-
-/** Swaps the indices of two constraints or bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_swapIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-								int number1,				/**< Number of first bound. */
-								int number2					/**< Number of second bound. */
-								);
-
-
-
-/*
- *	g e t N u m b e r O f T y p e
- */
-static inline int Bounds_getNumberOfType( Bounds* _THIS, SubjectToType _type )
-{
-	int i;
-	int numberOfType = 0;
-
-	if ( _THIS->type != 0 )
-	{
-		for( i=0; i<_THIS->n; ++i )
-			if ( _THIS->type[i] == _type )
-				++numberOfType;
-	}
-
-	return numberOfType;
-}
-
-
-/*
- *	g e t T y p e
- */
-static inline SubjectToType Bounds_getType( Bounds* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->type[i];
-
-	return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->status[i];
-
-	return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-static inline returnValue Bounds_setType( Bounds* _THIS, int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-static inline returnValue Bounds_setStatus( Bounds* _THIS, int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-static inline void Bounds_setNoLower( Bounds* _THIS, BooleanType _status )
-{
-	_THIS->noLower = _status;
-}
-
-
-/*
- *	s e t N o U p p e r
- */
-static inline void Bounds_setNoUpper( Bounds* _THIS, BooleanType _status )
-{
-	_THIS->noUpper = _status;
-}
-
-
-/*
- *	h a s N o L o w e r
- */
-static inline BooleanType Bounds_hasNoLower( Bounds* _THIS )
-{
-	return _THIS->noLower;
-}
-
-
-/*
- *	h a s N o U p p p e r
- */
-static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS )
-{
-	return _THIS->noUpper;
-}
-
-
-
-/*
- *	g e t N V
- */
-static inline int Bounds_getNV( Bounds* _THIS )
-{
- 	return _THIS->n;
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int Bounds_getNFV( Bounds* _THIS )
-{
- 	return Bounds_getNumberOfType( _THIS,ST_EQUALITY );
-}
-
-
-/*
- *	g e t N B V
- */
-static inline int Bounds_getNBV( Bounds* _THIS )
-{
- 	return Bounds_getNumberOfType( _THIS,ST_BOUNDED );
-}
-
-
-/*
- *	g e t N U V
- */
-static inline int Bounds_getNUV( Bounds* _THIS )
-{
-	return Bounds_getNumberOfType( _THIS,ST_UNBOUNDED );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int Bounds_getNFR( Bounds* _THIS )
-{
- 	return Indexlist_getLength( _THIS->freee );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int Bounds_getNFX( Bounds* _THIS )
-{
-	return Indexlist_getLength( _THIS->fixed );
-}
-
-
-/*
- *	g e t F r e e
- */
-static inline Indexlist* Bounds_getFree( Bounds* _THIS )
-{
-	return _THIS->freee;
-}
-
-
-/*
- *	g e t F i x e d
- */
-static inline Indexlist* Bounds_getFixed( Bounds* _THIS )
-{
-	return _THIS->fixed;
-}
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_BOUNDS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Constants.h b/third_party/acados/include/qpOASES_e/Constants.h
deleted file mode 100644
index 13c777d75b..0000000000
--- a/third_party/acados/include/qpOASES_e/Constants.h
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constants.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Definition of all global constants.
- */
-
-
-#ifndef QPOASES_CONSTANTS_H
-#define QPOASES_CONSTANTS_H
-
-
-#include <qpOASES_e/Types.h>
-
-#ifdef __CODE_GENERATION__
-
-  #define CONVERTTOSTRINGAUX(x) #x
-  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
-
-  #ifndef QPOASES_CUSTOM_INTERFACE
-  #include "acado_qpoases3_interface.h"
-  #else
-  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
-  #endif
-
-#endif
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-#ifndef __EXTERNAL_DIMENSIONS__
-
-  /*#define QPOASES_NVMAX  50
-  #define QPOASES_NCMAX  100*/
-  #define QPOASES_NVMAX  287
-  #define QPOASES_NCMAX  709
-
-#endif /* __EXTERNAL_DIMENSIONS__ */
-
-
-/** Maximum number of variables within a QP formulation.
- *	Note: this value has to be positive! */
-#define NVMAX  QPOASES_NVMAX
-
-/** Maximum number of constraints within a QP formulation.
- *	Note: this value has to be positive! */
-#define NCMAX  QPOASES_NCMAX
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMAX QPOASES_NVMAX
-#else
-#define NVCMAX QPOASES_NCMAX
-#endif
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMIN QPOASES_NCMAX
-#else
-#define NVCMIN QPOASES_NVMAX
-#endif
-
-
-/** Maximum number of QPs in a sequence solved by means of the OQP interface.
- *	Note: this value has to be positive! */
-#define NQPMAX 1000
-
-
-/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
- *	Note: this value has to be positive! */
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  static const real_t QPOASES_EPS = 1.193e-07;
-  #else
-  static const real_t QPOASES_EPS = 2.221e-16;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-
-
-/** Numerical value of zero (for situations in which it would be
- *	unreasonable to compare with 0.0).
- *  Note: this value has to be positive! */
-static const real_t QPOASES_ZERO = 1.0e-25;
-
-/** Numerical value of infinity (e.g. for non-existing bounds).
- *	Note: this value has to be positive! */
-static const real_t QPOASES_INFTY = 1.0e20;
-
-/** Tolerance to used for isEqual, isZero etc.
- *	Note: this value has to be positive! */
-static const real_t QPOASES_TOL = 1.0e-25;
-
-
-/** Maximum number of characters within a string.
- *	Note: this value should be at least 41! */
-#define QPOASES_MAX_STRING_LENGTH 160
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTANTS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/ConstraintProduct.h b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
deleted file mode 100644
index eb5400c6cb..0000000000
--- a/third_party/acados/include/qpOASES_e/ConstraintProduct.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/ConstraintProduct.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *	Declaration of the ConstraintProduct interface which allows to specify a
- *	user-defined function for evaluating the constraint product at the 
- *	current iterate to speed-up QP solution in case of a specially structured
- *	constraint matrix.
- */
-
-
-
-#ifndef QPOASES_CONSTRAINT_PRODUCT_H
-#define QPOASES_CONSTRAINT_PRODUCT_H
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** 
- *	\brief Interface for specifying user-defined evaluations of constraint products.
- *
- *	An interface which allows to specify a user-defined function for evaluating the 
- *	constraint product at the current iterate to speed-up QP solution in case 
- *	of a specially structured constraint matrix.
- *
- *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- */
-typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */
diff --git a/third_party/acados/include/qpOASES_e/Constraints.h b/third_party/acados/include/qpOASES_e/Constraints.h
deleted file mode 100644
index 8aca10d5d9..0000000000
--- a/third_party/acados/include/qpOASES_e/Constraints.h
+++ /dev/null
@@ -1,535 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constraints.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Constraints class designed to manage working sets of
- *	constraints within a QProblem.
- */
-
-
-#ifndef QPOASES_CONSTRAINTS_H
-#define QPOASES_CONSTRAINTS_H
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages working sets of constraints.
- *
- *	This class manages working sets of constraints by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Indexlist *active;					/**< Index list of active constraints. */
-	Indexlist *inactive;				/**< Index list of inactive constraints. */
-
-	Indexlist *shiftedActive;			/**< Memory for shifting active constraints. */
-	Indexlist *shiftedInactive;			/**< Memory for shifting inactive constraints. */
-
-	Indexlist *rotatedActive;			/**< Memory for rotating active constraints. */
-	Indexlist *rotatedInactive;			/**< Memory for rotating inactive constraints. */
-
-	SubjectToType   *type; 				/**< Type of constraints. */
-	SubjectToStatus *status;			/**< Status of constraints. */
-
-	SubjectToType   *typeTmp;			/**< Temp memory for type of constraints. */
-	SubjectToStatus *statusTmp;			/**< Temp memory for status of constraints. */
-
-	BooleanType noLower;			 	/**< This flag indicates if there is no lower bound on any variable. */
-	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
-
-	int n;								/**< Total number of constraints. */
-} Constraints;
-
-int Constraints_calculateMemorySize( int n);
-
-char *Constraints_assignMemory(int n, Constraints **mem, void *raw_memory);
-
-Constraints *Constraints_createMemory( int n );
-
-/** Constructor which takes the number of constraints. */
-void ConstraintsCON(	Constraints* _THIS,
-						int _n							/**< Number of constraints. */
-						);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void ConstraintsCPY(	Constraints* FROM,
-						Constraints* TO
-						);
-
-
-/** Initialises object with given number of constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Constraints_init(	Constraints* _THIS,
-								int _n					/**< Number of constraints. */
-								);
-
-
-/** Initially adds number of a new (i.e. not yet in the list) constraint to
- *  a given index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_setupConstraint(	Constraints* _THIS,
-											int number,				/**< Number of new constraint. */
-											SubjectToStatus _status	/**< Status of new constraint. */
-											);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of inactive constraints; the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllInactive(	Constraints* _THIS
-											);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of active constraints (on their lower bounds); the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllLower(	Constraints* _THIS
-										);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of active constraints (on their upper bounds); the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllUpper(	Constraints* _THIS
-										);
-
-
-/** Moves index of a constraint from index list of active to that of inactive constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED */
-returnValue Constraints_moveActiveToInactive(	Constraints* _THIS,
-												int number				/**< Number of constraint to become inactive. */
-												);
-
-/** Moves index of a constraint from index list of inactive to that of active constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED */
-returnValue Constraints_moveInactiveToActive(	Constraints* _THIS,
-												int number,				/**< Number of constraint to become active. */
-												SubjectToStatus _status	/**< Status of constraint to become active. */
-												);
-
-/** Flip fixed constraint.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Constraints_flipFixed(	Constraints* _THIS,
-									int number
-									);
-
-
-/** Returns the number of constraints.
- *	\return Number of constraints. */
-static inline int Constraints_getNC(	Constraints* _THIS
-										);
-
-/** Returns the number of implicit equality constraints.
- *	\return Number of implicit equality constraints. */
-static inline int Constraints_getNEC(	Constraints* _THIS
-										);
-
-/** Returns the number of "real" inequality constraints.
- *	\return Number of "real" inequality constraints. */
-static inline int Constraints_getNIC(	Constraints* _THIS
-										);
-
-/** Returns the number of unbounded constraints (i.e. without any bounds).
- *	\return Number of unbounded constraints (i.e. without any bounds). */
-static inline int Constraints_getNUC(	Constraints* _THIS
-										);
-
-/** Returns the number of active constraints.
- *	\return Number of active constraints. */
-static inline int Constraints_getNAC(	Constraints* _THIS
-										);
-
-/** Returns the number of inactive constraints.
- *	\return Number of inactive constraints. */
-static inline int Constraints_getNIAC(	Constraints* _THIS
-										);
-
-
-/** Returns a pointer to active constraints index list.
- *	\return Pointer to active constraints index list. */
-static inline Indexlist* Constraints_getActive(	Constraints* _THIS
-												);
-
-/** Returns a pointer to inactive constraints index list.
- *	\return Pointer to inactive constraints index list. */
-static inline Indexlist* Constraints_getInactive(	Constraints* _THIS
-													);
-
-
-/** Returns number of constraints with given SubjectTo type.
- *	\return Number of constraints with given type. */
-static inline int Constraints_getNumberOfType(	Constraints* _THIS,
-												SubjectToType _type	/**< Type of constraints' bound. */
-												);
-
-
-/** Returns type of constraints' bound.
- *	\return Type of constraints' bound \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline SubjectToType Constraints_getType(	Constraints* _THIS,
-													int i			/**< Number of constraints' bound. */
-													);
-
-/** Returns status of constraints' bound.
- *	\return Status of constraints' bound \n
- 			ST_UNDEFINED */
-static inline SubjectToStatus Constraints_getStatus(	Constraints* _THIS,
-														int i		/**< Number of constraints' bound. */
-														);
-
-
-/** Sets type of constraints' bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Constraints_setType(	Constraints* _THIS,
-												int i,				/**< Number of constraints' bound. */
-												SubjectToType value	/**< Type of constraints' bound. */
-												);
-
-/** Sets status of constraints' bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Constraints_setStatus(	Constraints* _THIS,
-													int i,					/**< Number of constraints' bound. */
-													SubjectToStatus value	/**< Status of constraints' bound. */
-													);
-
-
-/** Sets status of lower constraints' bounds. */
-static inline void Constraints_setNoLower(	Constraints* _THIS,
-											BooleanType _status		/**< Status of lower constraints' bounds. */
-											);
-
-/** Sets status of upper constraints' bounds. */
-static inline void Constraints_setNoUpper(	Constraints* _THIS,
-											BooleanType _status		/**< Status of upper constraints' bounds. */
-											);
-
-
-/** Returns status of lower constraints' bounds.
- *	\return BT_TRUE if there is no lower constraints' bound on any variable. */
-static inline BooleanType Constraints_hasNoLower(	Constraints* _THIS
-													);
-
-/** Returns status of upper bounds.
- *	\return BT_TRUE if there is no upper constraints' bound on any variable. */
-static inline BooleanType Constraints_hasNoUpper(	Constraints* _THIS
-													);
-
-
-/** Shifts forward type and status of all constraints by a given
- *  offset. This offset has to lie within the range [0,n/2] and has to
- *  be an integer divisor of the total number of constraints n.
- *  Type and status of the first \<offset\> constraints  is thrown away,
- *  type and status of the last \<offset\> constraints is doubled,
- *  e.g. for offset = 2: \n
- *  shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_INVALID_ARGUMENTS \n
- 			RET_SHIFTING_FAILED */
-returnValue Constraints_shift(	Constraints* _THIS,
-								int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
-								);
-
-/** Rotates forward type and status of all constraints by a given
- *  offset. This offset has to lie within the range [0,n].
- *  Example for offset = 2: \n
- *  rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_ROTATING_FAILED */
-returnValue Constraints_rotate(	Constraints* _THIS,
-								int offset		/**< Rotation offset within the range [0,n]. */
-								);
-
-
-/** Prints information on constraints object
- *  (in particular, lists of inactive and active constraints.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INDEXLIST_CORRUPTED */
-returnValue Constraints_print(	Constraints* _THIS
-								);
-
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set corresponding to the desired status;
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAll(	Constraints* _THIS,
-									SubjectToStatus _status	/**< Desired initial status for all bounds. */
-									);
-
-
-/** Adds the index of a new constraint to index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_addIndex(	Constraints* _THIS,
-									Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-									int newnumber,				/**< Number of new constraint. */
-									SubjectToStatus newstatus	/**< Status of new constraint. */
-									);
-
-/** Removes the index of a constraint from index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_REMOVEINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_removeIndex(	Constraints* _THIS,
-										Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-										int removenumber			/**< Number of constraint to be removed. */
-										);
-
-/** Swaps the indices of two constraints or bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_swapIndex(	Constraints* _THIS,
-									Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-									int number1,				/**< Number of first constraint. */
-									int number2					/**< Number of second constraint. */
-									);
-
-
-
-/*
- *	g e t N u m b e r O f T y p e
- */
-static inline int Constraints_getNumberOfType( Constraints* _THIS, SubjectToType _type )
-{
-	int i;
-	int numberOfType = 0;
-
-	if ( _THIS->type != 0 )
-	{
-		for( i=0; i<_THIS->n; ++i )
-			if ( _THIS->type[i] == _type )
-				++numberOfType;
-	}
-
-	return numberOfType;
-}
-
-
-/*
- *	g e t T y p e
- */
-static inline SubjectToType Constraints_getType( Constraints* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->type[i];
-
-	return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->status[i];
-
-	return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-static inline returnValue Constraints_setType( Constraints* _THIS, int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-static inline returnValue Constraints_setStatus( Constraints* _THIS, int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-static inline void Constraints_setNoLower( Constraints* _THIS, BooleanType _status )
-{
-	_THIS->noLower = _status;
-}
-
-
-/*
- *	s e t N o U p p e r
- */
-static inline void Constraints_setNoUpper( Constraints* _THIS, BooleanType _status )
-{
-	_THIS->noUpper = _status;
-}
-
-
-/*
- *	h a s N o L o w e r
- */
-static inline BooleanType Constraints_hasNoLower( Constraints* _THIS )
-{
-	return _THIS->noLower;
-}
-
-
-/*
- *	h a s N o U p p p e r
- */
-static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS )
-{
-	return _THIS->noUpper;
-}
-
-
-
-/*
- *	g e t N C
- */
-static inline int Constraints_getNC( Constraints* _THIS )
-{
- 	return _THIS->n;
-}
-
-
-/*
- *	g e t N E C
- */
-static inline int Constraints_getNEC( Constraints* _THIS )
-{
-	return Constraints_getNumberOfType( _THIS,ST_EQUALITY );
-}
-
-
-/*
- *	g e t N I C
- */
-static inline int Constraints_getNIC( Constraints* _THIS )
-{
- 	return Constraints_getNumberOfType( _THIS,ST_BOUNDED );
-}
-
-
-/*
- *	g e t N U C
- */
-static inline int Constraints_getNUC( Constraints* _THIS )
-{
- 	return Constraints_getNumberOfType( _THIS,ST_UNBOUNDED );
-}
-
-
-/*
- *	g e t N A C
- */
-static inline int Constraints_getNAC( Constraints* _THIS )
-{
- 	return Indexlist_getLength( _THIS->active );
-}
-
-
-/*
- *	g e t N I A C
- */
-static inline int Constraints_getNIAC( Constraints* _THIS )
-{
-	return Indexlist_getLength( _THIS->inactive );
-}
-
-
-
-/*
- *	g e t A c t i v e
- */
-static inline Indexlist* Constraints_getActive( Constraints* _THIS )
-{
-	return _THIS->active;
-}
-
-
-/*
- *	g e t I n a c t i v e
- */
-static inline Indexlist* Constraints_getInactive( Constraints* _THIS )
-{
-	return _THIS->inactive;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTRAINTS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Flipper.h b/third_party/acados/include/qpOASES_e/Flipper.h
deleted file mode 100644
index 63526a30f3..0000000000
--- a/third_party/acados/include/qpOASES_e/Flipper.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Flipper.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_FLIPPER_H
-#define QPOASES_FLIPPER_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Constraints.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Auxiliary class for storing a copy of the current matrix factorisations.
- *
- *	This auxiliary class stores a copy of the current matrix factorisations. It
- *	is used by the classe QProblemB and QProblem in case flipping bounds are enabled.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Bounds      *bounds;			/**< Data structure for problem's bounds. */
-	Constraints *constraints;		/**< Data structure for problem's constraints. */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
-
-	unsigned int nV;				/**< Number of variables. */
-	unsigned int nC;				/**< Number of constraints. */
-} Flipper;
-
-int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory );
-
-Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC );
-
-/** Constructor which takes the number of bounds and constraints. */
-void FlipperCON(	Flipper* _THIS,
-					unsigned int _nV,		/**< Number of bounds. */
-					unsigned int _nC		/**< Number of constraints. */
-					);
-
-/** Copy constructor (deep copy). */
-void FlipperCPY(	Flipper* FROM,
-					Flipper* TO
-					);
-
-/** Initialises object with given number of bounds and constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Flipper_init(	Flipper* _THIS,
-							unsigned int _nV,	/**< Number of bounds. */
-							unsigned int _nC	/**< Number of constraints. */
-							);
-
-
-/** Copies current values to non-null arguments (assumed to be allocated with consistent size).
- *	\return SUCCESSFUL_RETURN */
-returnValue Flipper_get(	Flipper* _THIS,
-							Bounds* const _bounds,				/**< Pointer to new bounds. */
-							real_t* const R,					/**< New matrix R. */
-							Constraints* const _constraints,	/**< Pointer to new constraints. */
-							real_t* const _Q,					/**< New matrix Q. */
-							real_t* const _T					/**< New matrix T. */
-							);
-
-/** Assigns new values to non-null arguments.
- *	\return SUCCESSFUL_RETURN */
-returnValue Flipper_set(	Flipper* _THIS,
-							const Bounds* const _bounds,			/**< Pointer to new bounds. */
-							const real_t* const _R,					/**< New matrix R. */
-							const Constraints* const _constraints,	/**< Pointer to new constraints. */
-							const real_t* const _Q,					/**< New matrix Q. */
-							const real_t* const _T					/**< New matrix T. */
-							);
-
-/** Returns dimension of matrix T.
- *  \return Dimension of matrix T. */
-unsigned int Flipper_getDimT( Flipper* _THIS );
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_FLIPPER_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Indexlist.h b/third_party/acados/include/qpOASES_e/Indexlist.h
deleted file mode 100644
index 02d259d63d..0000000000
--- a/third_party/acados/include/qpOASES_e/Indexlist.h
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Indexlist.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a SubjectTo object.
- */
-
-
-#ifndef QPOASES_INDEXLIST_H
-#define QPOASES_INDEXLIST_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Stores and manages index lists.
- *
- *	This class manages index lists of active/inactive bounds/constraints.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	int *number;		/**< Array to store numbers of constraints or bounds. */
-	int *iSort;			/**< Index list to sort vector \a number */
-
-	int	length;			/**< Length of index list. */
-	int	first;			/**< Physical index of first element. */
-	int	last;			/**< Physical index of last element. */
-	int	lastusedindex;	/**< Physical index of last entry in index list. */
-	int	physicallength;	/**< Physical length of index list. */
-} Indexlist;
-
-int Indexlist_calculateMemorySize( int n);
-
-char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
-
-Indexlist *Indexlist_createMemory( int n );
-
-/** Constructor which takes the desired physical length of the index list. */
-void IndexlistCON(	Indexlist* _THIS,
-					int n	/**< Physical length of index list. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void IndexlistCPY(	Indexlist* FROM,
-					Indexlist* TO
-					);
-
-/** Initialises index list of desired physical length.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Indexlist_init(	Indexlist* _THIS,
-							int n		/**< Physical length of index list. */
-							);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
-										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
-										);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INDEXLIST_CORRUPTED */
-returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
-										int** const iSortArray	/**< Output: iSort Array. */
-										);
-
-
-/** Determines the index within the index list at which a given number is stored.
- *	\return >= 0: Index of given number. \n
- 			-1: Number not found. */
-int Indexlist_getIndex(	Indexlist* _THIS,
-						int givennumber	/**< Number whose index shall be determined. */
-						);
-
-/** Returns the number stored at a given physical index.
- *	\return >= 0: Number stored at given physical index. \n
- 			-RET_INDEXLIST_OUTOFBOUNDS */
-static inline int Indexlist_getNumber(	Indexlist* _THIS,
-										int physicalindex	/**< Physical index of the number to be returned. */
-										);
-
-
-/** Returns the current length of the index list.
- *	\return Current length of the index list. */
-static inline int Indexlist_getLength(	Indexlist* _THIS
-										);
-
-/** Returns last number within the index list.
- *	\return Last number within the index list. */
-static inline int Indexlist_getLastNumber(	Indexlist* _THIS
-											);
-
-
-/** Adds number to index list.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_MUST_BE_REORDERD \n
- 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
-returnValue Indexlist_addNumber(	Indexlist* _THIS,
-									int addnumber			/**< Number to be added. */
-									);
-
-/** Removes number from index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_removeNumber(	Indexlist* _THIS,
-									int removenumber	/**< Number to be removed. */
-									);
-
-/** Swaps two numbers within index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
-									int number1,		/**< First number for swapping. */
-									int number2			/**< Second number for swapping. */
-									);
-
-/** Determines if a given number is contained in the index set.
- *	\return BT_TRUE iff number is contain in the index set */
-static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
-												int _number		/**< Number to be tested for membership. */
-												);
-
-
-/** Find first index j between -1 and length in sorted list of indices
- *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
- *  bisection.
- *  \return j. */
-int Indexlist_findInsert(	Indexlist* _THIS,
-							int i
-							);
-
-
-
-/*
- *	g e t N u m b e r
- */
-static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
-{
-	/* consistency check */
-	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
-		return -RET_INDEXLIST_OUTOFBOUNDS;
-
-	return _THIS->number[physicalindex];
-}
-
-
-/*
- *	g e t L e n g t h
- */
-static inline int Indexlist_getLength( Indexlist* _THIS )
-{
-	return _THIS->length;
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline int Indexlist_getLastNumber( Indexlist* _THIS )
-{
-	return _THIS->number[_THIS->length-1];
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
-{
-	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_INDEXLIST_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Matrices.h b/third_party/acados/include/qpOASES_e/Matrices.h
deleted file mode 100644
index e2a46b3a9d..0000000000
--- a/third_party/acados/include/qpOASES_e/Matrices.h
+++ /dev/null
@@ -1,287 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Matrices.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
- *  including symmetry exploiting specializations.
- */
-
-
-
-#ifndef QPOASES_MATRICES_H
-#define QPOASES_MATRICES_H
-
-#ifdef __USE_SINGLE_PRECISION__
-
-	// single precision
-	#define GEMM sgemm_
-	#define GEMV sgemv_
-//	#define SYR ssyr_
-//	#define SYR2 ssyr2_
-	#define POTRF spotrf_
-
-#else
-
-	// double precision
-	#define GEMM dgemm_
-	#define GEMV dgemv_
-//	#define SYR  dsyr_
-//	#define SYR2 dsyr2_
-	#define POTRF dpotrf_
-
-#endif /* __USE_SINGLE_PRECISION__ */
-
-
-#ifdef EXTERNAL_BLAS
-	// double precision
-	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
-	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-	// single precision
-	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
-	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-#else
-	/** Performs one of the matrix-matrix operation in double precision. */
-	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
-			const double*, double*, const unsigned long* );
-	/** Performs one of the matrix-matrix operation in single precision. */
-	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
-			const float*, float*, const unsigned long* );
-
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
-	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
-	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
-
-#endif
-
-	/** Performs a symmetric rank 1 operation in double precision. */
-//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
-//				 const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 1 operation in single precision. */
-//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
-//				 const unsigned long *, float *, const unsigned long *);
-
-	/** Performs a symmetric rank 2 operation in double precision. */
-//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
-//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 2 operation in single precision. */
-//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
-//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
- *
- *	Dense matrix class (row major format).
- *
- *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2011-2015
- */
-typedef struct
-{
-	real_t *val;				/**< Vector of entries. */
-	int nRows;					/**< Number of rows. */
-	int nCols;					/**< Number of columns. */
-	int leaDim;					/**< Leading dimension. */
-} DenseMatrix;
-
-int DenseMatrix_calculateMemorySize( int m, int n );
-
-char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
-
-DenseMatrix *DenseMatrix_createMemory( int m, int n );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-void DenseMatrixCON(	DenseMatrix* _THIS,
-						int m,			/**< Number of rows. */
-						int n,			/**< Number of columns. */
-						int lD,			/**< Leading dimension. */
-						real_t *v		/**< Values. */
-						);
-
-void DenseMatrixCPY(	DenseMatrix* FROM,
-						DenseMatrix* TO
-						);
-
-
-/** Frees all internal memory. */
-void DenseMatrix_free( DenseMatrix* _THIS );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-returnValue DenseMatrix_init(	DenseMatrix* _THIS,
-								int m,			/**< Number of rows. */
-								int n,			/**< Number of columns. */
-								int lD,			/**< Leading dimension. */
-								real_t *v		/**< Values. */
-								);
-
-
-/** Returns i-th diagonal entry.
- *	\return i-th diagonal entry */
-real_t DenseMatrix_diag(	DenseMatrix* _THIS,
-							int i			/**< Index. */
-							);
-
-/** Checks whether matrix is square and diagonal.
- *	\return BT_TRUE  iff matrix is square and diagonal; \n
- *	        BT_FALSE otherwise. */
-BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
-
-/** Get the N-norm of the matrix
- *  \return N-norm of the matrix
- */
-real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
-							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-							);
-
-/** Get the N-norm of a row
- *  \return N-norm of row \a rNum
- */
-real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
-								int rNum,			/**< Row number. */
-								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-								);
-
-/** Retrieve indexed entries of matrix row multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
-								int rNum,						/**< Row number. */
-								const Indexlist* const icols,	/**< Index list specifying columns. */
-								real_t alpha,					/**< Scalar factor. */
-								real_t *row						/**< Output row vector. */
-								);
-
-/** Retrieve indexed entries of matrix column multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
-									int cNum,						/**< Column number. */
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									real_t alpha,					/**< Scalar factor. */
-									real_t *col						/**< Output column vector. */
-									);
-
-/** Evaluate Y=alpha*A*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_times(	DenseMatrix* _THIS,
-								int xN,					/**< Number of vectors to multiply. */
-								real_t alpha,			/**< Scalar factor for matrix vector product. */
-								const real_t *x,		/**< Input vector to be multiplied. */
-								int xLD,				/**< Leading dimension of input x. */
-								real_t beta,			/**< Scalar factor for y. */
-								real_t *y,				/**< Output vector of results. */
-								int yLD					/**< Leading dimension of output y. */
-								);
-
-/** Evaluate Y=alpha*A'*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
-									int xN,				/**< Number of vectors to multiply. */
-									real_t alpha,		/**< Scalar factor for matrix vector product. */
-									const real_t *x,	/**< Input vector to be multiplied. */
-									int xLD,			/**< Leading dimension of input x. */
-									real_t beta,		/**< Scalar factor for y. */
-									real_t *y,			/**< Output vector of results. */
-									int yLD				/**< Leading dimension of output y. */
-									);
-
-/** Evaluate matrix vector product with submatrix given by Indexlist.
- *	\return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									const Indexlist* const icols,	/**< Index list specifying columns. */
-									int xN,							/**< Number of vectors to multiply. */
-									real_t alpha,					/**< Scalar factor for matrix vector product. */
-									const real_t *x,				/**< Input vector to be multiplied. */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t beta,					/**< Scalar factor for y. */
-									real_t *y,						/**< Output vector of results. */
-									int yLD,						/**< Leading dimension of output y. */
-									BooleanType yCompr 				/**< Compressed storage for y. */
-									);
-
-/** Evaluate matrix transpose vector product.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
-										const Indexlist* const irows,	/**< Index list specifying rows. */
-										const Indexlist* const icols,	/**< Index list specifying columns. */
-										int xN,							/**< Number of vectors to multiply. */
-										real_t alpha,					/**< Scalar factor for matrix vector product. */
-										const real_t *x,				/**< Input vector to be multiplied. */
-										int xLD,						/**< Leading dimension of input x. */
-										real_t beta,					/**< Scalar factor for y. */
-										real_t *y,						/**< Output vector of results. */
-										int yLD							/**< Leading dimension of output y. */
-										);
-
-/** Adds given offset to diagonal of matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_NO_DIAGONAL_AVAILABLE */
-returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
-									real_t alpha		/**< Diagonal offset. */
-									);
-
-/** Prints matrix to screen.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_print(	DenseMatrix* _THIS
-								);
-
-static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
-
-/** Compute bilinear form y = x'*H*x using submatrix given by index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
-									const Indexlist* const icols,	/**< Index list specifying columns of x. */
-									int xN,							/**< Number of vectors to multiply. */
-									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t *y,						/**< Output vector of results (compressed). */
-									int yLD							/**< Leading dimension of output y. */
-									);
-
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_MATRICES_H */
diff --git a/third_party/acados/include/qpOASES_e/MessageHandling.h b/third_party/acados/include/qpOASES_e/MessageHandling.h
deleted file mode 100644
index fe5524948a..0000000000
--- a/third_party/acados/include/qpOASES_e/MessageHandling.h
+++ /dev/null
@@ -1,544 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/MessageHandling.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching)
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the MessageHandling class including global return values.
- */
-
-
-#ifndef QPOASES_MESSAGEHANDLING_H
-#define QPOASES_MESSAGEHANDLING_H
-
-
-#include <stdio.h>
-#include <string.h>
-#include <math.h>
-#include <assert.h>
-
-#include <qpOASES_e/Constants.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Default file to display messages. */
-#define stdFile stderr
-
-
-/**
- *	\brief Defines all symbols for global return values.
- *	
- *  The enumeration returnValueType defines all symbols for global return values.
- *	Important: All return values are assumed to be nonnegative!
- *
- *	\author Hans Joachim Ferreau
- */
-typedef enum 
-{
-TERMINAL_LIST_ELEMENT = -1,						/**< Terminal list element, internal usage only! */
-/* miscellaneous */
-SUCCESSFUL_RETURN = 0,							/**< Successful return. */
-RET_DIV_BY_ZERO,		   						/**< Division by zero. */
-RET_INDEX_OUT_OF_BOUNDS,						/**< Index out of bounds. */
-RET_INVALID_ARGUMENTS,							/**< At least one of the arguments is invalid. */
-RET_ERROR_UNDEFINED,							/**< Error number undefined. */
-RET_WARNING_UNDEFINED,							/**< Warning number undefined. */
-RET_INFO_UNDEFINED,								/**< Info number undefined. */
-RET_EWI_UNDEFINED,								/**< Error/warning/info number undefined. */
-RET_AVAILABLE_WITH_LINUX_ONLY,					/**< This function is available under Linux only. */
-RET_UNKNOWN_BUG,								/**< The error occurred is not yet known. */
-RET_PRINTLEVEL_CHANGED,							/**< Print level changed. (10) */
-RET_NOT_YET_IMPLEMENTED,						/**< Requested function is not yet implemented in this version of qpOASES. */
-/* Indexlist */
-RET_INDEXLIST_MUST_BE_REORDERD,					/**< Index list has to be reordered. */
-RET_INDEXLIST_EXCEEDS_MAX_LENGTH,				/**< Index list exceeds its maximal physical length. */
-RET_INDEXLIST_CORRUPTED,						/**< Index list corrupted. */
-RET_INDEXLIST_OUTOFBOUNDS,						/**< Physical index is out of bounds. */
-RET_INDEXLIST_ADD_FAILED,						/**< Adding indices from another index set failed. */
-RET_INDEXLIST_INTERSECT_FAILED,					/**< Intersection with another index set failed. */
-/* SubjectTo / Bounds / Constraints */
-RET_INDEX_ALREADY_OF_DESIRED_STATUS,			/**< Index is already of desired status. (18) */
-RET_ADDINDEX_FAILED,							/**< Adding index to index set failed. */
-RET_REMOVEINDEX_FAILED,							/**< Removing index from index set failed. (20) */
-RET_SWAPINDEX_FAILED,							/**< Cannot swap between different indexsets. */
-RET_NOTHING_TO_DO,								/**< Nothing to do. */
-RET_SETUP_BOUND_FAILED,							/**< Setting up bound index failed. */
-RET_SETUP_CONSTRAINT_FAILED,					/**< Setting up constraint index failed. */
-RET_MOVING_BOUND_FAILED,						/**< Moving bound between index sets failed. */
-RET_MOVING_CONSTRAINT_FAILED,					/**< Moving constraint between index sets failed. */
-RET_SHIFTING_FAILED,							/**< Shifting of bounds/constraints failed. */
-RET_ROTATING_FAILED,							/**< Rotating of bounds/constraints failed. */
-/* QProblem */
-RET_QPOBJECT_NOT_SETUP,							/**< The QP object has not been setup correctly, use another constructor. */
-RET_QP_ALREADY_INITIALISED,						/**< QProblem has already been initialised. (30) */
-RET_NO_INIT_WITH_STANDARD_SOLVER,				/**< Initialisation via extern QP solver is not yet implemented. */
-RET_RESET_FAILED,								/**< Reset failed. */
-RET_INIT_FAILED,								/**< Initialisation failed. */
-RET_INIT_FAILED_TQ,								/**< Initialisation failed due to TQ factorisation. */
-RET_INIT_FAILED_CHOLESKY,						/**< Initialisation failed due to Cholesky decomposition. */
-RET_INIT_FAILED_HOTSTART,						/**< Initialisation failed! QP could not be solved! */
-RET_INIT_FAILED_INFEASIBILITY,					/**< Initial QP could not be solved due to infeasibility! */
-RET_INIT_FAILED_UNBOUNDEDNESS,					/**< Initial QP could not be solved due to unboundedness! */
-RET_INIT_FAILED_REGULARISATION,					/**< Initialisation failed as Hessian matrix could not be regularised. */
-RET_INIT_SUCCESSFUL,							/**< Initialisation done. (40) */
-RET_OBTAINING_WORKINGSET_FAILED,				/**< Failed to obtain working set for auxiliary QP. */
-RET_SETUP_WORKINGSET_FAILED,					/**< Failed to setup working set for auxiliary QP. */
-RET_SETUP_AUXILIARYQP_FAILED,					/**< Failed to setup auxiliary QP for initialised homotopy. */
-RET_NO_CHOLESKY_WITH_INITIAL_GUESS,				/**< Externally computed Cholesky factor cannot be combined with an initial guess. */
-RET_NO_EXTERN_SOLVER,							/**< No extern QP solver available. */
-RET_QP_UNBOUNDED,								/**< QP is unbounded. */
-RET_QP_INFEASIBLE,								/**< QP is infeasible. */
-RET_QP_NOT_SOLVED,								/**< Problems occurred while solving QP with standard solver. */
-RET_QP_SOLVED,									/**< QP successfully solved. */
-RET_UNABLE_TO_SOLVE_QP,							/**< Problems occurred while solving QP. (50) */
-RET_INITIALISATION_STARTED,						/**< Starting problem initialisation... */
-RET_HOTSTART_FAILED,							/**< Unable to perform homotopy due to internal error. */
-RET_HOTSTART_FAILED_TO_INIT,					/**< Unable to initialise problem. */
-RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,		/**< Unable to perform homotopy as previous QP is not solved. */
-RET_ITERATION_STARTED,							/**< Iteration... */
-RET_SHIFT_DETERMINATION_FAILED,					/**< Determination of shift of the QP data failed. */
-RET_STEPDIRECTION_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_STEPLENGTH_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_OPTIMAL_SOLUTION_FOUND,						/**< Optimal solution of neighbouring QP found. */
-RET_HOMOTOPY_STEP_FAILED,						/**< Unable to perform homotopy step. (60) */
-RET_HOTSTART_STOPPED_INFEASIBILITY,				/**< Premature homotopy termination because QP is infeasible. */
-RET_HOTSTART_STOPPED_UNBOUNDEDNESS,				/**< Premature homotopy termination because QP is unbounded. */
-RET_WORKINGSET_UPDATE_FAILED,					/**< Unable to update working sets according to initial guesses. */
-RET_MAX_NWSR_REACHED,							/**< Maximum number of working set recalculations performed. */
-RET_CONSTRAINTS_NOT_SPECIFIED,					/**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
-RET_INVALID_FACTORISATION_FLAG,					/**< Invalid factorisation flag. */
-RET_UNABLE_TO_SAVE_QPDATA,						/**< Unable to save QP data. */
-RET_STEPDIRECTION_FAILED_TQ,					/**< Abnormal termination due to TQ factorisation. */
-RET_STEPDIRECTION_FAILED_CHOLESKY,				/**< Abnormal termination due to Cholesky factorisation. */
-RET_CYCLING_DETECTED,							/**< Cycling detected. (70) */
-RET_CYCLING_NOT_RESOLVED,						/**< Cycling cannot be resolved, QP probably infeasible. */
-RET_CYCLING_RESOLVED,							/**< Cycling probably resolved. */
-RET_STEPSIZE,									/**< For displaying performed stepsize. */
-RET_STEPSIZE_NONPOSITIVE,						/**< For displaying non-positive stepsize. */
-RET_SETUPSUBJECTTOTYPE_FAILED,					/**< Setup of SubjectToTypes failed. */
-RET_ADDCONSTRAINT_FAILED,						/**< Addition of constraint to working set failed. */
-RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,			/**< Addition of constraint to working set failed (due to QP infeasibility). */
-RET_ADDBOUND_FAILED,							/**< Addition of bound to working set failed. */
-RET_ADDBOUND_FAILED_INFEASIBILITY,				/**< Addition of bound to working set failed (due to QP infeasibility). */
-RET_REMOVECONSTRAINT_FAILED,					/**< Removal of constraint from working set failed. (80) */
-RET_REMOVEBOUND_FAILED,							/**< Removal of bound from working set failed. */
-RET_REMOVE_FROM_ACTIVESET,						/**< Removing from active set... */
-RET_ADD_TO_ACTIVESET,							/**< Adding to active set... */
-RET_REMOVE_FROM_ACTIVESET_FAILED,				/**< Removing from active set failed. */
-RET_ADD_TO_ACTIVESET_FAILED,					/**< Adding to active set failed. */
-RET_CONSTRAINT_ALREADY_ACTIVE,					/**< Constraint is already active. */
-RET_ALL_CONSTRAINTS_ACTIVE,						/**< All constraints are active, no further constraint can be added. */
-RET_LINEARLY_DEPENDENT,							/**< New bound/constraint is linearly dependent. */
-RET_LINEARLY_INDEPENDENT,						/**< New bound/constraint is linearly independent. */
-RET_LI_RESOLVED,								/**< Linear independence of active constraint matrix successfully resolved. (90) */
-RET_ENSURELI_FAILED,							/**< Failed to ensure linear independence of active constraint matrix. */
-RET_ENSURELI_FAILED_TQ,							/**< Abnormal termination due to TQ factorisation. */
-RET_ENSURELI_FAILED_NOINDEX,					/**< QP is infeasible. */
-RET_ENSURELI_FAILED_CYCLING,					/**< QP is infeasible. */
-RET_BOUND_ALREADY_ACTIVE,						/**< Bound is already active. */
-RET_ALL_BOUNDS_ACTIVE,							/**< All bounds are active, no further bound can be added. */
-RET_CONSTRAINT_NOT_ACTIVE,						/**< Constraint is not active. */
-RET_BOUND_NOT_ACTIVE,							/**< Bound is not active. */
-RET_HESSIAN_NOT_SPD,							/**< Projected Hessian matrix not positive definite. */
-RET_HESSIAN_INDEFINITE,							/**< Hessian matrix is indefinite. (100) */
-RET_MATRIX_SHIFT_FAILED,						/**< Unable to update matrices or to transform vectors. */
-RET_MATRIX_FACTORISATION_FAILED,				/**< Unable to calculate new matrix factorisations. */
-RET_PRINT_ITERATION_FAILED,						/**< Unable to print information on current iteration. */
-RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,				/**< No global message output file initialised. */
-RET_DISABLECONSTRAINTS_FAILED,					/**< Unable to disbable constraints. */
-RET_ENABLECONSTRAINTS_FAILED,					/**< Unable to enbable constraints. */
-RET_ALREADY_ENABLED,							/**< Bound or constraint is already enabled. */
-RET_ALREADY_DISABLED,							/**< Bound or constraint is already disabled. */
-RET_NO_HESSIAN_SPECIFIED, 						/**< No Hessian matrix has been specified. */
-RET_USING_REGULARISATION,						/**< Using regularisation as Hessian matrix is not positive definite. (110) */
-RET_EPS_MUST_BE_POSITVE,						/**< Eps for regularisation must be sufficiently positive. */
-RET_REGSTEPS_MUST_BE_POSITVE, 					/**< Maximum number of regularisation steps must be non-negative. */
-RET_HESSIAN_ALREADY_REGULARISED,				/**< Hessian has been already regularised. */
-RET_CANNOT_REGULARISE_IDENTITY,					/**< Identity Hessian matrix cannot be regularised. */
-RET_CANNOT_REGULARISE_SPARSE,					/**< Sparse matrix cannot be regularised as diagonal entry is missing. */
-RET_NO_REGSTEP_NWSR,							/**< No additional regularisation step could be performed due to limits. */
-RET_FEWER_REGSTEPS_NWSR,						/**< Fewer additional regularisation steps have been performed due to limits. */
-RET_CHOLESKY_OF_ZERO_HESSIAN, 					/**< Cholesky decomposition of (unregularised) zero Hessian matrix. */
-RET_ZERO_HESSIAN_ASSUMED,						/**< Zero Hessian matrix assumed as null pointer passed without specifying hessianType. */
-RET_CONSTRAINTS_ARE_NOT_SCALED, 				/**< (no longer in use) (120) */
-RET_INITIAL_BOUNDS_STATUS_NYI, 					/**< (no longer in use) */
-RET_ERROR_IN_CONSTRAINTPRODUCT,					/**< Error in user-defined constraint product function. */
-RET_FIX_BOUNDS_FOR_LP,							/**< All initial bounds must be fixed when solving an (unregularised) LP. */
-RET_USE_REGULARISATION_FOR_LP,					/**< Set options.enableRegularisation=BT_TRUE for solving LPs. */
-/* SQProblem */
-RET_UPDATEMATRICES_FAILED,						/**< Unable to update QP matrices. */
-RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,		/**< Unable to update matrices as previous QP is not solved. */
-/* Utils */
-RET_UNABLE_TO_OPEN_FILE,						/**< Unable to open file. */
-RET_UNABLE_TO_WRITE_FILE,						/**< Unable to write into file. */
-RET_UNABLE_TO_READ_FILE,						/**< Unable to read from file. */
-RET_FILEDATA_INCONSISTENT,						/**< File contains inconsistent data. (130) */
-/* Options */
-RET_OPTIONS_ADJUSTED,							/**< Options needed to be adjusted for consistency reasons. */
-/* SolutionAnalysis */
-RET_UNABLE_TO_ANALYSE_QPROBLEM, 				/**< Unable to analyse (S)QProblem(B) object. */
-/* Benchmark */
-RET_NWSR_SET_TO_ONE,							/**< Maximum number of working set changes was set to 1. */
-RET_UNABLE_TO_READ_BENCHMARK,					/**< Unable to read benchmark data. */
-RET_BENCHMARK_ABORTED,							/**< Benchmark aborted. */
-RET_INITIAL_QP_SOLVED,							/**< Initial QP solved. */
-RET_QP_SOLUTION_STARTED,						/**< Solving QP... */
-RET_BENCHMARK_SUCCESSFUL,						/**< Benchmark terminated successfully. */
-/* Sparse matrices */
-RET_NO_DIAGONAL_AVAILABLE,						/**< Sparse matrix does not have entries on full diagonal. */
-RET_DIAGONAL_NOT_INITIALISED,					/**< Diagonal data of sparse matrix has not been initialised. (140) */
-/* Dropping of infeasible constraints */
-RET_ENSURELI_DROPPED,							/**< Linear independence resolved by dropping blocking constraint. */
-/* Simple exitflags */
-RET_SIMPLE_STATUS_P1,							/**< QP problem could not be solved within given number of iterations. */
-RET_SIMPLE_STATUS_P0,							/**< QP problem solved. */
-RET_SIMPLE_STATUS_M1,							/**< QP problem could not be solved due to an internal error. */
-RET_SIMPLE_STATUS_M2,							/**< QP problem is infeasible (and thus could not be solved). */
-RET_SIMPLE_STATUS_M3 							/**< QP problem is unbounded (and thus could not be solved). (146) */
-} returnValue;
-
-
-/**
- *	\brief Data structure for entries in global message list.
- *	
- *	Data structure for entries in global message list.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	returnValue key;							/**< Global return value. */
-	const char* data;							/**< Corresponding message. */
-	VisibilityStatus globalVisibilityStatus; 	/**< Determines if message can be printed.
-												* 	 If this value is set to VS_HIDDEN, no message is printed! */
-} ReturnValueList;
-
-
-
-/** 
- *	\brief Handles all kind of error messages, warnings and other information.
- *
- *	This class handles all kinds of messages (errors, warnings, infos) initiated
- *  by qpOASES modules and stores the corresponding global preferences.
- *
- *	\author Hans Joachim Ferreau (thanks to Leonard Wirsching)
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	VisibilityStatus errorVisibility;		/**< Error messages visible? */
-	VisibilityStatus warningVisibility;		/**< Warning messages visible? */
-	VisibilityStatus infoVisibility;		/**< Info messages visible? */
-
-	FILE* outputFile;						/**< Output file for messages. */
-
-	int errorCount; 						/**< Counts number of errors (for nicer output only). */
-} MessageHandling;
-
-
-
-/** Constructor which takes the desired output file and desired visibility states. */
-void MessageHandlingCON(	MessageHandling* _THIS,
-							FILE* _outputFile,					/**< Output file. */
-							VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
-							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
-							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
-							);
-
-void MessageHandlingCPY(	MessageHandling* FROM,
-							MessageHandling* TO
-							);
-
-
-/** Prints an error message(a simplified macro THROWERROR is also provided). \n
- *  Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
- *  Errors of a sub function should be commented by the calling function by means of a warning message
- *  (if this error does not cause an error of the calling function, either)!
- *  \return Error number returned by sub function call
- */
-returnValue MessageHandling_throwError(	MessageHandling* _THIS,
-										returnValue Enumber,					/**< Error number returned by sub function call. */
-										const char* additionaltext,				/**< Additional error text (0, if none). */
-										const char* functionname,				/**< Name of function which caused the error. */
-										const char* filename,					/**< Name of file which caused the error. */
-										const unsigned long linenumber,			/**< Number of line which caused the error.incompatible binary file */
-										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if error message can be printed to stderr.
-																			*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																			*   no message is printed, anyway! */
-										);
-
-/** Prints a warning message (a simplified macro THROWWARNING is also provided).
- *  Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
- *  \return Warning number returned by sub function call
- */
-returnValue MessageHandling_throwWarning(	MessageHandling* _THIS,
-											returnValue Wnumber,	 				/**< Warning number returned by sub function call. */
-											const char* additionaltext,				/**< Additional warning text (0, if none). */
-											const char* functionname,				/**< Name of function which caused the warning. */
-											const char* filename,   				/**< Name of file which caused the warning. */
-											const unsigned long linenumber,	 		/**< Number of line which caused the warning. */
-											VisibilityStatus localVisibilityStatus	/**< Determines (locally) if warning message can be printed to stderr.
-																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																					*   no message is printed, anyway! */
-											);
-
-/** Prints a info message (a simplified macro THROWINFO is also provided).
- *  \return Info number returned by sub function call
- */
-returnValue MessageHandling_throwInfo(	MessageHandling* _THIS,
-										returnValue Inumber,	 				/**< Info number returned by sub function call. */
-										const char* additionaltext,	 			/**< Additional warning text (0, if none). */
-										const char* functionname,				/**< Name of function which submitted the info. */
-										const char* filename,   				/**< Name of file which submitted the info. */
-										const unsigned long linenumber,			/**< Number of line which submitted the info. */
-										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if info message can be printed to stderr.
-																				*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																				*   no message is printed, anyway! */
-										);
-
-
-/** Resets all preferences to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue MessageHandling_reset( MessageHandling* _THIS );
-
-
-/** Prints a complete list of all messages to output file.
- *	\return SUCCESSFUL_RETURN */
-returnValue MessageHandling_listAllMessages( MessageHandling* _THIS );
-
-
-/** Returns visibility status for error messages.
- *	\return Visibility status for error messages. */
-static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns visibility status for warning messages.
- *	\return Visibility status for warning messages. */
-static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns visibility status for info messages.
- *	\return Visibility status for info messages. */
-static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns pointer to output file.
- *	\return Pointer to output file. */
-static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS );
-
-/** Returns error count value.
- *	\return Error count value. */
-static inline int MessageHandling_getErrorCount( MessageHandling* _THIS );
-
-
-/** Changes visibility status for error messages. */
-static inline void MessageHandling_setErrorVisibilityStatus(	MessageHandling* _THIS,
-														VisibilityStatus _errorVisibility	/**< New visibility status for error messages. */
-														);
-
-/** Changes visibility status for warning messages. */
-static inline void MessageHandling_setWarningVisibilityStatus(	MessageHandling* _THIS,
-																VisibilityStatus _warningVisibility	/**< New visibility status for warning messages. */
-																);
-
-/** Changes visibility status for info messages. */
-static inline void MessageHandling_setInfoVisibilityStatus(	MessageHandling* _THIS,
-															VisibilityStatus _infoVisibility	/**< New visibility status for info messages. */
-															);
-
-/** Changes output file for messages. */
-static inline void MessageHandling_setOutputFile(	MessageHandling* _THIS,
-													FILE* _outputFile	/**< New output file for messages. */
-													);
-
-/** Changes error count.
- * \return SUCCESSFUL_RETURN \n
- *		   RET_INVALID_ARGUMENT */
-static inline returnValue MessageHandling_setErrorCount(	MessageHandling* _THIS,
-															int _errorCount	/**< New error count value. */
-															);
-
-/** Provides message text corresponding to given \a returnValue.
- * \return String containing message text. */
-const char* MessageHandling_getErrorCodeMessage(	MessageHandling* _THIS,
-													const returnValue _returnValue
-													);
-
-
-returnValue MessageHandling_throwMessage(	MessageHandling* _THIS,
-											returnValue RETnumber,	 				/**< Error/warning/info number returned by sub function call. */
-											const char* additionaltext,				/**< Additional warning text (0, if none). */
-											const char* functionname,				/**< Name of function which caused the error/warning/info. */
-											const char* filename,   				/**< Name of file which caused the error/warning/info. */
-											const unsigned long linenumber,			/**< Number of line which caused the error/warning/info. */
-											VisibilityStatus localVisibilityStatus,	/**< Determines (locally) if info message can be printed to stderr.
-																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																					*   no message is printed, anyway! */
-											const char* RETstring					/**< Leading string of error/warning/info message. */
-											);
-
-
-#ifndef __FILE__
-  /** Ensures that __FILE__ macro is defined. */
-  #define __FILE__ 0
-#endif
-
-#ifndef __LINE__
-  /** Ensures that __LINE__ macro is defined. */
-  #define __LINE__ 0
-#endif
-
-/** Define __FUNC__ macro providing current function for debugging. */
-/*#define __FUNC__ 0*/
-#define __FUNC__ ("(no function name provided)")
-/*#define __FUNC__ __func__*/
-/*#define __FUNC__ __FUNCTION__*/
-
-
-/** Short version of throwError with default values, only returnValue is needed */
-#define THROWERROR(retval) ( MessageHandling_throwError( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwWarning with default values, only returnValue is needed */
-#define THROWWARNING(retval) ( MessageHandling_throwWarning( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwInfo with default values, only returnValue is needed */
-#define THROWINFO(retval) ( MessageHandling_throwInfo( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-
-/** Returns a pointer to global message handler.
- *  \return Pointer to global message handler.
- */
-MessageHandling* qpOASES_getGlobalMessageHandler( );
-
-
-/*
- *	g e t E r r o r V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->errorVisibility;
-}
-
-
-/*
- *	g e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->warningVisibility;
-}
-
-
-/*
- *	g e t I n f o V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->infoVisibility;
-}
-
-
-/*
- *	g e t O u t p u t F i l e
- */
-static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS )
-{
- 	return _THIS->outputFile;
-}
-
-
-/*
- *	g e t E r r o r C o u n t
- */
-static inline int MessageHandling_getErrorCount( MessageHandling* _THIS )
-{
- 	return _THIS->errorCount;
-}
-
-
-/*
- *	s e t E r r o r V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _errorVisibility )
-{
- 	_THIS->errorVisibility = _errorVisibility;
-}
-
-
-/*
- *	s e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _warningVisibility )
-{
- 	_THIS->warningVisibility = _warningVisibility;
-}
-
-
-/*
- *	s e t I n f o V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _infoVisibility )
-{
- 	_THIS->infoVisibility = _infoVisibility;
-}
-
-
-/*
- *	s e t O u t p u t F i l e
- */
-static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, FILE* _outputFile )
-{
- 	_THIS->outputFile = _outputFile;
-}
-
-
-/*
- *	s e t E r r o r C o u n t
- */
-static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, int _errorCount )
-{
-	if ( _errorCount >= 0 )
-	{
-		_THIS->errorCount = _errorCount;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return RET_INVALID_ARGUMENTS;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif /* QPOASES_MESSAGEHANDLING_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Options.h b/third_party/acados/include/qpOASES_e/Options.h
deleted file mode 100644
index ca8086d2cc..0000000000
--- a/third_party/acados/include/qpOASES_e/Options.h
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Options.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_OPTIONS_H
-#define QPOASES_OPTIONS_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages all user-specified options for solving QPs.
- *
- *	This class manages all user-specified options used for solving
- *	quadratic programs.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	PrintLevel printLevel;					/**< Print level. */
-
-	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
-	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
-	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
-	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
-	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
-	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
-	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
-	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
-	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
-
-	real_t terminationTolerance;			/**< Termination tolerance. */
-	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
-	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
-	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
-	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
-	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
-	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
-
-	real_t initialRamping;					/**< Start value for Ramping Strategy. */
-	real_t finalRamping;					/**< Final value for Ramping Strategy. */
-	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
-	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
-	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
-	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
-	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
-	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
-	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
-	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
-	real_t epsLITests;						/**< Tolerance for linear independence tests. */
-	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
-
-	BooleanType enableDropInfeasibles;		/**< ... */
-	int    dropBoundPriority;				/**< ... */
-	int    dropEqConPriority;				/**< ... */
-	int    dropIneqConPriority;				/**< ... */
-} Options;
-
-
-void OptionsCON(	Options* _THIS
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void OptionsCPY(	Options* FROM,
-					Options* TO
-					);
-
-
-/** Sets all options to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToDefault(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in maximum reliabilty.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToReliable(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in minimum solution time.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToMPC(		Options* _THIS
-									);
-
-/** Same as setToMPC( ), for ensuring backwards compatibility.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToFast(		Options* _THIS
-									);
-
-
-/** Ensures that all options have consistent values by automatically
- *	adjusting inconsistent ones.
- *	Note: This routine cannot (and does not try to) ensure that values
- *	      are set to reasonable values that make the QP solution work!
- *	\return SUCCESSFUL_RETURN \n 
- *		    RET_OPTIONS_ADJUSTED */
-returnValue Options_ensureConsistency(	Options* _THIS
-										);
-
-
-/** Prints values of all options.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_print(	Options* _THIS
-							);
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OPTIONS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/QProblem.h b/third_party/acados/include/qpOASES_e/QProblem.h
deleted file mode 100644
index 91a4a6f396..0000000000
--- a/third_party/acados/include/qpOASES_e/QProblem.h
+++ /dev/null
@@ -1,2369 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/QProblem.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the QProblem class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming.
- */
-
-
-
-#ifndef QPOASES_QPROBLEM_H
-#define QPOASES_QPROBLEM_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Options.h>
-#include <qpOASES_e/Matrices.h>
-#include <qpOASES_e/Constraints.h>
-#include <qpOASES_e/Flipper.h>
-#include <qpOASES_e/ConstraintProduct.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	Bounds *auxiliaryBounds;
-	Constraints *auxiliaryConstraints;
-
-	real_t *ub_new_far;
-	real_t *lb_new_far;
-	real_t *ubA_new_far;
-	real_t *lbA_new_far;
-
-	real_t *g_new;
-	real_t *lb_new;
-	real_t *ub_new;
-	real_t *lbA_new;
-	real_t *ubA_new;
-
-	real_t *g_new2;
-	real_t *lb_new2;
-	real_t *ub_new2;
-	real_t *lbA_new2;
-	real_t *ubA_new2;
-
-	real_t *delta_xFX5;
-	real_t *delta_xFR5;
-	real_t *delta_yAC5;
-	real_t *delta_yFX5;
-
-	real_t *Hx;
-
-	real_t *_H;
-
-	real_t *g_original;
-	real_t *lb_original;
-	real_t *ub_original;
-	real_t *lbA_original;
-	real_t *ubA_original;
-
-	real_t *delta_xFR;
-	real_t *delta_xFX;
-	real_t *delta_yAC;
-	real_t *delta_yFX;
-	real_t *delta_g;
-	real_t *delta_lb;
-	real_t *delta_ub;
-	real_t *delta_lbA;
-	real_t *delta_ubA;
-
-	real_t *gMod;
-
-	real_t *aFR;
-	real_t *wZ;
-
-	real_t *delta_g2;
-	real_t *delta_xFX2;
-	real_t *delta_xFR2;
-	real_t *delta_yAC2;
-	real_t *delta_yFX2;
-	real_t *nul;
-	real_t *Arow;
-
-	real_t *xiC;
-	real_t *xiC_TMP;
-	real_t *xiB;
-	real_t *Arow2;
-	real_t *num;
-
-	real_t *w;
-	real_t *tmp;
-
-	real_t *delta_g3;
-	real_t *delta_xFX3;
-	real_t *delta_xFR3;
-	real_t *delta_yAC3;
-	real_t *delta_yFX3;
-	real_t *nul2;
-
-	real_t *xiC2;
-	real_t *xiC_TMP2;
-	real_t *xiB2;
-	real_t *num2;
-
-	real_t *Hz;
-	real_t *z;
-	real_t *ZHz;
-	real_t *r;
-
-	real_t *tmp2;
-	real_t *Hz2;
-	real_t *z2;
-	real_t *r2;
-	real_t *rhs;
-
-	real_t *delta_xFX4;
-	real_t *delta_xFR4;
-	real_t *delta_yAC4;
-	real_t *delta_yFX4;
-	real_t *nul3;
-	real_t *ek;
-	real_t *x_W;
-	real_t *As;
-	real_t *Ax_W;
-
-	real_t *num3;
-	real_t *den;
-	real_t *delta_Ax_l;
-	real_t *delta_Ax_u;
-	real_t *delta_Ax;
-	real_t *delta_x;
-
-	real_t *_A;
-
-	real_t *grad;
-	real_t *AX;
-} QProblem_ws;
-
-int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory );
-
-QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC );
-
-/**
- *	\brief Implements the online active set strategy for QPs with general constraints.
- *
- *	A class for setting up and solving quadratic programs. The main feature is
- *	the possibily to use the newly developed online active set strategy for
- * 	parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	QProblem_ws *ws;				/**< Workspace */
-	Bounds *bounds;					/**< Data structure for problem's bounds. */
-	Constraints *constraints;		/**< Data structure for problem's constraints. */
-	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
-
-	DenseMatrix* H;					/**< Hessian matrix pointer. */
-	DenseMatrix* A;					/**< Constraint matrix pointer. */
-
-	Options options;				/**< Struct containing all user-defined options for solving QPs. */
-	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
-
-	real_t *g;						/**< Gradient. */
-
-	real_t *lb;						/**< Lower bound vector (on variables). */
-	real_t *ub;						/**< Upper bound vector (on variables). */
-	real_t *lbA;					/**< Lower constraints' bound vector. */
-	real_t *ubA;					/**< Upper constraints' bound vector. */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-
-	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
-	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-
-	real_t *Ax;						/**< Stores the current A*x \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_l;					/**< Stores the current distance to lower constraints' bounds A*x-lbA \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_u;					/**< Stores the current distance to lower constraints' bounds ubA-A*x \n
-									 *	 (for increased efficiency only). */
-
-	real_t *x;						/**< Primal solution vector. */
-	real_t *y;						/**< Dual solution vector. */
-
-	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
-	real_t *tempA;					/**< Temporary for determineStepDirection. */
-	real_t *tempB;					/**< Temporary for determineStepDirection. */
-	real_t *ZFR_delta_xFRz;			/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRy;				/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRz;				/**< Temporary for determineStepDirection. */
-	real_t *delta_yAC_TMP;			/**< Temporary for determineStepDirection. */
-
-	ConstraintProduct constraintProduct;	/**< Pointer to user-defined constraint product function. */
-
-	real_t tau;						/**< Last homotopy step length. */
-	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
-
-	real_t ramp0;					/**< Start value for Ramping Strategy. */
-	real_t ramp1;					/**< Final value for Ramping Strategy. */
-
-	QProblemStatus status;			/**< Current status of the solution process. */
-	HessianType hessianType;		/**< Type of Hessian matrix. */
-
-	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
-	BooleanType infeasible;			/**< QP infeasible? */
-	BooleanType unbounded;			/**< QP unbounded? */
-
-	int rampOffset;					/**< Offset index for Ramping. */
-	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
-
-	int sizeT;						/**< Matrix T is stored in a (sizeT x sizeT) array. */
-} QProblem;
-
-int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory );
-
-QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC );
-
-
-/** Constructor which takes the QP dimension and Hessian type
- *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
- *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
- *  is allocated for it and a NULL pointer can be passed for it
- *  to the init() functions. */
-void QProblemCON(	QProblem* _THIS,
-					int _nV,	  					/**< Number of variables. */
-					int _nC,		  				/**< Number of constraints. */
-					HessianType _hessianType 		/**< Type of Hessian matrix. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void QProblemCPY(	QProblem* FROM,
-					QProblem* TO
-					);
-
-
-/** Clears all data structures of QProblem except for QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_RESET_FAILED */
-returnValue QProblem_reset( QProblem* _THIS );
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initM(	QProblem* _THIS,
-							DenseMatrix *_H,			/**< Hessian matrix. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							DenseMatrix *_A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_init(	QProblem* _THIS,
-							real_t* const _H, 			/**< Hessian matrix. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							real_t* const _A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data to be read from files and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initF(	QProblem* _THIS,
-							const char* const H_file,	/**< Name of file where Hessian matrix is stored. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const char* const g_file,	/**< Name of file where gradient vector is stored. */
-							const char* const A_file,	/**< Name of file where constraint matrix is stored. */
-							const char* const lb_file,	/**< Name of file where lower bound vector. \n
-															If no lower bounds exist, a NULL pointer can be passed. */
-							const char* const ub_file,	/**< Name of file where upper bound vector. \n
-															If no upper bounds exist, a NULL pointer can be passed. */
-							const char* const lbA_file,	/**< Name of file where lower constraints' bound vector. \n
-															If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const char* const ubA_file,	/**< Name of file where upper constraints' bound vector. \n
-															 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime	 	/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initMW(	QProblem* _THIS,
-								DenseMatrix *_H, 						/**< Hessian matrix. \n
-														    				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const real_t* const _g, 				/**< Gradient vector. */
-								DenseMatrix *_A, 			 			/**< Constraint matrix. */
-								const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations when using initial homotopy.
-																		 *	 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 		 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initW(	QProblem* _THIS,
-							real_t* const _H, 						/**< Hessian matrix. \n
-														    			 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 				/**< Gradient vector. */
-							real_t* const _A,  						/**< Constraint matrix. */
-							const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																	 *	 Output: Number of performed working set recalculations. */
-							real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																		 Output: CPU time spent for QP initialisation. */
-							const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																		 (If a null pointer is passed, the old primal solution is kept!) */
-							const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																		 (If a null pointer is passed, the old dual solution is kept!) */
-							Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-							Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-							const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																		 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																		 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-							);
-
-/** Initialises a QP problem with given QP data to be ream from files and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initFW(	QProblem* _THIS,
-								const char* const H_file,				/**< Name of file where Hessian matrix is stored. \n
-														     				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,				/**< Name of file where gradient vector is stored. */
-								const char* const A_file,				/**< Name of file where constraint matrix is stored. */
-								const char* const lb_file,				/**< Name of file where lower bound vector. \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file,				/**< Name of file where upper bound vector. \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file,				/**< Name of file where lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file,				/**< Name of file where upper constraints' bound vector. \n
-																			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const char* const R_file				/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																		 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_hotstart(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input:  Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime 			/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *	where QP data is read from files. QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartF(	QProblem* _THIS,
-								const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-								const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input:  Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime 		/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblem_hotstartW(	QProblem* _THIS,
-								const real_t* const g_new,				/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,				/**< Lower bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,				/**< Upper bounds of neighbouring QP to be solved. \n
-											 						 		 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,			/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,			/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 								 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of bounds is kept!) */
-								Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of constraints is kept!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartFW(	QProblem* _THIS,
-									const char* const g_file, 				/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file, 				/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 				/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper bounds exist, a NULL pointer can be passed. */
-									const char* const lbA_file, 			/**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const char* const ubA_file, 			/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-									int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																 				 Output: Number of performed working set recalculations. */
-									real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of bounds is kept!) */
-									Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of constraints is kept!) */
-									);
-
-
-/** Solves using the current working set
- *	\return SUCCESSFUL_RETURN \n
- *			RET_STEPDIRECTION_FAILED_TQ \n
- *			RET_STEPDIRECTION_FAILED_CHOLESKY \n
- *			RET_INVALID_ARGUMENTS */
-returnValue QProblem_solveCurrentEQP (	QProblem* _THIS,
-										const int n_rhs,		/**< Number of consecutive right hand sides */
-										const real_t* g_in,		/**< Gradient of neighbouring QP to be solved. */
-										const real_t* lb_in,	/**< Lower bounds of neighbouring QP to be solved. \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* ub_in,	/**< Upper bounds of neighbouring QP to be solved. \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-										const real_t* lbA_in,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-										const real_t* ubA_in,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n */
-										real_t* x_out,			/**< Output: Primal solution */
-										real_t* y_out			/**< Output: Dual solution */
-										);
-
-
-
-/** Returns current constraints object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getConstraints(	QProblem* _THIS,
-													Constraints* _constraints	/** Output: Constraints object. */
-													);
-
-
-/** Returns the number of constraints.
- *	\return Number of constraints. */
-static inline int QProblem_getNC( QProblem* _THIS );
-
-/** Returns the number of (implicitly defined) equality constraints.
- *	\return Number of (implicitly defined) equality constraints. */
-static inline int QProblem_getNEC( QProblem* _THIS );
-
-/** Returns the number of active constraints.
- *	\return Number of active constraints. */
-static inline int QProblem_getNAC( QProblem* _THIS );
-
-/** Returns the number of inactive constraints.
- *	\return Number of inactive constraints. */
-static inline int QProblem_getNIAC( QProblem* _THIS );
-
-/** Returns the dimension of null space.
- *	\return Dimension of null space. */
-int QProblem_getNZ( QProblem* _THIS );
-
-
-/** Returns the dual solution vector (deep copy).
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getDualSolution(	QProblem* _THIS,
-										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										);
-
-
-/** Defines user-defined routine for calculating the constraint product A*x
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_setConstraintProduct(	QProblem* _THIS,
-											ConstraintProduct _constraintProduct
-											);
-
-
-/** Prints concise list of properties of the current QP.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printProperties( QProblem* _THIS );
-
-
-
-/** Writes a vector with the state of the working set
-*	\return SUCCESSFUL_RETURN */
-returnValue QProblem_getWorkingSet(	QProblem* _THIS,
-									real_t* workingSet	/** Output: array containing state of the working set. */
-									);
-
-/** Writes a vector with the state of the working set of bounds
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetBounds(	QProblem* _THIS,
-											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
-											);
-
-/** Writes a vector with the state of the working set of constraints
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetConstraints(	QProblem* _THIS,
-												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
-												);
-
-
-/** Returns current bounds object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getBounds(	QProblem* _THIS,
-												Bounds* _bounds		/** Output: Bounds object. */
-												);
-
-
-/** Returns the number of variables.
- *	\return Number of variables. */
-static inline int QProblem_getNV( QProblem* _THIS );
-
-/** Returns the number of free variables.
- *	\return Number of free variables. */
-static inline int QProblem_getNFR( QProblem* _THIS );
-
-/** Returns the number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int QProblem_getNFX( QProblem* _THIS );
-
-/** Returns the number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int QProblem_getNFV( QProblem* _THIS );
-
-
-/** Returns the optimal objective function value.
- *	\return finite value: Optimal objective function value (QP was solved) \n
- 			+infinity:	  QP was not yet solved */
-real_t QProblem_getObjVal( QProblem* _THIS );
-
-/** Returns the objective function value at an arbitrary point x.
- *	\return Objective function value at point x */
-real_t QProblem_getObjValX(	QProblem* _THIS,
-							const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-							);
-
-/** Returns the primal solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getPrimalSolution(	QProblem* _THIS,
-										real_t* const xOpt	/**< Output: Primal solution vector (if QP has been solved). */
-										);
-
-
-/** Returns status of the solution process.
- *	\return Status of solution process. */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS );
-
-
-/** Returns if the QProblem object is initialised.
- *	\return BT_TRUE:  QProblem initialised \n
- 			BT_FALSE: QProblem not initialised */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS );
-
-/** Returns if the QP has been solved.
- *	\return BT_TRUE:  QProblem solved \n
- 			BT_FALSE: QProblem not solved */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS );
-
-/** Returns if the QP is infeasible.
- *	\return BT_TRUE:  QP infeasible \n
- 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS );
-
-/** Returns if the QP is unbounded.
- *	\return BT_TRUE:  QP unbounded \n
- 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS );
-
-
-/** Returns Hessian type flag (type is not determined due to _THIS call!).
- *	\return Hessian type. */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHessianType(	QProblem* _THIS,
-													HessianType _hessianType /**< New Hessian type. */
-													);
-
-/** Returns if the QP has been internally regularised.
- *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
- 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS );
-
-/** Returns current options struct.
- *	\return Current options struct. */
-static inline Options QProblem_getOptions( QProblem* _THIS );
-
-/** Overrides current options with given ones.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options	/**< New options. */
-												);
-
-/** Returns the print level.
- *	\return Print level. */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setPrintLevel(	QProblem* _THIS,
-									PrintLevel _printlevel	/**< New print level. */
-									);
-
-
-/** Returns the current number of QP problems solved.
- *	\return Number of QP problems solved. */
-static inline unsigned int QProblem_getCount( QProblem* _THIS );
-
-/** Resets QP problem counter (to zero).
- *	\return SUCCESSFUL_RETURN. */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS );
-
-
-/** Prints a list of all options and their current values.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printOptions( QProblem* _THIS );
-
-
-/** Solves a QProblem whose QP data is assumed to be stored in the member variables.
- *  A guess for its primal/dual optimal solution vectors and the corresponding
- *  working sets of bounds and constraints can be provided.
- *  Note: This function is internally called by all init functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED */
-returnValue QProblem_solveInitialQP(	QProblem* _THIS,
-										const real_t* const xOpt,				/**< Optimal primal solution vector.*/
-										const real_t* const yOpt,				/**< Optimal dual solution vector. */
-										Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-										Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-										const real_t* const _R,					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
-										int* nWSR, 								/**< Input:  Maximum number of working set recalculations; \n
-														 						 *	 Output: Number of performed working set recalculations. */
-										real_t* const cputime					/**< Input:  Maximum CPU time allowed for QP solution. \n
-																	 			 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-										);
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveQP(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																	 this QP within previous solveQP() calls. This number is
-																	 always zero, except for successive calls from solveRegularisedQP()
-																	 or when using the far bound strategy. */
-								BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-								);
-
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveRegularisedQP(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-											const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower bounds exist, a NULL pointer can be passed. */
-											const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper bounds exist, a NULL pointer can be passed. */
-											const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-															 					 Output: Number of performed working set recalculations. */
-											real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-																 				 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-											int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																				 this QP within previous solveRegularisedQP() calls. This number is
-																				 always zero, except for successive calls when using the far bound strategy. */
-											BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-											);
-
-
-/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToType( QProblem* _THIS );
-
-/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToTypeNew(	QProblem* _THIS,
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new		/**< New upper constraints' bounds. */
-											);
-
-/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z).
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_computeProjectedCholesky( QProblem* _THIS );
-
-/** Computes initial Cholesky decomposition of the projected Hessian making
- *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupInitialCholesky( QProblem* _THIS );
-
-/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupTQfactorisation( QProblem* _THIS );
-
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *  (assumes that member AX has already been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-												const real_t* const xOpt,					/**< Optimal primal solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												const real_t* const yOpt,					/**< Optimal dual solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt). */
-												Constraints* const guessedConstraints,		/**< Guessed working set for solution (xOpt,yOpt). */
-												Bounds* auxiliaryBounds,					/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set of constraints for auxiliary QP. */
-												Constraints* auxiliaryConstraints			/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set for auxiliary QP. */
-												);
-
-/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints.
- *  (If the working set shall be setup afresh, make sure that
- *  bounds and constraints data structure have been resetted
- *  and the TQ factorisation has been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUP_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryWorkingSet(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType setupAfresh						/**< Flag indicating if given working set shall be
-																							 *    setup afresh or by updating the current one. */
-												);
-
-/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPsolution(	QProblem* _THIS,
-												const real_t* const xOpt,	/**< Optimal primal solution vector.
-																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt	/**< Optimal dual solution vector.
-																			 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-/** Sets up gradient of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS );
-
-/** Sets up (constraints') bounds of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryQPbounds(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType useRelaxation					/**< Flag indicating if inactive (constraints') bounds shall be relaxed. */
-												);
-
-
-/** Adds a constraint to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDCONSTRAINT_FAILED \n
-			RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addConstraint(	QProblem* _THIS,
-									int number,					/**< Number of constraint to be added to active set. */
-									SubjectToStatus C_status,	/**< Status of new active constraint. */
-									BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType ensureLI		/**< Ensure linear independence by exchange rules by default. */
-									);
-
-/** Checks if new active constraint to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT \n
-			 RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_addConstraint_checkLI(	QProblem* _THIS,
-											int number			/**< Number of constraint to be added to active set. */
-											);
-
-/** Ensures linear independence of constraint matrix when a new constraint is added.
- * 	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addConstraint_ensureLI(	QProblem* _THIS,
-												int number,					/**< Number of constraint to be added to active set. */
-												SubjectToStatus C_status	/**< Status of new active bound. */
-												);
-
-/** Adds a bound to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDBOUND_FAILED \n
-			RET_ADDBOUND_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addBound(	QProblem* _THIS,
-								int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								BooleanType ensureLI 		/**< Ensure linear independence by exchange rules by default. */
-								);
-
-/** Checks if new active bound to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT */
-returnValue QProblem_addBound_checkLI(	QProblem* _THIS,
-										int number			/**< Number of bound to be added to active set. */
-										);
-
-/** Ensures linear independence of constraint matrix when a new bound is added.
- *	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addBound_ensureLI(	QProblem* _THIS,
-										int number,					/**< Number of bound to be added to active set. */
-										SubjectToStatus B_status	/**< Status of new active bound. */
-										);
-
-/** Removes a constraint from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_CONSTRAINT_NOT_ACTIVE \n
-			RET_REMOVECONSTRAINT_FAILED \n
-			RET_HESSIAN_NOT_SPD */
-returnValue QProblem_removeConstraint(	QProblem* _THIS,
-										int number,						/**< Number of constraint to be removed from active set. */
-										BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-										BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-										BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-										);
-
-/** Removes a bounds from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_BOUND_NOT_ACTIVE \n
-			RET_HESSIAN_NOT_SPD \n
-			RET_REMOVEBOUND_FAILED */
-returnValue QProblem_removeBound(	QProblem* _THIS,
-									int number,						/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-									BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-									);
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performPlainRatioTest(	QProblem* _THIS,
-											int nIdx, 					/**< Number of ratios to be checked. */
-											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-											real_t epsNum,				/**< Numerator tolerance. */
-											real_t epsDen,				/**< Denominator tolerance. */
-											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-											int* BC_idx 				/**< Output: Index of blocking constraint. */
-											);
-
-
-/** Ensure non-zero curvature by primal jump.
- *  \return SUCCESSFUL_RETURN \n
- *          RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_ensureNonzeroCurvature(	QProblem* _THIS,
-												BooleanType removeBoundNotConstraint,	/**< SubjectTo to be removed is a bound. */
-												int remIdx,								/**< Index of bound/constraint to be removed. */
-												BooleanType* exchangeHappened,			/**< Output: Exchange was necessary to ensure. */
-												BooleanType* addBoundNotConstraint,		/**< SubjectTo to be added is a bound. */
-												int* addIdx,							/**< Index of bound/constraint to be added. */
-												SubjectToStatus* addStatus				/**< Status of bound/constraint to be added. */
-												);
-
-
-/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveT(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_determineDataShift(	QProblem* _THIS,
-											const real_t* const g_new,		/**< New gradient vector. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new,	/**< New upper constraints' bounds. */
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-											real_t* const delta_lbA,		/**< Output: Step direction of lower constraints' bounds. */
-											real_t* const delta_ubA,		/**< Output: Step direction of upper constraints' bounds. */
-											real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-											real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-											BooleanType* Delta_bC_isZero,	/**< Output: Indicates if active constraints' bounds are to be shifted. */
-											BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-											);
-
-/** Determines step direction of the homotopy path.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_STEPDIRECTION_FAILED_TQ \n
-			RET_STEPDIRECTION_FAILED_CHOLESKY */
-returnValue QProblem_determineStepDirection(	QProblem* _THIS,
-												const real_t* const delta_g,	/**< Step direction of gradient vector. */
-												const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
-												const real_t* const delta_ubA,	/**< Step direction of upper constraints' bounds. */
-												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-												BooleanType Delta_bC_isZero, 	/**< Indicates if active constraints' bounds are to be shifted. */
-												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-												real_t* const delta_yAC, 		/**< Output: Dual homotopy step direction of active constraints' multiplier. */
-												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-												);
-
-/** Determines the maximum possible step length along the homotopy path
- *  and performs _THIS step (without changing working set).
- *	\return SUCCESSFUL_RETURN \n
- * 			RET_ERROR_IN_CONSTRAINTPRODUCT \n
- * 			RET_QP_INFEASIBLE */
-returnValue QProblem_performStep(	QProblem* _THIS,
-									const real_t* const delta_g,		/**< Step direction of gradient. */
-									const real_t* const delta_lbA,		/**< Step direction of lower constraints' bounds. */
-									const real_t* const delta_ubA,		/**< Step direction of upper constraints' bounds. */
-									const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
-									const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
-									const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
-									const real_t* const delta_xFR,		/**< Primal homotopy step direction of free variables. */
-									const real_t* const delta_yAC,		/**< Dual homotopy step direction of active constraints' multiplier. */
-									const real_t* const delta_yFX,		/**< Dual homotopy step direction of fixed variables' multiplier. */
-									int* BC_idx, 						/**< Output: Index of blocking constraint. */
-									SubjectToStatus* BC_status,			/**< Output: Status of blocking constraint. */
-									BooleanType* BC_isBound 			/**< Output: Indicates if blocking constraint is a bound. */
-									);
-
-/** Updates the active set.
- *	\return  SUCCESSFUL_RETURN \n
- 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-			 RET_ADD_TO_ACTIVESET_FAILED */
-returnValue QProblem_changeActiveSet(	QProblem* _THIS,
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound 		/**< Indicates if blocking constraint is a bound. */
-										);
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblem_getRelativeHomotopyLength(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Final gradient. */
-											const real_t* const lb_new,		/**< Final lower variable bounds. */
-											const real_t* const ub_new,		/**< Final upper variable bounds. */
-											const real_t* const lbA_new,	/**< Final lower constraint bounds. */
-											const real_t* const ubA_new		/**< Final upper constraint bounds. */
-											);
-
-
-/** Ramping Strategy to avoid ties. Modifies homotopy start without
- *  changing current active set.
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performRamping( QProblem* _THIS );
-
-
-/** ... */
-returnValue QProblem_updateFarBounds(	QProblem* _THIS,
-										real_t curFarBound,				/**< ... */
-										int nRamp,						/**< ... */
-										const real_t* const lb_new,		/**< ... */
-										real_t* const lb_new_far,		/**< ... */
-										const real_t* const ub_new,		/**< ... */
-										real_t* const ub_new_far,		/**< ... */
-										const real_t* const lbA_new,	/**< ... */
-										real_t* const lbA_new_far,		/**< ... */
-										const real_t* const ubA_new,	/**< ... */
-										real_t* const ubA_new_far		/**< ... */
-										);
-
-/** ... */
-returnValue QProblemBCPY_updateFarBounds(	QProblem* _THIS,
-											real_t curFarBound,				/**< ... */
-											int nRamp,						/**< ... */
-											const real_t* const lb_new,		/**< ... */
-											real_t* const lb_new_far,		/**< ... */
-											const real_t* const ub_new,		/**< ... */
-											real_t* const ub_new_far		/**< ... */
-											);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestC(	QProblem* _THIS,
-										int nIdx, 						/**< Number of ratios to be checked. */
-										const int* const idxList, 		/**< Array containing the indices of all ratios to be checked. */
-										Constraints* const subjectTo,	/**< Constraint object corresponding to ratios to be checked. */
-										const real_t* const num,	 	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,		/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,					/**< Numerator tolerance. */
-										real_t epsDen,					/**< Denominator tolerance. */
-										real_t* t,						/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 					/**< Output: Index of blocking constraint. */
-										);
-
-
-/** Drift correction at end of each active set iteration
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performDriftCorrection( QProblem* _THIS );
-
-
-/** Updates QP vectors, working sets and internal data structures in order to
-	start from an optimal solution corresponding to initial guesses of the working
-	set for bounds and constraints.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_setupAuxiliaryQP(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Initial guess for working set of bounds. */
-										Constraints* const guessedConstraints	/**< Initial guess for working set of constraints. */
-										);
-
-/** Determines if it is more efficient to refactorise the matrices when
- *  hotstarting or not (i.e. better to update the existing factorisations).
- *	\return BT_TRUE iff matrices shall be refactorised afresh
- */
-BooleanType QProblem_shallRefactorise(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Guessed new working set of bounds. */
-										Constraints* const guessedConstraints	/**< Guessed new working set of constraints. */
-										);
-
-/** Setups internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataM(	QProblem* _THIS,
-									DenseMatrix *_H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									DenseMatrix *_A, 			 /**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-
-/** Sets up dense internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdata(	QProblem* _THIS,
-									real_t* const _H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									real_t* const _A,  			/**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataFromFile(	QProblem* _THIS,
-											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const A_file,	/**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file	/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_loadQPvectorsFromFile(	QProblem* _THIS,
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-											real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-											real_t* const ub_new,		/**< Output: Upper bounds of neighbouring QP to be solved */
-											real_t* const lbA_new,		/**< Output: Lower constraints' bounds of neighbouring QP to be solved */
-											real_t* const ubA_new		/**< Output: Upper constraints' bounds of neighbouring QP to be solved */
-											);
-
-
-/** Prints concise information on the current iteration.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printIteration(	QProblem* _THIS,
-										int iter,					/**< Number of current iteration. */
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound,		/**< Indicates if blocking constraint is a bound. */
-										real_t homotopyLength,		/**< Current homotopy distance. */
-										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
- 										);
-
-
-/** Sets constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setAM(	QProblem* _THIS,
-											DenseMatrix *A_new	/**< New constraint matrix. */
-											);
-
-/** Sets dense constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setA(	QProblem* _THIS,
-											real_t* const A_new	/**< New dense constraint matrix (with correct dimension!). */
-											);
-
-
-/** Sets constraints' lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setLBA(	QProblem* _THIS,
-											const real_t* const lbA_new	/**< New constraints' lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower constraints' bound vector (with correct dimension!). */
-											);
-
-/** Sets constraints' upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setUBA(	QProblem* _THIS,
-											const real_t* const ubA_new	/**< New constraints' upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper constraints' bound vector (with correct dimension!). */
-											);
-
-
-/** Decides if lower bounds are smaller than upper bounds
- *
- * \return SUCCESSFUL_RETURN \n
- * 		   RET_QP_INFEASIBLE */
-returnValue QProblem_areBoundsConsistent(	QProblem* _THIS,
-											const real_t* const lb,		/**< Vector of lower bounds*/
-											const real_t* const ub,		/**< Vector of upper bounds*/
-											const real_t* const lbA,	/**< Vector of lower constraints*/
-											const real_t* const ubA		/**< Vector of upper constraints*/
-											);
-
-
-/** Drops the blocking bound/constraint that led to infeasibility, or finds another
- *  bound/constraint to drop according to drop priorities.
- *  \return SUCCESSFUL_RETURN \n
- */
-returnValue QProblem_dropInfeasibles ( 	QProblem* _THIS,
-										int BC_number,				/**< Number of the bound or constraint to be added */
-										SubjectToStatus BC_status, 	/**< New status of the bound or constraint to be added */
-										BooleanType BC_isBound,		/**< Whether a bound or a constraint is to be added */
-										real_t *xiB,
-										real_t *xiC
-										);
-
-
-/** If Hessian type has been set by the user, nothing is done.
- *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
- *  HST_POSDEF (default), respectively.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_INDEFINITE */
-returnValue QProblem_determineHessianType( QProblem* _THIS );
-
-/** Computes the Cholesky decomposition of the (simply projected) Hessian
- *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
- *  projection matrix!
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemBCPY_computeCholesky( QProblem* _THIS );
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-													const real_t* const xOpt,		/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													const real_t* const yOpt,		/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-													Bounds* auxiliaryBounds			/**< Input:  Allocated bound object. \n
-																					 *	 Output: Working set for auxiliary QP. */
-													);
-
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveR(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
- *  Special variant for the case that _THIS function is called from within "removeBound()".
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveRrem(	QProblem* _THIS,
-									const real_t* const b,		/**< Right hand side vector. */
-									BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-									BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-									real_t* const a 			/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemBCPY_determineDataShift(	QProblem* _THIS,
-												const real_t* const g_new,		/**< New gradient vector. */
-												const real_t* const lb_new,		/**< New lower bounds. */
-												const real_t* const ub_new,		/**< New upper bounds. */
-												real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-												real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-												real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-												BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-												);
-
-
-/** Sets up internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_setupQPdataM(	QProblem* _THIS,
-										DenseMatrix *_H,	 		/**< Hessian matrix.*/
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdata(	QProblem* _THIS,
-										real_t* const _H, 			/**< Hessian matrix. \n
-																		 If Hessian matrix is trivial,a NULL pointer can be passed. */
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdataFromFile(	QProblem* _THIS,
-												const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     					 If Hessian matrix is trivial,a NULL pointer can be passed. */
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_loadQPvectorsFromFile(	QProblem* _THIS,
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
-												);
-
-
-/** Sets internal infeasibility flag and throws given error in case the far bound
- *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
- *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED_CYCLING \n
-			RET_ENSURELI_FAILED_NOINDEX */
-returnValue QProblem_setInfeasibilityFlag(	QProblem* _THIS,
-											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
-											BooleanType doThrowError	/**< Flag forcing to throw an error. */
-											);
-
-
-/** Determines if next QP iteration can be performed within given CPU time limit.
- *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
-			BT_FALSE: Sufficient CPU time for next QP iteration. */
-BooleanType QProblem_isCPUtimeLimitExceeded(	QProblem* _THIS,
-												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
-												real_t starttime,				/**< Start time of current QP solution. */
-												int nWSR						/**< Number of working set recalculations performed so far. */
-												);
-
-
-/** Regularise Hessian matrix by adding a scaled identity matrix to it.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_ALREADY_REGULARISED */
-returnValue QProblem_regulariseHessian( QProblem* _THIS );
-
-
-/** Sets Hessian matrix of the QP.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHM(	QProblem* _THIS,
-											DenseMatrix* H_new	/**< New Hessian matrix. */
-											);
-
-/** Sets dense Hessian matrix of the QP.
- *  If a null pointer is passed and
- *  a) hessianType is HST_IDENTITY, nothing is done,
- *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setH(	QProblem* _THIS,
-											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
-											);
-
-/** Changes gradient vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setG(	QProblem* _THIS,
-											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-											);
-
-/** Changes lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setLB(	QProblem* _THIS,
-											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower bound vector. */
-											);
-
-/** Changes upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setUB(	QProblem* _THIS,
-											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper bound vector. */
-											);
-
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblemBCPY_getRelativeHomotopyLength(	QProblem* _THIS,
-												const real_t* const g_new,	/**< Final gradient. */
-												const real_t* const lb_new,	/**< Final lower variable bounds. */
-												const real_t* const ub_new	/**< Final upper variable bounds. */
-												);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestB(	QProblem* _THIS,
-										int nIdx, 					/**< Number of ratios to be checked. */
-										const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-										Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
-										const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,				/**< Numerator tolerance. */
-										real_t epsDen,				/**< Denominator tolerance. */
-										real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 				/**< Output: Index of blocking constraint. */
-										);
-
-/** Checks whether given ratio is blocking, i.e. limits the maximum step length
- *  along the homotopy path to a value lower than given one.
- *	\return  SUCCESSFUL_RETURN */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,			/**< Numerator for performing the ratio test. */
-												real_t den,			/**< Denominator for performing the ratio test. */
-												real_t epsNum,		/**< Numerator tolerance. */
-												real_t epsDen,		/**< Denominator tolerance. */
-												real_t* t			/**< Input:  Current maximum step length along the homotopy path,
-																	 *   Output: Updated maximum possible step length along the homotopy path. */
-												);
-
-
-/** ...
- *	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpDataIntoMatFile(	QProblem* _THIS,
-												const char* const filename	/**< Mat file name. */
-												);
-
-/** ...
-*	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpWorkspaceIntoMatFile(	QProblem* _THIS,
-													const char* const filename	/**< Mat file name. */
-													);
-
-
-/*
- *	g e t B o u n d s
- */
-static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	_bounds = _THIS->bounds;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-static inline int QProblem_getNV( QProblem* _THIS )
-{
-	return Bounds_getNV( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int QProblem_getNFR( QProblem* _THIS )
-{
-	return Bounds_getNFR( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int QProblem_getNFX( QProblem* _THIS )
-{
-	return Bounds_getNFX( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int QProblem_getNFV( QProblem* _THIS )
-{
-	return Bounds_getNFV( _THIS->bounds );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS )
-{
-	return _THIS->status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS )
-{
-	return _THIS->infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS )
-{
-	return _THIS->unbounded;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS )
-{
-	return _THIS->hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType )
-{
-	_THIS->hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	u s i n g R e g u l a r i s a t i o n
- */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS )
-{
-	if ( _THIS->regVal > QPOASES_ZERO )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	g e t O p t i o n s
- */
-static inline Options QProblem_getOptions( QProblem* _THIS )
-{
-	return _THIS->options;
-}
-
-
-/*
- *	s e t O p t i o n s
- */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options
-												)
-{
-	OptionsCPY( &_options,&(_THIS->options) );
-	Options_ensureConsistency( &(_THIS->options) );
-
-	QProblem_setPrintLevel( _THIS,_THIS->options.printLevel );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS )
-{
-	return _THIS->options.printLevel;
-}
-
-
-/*
- *	g e t C o u n t
- */
-static inline unsigned int QProblem_getCount( QProblem* _THIS )
-{
-	return _THIS->count;
-}
-
-
-/*
- *	r e s e t C o u n t e r
- */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS )
-{
-	_THIS->count = 0;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new )
-{
-	if ( H_new == 0 )
-		return QProblem_setH( _THIS,(real_t*)0 );
-	else
-		return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) );
-}
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new )
-{
-	/* if null pointer is passed, Hessian is set to zero matrix
-	 *                            (or stays identity matrix) */
-	if ( H_new == 0 )
-	{
-		if ( _THIS->hessianType == HST_IDENTITY )
-			return SUCCESSFUL_RETURN;
-
-		_THIS->hessianType = HST_ZERO;
-
-		_THIS->H = 0;
-	}
-	else
-	{
-		DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new )
-{
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( g_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lb_new != 0 )
-	{
-		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->lb[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ub_new != 0 )
-	{
-		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->ub[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-
-/*
- * i s B l o c k i n g
- */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,
-												real_t den,
-												real_t epsNum,
-												real_t epsDen,
-												real_t* t
-												)
-{
-	if ( ( den >= epsDen ) && ( num >= epsNum ) )
-	{
-		if ( num < (*t)*den )
-			return BT_TRUE;
-	}
-
-	return BT_FALSE;
-}
-
-
-
-/*
- *	g e t C o n s t r a i n t s
- */
-static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	ConstraintsCPY( _THIS->constraints,_constraints );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	g e t N C
- */
-static inline int QProblem_getNC( QProblem* _THIS )
-{
-	return Constraints_getNC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N E C
- */
-static inline int QProblem_getNEC( QProblem* _THIS )
-{
-	return Constraints_getNEC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N A C
- */
-static inline int QProblem_getNAC( QProblem* _THIS )
-{
-	return Constraints_getNAC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N I A C
- */
-static inline int QProblem_getNIAC( QProblem* _THIS )
-{
-	return Constraints_getNIAC( _THIS->constraints );
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new )
-{
-	if ( A_new == 0 )
-		return QProblem_setA( _THIS,(real_t*)0 );
-	else
-		return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) );
-}
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new )
-{
-	int j;
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( A_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new );
-
-	DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC);
-
-	for( j=0; j<nC; ++j )
-	{
-		_THIS->Ax_u[j] = _THIS->ubA[j] - _THIS->Ax[j];
-		_THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j];
-
-		/* (ckirches) disable constraints with empty rows */
-		if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE )
-			Constraints_setType( _THIS->constraints,j,ST_DISABLED );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lbA_new != 0 )
-	{
-		memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower constraints' bounds are specified, set them to -infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->lbA[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->lbA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ubA_new != 0 )
-	{
-		memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper constraints' bounds are specified, set them to infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->ubA[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->ubA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_QPROBLEM_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/QProblemB.h b/third_party/acados/include/qpOASES_e/QProblemB.h
deleted file mode 100644
index ee5157dda7..0000000000
--- a/third_party/acados/include/qpOASES_e/QProblemB.h
+++ /dev/null
@@ -1,1641 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/QProblemB.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the QProblemB class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming
- *	for problems with (simple) bounds only.
- */
-
-
-
-#ifndef QPOASES_QPROBLEMB_H
-#define QPOASES_QPROBLEMB_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Options.h>
-#include <qpOASES_e/Matrices.h>
-#include <qpOASES_e/Flipper.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	Bounds *emptyBounds;
-	Bounds *auxiliaryBounds;
-
-	real_t *ub_new_far;
-	real_t *lb_new_far;
-
-	real_t *g_new;
-	real_t *lb_new;
-	real_t *ub_new;
-
-	real_t *g_new2;
-	real_t *lb_new2;
-	real_t *ub_new2;
-
-	real_t *Hx;
-
-	real_t *_H;
-
-	real_t *g_original;
-	real_t *lb_original;
-	real_t *ub_original;
-
-	real_t *delta_xFR;
-	real_t *delta_xFX;
-	real_t *delta_yFX;
-	real_t *delta_g;
-	real_t *delta_lb;
-	real_t *delta_ub;
-
-	real_t *gMod;
-
-	real_t *num;
-	real_t *den;
-
-	real_t *rhs;
-	real_t *r;
-} QProblemB_ws;
-
-int QProblemB_ws_calculateMemorySize( unsigned int nV );
-
-char *QProblemB_ws_assignMemory( unsigned int nV, QProblemB_ws **mem, void *raw_memory );
-
-QProblemB_ws *QProblemB_ws_createMemory( unsigned int nV );
-
-
-/**
- *	\brief Implements the online active set strategy for box-constrained QPs.
- *
- *	Class for setting up and solving quadratic programs with bounds (= box constraints) only.
- *	The main feature is the possibility to use the newly developed online active set strategy
- *	for parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	QProblemB_ws *ws;
-	Bounds *bounds;					/**< Data structure for problem's bounds. */
-	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
-
-	DenseMatrix* H;					/**< Hessian matrix pointer. */
-
-	Options options;				/**< Struct containing all user-defined options for solving QPs. */
-	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
-
-	real_t *g;						/**< Gradient. */
-	real_t *lb;						/**< Lower bound vector (on variables). */
-	real_t *ub;						/**< Upper bound vector (on variables). */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-
-	real_t *x;						/**< Primal solution vector. */
-	real_t *y;						/**< Dual solution vector. */
-
-	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
-
-	real_t tau;						/**< Last homotopy step length. */
-	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
-
-	real_t ramp0;					/**< Start value for Ramping Strategy. */
-	real_t ramp1;					/**< Final value for Ramping Strategy. */
-
-	QProblemStatus status;			/**< Current status of the solution process. */
-	HessianType hessianType;		/**< Type of Hessian matrix. */
-
-	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
-	BooleanType infeasible;			/**< QP infeasible? */
-	BooleanType unbounded;			/**< QP unbounded? */
-
-	int rampOffset;					/**< Offset index for Ramping. */
-	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
-} QProblemB;
-
-int QProblemB_calculateMemorySize( unsigned int nV );
-
-char *QProblemB_assignMemory( unsigned int nV, QProblemB **mem, void *raw_memory );
-
-QProblemB *QProblemB_createMemory( unsigned int nV );
-
-
-/** Constructor which takes the QP dimension and Hessian type
- *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
- *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
- *  is allocated for it and a NULL pointer can be passed for it
- *  to the init() functions. */
-void QProblemBCON(	QProblemB* _THIS,
-					int _nV,						/**< Number of variables. */
-					HessianType _hessianType		/**< Type of Hessian matrix. */
-					);
-
-void QProblemBCPY(	QProblemB* FROM,
-					QProblemB* TO
-					);
-
-
-/** Clears all data structures of QProblemB except for QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_RESET_FAILED */
-returnValue QProblemB_reset( QProblemB* _THIS );
-
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initM(	QProblemB* _THIS,
-								DenseMatrix *_H,	 		/**< Hessian matrix. */
-								const real_t* const _g,		/**< Gradient vector. */
-								const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,	/**< Upper bounds (on variables). \n
-																 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																 Output: CPU time spent for QP initialisation (if pointer passed). */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_init(	QProblemB* _THIS,
-							real_t* const _H, 			/**< Hessian matrix. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g,		/**< Gradient vector. */
-							const real_t* const _lb,	/**< Lower bounds (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bounds (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-															 Output: Number of performed working set recalculations. */
-		 					real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblemB_initF(	QProblemB* _THIS,
-								const char* const H_file, 	/**< Name of file where Hessian matrix is stored. \n
-																 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,  	/**< Name of file where gradient vector is stored. */
-								const char* const lb_file, 	/**< Name of file where lower bound vector. \n
-																 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 	/**< Name of file where upper bound vector. \n
-																 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																 Output: CPU time spent for QP initialisation (if pointer passed). */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initMW(	QProblemB* _THIS,
-								DenseMatrix *_H,				/**< Hessian matrix. */
-								const real_t* const _g,			/**< Gradient vector. */
-								const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initW(	QProblemB* _THIS,
-								real_t* const _H, 				/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const real_t* const _g,			/**< Gradient vector. */
-								const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblemB_initFW(	QProblemB* _THIS,
-								const char* const H_file, 		/**< Name of file where Hessian matrix is stored. \n
-																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,  		/**< Name of file where gradient vector is stored. */
-								const char* const lb_file, 		/**< Name of file where lower bound vector. \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 		/**< Name of file where upper bound vector. \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const char* const R_file		/**< Name of the file where a pre-computed (upper triangular) Cholesky factor
-																	 of the Hessian matrix is stored. \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_hotstart(	QProblemB* _THIS,
-								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP solution. \n
-																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files. QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_hotstartF(	QProblemB* _THIS,
-									const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR, 					/**< Input: Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime 	 	/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_hotstartW(	QProblemB* _THIS,
-									const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-									const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, the previous working set is kept!) */
-									);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_hotstartFW(	QProblemB* _THIS,
-									const char* const g_file,	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file,	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR,					/**< Input:  Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime,		/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, the previous working set is kept!) */
-									);
-
-
-/** Writes a vector with the state of the working set
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSet(	QProblemB* _THIS,
-										real_t* workingSet		/** Output: array containing state of the working set. */
-										);
-
-/** Writes a vector with the state of the working set of bounds
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSetBounds(	QProblemB* _THIS,
-											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
-											);
-
-/** Writes a vector with the state of the working set of constraints
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSetConstraints(	QProblemB* _THIS,
-												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
-												);
-
-
-/** Returns current bounds object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_getBounds(	QProblemB* _THIS,
-												Bounds* _bounds	/** Output: Bounds object. */
-												);
-
-
-/** Returns the number of variables.
- *	\return Number of variables. */
-static inline int QProblemB_getNV( QProblemB* _THIS );
-
-/** Returns the number of free variables.
- *	\return Number of free variables. */
-static inline int QProblemB_getNFR( QProblemB* _THIS );
-
-/** Returns the number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int QProblemB_getNFX( QProblemB* _THIS );
-
-/** Returns the number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int QProblemB_getNFV( QProblemB* _THIS );
-
-/** Returns the dimension of null space.
- *	\return Dimension of null space. */
-int QProblemB_getNZ( QProblemB* _THIS );
-
-
-/** Returns the optimal objective function value.
- *	\return finite value: Optimal objective function value (QP was solved) \n
- 			+infinity:	  QP was not yet solved */
-real_t QProblemB_getObjVal( QProblemB* _THIS );
-
-/** Returns the objective function value at an arbitrary point x.
- *	\return Objective function value at point x */
-real_t QProblemB_getObjValX(	QProblemB* _THIS,
-								const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-								);
-
-/** Returns the primal solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblemB_getPrimalSolution(	QProblemB* _THIS,
-											real_t* const xOpt			/**< Output: Primal solution vector (if QP has been solved). */
-											);
-
-/** Returns the dual solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblemB_getDualSolution(	QProblemB* _THIS,
-										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										);
-
-
-/** Returns status of the solution process.
- *	\return Status of solution process. */
-static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS );
-
-
-/** Returns if the QProblem object is initialised.
- *	\return BT_TRUE:  QProblemB initialised \n
- 			BT_FALSE: QProblemB not initialised */
-static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS );
-
-/** Returns if the QP has been solved.
- *	\return BT_TRUE:  QProblemB solved \n
- 			BT_FALSE: QProblemB not solved */
-static inline BooleanType QProblemB_isSolved( QProblemB* _THIS );
-
-/** Returns if the QP is infeasible.
- *	\return BT_TRUE:  QP infeasible \n
- 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS );
-
-/** Returns if the QP is unbounded.
- *	\return BT_TRUE:  QP unbounded \n
- 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS );
-
-
-/** Returns Hessian type flag (type is not determined due to _THIS call!).
- *	\return Hessian type. */
-static inline HessianType QProblemB_getHessianType( QProblemB* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setHessianType(	QProblemB* _THIS,
-													HessianType _hessianType /**< New Hessian type. */
-													);
-
-/** Returns if the QP has been internally regularised.
- *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
- 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
-static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS );
-
-/** Returns current options struct.
- *	\return Current options struct. */
-static inline Options QProblemB_getOptions( QProblemB* _THIS );
-
-/** Overrides current options with given ones.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
-												Options _options	/**< New options. */
-												);
-
-/** Returns the print level.
- *	\return Print level. */
-static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setPrintLevel(	QProblemB* _THIS,
-										PrintLevel _printlevel	/**< New print level. */
-										);
-
-/** Returns the current number of QP problems solved.
- *	\return Number of QP problems solved. */
-static inline unsigned int QProblemB_getCount( QProblemB* _THIS );
-
-/** Resets QP problem counter (to zero).
- *	\return SUCCESSFUL_RETURN. */
-static inline returnValue QProblemB_resetCounter( QProblemB* _THIS );
-
-
-/** Prints concise list of properties of the current QP.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printProperties( QProblemB* _THIS );
-
-/** Prints a list of all options and their current values.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printOptions( QProblemB* _THIS );
-
-
-/** If Hessian type has been set by the user, nothing is done.
- *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
- *  HST_POSDEF (default), respectively.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_INDEFINITE */
-returnValue QProblemB_determineHessianType( QProblemB* _THIS );
-
-/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblemB_setupSubjectToType( QProblemB* _THIS );
-
-/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblemB_setupSubjectToTypeNew(	QProblemB* _THIS,
-												const real_t* const lb_new,	/**< New lower bounds. */
-												const real_t* const ub_new	/**< New upper bounds. */
-												);
-
-/** Computes the Cholesky decomposition of the (simply projected) Hessian
- *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
- *  projection matrix!
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemB_computeCholesky( QProblemB* _THIS );
-
-/** Computes initial Cholesky decomposition of the projected Hessian making
- *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemB_setupInitialCholesky( QProblemB* _THIS );
-
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_obtainAuxiliaryWorkingSet(	QProblemB* _THIS,
-													const real_t* const xOpt,		/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													const real_t* const yOpt,		/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-													Bounds* auxiliaryBounds			/**< Input: Allocated bound object. \n
-																					 *	 Ouput: Working set for auxiliary QP. */
-													);
-
-/** Decides if lower bounds are smaller than upper bounds
- *
- * \return SUCCESSFUL_RETURN \n
- * 		   RET_QP_INFEASIBLE */
-returnValue QProblemB_areBoundsConsistent(	QProblemB* _THIS,
-											const real_t* const lb, /**< Vector of lower bounds*/
-											const real_t* const ub  /**< Vector of upper bounds*/
-											);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblemB_backsolveR(	QProblemB* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
- *  Special variant for the case that _THIS function is called from within "removeBound()".
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblemB_backsolveRrem(	QProblemB* _THIS,
-										const real_t* const b,		/**< Right hand side vector. */
-										BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-										BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-										real_t* const a 			/**< Output: Solution vector */
-										);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_determineDataShift(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< New gradient vector. */
-											const real_t* const lb_new,	/**< New lower bounds. */
-											const real_t* const ub_new,	/**< New upper bounds. */
-											real_t* const delta_g,	 	/**< Output: Step direction of gradient vector. */
-											real_t* const delta_lb,	 	/**< Output: Step direction of lower bounds. */
-											real_t* const delta_ub,	 	/**< Output: Step direction of upper bounds. */
-											BooleanType* Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */
-											);
-
-
-/** Sets up internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_setupQPdataM(	QProblemB* _THIS,
-									DenseMatrix *_H,	 		/**< Hessian matrix.*/
-									const real_t* const _g,		/**< Gradient vector. */
-									const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemB_setupQPdata(	QProblemB* _THIS,
-									real_t* const _H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g,		/**< Gradient vector. */
-									const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemB_setupQPdataFromFile(	QProblemB* _THIS,
-											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_loadQPvectorsFromFile(	QProblemB* _THIS,
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
-												);
-
-
-/** Sets internal infeasibility flag and throws given error in case the far bound
- *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
- *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED_CYCLING \n
-			RET_ENSURELI_FAILED_NOINDEX */
-returnValue QProblemB_setInfeasibilityFlag(	QProblemB* _THIS,
-											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
-											BooleanType doThrowError	/**< Flag forcing to throw an error. */
-											);
-
-
-/** Determines if next QP iteration can be performed within given CPU time limit.
- *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
-			BT_FALSE: Sufficient CPU time for next QP iteration. */
-BooleanType QProblemB_isCPUtimeLimitExceeded(	QProblemB* _THIS,
-												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
-												real_t starttime,				/**< Start time of current QP solution. */
-												int nWSR						/**< Number of working set recalculations performed so far. */
-												);
-
-
-/** Regularise Hessian matrix by adding a scaled identity matrix to it.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_ALREADY_REGULARISED */
-returnValue QProblemB_regulariseHessian( QProblemB* _THIS );
-
-
-/** Sets Hessian matrix of the QP.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setHM(	QProblemB* _THIS,
-											DenseMatrix* H_new	/**< New Hessian matrix. */
-											);
-
-/** Sets dense Hessian matrix of the QP.
- *  If a null pointer is passed and
- *  a) hessianType is HST_IDENTITY, nothing is done,
- *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setH(	QProblemB* _THIS,
-											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
-											);
-
-/** Changes gradient vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblemB_setG(	QProblemB* _THIS,
-											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-											);
-
-/** Changes lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_setLB(	QProblemB* _THIS,
-											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblemB_setLBn(	QProblemB* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower bound vector. */
-											);
-
-/** Changes upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_setUB(	QProblemB* _THIS,
-											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblemB_setUBn(	QProblemB* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper bound vector. */
-											);
-
-
-/** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
- *	\return SUCCESSFUL_RETURN */
-static inline void QProblemB_computeGivens(	real_t xold,	/**< Matrix entry to be normalised. */
-											real_t yold,	/**< Matrix entry to be annihilated. */
-											real_t* xnew,	/**< Output: Normalised matrix entry. */
-											real_t* ynew,	/**< Output: Annihilated matrix entry. */
-											real_t* c,		/**< Output: Cosine entry of Givens matrix. */
-											real_t* s 		/**< Output: Sine entry of Givens matrix. */
-											);
-
-/** Applies Givens matrix determined by c and s (cf. computeGivens).
- *	\return SUCCESSFUL_RETURN */
-static inline void QProblemB_applyGivens(	real_t c,		/**< Cosine entry of Givens matrix. */
-											real_t s,		/**< Sine entry of Givens matrix. */
-											real_t nu, 		/**< Further factor: s/(1+c). */
-											real_t xold,	/**< Matrix entry to be transformed corresponding to
-															 *	 the normalised entry of the original matrix. */
-											real_t yold, 	/**< Matrix entry to be transformed corresponding to
-															 *	 the annihilated entry of the original matrix. */
-											real_t* xnew,	/**< Output: Transformed matrix entry corresponding to
-															 *	 the normalised entry of the original matrix. */
-											real_t* ynew	/**< Output: Transformed matrix entry corresponding to
-															 *	 the annihilated entry of the original matrix. */
-											);
-
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblemB_getRelativeHomotopyLength(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< Final gradient. */
-											const real_t* const lb_new,	/**< Final lower variable bounds. */
-											const real_t* const ub_new	/**< Final upper variable bounds. */
-											);
-
-/** Ramping Strategy to avoid ties. Modifies homotopy start without
- *  changing current active set.
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblemB_performRamping( QProblemB* _THIS );
-
-
-/** ... */
-returnValue QProblemB_updateFarBounds(	QProblemB* _THIS,
-										real_t curFarBound,				/**< ... */
-										int nRamp,						/**< ... */
-										const real_t* const lb_new,		/**< ... */
-										real_t* const lb_new_far,		/**< ... */
-										const real_t* const ub_new,		/**< ... */
-										real_t* const ub_new_far		/**< ... */
-										);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblemB_performRatioTestB(	QProblemB* _THIS,
-											int nIdx, 					/**< Number of ratios to be checked. */
-											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-											Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
-											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-											real_t epsNum,				/**< Numerator tolerance. */
-											real_t epsDen,				/**< Denominator tolerance. */
-											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-											int* BC_idx 				/**< Output: Index of blocking constraint. */
-											);
-
-/** Checks whether given ratio is blocking, i.e. limits the maximum step length
- *  along the homotopy path to a value lower than given one.
- *	\return  SUCCESSFUL_RETURN */
-static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
-												real_t num,		/**< Numerator for performing the ratio test. */
-												real_t den,		/**< Denominator for performing the ratio test. */
-												real_t epsNum,	/**< Numerator tolerance. */
-												real_t epsDen,	/**< Denominator tolerance. */
-												real_t* t		/**< Input:  Current maximum step length along the homotopy path,
-																 *   Output: Updated maximum possible step length along the homotopy path. */
-												);
-
-
-/** Solves a QProblemB whose QP data is assumed to be stored in the member variables.
- *  A guess for its primal/dual optimal solution vectors and the corresponding
- *  optimal working set can be provided.
- *  Note: This function is internally called by all init functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED */
-returnValue QProblemB_solveInitialQP(	QProblemB* _THIS,
-										const real_t* const xOpt,		/**< Optimal primal solution vector.*/
-										const real_t* const yOpt,		/**< Optimal dual solution vector. */
-										Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-										const real_t* const _R,			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
-										int* nWSR, 						/**< Input:  Maximum number of working set recalculations; \n
-														 				 *	 Output: Number of performed working set recalculations. */
-										real_t* const cputime			/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 				 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-										);
-
-/** Solves an initialised QProblemB using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_solveQP(	QProblemB* _THIS,
-								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
-																 this QP within previous solveQP() calls. This number is
-																 always zero, except for successive calls from solveRegularisedQP()
-																 or when using the far bound strategy. */
-								BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-								);
-
-
-/** Solves an initialised QProblemB using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_solveRegularisedQP(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-											const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-													 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-													 						 If no upper bounds exist, a NULL pointer can be passed. */
-											int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																			 Output: Number of performed working set recalculations. */
-											real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-																			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-											int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
-																			 this QP within previous solveRegularisedQP() calls. This number is
-																			 always zero, except for successive calls when using the far bound strategy. */
-											BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-											);
-
-
-/** Sets up bound data structure according to auxiliaryBounds.
- *  (If the working set shall be setup afresh, make sure that
- *  bounds data structure has been resetted!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUP_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNOWN_BUG */
-returnValue QProblemB_setupAuxiliaryWorkingSet(	QProblemB* _THIS,
-												Bounds* const auxiliaryBounds,	/**< Working set for auxiliary QP. */
-												BooleanType setupAfresh			/**< Flag indicating if given working set shall be
-																				 *    setup afresh or by updating the current one. */
-												);
-
-/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setupAuxiliaryQPsolution(	QProblemB* _THIS,
-												const real_t* const xOpt,	/**< Optimal primal solution vector.
-																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt	/**< Optimal dual solution vector.
-																			 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-/** Sets up gradient of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS have already been (ialised!).
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setupAuxiliaryQPgradient( QProblemB* _THIS );
-
-/** Sets up bounds of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS have already been initialised!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNKNOWN_BUG */
-returnValue QProblemB_setupAuxiliaryQPbounds(	QProblemB* _THIS,
-												BooleanType useRelaxation	/**< Flag indicating if inactive bounds shall be relaxed. */
-												);
-
-
-/** Updates QP vectors, working sets and internal data structures in order to
-	start from an optimal solution corresponding to initial guesses of the working
-	set for bounds
- *	\return SUCCESSFUL_RETURN \n
- *			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_setupAuxiliaryQP(	QProblemB* _THIS,
-										Bounds* const guessedBounds	/**< Initial guess for working set of bounds. */
-										);
-
-/** Determines step direction of the homotopy path.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_STEPDIRECTION_FAILED_CHOLESKY */
-returnValue QProblemB_determineStepDirection(	QProblemB* _THIS,
-												const real_t* const delta_g,	/**< Step direction of gradient vector. */
-												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-												);
-
-/** Determines the maximum possible step length along the homotopy path
- *  and performs _THIS step (without changing working set).
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QP_INFEASIBLE \n
- */
-returnValue QProblemB_performStep(	QProblemB* _THIS,
-									const real_t* const delta_g,	/**< Step direction of gradient. */
-									const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-									const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-									const real_t* const delta_xFX, 	/**< Primal homotopy step direction of fixed variables. */
-									const real_t* const delta_xFR,	/**< Primal homotopy step direction of free variables. */
-									const real_t* const delta_yFX,	/**< Dual homotopy step direction of fixed variables' multiplier. */
-									int* BC_idx, 					/**< Output: Index of blocking constraint. */
-									SubjectToStatus* BC_status		/**< Output: Status of blocking constraint. */
-									);
-
-/** Updates active set.
- *	\return  SUCCESSFUL_RETURN \n
- 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-			 RET_ADD_TO_ACTIVESET_FAILED */
-returnValue QProblemB_changeActiveSet(	QProblemB* _THIS,
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status 	/**< Status of blocking constraint. */
-										);
-
-/** Drift correction at end of each active set iteration
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblemB_performDriftCorrection( QProblemB* _THIS );
-
-/** Determines if it is more efficient to refactorise the matrices when
- *  hotstarting or not (i.e. better to update the existing factorisations).
- *	\return BT_TRUE iff matrices shall be refactorised afresh
- */
-BooleanType QProblemB_shallRefactorise(	QProblemB* _THIS,
-										Bounds* const guessedBounds	/**< Guessed new working set. */
-										);
-
-
-/** Adds a bound to active set (specialised version for the case where no constraints exist).
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDBOUND_FAILED */
-returnValue QProblemB_addBound(	QProblemB* _THIS,
-								int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								);
-
-/** Removes a bounds from active set (specialised version for the case where no constraints exist).
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_NOT_SPD \n
-			RET_REMOVEBOUND_FAILED */
-returnValue QProblemB_removeBound(	QProblemB* _THIS,
-									int number,					/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									);
-
-
-/** Prints concise information on the current iteration.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printIteration(	QProblemB* _THIS,
-										int iter,					/**< Number of current iteration. */
-										int BC_idx, 				/**< Index of blocking bound. */
-										SubjectToStatus BC_status,	/**< Status of blocking bound. */
-										real_t homotopyLength,		/**< Current homotopy distance. */
-										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-										);
-
-
-
-/*
- *	g e t B o u n d s
- */
-static inline returnValue QProblemB_getBounds( QProblemB* _THIS, Bounds* _bounds )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	_bounds = _THIS->bounds;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-static inline int QProblemB_getNV( QProblemB* _THIS )
-{
-	return Bounds_getNV( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int QProblemB_getNFR( QProblemB* _THIS )
-{
-	return Bounds_getNFR( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int QProblemB_getNFX( QProblemB* _THIS )
-{
-	return Bounds_getNFX( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int QProblemB_getNFV( QProblemB* _THIS )
-{
-	return Bounds_getNFV( _THIS->bounds );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS )
-{
-	return _THIS->status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS )
-{
-	if ( _THIS->status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-static inline BooleanType QProblemB_isSolved( QProblemB* _THIS )
-{
-	if ( _THIS->status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS )
-{
-	return _THIS->infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS )
-{
-	return _THIS->unbounded;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-static inline HessianType QProblemB_getHessianType( QProblemB* _THIS )
-{
-	return _THIS->hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, HessianType _hessianType )
-{
-	_THIS->hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	u s i n g R e g u l a r i s a t i o n
- */
-static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS )
-{
-	if ( _THIS->regVal > QPOASES_ZERO )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	g e t O p t i o n s
- */
-static inline Options QProblemB_getOptions( QProblemB* _THIS )
-{
-	return _THIS->options;
-}
-
-
-/*
- *	s e t O p t i o n s
- */
-static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
-												Options _options
-												)
-{
-	OptionsCPY( &_options,&(_THIS->options) );
-	Options_ensureConsistency( &(_THIS->options) );
-
-	QProblemB_setPrintLevel( _THIS,_THIS->options.printLevel );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS )
-{
-	return _THIS->options.printLevel;
-}
-
-
-
-/*
- *	g e t C o u n t
- */
-static inline unsigned int QProblemB_getCount( QProblemB* _THIS )
-{
-	return _THIS->count;
-}
-
-
-/*
- *	r e s e t C o u n t e r
- */
-static inline returnValue QProblemB_resetCounter( QProblemB* _THIS )
-{
-	_THIS->count = 0;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblemB_setHM( QProblemB* _THIS, DenseMatrix* H_new )
-{
-	if ( H_new == 0 )
-		return QProblemB_setH( _THIS,(real_t*)0 );
-	else
-		return QProblemB_setH( _THIS,DenseMatrix_getVal(H_new) );
-}
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblemB_setH( QProblemB* _THIS, real_t* const H_new )
-{
-	/* if null pointer is passed, Hessian is set to zero matrix
-	 *                            (or stays identity matrix) */
-	if ( H_new == 0 )
-	{
-		if ( _THIS->hessianType == HST_IDENTITY )
-			return SUCCESSFUL_RETURN;
-
-		_THIS->hessianType = HST_ZERO;
-
-		_THIS->H = 0;
-	}
-	else
-	{
-		DenseMatrixCON( _THIS->H,QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),H_new );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-static inline returnValue QProblemB_setG( QProblemB* _THIS, const real_t* const g_new )
-{
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( g_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblemB_setLB( QProblemB* _THIS, const real_t* const lb_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lb_new != 0 )
-	{
-		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->lb[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblemB_setLBn( QProblemB* _THIS, int number, real_t value )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblemB_setUB( QProblemB* _THIS, const real_t* const ub_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ub_new != 0 )
-	{
-		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->ub[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblemB_setUBn( QProblemB* _THIS, int number, real_t value )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	c o m p u t e G i v e n s
- */
-static inline void QProblemB_computeGivens(	real_t xold, real_t yold,
-											real_t* xnew, real_t* ynew, real_t* c, real_t* s
-											)
-{
-	real_t t, mu;
-
-	if ( fabs( yold ) <= QPOASES_ZERO )
-	{
-		*c = 1.0;
-		*s = 0.0;
-
-		*xnew = xold;
-		*ynew = yold;
-	}
-	else
-	{
-		mu = fabs( xold );
-		if ( fabs( yold ) > mu )
-			mu = fabs( yold );
-
-		t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
-
-		if ( xold < 0.0 )
-		t = -t;
-
-		*c = xold/t;
-		*s = yold/t;
-		*xnew = t;
-		*ynew = 0.0;
-	}
-
-	return;
-}
-
-
-/*
- *	a p p l y G i v e n s
- */
-static inline void QProblemB_applyGivens(	real_t c, real_t s, real_t nu, real_t xold, real_t yold,
-											real_t* xnew, real_t* ynew
-											)
-{
-	#ifdef __USE_THREE_MULTS_GIVENS__
-
-	/* Givens plane rotation requiring only three multiplications,
-	 * cf. Hammarling, S.: A note on modifications to the givens plane rotation.
-	 * J. Inst. Maths Applics, 13:215-218, 1974. */
-	*xnew = xold*c + yold*s;
-	*ynew = (*xnew+xold)*nu - yold;
-
-	#else
-
-	/* Usual Givens plane rotation requiring four multiplications. */
-	*xnew =  c*xold + s*yold;
-	*ynew = -s*xold + c*yold;
-
-	#endif
-
-	return;
-}
-
-
-/*
- * i s B l o c k i n g
- */
-static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
-												real_t num,
-												real_t den,
-												real_t epsNum,
-												real_t epsDen,
-												real_t* t
-												)
-{
-	if ( ( den >= epsDen ) && ( num >= epsNum ) )
-	{
-		if ( num < (*t)*den )
-			return BT_TRUE;
-	}
-
-	return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_QPROBLEMB_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Types.h b/third_party/acados/include/qpOASES_e/Types.h
deleted file mode 100644
index fc042aed82..0000000000
--- a/third_party/acados/include/qpOASES_e/Types.h
+++ /dev/null
@@ -1,310 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Types.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of all non-built-in types (except for classes).
- */
-
-
-#ifndef QPOASES_TYPES_H
-#define QPOASES_TYPES_H
-
-#ifdef USE_ACADOS_TYPES
-#include "acados/utils/types.h"
-#endif
-
-/* If your compiler does not support the snprintf() function,
- * uncomment the following line and try to compile again. */
-/* #define __NO_SNPRINTF__ */
-
-
-/* Uncomment the following line for setting the __DSPACE__ flag. */
-/* #define __DSPACE__ */
-
-/* Uncomment the following line for setting the __XPCTARGET__ flag. */
-/* #define __XPCTARGET__ */
-
-
-/* Uncomment the following line for setting the __NO_FMATH__ flag. */
-/* #define __NO_FMATH__ */
-
-/* Uncomment the following line to enable debug information. */
-/* #define __DEBUG__ */
-
-/* Uncomment the following line to enable suppress any kind of console output. */
-/* #define __SUPPRESSANYOUTPUT__ */
-
-
-/** Forces to always include all implicitly fixed bounds and all equality constraints
- *  into the initial working set when setting up an auxiliary QP. */
-#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
-
-/* Uncomment the following line to activate the use of an alternative Givens
- * plane rotation requiring only three multiplications. */
-/* #define __USE_THREE_MULTS_GIVENS__ */
-
-/* Uncomment the following line to activate the use of single precision arithmetic. */
-/* #define __USE_SINGLE_PRECISION__ */
-
-/* The inline keyword is skipped by default as it is not part of the C90 standard.
- * However, by uncommenting the following line, use of the inline keyword can be enforced. */
-/* #define __USE_INLINE__ */
-
-
-/* Work-around for Borland BCC 5.5 compiler. */
-#ifdef __BORLANDC__
-#if __BORLANDC__ < 0x0561
-  #define __STDC__ 1
-#endif
-#endif
-
-
-/* Work-around for Microsoft compilers. */
-#ifdef _MSC_VER
-  #define __NO_SNPRINTF__
-  #pragma warning( disable : 4061 4100 4250 4514 4996 )
-#endif
-
-
-/* Apply pre-processor settings when using qpOASES within auto-generated code. */
-#ifdef __CODE_GENERATION__
-  #define __NO_COPYRIGHT__
-  #define __EXTERNAL_DIMENSIONS__
-#endif /* __CODE_GENERATION__ */
-
-
-/* Avoid using static variables declaration within functions. */
-#ifdef __NO_STATIC__
-  #define myStatic
-#else
-  #define myStatic static
-#endif /* __NO_STATIC__ */
-
-
-/* Skip inline keyword if not specified otherwise. */
-#ifndef __USE_INLINE__
-  #define inline
-#endif
-
-
-/* Avoid any printing on embedded platforms. */
-#if defined(__DSPACE__) || defined(__XPCTARGET__)
-  #define __SUPPRESSANYOUTPUT__
-  #define __NO_SNPRINTF__
-#endif
-
-
-#ifdef __NO_SNPRINTF__
-  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
-    /* If snprintf is not available, provide an empty implementation... */
-    int snprintf( char* s, size_t n, const char* format, ... );
-  #else
-	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
-    #define snprintf _snprintf
-  #endif
-#endif /* __NO_SNPRINTF__ */
-
-
-/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
-#define BEGIN_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the end of the qpOASES namespace definition. */
-#define END_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the use of the qpOASES namespace. */
-#define USING_NAMESPACE_QPOASES
-
-/** Macro for switching on/off references to the qpOASES namespace. */
-#define REFER_NAMESPACE_QPOASES /*::*/
-
-
-/** Macro for accessing the Cholesky factor R. */
-#define RR( I,J )  _THIS->R[(I)+nV*(J)]
-
-/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
-#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
-
-/** Macro for accessing the triangular matrix T of the QT factorisation. */
-#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Defines real_t for facilitating switching between double and float. */
-
-#ifndef USE_ACADOS_TYPES
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  typedef float real_t;
-  #else
-  typedef double real_t;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-#endif /* USE_ACADOS_TYPES */
-
-/** Summarises all possible logical values. */
-typedef enum
-{
-	BT_FALSE = 0,				/**< Logical value for "false". */
-	BT_TRUE						/**< Logical value for "true". */
-} BooleanType;
-
-
-/** Summarises all possible print levels. Print levels are used to describe
- *	the desired amount of output during runtime of qpOASES. */
-typedef enum
-{
-	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
-	PL_TABULAR,					/**< Tabular output. */
-	PL_NONE,					/**< No output. */
-	PL_LOW,						/**< Print error messages only. */
-	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
-	PL_HIGH						/**< Print all messages with full details. */
-} PrintLevel;
-
-
-/** Defines visibility status of a message. */
-typedef enum
-{
-	VS_HIDDEN,					/**< Message not visible. */
-	VS_VISIBLE					/**< Message visible. */
-} VisibilityStatus;
-
-
-/** Summarises all possible states of the (S)QProblem(B) object during the
-solution process of a QP sequence. */
-typedef enum
-{
-	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
-	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
-								 *   set strategy is performed. */
-	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
-	QPS_SOLVED					/**< The solution of the actual QP was found. */
-} QProblemStatus;
-
-
-/** Summarises all possible types of the QP's Hessian matrix. */
-typedef enum
-{
-	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
-	HST_IDENTITY,			/**< Hessian is identity matrix. */
-	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
-	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
-	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
-	HST_INDEF,				/**< Hessian is indefinite. */
-	HST_UNKNOWN				/**< Hessian type is unknown. */
-} HessianType;
-
-
-/** Summarises all possible types of bounds and constraints. */
-typedef enum
-{
-	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
-	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
-	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
-	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
-	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
-} SubjectToType;
-
-
-/** Summarises all possible states of bounds and constraints. */
-typedef enum
-{
-	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
-	ST_INACTIVE,			/**< Bound/constraint is inactive. */
-	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
-	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
-	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
-	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
-} SubjectToStatus;
-
-
-/**
- *	\brief Stores internal information for tabular (debugging) output.
- *
- *	Struct storing internal information for tabular (debugging) output
- *	when using the (S)QProblem(B) objects.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	int idxAddB;		/**< Index of bound that has been added to working set. */
-	int idxRemB;		/**< Index of bound that has been removed from working set. */
-	int idxAddC;		/**< Index of constraint that has been added to working set. */
-	int idxRemC;		/**< Index of constraint that has been removed from working set. */
-	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
-	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
-	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
-	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
-} TabularOutput;
-
-/**
- *	\brief Struct containing the variable header for mat file.
- *
- *	Struct storing the header of a variable to be stored in
- *	Matlab's binary format (using the outdated Level 4 variant
- *  for simplictiy).
- *
- *  Note, this code snippet has been inspired from the document
- *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	long numericFormat;		/**< Flag indicating numerical format. */
-	long nRows;				/**< Number of rows. */
-	long nCols;				/**< Number of rows. */
-	long imaginaryPart;		/**< (to be documented) */
-	long nCharName;			/**< Number of character in name. */
-} MatMatrixHeader;
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_TYPES_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/UnitTesting.h b/third_party/acados/include/qpOASES_e/UnitTesting.h
deleted file mode 100644
index dbff201039..0000000000
--- a/third_party/acados/include/qpOASES_e/UnitTesting.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/UnitTesting.h
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2014-2015
- *
- *	Definition of auxiliary functions/macros for unit testing.
- */
-
-
-#ifndef QPOASES_UNIT_TESTING_H
-#define QPOASES_UNIT_TESTING_H
-
-
-#ifndef TEST_TOL_FACTOR
-#define TEST_TOL_FACTOR 1
-#endif
-
-
-/** Return value for tests that passed. */
-#define TEST_PASSED 0
-
-/** Return value for tests that failed. */
-#define TEST_FAILED 1
-
-/** Return value for tests that could not run due to missing external data. */
-#define TEST_DATA_NOT_FOUND 99
-
-
-/** Macro verifying that two numerical values are equal in order to pass unit test. */
-#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
-
-/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
-#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
-
-/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
-#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
-
-/** Macro verifying that a logical expression holds in order to pass unit test. */
-#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UNIT_TESTING_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Utils.h b/third_party/acados/include/qpOASES_e/Utils.h
deleted file mode 100644
index 75e45a56a0..0000000000
--- a/third_party/acados/include/qpOASES_e/Utils.h
+++ /dev/null
@@ -1,500 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Utils.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of some utilities for working with the different QProblem classes.
- */
-
-
-#ifndef QPOASES_UTILS_H
-#define QPOASES_UTILS_H
-
-#include <qpOASES_e/MessageHandling.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Prints a vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printV(	const real_t* const v,	/**< Vector to be printed. */
-							int n					/**< Length of vector. */
-							);
-
-/** Prints a permuted vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printPV(	const real_t* const v,		/**< Vector to be printed. */
-								int n,						/**< Length of vector. */
-								const int* const V_idx		/**< Pemutation vector. */
-								);
-
-/** Prints a named vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNV(	const real_t* const v,	/**< Vector to be printed. */
-								int n,					/**< Length of vector. */
-								const char* name		/** Name of vector. */
-								);
-
-/** Prints a matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printM(	const real_t* const M,	/**< Matrix to be printed. */
-							int nrow,				/**< Row number of matrix. */
-							int ncol				/**< Column number of matrix. */
-							);
-
-/** Prints a permuted matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printPM(	const real_t* const M,		/**< Matrix to be printed. */
-								int nrow,					/**< Row number of matrix. */
-								int ncol	,				/**< Column number of matrix. */
-								const int* const ROW_idx,	/**< Row pemutation vector. */
-								const int* const COL_idx	/**< Column pemutation vector. */
-								);
-
-/** Prints a named matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNM(	const real_t* const M,	/**< Matrix to be printed. */
-								int nrow,				/**< Row number of matrix. */
-								int ncol,				/**< Column number of matrix. */
-								const char* name		/** Name of matrix. */
-								);
-
-/** Prints an index array.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printI(	const int* const _index,	/**< Index array to be printed. */
-							int n						/**< Length of index array. */
-							);
-
-/** Prints a named index array.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNI(	const int* const _index,	/**< Index array to be printed. */
-								int n,						/**< Length of index array. */
-								const char* name			/**< Name of index array. */
-								);
-
-
-/** Prints a string to desired output target (useful also for MATLAB output!).
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_myPrintf(	const char* s	/**< String to be written. */
-								);
-
-
-/** Prints qpOASES copyright notice.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printCopyrightNotice( );
-
-
-/** Reads a real_t matrix from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileM(	real_t* data,				/**< Matrix to be read from file. */
-									int nrow,					/**< Row number of matrix. */
-									int ncol,					/**< Column number of matrix. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-/** Reads a real_t vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileV(	real_t* data,				/**< Vector to be read from file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-/** Reads an integer (column) vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileI(	int* data,					/**< Vector to be read from file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-
-/** Writes a real_t matrix into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue qpOASES_writeIntoFileM(	const real_t* const data,	/**< Matrix to be written into file. */
-									int nrow,					/**< Row number of matrix. */
-									int ncol,					/**< Column number of matrix. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes a real_t vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue qpOASES_writeIntoFileV(	const real_t* const data,	/**< Vector to be written into file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes an integer (column) vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE */
-returnValue qpOASES_writeIntoFileI(	const int* const integer,	/**< Integer vector to be written into file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes a real_t matrix/vector into a Matlab binary file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS
- 		   RET_UNABLE_TO_WRITE_FILE */
-returnValue qpOASES_writeIntoMatFile(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
-										const real_t* const data,	/**< Data to be written into file. */
-										int nRows,					/**< Row number of matrix. */
-										int nCols, 					/**< Column number of matrix. */
-										const char* name			/**< Matlab name of matrix/vector to be stored. */
- 										);
-
-/** Writes in integer matrix/vector into a Matlab binary file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS
- 		   RET_UNABLE_TO_WRITE_FILE */
-returnValue qpOASES_writeIntoMatFileI(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
-										const int* const data,		/**< Data to be written into file. */
-										int nRows,					/**< Row number of matrix. */
-										int nCols,					/**< Column number of matrix. */
-										const char* name			/**< Matlab name of matrix/vector to be stored. */
- 										);
-
-
-/** Returns the current system time.
- * \return current system time */
-real_t qpOASES_getCPUtime( );
-
-
-/** Returns the N-norm of a vector.
- * \return >= 0.0: successful */
-real_t qpOASES_getNorm(	const real_t* const v,	/**< Vector. */
-						int n,					/**< Vector's dimension. */
-						int type				/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-						);
-
-/** Tests whether two real-valued arguments are (numerically) equal.
- * \return	BT_TRUE:  arguments differ not more than TOL \n
-		 	BT_FALSE: arguments differ more than TOL */
-static inline BooleanType qpOASES_isEqual(	real_t x,	/**< First real number. */
-											real_t y,	/**< Second real number. */
-											real_t TOL	/**< Tolerance for comparison. */
-											);
-
-
-/** Tests whether a real-valued argument is (numerically) zero.
- * \return	BT_TRUE:  argument differs from 0.0 not more than TOL \n
-		 	BT_FALSE: argument differs from 0.0 more than TOL */
-static inline BooleanType qpOASES_isZero(	real_t x,			/**< Real number. */
-											real_t TOL			/**< Tolerance for comparison. */
-											);
-
-
-/** Returns sign of a real-valued argument.
- * \return	 1.0: argument is non-negative \n
-		 	-1.0: argument is negative */
-static inline real_t qpOASES_getSign(	real_t arg	/**< real-valued argument whose sign is to be determined. */
-										);
-
-
-/** Returns maximum of two integers.
- * \return	Maximum of two integers */
-static inline int qpOASES_getMaxI(	int x,	/**< First integer. */
-									int y	/**< Second integer. */
-									);
-
-
-/** Returns minimum of two integers.
- * \return	Minimum of two integers */
-static inline int qpOASES_getMinI(	int x,	/**< First integer. */
-									int y	/**< Second integer. */
-									);
-
-
-/** Returns maximum of two reals.
- * \return	Maximum of two reals */
-static inline real_t qpOASES_getMax(	real_t x,	/**< First real number. */
-										real_t y	/**< Second real number. */
-										);
-
-
-/** Returns minimum of two reals.
- * \return	Minimum of two reals */
-static inline real_t qpOASES_getMin(	real_t x,	/**< First real number. */
-										real_t y	/**< Second real number. */
-										);
-
-
-/** Returns the absolute value of a real_t-valued argument.
- * \return	Absolute value of a real_t-valued argument */
-static inline real_t qpOASES_getAbs(	real_t x	/**< real_t-valued argument. */
-										);
-
-/** Returns the square-root of a real number.
- * \return	Square-root of a real number */
-static inline real_t qpOASES_getSqrt(	real_t x	/**< Non-negative real number. */
-										);
-
-
-/** Computes the maximum violation of the KKT optimality conditions
- *	of given iterate for given QP data. */
-returnValue qpOASES_getKktViolation(	int nV,						/**< Number of variables. */
-										int nC,						/**< Number of constraints. */
-										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
-										const real_t* const g,		/**< Gradient vector. */
-										const real_t* const A,		/**< Constraint matrix. */
-										const real_t* const lb,		/**< Lower bound vector (on variables). */
-										const real_t* const ub,		/**< Upper bound vector (on variables). */
-										const real_t* const lbA,	/**< Lower constraints' bound vector. */
-										const real_t* const ubA,	/**< Upper constraints' bound vector. */
-										const real_t* const x,		/**< Primal trial vector. */
-										const real_t* const y,		/**< Dual trial vector. */
-										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
-										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
-										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
-										);
-
-/** Computes the maximum violation of the KKT optimality conditions
- *	of given iterate for given QP data. */
-returnValue qpOASES_getKktViolationSB(	int nV,						/**< Number of variables. */
-										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
-										const real_t* const g,		/**< Gradient vector. */
-										const real_t* const lb,		/**< Lower bound vector (on variables). */
-										const real_t* const ub,		/**< Upper bound vector (on variables). */
-										const real_t* const x,		/**< Primal trial vector. */
-										const real_t* const y,		/**< Dual trial vector. */
-										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
-										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
-										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
-										);
-
-
-/** Writes a value of BooleanType into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertBooleanTypeToString(	BooleanType value, 		/**< Value to be written. */
-												char* const string		/**< Input: String of sufficient size, \n
-																			Output: String containing value. */
-												);
-
-/** Writes a value of SubjectToStatus into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertSubjectToStatusToString(	SubjectToStatus value,	/**< Value to be written. */
-													char* const string		/**< Input: String of sufficient size, \n
-																				Output: String containing value. */
-													);
-
-/** Writes a value of PrintLevel into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertPrintLevelToString(	PrintLevel value, 		/**< Value to be written. */
-												char* const string		/**< Input: String of sufficient size, \n
-																			Output: String containing value. */
-												);
-
-
-/** Converts a returnValue from an QProblem(B) object into a more 
- *	simple status flag.
- *
- * \return  0: QP problem solved
- *          1: QP could not be solved within given number of iterations
- *         -1: QP could not be solved due to an internal error
- *         -2: QP is infeasible (and thus could not be solved)
- *         -3: QP is unbounded (and thus could not be solved)
- */
-int qpOASES_getSimpleStatus(	returnValue returnvalue, 	/**< ReturnValue to be analysed. */
-								BooleanType doPrintStatus	/**< Flag indicating whether simple status shall be printed to screen. */
-								);
-
-/** Normalises QP constraints.
- * \return SUCCESSFUL_RETURN \n
- *		   RET_INVALID_ARGUMENTS */
-returnValue qpOASES_normaliseConstraints(	int nV,			/**< Number of variables. */
-											int nC, 		/**< Number of constraints. */
-											real_t* A,		/**< Input:  Constraint matrix, \n
-																 Output: Normalised constraint matrix. */
-											real_t* lbA,	/**< Input:  Constraints' lower bound vector, \n
-																 Output: Normalised constraints' lower bound vector. */
-											real_t* ubA,	/**< Input:  Constraints' upper bound vector, \n
-																 Output: Normalised constraints' upper bound vector. */
-											int type		/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-											);
-
-
-#ifdef __DEBUG__
-/** Writes matrix with given dimension into specified file. */
-void gdb_printmat(	const char *fname,			/**< File name. */
-					real_t *M,					/**< Matrix to be written. */
-					int n,						/**< Number of rows. */
-					int m,						/**< Number of columns. */
-					int ldim					/**< Leading dimension. */
-					);
-#endif /* __DEBUG__ */
-
-
-#if defined(__DSPACE__) || defined(__XPCTARGET__) 
-void __cxa_pure_virtual( void );
-#endif /* __DSPACE__ || __XPCTARGET__*/ 
-
-
-
-/*
- *   i s E q u a l
- */
-static inline BooleanType qpOASES_isEqual(	real_t x,
-											real_t y,
-											real_t TOL
-											)
-{
-    if ( qpOASES_getAbs(x-y) <= TOL )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *   i s Z e r o
- */
-static inline BooleanType qpOASES_isZero(	real_t x,
-											real_t TOL
-											)
-{
-    if ( qpOASES_getAbs(x) <= TOL )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *   g e t S i g n
- */
-static inline real_t qpOASES_getSign(	real_t arg
-										)
-{
-	if ( arg >= 0.0 )
-		return 1.0;
-	else
-		return -1.0;
-}
-
-
-
-/*
- *   g e t M a x
- */
-static inline int qpOASES_getMaxI(	int x,
-									int y
-									)
-{
-    return (y<x) ? x : y;
-}
-
-
-/*
- *   g e t M i n
- */
-static inline int qpOASES_getMinI(	int x,
-									int y
-									)
-{
-    return (y>x) ? x : y;
-}
-
-
-/*
- *   g e t M a x
- */
-static inline real_t qpOASES_getMax(	real_t x,
-										real_t y
-										)
-{
-	#ifdef __NO_FMATH__
-    return (y<x) ? x : y;
-	#else
-	return (y<x) ? x : y;
-	/*return fmax(x,y); seems to be slower */
-	#endif
-}
-
-
-/*
- *   g e t M i n
- */
-static inline real_t qpOASES_getMin(	real_t x,
-										real_t y
-										)
-{
-	#ifdef __NO_FMATH__
-    return (y>x) ? x : y;
-	#else
-	return (y>x) ? x : y;
-	/*return fmin(x,y); seems to be slower */
-	#endif
-}
-
-
-/*
- *   g e t A b s
- */
-static inline real_t qpOASES_getAbs(	real_t x
-										)
-{
-	#ifdef __NO_FMATH__
-	return (x>=0.0) ? x : -x;
-	#else
-	return fabs(x);
-	#endif
-}
-
-/*
- *   g e t S q r t
- */
-static inline real_t qpOASES_getSqrt(	real_t x
-										)
-{
-    #ifdef __NO_FMATH__
-	return sqrt(x); /* put your custom sqrt-replacement here */
-	#else
-	return sqrt(x);
-	#endif
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UTILS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
deleted file mode 100644
index da59ea9db6..0000000000
--- a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
+++ /dev/null
@@ -1,227 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/extras/OQPinterface.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of an interface comprising several utility functions
- *	for solving test problems from the Online QP Benchmark Collection
- *	(This collection is no longer maintained, see
- *	http://www.qpOASES.org/onlineQP for a backup).
- */
-
-
-#ifndef QPOASES_OQPINTERFACE_H
-#define QPOASES_OQPINTERFACE_H
-
-
-#include <qpOASES_e/Utils.h>
-#include <qpOASES_e/Options.h>
-
-#include <qpOASES_e/QProblemB.h>
-#include <qpOASES_e/QProblem.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	QProblem *qp;
-
-	DenseMatrix *H;
-	DenseMatrix *A;
-
-	real_t *x;
-	real_t *y;
-} OQPbenchmark_ws;
-
-int OQPbenchmark_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *OQPbenchmark_ws_assignMemory( unsigned int nV, unsigned int nC, OQPbenchmark_ws **mem, void *raw_memory );
-
-OQPbenchmark_ws *OQPbenchmark_ws_createMemory( unsigned int nV, unsigned int nC );
-
-typedef struct {
-	QProblemB *qp;
-
-	DenseMatrix *H;
-
-	real_t *x;
-	real_t *y;
-} OQPbenchmarkB_ws;
-
-int OQPbenchmarkB_ws_calculateMemorySize( unsigned int nV );
-
-char *OQPbenchmarkB_ws_assignMemory( unsigned int nV, OQPbenchmarkB_ws **mem, void *raw_memory );
-
-OQPbenchmarkB_ws *OQPbenchmarkB_ws_createMemory( unsigned int nV );
-
-typedef struct {
-	OQPbenchmark_ws *qp_ws;
-	OQPbenchmarkB_ws *qpB_ws;
-
-	real_t *H;
-	real_t *g;
-	real_t *A;
-	real_t *lb;
-	real_t *ub;
-	real_t *lbA;
-	real_t *ubA;
-} OQPinterface_ws;
-
-int OQPinterface_ws_calculateMemorySize( unsigned int nV, unsigned int nC, unsigned int nQP  );
-
-char *OQPinterface_ws_assignMemory( unsigned int nV, unsigned int nC, unsigned int nQP, OQPinterface_ws **mem, void *raw_memory );
-
-OQPinterface_ws *OQPinterface_ws_createMemory( unsigned int nV, unsigned int nC, unsigned int nQP );
-
-/** Reads dimensions of an Online QP Benchmark problem from file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_UNABLE_TO_READ_FILE \n
-		   RET_FILEDATA_INCONSISTENT */
-returnValue readOQPdimensions(	const char* path,	/**< Full path of the data files (without trailing slash!). */
-								int* nQP,			/**< Output: Number of QPs. */
-								int* nV,			/**< Output: Number of variables. */
-								int* nC,			/**< Output: Number of constraints. */
-								int* nEC			/**< Output: Number of equality constraints. */
-								);
-
-/** Reads data of an Online QP Benchmark problem from file.
- *  This function allocates the required memory for all data; after successfully calling it,
- *  you have to free this memory yourself!
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS \n
-		   RET_UNABLE_TO_READ_FILE \n
-		   RET_FILEDATA_INCONSISTENT */
-returnValue readOQPdata(	const char* path,	/**< Full path of the data files (without trailing slash!). */
-							int* nQP,			/**< Output: Number of QPs. */
-							int* nV,			/**< Output: Number of variables. */
-							int* nC,			/**< Output: Number of constraints. */
-							int* nEC,			/**< Output: Number of equality constraints. */
-							real_t* H,		 	/**< Output: Hessian matrix. */
-							real_t* g,		 	/**< Output: Sequence of gradient vectors. */
-							real_t* A,		 	/**< Output: Constraint matrix. */
-							real_t* lb,			/**< Output: Sequence of lower bound vectors (on variables). */
-							real_t* ub,			/**< Output: Sequence of upper bound vectors (on variables). */
-							real_t* lbA,		/**< Output: Sequence of lower constraints' bound vectors. */
-							real_t* ubA,		/**< Output: Sequence of upper constraints' bound vectors. */
-							real_t* xOpt,		/**< Output: Sequence of primal solution vectors
-												 *           (not read if a null pointer is passed). */
-							real_t* yOpt,		/**< Output: Sequence of dual solution vectors
-												 *           (not read if a null pointer is passed). */
-							real_t* objOpt		/**< Output: Sequence of optimal objective function values
-												 *           (not read if a null pointer is passed). */
-							);
-
-
-/** Solves an Online QP Benchmark problem as specified by the arguments.
- *  The maximum deviations from the given optimal solution as well as the
- *  maximum CPU time to solve each QP are determined.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue solveOQPbenchmark(	int nQP,					/**< Number of QPs. */
-								int nV,						/**< Number of variables. */
-								int nC,						/**< Number of constraints. */
-								int nEC,					/**< Number of equality constraints. */
-								real_t* _H,					/**< Hessian matrix. */
-								const real_t* const g,		/**< Sequence of gradient vectors. */
-								real_t* _A,					/**< Constraint matrix. */
-								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
-								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
-								const real_t* const lbA,	/**< Sequence of lower constraints' bound vectors. */
-								const real_t* const ubA,	/**< Sequence of upper constraints' bound vectors. */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPbenchmark_ws *work	    /**< Workspace. */
-								);
-
-/** Solves an Online QP Benchmark problem (without constraints) as specified
- *  by the arguments. The maximum deviations from the given optimal solution
- *  as well as the maximum CPU time to solve each QP are determined.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue solveOQPbenchmarkB(	int nQP,					/**< Number of QPs. */
-								int nV,						/**< Number of variables. */
-								real_t* _H,					/**< Hessian matrix. */
-								const real_t* const g,		/**< Sequence of gradient vectors. */
-								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
-								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPbenchmarkB_ws *work	    /**< Workspace. */
-								);
-
-
-/** Runs an Online QP Benchmark problem and determines the maximum
- *  violation of the KKT optimality conditions as well as the
- *  maximum and average number of iterations and CPU time to solve
- *	each QP.
- *
- * \return SUCCESSFUL_RETURN \n
-		   RET_UNABLE_TO_READ_BENCHMARK \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue runOQPbenchmark(	const char* path,			/**< Full path of the benchmark files (without trailing slash!). */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPinterface_ws* work       /**< Workspace. */
-								);
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OQPINTERFACE_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so
deleted file mode 100644
index a081e31ab1..0000000000
--- a/third_party/acados/larch64/lib/libacados.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:091ed10ea2b52866b826ef6867b3413d6fd61af66fcedf3d932c9adf3fb329de
-size 512912
diff --git a/third_party/acados/larch64/lib/libblasfeo.so b/third_party/acados/larch64/lib/libblasfeo.so
deleted file mode 100644
index e2191897a1..0000000000
--- a/third_party/acados/larch64/lib/libblasfeo.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d40b25de85318c8349c9894a3cbeaa713efae4158d8cc2c5c77af9f1bfbbb28e
-size 1150320
diff --git a/third_party/acados/larch64/lib/libhpipm.so b/third_party/acados/larch64/lib/libhpipm.so
deleted file mode 100644
index 002eda375a..0000000000
--- a/third_party/acados/larch64/lib/libhpipm.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:91b9276e74c7d7750288d76087d586ed27932939bc7bca2ad1494b6558fc43e3
-size 1367352
diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so b/third_party/acados/larch64/lib/libqpOASES_e.so
deleted file mode 120000
index 14048625a1..0000000000
--- a/third_party/acados/larch64/lib/libqpOASES_e.so
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
deleted file mode 100644
index d64e40ec60..0000000000
--- a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c0a84042e5315af18e6e33b9b9c5e96573248e41ff165657eb9d83da4da2889f
-size 223152
diff --git a/third_party/acados/larch64/t_renderer b/third_party/acados/larch64/t_renderer
deleted file mode 100755
index f9e7d16601..0000000000
--- a/third_party/acados/larch64/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4660fe00e03e29d90459ac2fd46a6e10982577d0ba558b9f05e5712df66814b4
-size 17915048
diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so
deleted file mode 100644
index 50d647a862..0000000000
--- a/third_party/acados/x86_64/lib/libacados.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:05a1ba3cf37fa929cdd56f892608b2f89c35a05ef1b07fedb86b2f0d76607263
-size 540488
diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so
deleted file mode 100644
index a98f45abd2..0000000000
--- a/third_party/acados/x86_64/lib/libblasfeo.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c0bf22898d9c59b672d3d0961f5f4c804b9957478125d99eb297de3091bedd15
-size 2416112
diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so
deleted file mode 100644
index f40cb487cd..0000000000
--- a/third_party/acados/x86_64/lib/libhpipm.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5b6875fb47940764d4ebb916c2373cb0e04929229feb654b290676c28d48fa9d
-size 1531024
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so b/third_party/acados/x86_64/lib/libqpOASES_e.so
deleted file mode 120000
index 14048625a1..0000000000
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
deleted file mode 100644
index 81afd059f7..0000000000
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:04be908c3f707e5c968022b9cdd79ab75ae7af46e7fa019ceee98f854ddd3f64
-size 262464
diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
deleted file mode 100755
index d41f6c3725..0000000000
--- a/third_party/acados/x86_64/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a53ae46650c4df5b0ddb87a658f59a0422e41743e8bc2d822da0aefd1d280791
-size 5088536

From d7c562e1300b967fdbde39f7da733eb81aa52c6c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 May 2026 19:42:31 -0700
Subject: [PATCH 106/210] use linux headers from /usr (#37993)

* use linux headers from /usr

* Fix linux header build on non-TICI platforms

* Copy NV12 media header helpers
---
 SConstruct                                    |    1 -
 msgq_repo                                     |    2 +-
 system/camerad/cameras/camera_qcom2.cc        |    2 -
 system/camerad/cameras/nv12_info.h            |  110 +-
 system/camerad/cameras/nv12_info.py           |    2 +-
 system/camerad/cameras/spectra.cc             |    1 -
 system/camerad/cameras/spectra.h              |   23 +
 system/camerad/sensors/os04c10.cc             |    2 +-
 system/camerad/sensors/ox03c10.cc             |    2 +-
 system/loggerd/SConscript                     |   10 +-
 system/loggerd/encoder/encoder.h              |    2 +-
 system/loggerd/encoder/v4l_encoder.cc         |    4 +-
 third_party/linux/include/linux/ion.h         |   78 -
 third_party/linux/include/media/cam_cpas.h    |   25 -
 third_party/linux/include/media/cam_defs.h    |  477 -----
 third_party/linux/include/media/cam_fd.h      |  127 --
 third_party/linux/include/media/cam_icp.h     |  179 --
 third_party/linux/include/media/cam_isp.h     |  379 ----
 third_party/linux/include/media/cam_isp_ife.h |   39 -
 third_party/linux/include/media/cam_isp_vfe.h |   44 -
 third_party/linux/include/media/cam_jpeg.h    |  117 --
 third_party/linux/include/media/cam_lrme.h    |   65 -
 third_party/linux/include/media/cam_req_mgr.h |  436 -----
 third_party/linux/include/media/cam_sensor.h  |  477 -----
 .../include/media/cam_sensor_cmn_header.h     |  391 ----
 third_party/linux/include/media/cam_sync.h    |  134 --
 third_party/linux/include/msm_cam_sensor.h    |  829 --------
 third_party/linux/include/msm_camsensor_sdk.h |  386 ----
 third_party/linux/include/msm_ion.h           |  211 --
 third_party/linux/include/msm_kgsl.h          | 1449 --------------
 third_party/linux/include/msm_media_info.h    | 1392 --------------
 third_party/linux/include/msmb_camera.h       |  220 ---
 third_party/linux/include/msmb_isp.h          |  880 ---------
 third_party/linux/include/msmb_ispif.h        |  125 --
 third_party/linux/include/v4l2-controls.h     | 1696 -----------------
 tools/replay/qcom_decoder.cc                  |    4 +-
 36 files changed, 145 insertions(+), 10176 deletions(-)
 delete mode 100644 third_party/linux/include/linux/ion.h
 delete mode 100644 third_party/linux/include/media/cam_cpas.h
 delete mode 100644 third_party/linux/include/media/cam_defs.h
 delete mode 100644 third_party/linux/include/media/cam_fd.h
 delete mode 100644 third_party/linux/include/media/cam_icp.h
 delete mode 100644 third_party/linux/include/media/cam_isp.h
 delete mode 100644 third_party/linux/include/media/cam_isp_ife.h
 delete mode 100644 third_party/linux/include/media/cam_isp_vfe.h
 delete mode 100644 third_party/linux/include/media/cam_jpeg.h
 delete mode 100644 third_party/linux/include/media/cam_lrme.h
 delete mode 100644 third_party/linux/include/media/cam_req_mgr.h
 delete mode 100644 third_party/linux/include/media/cam_sensor.h
 delete mode 100644 third_party/linux/include/media/cam_sensor_cmn_header.h
 delete mode 100644 third_party/linux/include/media/cam_sync.h
 delete mode 100644 third_party/linux/include/msm_cam_sensor.h
 delete mode 100644 third_party/linux/include/msm_camsensor_sdk.h
 delete mode 100644 third_party/linux/include/msm_ion.h
 delete mode 100644 third_party/linux/include/msm_kgsl.h
 delete mode 100644 third_party/linux/include/msm_media_info.h
 delete mode 100644 third_party/linux/include/msmb_camera.h
 delete mode 100644 third_party/linux/include/msmb_isp.h
 delete mode 100644 third_party/linux/include/msmb_ispif.h
 delete mode 100644 third_party/linux/include/v4l2-controls.h

diff --git a/SConstruct b/SConstruct
index 277ea1a317..9d985ab696 100644
--- a/SConstruct
+++ b/SConstruct
@@ -113,7 +113,6 @@ env = Environment(
     "#msgq",
     "#third_party",
     "#third_party/json11",
-    "#third_party/linux/include",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
diff --git a/msgq_repo b/msgq_repo
index b7688b9bd7..6e9dbd5768 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit b7688b9bd731dea4520adf248bf1eb49b6dde776
+Subproject commit 6e9dbd57681365e272e5fb3d2af20d0d9af7e76f
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 6a7f599ab6..63640920db 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -12,8 +12,6 @@
 #include <string>
 #include <vector>
 
-#include "media/cam_sensor_cmn_header.h"
-
 #include "common/params.h"
 #include "common/swaglog.h"
 
diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h
index e8eb117406..c0460caee3 100644
--- a/system/camerad/cameras/nv12_info.h
+++ b/system/camerad/cameras/nv12_info.h
@@ -4,7 +4,115 @@
 #include <cstdint>
 #include <tuple>
 
-#include "third_party/linux/include/msm_media_info.h"
+// NV12 subset copied from media/msm_media_info.h.
+#ifndef MSM_MEDIA_ALIGN
+#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ? \
+  ((((__sz) + (__align) - 1) / (__align)) * (__align)) : \
+  (((__sz) + (__align) - 1) & (~((__align) - 1))))
+#endif
+
+#ifndef MSM_MEDIA_MAX
+#define MSM_MEDIA_MAX(__a, __b) ((__a) > (__b) ? (__a) : (__b))
+#endif
+
+enum color_fmts {
+  COLOR_FMT_NV12,
+};
+
+static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height) {
+  (void)height;
+  (void)width;
+  return 16 * 1024;
+}
+
+static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width) {
+  unsigned int stride = 0;
+  if (!width) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      stride = MSM_MEDIA_ALIGN(width, 128);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return stride;
+}
+
+static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width) {
+  unsigned int stride = 0;
+  if (!width) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      stride = MSM_MEDIA_ALIGN(width, 128);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return stride;
+}
+
+static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height) {
+  unsigned int sclines = 0;
+  if (!height) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      sclines = MSM_MEDIA_ALIGN(height, 32);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return sclines;
+}
+
+static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) {
+  unsigned int sclines = 0;
+  if (!height) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      sclines = MSM_MEDIA_ALIGN((height + 1) >> 1, 16);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return sclines;
+}
+
+static inline unsigned int VENUS_BUFFER_SIZE(int color_fmt, int width, int height) {
+  const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
+  unsigned int size = 0;
+  unsigned int y_stride = 0, uv_stride = 0, y_sclines = 0, uv_sclines = 0;
+
+  if (!width || !height) goto invalid_input;
+
+  y_stride = VENUS_Y_STRIDE(color_fmt, width);
+  uv_stride = VENUS_UV_STRIDE(color_fmt, width);
+  y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
+  uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12: {
+      const unsigned int y_plane = y_stride * y_sclines;
+      const unsigned int uv_plane = uv_stride * uv_sclines + 4096;
+      size = y_plane + uv_plane + MSM_MEDIA_MAX(extra_size, 8 * y_stride);
+      size = MSM_MEDIA_ALIGN(size, 4096);
+      size += MSM_MEDIA_ALIGN(width, 512) * 512;
+      size = MSM_MEDIA_ALIGN(size, 4096);
+      break;
+    }
+    default:
+      break;
+  }
+invalid_input:
+  return size;
+}
 
 // Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions.
 inline std::tuple<uint32_t, uint32_t, uint32_t, uint32_t> get_nv12_info(int width, int height) {
diff --git a/system/camerad/cameras/nv12_info.py b/system/camerad/cameras/nv12_info.py
index bcb6312d2b..2cadc29364 100644
--- a/system/camerad/cameras/nv12_info.py
+++ b/system/camerad/cameras/nv12_info.py
@@ -1,5 +1,5 @@
 # Python version of system/camerad/cameras/nv12_info.h
-# Calculations from third_party/linux/include/msm_media_info.h (VENUS_BUFFER_SIZE)
+# Calculations from media/msm_media_info.h (VENUS_BUFFER_SIZE)
 
 def align(val: int, alignment: int) -> int:
   return ((val + alignment - 1) // alignment) * alignment
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 1ebb36a4d9..0b5f5327f5 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -10,7 +10,6 @@
 #include "media/cam_isp.h"
 #include "media/cam_icp.h"
 #include "media/cam_isp_ife.h"
-#include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 
 #include "common/util.h"
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index b8964aed6c..eb6d95af1c 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -30,6 +30,29 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1
 
+// Sensor command values from the SDM845 kernel's private camera header:
+// drivers/media/platform/msm/camera/cam_sensor_module/cam_sensor_utils/cam_sensor_cmn_header.h
+// These are userspace-visible ioctl payload values, but Qualcomm did not export them through UAPI.
+enum {
+  CAMERA_SENSOR_CMD_TYPE_PROBE = 1,
+  CAMERA_SENSOR_CMD_TYPE_PWR_UP = 2,
+  CAMERA_SENSOR_CMD_TYPE_PWR_DOWN = 3,
+  CAMERA_SENSOR_CMD_TYPE_I2C_INFO = 4,
+  CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR = 5,
+  CAMERA_SENSOR_CMD_TYPE_WAIT = 9,
+
+  CAMERA_SENSOR_WAIT_OP_SW_UCND = 3,
+
+  CAMERA_SENSOR_I2C_TYPE_BYTE = 1,
+  CAMERA_SENSOR_I2C_TYPE_WORD = 2,
+
+  I2C_FAST_MODE = 1,
+
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE = 3,
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG = 4,
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127,
+};
+
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
 int device_control(int fd, int op_code, int session_handle, int dev_handle);
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 7e837f819c..d14c288b91 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -1,7 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"
+#include <media/msm_camsensor_sdk.h>
 
 namespace {
 
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 05d58f03c6..e0e0dec2ff 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -1,7 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"
+#include <media/msm_camsensor_sdk.h>
 
 namespace {
 
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index 37812639ff..a638704dca 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -5,8 +5,10 @@ libs = [common, messaging, visionipc,
         'pthread', 'z', 'm', 'zstd']
 frameworks = []
 
-src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
-if arch != "larch64":
+src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/jpeg_encoder.cc']
+if arch == "larch64":
+  src += ['encoder/v4l_encoder.cc']
+else:
   src += ['encoder/ffmpeg_encoder.cc']
   libs += ['yuv']
   if arch == "Darwin":
@@ -15,10 +17,6 @@ if arch != "larch64":
 if arch != "Darwin":
   libs += ['va', 'va-drm', 'drm']
 
-if arch == "Darwin":
-  # exclude v4l
-  del src[src.index('encoder/v4l_encoder.cc')]
-
 logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
 
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 57146fafc3..97cd10acc9 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -2,7 +2,7 @@
 
 // has to be in this order
 #ifdef __linux__
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 #else
 #define V4L2_BUF_FLAG_KEYFRAME 8
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index cabd9fd997..c54469f69d 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -7,10 +7,10 @@
 #include "common/util.h"
 #include "common/timing.h"
 
-#include "third_party/linux/include/msm_media_info.h"
+#include <media/msm_media_info.h>
 
 // has to be in this order
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000
 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
diff --git a/third_party/linux/include/linux/ion.h b/third_party/linux/include/linux/ion.h
deleted file mode 100644
index 7b5b031f57..0000000000
--- a/third_party/linux/include/linux/ion.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- ****************************************************************************
- ***
- ***   This header was automatically generated from a Linux kernel header
- ***   of the same name, to make information necessary for userspace to
- ***   call into the kernel available to libc.  It contains only constants,
- ***   structures, and macros generated from the original header, and thus,
- ***   contains no copyrightable information.
- ***
- ***   To edit the content of this header, modify the corresponding
- ***   source file (e.g. under external/kernel-headers/original/) then
- ***   run bionic/libc/kernel/tools/update_all.py
- ***
- ***   Any manual change here will be lost the next time this script will
- ***   be run. You've been warned!
- ***
- ****************************************************************************
- ****************************************************************************/
-#ifndef _UAPI_LINUX_ION_H
-#define _UAPI_LINUX_ION_H
-#include <linux/ioctl.h>
-#include <linux/types.h>
-typedef int ion_user_handle_t;
-enum ion_heap_type {
-  ION_HEAP_TYPE_SYSTEM,
-  ION_HEAP_TYPE_SYSTEM_CONTIG,
-  ION_HEAP_TYPE_CARVEOUT,
-  ION_HEAP_TYPE_CHUNK,
-  ION_HEAP_TYPE_DMA,
-  ION_HEAP_TYPE_CUSTOM,
-};
-#define ION_NUM_HEAP_IDS (sizeof(unsigned int) * 8)
-#define ION_FLAG_CACHED 1
-#define ION_FLAG_CACHED_NEEDS_SYNC 2
-struct ion_allocation_data {
-  size_t len;
-  size_t align;
-  unsigned int heap_id_mask;
-  unsigned int flags;
-  ion_user_handle_t handle;
-};
-struct ion_fd_data {
-  ion_user_handle_t handle;
-  int fd;
-};
-struct ion_handle_data {
-  ion_user_handle_t handle;
-};
-struct ion_custom_data {
-  unsigned int cmd;
-  unsigned long arg;
-};
-#define MAX_HEAP_NAME 32
-struct ion_heap_data {
-  char name[MAX_HEAP_NAME];
-  __u32 type;
-  __u32 heap_id;
-  __u32 reserved0;
-  __u32 reserved1;
-  __u32 reserved2;
-};
-struct ion_heap_query {
-  __u32 cnt;
-  __u32 reserved0;
-  __u64 heaps;
-  __u32 reserved1;
-  __u32 reserved2;
-};
-#define ION_IOC_MAGIC 'I'
-#define ION_IOC_ALLOC _IOWR(ION_IOC_MAGIC, 0, struct ion_allocation_data)
-#define ION_IOC_FREE _IOWR(ION_IOC_MAGIC, 1, struct ion_handle_data)
-#define ION_IOC_MAP _IOWR(ION_IOC_MAGIC, 2, struct ion_fd_data)
-#define ION_IOC_SHARE _IOWR(ION_IOC_MAGIC, 4, struct ion_fd_data)
-#define ION_IOC_IMPORT _IOWR(ION_IOC_MAGIC, 5, struct ion_fd_data)
-#define ION_IOC_SYNC _IOWR(ION_IOC_MAGIC, 7, struct ion_fd_data)
-#define ION_IOC_CUSTOM _IOWR(ION_IOC_MAGIC, 6, struct ion_custom_data)
-#define ION_IOC_HEAP_QUERY _IOWR(ION_IOC_MAGIC, 8, struct ion_heap_query)
-#endif
diff --git a/third_party/linux/include/media/cam_cpas.h b/third_party/linux/include/media/cam_cpas.h
deleted file mode 100644
index c5cbac82e7..0000000000
--- a/third_party/linux/include/media/cam_cpas.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef __UAPI_CAM_CPAS_H__
-#define __UAPI_CAM_CPAS_H__
-
-#include "cam_defs.h"
-
-#define CAM_FAMILY_CAMERA_SS     1
-#define CAM_FAMILY_CPAS_SS       2
-
-/**
- * struct cam_cpas_query_cap - CPAS query device capability payload
- *
- * @camera_family     : Camera family type
- * @reserved          : Reserved field for alignment
- * @camera_version    : Camera platform version
- * @cpas_version      : Camera CPAS version within camera platform
- *
- */
-struct cam_cpas_query_cap {
-	uint32_t                 camera_family;
-	uint32_t                 reserved;
-	struct cam_hw_version    camera_version;
-	struct cam_hw_version    cpas_version;
-};
-
-#endif /* __UAPI_CAM_CPAS_H__ */
diff --git a/third_party/linux/include/media/cam_defs.h b/third_party/linux/include/media/cam_defs.h
deleted file mode 100644
index e006463d2a..0000000000
--- a/third_party/linux/include/media/cam_defs.h
+++ /dev/null
@@ -1,477 +0,0 @@
-#ifndef __UAPI_CAM_DEFS_H__
-#define __UAPI_CAM_DEFS_H__
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-
-/* camera op codes */
-#define CAM_COMMON_OPCODE_BASE                  0x100
-#define CAM_QUERY_CAP                           (CAM_COMMON_OPCODE_BASE + 0x1)
-#define CAM_ACQUIRE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x2)
-#define CAM_START_DEV                           (CAM_COMMON_OPCODE_BASE + 0x3)
-#define CAM_STOP_DEV                            (CAM_COMMON_OPCODE_BASE + 0x4)
-#define CAM_CONFIG_DEV                          (CAM_COMMON_OPCODE_BASE + 0x5)
-#define CAM_RELEASE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x6)
-#define CAM_SD_SHUTDOWN                         (CAM_COMMON_OPCODE_BASE + 0x7)
-#define CAM_FLUSH_REQ                           (CAM_COMMON_OPCODE_BASE + 0x8)
-#define CAM_COMMON_OPCODE_MAX                   (CAM_COMMON_OPCODE_BASE + 0x9)
-
-#define CAM_EXT_OPCODE_BASE                     0x200
-#define CAM_CONFIG_DEV_EXTERNAL                 (CAM_EXT_OPCODE_BASE + 0x1)
-
-/* camera handle type */
-#define CAM_HANDLE_USER_POINTER                 1
-#define CAM_HANDLE_MEM_HANDLE                   2
-
-/* Generic Blob CmdBuffer header properties */
-#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_MASK    0xFFFFFF00
-#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_SHIFT   8
-#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_MASK    0xFF
-#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_SHIFT   0
-
-/* Command Buffer Types */
-#define CAM_CMD_BUF_DMI                     0x1
-#define CAM_CMD_BUF_DMI16                   0x2
-#define CAM_CMD_BUF_DMI32                   0x3
-#define CAM_CMD_BUF_DMI64                   0x4
-#define CAM_CMD_BUF_DIRECT                  0x5
-#define CAM_CMD_BUF_INDIRECT                0x6
-#define CAM_CMD_BUF_I2C                     0x7
-#define CAM_CMD_BUF_FW                      0x8
-#define CAM_CMD_BUF_GENERIC                 0x9
-#define CAM_CMD_BUF_LEGACY                  0xA
-
-/**
- * enum flush_type_t - Identifies the various flush types
- *
- * @CAM_FLUSH_TYPE_REQ:    Flush specific request
- * @CAM_FLUSH_TYPE_ALL:    Flush all requests belonging to a context
- * @CAM_FLUSH_TYPE_MAX:    Max enum to validate flush type
- *
- */
-enum flush_type_t {
-	CAM_FLUSH_TYPE_REQ,
-	CAM_FLUSH_TYPE_ALL,
-	CAM_FLUSH_TYPE_MAX
-};
-
-/**
- * struct cam_control - Structure used by ioctl control for camera
- *
- * @op_code:            This is the op code for camera control
- * @size:               Control command size
- * @handle_type:        User pointer or shared memory handle
- * @reserved:           Reserved field for 64 bit alignment
- * @handle:             Control command payload
- */
-struct cam_control {
-	uint32_t        op_code;
-	uint32_t        size;
-	uint32_t        handle_type;
-	uint32_t        reserved;
-	uint64_t        handle;
-};
-
-/* camera IOCTL */
-#define VIDIOC_CAM_CONTROL \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_control)
-
-/**
- * struct cam_hw_version - Structure for HW version of camera devices
- *
- * @major    : Hardware version major
- * @minor    : Hardware version minor
- * @incr     : Hardware version increment
- * @reserved : Reserved for 64 bit aligngment
- */
-struct cam_hw_version {
-	uint32_t major;
-	uint32_t minor;
-	uint32_t incr;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_iommu_handle - Structure for IOMMU handles of camera hw devices
- *
- * @non_secure: Device Non Secure IOMMU handle
- * @secure:     Device Secure IOMMU handle
- *
- */
-struct cam_iommu_handle {
-	int32_t non_secure;
-	int32_t secure;
-};
-
-/* camera secure mode */
-#define CAM_SECURE_MODE_NON_SECURE             0
-#define CAM_SECURE_MODE_SECURE                 1
-
-/* Camera Format Type */
-#define CAM_FORMAT_BASE                         0
-#define CAM_FORMAT_MIPI_RAW_6                   1
-#define CAM_FORMAT_MIPI_RAW_8                   2
-#define CAM_FORMAT_MIPI_RAW_10                  3
-#define CAM_FORMAT_MIPI_RAW_12                  4
-#define CAM_FORMAT_MIPI_RAW_14                  5
-#define CAM_FORMAT_MIPI_RAW_16                  6
-#define CAM_FORMAT_MIPI_RAW_20                  7
-#define CAM_FORMAT_QTI_RAW_8                    8
-#define CAM_FORMAT_QTI_RAW_10                   9
-#define CAM_FORMAT_QTI_RAW_12                   10
-#define CAM_FORMAT_QTI_RAW_14                   11
-#define CAM_FORMAT_PLAIN8                       12
-#define CAM_FORMAT_PLAIN16_8                    13
-#define CAM_FORMAT_PLAIN16_10                   14
-#define CAM_FORMAT_PLAIN16_12                   15
-#define CAM_FORMAT_PLAIN16_14                   16
-#define CAM_FORMAT_PLAIN16_16                   17
-#define CAM_FORMAT_PLAIN32_20                   18
-#define CAM_FORMAT_PLAIN64                      19
-#define CAM_FORMAT_PLAIN128                     20
-#define CAM_FORMAT_ARGB                         21
-#define CAM_FORMAT_ARGB_10                      22
-#define CAM_FORMAT_ARGB_12                      23
-#define CAM_FORMAT_ARGB_14                      24
-#define CAM_FORMAT_DPCM_10_6_10                 25
-#define CAM_FORMAT_DPCM_10_8_10                 26
-#define CAM_FORMAT_DPCM_12_6_12                 27
-#define CAM_FORMAT_DPCM_12_8_12                 28
-#define CAM_FORMAT_DPCM_14_8_14                 29
-#define CAM_FORMAT_DPCM_14_10_14                30
-#define CAM_FORMAT_NV21                         31
-#define CAM_FORMAT_NV12                         32
-#define CAM_FORMAT_TP10                         33
-#define CAM_FORMAT_YUV422                       34
-#define CAM_FORMAT_PD8                          35
-#define CAM_FORMAT_PD10                         36
-#define CAM_FORMAT_UBWC_NV12                    37
-#define CAM_FORMAT_UBWC_NV12_4R                 38
-#define CAM_FORMAT_UBWC_TP10                    39
-#define CAM_FORMAT_UBWC_P010                    40
-#define CAM_FORMAT_PLAIN8_SWAP                  41
-#define CAM_FORMAT_PLAIN8_10                    42
-#define CAM_FORMAT_PLAIN8_10_SWAP               43
-#define CAM_FORMAT_YV12                         44
-#define CAM_FORMAT_Y_ONLY                       45
-#define CAM_FORMAT_MAX                          46
-
-/* camera rotaion */
-#define CAM_ROTATE_CW_0_DEGREE                  0
-#define CAM_ROTATE_CW_90_DEGREE                 1
-#define CAM_RORATE_CW_180_DEGREE                2
-#define CAM_ROTATE_CW_270_DEGREE                3
-
-/* camera Color Space */
-#define CAM_COLOR_SPACE_BASE                    0
-#define CAM_COLOR_SPACE_BT601_FULL              1
-#define CAM_COLOR_SPACE_BT601625                2
-#define CAM_COLOR_SPACE_BT601525                3
-#define CAM_COLOR_SPACE_BT709                   4
-#define CAM_COLOR_SPACE_DEPTH                   5
-#define CAM_COLOR_SPACE_MAX                     6
-
-/* camera buffer direction */
-#define CAM_BUF_INPUT                           1
-#define CAM_BUF_OUTPUT                          2
-#define CAM_BUF_IN_OUT                          3
-
-/* camera packet device Type */
-#define CAM_PACKET_DEV_BASE                     0
-#define CAM_PACKET_DEV_IMG_SENSOR               1
-#define CAM_PACKET_DEV_ACTUATOR                 2
-#define CAM_PACKET_DEV_COMPANION                3
-#define CAM_PACKET_DEV_EEPOM                    4
-#define CAM_PACKET_DEV_CSIPHY                   5
-#define CAM_PACKET_DEV_OIS                      6
-#define CAM_PACKET_DEV_FLASH                    7
-#define CAM_PACKET_DEV_FD                       8
-#define CAM_PACKET_DEV_JPEG_ENC                 9
-#define CAM_PACKET_DEV_JPEG_DEC                 10
-#define CAM_PACKET_DEV_VFE                      11
-#define CAM_PACKET_DEV_CPP                      12
-#define CAM_PACKET_DEV_CSID                     13
-#define CAM_PACKET_DEV_ISPIF                    14
-#define CAM_PACKET_DEV_IFE                      15
-#define CAM_PACKET_DEV_ICP                      16
-#define CAM_PACKET_DEV_LRME                     17
-#define CAM_PACKET_DEV_MAX                      18
-
-
-/* constants */
-#define CAM_PACKET_MAX_PLANES                   3
-
-/**
- * struct cam_plane_cfg - Plane configuration info
- *
- * @width:                      Plane width in pixels
- * @height:                     Plane height in lines
- * @plane_stride:               Plane stride in pixel
- * @slice_height:               Slice height in line (not used by ISP)
- * @meta_stride:                UBWC metadata stride
- * @meta_size:                  UBWC metadata plane size
- * @meta_offset:                UBWC metadata offset
- * @packer_config:              UBWC packer config
- * @mode_config:                UBWC mode config
- * @tile_config:                UBWC tile config
- * @h_init:                     UBWC horizontal initial coordinate in pixels
- * @v_init:                     UBWC vertical initial coordinate in lines
- *
- */
-struct cam_plane_cfg {
-	uint32_t                width;
-	uint32_t                height;
-	uint32_t                plane_stride;
-	uint32_t                slice_height;
-	uint32_t                meta_stride;
-	uint32_t                meta_size;
-	uint32_t                meta_offset;
-	uint32_t                packer_config;
-	uint32_t                mode_config;
-	uint32_t                tile_config;
-	uint32_t                h_init;
-	uint32_t                v_init;
-};
-
-/**
- * struct cam_cmd_buf_desc - Command buffer descriptor
- *
- * @mem_handle:                 Command buffer handle
- * @offset:                     Command start offset
- * @size:                       Size of the command buffer in bytes
- * @length:                     Used memory in command buffer in bytes
- * @type:                       Type of the command buffer
- * @meta_data:                  Data type for private command buffer
- *                              Between UMD and KMD
- *
- */
-struct cam_cmd_buf_desc {
-	int32_t                 mem_handle;
-	uint32_t                offset;
-	uint32_t                size;
-	uint32_t                length;
-	uint32_t                type;
-	uint32_t                meta_data;
-};
-
-/**
- * struct cam_buf_io_cfg - Buffer io configuration for buffers
- *
- * @mem_handle:                 Mem_handle array for the buffers.
- * @offsets:                    Offsets for each planes in the buffer
- * @planes:                     Per plane information
- * @width:                      Main plane width in pixel
- * @height:                     Main plane height in lines
- * @format:                     Format of the buffer
- * @color_space:                Color space for the buffer
- * @color_pattern:              Color pattern in the buffer
- * @bpp:                        Bit per pixel
- * @rotation:                   Rotation information for the buffer
- * @resource_type:              Resource type associated with the buffer
- * @fence:                      Fence handle
- * @early_fence:                Fence handle for early signal
- * @aux_cmd_buf:                An auxiliary command buffer that may be
- *                              used for programming the IO
- * @direction:                  Direction of the config
- * @batch_size:                 Batch size in HFR mode
- * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @subsample_period:           Subsample period. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @framedrop_pattern:          Framedrop pattern
- * @framedrop_period:           Framedrop period
- * @flag:                       Flags for extra information
- * @direction:                  Buffer direction: input or output
- * @padding:                    Padding for the structure
- *
- */
-struct cam_buf_io_cfg {
-	int32_t                         mem_handle[CAM_PACKET_MAX_PLANES];
-	uint32_t                        offsets[CAM_PACKET_MAX_PLANES];
-	struct cam_plane_cfg            planes[CAM_PACKET_MAX_PLANES];
-	uint32_t                        format;
-	uint32_t                        color_space;
-	uint32_t                        color_pattern;
-	uint32_t                        bpp;
-	uint32_t                        rotation;
-	uint32_t                        resource_type;
-	int32_t                         fence;
-	int32_t                         early_fence;
-	struct cam_cmd_buf_desc         aux_cmd_buf;
-	uint32_t                        direction;
-	uint32_t                        batch_size;
-	uint32_t                        subsample_pattern;
-	uint32_t                        subsample_period;
-	uint32_t                        framedrop_pattern;
-	uint32_t                        framedrop_period;
-	uint32_t                        flag;
-	uint32_t                        padding;
-};
-
-/**
- * struct cam_packet_header - Camera packet header
- *
- * @op_code:                    Camera packet opcode
- * @size:                       Size of the camera packet in bytes
- * @request_id:                 Request id for this camera packet
- * @flags:                      Flags for the camera packet
- * @padding:                    Padding
- *
- */
-struct cam_packet_header {
-	uint32_t                op_code;
-	uint32_t                size;
-	uint64_t                request_id;
-	uint32_t                flags;
-	uint32_t                padding;
-};
-
-/**
- * struct cam_patch_desc - Patch structure
- *
- * @dst_buf_hdl:                Memory handle for the dest buffer
- * @dst_offset:                 Offset byte in the dest buffer
- * @src_buf_hdl:                Memory handle for the source buffer
- * @src_offset:                 Offset byte in the source buffer
- *
- */
-struct cam_patch_desc {
-	int32_t                 dst_buf_hdl;
-	uint32_t                dst_offset;
-	int32_t                 src_buf_hdl;
-	uint32_t                src_offset;
-};
-
-/**
- * struct cam_packet - Camera packet structure
- *
- * @header:                     Camera packet header
- * @cmd_buf_offset:             Command buffer start offset
- * @num_cmd_buf:                Number of the command buffer in the packet
- * @io_config_offset:           Buffer io configuration start offset
- * @num_io_configs:             Number of the buffer io configurations
- * @patch_offset:               Patch offset for the patch structure
- * @num_patches:                Number of the patch structure
- * @kmd_cmd_buf_index:          Command buffer index which contains extra
- *                              space for the KMD buffer
- * @kmd_cmd_buf_offset:         Offset from the beginning of the command
- *                              buffer for KMD usage.
- * @payload:                    Camera packet payload
- *
- */
-struct cam_packet {
-	struct cam_packet_header        header;
-	uint32_t                        cmd_buf_offset;
-	uint32_t                        num_cmd_buf;
-	uint32_t                        io_configs_offset;
-	uint32_t                        num_io_configs;
-	uint32_t                        patch_offset;
-	uint32_t                        num_patches;
-	uint32_t                        kmd_cmd_buf_index;
-	uint32_t                        kmd_cmd_buf_offset;
-	uint64_t                        payload[1];
-
-};
-
-/**
- * struct cam_release_dev_cmd - Control payload for release devices
- *
- * @session_handle:             Session handle for the release
- * @dev_handle:                 Device handle for the release
- */
-struct cam_release_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-};
-
-/**
- * struct cam_start_stop_dev_cmd - Control payload for start/stop device
- *
- * @session_handle:             Session handle for the start/stop command
- * @dev_handle:                 Device handle for the start/stop command
- *
- */
-struct cam_start_stop_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-};
-
-/**
- * struct cam_config_dev_cmd - Command payload for configure device
- *
- * @session_handle:             Session handle for the command
- * @dev_handle:                 Device handle for the command
- * @offset:                     Offset byte in the packet handle.
- * @packet_handle:              Packet memory handle for the actual packet:
- *                              struct cam_packet.
- *
- */
-struct cam_config_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-	uint64_t                offset;
-	uint64_t                packet_handle;
-};
-
-/**
- * struct cam_query_cap_cmd - Payload for query device capability
- *
- * @size:               Handle size
- * @handle_type:        User pointer or shared memory handle
- * @caps_handle:        Device specific query command payload
- *
- */
-struct cam_query_cap_cmd {
-	uint32_t        size;
-	uint32_t        handle_type;
-	uint64_t        caps_handle;
-};
-
-/**
- * struct cam_acquire_dev_cmd - Control payload for acquire devices
- *
- * @session_handle:     Session handle for the acquire command
- * @dev_handle:         Device handle to be returned
- * @handle_type:        Resource handle type:
- *                      1 = user pointer, 2 = mem handle
- * @num_resources:      Number of the resources to be acquired
- * @resources_hdl:      Resource handle that refers to the actual
- *                      resource array. Each item in this
- *                      array is device specific resource structure
- *
- */
-struct cam_acquire_dev_cmd {
-	int32_t         session_handle;
-	int32_t         dev_handle;
-	uint32_t        handle_type;
-	uint32_t        num_resources;
-	uint64_t        resource_hdl;
-};
-
-/**
- * struct cam_flush_dev_cmd - Control payload for flush devices
- *
- * @version:           Version
- * @session_handle:    Session handle for the acquire command
- * @dev_handle:        Device handle to be returned
- * @flush_type:        Flush type:
- *                     0 = flush specific request
- *                     1 = flush all
- * @reserved:          Reserved for 64 bit aligngment
- * @req_id:            Request id that needs to cancel
- *
- */
-struct cam_flush_dev_cmd {
-	uint64_t       version;
-	int32_t        session_handle;
-	int32_t        dev_handle;
-	uint32_t       flush_type;
-	uint32_t       reserved;
-	int64_t        req_id;
-};
-
-#endif /* __UAPI_CAM_DEFS_H__ */
diff --git a/third_party/linux/include/media/cam_fd.h b/third_party/linux/include/media/cam_fd.h
deleted file mode 100644
index 8feb6e4da8..0000000000
--- a/third_party/linux/include/media/cam_fd.h
+++ /dev/null
@@ -1,127 +0,0 @@
-#ifndef __UAPI_CAM_FD_H__
-#define __UAPI_CAM_FD_H__
-
-#include "cam_defs.h"
-
-#define CAM_FD_MAX_FACES                       35
-#define CAM_FD_RAW_RESULT_ENTRIES              512
-
-/* FD Op Codes */
-#define CAM_PACKET_OPCODES_FD_FRAME_UPDATE     0x0
-
-/* FD Command Buffer identifiers */
-#define CAM_FD_CMD_BUFFER_ID_GENERIC           0x0
-#define CAM_FD_CMD_BUFFER_ID_CDM               0x1
-#define CAM_FD_CMD_BUFFER_ID_MAX               0x2
-
-/* FD Blob types */
-#define CAM_FD_BLOB_TYPE_SOC_CLOCK_BW_REQUEST  0x0
-#define CAM_FD_BLOB_TYPE_RAW_RESULTS_REQUIRED  0x1
-
-/* FD Resource IDs */
-#define CAM_FD_INPUT_PORT_ID_IMAGE             0x0
-#define CAM_FD_INPUT_PORT_ID_MAX               0x1
-
-#define CAM_FD_OUTPUT_PORT_ID_RESULTS          0x0
-#define CAM_FD_OUTPUT_PORT_ID_RAW_RESULTS      0x1
-#define CAM_FD_OUTPUT_PORT_ID_WORK_BUFFER      0x2
-#define CAM_FD_OUTPUT_PORT_ID_MAX              0x3
-
-/**
- * struct cam_fd_soc_clock_bw_request - SOC clock, bandwidth request info
- *
- * @clock_rate : Clock rate required while processing frame
- * @bandwidth  : Bandwidth required while processing frame
- * @reserved   : Reserved for future use
- */
-struct cam_fd_soc_clock_bw_request {
-	uint64_t    clock_rate;
-	uint64_t    bandwidth;
-	uint64_t    reserved[4];
-};
-
-/**
- * struct cam_fd_face - Face properties
- *
- * @prop1 : Property 1 of face
- * @prop2 : Property 2 of face
- * @prop3 : Property 3 of face
- * @prop4 : Property 4 of face
- *
- * Do not change this layout, this is inline with how HW writes
- * these values directly when the buffer is programmed to HW
- */
-struct cam_fd_face {
-	uint32_t    prop1;
-	uint32_t    prop2;
-	uint32_t    prop3;
-	uint32_t    prop4;
-};
-
-/**
- * struct cam_fd_results - FD results layout
- *
- * @faces      : Array of faces with face properties
- * @face_count : Number of faces detected
- * @reserved   : Reserved for alignment
- *
- * Do not change this layout, this is inline with how HW writes
- * these values directly when the buffer is programmed to HW
- */
-struct cam_fd_results {
-	struct cam_fd_face    faces[CAM_FD_MAX_FACES];
-	uint32_t              face_count;
-	uint32_t              reserved[3];
-};
-
-/**
- * struct cam_fd_hw_caps - Face properties
- *
- * @core_version          : FD core version
- * @wrapper_version       : FD wrapper version
- * @raw_results_available : Whether raw results are available on this HW
- * @supported_modes       : Modes supported by this HW.
- * @reserved              : Reserved for future use
- */
-struct cam_fd_hw_caps {
-	struct cam_hw_version    core_version;
-	struct cam_hw_version    wrapper_version;
-	uint32_t                 raw_results_available;
-	uint32_t                 supported_modes;
-	uint64_t                 reserved;
-};
-
-/**
- * struct cam_fd_query_cap_cmd - FD Query capabilities information
- *
- * @device_iommu : FD IOMMU handles
- * @cdm_iommu    : CDM iommu handles
- * @hw_caps      : FD HW capabilities
- * @reserved     : Reserved for alignment
- */
-struct cam_fd_query_cap_cmd {
-	struct cam_iommu_handle    device_iommu;
-	struct cam_iommu_handle    cdm_iommu;
-	struct cam_fd_hw_caps      hw_caps;
-	uint64_t                   reserved;
-};
-
-/**
- * struct cam_fd_acquire_dev_info - FD acquire device information
- *
- * @clk_bw_request  : SOC clock, bandwidth request
- * @priority        : Priority for this acquire
- * @mode            : Mode in which to run FD HW.
- * @get_raw_results : Whether this acquire needs face raw results
- *                    while frame processing
- * @reserved        : Reserved field for 64 bit alignment
- */
-struct cam_fd_acquire_dev_info {
-	struct cam_fd_soc_clock_bw_request clk_bw_request;
-	uint32_t                           priority;
-	uint32_t                           mode;
-	uint32_t                           get_raw_results;
-	uint32_t                           reserved[13];
-};
-
-#endif /* __UAPI_CAM_FD_H__ */
diff --git a/third_party/linux/include/media/cam_icp.h b/third_party/linux/include/media/cam_icp.h
deleted file mode 100644
index 680d05b630..0000000000
--- a/third_party/linux/include/media/cam_icp.h
+++ /dev/null
@@ -1,179 +0,0 @@
-#ifndef __UAPI_CAM_ICP_H__
-#define __UAPI_CAM_ICP_H__
-
-#include "cam_defs.h"
-
-/* icp, ipe, bps, cdm(ipe/bps) are used in querycap */
-#define CAM_ICP_DEV_TYPE_A5      1
-#define CAM_ICP_DEV_TYPE_IPE     2
-#define CAM_ICP_DEV_TYPE_BPS     3
-#define CAM_ICP_DEV_TYPE_IPE_CDM 4
-#define CAM_ICP_DEV_TYPE_BPS_CDM 5
-#define CAM_ICP_DEV_TYPE_MAX     5
-
-/* definitions needed for icp aquire device */
-#define CAM_ICP_RES_TYPE_BPS        1
-#define CAM_ICP_RES_TYPE_IPE_RT     2
-#define CAM_ICP_RES_TYPE_IPE        3
-#define CAM_ICP_RES_TYPE_MAX        4
-
-/* packet opcode types */
-#define CAM_ICP_OPCODE_IPE_UPDATE 0
-#define CAM_ICP_OPCODE_BPS_UPDATE 1
-
-/* IPE input port resource type */
-#define CAM_ICP_IPE_INPUT_IMAGE_FULL            0x0
-#define CAM_ICP_IPE_INPUT_IMAGE_DS4             0x1
-#define CAM_ICP_IPE_INPUT_IMAGE_DS16            0x2
-#define CAM_ICP_IPE_INPUT_IMAGE_DS64            0x3
-#define CAM_ICP_IPE_INPUT_IMAGE_FULL_REF        0x4
-#define CAM_ICP_IPE_INPUT_IMAGE_DS4_REF         0x5
-#define CAM_ICP_IPE_INPUT_IMAGE_DS16_REF        0x6
-#define CAM_ICP_IPE_INPUT_IMAGE_DS64_REF        0x7
-
-/* IPE output port resource type */
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DISPLAY        0x8
-#define CAM_ICP_IPE_OUTPUT_IMAGE_VIDEO          0x9
-#define CAM_ICP_IPE_OUTPUT_IMAGE_FULL_REF       0xA
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS4_REF        0xB
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS16_REF       0xC
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS64_REF       0xD
-
-#define CAM_ICP_IPE_IMAGE_MAX                   0xE
-
-/* BPS input port resource type */
-#define CAM_ICP_BPS_INPUT_IMAGE                 0x0
-
-/* BPS output port resource type */
-#define CAM_ICP_BPS_OUTPUT_IMAGE_FULL           0x1
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS4            0x2
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS16           0x3
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS64           0x4
-#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BG       0x5
-#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BHIST    0x6
-#define CAM_ICP_BPS_OUTPUT_IMAGE_REG1           0x7
-#define CAM_ICP_BPS_OUTPUT_IMAGE_REG2           0x8
-
-#define CAM_ICP_BPS_IO_IMAGES_MAX               0x9
-
-/* Command meta types */
-#define CAM_ICP_CMD_META_GENERIC_BLOB           0x1
-
-/* Generic blob types */
-#define CAM_ICP_CMD_GENERIC_BLOB_CLK            0x1
-#define CAM_ICP_CMD_GENERIC_BLOB_CFG_IO         0x2
-
-/**
- * struct cam_icp_clk_bw_request
- *
- * @budget_ns: Time required to process frame
- * @frame_cycles: Frame cycles needed to process the frame
- * @rt_flag: Flag to indicate real time stream
- * @uncompressed_bw: Bandwidth required to process frame
- * @compressed_bw: Compressed bandwidth to process frame
- */
-struct cam_icp_clk_bw_request {
-	uint64_t budget_ns;
-	uint32_t frame_cycles;
-	uint32_t rt_flag;
-	uint64_t uncompressed_bw;
-	uint64_t compressed_bw;
-};
-
-/**
- * struct cam_icp_dev_ver - Device information for particular hw type
- *
- * This is used to get device version info of
- * ICP, IPE, BPS and CDM related IPE and BPS from firmware
- * and use this info in CAM_QUERY_CAP IOCTL
- *
- * @dev_type: hardware type for the cap info(icp, ipe, bps, cdm(ipe/bps))
- * @reserved: reserved field
- * @hw_ver: major, minor and incr values of a device version
- */
-struct cam_icp_dev_ver {
-	uint32_t dev_type;
-	uint32_t reserved;
-	struct cam_hw_version hw_ver;
-};
-
-/**
- * struct cam_icp_ver - ICP version info
- *
- * This strcuture is used for fw and api version
- * this is used to get firmware version and api version from firmware
- * and use this info in CAM_QUERY_CAP IOCTL
- *
- * @major: FW version major
- * @minor: FW version minor
- * @revision: FW version increment
- */
-struct cam_icp_ver {
-	uint32_t major;
-	uint32_t minor;
-	uint32_t revision;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_icp_query_cap_cmd - ICP query device capability payload
- *
- * @dev_iommu_handle: icp iommu handles for secure/non secure modes
- * @cdm_iommu_handle: iommu handles for secure/non secure modes
- * @fw_version: firmware version info
- * @api_version: api version info
- * @num_ipe: number of ipes
- * @num_bps: number of bps
- * @dev_ver: returned device capability array
- */
-struct cam_icp_query_cap_cmd {
-	struct cam_iommu_handle dev_iommu_handle;
-	struct cam_iommu_handle cdm_iommu_handle;
-	struct cam_icp_ver fw_version;
-	struct cam_icp_ver api_version;
-	uint32_t num_ipe;
-	uint32_t num_bps;
-	struct cam_icp_dev_ver dev_ver[CAM_ICP_DEV_TYPE_MAX];
-};
-
-/**
- * struct cam_icp_res_info - ICP output resource info
- *
- * @format: format of the resource
- * @width:  width in pixels
- * @height: height in lines
- * @fps:  fps
- */
-struct cam_icp_res_info {
-	uint32_t format;
-	uint32_t width;
-	uint32_t height;
-	uint32_t fps;
-};
-
-/**
- * struct cam_icp_acquire_dev_info - An ICP device info
- *
- * @scratch_mem_size: Output param - size of scratch memory
- * @dev_type: device type (IPE_RT/IPE_NON_RT/BPS)
- * @io_config_cmd_size: size of IO config command
- * @io_config_cmd_handle: IO config command for each acquire
- * @secure_mode: camera mode (secure/non secure)
- * @chain_info: chaining info of FW device handles
- * @in_res: resource info used for clock and bandwidth calculation
- * @num_out_res: number of output resources
- * @out_res: output resource
- */
-struct cam_icp_acquire_dev_info {
-	uint32_t scratch_mem_size;
-	uint32_t dev_type;
-	uint32_t io_config_cmd_size;
-	int32_t  io_config_cmd_handle;
-	uint32_t secure_mode;
-	int32_t chain_info;
-	struct cam_icp_res_info in_res;
-	uint32_t num_out_res;
-	struct cam_icp_res_info out_res[1];
-} __attribute__((__packed__));
-
-#endif /* __UAPI_CAM_ICP_H__ */
diff --git a/third_party/linux/include/media/cam_isp.h b/third_party/linux/include/media/cam_isp.h
deleted file mode 100644
index 266840d38c..0000000000
--- a/third_party/linux/include/media/cam_isp.h
+++ /dev/null
@@ -1,379 +0,0 @@
-#ifndef __UAPI_CAM_ISP_H__
-#define __UAPI_CAM_ISP_H__
-
-#include "cam_defs.h"
-#include "cam_isp_vfe.h"
-#include "cam_isp_ife.h"
-
-
-/* ISP driver name */
-#define CAM_ISP_DEV_NAME                        "cam-isp"
-
-/* HW type */
-#define CAM_ISP_HW_BASE                         0
-#define CAM_ISP_HW_CSID                         1
-#define CAM_ISP_HW_VFE                          2
-#define CAM_ISP_HW_IFE                          3
-#define CAM_ISP_HW_ISPIF                        4
-#define CAM_ISP_HW_MAX                          5
-
-/* Color Pattern */
-#define CAM_ISP_PATTERN_BAYER_RGRGRG            0
-#define CAM_ISP_PATTERN_BAYER_GRGRGR            1
-#define CAM_ISP_PATTERN_BAYER_BGBGBG            2
-#define CAM_ISP_PATTERN_BAYER_GBGBGB            3
-#define CAM_ISP_PATTERN_YUV_YCBYCR              4
-#define CAM_ISP_PATTERN_YUV_YCRYCB              5
-#define CAM_ISP_PATTERN_YUV_CBYCRY              6
-#define CAM_ISP_PATTERN_YUV_CRYCBY              7
-#define CAM_ISP_PATTERN_MAX                     8
-
-/* Usage Type */
-#define CAM_ISP_RES_USAGE_SINGLE                0
-#define CAM_ISP_RES_USAGE_DUAL                  1
-#define CAM_ISP_RES_USAGE_MAX                   2
-
-/* Resource ID */
-#define CAM_ISP_RES_ID_PORT                     0
-#define CAM_ISP_RES_ID_CLK                      1
-#define CAM_ISP_RES_ID_MAX                      2
-
-/* Resource Type - Type of resource for the resource id
- * defined in cam_isp_vfe.h, cam_isp_ife.h
- */
-
-/* Lane Type in input resource for Port */
-#define CAM_ISP_LANE_TYPE_DPHY                  0
-#define CAM_ISP_LANE_TYPE_CPHY                  1
-#define CAM_ISP_LANE_TYPE_MAX                   2
-
-/* ISP Resurce Composite Group ID */
-#define CAM_ISP_RES_COMP_GROUP_NONE             0
-#define CAM_ISP_RES_COMP_GROUP_ID_0             1
-#define CAM_ISP_RES_COMP_GROUP_ID_1             2
-#define CAM_ISP_RES_COMP_GROUP_ID_2             3
-#define CAM_ISP_RES_COMP_GROUP_ID_3             4
-#define CAM_ISP_RES_COMP_GROUP_ID_4             5
-#define CAM_ISP_RES_COMP_GROUP_ID_5             6
-#define CAM_ISP_RES_COMP_GROUP_ID_MAX           6
-
-/* ISP packet opcode for ISP */
-#define CAM_ISP_PACKET_OP_BASE                  0
-#define CAM_ISP_PACKET_INIT_DEV                 1
-#define CAM_ISP_PACKET_UPDATE_DEV               2
-#define CAM_ISP_PACKET_OP_MAX                   3
-
-/* ISP packet meta_data type for command buffer */
-#define CAM_ISP_PACKET_META_BASE                0
-#define CAM_ISP_PACKET_META_LEFT                1
-#define CAM_ISP_PACKET_META_RIGHT               2
-#define CAM_ISP_PACKET_META_COMMON              3
-#define CAM_ISP_PACKET_META_DMI_LEFT            4
-#define CAM_ISP_PACKET_META_DMI_RIGHT           5
-#define CAM_ISP_PACKET_META_DMI_COMMON          6
-#define CAM_ISP_PACKET_META_CLOCK               7
-#define CAM_ISP_PACKET_META_CSID                8
-#define CAM_ISP_PACKET_META_DUAL_CONFIG         9
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_LEFT   10
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_RIGHT  11
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON 12
-
-/* DSP mode */
-#define CAM_ISP_DSP_MODE_NONE                   0
-#define CAM_ISP_DSP_MODE_ONE_WAY                1
-#define CAM_ISP_DSP_MODE_ROUND                  2
-
-/* ISP Generic Cmd Buffer Blob types */
-#define CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG      0
-#define CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG    1
-#define CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG       2
-
-/* Query devices */
-/**
- * struct cam_isp_dev_cap_info - A cap info for particular hw type
- *
- * @hw_type:            Hardware type for the cap info
- * @reserved:           reserved field for alignment
- * @hw_version:         Hardware version
- *
- */
-struct cam_isp_dev_cap_info {
-	uint32_t              hw_type;
-	uint32_t              reserved;
-	struct cam_hw_version hw_version;
-};
-
-/**
- * struct cam_isp_query_cap_cmd - ISP query device capability payload
- *
- * @device_iommu:               returned iommu handles for device
- * @cdm_iommu:                  returned iommu handles for cdm
- * @num_dev:                    returned number of device capabilities
- * @reserved:                   reserved field for alignment
- * @dev_caps:                   returned device capability array
- *
- */
-struct cam_isp_query_cap_cmd {
-	struct cam_iommu_handle       device_iommu;
-	struct cam_iommu_handle       cdm_iommu;
-	int32_t                       num_dev;
-	uint32_t                      reserved;
-	struct cam_isp_dev_cap_info   dev_caps[CAM_ISP_HW_MAX];
-};
-
-/* Acquire Device */
-/**
- * struct cam_isp_out_port_info - An output port resource info
- *
- * @res_type:                   output resource type defined in file
- *                              cam_isp_vfe.h or cam_isp_ife.h
- * @format:                     output format of the resource
- * @wdith:                      output width in pixels
- * @height:                     output height in lines
- * @comp_grp_id:                composite group id for the resource.
- * @split_point:                split point in pixels for the dual VFE.
- * @secure_mode:                flag to tell if output should be run in secure
- *                              mode or not. See cam_defs.h for definition
- * @reserved:                   reserved field for alignment
- *
- */
-struct cam_isp_out_port_info {
-	uint32_t                res_type;
-	uint32_t                format;
-	uint32_t                width;
-	uint32_t                height;
-	uint32_t                comp_grp_id;
-	uint32_t                split_point;
-	uint32_t                secure_mode;
-	uint32_t                reserved;
-};
-
-/**
- * struct cam_isp_in_port_info - An input port resource info
- *
- * @res_type:                   input resource type define in file
- *                              cam_isp_vfe.h or cam_isp_ife.h
- * @lane_type:                  lane type: c-phy or d-phy.
- * @lane_num:                   active lane number
- * @lane_cfg:                   lane configurations: 4 bits per lane
- * @vc:                         input virtual channel number
- * @dt:                         input data type number
- * @format:                     input format
- * @test_pattern:               test pattern for the testgen
- * @usage_type:                 whether dual vfe is required
- * @left_start:                 left input start offset in pixels
- * @left_stop:                  left input stop offset in pixels
- * @left_width:                 left input width in pixels
- * @right_start:                right input start offset in pixels.
- *                              Only for Dual VFE
- * @right_stop:                 right input stop offset in pixels.
- *                              Only for Dual VFE
- * @right_width:                right input width in pixels.
- *                              Only for dual VFE
- * @line_start:                 top of the line number
- * @line_stop:                  bottome of the line number
- * @height:                     input height in lines
- * @pixel_clk;                  sensor output clock
- * @batch_size:                 batch size for HFR mode
- * @dsp_mode:                   DSP stream mode (Defines as CAM_ISP_DSP_MODE_*)
- * @hbi_cnt:                    HBI count for the camif input
- * @reserved:                   Reserved field for alignment
- * @num_out_res:                number of the output resource associated
- * @data:                       payload that contains the output resources
- *
- */
-struct cam_isp_in_port_info {
-	uint32_t                        res_type;
-	uint32_t                        lane_type;
-	uint32_t                        lane_num;
-	uint32_t                        lane_cfg;
-	uint32_t                        vc;
-	uint32_t                        dt;
-	uint32_t                        format;
-	uint32_t                        test_pattern;
-	uint32_t                        usage_type;
-	uint32_t                        left_start;
-	uint32_t                        left_stop;
-	uint32_t                        left_width;
-	uint32_t                        right_start;
-	uint32_t                        right_stop;
-	uint32_t                        right_width;
-	uint32_t                        line_start;
-	uint32_t                        line_stop;
-	uint32_t                        height;
-	uint32_t                        pixel_clk;
-	uint32_t                        batch_size;
-	uint32_t                        dsp_mode;
-	uint32_t                        hbi_cnt;
-        uint32_t                        custom_csid;
-	uint32_t                        reserved;
-	uint32_t                        num_out_res;
-	struct cam_isp_out_port_info    data[1];
-};
-
-/**
- * struct cam_isp_resource - A resource bundle
- *
- * @resoruce_id:                resource id for the resource bundle
- * @length:                     length of the while resource blob
- * @handle_type:                type of the resource handle
- * @reserved:                   reserved field for alignment
- * @res_hdl:                    resource handle that points to the
- *                                     resource array;
- *
- */
-struct cam_isp_resource {
-	uint32_t                       resource_id;
-	uint32_t                       length;
-	uint32_t                       handle_type;
-	uint32_t                       reserved;
-	uint64_t                       res_hdl;
-};
-
-/**
- * struct cam_isp_port_hfr_config - HFR configuration for this port
- *
- * @resource_type:              Resource type
- * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @subsample_period:           Subsample period. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @framedrop_pattern:          Framedrop pattern
- * @framedrop_period:           Framedrop period
- * @reserved:                   Reserved for alignment
- */
-struct cam_isp_port_hfr_config {
-	uint32_t                       resource_type;
-	uint32_t                       subsample_pattern;
-	uint32_t                       subsample_period;
-	uint32_t                       framedrop_pattern;
-	uint32_t                       framedrop_period;
-	uint32_t                       reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_isp_resource_hfr_config - Resource HFR configuration
- *
- * @num_ports:                  Number of ports
- * @reserved:                   Reserved for alignment
- * @port_hfr_config:            HFR configuration for each IO port
- */
-struct cam_isp_resource_hfr_config {
-	uint32_t                       num_ports;
-	uint32_t                       reserved;
-	struct cam_isp_port_hfr_config port_hfr_config[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_dual_split_params - dual isp spilt parameters
- *
- * @split_point:                Split point information x, where (0 < x < width)
- *                              left ISP's input ends at x + righ padding and
- *                              Right ISP's input starts at x - left padding
- * @right_padding:              Padding added past the split point for left
- *                              ISP's input
- * @left_padding:               Padding added before split point for right
- *                              ISP's input
- * @reserved:                   Reserved filed for alignment
- *
- */
-struct cam_isp_dual_split_params {
-	uint32_t                       split_point;
-	uint32_t                       right_padding;
-	uint32_t                       left_padding;
-	uint32_t                       reserved;
-};
-
-/**
- * struct cam_isp_dual_stripe_config - stripe config per bus client
- *
- * @offset:                     Start horizontal offset relative to
- *                              output buffer
- *                              In UBWC mode, this value indicates the H_INIT
- *                              value in pixel
- * @width:                      Width of the stripe in bytes
- * @tileconfig                  Ubwc meta tile config. Contain the partial
- *                              tile info
- * @port_id:                    port id of ISP output
- *
- */
-struct cam_isp_dual_stripe_config {
-	uint32_t                       offset;
-	uint32_t                       width;
-	uint32_t                       tileconfig;
-	uint32_t                       port_id;
-};
-
-/**
- * struct cam_isp_dual_config - dual isp configuration
- *
- * @num_ports                   Number of isp output ports
- * @reserved                    Reserved field for alignment
- * @split_params:               Inpput split parameters
- * @stripes:                    Stripe information
- *
- */
-struct cam_isp_dual_config {
-	uint32_t                           num_ports;
-	uint32_t                           reserved;
-	struct cam_isp_dual_split_params   split_params;
-	struct cam_isp_dual_stripe_config  stripes[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_clock_config - Clock configuration
- *
- * @usage_type:                 Usage type (Single/Dual)
- * @num_rdi:                    Number of RDI votes
- * @left_pix_hz:                Pixel Clock for Left ISP
- * @right_pix_hz:               Pixel Clock for Right ISP, valid only if Dual
- * @rdi_hz:                     RDI Clock. ISP clock will be max of RDI and
- *                              PIX clocks. For a particular context which ISP
- *                              HW the RDI is allocated to is not known to UMD.
- *                              Hence pass the clock and let KMD decide.
- */
-struct cam_isp_clock_config {
-	uint32_t                       usage_type;
-	uint32_t                       num_rdi;
-	uint64_t                       left_pix_hz;
-	uint64_t                       right_pix_hz;
-	uint64_t                       rdi_hz[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_bw_vote - Bandwidth vote information
- *
- * @resource_id:                Resource ID
- * @reserved:                   Reserved field for alignment
- * @cam_bw_bps:                 Bandwidth vote for CAMNOC
- * @ext_bw_bps:                 Bandwidth vote for path-to-DDR after CAMNOC
- */
-
-struct cam_isp_bw_vote {
-	uint32_t                       resource_id;
-	uint32_t                       reserved;
-	uint64_t                       cam_bw_bps;
-	uint64_t                       ext_bw_bps;
-} __attribute__((packed));
-
-/**
- * struct cam_isp_bw_config - Bandwidth configuration
- *
- * @usage_type:                 Usage type (Single/Dual)
- * @num_rdi:                    Number of RDI votes
- * @left_pix_vote:              Bandwidth vote for left ISP
- * @right_pix_vote:             Bandwidth vote for right ISP
- * @rdi_vote:                   RDI bandwidth requirements
- */
-
-struct cam_isp_bw_config {
-	uint32_t                       usage_type;
-	uint32_t                       num_rdi;
-	struct cam_isp_bw_vote         left_pix_vote;
-	struct cam_isp_bw_vote         right_pix_vote;
-	struct cam_isp_bw_vote         rdi_vote[1];
-} __attribute__((packed));
-
-#endif /* __UAPI_CAM_ISP_H__ */
diff --git a/third_party/linux/include/media/cam_isp_ife.h b/third_party/linux/include/media/cam_isp_ife.h
deleted file mode 100644
index f5e72813fc..0000000000
--- a/third_party/linux/include/media/cam_isp_ife.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#ifndef __UAPI_CAM_ISP_IFE_H__
-#define __UAPI_CAM_ISP_IFE_H__
-
-/* IFE output port resource type (global unique)*/
-#define CAM_ISP_IFE_OUT_RES_BASE               0x3000
-
-#define CAM_ISP_IFE_OUT_RES_FULL               (CAM_ISP_IFE_OUT_RES_BASE + 0)
-#define CAM_ISP_IFE_OUT_RES_DS4                (CAM_ISP_IFE_OUT_RES_BASE + 1)
-#define CAM_ISP_IFE_OUT_RES_DS16               (CAM_ISP_IFE_OUT_RES_BASE + 2)
-#define CAM_ISP_IFE_OUT_RES_RAW_DUMP           (CAM_ISP_IFE_OUT_RES_BASE + 3)
-#define CAM_ISP_IFE_OUT_RES_FD                 (CAM_ISP_IFE_OUT_RES_BASE + 4)
-#define CAM_ISP_IFE_OUT_RES_PDAF               (CAM_ISP_IFE_OUT_RES_BASE + 5)
-#define CAM_ISP_IFE_OUT_RES_RDI_0              (CAM_ISP_IFE_OUT_RES_BASE + 6)
-#define CAM_ISP_IFE_OUT_RES_RDI_1              (CAM_ISP_IFE_OUT_RES_BASE + 7)
-#define CAM_ISP_IFE_OUT_RES_RDI_2              (CAM_ISP_IFE_OUT_RES_BASE + 8)
-#define CAM_ISP_IFE_OUT_RES_RDI_3              (CAM_ISP_IFE_OUT_RES_BASE + 9)
-#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_IFE_OUT_RES_BASE + 10)
-#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_IFE_OUT_RES_BASE + 11)
-#define CAM_ISP_IFE_OUT_RES_STATS_TL_BG        (CAM_ISP_IFE_OUT_RES_BASE + 12)
-#define CAM_ISP_IFE_OUT_RES_STATS_BF           (CAM_ISP_IFE_OUT_RES_BASE + 13)
-#define CAM_ISP_IFE_OUT_RES_STATS_AWB_BG       (CAM_ISP_IFE_OUT_RES_BASE + 14)
-#define CAM_ISP_IFE_OUT_RES_STATS_BHIST        (CAM_ISP_IFE_OUT_RES_BASE + 15)
-#define CAM_ISP_IFE_OUT_RES_STATS_RS           (CAM_ISP_IFE_OUT_RES_BASE + 16)
-#define CAM_ISP_IFE_OUT_RES_STATS_CS           (CAM_ISP_IFE_OUT_RES_BASE + 17)
-#define CAM_ISP_IFE_OUT_RES_STATS_IHIST        (CAM_ISP_IFE_OUT_RES_BASE + 18)
-#define CAM_ISP_IFE_OUT_RES_MAX                (CAM_ISP_IFE_OUT_RES_BASE + 19)
-
-
-/* IFE input port resource type (global unique) */
-#define CAM_ISP_IFE_IN_RES_BASE                 0x4000
-
-#define CAM_ISP_IFE_IN_RES_TPG                 (CAM_ISP_IFE_IN_RES_BASE + 0)
-#define CAM_ISP_IFE_IN_RES_PHY_0               (CAM_ISP_IFE_IN_RES_BASE + 1)
-#define CAM_ISP_IFE_IN_RES_PHY_1               (CAM_ISP_IFE_IN_RES_BASE + 2)
-#define CAM_ISP_IFE_IN_RES_PHY_2               (CAM_ISP_IFE_IN_RES_BASE + 3)
-#define CAM_ISP_IFE_IN_RES_PHY_3               (CAM_ISP_IFE_IN_RES_BASE + 4)
-#define CAM_ISP_IFE_IN_RES_MAX                 (CAM_ISP_IFE_IN_RES_BASE + 5)
-
-#endif /* __UAPI_CAM_ISP_IFE_H__ */
diff --git a/third_party/linux/include/media/cam_isp_vfe.h b/third_party/linux/include/media/cam_isp_vfe.h
deleted file mode 100644
index e48db2f98d..0000000000
--- a/third_party/linux/include/media/cam_isp_vfe.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef __UAPI_CAM_ISP_VFE_H__
-#define __UAPI_CAM_ISP_VFE_H__
-
-/* VFE output port resource type  (global unique)  */
-#define CAM_ISP_VFE_OUT_RES_BASE               0x1000
-
-#define CAM_ISP_VFE_OUT_RES_ENC                (CAM_ISP_VFE_OUT_RES_BASE + 0)
-#define CAM_ISP_VFE_OUT_RES_VIEW               (CAM_ISP_VFE_OUT_RES_BASE + 1)
-#define CAM_ISP_VFE_OUT_RES_VID                (CAM_ISP_VFE_OUT_RES_BASE + 2)
-#define CAM_ISP_VFE_OUT_RES_RDI_0              (CAM_ISP_VFE_OUT_RES_BASE + 3)
-#define CAM_ISP_VFE_OUT_RES_RDI_1              (CAM_ISP_VFE_OUT_RES_BASE + 4)
-#define CAM_ISP_VFE_OUT_RES_RDI_2              (CAM_ISP_VFE_OUT_RES_BASE + 5)
-#define CAM_ISP_VFE_OUT_RES_RDI_3              (CAM_ISP_VFE_OUT_RES_BASE + 6)
-#define CAM_ISP_VFE_OUT_RES_STATS_AEC          (CAM_ISP_VFE_OUT_RES_BASE + 7)
-#define CAM_ISP_VFE_OUT_RES_STATS_AF           (CAM_ISP_VFE_OUT_RES_BASE + 8)
-#define CAM_ISP_VFE_OUT_RES_STATS_AWB          (CAM_ISP_VFE_OUT_RES_BASE + 9)
-#define CAM_ISP_VFE_OUT_RES_STATS_RS           (CAM_ISP_VFE_OUT_RES_BASE + 10)
-#define CAM_ISP_VFE_OUT_RES_STATS_CS           (CAM_ISP_VFE_OUT_RES_BASE + 11)
-#define CAM_ISP_VFE_OUT_RES_STATS_IHIST        (CAM_ISP_VFE_OUT_RES_BASE + 12)
-#define CAM_ISP_VFE_OUT_RES_STATS_SKIN         (CAM_ISP_VFE_OUT_RES_BASE + 13)
-#define CAM_ISP_VFE_OUT_RES_STATS_BG           (CAM_ISP_VFE_OUT_RES_BASE + 14)
-#define CAM_ISP_VFE_OUT_RES_STATS_BF           (CAM_ISP_VFE_OUT_RES_BASE + 15)
-#define CAM_ISP_VFE_OUT_RES_STATS_BE           (CAM_ISP_VFE_OUT_RES_BASE + 16)
-#define CAM_ISP_VFE_OUT_RES_STATS_BHIST        (CAM_ISP_VFE_OUT_RES_BASE + 17)
-#define CAM_ISP_VFE_OUT_RES_STATS_BF_SCALE     (CAM_ISP_VFE_OUT_RES_BASE + 18)
-#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_VFE_OUT_RES_BASE + 19)
-#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_VFE_OUT_RES_BASE + 20)
-#define CAM_ISP_VFE_OUT_RES_STATS_AEC_BG       (CAM_ISP_VFE_OUT_RES_BASE + 21)
-#define CAM_ISP_VFE_OUT_RES_CAMIF_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 22)
-#define CAM_ISP_VFE_OUT_RES_IDEAL_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 23)
-#define CAM_ISP_VFE_OUT_RES_MAX                (CAM_ISP_VFE_OUT_RES_BASE + 24)
-
-/* VFE input port_ resource type (global unique) */
-#define CAM_ISP_VFE_IN_RES_BASE                0x2000
-
-#define CAM_ISP_VFE_IN_RES_TPG                 (CAM_ISP_VFE_IN_RES_BASE + 0)
-#define CAM_ISP_VFE_IN_RES_PHY_0               (CAM_ISP_VFE_IN_RES_BASE + 1)
-#define CAM_ISP_VFE_IN_RES_PHY_1               (CAM_ISP_VFE_IN_RES_BASE + 2)
-#define CAM_ISP_VFE_IN_RES_PHY_2               (CAM_ISP_VFE_IN_RES_BASE + 3)
-#define CAM_ISP_VFE_IN_RES_PHY_3               (CAM_ISP_VFE_IN_RES_BASE + 4)
-#define CAM_ISP_VFE_IN_RES_FE                  (CAM_ISP_VFE_IN_RES_BASE + 5)
-#define CAM_ISP_VFE_IN_RES_MAX                 (CAM_ISP_VFE_IN_RES_BASE + 6)
-
-#endif /* __UAPI_CAM_ISP_VFE_H__ */
diff --git a/third_party/linux/include/media/cam_jpeg.h b/third_party/linux/include/media/cam_jpeg.h
deleted file mode 100644
index f3082f3bfe..0000000000
--- a/third_party/linux/include/media/cam_jpeg.h
+++ /dev/null
@@ -1,117 +0,0 @@
-#ifndef __UAPI_CAM_JPEG_H__
-#define __UAPI_CAM_JPEG_H__
-
-#include "cam_defs.h"
-
-/* enc, dma, cdm(enc/dma) are used in querycap */
-#define CAM_JPEG_DEV_TYPE_ENC      0
-#define CAM_JPEG_DEV_TYPE_DMA      1
-#define CAM_JPEG_DEV_TYPE_MAX      2
-
-#define CAM_JPEG_NUM_DEV_PER_RES_MAX      1
-
-/* definitions needed for jpeg aquire device */
-#define CAM_JPEG_RES_TYPE_ENC        0
-#define CAM_JPEG_RES_TYPE_DMA        1
-#define CAM_JPEG_RES_TYPE_MAX        2
-
-/* packet opcode types */
-#define CAM_JPEG_OPCODE_ENC_UPDATE 0
-#define CAM_JPEG_OPCODE_DMA_UPDATE 1
-
-/* ENC input port resource type */
-#define CAM_JPEG_ENC_INPUT_IMAGE                 0x0
-
-/* ENC output port resource type */
-#define CAM_JPEG_ENC_OUTPUT_IMAGE                0x1
-
-#define CAM_JPEG_ENC_IO_IMAGES_MAX               0x2
-
-/* DMA input port resource type */
-#define CAM_JPEG_DMA_INPUT_IMAGE                 0x0
-
-/* DMA output port resource type */
-#define CAM_JPEG_DMA_OUTPUT_IMAGE                0x1
-
-#define CAM_JPEG_DMA_IO_IMAGES_MAX               0x2
-
-#define CAM_JPEG_IMAGE_MAX                       0x2
-
-/**
- * struct cam_jpeg_dev_ver - Device information for particular hw type
- *
- * This is used to get device version info of JPEG ENC, JPEG DMA
- * from hardware and use this info in CAM_QUERY_CAP IOCTL
- *
- * @size : Size of struct passed
- * @dev_type: Hardware type for the cap info(jpeg enc, jpeg dma)
- * @hw_ver: Major, minor and incr values of a device version
- */
-struct cam_jpeg_dev_ver {
-	uint32_t size;
-	uint32_t dev_type;
-	struct cam_hw_version hw_ver;
-};
-
-/**
- * struct cam_jpeg_query_cap_cmd - JPEG query device capability payload
- *
- * @dev_iommu_handle: Jpeg iommu handles for secure/non secure
- *      modes
- * @cdm_iommu_handle: Iommu handles for secure/non secure modes
- * @num_enc: Number of encoder
- * @num_dma: Number of dma
- * @dev_ver: Returned device capability array
- */
-struct cam_jpeg_query_cap_cmd {
-	struct cam_iommu_handle dev_iommu_handle;
-	struct cam_iommu_handle cdm_iommu_handle;
-	uint32_t num_enc;
-	uint32_t num_dma;
-	struct cam_jpeg_dev_ver dev_ver[CAM_JPEG_DEV_TYPE_MAX];
-};
-
-/**
- * struct cam_jpeg_res_info - JPEG output resource info
- *
- * @format: Format of the resource
- * @width:  Width in pixels
- * @height: Height in lines
- * @fps:  Fps
- */
-struct cam_jpeg_res_info {
-	uint32_t format;
-	uint32_t width;
-	uint32_t height;
-	uint32_t fps;
-};
-
-/**
- * struct cam_jpeg_acquire_dev_info - An JPEG device info
- *
- * @dev_type: Device type (ENC/DMA)
- * @reserved: Reserved Bytes
- * @in_res: In resource info
- * @in_res: Iut resource info
- */
-struct cam_jpeg_acquire_dev_info {
-	uint32_t dev_type;
-	uint32_t reserved;
-	struct cam_jpeg_res_info in_res;
-	struct cam_jpeg_res_info out_res;
-};
-
-/**
- * struct cam_jpeg_config_inout_param_info - JPEG Config time
- *     input output params
- *
- * @clk_index: Input Param- clock selection index.(-1 default)
- * @output_size: Output Param - jpeg encode/dma output size in
- *     bytes
- */
-struct cam_jpeg_config_inout_param_info {
-	int32_t clk_index;
-	int32_t output_size;
-};
-
-#endif /* __UAPI_CAM_JPEG_H__ */
diff --git a/third_party/linux/include/media/cam_lrme.h b/third_party/linux/include/media/cam_lrme.h
deleted file mode 100644
index 97d957835e..0000000000
--- a/third_party/linux/include/media/cam_lrme.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef __UAPI_CAM_LRME_H__
-#define __UAPI_CAM_LRME_H__
-
-#include "cam_defs.h"
-
-/* LRME Resource Types */
-
-enum CAM_LRME_IO_TYPE {
-	CAM_LRME_IO_TYPE_TAR,
-	CAM_LRME_IO_TYPE_REF,
-	CAM_LRME_IO_TYPE_RES,
-	CAM_LRME_IO_TYPE_DS2,
-};
-
-#define CAM_LRME_INPUT_PORT_TYPE_TAR (1 << 0)
-#define CAM_LRME_INPUT_PORT_TYPE_REF (1 << 1)
-
-#define CAM_LRME_OUTPUT_PORT_TYPE_DS2 (1 << 0)
-#define CAM_LRME_OUTPUT_PORT_TYPE_RES (1 << 1)
-
-#define CAM_LRME_DEV_MAX 1
-
-
-struct cam_lrme_hw_version {
-	uint32_t gen;
-	uint32_t rev;
-	uint32_t step;
-};
-
-struct cam_lrme_dev_cap {
-	struct cam_lrme_hw_version clc_hw_version;
-	struct cam_lrme_hw_version bus_rd_hw_version;
-	struct cam_lrme_hw_version bus_wr_hw_version;
-	struct cam_lrme_hw_version top_hw_version;
-	struct cam_lrme_hw_version top_titan_version;
-};
-
-/**
- * struct cam_lrme_query_cap_cmd - LRME query device capability payload
- *
- * @dev_iommu_handle: LRME iommu handles for secure/non secure
- *      modes
- * @cdm_iommu_handle: Iommu handles for secure/non secure modes
- * @num_devices: number of hardware devices
- * @dev_caps: Returned device capability array
- */
-struct cam_lrme_query_cap_cmd {
-	struct cam_iommu_handle device_iommu;
-	struct cam_iommu_handle cdm_iommu;
-	uint32_t num_devices;
-	struct cam_lrme_dev_cap dev_caps[CAM_LRME_DEV_MAX];
-};
-
-struct cam_lrme_soc_info {
-	uint64_t clock_rate;
-	uint64_t bandwidth;
-	uint64_t reserved[4];
-};
-
-struct cam_lrme_acquire_args {
-	struct cam_lrme_soc_info lrme_soc_info;
-};
-
-#endif /* __UAPI_CAM_LRME_H__ */
-
diff --git a/third_party/linux/include/media/cam_req_mgr.h b/third_party/linux/include/media/cam_req_mgr.h
deleted file mode 100644
index ae65649964..0000000000
--- a/third_party/linux/include/media/cam_req_mgr.h
+++ /dev/null
@@ -1,436 +0,0 @@
-#ifndef __UAPI_LINUX_CAM_REQ_MGR_H
-#define __UAPI_LINUX_CAM_REQ_MGR_H
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <linux/media.h>
-#include <media/cam_defs.h>
-
-#define CAM_REQ_MGR_VNODE_NAME "cam-req-mgr-devnode"
-
-#define CAM_DEVICE_TYPE_BASE      (MEDIA_ENT_F_OLD_BASE)
-#define CAM_VNODE_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE)
-#define CAM_SENSOR_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 1)
-#define CAM_IFE_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 2)
-#define CAM_ICP_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 3)
-#define CAM_LRME_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 4)
-#define CAM_JPEG_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 5)
-#define CAM_FD_DEVICE_TYPE        (CAM_DEVICE_TYPE_BASE + 6)
-#define CAM_CPAS_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 7)
-#define CAM_CSIPHY_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 8)
-#define CAM_ACTUATOR_DEVICE_TYPE  (CAM_DEVICE_TYPE_BASE + 9)
-#define CAM_CCI_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 10)
-#define CAM_FLASH_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE + 11)
-#define CAM_EEPROM_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 12)
-#define CAM_OIS_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 13)
-
-/* cam_req_mgr hdl info */
-#define CAM_REQ_MGR_HDL_IDX_POS           8
-#define CAM_REQ_MGR_HDL_IDX_MASK          ((1 << CAM_REQ_MGR_HDL_IDX_POS) - 1)
-#define CAM_REQ_MGR_GET_HDL_IDX(hdl)      (hdl & CAM_REQ_MGR_HDL_IDX_MASK)
-
-/**
- * Max handles supported by cam_req_mgr
- * It includes both session and device handles
- */
-#define CAM_REQ_MGR_MAX_HANDLES           64
-#define MAX_LINKS_PER_SESSION             2
-
-/* V4L event type which user space will subscribe to */
-#define V4L_EVENT_CAM_REQ_MGR_EVENT       (V4L2_EVENT_PRIVATE_START + 0)
-
-/* Specific event ids to get notified in user space */
-#define V4L_EVENT_CAM_REQ_MGR_SOF            0
-#define V4L_EVENT_CAM_REQ_MGR_ERROR          1
-#define V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS    2
-
-/* SOF Event status */
-#define CAM_REQ_MGR_SOF_EVENT_SUCCESS           0
-#define CAM_REQ_MGR_SOF_EVENT_ERROR             1
-
-/* Link control operations */
-#define CAM_REQ_MGR_LINK_ACTIVATE               0
-#define CAM_REQ_MGR_LINK_DEACTIVATE             1
-
-/**
- * Request Manager : flush_type
- * @CAM_REQ_MGR_FLUSH_TYPE_ALL: Req mgr will remove all the pending
- * requests from input/processing queue.
- * @CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ: Req mgr will remove only particular
- * request id from input/processing queue.
- * @CAM_REQ_MGR_FLUSH_TYPE_MAX: Max number of the flush type
- * @opcode: CAM_REQ_MGR_FLUSH_REQ
- */
-#define CAM_REQ_MGR_FLUSH_TYPE_ALL          0
-#define CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ   1
-#define CAM_REQ_MGR_FLUSH_TYPE_MAX          2
-
-/**
- * Request Manager : Sync Mode type
- * @CAM_REQ_MGR_SYNC_MODE_NO_SYNC: Req mgr will apply non-sync mode for this
- * request.
- * @CAM_REQ_MGR_SYNC_MODE_SYNC: Req mgr will apply sync mode for this request.
- */
-#define CAM_REQ_MGR_SYNC_MODE_NO_SYNC   0
-#define CAM_REQ_MGR_SYNC_MODE_SYNC      1
-
-/**
- * struct cam_req_mgr_event_data
- * @session_hdl: session handle
- * @link_hdl: link handle
- * @frame_id: frame id
- * @reserved: reserved for 64 bit aligngment
- * @req_id: request id
- * @tv_sec: timestamp in seconds
- * @tv_usec: timestamp in micro seconds
- */
-struct cam_req_mgr_event_data {
-	int32_t   session_hdl;
-	int32_t   link_hdl;
-	int32_t   frame_id;
-	int32_t   reserved;
-	int64_t   req_id;
-	uint64_t  tv_sec;
-	uint64_t  tv_usec;
-};
-
-/**
- * struct cam_req_mgr_session_info
- * @session_hdl: In/Output param - session_handle
- * @opcode1: CAM_REQ_MGR_CREATE_SESSION
- * @opcode2: CAM_REQ_MGR_DESTROY_SESSION
- */
-struct cam_req_mgr_session_info {
-	int32_t session_hdl;
-	int32_t reserved;
-};
-
-/**
- * struct cam_req_mgr_link_info
- * @session_hdl: Input param - Identifier for CSL session
- * @num_devices: Input Param - Num of devices to be linked
- * @dev_hdls: Input param - List of device handles to be linked
- * @link_hdl: Output Param -Identifier for link
- * @opcode: CAM_REQ_MGR_LINK
- */
-struct cam_req_mgr_link_info {
-	int32_t session_hdl;
-	uint32_t num_devices;
-	int32_t dev_hdls[CAM_REQ_MGR_MAX_HANDLES];
-	int32_t link_hdl;
-};
-
-/**
- * struct cam_req_mgr_unlink_info
- * @session_hdl: input param - session handle
- * @link_hdl: input param - link handle
- * @opcode: CAM_REQ_MGR_UNLINK
- */
-struct cam_req_mgr_unlink_info {
-	int32_t session_hdl;
-	int32_t link_hdl;
-};
-
-/**
- * struct cam_req_mgr_flush_info
- * @brief: User can tell drivers to flush a particular request id or
- * flush all requests from its pending processing queue. Flush is a
- * blocking call and driver shall ensure all requests are flushed
- * before returning.
- * @session_hdl: Input param - Identifier for CSL session
- * @link_hdl: Input Param -Identifier for link
- * @flush_type: User can cancel a particular req id or can flush
- * all requests in queue
- * @reserved: reserved for 64 bit aligngment
- * @req_id: field is valid only if flush type is cancel request
- * for flush all this field value is not considered.
- * @opcode: CAM_REQ_MGR_FLUSH_REQ
- */
-struct cam_req_mgr_flush_info {
-	int32_t session_hdl;
-	int32_t link_hdl;
-	uint32_t flush_type;
-	uint32_t reserved;
-	int64_t req_id;
-};
-
-/** struct cam_req_mgr_sched_info
- * @session_hdl: Input param - Identifier for CSL session
- * @link_hdl: Input Param -Identifier for link
- * inluding itself.
- * @bubble_enable: Input Param - Cam req mgr will do bubble recovery if this
- * flag is set.
- * @sync_mode: Type of Sync mode for this request
- * @req_id: Input Param - Request Id from which all requests will be flushed
- */
-struct cam_req_mgr_sched_request {
-	int32_t session_hdl;
-	int32_t link_hdl;
-	int32_t bubble_enable;
-	int32_t sync_mode;
-	int64_t req_id;
-};
-
-/**
- * struct cam_req_mgr_sync_mode
- * @session_hdl:         Input param - Identifier for CSL session
- * @sync_mode:           Input Param - Type of sync mode
- * @num_links:           Input Param - Num of links in sync mode (Valid only
- *                             when sync_mode is one of SYNC enabled modes)
- * @link_hdls:           Input Param - Array of link handles to be in sync mode
- *                             (Valid only when sync_mode is one of SYNC
- *                             enabled modes)
- * @master_link_hdl:     Input Param - To dictate which link's SOF drives system
- *                             (Valid only when sync_mode is one of SYNC
- *                             enabled modes)
- *
- * @opcode: CAM_REQ_MGR_SYNC_MODE
- */
-struct cam_req_mgr_sync_mode {
-	int32_t session_hdl;
-	int32_t sync_mode;
-	int32_t num_links;
-	int32_t link_hdls[MAX_LINKS_PER_SESSION];
-	int32_t master_link_hdl;
-	int32_t reserved;
-};
-
-/**
- * struct cam_req_mgr_link_control
- * @ops:                 Link operations: activate/deactive
- * @session_hdl:         Input param - Identifier for CSL session
- * @num_links:           Input Param - Num of links
- * @reserved:            reserved field
- * @link_hdls:           Input Param - Links to be activated/deactivated
- *
- * @opcode: CAM_REQ_MGR_LINK_CONTROL
- */
-struct cam_req_mgr_link_control {
-	int32_t ops;
-	int32_t session_hdl;
-	int32_t num_links;
-	int32_t reserved;
-	int32_t link_hdls[MAX_LINKS_PER_SESSION];
-};
-
-/**
- * cam_req_mgr specific opcode ids
- */
-#define CAM_REQ_MGR_CREATE_DEV_NODES            (CAM_COMMON_OPCODE_MAX + 1)
-#define CAM_REQ_MGR_CREATE_SESSION              (CAM_COMMON_OPCODE_MAX + 2)
-#define CAM_REQ_MGR_DESTROY_SESSION             (CAM_COMMON_OPCODE_MAX + 3)
-#define CAM_REQ_MGR_LINK                        (CAM_COMMON_OPCODE_MAX + 4)
-#define CAM_REQ_MGR_UNLINK                      (CAM_COMMON_OPCODE_MAX + 5)
-#define CAM_REQ_MGR_SCHED_REQ                   (CAM_COMMON_OPCODE_MAX + 6)
-#define CAM_REQ_MGR_FLUSH_REQ                   (CAM_COMMON_OPCODE_MAX + 7)
-#define CAM_REQ_MGR_SYNC_MODE                   (CAM_COMMON_OPCODE_MAX + 8)
-#define CAM_REQ_MGR_ALLOC_BUF                   (CAM_COMMON_OPCODE_MAX + 9)
-#define CAM_REQ_MGR_MAP_BUF                     (CAM_COMMON_OPCODE_MAX + 10)
-#define CAM_REQ_MGR_RELEASE_BUF                 (CAM_COMMON_OPCODE_MAX + 11)
-#define CAM_REQ_MGR_CACHE_OPS                   (CAM_COMMON_OPCODE_MAX + 12)
-#define CAM_REQ_MGR_LINK_CONTROL                (CAM_COMMON_OPCODE_MAX + 13)
-/* end of cam_req_mgr opcodes */
-
-#define CAM_MEM_FLAG_HW_READ_WRITE              (1<<0)
-#define CAM_MEM_FLAG_HW_READ_ONLY               (1<<1)
-#define CAM_MEM_FLAG_HW_WRITE_ONLY              (1<<2)
-#define CAM_MEM_FLAG_KMD_ACCESS                 (1<<3)
-#define CAM_MEM_FLAG_UMD_ACCESS                 (1<<4)
-#define CAM_MEM_FLAG_PROTECTED_MODE             (1<<5)
-#define CAM_MEM_FLAG_CMD_BUF_TYPE               (1<<6)
-#define CAM_MEM_FLAG_PIXEL_BUF_TYPE             (1<<7)
-#define CAM_MEM_FLAG_STATS_BUF_TYPE             (1<<8)
-#define CAM_MEM_FLAG_PACKET_BUF_TYPE            (1<<9)
-#define CAM_MEM_FLAG_CACHE                      (1<<10)
-#define CAM_MEM_FLAG_HW_SHARED_ACCESS           (1<<11)
-
-#define CAM_MEM_MMU_MAX_HANDLE                  16
-
-/* Maximum allowed buffers in existence */
-#define CAM_MEM_BUFQ_MAX                        1024
-
-#define CAM_MEM_MGR_SECURE_BIT_POS              15
-#define CAM_MEM_MGR_HDL_IDX_SIZE                15
-#define CAM_MEM_MGR_HDL_FD_SIZE                 16
-#define CAM_MEM_MGR_HDL_IDX_END_POS             16
-#define CAM_MEM_MGR_HDL_FD_END_POS              32
-
-#define CAM_MEM_MGR_HDL_IDX_MASK      ((1 << CAM_MEM_MGR_HDL_IDX_SIZE) - 1)
-
-#define GET_MEM_HANDLE(idx, fd) \
-	((idx & CAM_MEM_MGR_HDL_IDX_MASK) | \
-	(fd << (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE))) \
-
-#define GET_FD_FROM_HANDLE(hdl) \
-	(hdl >> (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE)) \
-
-#define CAM_MEM_MGR_GET_HDL_IDX(hdl) (hdl & CAM_MEM_MGR_HDL_IDX_MASK)
-
-#define CAM_MEM_MGR_SET_SECURE_HDL(hdl, flag) \
-	((flag) ? (hdl |= (1 << CAM_MEM_MGR_SECURE_BIT_POS)) : \
-	((hdl) &= ~(1 << CAM_MEM_MGR_SECURE_BIT_POS)))
-
-#define CAM_MEM_MGR_IS_SECURE_HDL(hdl) \
-	(((hdl) & \
-	(1<<CAM_MEM_MGR_SECURE_BIT_POS)) >> CAM_MEM_MGR_SECURE_BIT_POS)
-
-/**
- * memory allocation type
- */
-#define CAM_MEM_DMA_NONE                        0
-#define CAM_MEM_DMA_BIDIRECTIONAL               1
-#define CAM_MEM_DMA_TO_DEVICE                   2
-#define CAM_MEM_DMA_FROM_DEVICE                 3
-
-
-/**
- * memory cache operation
- */
-#define CAM_MEM_CLEAN_CACHE                     1
-#define CAM_MEM_INV_CACHE                       2
-#define CAM_MEM_CLEAN_INV_CACHE                 3
-
-
-/**
- * struct cam_mem_alloc_out_params
- * @buf_handle: buffer handle
- * @fd: output buffer file descriptor
- * @vaddr: virtual address pointer
- */
-struct cam_mem_alloc_out_params {
-	uint32_t buf_handle;
-	int32_t fd;
-	uint64_t vaddr;
-};
-
-/**
- * struct cam_mem_map_out_params
- * @buf_handle: buffer handle
- * @reserved: reserved for future
- * @vaddr: virtual address pointer
- */
-struct cam_mem_map_out_params {
-	uint32_t buf_handle;
-	uint32_t reserved;
-	uint64_t vaddr;
-};
-
-/**
- * struct cam_mem_mgr_alloc_cmd
- * @len: size of buffer to allocate
- * @align: alignment of the buffer
- * @mmu_hdls: array of mmu handles
- * @num_hdl: number of handles
- * @flags: flags of the buffer
- * @out: out params
- */
-/* CAM_REQ_MGR_ALLOC_BUF */
-struct cam_mem_mgr_alloc_cmd {
-	uint64_t len;
-	uint64_t align;
-	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
-	uint32_t num_hdl;
-	uint32_t flags;
-	struct cam_mem_alloc_out_params out;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @mmu_hdls: array of mmu handles
- * @num_hdl: number of handles
- * @flags: flags of the buffer
- * @fd: output buffer file descriptor
- * @reserved: reserved field
- * @out: out params
- */
-
-/* CAM_REQ_MGR_MAP_BUF */
-struct cam_mem_mgr_map_cmd {
-	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
-	uint32_t num_hdl;
-	uint32_t flags;
-	int32_t fd;
-	uint32_t reserved;
-	struct cam_mem_map_out_params out;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @buf_handle: buffer handle
- * @reserved: reserved field
- */
-/* CAM_REQ_MGR_RELEASE_BUF */
-struct cam_mem_mgr_release_cmd {
-	int32_t buf_handle;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @buf_handle: buffer handle
- * @ops: cache operations
- */
-/* CAM_REQ_MGR_CACHE_OPS */
-struct cam_mem_cache_ops_cmd {
-	int32_t buf_handle;
-	uint32_t mem_cache_ops;
-};
-
-/**
- * Request Manager : error message type
- * @CAM_REQ_MGR_ERROR_TYPE_DEVICE: Device error message, fatal to session
- * @CAM_REQ_MGR_ERROR_TYPE_REQUEST: Error on a single request, not fatal
- * @CAM_REQ_MGR_ERROR_TYPE_BUFFER: Buffer was not filled, not fatal
- */
-#define CAM_REQ_MGR_ERROR_TYPE_DEVICE           0
-#define CAM_REQ_MGR_ERROR_TYPE_REQUEST          1
-#define CAM_REQ_MGR_ERROR_TYPE_BUFFER           2
-
-/**
- * struct cam_req_mgr_error_msg
- * @error_type: type of error
- * @request_id: request id of frame
- * @device_hdl: device handle
- * @linke_hdl: link_hdl
- * @resource_size: size of the resource
- */
-struct cam_req_mgr_error_msg {
-	uint32_t error_type;
-	uint32_t request_id;
-	int32_t device_hdl;
-	int32_t link_hdl;
-	uint64_t resource_size;
-};
-
-/**
- * struct cam_req_mgr_frame_msg
- * @request_id: request id of the frame
- * @frame_id: frame id of the frame
- * @timestamp: timestamp of the frame
- * @link_hdl: link handle associated with this message
- * @sof_status: sof status success or fail
- */
-struct cam_req_mgr_frame_msg {
-	uint64_t request_id;
-	uint64_t frame_id;
-	uint64_t timestamp;
-	int32_t  link_hdl;
-	uint32_t sof_status;
-};
-
-/**
- * struct cam_req_mgr_message
- * @session_hdl: session to which the frame belongs to
- * @reserved: reserved field
- * @u: union which can either be error or frame message
- */
-struct cam_req_mgr_message {
-	int32_t session_hdl;
-	int32_t reserved;
-	union {
-		struct cam_req_mgr_error_msg err_msg;
-		struct cam_req_mgr_frame_msg frame_msg;
-	} u;
-};
-#endif /* __UAPI_LINUX_CAM_REQ_MGR_H */
diff --git a/third_party/linux/include/media/cam_sensor.h b/third_party/linux/include/media/cam_sensor.h
deleted file mode 100644
index f5af6047f5..0000000000
--- a/third_party/linux/include/media/cam_sensor.h
+++ /dev/null
@@ -1,477 +0,0 @@
-#ifndef __UAPI_CAM_SENSOR_H__
-#define __UAPI_CAM_SENSOR_H__
-
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <media/cam_defs.h>
-
-#define CAM_SENSOR_PROBE_CMD   (CAM_COMMON_OPCODE_MAX + 1)
-#define CAM_FLASH_MAX_LED_TRIGGERS 3
-#define MAX_OIS_NAME_SIZE 32
-#define CAM_CSIPHY_SECURE_MODE_ENABLED 1
-/**
- * struct cam_sensor_query_cap - capabilities info for sensor
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @secure_camera    :  Camera is in secure/Non-secure mode
- * @pos_pitch        :  Sensor position pitch
- * @pos_roll         :  Sensor position roll
- * @pos_yaw          :  Sensor position yaw
- * @actuator_slot_id :  Actuator slot id which connected to sensor
- * @eeprom_slot_id   :  EEPROM slot id which connected to sensor
- * @ois_slot_id      :  OIS slot id which connected to sensor
- * @flash_slot_id    :  Flash slot id which connected to sensor
- * @csiphy_slot_id   :  CSIphy slot id which connected to sensor
- *
- */
-struct  cam_sensor_query_cap {
-	uint32_t        slot_info;
-	uint32_t        secure_camera;
-	uint32_t        pos_pitch;
-	uint32_t        pos_roll;
-	uint32_t        pos_yaw;
-	uint32_t        actuator_slot_id;
-	uint32_t        eeprom_slot_id;
-	uint32_t        ois_slot_id;
-	uint32_t        flash_slot_id;
-	uint32_t        csiphy_slot_id;
-} __attribute__((packed));
-
-/**
- * struct cam_csiphy_query_cap - capabilities info for csiphy
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @version          :  CSIphy version
- * @clk lane         :  Of the 5 lanes, informs lane configured
- *                      as clock lane
- * @reserved
- */
-struct cam_csiphy_query_cap {
-	uint32_t            slot_info;
-	uint32_t            version;
-	uint32_t            clk_lane;
-	uint32_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_actuator_query_cap - capabilities info for actuator
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @reserved
- */
-struct cam_actuator_query_cap {
-	uint32_t            slot_info;
-	uint32_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_eeprom_query_cap_t - capabilities info for eeprom
- *
- * @slot_info                  :  Indicates about the slotId or cell Index
- * @eeprom_kernel_probe        :  Indicates about the kernel or userspace probe
- */
-struct cam_eeprom_query_cap_t {
-	uint32_t            slot_info;
-	uint16_t            eeprom_kernel_probe;
-	uint16_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_ois_query_cap_t - capabilities info for ois
- *
- * @slot_info                  :  Indicates about the slotId or cell Index
- */
-struct cam_ois_query_cap_t {
-	uint32_t            slot_info;
-	uint16_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_info - Contains slave I2C related info
- *
- * @slave_addr      :    Slave address
- * @i2c_freq_mode   :    4 bits are used for I2c freq mode
- * @cmd_type        :    Explains type of command
- */
-struct cam_cmd_i2c_info {
-	uint16_t    slave_addr;
-	uint8_t     i2c_freq_mode;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * struct cam_ois_opcode - Contains OIS opcode
- *
- * @prog            :    OIS FW prog register address
- * @coeff           :    OIS FW coeff register address
- * @pheripheral     :    OIS pheripheral
- * @memory          :    OIS memory
- */
-struct cam_ois_opcode {
-	uint32_t prog;
-	uint32_t coeff;
-	uint32_t pheripheral;
-	uint32_t memory;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_ois_info - Contains OIS slave info
- *
- * @slave_addr            :    OIS i2c slave address
- * @i2c_freq_mode         :    i2c frequency mode
- * @cmd_type              :    Explains type of command
- * @ois_fw_flag           :    indicates if fw is present or not
- * @is_ois_calib          :    indicates the calibration data is available
- * @ois_name              :    OIS name
- * @opcode                :    opcode
- */
-struct cam_cmd_ois_info {
-	uint16_t              slave_addr;
-	uint8_t               i2c_freq_mode;
-	uint8_t               cmd_type;
-	uint8_t               ois_fw_flag;
-	uint8_t               is_ois_calib;
-	char                  ois_name[MAX_OIS_NAME_SIZE];
-	struct cam_ois_opcode opcode;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_probe - Contains sensor slave info
- *
- * @data_type       :   Slave register data type
- * @addr_type       :   Slave register address type
- * @op_code         :   Don't Care
- * @cmd_type        :   Explains type of command
- * @reg_addr        :   Slave register address
- * @expected_data   :   Data expected at slave register address
- * @data_mask       :   Data mask if only few bits are valid
- * @camera_id       :   Indicates the slot to which camera
- *                      needs to be probed
- * @reserved
- */
-struct cam_cmd_probe {
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint32_t    reg_addr;
-	uint32_t    expected_data;
-	uint32_t    data_mask;
-	uint16_t    camera_id;
-	uint16_t    reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_power_settings - Contains sensor power setting info
- *
- * @power_seq_type  :   Type of power sequence
- * @reserved
- * @config_val_low  :   Lower 32 bit value configuration value
- * @config_val_high :   Higher 32 bit value configuration value
- *
- */
-struct cam_power_settings {
-	uint16_t    power_seq_type;
-	uint16_t    reserved;
-	uint32_t    config_val_low;
-	uint32_t    config_val_high;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_power - Explains about the power settings
- *
- * @count           :    Number of power settings follows
- * @reserved
- * @cmd_type        :    Explains type of command
- * @power_settings  :    Contains power setting info
- */
-struct cam_cmd_power {
-	uint16_t                    count;
-	uint8_t                     reserved;
-	uint8_t                     cmd_type;
-	struct cam_power_settings   power_settings[1];
-} __attribute__((packed));
-
-/**
- * struct i2c_rdwr_header - header of READ/WRITE I2C command
- *
- * @ count           :   Number of registers / data / reg-data pairs
- * @ op_code         :   Operation code
- * @ cmd_type        :   Command buffer type
- * @ data_type       :   I2C data type
- * @ addr_type       :   I2C address type
- * @ reserved
- */
-struct i2c_rdwr_header {
-	uint16_t    count;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint16_t    reserved;
-} __attribute__((packed));
-
-/**
- * struct i2c_random_wr_payload - payload for I2C random write
- *
- * @ reg_addr        :   Register address
- * @ reg_data        :   Register data
- *
- */
-struct i2c_random_wr_payload {
-	uint32_t     reg_addr;
-	uint32_t     reg_data;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_random_wr - I2C random write command
- * @ header            :   header of READ/WRITE I2C command
- * @ random_wr_payload :   payload for I2C random write
- */
-struct cam_cmd_i2c_random_wr {
-	struct i2c_rdwr_header       header;
-	struct i2c_random_wr_payload random_wr_payload[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_read - I2C read command
- * @ reg_data        :   Register data
- * @ reserved
- */
-struct cam_cmd_read {
-	uint32_t                reg_data;
-	uint32_t                reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_continuous_wr - I2C continuous write command
- * @ header          :   header of READ/WRITE I2C command
- * @ reg_addr        :   Register address
- * @ data_read       :   I2C read command
- */
-struct cam_cmd_i2c_continuous_wr {
-	struct i2c_rdwr_header  header;
-	uint32_t                reg_addr;
-	struct cam_cmd_read     data_read[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_random_rd - I2C random read command
- * @ header          :   header of READ/WRITE I2C command
- * @ data_read       :   I2C read command
- */
-struct cam_cmd_i2c_random_rd {
-	struct i2c_rdwr_header  header;
-	struct cam_cmd_read     data_read[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_continuous_rd - I2C continuous continuous read command
- * @ header          :   header of READ/WRITE I2C command
- * @ reg_addr        :   Register address
- *
- */
-struct cam_cmd_i2c_continuous_rd {
-	struct i2c_rdwr_header  header;
-	uint32_t                reg_addr;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_conditional_wait - Conditional wait command
- * @data_type       :   Data type
- * @addr_type       :   Address type
- * @op_code         :   Opcode
- * @cmd_type        :   Explains type of command
- * @timeout         :   Timeout for retries
- * @reserved
- * @reg_addr        :   Register Address
- * @reg_data        :   Register data
- * @data_mask       :   Data mask if only few bits are valid
- * @camera_id       :   Indicates the slot to which camera
- *                      needs to be probed
- *
- */
-struct cam_cmd_conditional_wait {
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint16_t    timeout;
-	uint16_t    reserved;
-	uint32_t    reg_addr;
-	uint32_t    reg_data;
-	uint32_t    data_mask;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_unconditional_wait - Un-conditional wait command
- * @delay           :   Delay
- * @op_code         :   Opcode
- * @cmd_type        :   Explains type of command
- */
-struct cam_cmd_unconditional_wait {
-	int16_t     delay;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * cam_csiphy_info: Provides cmdbuffer structre
- * @lane_mask     : Lane mask details
- * @lane_assign   : Lane sensor will be using
- * @csiphy_3phase : Total number of lanes
- * @combo_mode    : Info regarding combo_mode is enable / disable
- * @lane_cnt      : Total number of lanes
- * @secure_mode   : Secure mode flag to enable / disable
- * @3phase        : Details whether 3Phase / 2Phase operation
- * @settle_time   : Settling time in ms
- * @data_rate     : Data rate
- *
- */
-struct cam_csiphy_info {
-	uint16_t    lane_mask;
-	uint16_t    lane_assign;
-	uint8_t     csiphy_3phase;
-	uint8_t     combo_mode;
-	uint8_t     lane_cnt;
-	uint8_t     secure_mode;
-	uint64_t    settle_time;
-	uint64_t    data_rate;
-} __attribute__((packed));
-
-/**
- * cam_csiphy_acquire_dev_info : Information needed for
- *                        csiphy at the time of acquire
- * @combo_mode     :    Indicates the device mode of operation
- * @reserved
- *
- */
-struct cam_csiphy_acquire_dev_info {
-	uint32_t    combo_mode;
-	uint32_t    reserved;
-} __attribute__((packed));
-
-/**
- * cam_sensor_acquire_dev : Updates sensor acuire cmd
- * @device_handle  :    Updates device handle
- * @session_handle :    Session handle for acquiring device
- * @handle_type    :    Resource handle type
- * @reserved
- * @info_handle    :    Handle to additional info
- *                      needed for sensor sub modules
- *
- */
-struct cam_sensor_acquire_dev {
-	uint32_t    session_handle;
-	uint32_t    device_handle;
-	uint32_t    handle_type;
-	uint32_t    reserved;
-	uint64_t    info_handle;
-} __attribute__((packed));
-
-/**
- * cam_sensor_streamon_dev : StreamOn command for the sensor
- * @session_handle :    Session handle for acquiring device
- * @device_handle  :    Updates device handle
- * @handle_type    :    Resource handle type
- * @reserved
- * @info_handle    :    Information Needed at the time of streamOn
- *
- */
-struct cam_sensor_streamon_dev {
-	uint32_t    session_handle;
-	uint32_t    device_handle;
-	uint32_t    handle_type;
-	uint32_t    reserved;
-	uint64_t    info_handle;
-} __attribute__((packed));
-
-/**
- * struct cam_flash_init : Init command for the flash
- * @flash_type  :    flash hw type
- * @reserved
- * @cmd_type    :    command buffer type
- */
-struct cam_flash_init {
-	uint8_t     flash_type;
-	uint16_t    reserved;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * struct cam_flash_set_rer : RedEyeReduction command buffer
- *
- * @count             :   Number of flash leds
- * @opcode            :   Command buffer opcode
- *			CAM_FLASH_FIRE_RER
- * @cmd_type          :   command buffer operation type
- * @num_iteration     :   Number of led turn on/off sequence
- * @reserved
- * @led_on_delay_ms   :   flash led turn on time in ms
- * @led_off_delay_ms  :   flash led turn off time in ms
- * @led_current_ma    :   flash led current in ma
- *
- */
-struct cam_flash_set_rer {
-	uint16_t    count;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint16_t    num_iteration;
-	uint16_t    reserved;
-	uint32_t    led_on_delay_ms;
-	uint32_t    led_off_delay_ms;
-	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__((packed));
-
-/**
- * struct cam_flash_set_on_off : led turn on/off command buffer
- *
- * @count              :   Number of Flash leds
- * @opcode             :   command buffer opcodes
- *			CAM_FLASH_FIRE_LOW
- *			CAM_FLASH_FIRE_HIGH
- *			CAM_FLASH_OFF
- * @cmd_type           :   command buffer operation type
- * @led_current_ma     :   flash led current in ma
- *
- */
-struct cam_flash_set_on_off {
-	uint16_t    count;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__((packed));
-
-/**
- * struct cam_flash_query_curr : query current command buffer
- *
- * @reserved
- * @opcode            :   command buffer opcode
- * @cmd_type          :   command buffer operation type
- * @query_current_ma  :   battery current in ma
- *
- */
-struct cam_flash_query_curr {
-	uint16_t    reserved;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint32_t    query_current_ma;
-} __attribute__ ((packed));
-
-/**
- * struct cam_flash_query_cap  :  capabilities info for flash
- *
- * @slot_info           :  Indicates about the slotId or cell Index
- * @max_current_flash   :  max supported current for flash
- * @max_duration_flash  :  max flash turn on duration
- * @max_current_torch   :  max supported current for torch
- *
- */
-struct cam_flash_query_cap_info {
-	uint32_t    slot_info;
-	uint32_t    max_current_flash[CAM_FLASH_MAX_LED_TRIGGERS];
-	uint32_t    max_duration_flash[CAM_FLASH_MAX_LED_TRIGGERS];
-	uint32_t    max_current_torch[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__ ((packed));
-
-#endif
diff --git a/third_party/linux/include/media/cam_sensor_cmn_header.h b/third_party/linux/include/media/cam_sensor_cmn_header.h
deleted file mode 100644
index 24617b39bd..0000000000
--- a/third_party/linux/include/media/cam_sensor_cmn_header.h
+++ /dev/null
@@ -1,391 +0,0 @@
-/* Copyright (c) 2017-2018, The Linux Foundation. All rights reserved.
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 and
- * only version 2 as published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
-
-#ifndef _CAM_SENSOR_CMN_HEADER_
-#define _CAM_SENSOR_CMN_HEADER_
-
-#include <stdbool.h>
-#include <media/cam_sensor.h>
-#include <media/cam_req_mgr.h>
-
-#define MAX_REGULATOR 5
-#define MAX_POWER_CONFIG 12
-
-#define MAX_PER_FRAME_ARRAY 32
-#define BATCH_SIZE_MAX      16
-
-#define CAM_SENSOR_NAME    "cam-sensor"
-#define CAM_ACTUATOR_NAME  "cam-actuator"
-#define CAM_CSIPHY_NAME    "cam-csiphy"
-#define CAM_FLASH_NAME     "cam-flash"
-#define CAM_EEPROM_NAME    "cam-eeprom"
-#define CAM_OIS_NAME       "cam-ois"
-
-#define MAX_SYSTEM_PIPELINE_DELAY 2
-
-#define CAM_PKT_NOP_OPCODE 127
-
-enum camera_sensor_cmd_type {
-	CAMERA_SENSOR_CMD_TYPE_INVALID,
-	CAMERA_SENSOR_CMD_TYPE_PROBE,
-	CAMERA_SENSOR_CMD_TYPE_PWR_UP,
-	CAMERA_SENSOR_CMD_TYPE_PWR_DOWN,
-	CAMERA_SENSOR_CMD_TYPE_I2C_INFO,
-	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR,
-	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_RD,
-	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_WR,
-	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_RD,
-	CAMERA_SENSOR_CMD_TYPE_WAIT,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_INFO,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_FIRE,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_RER,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_QUERYCURR,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_WIDGET,
-	CAMERA_SENSOR_CMD_TYPE_RD_DATA,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_FIRE,
-	CAMERA_SENSOR_CMD_TYPE_MAX,
-};
-
-enum camera_sensor_i2c_op_code {
-	CAMERA_SENSOR_I2C_OP_INVALID,
-	CAMERA_SENSOR_I2C_OP_RNDM_WR,
-	CAMERA_SENSOR_I2C_OP_RNDM_WR_VERF,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST_VERF,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN_VERF,
-	CAMERA_SENSOR_I2C_OP_MAX,
-};
-
-enum camera_sensor_wait_op_code {
-	CAMERA_SENSOR_WAIT_OP_INVALID,
-	CAMERA_SENSOR_WAIT_OP_COND,
-	CAMERA_SENSOR_WAIT_OP_HW_UCND,
-	CAMERA_SENSOR_WAIT_OP_SW_UCND,
-	CAMERA_SENSOR_WAIT_OP_MAX,
-};
-
-enum camera_flash_opcode {
-	CAMERA_SENSOR_FLASH_OP_INVALID,
-	CAMERA_SENSOR_FLASH_OP_OFF,
-	CAMERA_SENSOR_FLASH_OP_FIRELOW,
-	CAMERA_SENSOR_FLASH_OP_FIREHIGH,
-	CAMERA_SENSOR_FLASH_OP_MAX,
-};
-
-enum camera_sensor_i2c_type {
-	CAMERA_SENSOR_I2C_TYPE_INVALID,
-	CAMERA_SENSOR_I2C_TYPE_BYTE,
-	CAMERA_SENSOR_I2C_TYPE_WORD,
-	CAMERA_SENSOR_I2C_TYPE_3B,
-	CAMERA_SENSOR_I2C_TYPE_DWORD,
-	CAMERA_SENSOR_I2C_TYPE_MAX,
-};
-
-enum i2c_freq_mode {
-	I2C_STANDARD_MODE,
-	I2C_FAST_MODE,
-	I2C_CUSTOM_MODE,
-	I2C_FAST_PLUS_MODE,
-	I2C_MAX_MODES,
-};
-
-enum position_roll {
-	ROLL_0       = 0,
-	ROLL_90      = 90,
-	ROLL_180     = 180,
-	ROLL_270     = 270,
-	ROLL_INVALID = 360,
-};
-
-enum position_yaw {
-	FRONT_CAMERA_YAW = 0,
-	REAR_CAMERA_YAW  = 180,
-	INVALID_YAW      = 360,
-};
-
-enum position_pitch {
-	LEVEL_PITCH    = 0,
-	INVALID_PITCH  = 360,
-};
-
-enum sensor_sub_module {
-	SUB_MODULE_SENSOR,
-	SUB_MODULE_ACTUATOR,
-	SUB_MODULE_EEPROM,
-	SUB_MODULE_LED_FLASH,
-	SUB_MODULE_CSID,
-	SUB_MODULE_CSIPHY,
-	SUB_MODULE_OIS,
-	SUB_MODULE_EXT,
-	SUB_MODULE_MAX,
-};
-
-enum msm_camera_power_seq_type {
-	SENSOR_MCLK,
-	SENSOR_VANA,
-	SENSOR_VDIG,
-	SENSOR_VIO,
-	SENSOR_VAF,
-	SENSOR_VAF_PWDM,
-	SENSOR_CUSTOM_REG1,
-	SENSOR_CUSTOM_REG2,
-	SENSOR_RESET,
-	SENSOR_STANDBY,
-	SENSOR_CUSTOM_GPIO1,
-	SENSOR_CUSTOM_GPIO2,
-	SENSOR_SEQ_TYPE_MAX,
-};
-
-enum cam_sensor_packet_opcodes {
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_UPDATE,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_INITIAL_CONFIG,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127
-};
-
-enum cam_actuator_packet_opcodes {
-	CAM_ACTUATOR_PACKET_OPCODE_INIT,
-	CAM_ACTUATOR_PACKET_AUTO_MOVE_LENS,
-	CAM_ACTUATOR_PACKET_MANUAL_MOVE_LENS
-};
-
-enum cam_eeprom_packet_opcodes {
-	CAM_EEPROM_PACKET_OPCODE_INIT
-};
-
-enum cam_ois_packet_opcodes {
-	CAM_OIS_PACKET_OPCODE_INIT,
-	CAM_OIS_PACKET_OPCODE_OIS_CONTROL
-};
-
-enum msm_bus_perf_setting {
-	S_INIT,
-	S_PREVIEW,
-	S_VIDEO,
-	S_CAPTURE,
-	S_ZSL,
-	S_STEREO_VIDEO,
-	S_STEREO_CAPTURE,
-	S_DEFAULT,
-	S_LIVESHOT,
-	S_DUAL,
-	S_EXIT
-};
-
-enum msm_camera_device_type_t {
-	MSM_CAMERA_I2C_DEVICE,
-	MSM_CAMERA_PLATFORM_DEVICE,
-	MSM_CAMERA_SPI_DEVICE,
-};
-
-enum cam_flash_device_type {
-	CAMERA_FLASH_DEVICE_TYPE_PMIC = 0,
-	CAMERA_FLASH_DEVICE_TYPE_I2C,
-	CAMERA_FLASH_DEVICE_TYPE_GPIO,
-};
-
-enum cci_i2c_master_t {
-	MASTER_0,
-	MASTER_1,
-	MASTER_MAX,
-};
-
-enum camera_vreg_type {
-	VREG_TYPE_DEFAULT,
-	VREG_TYPE_CUSTOM,
-};
-
-enum cam_sensor_i2c_cmd_type {
-	CAM_SENSOR_I2C_WRITE_RANDOM,
-	CAM_SENSOR_I2C_WRITE_BURST,
-	CAM_SENSOR_I2C_WRITE_SEQ,
-	CAM_SENSOR_I2C_READ,
-	CAM_SENSOR_I2C_POLL
-};
-
-struct common_header {
-	uint16_t    first_word;
-	uint8_t     third_byte;
-	uint8_t     cmd_type;
-};
-
-struct camera_vreg_t {
-	const char *reg_name;
-	int min_voltage;
-	int max_voltage;
-	int op_mode;
-	uint32_t delay;
-	const char *custom_vreg_name;
-	enum camera_vreg_type type;
-};
-
-struct msm_camera_gpio_num_info {
-	uint16_t gpio_num[SENSOR_SEQ_TYPE_MAX];
-	uint8_t valid[SENSOR_SEQ_TYPE_MAX];
-};
-
-struct msm_cam_clk_info {
-	const char *clk_name;
-	long clk_rate;
-	uint32_t delay;
-};
-
-struct msm_pinctrl_info {
-	struct pinctrl *pinctrl;
-	struct pinctrl_state *gpio_state_active;
-	struct pinctrl_state *gpio_state_suspend;
-	bool use_pinctrl;
-};
-
-struct cam_sensor_i2c_reg_array {
-	uint32_t reg_addr;
-	uint32_t reg_data;
-	uint32_t delay;
-	uint32_t data_mask;
-};
-
-struct cam_sensor_i2c_reg_setting {
-	struct cam_sensor_i2c_reg_array *reg_setting;
-	unsigned short size;
-	enum camera_sensor_i2c_type addr_type;
-	enum camera_sensor_i2c_type data_type;
-	unsigned short delay;
-};
-
-/*struct i2c_settings_list {
-	struct cam_sensor_i2c_reg_setting i2c_settings;
-	enum cam_sensor_i2c_cmd_type op_code;
-	struct list_head list;
-};
-
-struct i2c_settings_array {
-	struct list_head list_head;
-	int32_t is_settings_valid;
-	int64_t request_id;
-};
-
-struct i2c_data_settings {
-	struct i2c_settings_array init_settings;
-	struct i2c_settings_array config_settings;
-	struct i2c_settings_array streamon_settings;
-	struct i2c_settings_array streamoff_settings;
-	struct i2c_settings_array *per_frame;
-};*/
-
-struct cam_sensor_power_ctrl_t {
-	struct device *dev;
-	struct cam_sensor_power_setting *power_setting;
-	uint16_t power_setting_size;
-	struct cam_sensor_power_setting *power_down_setting;
-	uint16_t power_down_setting_size;
-	struct msm_camera_gpio_num_info *gpio_num_info;
-	struct msm_pinctrl_info pinctrl_info;
-	uint8_t cam_pinctrl_status;
-};
-
-struct cam_camera_slave_info {
-	uint16_t sensor_slave_addr;
-	uint16_t sensor_id_reg_addr;
-	uint16_t sensor_id;
-	uint16_t sensor_id_mask;
-};
-
-struct msm_sensor_init_params {
-	int modes_supported;
-	unsigned int sensor_mount_angle;
-};
-
-enum msm_sensor_camera_id_t {
-	CAMERA_0,
-	CAMERA_1,
-	CAMERA_2,
-	CAMERA_3,
-	CAMERA_4,
-	CAMERA_5,
-	CAMERA_6,
-	MAX_CAMERAS,
-};
-
-struct msm_sensor_id_info_t {
-	unsigned short sensor_id_reg_addr;
-	unsigned short sensor_id;
-	unsigned short sensor_id_mask;
-};
-
-enum msm_sensor_output_format_t {
-	MSM_SENSOR_BAYER,
-	MSM_SENSOR_YCBCR,
-	MSM_SENSOR_META,
-};
-
-struct cam_sensor_power_setting {
-	enum msm_camera_power_seq_type seq_type;
-	unsigned short seq_val;
-	long config_val;
-	unsigned short delay;
-	void *data[10];
-};
-
-struct cam_sensor_board_info {
-	struct cam_camera_slave_info slave_info;
-	int32_t sensor_mount_angle;
-	int32_t secure_mode;
-	int modes_supported;
-	int32_t pos_roll;
-	int32_t pos_yaw;
-	int32_t pos_pitch;
-	int32_t  subdev_id[SUB_MODULE_MAX];
-	int32_t  subdev_intf[SUB_MODULE_MAX];
-	const char *misc_regulator;
-	struct cam_sensor_power_ctrl_t power_info;
-};
-
-enum msm_camera_vreg_name_t {
-	CAM_VDIG,
-	CAM_VIO,
-	CAM_VANA,
-	CAM_VAF,
-	CAM_V_CUSTOM1,
-	CAM_V_CUSTOM2,
-	CAM_VREG_MAX,
-};
-
-struct msm_camera_gpio_conf {
-	void *cam_gpiomux_conf_tbl;
-	uint8_t cam_gpiomux_conf_tbl_size;
-	struct gpio *cam_gpio_common_tbl;
-	uint8_t cam_gpio_common_tbl_size;
-	struct gpio *cam_gpio_req_tbl;
-	uint8_t cam_gpio_req_tbl_size;
-	uint32_t gpio_no_mux;
-	uint32_t *camera_off_table;
-	uint8_t camera_off_table_size;
-	uint32_t *camera_on_table;
-	uint8_t camera_on_table_size;
-	struct msm_camera_gpio_num_info *gpio_num_info;
-};
-
-/*for tof camera  Begin*/
-enum EEPROM_DATA_OP_T{
-	EEPROM_DEFAULT_DATA = 0,
-	EEPROM_INIT_DATA,
-	EEPROM_CONFIG_DATA,
-	EEPROM_STREAMON_DATA,
-	EEPROM_STREAMOFF_DATA,
-	EEPROM_OTHER_DATA,
-};
-/*for tof camera  End*/
-#endif /* _CAM_SENSOR_CMN_HEADER_ */
diff --git a/third_party/linux/include/media/cam_sync.h b/third_party/linux/include/media/cam_sync.h
deleted file mode 100644
index 4a8781fc82..0000000000
--- a/third_party/linux/include/media/cam_sync.h
+++ /dev/null
@@ -1,134 +0,0 @@
-#ifndef __UAPI_CAM_SYNC_H__
-#define __UAPI_CAM_SYNC_H__
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <linux/media.h>
-
-#define CAM_SYNC_DEVICE_NAME                     "cam_sync_device"
-
-/* V4L event which user space will subscribe to */
-#define CAM_SYNC_V4L_EVENT                       (V4L2_EVENT_PRIVATE_START + 0)
-
-/* Specific event ids to get notified in user space */
-#define CAM_SYNC_V4L_EVENT_ID_CB_TRIG            0
-
-/* Size of opaque payload sent to kernel for safekeeping until signal time */
-#define CAM_SYNC_USER_PAYLOAD_SIZE               2
-
-/* Device type for sync device needed for device discovery */
-#define CAM_SYNC_DEVICE_TYPE                     (MEDIA_ENT_F_OLD_BASE)
-
-#define CAM_SYNC_GET_PAYLOAD_PTR(ev, type)       \
-	(type *)((char *)ev.u.data + sizeof(struct cam_sync_ev_header))
-
-#define CAM_SYNC_GET_HEADER_PTR(ev)              \
-	((struct cam_sync_ev_header *)ev.u.data)
-
-#define CAM_SYNC_STATE_INVALID                   0
-#define CAM_SYNC_STATE_ACTIVE                    1
-#define CAM_SYNC_STATE_SIGNALED_SUCCESS          2
-#define CAM_SYNC_STATE_SIGNALED_ERROR            3
-
-/**
- * struct cam_sync_ev_header - Event header for sync event notification
- *
- * @sync_obj: Sync object
- * @status:   Status of the object
- */
-struct cam_sync_ev_header {
-	int32_t sync_obj;
-	int32_t status;
-};
-
-/**
- * struct cam_sync_info - Sync object creation information
- *
- * @name:       Optional string representation of the sync object
- * @sync_obj:   Sync object returned after creation in kernel
- */
-struct cam_sync_info {
-	char name[64];
-	int32_t sync_obj;
-};
-
-/**
- * struct cam_sync_signal - Sync object signaling struct
- *
- * @sync_obj:   Sync object to be signaled
- * @sync_state: State of the sync object to which it should be signaled
- */
-struct cam_sync_signal {
-	int32_t sync_obj;
-	uint32_t sync_state;
-};
-
-/**
- * struct cam_sync_merge - Merge information for sync objects
- *
- * @sync_objs:  Pointer to sync objects
- * @num_objs:   Number of objects in the array
- * @merged:     Merged sync object
- */
-struct cam_sync_merge {
-	__u64 sync_objs;
-	uint32_t num_objs;
-	int32_t merged;
-};
-
-/**
- * struct cam_sync_userpayload_info - Payload info from user space
- *
- * @sync_obj:   Sync object for which payload has to be registered for
- * @reserved:   Reserved
- * @payload:    Pointer to user payload
- */
-struct cam_sync_userpayload_info {
-	int32_t sync_obj;
-	uint32_t reserved;
-	__u64 payload[CAM_SYNC_USER_PAYLOAD_SIZE];
-};
-
-/**
- * struct cam_sync_wait - Sync object wait information
- *
- * @sync_obj:   Sync object to wait on
- * @reserved:   Reserved
- * @timeout_ms: Timeout in milliseconds
- */
-struct cam_sync_wait {
-	int32_t sync_obj;
-	uint32_t reserved;
-	uint64_t timeout_ms;
-};
-
-/**
- * struct cam_private_ioctl_arg - Sync driver ioctl argument
- *
- * @id:         IOCTL command id
- * @size:       Size of command payload
- * @result:     Result of command execution
- * @reserved:   Reserved
- * @ioctl_ptr:  Pointer to user data
- */
-struct cam_private_ioctl_arg {
-	__u32 id;
-	__u32 size;
-	__u32 result;
-	__u32 reserved;
-	__u64 ioctl_ptr;
-};
-
-#define CAM_PRIVATE_IOCTL_CMD \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_private_ioctl_arg)
-
-#define CAM_SYNC_CREATE                          0
-#define CAM_SYNC_DESTROY                         1
-#define CAM_SYNC_SIGNAL                          2
-#define CAM_SYNC_MERGE                           3
-#define CAM_SYNC_REGISTER_PAYLOAD                4
-#define CAM_SYNC_DEREGISTER_PAYLOAD              5
-#define CAM_SYNC_WAIT                            6
-
-#endif /* __UAPI_CAM_SYNC_H__ */
diff --git a/third_party/linux/include/msm_cam_sensor.h b/third_party/linux/include/msm_cam_sensor.h
deleted file mode 100644
index c75d1fd527..0000000000
--- a/third_party/linux/include/msm_cam_sensor.h
+++ /dev/null
@@ -1,829 +0,0 @@
-#ifndef __LINUX_MSM_CAM_SENSOR_H
-#define __LINUX_MSM_CAM_SENSOR_H
-
-#ifdef MSM_CAMERA_BIONIC
-#include <sys/types.h>
-#endif
-
-//#include <linux/v4l2-mediabus.h>
-#include "msm_camsensor_sdk.h"
-
-#include <linux/types.h>
-#include <linux/i2c.h>
-#ifdef CONFIG_COMPAT
-#include <linux/compat.h>
-#endif
-
-#define I2C_SEQ_REG_SETTING_MAX   5
-
-#define MSM_SENSOR_MCLK_8HZ   8000000
-#define MSM_SENSOR_MCLK_16HZ  16000000
-#define MSM_SENSOR_MCLK_24HZ  24000000
-
-#define MAX_SENSOR_NAME 32
-#define MAX_ACTUATOR_AF_TOTAL_STEPS 1024
-
-#define MAX_OIS_MOD_NAME_SIZE 32
-#define MAX_OIS_NAME_SIZE 32
-#define MAX_OIS_REG_SETTINGS 800
-
-#define MOVE_NEAR 0
-#define MOVE_FAR  1
-
-#define MSM_ACTUATOR_MOVE_SIGNED_FAR -1
-#define MSM_ACTUATOR_MOVE_SIGNED_NEAR  1
-
-#define MAX_ACTUATOR_REGION  5
-
-#define MAX_EEPROM_NAME 32
-
-#define MAX_AF_ITERATIONS 3
-#define MAX_NUMBER_OF_STEPS 47
-#define MAX_REGULATOR 5
-
-#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */
-#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4')
-	/* 14  BGBG.. GRGR.. */
-#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4')
-	/* 14  GBGB.. RGRG.. */
-#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4')
-	/* 14  GRGR.. BGBG.. */
-#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4')
-	/* 14  RGRG.. GBGB.. */
-
-enum flash_type {
-	LED_FLASH = 1,
-	STROBE_FLASH,
-	GPIO_FLASH
-};
-
-enum msm_sensor_resolution_t {
-	MSM_SENSOR_RES_FULL,
-	MSM_SENSOR_RES_QTR,
-	MSM_SENSOR_RES_2,
-	MSM_SENSOR_RES_3,
-	MSM_SENSOR_RES_4,
-	MSM_SENSOR_RES_5,
-	MSM_SENSOR_RES_6,
-	MSM_SENSOR_RES_7,
-	MSM_SENSOR_INVALID_RES,
-};
-
-enum msm_camera_stream_type_t {
-	MSM_CAMERA_STREAM_PREVIEW,
-	MSM_CAMERA_STREAM_SNAPSHOT,
-	MSM_CAMERA_STREAM_VIDEO,
-	MSM_CAMERA_STREAM_INVALID,
-};
-
-enum sensor_sub_module_t {
-	SUB_MODULE_SENSOR,
-	SUB_MODULE_CHROMATIX,
-	SUB_MODULE_ACTUATOR,
-	SUB_MODULE_EEPROM,
-	SUB_MODULE_LED_FLASH,
-	SUB_MODULE_STROBE_FLASH,
-	SUB_MODULE_CSID,
-	SUB_MODULE_CSID_3D,
-	SUB_MODULE_CSIPHY,
-	SUB_MODULE_CSIPHY_3D,
-	SUB_MODULE_OIS,
-	SUB_MODULE_EXT,
-	SUB_MODULE_MAX,
-};
-
-enum {
-	MSM_CAMERA_EFFECT_MODE_OFF,
-	MSM_CAMERA_EFFECT_MODE_MONO,
-	MSM_CAMERA_EFFECT_MODE_NEGATIVE,
-	MSM_CAMERA_EFFECT_MODE_SOLARIZE,
-	MSM_CAMERA_EFFECT_MODE_SEPIA,
-	MSM_CAMERA_EFFECT_MODE_POSTERIZE,
-	MSM_CAMERA_EFFECT_MODE_WHITEBOARD,
-	MSM_CAMERA_EFFECT_MODE_BLACKBOARD,
-	MSM_CAMERA_EFFECT_MODE_AQUA,
-	MSM_CAMERA_EFFECT_MODE_EMBOSS,
-	MSM_CAMERA_EFFECT_MODE_SKETCH,
-	MSM_CAMERA_EFFECT_MODE_NEON,
-	MSM_CAMERA_EFFECT_MODE_MAX
-};
-
-enum {
-	MSM_CAMERA_WB_MODE_AUTO,
-	MSM_CAMERA_WB_MODE_CUSTOM,
-	MSM_CAMERA_WB_MODE_INCANDESCENT,
-	MSM_CAMERA_WB_MODE_FLUORESCENT,
-	MSM_CAMERA_WB_MODE_WARM_FLUORESCENT,
-	MSM_CAMERA_WB_MODE_DAYLIGHT,
-	MSM_CAMERA_WB_MODE_CLOUDY_DAYLIGHT,
-	MSM_CAMERA_WB_MODE_TWILIGHT,
-	MSM_CAMERA_WB_MODE_SHADE,
-	MSM_CAMERA_WB_MODE_OFF,
-	MSM_CAMERA_WB_MODE_MAX
-};
-
-enum {
-	MSM_CAMERA_SCENE_MODE_OFF,
-	MSM_CAMERA_SCENE_MODE_AUTO,
-	MSM_CAMERA_SCENE_MODE_LANDSCAPE,
-	MSM_CAMERA_SCENE_MODE_SNOW,
-	MSM_CAMERA_SCENE_MODE_BEACH,
-	MSM_CAMERA_SCENE_MODE_SUNSET,
-	MSM_CAMERA_SCENE_MODE_NIGHT,
-	MSM_CAMERA_SCENE_MODE_PORTRAIT,
-	MSM_CAMERA_SCENE_MODE_BACKLIGHT,
-	MSM_CAMERA_SCENE_MODE_SPORTS,
-	MSM_CAMERA_SCENE_MODE_ANTISHAKE,
-	MSM_CAMERA_SCENE_MODE_FLOWERS,
-	MSM_CAMERA_SCENE_MODE_CANDLELIGHT,
-	MSM_CAMERA_SCENE_MODE_FIREWORKS,
-	MSM_CAMERA_SCENE_MODE_PARTY,
-	MSM_CAMERA_SCENE_MODE_NIGHT_PORTRAIT,
-	MSM_CAMERA_SCENE_MODE_THEATRE,
-	MSM_CAMERA_SCENE_MODE_ACTION,
-	MSM_CAMERA_SCENE_MODE_AR,
-	MSM_CAMERA_SCENE_MODE_FACE_PRIORITY,
-	MSM_CAMERA_SCENE_MODE_BARCODE,
-	MSM_CAMERA_SCENE_MODE_HDR,
-	MSM_CAMERA_SCENE_MODE_MAX
-};
-
-enum csid_cfg_type_t {
-	CSID_INIT,
-	CSID_CFG,
-	CSID_TESTMODE_CFG,
-	CSID_RELEASE,
-};
-
-enum csiphy_cfg_type_t {
-	CSIPHY_INIT,
-	CSIPHY_CFG,
-	CSIPHY_RELEASE,
-};
-
-enum camera_vreg_type {
-	VREG_TYPE_DEFAULT,
-	VREG_TYPE_CUSTOM,
-};
-
-enum sensor_af_t {
-	SENSOR_AF_FOCUSSED,
-	SENSOR_AF_NOT_FOCUSSED,
-};
-
-enum cci_i2c_master_t {
-	MASTER_0,
-	MASTER_1,
-	MASTER_MAX,
-};
-
-struct msm_camera_i2c_array_write_config {
-	struct msm_camera_i2c_reg_setting conf_array;
-	uint16_t slave_addr;
-};
-
-struct msm_camera_i2c_read_config {
-	uint16_t slave_addr;
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	uint16_t data;
-};
-
-struct msm_camera_csi2_params {
-	struct msm_camera_csid_params csid_params;
-	struct msm_camera_csiphy_params csiphy_params;
-	uint8_t csi_clk_scale_enable;
-};
-
-struct msm_camera_csi_lane_params {
-	uint16_t csi_lane_assign;
-	uint16_t csi_lane_mask;
-};
-
-struct csi_lane_params_t {
-	uint16_t csi_lane_assign;
-	uint8_t csi_lane_mask;
-	uint8_t csi_if;
-	int8_t csid_core[2];
-	uint8_t csi_phy_sel;
-};
-
-struct msm_sensor_info_t {
-	char     sensor_name[MAX_SENSOR_NAME];
-	uint32_t session_id;
-	int32_t  subdev_id[SUB_MODULE_MAX];
-	int32_t  subdev_intf[SUB_MODULE_MAX];
-	uint8_t  is_mount_angle_valid;
-	uint32_t sensor_mount_angle;
-	int modes_supported;
-	enum camb_position_t position;
-};
-
-struct camera_vreg_t {
-	const char *reg_name;
-	int min_voltage;
-	int max_voltage;
-	int op_mode;
-	uint32_t delay;
-	const char *custom_vreg_name;
-	enum camera_vreg_type type;
-};
-
-struct sensorb_cfg_data {
-	int cfgtype;
-	union {
-		struct msm_sensor_info_t      sensor_info;
-		struct msm_sensor_init_params sensor_init_params;
-		void                         *setting;
-		struct msm_sensor_i2c_sync_params sensor_i2c_sync_params;
-	} cfg;
-};
-
-struct csid_cfg_data {
-	enum csid_cfg_type_t cfgtype;
-	union {
-		uint32_t csid_version;
-		struct msm_camera_csid_params *csid_params;
-		struct msm_camera_csid_testmode_parms *csid_testmode_params;
-	} cfg;
-};
-
-struct csiphy_cfg_data {
-	enum csiphy_cfg_type_t cfgtype;
-	union {
-		struct msm_camera_csiphy_params *csiphy_params;
-		struct msm_camera_csi_lane_params *csi_lane_params;
-	} cfg;
-};
-
-enum eeprom_cfg_type_t {
-	CFG_EEPROM_GET_INFO,
-	CFG_EEPROM_GET_CAL_DATA,
-	CFG_EEPROM_READ_CAL_DATA,
-	CFG_EEPROM_WRITE_DATA,
-	CFG_EEPROM_GET_MM_INFO,
-	CFG_EEPROM_INIT,
-};
-
-struct eeprom_get_t {
-	uint32_t num_bytes;
-};
-
-struct eeprom_read_t {
-	uint8_t *dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_write_t {
-	uint8_t *dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_get_cmm_t {
-	uint32_t cmm_support;
-	uint32_t cmm_compression;
-	uint32_t cmm_size;
-};
-
-struct msm_eeprom_info_t {
-	struct msm_sensor_power_setting_array *power_setting_array;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	struct msm_eeprom_memory_map_array *mem_map_array;
-};
-
-struct msm_eeprom_cfg_data {
-	enum eeprom_cfg_type_t cfgtype;
-	uint8_t is_supported;
-	union {
-		char eeprom_name[MAX_SENSOR_NAME];
-		struct eeprom_get_t get_data;
-		struct eeprom_read_t read_data;
-		struct eeprom_write_t write_data;
-		struct eeprom_get_cmm_t get_cmm_data;
-		struct msm_eeprom_info_t eeprom_info;
-	} cfg;
-};
-
-#ifdef CONFIG_COMPAT
-struct msm_sensor_power_setting32 {
-	enum msm_sensor_power_seq_type_t seq_type;
-	uint16_t seq_val;
-	compat_uint_t config_val;
-	uint16_t delay;
-	compat_uptr_t data[10];
-};
-
-struct msm_sensor_power_setting_array32 {
-	struct msm_sensor_power_setting32 power_setting_a[MAX_POWER_CONFIG];
-	compat_uptr_t power_setting;
-	uint16_t size;
-	struct msm_sensor_power_setting32
-		power_down_setting_a[MAX_POWER_CONFIG];
-	compat_uptr_t power_down_setting;
-	uint16_t size_down;
-};
-
-struct msm_camera_sensor_slave_info32 {
-	char sensor_name[32];
-	char eeprom_name[32];
-	char actuator_name[32];
-	char ois_name[32];
-	char flash_name[32];
-	enum msm_sensor_camera_id_t camera_id;
-	uint16_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	struct msm_sensor_id_info_t sensor_id_info;
-	struct msm_sensor_power_setting_array32 power_setting_array;
-	uint8_t  is_init_params_valid;
-	struct msm_sensor_init_params sensor_init_params;
-	enum msm_sensor_output_format_t output_format;
-};
-
-struct msm_camera_csid_lut_params32 {
-	uint8_t num_cid;
-	struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID];
-	compat_uptr_t vc_cfg[MAX_CID];
-};
-
-struct msm_camera_csid_params32 {
-	uint8_t lane_cnt;
-	uint16_t lane_assign;
-	uint8_t phy_sel;
-	uint32_t csi_clk;
-	struct msm_camera_csid_lut_params32 lut_params;
-	uint8_t csi_3p_sel;
-};
-
-struct msm_camera_csi2_params32 {
-	struct msm_camera_csid_params32 csid_params;
-	struct msm_camera_csiphy_params csiphy_params;
-	uint8_t csi_clk_scale_enable;
-};
-
-struct csid_cfg_data32 {
-	enum csid_cfg_type_t cfgtype;
-	union {
-		uint32_t csid_version;
-		compat_uptr_t csid_params;
-		compat_uptr_t csid_testmode_params;
-	} cfg;
-};
-
-struct eeprom_read_t32 {
-	compat_uptr_t dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_write_t32 {
-	compat_uptr_t dbuffer;
-	uint32_t num_bytes;
-};
-
-struct msm_eeprom_info_t32 {
-	compat_uptr_t power_setting_array;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	compat_uptr_t mem_map_array;
-};
-
-struct msm_eeprom_cfg_data32 {
-	enum eeprom_cfg_type_t cfgtype;
-	uint8_t is_supported;
-	union {
-		char eeprom_name[MAX_SENSOR_NAME];
-		struct eeprom_get_t get_data;
-		struct eeprom_read_t32 read_data;
-		struct eeprom_write_t32 write_data;
-		struct msm_eeprom_info_t32 eeprom_info;
-	} cfg;
-};
-
-struct msm_camera_i2c_seq_reg_setting32 {
-	compat_uptr_t reg_setting;
-	uint16_t size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint16_t delay;
-};
-#endif
-
-enum msm_sensor_cfg_type_t {
-	CFG_SET_SLAVE_INFO,
-	CFG_SLAVE_READ_I2C,
-	CFG_WRITE_I2C_ARRAY,
-	CFG_SLAVE_WRITE_I2C_ARRAY,
-	CFG_WRITE_I2C_SEQ_ARRAY,
-	CFG_POWER_UP,
-	CFG_POWER_DOWN,
-	CFG_SET_STOP_STREAM_SETTING,
-	CFG_GET_SENSOR_INFO,
-	CFG_GET_SENSOR_INIT_PARAMS,
-	CFG_SET_INIT_SETTING,
-	CFG_SET_RESOLUTION,
-	CFG_SET_STOP_STREAM,
-	CFG_SET_START_STREAM,
-	CFG_SET_SATURATION,
-	CFG_SET_CONTRAST,
-	CFG_SET_SHARPNESS,
-	CFG_SET_ISO,
-	CFG_SET_EXPOSURE_COMPENSATION,
-	CFG_SET_ANTIBANDING,
-	CFG_SET_BESTSHOT_MODE,
-	CFG_SET_EFFECT,
-	CFG_SET_WHITE_BALANCE,
-	CFG_SET_AUTOFOCUS,
-	CFG_CANCEL_AUTOFOCUS,
-	CFG_SET_STREAM_TYPE,
-	CFG_SET_I2C_SYNC_PARAM,
-	CFG_WRITE_I2C_ARRAY_ASYNC,
-	CFG_WRITE_I2C_ARRAY_SYNC,
-	CFG_WRITE_I2C_ARRAY_SYNC_BLOCK,
-};
-
-enum msm_actuator_cfg_type_t {
-	CFG_GET_ACTUATOR_INFO,
-	CFG_SET_ACTUATOR_INFO,
-	CFG_SET_DEFAULT_FOCUS,
-	CFG_MOVE_FOCUS,
-	CFG_SET_POSITION,
-	CFG_ACTUATOR_POWERDOWN,
-	CFG_ACTUATOR_POWERUP,
-	CFG_ACTUATOR_INIT,
-};
-
-enum msm_ois_cfg_type_t {
-	CFG_OIS_INIT,
-	CFG_OIS_POWERDOWN,
-	CFG_OIS_POWERUP,
-	CFG_OIS_CONTROL,
-	CFG_OIS_I2C_WRITE_SEQ_TABLE,
-};
-
-enum msm_ois_i2c_operation {
-	MSM_OIS_WRITE = 0,
-	MSM_OIS_POLL,
-};
-
-struct reg_settings_ois_t {
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint32_t reg_data;
-	enum msm_camera_i2c_data_type data_type;
-	enum msm_ois_i2c_operation i2c_operation;
-	uint32_t delay;
-#define OIS_REG_DATA_SEQ_MAX 128
-    unsigned char reg_data_seq[OIS_REG_DATA_SEQ_MAX];
-    uint32_t reg_data_seq_size;
-};
-
-struct msm_ois_params_t {
-	uint16_t data_size;
-	uint16_t setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type i2c_addr_type;
-	enum msm_camera_i2c_data_type i2c_data_type;
-	struct reg_settings_ois_t *settings;
-};
-
-struct msm_ois_set_info_t {
-	struct msm_ois_params_t ois_params;
-};
-
-struct msm_actuator_move_params_t {
-	int8_t dir;
-	int8_t sign_dir;
-	int16_t dest_step_pos;
-	int32_t num_steps;
-	uint16_t curr_lens_pos;
-	struct damping_params_t *ringing_params;
-};
-
-struct msm_actuator_tuning_params_t {
-	int16_t initial_code;
-	uint16_t pwd_step;
-	uint16_t region_size;
-	uint32_t total_steps;
-	struct region_params_t *region_params;
-};
-
-struct park_lens_data_t {
-	uint32_t damping_step;
-	uint32_t damping_delay;
-	uint32_t hw_params;
-	uint32_t max_step;
-};
-
-struct msm_actuator_params_t {
-	enum actuator_type act_type;
-	uint8_t reg_tbl_size;
-	uint16_t data_size;
-	uint16_t init_setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_actuator_addr_type i2c_addr_type;
-	enum msm_actuator_data_type i2c_data_type;
-	struct msm_actuator_reg_params_t *reg_tbl_params;
-	struct reg_settings_t *init_settings;
-	struct park_lens_data_t park_lens;
-};
-
-struct msm_actuator_set_info_t {
-	struct msm_actuator_params_t actuator_params;
-	struct msm_actuator_tuning_params_t af_tuning_params;
-};
-
-struct msm_actuator_get_info_t {
-	uint32_t focal_length_num;
-	uint32_t focal_length_den;
-	uint32_t f_number_num;
-	uint32_t f_number_den;
-	uint32_t f_pix_num;
-	uint32_t f_pix_den;
-	uint32_t total_f_dist_num;
-	uint32_t total_f_dist_den;
-	uint32_t hor_view_angle_num;
-	uint32_t hor_view_angle_den;
-	uint32_t ver_view_angle_num;
-	uint32_t ver_view_angle_den;
-};
-
-enum af_camera_name {
-	ACTUATOR_MAIN_CAM_0,
-	ACTUATOR_MAIN_CAM_1,
-	ACTUATOR_MAIN_CAM_2,
-	ACTUATOR_MAIN_CAM_3,
-	ACTUATOR_MAIN_CAM_4,
-	ACTUATOR_MAIN_CAM_5,
-	ACTUATOR_WEB_CAM_0,
-	ACTUATOR_WEB_CAM_1,
-	ACTUATOR_WEB_CAM_2,
-};
-
-struct msm_ois_cfg_data {
-	int cfgtype;
-	union {
-		struct msm_ois_set_info_t set_info;
-		struct msm_camera_i2c_seq_reg_setting *settings;
-	} cfg;
-};
-
-struct msm_actuator_set_position_t {
-	uint16_t number_of_steps;
-	uint32_t hw_params;
-	uint16_t pos[MAX_NUMBER_OF_STEPS];
-	uint16_t delay[MAX_NUMBER_OF_STEPS];
-};
-
-struct msm_actuator_cfg_data {
-	int cfgtype;
-	uint8_t is_af_supported;
-	union {
-		struct msm_actuator_move_params_t move;
-		struct msm_actuator_set_info_t set_info;
-		struct msm_actuator_get_info_t get_info;
-		struct msm_actuator_set_position_t setpos;
-		enum af_camera_name cam_name;
-	} cfg;
-};
-
-enum msm_camera_led_config_t {
-	MSM_CAMERA_LED_OFF,
-	MSM_CAMERA_LED_LOW,
-	MSM_CAMERA_LED_HIGH,
-	MSM_CAMERA_LED_INIT,
-	MSM_CAMERA_LED_RELEASE,
-};
-
-struct msm_camera_led_cfg_t {
-	enum msm_camera_led_config_t cfgtype;
-	int32_t torch_current[MAX_LED_TRIGGERS];
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-};
-
-struct msm_flash_init_info_t {
-	enum msm_flash_driver_type flash_driver_type;
-	uint32_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	struct msm_sensor_power_setting_array *power_setting_array;
-	struct msm_camera_i2c_reg_setting_array *settings;
-};
-
-struct msm_flash_cfg_data_t {
-	enum msm_flash_cfg_type_t cfg_type;
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-	union {
-		struct msm_flash_init_info_t *flash_init_info;
-		struct msm_camera_i2c_reg_setting_array *settings;
-	} cfg;
-};
-
-/* sensor init structures and enums */
-enum msm_sensor_init_cfg_type_t {
-	CFG_SINIT_PROBE,
-	CFG_SINIT_PROBE_DONE,
-	CFG_SINIT_PROBE_WAIT_DONE,
-};
-
-struct sensor_init_cfg_data {
-	enum msm_sensor_init_cfg_type_t cfgtype;
-	struct msm_sensor_info_t        probed_info;
-	char                            entity_name[MAX_SENSOR_NAME];
-	union {
-		void *setting;
-	} cfg;
-};
-
-#define VIDIOC_MSM_SENSOR_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data)
-
-#define VIDIOC_MSM_SENSOR_RELEASE \
-	_IO('V', BASE_VIDIOC_PRIVATE + 2)
-
-#define VIDIOC_MSM_SENSOR_GET_SUBDEV_ID \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 3, uint32_t)
-
-#define VIDIOC_MSM_CSIPHY_IO_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data)
-
-#define VIDIOC_MSM_CSID_IO_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data)
-
-#define VIDIOC_MSM_ACTUATOR_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data)
-
-#define VIDIOC_MSM_FLASH_LED_DATA_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 7, struct msm_camera_led_cfg_t)
-
-#define VIDIOC_MSM_EEPROM_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data)
-
-#define VIDIOC_MSM_SENSOR_GET_AF_STATUS \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 9, uint32_t)
-
-#define VIDIOC_MSM_SENSOR_INIT_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data)
-
-#define VIDIOC_MSM_OIS_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data)
-
-#define VIDIOC_MSM_FLASH_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t)
-
-#ifdef CONFIG_COMPAT
-struct msm_camera_i2c_reg_setting32 {
-	compat_uptr_t reg_setting;
-	uint16_t size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	uint16_t delay;
-};
-
-struct msm_camera_i2c_array_write_config32 {
-	struct msm_camera_i2c_reg_setting32 conf_array;
-	uint16_t slave_addr;
-};
-
-struct msm_actuator_tuning_params_t32 {
-	int16_t initial_code;
-	uint16_t pwd_step;
-	uint16_t region_size;
-	uint32_t total_steps;
-	compat_uptr_t region_params;
-};
-
-struct msm_actuator_params_t32 {
-	enum actuator_type act_type;
-	uint8_t reg_tbl_size;
-	uint16_t data_size;
-	uint16_t init_setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_actuator_addr_type i2c_addr_type;
-	enum msm_actuator_data_type i2c_data_type;
-	compat_uptr_t reg_tbl_params;
-	compat_uptr_t init_settings;
-	struct park_lens_data_t park_lens;
-};
-
-struct msm_actuator_set_info_t32 {
-	struct msm_actuator_params_t32 actuator_params;
-	struct msm_actuator_tuning_params_t32 af_tuning_params;
-};
-
-struct sensor_init_cfg_data32 {
-	enum msm_sensor_init_cfg_type_t cfgtype;
-	struct msm_sensor_info_t        probed_info;
-	char                            entity_name[MAX_SENSOR_NAME];
-	union {
-		compat_uptr_t setting;
-	} cfg;
-};
-
-struct msm_actuator_move_params_t32 {
-	int8_t dir;
-	int8_t sign_dir;
-	int16_t dest_step_pos;
-	int32_t num_steps;
-	uint16_t curr_lens_pos;
-	compat_uptr_t ringing_params;
-};
-
-struct msm_actuator_cfg_data32 {
-	int cfgtype;
-	uint8_t is_af_supported;
-	union {
-		struct msm_actuator_move_params_t32 move;
-		struct msm_actuator_set_info_t32 set_info;
-		struct msm_actuator_get_info_t get_info;
-		struct msm_actuator_set_position_t setpos;
-		enum af_camera_name cam_name;
-	} cfg;
-};
-
-struct csiphy_cfg_data32 {
-	enum csiphy_cfg_type_t cfgtype;
-	union {
-		compat_uptr_t csiphy_params;
-		compat_uptr_t csi_lane_params;
-	} cfg;
-};
-
-struct sensorb_cfg_data32 {
-	int cfgtype;
-	union {
-		struct msm_sensor_info_t      sensor_info;
-		struct msm_sensor_init_params sensor_init_params;
-		compat_uptr_t                 setting;
-		struct msm_sensor_i2c_sync_params sensor_i2c_sync_params;
-	} cfg;
-};
-
-struct msm_ois_params_t32 {
-	uint16_t data_size;
-	uint16_t setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type i2c_addr_type;
-	enum msm_camera_i2c_data_type i2c_data_type;
-	compat_uptr_t settings;
-};
-
-struct msm_ois_set_info_t32 {
-	struct msm_ois_params_t32 ois_params;
-};
-
-struct msm_ois_cfg_data32 {
-	int cfgtype;
-	union {
-		struct msm_ois_set_info_t32 set_info;
-		compat_uptr_t settings;
-	} cfg;
-};
-
-struct msm_flash_init_info_t32 {
-	enum msm_flash_driver_type flash_driver_type;
-	uint32_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	compat_uptr_t power_setting_array;
-	compat_uptr_t settings;
-};
-
-struct msm_flash_cfg_data_t32 {
-	enum msm_flash_cfg_type_t cfg_type;
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-	union {
-		compat_uptr_t flash_init_info;
-		compat_uptr_t settings;
-	} cfg;
-};
-
-#define VIDIOC_MSM_ACTUATOR_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data32)
-
-#define VIDIOC_MSM_SENSOR_INIT_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data32)
-
-#define VIDIOC_MSM_CSIPHY_IO_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data32)
-
-#define VIDIOC_MSM_SENSOR_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data32)
-
-#define VIDIOC_MSM_EEPROM_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data32)
-
-#define VIDIOC_MSM_OIS_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data32)
-
-#define VIDIOC_MSM_CSID_IO_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data32)
-
-#define VIDIOC_MSM_FLASH_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t32)
-#endif
-
-#endif /* __LINUX_MSM_CAM_SENSOR_H */
diff --git a/third_party/linux/include/msm_camsensor_sdk.h b/third_party/linux/include/msm_camsensor_sdk.h
deleted file mode 100644
index 62a4da253c..0000000000
--- a/third_party/linux/include/msm_camsensor_sdk.h
+++ /dev/null
@@ -1,386 +0,0 @@
-#ifndef __LINUX_MSM_CAMSENSOR_SDK_H
-#define __LINUX_MSM_CAMSENSOR_SDK_H
-
-#define KVERSION 0x1
-
-#define MAX_POWER_CONFIG      12
-#define GPIO_OUT_LOW          (0 << 1)
-#define GPIO_OUT_HIGH         (1 << 1)
-#define CSI_EMBED_DATA        0x12
-#define CSI_RESERVED_DATA_0   0x13
-#define CSI_YUV422_8          0x1E
-#define CSI_RAW8              0x2A
-#define CSI_RAW10             0x2B
-#define CSI_RAW12             0x2C
-#define CSI_DECODE_6BIT         0
-#define CSI_DECODE_8BIT         1
-#define CSI_DECODE_10BIT        2
-#define CSI_DECODE_12BIT        3
-#define CSI_DECODE_DPCM_10_8_10 5
-#define MAX_CID                 16
-#define I2C_SEQ_REG_DATA_MAX    1024
-#define I2C_REG_DATA_MAX       (8*1024)
-
-#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */
-#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4')
-	/* 14  BGBG.. GRGR.. */
-#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4')
-	/* 14  GBGB.. RGRG.. */
-#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4')
-	/* 14  GRGR.. BGBG.. */
-#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4')
-	/* 14  RGRG.. GBGB.. */
-
-#define MAX_ACTUATOR_REG_TBL_SIZE 8
-#define MAX_ACTUATOR_REGION       5
-#define NUM_ACTUATOR_DIR          2
-#define MAX_ACTUATOR_SCENARIO     8
-#define MAX_ACT_MOD_NAME_SIZE     32
-#define MAX_ACT_NAME_SIZE         32
-#define MAX_ACTUATOR_INIT_SET     120
-#define MAX_I2C_REG_SET           12
-
-#define MAX_LED_TRIGGERS          3
-
-#define MSM_EEPROM_MEMORY_MAP_MAX_SIZE  80
-#define MSM_EEPROM_MAX_MEM_MAP_CNT      8
-
-enum msm_sensor_camera_id_t {
-	CAMERA_0,
-	CAMERA_1,
-	CAMERA_2,
-	CAMERA_3,
-	MAX_CAMERAS,
-};
-
-enum i2c_freq_mode_t {
-	I2C_STANDARD_MODE,
-	I2C_FAST_MODE,
-	I2C_CUSTOM_MODE,
-	I2C_FAST_PLUS_MODE,
-	I2C_MAX_MODES,
-};
-
-enum camb_position_t {
-	BACK_CAMERA_B,
-	FRONT_CAMERA_B,
-	AUX_CAMERA_B = 0x100,
-	INVALID_CAMERA_B,
-};
-
-enum msm_sensor_power_seq_type_t {
-	SENSOR_CLK,
-	SENSOR_GPIO,
-	SENSOR_VREG,
-	SENSOR_I2C_MUX,
-	SENSOR_I2C,
-};
-
-enum msm_camera_i2c_reg_addr_type {
-	MSM_CAMERA_I2C_BYTE_ADDR = 1,
-	MSM_CAMERA_I2C_WORD_ADDR,
-	MSM_CAMERA_I2C_3B_ADDR,
-	MSM_CAMERA_I2C_ADDR_TYPE_MAX,
-};
-
-enum msm_camera_i2c_data_type {
-	MSM_CAMERA_I2C_BYTE_DATA = 1,
-	MSM_CAMERA_I2C_WORD_DATA,
-	MSM_CAMERA_I2C_DWORD_DATA,
-	MSM_CAMERA_I2C_SET_BYTE_MASK,
-	MSM_CAMERA_I2C_UNSET_BYTE_MASK,
-	MSM_CAMERA_I2C_SET_WORD_MASK,
-	MSM_CAMERA_I2C_UNSET_WORD_MASK,
-	MSM_CAMERA_I2C_SET_BYTE_WRITE_MASK_DATA,
-	MSM_CAMERA_I2C_SEQ_DATA,
-	MSM_CAMERA_I2C_DATA_TYPE_MAX,
-};
-
-enum msm_sensor_power_seq_gpio_t {
-	SENSOR_GPIO_RESET,
-	SENSOR_GPIO_STANDBY,
-	SENSOR_GPIO_AF_PWDM,
-	SENSOR_GPIO_VIO,
-	SENSOR_GPIO_VANA,
-	SENSOR_GPIO_VDIG,
-	SENSOR_GPIO_VAF,
-	SENSOR_GPIO_FL_EN,
-	SENSOR_GPIO_FL_NOW,
-	SENSOR_GPIO_FL_RESET,
-	SENSOR_GPIO_CUSTOM1,
-	SENSOR_GPIO_CUSTOM2,
-	SENSOR_GPIO_MAX,
-};
-
-enum msm_camera_vreg_name_t {
-	CAM_VDIG,
-	CAM_VIO,
-	CAM_VANA,
-	CAM_VAF,
-	CAM_V_CUSTOM1,
-	CAM_V_CUSTOM2,
-	CAM_VREG_MAX,
-};
-
-enum msm_sensor_clk_type_t {
-	SENSOR_CAM_MCLK,
-	SENSOR_CAM_CLK,
-	SENSOR_CAM_CLK_MAX,
-};
-
-enum camerab_mode_t {
-	CAMERA_MODE_2D_B = (1<<0),
-	CAMERA_MODE_3D_B = (1<<1),
-	CAMERA_MODE_INVALID = (1<<2),
-};
-
-enum msm_actuator_data_type {
-	MSM_ACTUATOR_BYTE_DATA = 1,
-	MSM_ACTUATOR_WORD_DATA,
-};
-
-enum msm_actuator_addr_type {
-	MSM_ACTUATOR_BYTE_ADDR = 1,
-	MSM_ACTUATOR_WORD_ADDR,
-};
-
-enum msm_actuator_write_type {
-	MSM_ACTUATOR_WRITE_HW_DAMP,
-	MSM_ACTUATOR_WRITE_DAC,
-	MSM_ACTUATOR_WRITE,
-	MSM_ACTUATOR_WRITE_DIR_REG,
-	MSM_ACTUATOR_POLL,
-	MSM_ACTUATOR_READ_WRITE,
-};
-
-enum msm_actuator_i2c_operation {
-	MSM_ACT_WRITE = 0,
-	MSM_ACT_POLL,
-};
-
-enum actuator_type {
-	ACTUATOR_VCM,
-	ACTUATOR_PIEZO,
-	ACTUATOR_HVCM,
-	ACTUATOR_BIVCM,
-};
-
-enum msm_flash_driver_type {
-	FLASH_DRIVER_PMIC,
-	FLASH_DRIVER_I2C,
-	FLASH_DRIVER_GPIO,
-	FLASH_DRIVER_DEFAULT
-};
-
-enum msm_flash_cfg_type_t {
-	CFG_FLASH_INIT,
-	CFG_FLASH_RELEASE,
-	CFG_FLASH_OFF,
-	CFG_FLASH_LOW,
-	CFG_FLASH_HIGH,
-};
-
-enum msm_sensor_output_format_t {
-	MSM_SENSOR_BAYER,
-	MSM_SENSOR_YCBCR,
-	MSM_SENSOR_META,
-};
-
-struct msm_sensor_power_setting {
-	enum msm_sensor_power_seq_type_t seq_type;
-	unsigned short seq_val;
-	long config_val;
-	unsigned short delay;
-	void *data[10];
-};
-
-struct msm_sensor_power_setting_array {
-	struct msm_sensor_power_setting  power_setting_a[MAX_POWER_CONFIG];
-	struct msm_sensor_power_setting *power_setting;
-	unsigned short size;
-	struct msm_sensor_power_setting  power_down_setting_a[MAX_POWER_CONFIG];
-	struct msm_sensor_power_setting *power_down_setting;
-	unsigned short size_down;
-};
-
-enum msm_camera_i2c_operation {
-	MSM_CAM_WRITE = 0,
-	MSM_CAM_POLL,
-	MSM_CAM_READ,
-};
-
-struct msm_sensor_i2c_sync_params {
-	unsigned int cid;
-	int csid;
-	unsigned short line;
-	unsigned short delay;
-};
-
-struct msm_camera_reg_settings_t {
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint16_t reg_data;
-	enum msm_camera_i2c_data_type data_type;
-	enum msm_camera_i2c_operation i2c_operation;
-	uint16_t delay;
-};
-
-struct msm_eeprom_mem_map_t {
-	int slave_addr;
-	struct msm_camera_reg_settings_t
-		mem_settings[MSM_EEPROM_MEMORY_MAP_MAX_SIZE];
-	int memory_map_size;
-};
-
-struct msm_eeprom_memory_map_array {
-	struct msm_eeprom_mem_map_t memory_map[MSM_EEPROM_MAX_MEM_MAP_CNT];
-	uint32_t msm_size_of_max_mappings;
-};
-
-struct msm_sensor_init_params {
-	/* mask of modes supported: 2D, 3D */
-	int                 modes_supported;
-	/* sensor position: front, back */
-	enum camb_position_t position;
-	/* sensor mount angle */
-	unsigned int            sensor_mount_angle;
-};
-
-struct msm_sensor_id_info_t {
-	unsigned short sensor_id_reg_addr;
-	unsigned short sensor_id;
-	unsigned short sensor_id_mask;
-  // added in LeEco
-  unsigned char module_id;
-  unsigned char vcm_id;
-};
-
-struct msm_camera_sensor_slave_info {
-	char sensor_name[32];
-	char eeprom_name[32];
-	char actuator_name[32];
-	char ois_name[32];
-	char flash_name[32];
-	enum msm_sensor_camera_id_t camera_id;
-	unsigned short slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	struct msm_sensor_id_info_t sensor_id_info;
-	struct msm_sensor_power_setting_array power_setting_array;
-	unsigned char  is_init_params_valid;
-	struct msm_sensor_init_params sensor_init_params;
-	enum msm_sensor_output_format_t output_format;
-};
-
-struct msm_camera_i2c_reg_array {
-	unsigned short reg_addr;
-	unsigned short reg_data;
-	unsigned int delay;
-};
-
-struct msm_camera_i2c_reg_setting {
-	struct msm_camera_i2c_reg_array *reg_setting;
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	unsigned short delay;
-};
-
-struct msm_camera_csid_vc_cfg {
-	unsigned char cid;
-	unsigned char dt;
-	unsigned char decode_format;
-};
-
-struct msm_camera_csid_lut_params {
-	unsigned char num_cid;
-	struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID];
-	struct msm_camera_csid_vc_cfg *vc_cfg[MAX_CID];
-};
-
-struct msm_camera_csid_params {
-	unsigned char lane_cnt;
-	unsigned short lane_assign;
-	unsigned char phy_sel;
-	unsigned int csi_clk;
-	struct msm_camera_csid_lut_params lut_params;
-	unsigned char csi_3p_sel;
-};
-
-struct msm_camera_csid_testmode_parms {
-	unsigned int num_bytes_per_line;
-	unsigned int num_lines;
-	unsigned int h_blanking_count;
-	unsigned int v_blanking_count;
-	unsigned int payload_mode;
-};
-
-struct msm_camera_csiphy_params {
-	unsigned char lane_cnt;
-	unsigned char settle_cnt;
-	unsigned short lane_mask;
-	unsigned char combo_mode;
-	unsigned char csid_core;
-	unsigned int csiphy_clk;
-	unsigned char csi_3phase;
-};
-
-struct msm_camera_i2c_seq_reg_array {
-	unsigned short reg_addr;
-	unsigned char reg_data[I2C_SEQ_REG_DATA_MAX];
-	unsigned short reg_data_size;
-};
-
-struct msm_camera_i2c_seq_reg_setting {
-	struct msm_camera_i2c_seq_reg_array *reg_setting;
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	unsigned short delay;
-};
-
-struct msm_actuator_reg_params_t {
-	enum msm_actuator_write_type reg_write_type;
-	unsigned int hw_mask;
-	unsigned short reg_addr;
-	unsigned short hw_shift;
-	unsigned short data_shift;
-	unsigned short data_type;
-	unsigned short addr_type;
-	unsigned short reg_data;
-	unsigned short delay;
-};
-
-
-struct damping_params_t {
-	unsigned int damping_step;
-	unsigned int damping_delay;
-	unsigned int hw_params;
-};
-
-struct region_params_t {
-	/* [0] = ForwardDirection Macro boundary
-	   [1] = ReverseDirection Inf boundary
-	*/
-	unsigned short step_bound[2];
-	unsigned short code_per_step;
-	/* qvalue for converting float type numbers to integer format */
-	unsigned int qvalue;
-};
-
-struct reg_settings_t {
-	unsigned short reg_addr;
-	enum msm_actuator_addr_type addr_type;
-	unsigned short reg_data;
-	enum msm_actuator_data_type data_type;
-	enum msm_actuator_i2c_operation i2c_operation;
-	unsigned int delay;
-};
-
-struct msm_camera_i2c_reg_setting_array {
-	struct msm_camera_i2c_reg_array reg_setting_a[MAX_I2C_REG_SET];
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	unsigned short delay;
-};
-#endif /* __LINUX_MSM_CAM_SENSOR_H */
diff --git a/third_party/linux/include/msm_ion.h b/third_party/linux/include/msm_ion.h
deleted file mode 100644
index d5caed5eb3..0000000000
--- a/third_party/linux/include/msm_ion.h
+++ /dev/null
@@ -1,211 +0,0 @@
-#ifndef _UAPI_MSM_ION_H
-#define _UAPI_MSM_ION_H
-
-#include <linux/ion.h>
-
-enum msm_ion_heap_types {
-	ION_HEAP_TYPE_MSM_START = ION_HEAP_TYPE_CUSTOM + 1,
-	ION_HEAP_TYPE_SECURE_DMA = ION_HEAP_TYPE_MSM_START,
-	ION_HEAP_TYPE_SYSTEM_SECURE,
-	ION_HEAP_TYPE_HYP_CMA,
-	/*
-	 * if you add a heap type here you should also add it to
-	 * heap_types_info[] in msm_ion.c
-	 */
-};
-
-/**
- * These are the only ids that should be used for Ion heap ids.
- * The ids listed are the order in which allocation will be attempted
- * if specified. Don't swap the order of heap ids unless you know what
- * you are doing!
- * Id's are spaced by purpose to allow new Id's to be inserted in-between (for
- * possible fallbacks)
- */
-
-enum ion_heap_ids {
-	INVALID_HEAP_ID = -1,
-	ION_CP_MM_HEAP_ID = 8,
-	ION_SECURE_HEAP_ID = 9,
-	ION_SECURE_DISPLAY_HEAP_ID = 10,
-	ION_CP_MFC_HEAP_ID = 12,
-	ION_CP_WB_HEAP_ID = 16, /* 8660 only */
-	ION_CAMERA_HEAP_ID = 20, /* 8660 only */
-	ION_SYSTEM_CONTIG_HEAP_ID = 21,
-	ION_ADSP_HEAP_ID = 22,
-	ION_PIL1_HEAP_ID = 23, /* Currently used for other PIL images */
-	ION_SF_HEAP_ID = 24,
-	ION_SYSTEM_HEAP_ID = 25,
-	ION_PIL2_HEAP_ID = 26, /* Currently used for modem firmware images */
-	ION_QSECOM_HEAP_ID = 27,
-	ION_AUDIO_HEAP_ID = 28,
-
-	ION_MM_FIRMWARE_HEAP_ID = 29,
-
-	ION_HEAP_ID_RESERVED = 31 /** Bit reserved for ION_FLAG_SECURE flag */
-};
-
-/*
- * The IOMMU heap is deprecated! Here are some aliases for backwards
- * compatibility:
- */
-#define ION_IOMMU_HEAP_ID ION_SYSTEM_HEAP_ID
-#define ION_HEAP_TYPE_IOMMU ION_HEAP_TYPE_SYSTEM
-
-enum ion_fixed_position {
-	NOT_FIXED,
-	FIXED_LOW,
-	FIXED_MIDDLE,
-	FIXED_HIGH,
-};
-
-enum cp_mem_usage {
-	VIDEO_BITSTREAM = 0x1,
-	VIDEO_PIXEL = 0x2,
-	VIDEO_NONPIXEL = 0x3,
-	DISPLAY_SECURE_CP_USAGE = 0x4,
-	CAMERA_SECURE_CP_USAGE = 0x5,
-	MAX_USAGE = 0x6,
-	UNKNOWN = 0x7FFFFFFF,
-};
-
-/**
- * Flags to be used when allocating from the secure heap for
- * content protection
- */
-#define ION_FLAG_CP_TOUCH (1 << 17)
-#define ION_FLAG_CP_BITSTREAM (1 << 18)
-#define ION_FLAG_CP_PIXEL  (1 << 19)
-#define ION_FLAG_CP_NON_PIXEL (1 << 20)
-#define ION_FLAG_CP_CAMERA (1 << 21)
-#define ION_FLAG_CP_HLOS (1 << 22)
-#define ION_FLAG_CP_HLOS_FREE (1 << 23)
-#define ION_FLAG_CP_SEC_DISPLAY (1 << 25)
-#define ION_FLAG_CP_APP (1 << 26)
-
-/**
- * Flag to allow non continguous allocation of memory from secure
- * heap
- */
-#define ION_FLAG_ALLOW_NON_CONTIG (1 << 24)
-
-/**
- * Flag to use when allocating to indicate that a heap is secure.
- */
-#define ION_FLAG_SECURE (1 << ION_HEAP_ID_RESERVED)
-
-/**
- * Flag for clients to force contiguous memort allocation
- *
- * Use of this flag is carefully monitored!
- */
-#define ION_FLAG_FORCE_CONTIGUOUS (1 << 30)
-
-/*
- * Used in conjunction with heap which pool memory to force an allocation
- * to come from the page allocator directly instead of from the pool allocation
- */
-#define ION_FLAG_POOL_FORCE_ALLOC (1 << 16)
-
-
-#define ION_FLAG_POOL_PREFETCH (1 << 27)
-
-/**
-* Deprecated! Please use the corresponding ION_FLAG_*
-*/
-#define ION_SECURE ION_FLAG_SECURE
-#define ION_FORCE_CONTIGUOUS ION_FLAG_FORCE_CONTIGUOUS
-
-/**
- * Macro should be used with ion_heap_ids defined above.
- */
-#define ION_HEAP(bit) (1 << (bit))
-
-#define ION_ADSP_HEAP_NAME	"adsp"
-#define ION_SYSTEM_HEAP_NAME	"system"
-#define ION_VMALLOC_HEAP_NAME	ION_SYSTEM_HEAP_NAME
-#define ION_KMALLOC_HEAP_NAME	"kmalloc"
-#define ION_AUDIO_HEAP_NAME	"audio"
-#define ION_SF_HEAP_NAME	"sf"
-#define ION_MM_HEAP_NAME	"mm"
-#define ION_CAMERA_HEAP_NAME	"camera_preview"
-#define ION_IOMMU_HEAP_NAME	"iommu"
-#define ION_MFC_HEAP_NAME	"mfc"
-#define ION_WB_HEAP_NAME	"wb"
-#define ION_MM_FIRMWARE_HEAP_NAME	"mm_fw"
-#define ION_PIL1_HEAP_NAME  "pil_1"
-#define ION_PIL2_HEAP_NAME  "pil_2"
-#define ION_QSECOM_HEAP_NAME	"qsecom"
-#define ION_SECURE_HEAP_NAME	"secure_heap"
-#define ION_SECURE_DISPLAY_HEAP_NAME "secure_display"
-
-#define ION_SET_CACHED(__cache)		(__cache | ION_FLAG_CACHED)
-#define ION_SET_UNCACHED(__cache)	(__cache & ~ION_FLAG_CACHED)
-
-#define ION_IS_CACHED(__flags)	((__flags) & ION_FLAG_CACHED)
-
-/* struct ion_flush_data - data passed to ion for flushing caches
- *
- * @handle:	handle with data to flush
- * @fd:		fd to flush
- * @vaddr:	userspace virtual address mapped with mmap
- * @offset:	offset into the handle to flush
- * @length:	length of handle to flush
- *
- * Performs cache operations on the handle. If p is the start address
- * of the handle, p + offset through p + offset + length will have
- * the cache operations performed
- */
-struct ion_flush_data {
-	ion_user_handle_t handle;
-	int fd;
-	void *vaddr;
-	unsigned int offset;
-	unsigned int length;
-};
-
-struct ion_prefetch_regions {
-	unsigned int vmid;
-	size_t *sizes;
-	unsigned int nr_sizes;
-};
-
-struct ion_prefetch_data {
-	int heap_id;
-	unsigned long len;
-	/* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/
-	struct ion_prefetch_regions *regions;
-	unsigned int nr_regions;
-};
-
-#define ION_IOC_MSM_MAGIC 'M'
-
-/**
- * DOC: ION_IOC_CLEAN_CACHES - clean the caches
- *
- * Clean the caches of the handle specified.
- */
-#define ION_IOC_CLEAN_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 0, \
-						struct ion_flush_data)
-/**
- * DOC: ION_IOC_INV_CACHES - invalidate the caches
- *
- * Invalidate the caches of the handle specified.
- */
-#define ION_IOC_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 1, \
-						struct ion_flush_data)
-/**
- * DOC: ION_IOC_CLEAN_INV_CACHES - clean and invalidate the caches
- *
- * Clean and invalidate the caches of the handle specified.
- */
-#define ION_IOC_CLEAN_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 2, \
-						struct ion_flush_data)
-
-#define ION_IOC_PREFETCH		_IOWR(ION_IOC_MSM_MAGIC, 3, \
-						struct ion_prefetch_data)
-
-#define ION_IOC_DRAIN			_IOWR(ION_IOC_MSM_MAGIC, 4, \
-						struct ion_prefetch_data)
-
-#endif
diff --git a/third_party/linux/include/msm_kgsl.h b/third_party/linux/include/msm_kgsl.h
deleted file mode 100644
index 93582eb066..0000000000
--- a/third_party/linux/include/msm_kgsl.h
+++ /dev/null
@@ -1,1449 +0,0 @@
-#ifndef _UAPI_MSM_KGSL_H
-#define _UAPI_MSM_KGSL_H
-
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-/*
- * The KGSL version has proven not to be very useful in userspace if features
- * are cherry picked into other trees out of order so it is frozen as of 3.14.
- * It is left here for backwards compatabilty and as a reminder that
- * software releases are never linear. Also, I like pie.
- */
-
-#define KGSL_VERSION_MAJOR        3
-#define KGSL_VERSION_MINOR        14
-
-/*
- * We have traditionally mixed context and issueibcmds / command batch flags
- * together into a big flag stew. This worked fine until we started adding a
- * lot more command batch flags and we started running out of bits. Turns out
- * we have a bit of room in the context type / priority mask that we could use
- * for command batches, but that means we need to split out the flags into two
- * coherent sets.
- *
- * If any future definitions are for both context and cmdbatch add both defines
- * and link the cmdbatch to the context define as we do below. Otherwise feel
- * free to add exclusive bits to either set.
- */
-
-/* --- context flags --- */
-#define KGSL_CONTEXT_SAVE_GMEM		0x00000001
-#define KGSL_CONTEXT_NO_GMEM_ALLOC	0x00000002
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_SUBMIT_IB_LIST	0x00000004
-#define KGSL_CONTEXT_CTX_SWITCH		0x00000008
-#define KGSL_CONTEXT_PREAMBLE		0x00000010
-#define KGSL_CONTEXT_TRASH_STATE	0x00000020
-#define KGSL_CONTEXT_PER_CONTEXT_TS	0x00000040
-#define KGSL_CONTEXT_USER_GENERATED_TS	0x00000080
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_END_OF_FRAME	0x00000100
-#define KGSL_CONTEXT_NO_FAULT_TOLERANCE 0x00000200
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_SYNC               0x00000400
-#define KGSL_CONTEXT_PWR_CONSTRAINT     0x00000800
-
-#define KGSL_CONTEXT_PRIORITY_MASK      0x0000F000
-#define KGSL_CONTEXT_PRIORITY_SHIFT     12
-#define KGSL_CONTEXT_PRIORITY_UNDEF     0
-
-#define KGSL_CONTEXT_IFH_NOP            0x00010000
-#define KGSL_CONTEXT_SECURE             0x00020000
-
-#define KGSL_CONTEXT_PREEMPT_STYLE_MASK       0x0E000000
-#define KGSL_CONTEXT_PREEMPT_STYLE_SHIFT      25
-#define KGSL_CONTEXT_PREEMPT_STYLE_DEFAULT    0x0
-#define KGSL_CONTEXT_PREEMPT_STYLE_RINGBUFFER 0x1
-#define KGSL_CONTEXT_PREEMPT_STYLE_FINEGRAIN  0x2
-
-#define KGSL_CONTEXT_TYPE_MASK          0x01F00000
-#define KGSL_CONTEXT_TYPE_SHIFT         20
-#define KGSL_CONTEXT_TYPE_ANY		0
-#define KGSL_CONTEXT_TYPE_GL		1
-#define KGSL_CONTEXT_TYPE_CL		2
-#define KGSL_CONTEXT_TYPE_C2D		3
-#define KGSL_CONTEXT_TYPE_RS		4
-#define KGSL_CONTEXT_TYPE_UNKNOWN	0x1E
-
-#define KGSL_CONTEXT_INVALID 0xffffffff
-
-/*
- * --- command batch flags ---
- * The bits that are linked to a KGSL_CONTEXT equivalent are either legacy
- * definitions or bits that are valid for both contexts and cmdbatches.  To be
- * safe the other 8 bits that are still available in the context field should be
- * omitted here in case we need to share - the other bits are available for
- * cmdbatch only flags as needed
- */
-#define KGSL_CMDBATCH_MEMLIST		0x00000001
-#define KGSL_CMDBATCH_MARKER		0x00000002
-#define KGSL_CMDBATCH_SUBMIT_IB_LIST	KGSL_CONTEXT_SUBMIT_IB_LIST /* 0x004 */
-#define KGSL_CMDBATCH_CTX_SWITCH	KGSL_CONTEXT_CTX_SWITCH     /* 0x008 */
-#define KGSL_CMDBATCH_PROFILING		0x00000010
-#define KGSL_CMDBATCH_PROFILING_KTIME	0x00000020
-#define KGSL_CMDBATCH_END_OF_FRAME	KGSL_CONTEXT_END_OF_FRAME   /* 0x100 */
-#define KGSL_CMDBATCH_SYNC		KGSL_CONTEXT_SYNC           /* 0x400 */
-#define KGSL_CMDBATCH_PWR_CONSTRAINT	KGSL_CONTEXT_PWR_CONSTRAINT /* 0x800 */
-
-/*
- * Reserve bits [16:19] and bits [28:31] for possible bits shared between
- * contexts and command batches.  Update this comment as new flags are added.
- */
-
-/*
- * gpu_command_object flags - these flags communicate the type of command or
- * memory object being submitted for a GPU command
- */
-
-/* Flags for GPU command objects */
-#define KGSL_CMDLIST_IB                  0x00000001U
-#define KGSL_CMDLIST_CTXTSWITCH_PREAMBLE 0x00000002U
-#define KGSL_CMDLIST_IB_PREAMBLE         0x00000004U
-
-/* Flags for GPU command memory objects */
-#define KGSL_OBJLIST_MEMOBJ  0x00000008U
-#define KGSL_OBJLIST_PROFILE 0x00000010U
-
-/* Flags for GPU command sync points */
-#define KGSL_CMD_SYNCPOINT_TYPE_TIMESTAMP 0
-#define KGSL_CMD_SYNCPOINT_TYPE_FENCE 1
-
-/* --- Memory allocation flags --- */
-
-/* General allocation hints */
-#define KGSL_MEMFLAGS_SECURE      0x00000008ULL
-#define KGSL_MEMFLAGS_GPUREADONLY 0x01000000U
-#define KGSL_MEMFLAGS_GPUWRITEONLY 0x02000000U
-#define KGSL_MEMFLAGS_FORCE_32BIT 0x100000000ULL
-
-/* Memory caching hints */
-#define KGSL_CACHEMODE_MASK       0x0C000000U
-#define KGSL_CACHEMODE_SHIFT 26
-
-#define KGSL_CACHEMODE_WRITECOMBINE 0
-#define KGSL_CACHEMODE_UNCACHED 1
-#define KGSL_CACHEMODE_WRITETHROUGH 2
-#define KGSL_CACHEMODE_WRITEBACK 3
-
-#define KGSL_MEMFLAGS_USE_CPU_MAP 0x10000000ULL
-
-/* Memory types for which allocations are made */
-#define KGSL_MEMTYPE_MASK		0x0000FF00
-#define KGSL_MEMTYPE_SHIFT		8
-
-#define KGSL_MEMTYPE_OBJECTANY			0
-#define KGSL_MEMTYPE_FRAMEBUFFER		1
-#define KGSL_MEMTYPE_RENDERBUFFER		2
-#define KGSL_MEMTYPE_ARRAYBUFFER		3
-#define KGSL_MEMTYPE_ELEMENTARRAYBUFFER		4
-#define KGSL_MEMTYPE_VERTEXARRAYBUFFER		5
-#define KGSL_MEMTYPE_TEXTURE			6
-#define KGSL_MEMTYPE_SURFACE			7
-#define KGSL_MEMTYPE_EGL_SURFACE		8
-#define KGSL_MEMTYPE_GL				9
-#define KGSL_MEMTYPE_CL				10
-#define KGSL_MEMTYPE_CL_BUFFER_MAP		11
-#define KGSL_MEMTYPE_CL_BUFFER_NOMAP		12
-#define KGSL_MEMTYPE_CL_IMAGE_MAP		13
-#define KGSL_MEMTYPE_CL_IMAGE_NOMAP		14
-#define KGSL_MEMTYPE_CL_KERNEL_STACK		15
-#define KGSL_MEMTYPE_COMMAND			16
-#define KGSL_MEMTYPE_2D				17
-#define KGSL_MEMTYPE_EGL_IMAGE			18
-#define KGSL_MEMTYPE_EGL_SHADOW			19
-#define KGSL_MEMTYPE_MULTISAMPLE		20
-#define KGSL_MEMTYPE_KERNEL			255
-
-/*
- * Alignment hint, passed as the power of 2 exponent.
- * i.e 4k (2^12) would be 12, 64k (2^16)would be 16.
- */
-#define KGSL_MEMALIGN_MASK		0x00FF0000
-#define KGSL_MEMALIGN_SHIFT		16
-
-enum kgsl_user_mem_type {
-	KGSL_USER_MEM_TYPE_PMEM		= 0x00000000,
-	KGSL_USER_MEM_TYPE_ASHMEM	= 0x00000001,
-	KGSL_USER_MEM_TYPE_ADDR		= 0x00000002,
-	KGSL_USER_MEM_TYPE_ION		= 0x00000003,
-	/*
-	 * ION type is retained for backwards compatibilty but Ion buffers are
-	 * dma-bufs so try to use that naming if we can
-	 */
-	KGSL_USER_MEM_TYPE_DMABUF       = 0x00000003,
-	KGSL_USER_MEM_TYPE_MAX		= 0x00000007,
-};
-#define KGSL_MEMFLAGS_USERMEM_MASK 0x000000e0
-#define KGSL_MEMFLAGS_USERMEM_SHIFT 5
-
-/*
- * Unfortunately, enum kgsl_user_mem_type starts at 0 which does not
- * leave a good value for allocated memory. In the flags we use
- * 0 to indicate allocated memory and thus need to add 1 to the enum
- * values.
- */
-#define KGSL_USERMEM_FLAG(x) (((x) + 1) << KGSL_MEMFLAGS_USERMEM_SHIFT)
-
-#define KGSL_MEMFLAGS_NOT_USERMEM 0
-#define KGSL_MEMFLAGS_USERMEM_PMEM KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_PMEM)
-#define KGSL_MEMFLAGS_USERMEM_ASHMEM \
-		KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ASHMEM)
-#define KGSL_MEMFLAGS_USERMEM_ADDR KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ADDR)
-#define KGSL_MEMFLAGS_USERMEM_ION KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ION)
-
-/* --- generic KGSL flag values --- */
-
-#define KGSL_FLAGS_NORMALMODE  0x00000000
-#define KGSL_FLAGS_SAFEMODE    0x00000001
-#define KGSL_FLAGS_INITIALIZED0 0x00000002
-#define KGSL_FLAGS_INITIALIZED 0x00000004
-#define KGSL_FLAGS_STARTED     0x00000008
-#define KGSL_FLAGS_ACTIVE      0x00000010
-#define KGSL_FLAGS_RESERVED0   0x00000020
-#define KGSL_FLAGS_RESERVED1   0x00000040
-#define KGSL_FLAGS_RESERVED2   0x00000080
-#define KGSL_FLAGS_SOFT_RESET  0x00000100
-#define KGSL_FLAGS_PER_CONTEXT_TIMESTAMPS 0x00000200
-
-/* Server Side Sync Timeout in milliseconds */
-#define KGSL_SYNCOBJ_SERVER_TIMEOUT 2000
-
-/*
- * Reset status values for context
- */
-enum kgsl_ctx_reset_stat {
-	KGSL_CTX_STAT_NO_ERROR				= 0x00000000,
-	KGSL_CTX_STAT_GUILTY_CONTEXT_RESET_EXT		= 0x00000001,
-	KGSL_CTX_STAT_INNOCENT_CONTEXT_RESET_EXT	= 0x00000002,
-	KGSL_CTX_STAT_UNKNOWN_CONTEXT_RESET_EXT		= 0x00000003
-};
-
-#define KGSL_CONVERT_TO_MBPS(val) \
-	(val*1000*1000U)
-
-/* device id */
-enum kgsl_deviceid {
-	KGSL_DEVICE_3D0		= 0x00000000,
-	KGSL_DEVICE_MAX
-};
-
-struct kgsl_devinfo {
-
-	unsigned int device_id;
-	/* chip revision id
-	* coreid:8 majorrev:8 minorrev:8 patch:8
-	*/
-	unsigned int chip_id;
-	unsigned int mmu_enabled;
-	unsigned long gmem_gpubaseaddr;
-	/*
-	* This field contains the adreno revision
-	* number 200, 205, 220, etc...
-	*/
-	unsigned int gpu_id;
-	size_t gmem_sizebytes;
-};
-
-/*
- * struct kgsl_devmemstore - this structure defines the region of memory
- * that can be mmap()ed from this driver. The timestamp fields are volatile
- * because they are written by the GPU
- * @soptimestamp: Start of pipeline timestamp written by GPU before the
- * commands in concern are processed
- * @sbz: Unused, kept for 8 byte alignment
- * @eoptimestamp: End of pipeline timestamp written by GPU after the
- * commands in concern are processed
- * @sbz2: Unused, kept for 8 byte alignment
- * @preempted: Indicates if the context was preempted
- * @sbz3: Unused, kept for 8 byte alignment
- * @ref_wait_ts: Timestamp on which to generate interrupt, unused now.
- * @sbz4: Unused, kept for 8 byte alignment
- * @current_context: The current context the GPU is working on
- * @sbz5: Unused, kept for 8 byte alignment
- */
-struct kgsl_devmemstore {
-	volatile unsigned int soptimestamp;
-	unsigned int sbz;
-	volatile unsigned int eoptimestamp;
-	unsigned int sbz2;
-	volatile unsigned int preempted;
-	unsigned int sbz3;
-	volatile unsigned int ref_wait_ts;
-	unsigned int sbz4;
-	unsigned int current_context;
-	unsigned int sbz5;
-};
-
-#define KGSL_MEMSTORE_OFFSET(ctxt_id, field) \
-	((ctxt_id)*sizeof(struct kgsl_devmemstore) + \
-	 offsetof(struct kgsl_devmemstore, field))
-
-/* timestamp id*/
-enum kgsl_timestamp_type {
-	KGSL_TIMESTAMP_CONSUMED = 0x00000001, /* start-of-pipeline timestamp */
-	KGSL_TIMESTAMP_RETIRED  = 0x00000002, /* end-of-pipeline timestamp*/
-	KGSL_TIMESTAMP_QUEUED   = 0x00000003,
-};
-
-/* property types - used with kgsl_device_getproperty */
-#define KGSL_PROP_DEVICE_INFO		0x1
-#define KGSL_PROP_DEVICE_SHADOW		0x2
-#define KGSL_PROP_DEVICE_POWER		0x3
-#define KGSL_PROP_SHMEM			0x4
-#define KGSL_PROP_SHMEM_APERTURES	0x5
-#define KGSL_PROP_MMU_ENABLE		0x6
-#define KGSL_PROP_INTERRUPT_WAITS	0x7
-#define KGSL_PROP_VERSION		0x8
-#define KGSL_PROP_GPU_RESET_STAT	0x9
-#define KGSL_PROP_PWRCTRL		0xE
-#define KGSL_PROP_PWR_CONSTRAINT	0x12
-#define KGSL_PROP_UCHE_GMEM_VADDR	0x13
-#define KGSL_PROP_SP_GENERIC_MEM	0x14
-#define KGSL_PROP_UCODE_VERSION		0x15
-#define KGSL_PROP_GPMU_VERSION		0x16
-#define KGSL_PROP_DEVICE_BITNESS	0x18
-
-struct kgsl_shadowprop {
-	unsigned long gpuaddr;
-	size_t size;
-	unsigned int flags; /* contains KGSL_FLAGS_ values */
-};
-
-struct kgsl_version {
-	unsigned int drv_major;
-	unsigned int drv_minor;
-	unsigned int dev_major;
-	unsigned int dev_minor;
-};
-
-struct kgsl_sp_generic_mem {
-	uint64_t local;
-	uint64_t pvt;
-};
-
-struct kgsl_ucode_version {
-	unsigned int pfp;
-	unsigned int pm4;
-};
-
-struct kgsl_gpmu_version {
-	unsigned int major;
-	unsigned int minor;
-	unsigned int features;
-};
-
-/* Performance counter groups */
-
-#define KGSL_PERFCOUNTER_GROUP_CP 0x0
-#define KGSL_PERFCOUNTER_GROUP_RBBM 0x1
-#define KGSL_PERFCOUNTER_GROUP_PC 0x2
-#define KGSL_PERFCOUNTER_GROUP_VFD 0x3
-#define KGSL_PERFCOUNTER_GROUP_HLSQ 0x4
-#define KGSL_PERFCOUNTER_GROUP_VPC 0x5
-#define KGSL_PERFCOUNTER_GROUP_TSE 0x6
-#define KGSL_PERFCOUNTER_GROUP_RAS 0x7
-#define KGSL_PERFCOUNTER_GROUP_UCHE 0x8
-#define KGSL_PERFCOUNTER_GROUP_TP 0x9
-#define KGSL_PERFCOUNTER_GROUP_SP 0xA
-#define KGSL_PERFCOUNTER_GROUP_RB 0xB
-#define KGSL_PERFCOUNTER_GROUP_PWR 0xC
-#define KGSL_PERFCOUNTER_GROUP_VBIF 0xD
-#define KGSL_PERFCOUNTER_GROUP_VBIF_PWR 0xE
-#define KGSL_PERFCOUNTER_GROUP_MH 0xF
-#define KGSL_PERFCOUNTER_GROUP_PA_SU 0x10
-#define KGSL_PERFCOUNTER_GROUP_SQ 0x11
-#define KGSL_PERFCOUNTER_GROUP_SX 0x12
-#define KGSL_PERFCOUNTER_GROUP_TCF 0x13
-#define KGSL_PERFCOUNTER_GROUP_TCM 0x14
-#define KGSL_PERFCOUNTER_GROUP_TCR 0x15
-#define KGSL_PERFCOUNTER_GROUP_L2 0x16
-#define KGSL_PERFCOUNTER_GROUP_VSC 0x17
-#define KGSL_PERFCOUNTER_GROUP_CCU 0x18
-#define KGSL_PERFCOUNTER_GROUP_LRZ 0x19
-#define KGSL_PERFCOUNTER_GROUP_CMP 0x1A
-#define KGSL_PERFCOUNTER_GROUP_ALWAYSON 0x1B
-#define KGSL_PERFCOUNTER_GROUP_SP_PWR 0x1C
-#define KGSL_PERFCOUNTER_GROUP_TP_PWR 0x1D
-#define KGSL_PERFCOUNTER_GROUP_RB_PWR 0x1E
-#define KGSL_PERFCOUNTER_GROUP_CCU_PWR 0x1F
-#define KGSL_PERFCOUNTER_GROUP_UCHE_PWR 0x20
-#define KGSL_PERFCOUNTER_GROUP_CP_PWR 0x21
-#define KGSL_PERFCOUNTER_GROUP_GPMU_PWR 0x22
-#define KGSL_PERFCOUNTER_GROUP_ALWAYSON_PWR 0x23
-#define KGSL_PERFCOUNTER_GROUP_MAX 0x24
-
-#define KGSL_PERFCOUNTER_NOT_USED 0xFFFFFFFF
-#define KGSL_PERFCOUNTER_BROKEN 0xFFFFFFFE
-
-/* structure holds list of ibs */
-struct kgsl_ibdesc {
-	unsigned long gpuaddr;
-	unsigned long __pad;
-	size_t sizedwords;
-	unsigned int ctrl;
-};
-
-/**
- * struct kgsl_cmdbatch_profiling_buffer
- * @wall_clock_s: Ringbuffer submission time (seconds).
- *                If KGSL_CMDBATCH_PROFILING_KTIME is set, time is provided
- *                in kernel clocks, otherwise wall clock time is used.
- * @wall_clock_ns: Ringbuffer submission time (nanoseconds).
- *                 If KGSL_CMDBATCH_PROFILING_KTIME is set time is provided
- *                 in kernel clocks, otherwise wall clock time is used.
- * @gpu_ticks_queued: GPU ticks at ringbuffer submission
- * @gpu_ticks_submitted: GPU ticks when starting cmdbatch execution
- * @gpu_ticks_retired: GPU ticks when finishing cmdbatch execution
- *
- * This structure defines the profiling buffer used to measure cmdbatch
- * execution time
- */
-struct kgsl_cmdbatch_profiling_buffer {
-	uint64_t wall_clock_s;
-	uint64_t wall_clock_ns;
-	uint64_t gpu_ticks_queued;
-	uint64_t gpu_ticks_submitted;
-	uint64_t gpu_ticks_retired;
-};
-
-/* ioctls */
-#define KGSL_IOC_TYPE 0x09
-
-/* get misc info about the GPU
-   type should be a value from enum kgsl_property_type
-   value points to a structure that varies based on type
-   sizebytes is sizeof() that structure
-   for KGSL_PROP_DEVICE_INFO, use struct kgsl_devinfo
-   this structure contaings hardware versioning info.
-   for KGSL_PROP_DEVICE_SHADOW, use struct kgsl_shadowprop
-   this is used to find mmap() offset and sizes for mapping
-   struct kgsl_memstore into userspace.
-*/
-struct kgsl_device_getproperty {
-	unsigned int type;
-	void __user *value;
-	size_t sizebytes;
-};
-
-#define IOCTL_KGSL_DEVICE_GETPROPERTY \
-	_IOWR(KGSL_IOC_TYPE, 0x2, struct kgsl_device_getproperty)
-
-/* IOCTL_KGSL_DEVICE_READ (0x3) - removed 03/2012
- */
-
-/* block until the GPU has executed past a given timestamp
- * timeout is in milliseconds.
- */
-struct kgsl_device_waittimestamp {
-	unsigned int timestamp;
-	unsigned int timeout;
-};
-
-#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP \
-	_IOW(KGSL_IOC_TYPE, 0x6, struct kgsl_device_waittimestamp)
-
-struct kgsl_device_waittimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned int timestamp;
-	unsigned int timeout;
-};
-
-#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID \
-	_IOW(KGSL_IOC_TYPE, 0x7, struct kgsl_device_waittimestamp_ctxtid)
-
-/* DEPRECATED: issue indirect commands to the GPU.
- * drawctxt_id must have been created with IOCTL_KGSL_DRAWCTXT_CREATE
- * ibaddr and sizedwords must specify a subset of a buffer created
- * with IOCTL_KGSL_SHAREDMEM_FROM_PMEM
- * flags may be a mask of KGSL_CONTEXT_ values
- * timestamp is a returned counter value which can be passed to
- * other ioctls to determine when the commands have been executed by
- * the GPU.
- *
- * This fucntion is deprecated - consider using IOCTL_KGSL_SUBMIT_COMMANDS
- * instead
- */
-struct kgsl_ringbuffer_issueibcmds {
-	unsigned int drawctxt_id;
-	unsigned long ibdesc_addr;
-	unsigned int numibs;
-	unsigned int timestamp; /*output param */
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_RINGBUFFER_ISSUEIBCMDS \
-	_IOWR(KGSL_IOC_TYPE, 0x10, struct kgsl_ringbuffer_issueibcmds)
-
-/* read the most recently executed timestamp value
- * type should be a value from enum kgsl_timestamp_type
- */
-struct kgsl_cmdstream_readtimestamp {
-	unsigned int type;
-	unsigned int timestamp; /*output param */
-};
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_OLD \
-	_IOR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP \
-	_IOWR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
-
-/* free memory when the GPU reaches a given timestamp.
- * gpuaddr specify a memory region created by a
- * IOCTL_KGSL_SHAREDMEM_FROM_PMEM call
- * type should be a value from enum kgsl_timestamp_type
- */
-struct kgsl_cmdstream_freememontimestamp {
-	unsigned long gpuaddr;
-	unsigned int type;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP \
-	_IOW(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
-
-/* Previous versions of this header had incorrectly defined
-   IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP as a read-only ioctl instead
-   of a write only ioctl.  To ensure binary compatability, the following
-   #define will be used to intercept the incorrect ioctl
-*/
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_OLD \
-	_IOR(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
-
-/* create a draw context, which is used to preserve GPU state.
- * The flags field may contain a mask KGSL_CONTEXT_*  values
- */
-struct kgsl_drawctxt_create {
-	unsigned int flags;
-	unsigned int drawctxt_id; /*output param */
-};
-
-#define IOCTL_KGSL_DRAWCTXT_CREATE \
-	_IOWR(KGSL_IOC_TYPE, 0x13, struct kgsl_drawctxt_create)
-
-/* destroy a draw context */
-struct kgsl_drawctxt_destroy {
-	unsigned int drawctxt_id;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_DESTROY \
-	_IOW(KGSL_IOC_TYPE, 0x14, struct kgsl_drawctxt_destroy)
-
-/* add a block of pmem, fb, ashmem or user allocated address
- * into the GPU address space */
-struct kgsl_map_user_mem {
-	int fd;
-	unsigned long gpuaddr;   /*output param */
-	size_t len;
-	size_t offset;
-	unsigned long hostptr;   /*input param */
-	enum kgsl_user_mem_type memtype;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_MAP_USER_MEM \
-	_IOWR(KGSL_IOC_TYPE, 0x15, struct kgsl_map_user_mem)
-
-struct kgsl_cmdstream_readtimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned int type;
-	unsigned int timestamp; /*output param */
-};
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_CTXTID \
-	_IOWR(KGSL_IOC_TYPE, 0x16, struct kgsl_cmdstream_readtimestamp_ctxtid)
-
-struct kgsl_cmdstream_freememontimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned long gpuaddr;
-	unsigned int type;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_CTXTID \
-	_IOW(KGSL_IOC_TYPE, 0x17, \
-	struct kgsl_cmdstream_freememontimestamp_ctxtid)
-
-/* add a block of pmem or fb into the GPU address space */
-struct kgsl_sharedmem_from_pmem {
-        int pmem_fd;
-        unsigned long gpuaddr;  /*output param */
-        unsigned int len;
-        unsigned int offset;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FROM_PMEM \
-        _IOWR(KGSL_IOC_TYPE, 0x20, struct kgsl_sharedmem_from_pmem)
-
-/* remove memory from the GPU's address space */
-struct kgsl_sharedmem_free {
-	unsigned long gpuaddr;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FREE \
-	_IOW(KGSL_IOC_TYPE, 0x21, struct kgsl_sharedmem_free)
-
-struct kgsl_cff_user_event {
-	unsigned char cff_opcode;
-	unsigned int op1;
-	unsigned int op2;
-	unsigned int op3;
-	unsigned int op4;
-	unsigned int op5;
-	unsigned int __pad[2];
-};
-
-#define IOCTL_KGSL_CFF_USER_EVENT \
-	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_cff_user_event)
-
-struct kgsl_gmem_desc {
-	unsigned int x;
-	unsigned int y;
-	unsigned int width;
-	unsigned int height;
-	unsigned int pitch;
-};
-
-struct kgsl_buffer_desc {
-	void 			*hostptr;
-	unsigned long	gpuaddr;
-	int				size;
-	unsigned int	format;
-	unsigned int  	pitch;
-	unsigned int  	enabled;
-};
-
-struct kgsl_bind_gmem_shadow {
-	unsigned int drawctxt_id;
-	struct kgsl_gmem_desc gmem_desc;
-	unsigned int shadow_x;
-	unsigned int shadow_y;
-	struct kgsl_buffer_desc shadow_buffer;
-	unsigned int buffer_id;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_BIND_GMEM_SHADOW \
-    _IOW(KGSL_IOC_TYPE, 0x22, struct kgsl_bind_gmem_shadow)
-
-/* add a block of memory into the GPU address space */
-
-/*
- * IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC deprecated 09/2012
- * use IOCTL_KGSL_GPUMEM_ALLOC instead
- */
-
-struct kgsl_sharedmem_from_vmalloc {
-	unsigned long gpuaddr;	/*output param */
-	unsigned int hostptr;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x23, struct kgsl_sharedmem_from_vmalloc)
-
-/*
- * This is being deprecated in favor of IOCTL_KGSL_GPUMEM_CACHE_SYNC which
- * supports both directions (flush and invalidate). This code will still
- * work, but by definition it will do a flush of the cache which might not be
- * what you want to have happen on a buffer following a GPU operation.  It is
- * safer to go with IOCTL_KGSL_GPUMEM_CACHE_SYNC
- */
-
-#define IOCTL_KGSL_SHAREDMEM_FLUSH_CACHE \
-	_IOW(KGSL_IOC_TYPE, 0x24, struct kgsl_sharedmem_free)
-
-struct kgsl_drawctxt_set_bin_base_offset {
-	unsigned int drawctxt_id;
-	unsigned int offset;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_SET_BIN_BASE_OFFSET \
-	_IOW(KGSL_IOC_TYPE, 0x25, struct kgsl_drawctxt_set_bin_base_offset)
-
-enum kgsl_cmdwindow_type {
-	KGSL_CMDWINDOW_MIN     = 0x00000000,
-	KGSL_CMDWINDOW_2D      = 0x00000000,
-	KGSL_CMDWINDOW_3D      = 0x00000001, /* legacy */
-	KGSL_CMDWINDOW_MMU     = 0x00000002,
-	KGSL_CMDWINDOW_ARBITER = 0x000000FF,
-	KGSL_CMDWINDOW_MAX     = 0x000000FF,
-};
-
-/* write to the command window */
-struct kgsl_cmdwindow_write {
-	enum kgsl_cmdwindow_type target;
-	unsigned int addr;
-	unsigned int data;
-};
-
-#define IOCTL_KGSL_CMDWINDOW_WRITE \
-	_IOW(KGSL_IOC_TYPE, 0x2e, struct kgsl_cmdwindow_write)
-
-struct kgsl_gpumem_alloc {
-	unsigned long gpuaddr; /* output param */
-	size_t size;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_GPUMEM_ALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x2f, struct kgsl_gpumem_alloc)
-
-struct kgsl_cff_syncmem {
-	unsigned long gpuaddr;
-	size_t len;
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_CFF_SYNCMEM \
-	_IOW(KGSL_IOC_TYPE, 0x30, struct kgsl_cff_syncmem)
-
-/*
- * A timestamp event allows the user space to register an action following an
- * expired timestamp. Note IOCTL_KGSL_TIMESTAMP_EVENT has been redefined to
- * _IOWR to support fences which need to return a fd for the priv parameter.
- */
-
-struct kgsl_timestamp_event {
-	int type;                /* Type of event (see list below) */
-	unsigned int timestamp;  /* Timestamp to trigger event on */
-	unsigned int context_id; /* Context for the timestamp */
-	void __user *priv;	 /* Pointer to the event specific blob */
-	size_t len;              /* Size of the event specific blob */
-};
-
-#define IOCTL_KGSL_TIMESTAMP_EVENT_OLD \
-	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_timestamp_event)
-
-/* A genlock timestamp event releases an existing lock on timestamp expire */
-
-#define KGSL_TIMESTAMP_EVENT_GENLOCK 1
-
-struct kgsl_timestamp_event_genlock {
-	int handle; /* Handle of the genlock lock to release */
-};
-
-/* A fence timestamp event releases an existing lock on timestamp expire */
-
-#define KGSL_TIMESTAMP_EVENT_FENCE 2
-
-struct kgsl_timestamp_event_fence {
-	int fence_fd; /* Fence to signal */
-};
-
-/*
- * Set a property within the kernel.  Uses the same structure as
- * IOCTL_KGSL_GETPROPERTY
- */
-
-#define IOCTL_KGSL_SETPROPERTY \
-	_IOW(KGSL_IOC_TYPE, 0x32, struct kgsl_device_getproperty)
-
-#define IOCTL_KGSL_TIMESTAMP_EVENT \
-	_IOWR(KGSL_IOC_TYPE, 0x33, struct kgsl_timestamp_event)
-
-/**
- * struct kgsl_gpumem_alloc_id - argument to IOCTL_KGSL_GPUMEM_ALLOC_ID
- * @id: returned id value for this allocation.
- * @flags: mask of KGSL_MEM* values requested and actual flags on return.
- * @size: requested size of the allocation and actual size on return.
- * @mmapsize: returned size to pass to mmap() which may be larger than 'size'
- * @gpuaddr: returned GPU address for the allocation
- *
- * Allocate memory for access by the GPU. The flags and size fields are echoed
- * back by the kernel, so that the caller can know if the request was
- * adjusted.
- *
- * Supported flags:
- * KGSL_MEMFLAGS_GPUREADONLY: the GPU will be unable to write to the buffer
- * KGSL_MEMTYPE*: usage hint for debugging aid
- * KGSL_MEMALIGN*: alignment hint, may be ignored or adjusted by the kernel.
- * KGSL_MEMFLAGS_USE_CPU_MAP: If set on call and return, the returned GPU
- * address will be 0. Calling mmap() will set the GPU address.
- */
-struct kgsl_gpumem_alloc_id {
-	unsigned int id;
-	unsigned int flags;
-	size_t size;
-	size_t mmapsize;
-	unsigned long gpuaddr;
-/* private: reserved for future use*/
-	unsigned long __pad[2];
-};
-
-#define IOCTL_KGSL_GPUMEM_ALLOC_ID \
-	_IOWR(KGSL_IOC_TYPE, 0x34, struct kgsl_gpumem_alloc_id)
-
-/**
- * struct kgsl_gpumem_free_id - argument to IOCTL_KGSL_GPUMEM_FREE_ID
- * @id: GPU allocation id to free
- *
- * Free an allocation by id, in case a GPU address has not been assigned or
- * is unknown. Freeing an allocation by id with this ioctl or by GPU address
- * with IOCTL_KGSL_SHAREDMEM_FREE are equivalent.
- */
-struct kgsl_gpumem_free_id {
-	unsigned int id;
-/* private: reserved for future use*/
-	unsigned int __pad;
-};
-
-#define IOCTL_KGSL_GPUMEM_FREE_ID \
-	_IOWR(KGSL_IOC_TYPE, 0x35, struct kgsl_gpumem_free_id)
-
-/**
- * struct kgsl_gpumem_get_info - argument to IOCTL_KGSL_GPUMEM_GET_INFO
- * @gpuaddr: GPU address to query. Also set on return.
- * @id: GPU allocation id to query. Also set on return.
- * @flags: returned mask of KGSL_MEM* values.
- * @size: returned size of the allocation.
- * @mmapsize: returned size to pass mmap(), which may be larger than 'size'
- * @useraddr: returned address of the userspace mapping for this buffer
- *
- * This ioctl allows querying of all user visible attributes of an existing
- * allocation, by either the GPU address or the id returned by a previous
- * call to IOCTL_KGSL_GPUMEM_ALLOC_ID. Legacy allocation ioctls may not
- * return all attributes so this ioctl can be used to look them up if needed.
- *
- */
-struct kgsl_gpumem_get_info {
-	unsigned long gpuaddr;
-	unsigned int id;
-	unsigned int flags;
-	size_t size;
-	size_t mmapsize;
-	unsigned long useraddr;
-/* private: reserved for future use*/
-	unsigned long __pad[4];
-};
-
-#define IOCTL_KGSL_GPUMEM_GET_INFO\
-	_IOWR(KGSL_IOC_TYPE, 0x36, struct kgsl_gpumem_get_info)
-
-/**
- * struct kgsl_gpumem_sync_cache - argument to IOCTL_KGSL_GPUMEM_SYNC_CACHE
- * @gpuaddr: GPU address of the buffer to sync.
- * @id: id of the buffer to sync. Either gpuaddr or id is sufficient.
- * @op: a mask of KGSL_GPUMEM_CACHE_* values
- * @offset: offset into the buffer
- * @length: number of bytes starting from offset to perform
- * the cache operation on
- *
- * Sync the L2 cache for memory headed to and from the GPU - this replaces
- * KGSL_SHAREDMEM_FLUSH_CACHE since it can handle cache management for both
- * directions
- *
- */
-struct kgsl_gpumem_sync_cache {
-	unsigned long gpuaddr;
-	unsigned int id;
-	unsigned int op;
-	size_t offset;
-	size_t length;
-};
-
-#define KGSL_GPUMEM_CACHE_CLEAN (1 << 0)
-#define KGSL_GPUMEM_CACHE_TO_GPU KGSL_GPUMEM_CACHE_CLEAN
-
-#define KGSL_GPUMEM_CACHE_INV (1 << 1)
-#define KGSL_GPUMEM_CACHE_FROM_GPU KGSL_GPUMEM_CACHE_INV
-
-#define KGSL_GPUMEM_CACHE_FLUSH \
-	(KGSL_GPUMEM_CACHE_CLEAN | KGSL_GPUMEM_CACHE_INV)
-
-/* Flag to ensure backwards compatibility of kgsl_gpumem_sync_cache struct */
-#define KGSL_GPUMEM_CACHE_RANGE (1 << 31U)
-
-#define IOCTL_KGSL_GPUMEM_SYNC_CACHE \
-	_IOW(KGSL_IOC_TYPE, 0x37, struct kgsl_gpumem_sync_cache)
-
-/**
- * struct kgsl_perfcounter_get - argument to IOCTL_KGSL_PERFCOUNTER_GET
- * @groupid: Performance counter group ID
- * @countable: Countable to select within the group
- * @offset: Return offset of the reserved LO counter
- * @offset_hi: Return offset of the reserved HI counter
- *
- * Get an available performance counter from a specified groupid.  The offset
- * of the performance counter will be returned after successfully assigning
- * the countable to the counter for the specified group.  An error will be
- * returned and an offset of 0 if the groupid is invalid or there are no
- * more counters left.  After successfully getting a perfcounter, the user
- * must call kgsl_perfcounter_put(groupid, contable) when finished with
- * the perfcounter to clear up perfcounter resources.
- *
- */
-struct kgsl_perfcounter_get {
-	unsigned int groupid;
-	unsigned int countable;
-	unsigned int offset;
-	unsigned int offset_hi;
-/* private: reserved for future use */
-	unsigned int __pad; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_GET \
-	_IOWR(KGSL_IOC_TYPE, 0x38, struct kgsl_perfcounter_get)
-
-/**
- * struct kgsl_perfcounter_put - argument to IOCTL_KGSL_PERFCOUNTER_PUT
- * @groupid: Performance counter group ID
- * @countable: Countable to release within the group
- *
- * Put an allocated performance counter to allow others to have access to the
- * resource that was previously taken.  This is only to be called after
- * successfully getting a performance counter from kgsl_perfcounter_get().
- *
- */
-struct kgsl_perfcounter_put {
-	unsigned int groupid;
-	unsigned int countable;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_PUT \
-	_IOW(KGSL_IOC_TYPE, 0x39, struct kgsl_perfcounter_put)
-
-/**
- * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
- * @groupid: Performance counter group ID
- * @countable: Return active countables array
- * @size: Size of active countables array
- * @max_counters: Return total number counters for the group ID
- *
- * Query the available performance counters given a groupid.  The array
- * *countables is used to return the current active countables in counters.
- * The size of the array is passed in so the kernel will only write at most
- * size or counter->size for the group id.  The total number of available
- * counters for the group ID is returned in max_counters.
- * If the array or size passed in are invalid, then only the maximum number
- * of counters will be returned, no data will be written to *countables.
- * If the groupid is invalid an error code will be returned.
- *
- */
-struct kgsl_perfcounter_query {
-	unsigned int groupid;
-	/* Array to return the current countable for up to size counters */
-	unsigned int __user *countables;
-	unsigned int count;
-	unsigned int max_counters;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_QUERY \
-	_IOWR(KGSL_IOC_TYPE, 0x3A, struct kgsl_perfcounter_query)
-
-/**
- * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
- * @groupid: Performance counter group IDs
- * @countable: Performance counter countable IDs
- * @value: Return performance counter reads
- * @size: Size of all arrays (groupid/countable pair and return value)
- *
- * Read in the current value of a performance counter given by the groupid
- * and countable.
- *
- */
-
-struct kgsl_perfcounter_read_group {
-	unsigned int groupid;
-	unsigned int countable;
-	unsigned long long value;
-};
-
-struct kgsl_perfcounter_read {
-	struct kgsl_perfcounter_read_group __user *reads;
-	unsigned int count;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_READ \
-	_IOWR(KGSL_IOC_TYPE, 0x3B, struct kgsl_perfcounter_read)
-/*
- * struct kgsl_gpumem_sync_cache_bulk - argument to
- * IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK
- * @id_list: list of GPU buffer ids of the buffers to sync
- * @count: number of GPU buffer ids in id_list
- * @op: a mask of KGSL_GPUMEM_CACHE_* values
- *
- * Sync the cache for memory headed to and from the GPU. Certain
- * optimizations can be made on the cache operation based on the total
- * size of the working set of memory to be managed.
- */
-struct kgsl_gpumem_sync_cache_bulk {
-	unsigned int __user *id_list;
-	unsigned int count;
-	unsigned int op;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK \
-	_IOWR(KGSL_IOC_TYPE, 0x3C, struct kgsl_gpumem_sync_cache_bulk)
-
-/*
- * struct kgsl_cmd_syncpoint_timestamp
- * @context_id: ID of a KGSL context
- * @timestamp: GPU timestamp
- *
- * This structure defines a syncpoint comprising a context/timestamp pair. A
- * list of these may be passed by IOCTL_KGSL_SUBMIT_COMMANDS to define
- * dependencies that must be met before the command can be submitted to the
- * hardware
- */
-struct kgsl_cmd_syncpoint_timestamp {
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-struct kgsl_cmd_syncpoint_fence {
-	int fd;
-};
-
-/**
- * struct kgsl_cmd_syncpoint - Define a sync point for a command batch
- * @type: type of sync point defined here
- * @priv: Pointer to the type specific buffer
- * @size: Size of the type specific buffer
- *
- * This structure contains pointers defining a specific command sync point.
- * The pointer and size should point to a type appropriate structure.
- */
-struct kgsl_cmd_syncpoint {
-	int type;
-	void __user *priv;
-	size_t size;
-};
-
-/* Flag to indicate that the cmdlist may contain memlists */
-#define KGSL_IBDESC_MEMLIST 0x1
-
-/* Flag to point out the cmdbatch profiling buffer in the memlist */
-#define KGSL_IBDESC_PROFILING_BUFFER 0x2
-
-/**
- * struct kgsl_submit_commands - Argument to IOCTL_KGSL_SUBMIT_COMMANDS
- * @context_id: KGSL context ID that owns the commands
- * @flags:
- * @cmdlist: User pointer to a list of kgsl_ibdesc structures
- * @numcmds: Number of commands listed in cmdlist
- * @synclist: User pointer to a list of kgsl_cmd_syncpoint structures
- * @numsyncs: Number of sync points listed in synclist
- * @timestamp: On entry the a user defined timestamp, on exist the timestamp
- * assigned to the command batch
- *
- * This structure specifies a command to send to the GPU hardware.  This is
- * similar to kgsl_issueibcmds expect that it doesn't support the legacy way to
- * submit IB lists and it adds sync points to block the IB until the
- * dependencies are satisified.  This entry point is the new and preferred way
- * to submit commands to the GPU. The memory list can be used to specify all
- * memory that is referrenced in the current set of commands.
- */
-
-struct kgsl_submit_commands {
-	unsigned int context_id;
-	unsigned int flags;
-	struct kgsl_ibdesc __user *cmdlist;
-	unsigned int numcmds;
-	struct kgsl_cmd_syncpoint __user *synclist;
-	unsigned int numsyncs;
-	unsigned int timestamp;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-#define IOCTL_KGSL_SUBMIT_COMMANDS \
-	_IOWR(KGSL_IOC_TYPE, 0x3D, struct kgsl_submit_commands)
-
-/**
- * struct kgsl_device_constraint - device constraint argument
- * @context_id: KGSL context ID
- * @type: type of constraint i.e pwrlevel/none
- * @data: constraint data
- * @size: size of the constraint data
- */
-struct kgsl_device_constraint {
-	unsigned int type;
-	unsigned int context_id;
-	void __user *data;
-	size_t size;
-};
-
-/* Constraint Type*/
-#define KGSL_CONSTRAINT_NONE 0
-#define KGSL_CONSTRAINT_PWRLEVEL 1
-
-/* PWRLEVEL constraint level*/
-/* set to min frequency */
-#define KGSL_CONSTRAINT_PWR_MIN    0
-/* set to max frequency */
-#define KGSL_CONSTRAINT_PWR_MAX    1
-
-struct kgsl_device_constraint_pwrlevel {
-	unsigned int level;
-};
-
-/**
- * struct kgsl_syncsource_create - Argument to IOCTL_KGSL_SYNCSOURCE_CREATE
- * @id: returned id for the syncsource that was created.
- *
- * This ioctl creates a userspace sync timeline.
- */
-
-struct kgsl_syncsource_create {
-	unsigned int id;
-/* private: reserved for future use */
-	unsigned int __pad[3];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_CREATE \
-	_IOWR(KGSL_IOC_TYPE, 0x40, struct kgsl_syncsource_create)
-
-/**
- * struct kgsl_syncsource_destroy - Argument to IOCTL_KGSL_SYNCSOURCE_DESTROY
- * @id: syncsource id to destroy
- *
- * This ioctl creates a userspace sync timeline.
- */
-
-struct kgsl_syncsource_destroy {
-	unsigned int id;
-/* private: reserved for future use */
-	unsigned int __pad[3];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_DESTROY \
-	_IOWR(KGSL_IOC_TYPE, 0x41, struct kgsl_syncsource_destroy)
-
-/**
- * struct kgsl_syncsource_create_fence - Argument to
- *     IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
- * @id: syncsource id
- * @fence_fd: returned sync_fence fd
- *
- * Create a fence that may be signaled by userspace by calling
- * IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE. There are no order dependencies between
- * these fences.
- */
-struct kgsl_syncsource_create_fence {
-	unsigned int id;
-	int fence_fd;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-/**
- * struct kgsl_syncsource_signal_fence - Argument to
- *     IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE
- * @id: syncsource id
- * @fence_fd: sync_fence fd to signal
- *
- * Signal a fence that was created by a IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
- * call using the same syncsource id. This allows a fence to be shared
- * to other processes but only signaled by the process owning the fd
- * used to create the fence.
- */
-#define IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE \
-	_IOWR(KGSL_IOC_TYPE, 0x42, struct kgsl_syncsource_create_fence)
-
-struct kgsl_syncsource_signal_fence {
-	unsigned int id;
-	int fence_fd;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE \
-	_IOWR(KGSL_IOC_TYPE, 0x43, struct kgsl_syncsource_signal_fence)
-
-/**
- * struct kgsl_cff_sync_gpuobj - Argument to IOCTL_KGSL_CFF_SYNC_GPUOBJ
- * @offset: Offset into the GPU object to sync
- * @length: Number of bytes to sync
- * @id: ID of the GPU object to sync
- */
-struct kgsl_cff_sync_gpuobj {
-	uint64_t offset;
-	uint64_t length;
-	unsigned int id;
-};
-
-#define IOCTL_KGSL_CFF_SYNC_GPUOBJ \
-	_IOW(KGSL_IOC_TYPE, 0x44, struct kgsl_cff_sync_gpuobj)
-
-/**
- * struct kgsl_gpuobj_alloc - Argument to IOCTL_KGSL_GPUOBJ_ALLOC
- * @size: Size in bytes of the object to allocate
- * @flags: mask of KGSL_MEMFLAG_* bits
- * @va_len: Size in bytes of the virtual region to allocate
- * @mmapsize: Returns the mmap() size of the object
- * @id: Returns the GPU object ID of the new object
- * @metadata_len: Length of the metdata to copy from the user
- * @metadata: Pointer to the user specified metadata to store for the object
- */
-struct kgsl_gpuobj_alloc {
-	uint64_t size;
-	uint64_t flags;
-	uint64_t va_len;
-	uint64_t mmapsize;
-	unsigned int id;
-	unsigned int metadata_len;
-	uint64_t metadata;
-};
-
-/* Let the user know that this header supports the gpuobj metadata */
-#define KGSL_GPUOBJ_ALLOC_METADATA_MAX 64
-
-#define IOCTL_KGSL_GPUOBJ_ALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x45, struct kgsl_gpuobj_alloc)
-
-/**
- * struct kgsl_gpuobj_free - Argument to IOCTL_KGLS_GPUOBJ_FREE
- * @flags: Mask of: KGSL_GUPOBJ_FREE_ON_EVENT
- * @priv: Pointer to the private object if KGSL_GPUOBJ_FREE_ON_EVENT is
- * specified
- * @id: ID of the GPU object to free
- * @type: If KGSL_GPUOBJ_FREE_ON_EVENT is specified, the type of asynchronous
- * event to free on
- * @len: Length of the data passed in priv
- */
-struct kgsl_gpuobj_free {
-	uint64_t flags;
-	uint64_t __user priv;
-	unsigned int id;
-	unsigned int type;
-	unsigned int len;
-};
-
-#define KGSL_GPUOBJ_FREE_ON_EVENT 1
-
-#define KGSL_GPU_EVENT_TIMESTAMP 1
-#define KGSL_GPU_EVENT_FENCE     2
-
-/**
- * struct kgsl_gpu_event_timestamp - Specifies a timestamp event to free a GPU
- * object on
- * @context_id: ID of the timestamp event to wait for
- * @timestamp: Timestamp of the timestamp event to wait for
- */
-struct kgsl_gpu_event_timestamp {
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-/**
- * struct kgsl_gpu_event_fence - Specifies a fence ID to to free a GPU object on
- * @fd: File descriptor for the fence
- */
-struct kgsl_gpu_event_fence {
-	int fd;
-};
-
-#define IOCTL_KGSL_GPUOBJ_FREE \
-	_IOW(KGSL_IOC_TYPE, 0x46, struct kgsl_gpuobj_free)
-
-/**
- * struct kgsl_gpuobj_info - argument to IOCTL_KGSL_GPUOBJ_INFO
- * @gpuaddr: GPU address of the object
- * @flags: Current flags for the object
- * @size: Size of the object
- * @va_len: VA size of the object
- * @va_addr: Virtual address of the object (if it is mapped)
- * id - GPU object ID of the object to query
- */
-struct kgsl_gpuobj_info {
-	uint64_t gpuaddr;
-	uint64_t flags;
-	uint64_t size;
-	uint64_t va_len;
-	uint64_t va_addr;
-	unsigned int id;
-};
-
-#define IOCTL_KGSL_GPUOBJ_INFO \
-	_IOWR(KGSL_IOC_TYPE, 0x47, struct kgsl_gpuobj_info)
-
-/**
- * struct kgsl_gpuobj_import - argument to IOCTL_KGSL_GPUOBJ_IMPORT
- * @priv: Pointer to the private data for the import type
- * @priv_len: Length of the private data
- * @flags: Mask of KGSL_MEMFLAG_ flags
- * @type: Type of the import (KGSL_USER_MEM_TYPE_*)
- * @id: Returns the ID of the new GPU object
- */
-struct kgsl_gpuobj_import {
-	uint64_t __user priv;
-	uint64_t priv_len;
-	uint64_t flags;
-	unsigned int type;
-	unsigned int id;
-};
-
-/**
- * struct kgsl_gpuobj_import_dma_buf - import a dmabuf object
- * @fd: File descriptor for the dma-buf object
- */
-struct kgsl_gpuobj_import_dma_buf {
-	int fd;
-};
-
-/**
- * struct kgsl_gpuobj_import_useraddr - import an object based on a useraddr
- * @virtaddr: Virtual address of the object to import
- */
-struct kgsl_gpuobj_import_useraddr {
-	uint64_t virtaddr;
-};
-
-#define IOCTL_KGSL_GPUOBJ_IMPORT \
-	_IOWR(KGSL_IOC_TYPE, 0x48, struct kgsl_gpuobj_import)
-
-/**
- * struct kgsl_gpuobj_sync_obj - Individual GPU object to sync
- * @offset: Offset within the GPU object to sync
- * @length: Number of bytes to sync
- * @id: ID of the GPU object to sync
- * @op: Cache operation to execute
- */
-
-struct kgsl_gpuobj_sync_obj {
-	uint64_t offset;
-	uint64_t length;
-	unsigned int id;
-	unsigned int op;
-};
-
-/**
- * struct kgsl_gpuobj_sync - Argument for IOCTL_KGSL_GPUOBJ_SYNC
- * @objs: Pointer to an array of kgsl_gpuobj_sync_obj structs
- * @obj_len: Size of each item in the array
- * @count: Number of items in the array
- */
-
-struct kgsl_gpuobj_sync {
-	uint64_t __user objs;
-	unsigned int obj_len;
-	unsigned int count;
-};
-
-#define IOCTL_KGSL_GPUOBJ_SYNC \
-	_IOW(KGSL_IOC_TYPE, 0x49, struct kgsl_gpuobj_sync)
-
-/**
- * struct kgsl_command_object - GPU command object
- * @offset: GPU address offset of the object
- * @gpuaddr: GPU address of the object
- * @size: Size of the object
- * @flags: Current flags for the object
- * @id - GPU command object ID
- */
-struct kgsl_command_object {
-	uint64_t offset;
-	uint64_t gpuaddr;
-	uint64_t size;
-	unsigned int flags;
-	unsigned int id;
-};
-
-/**
- * struct kgsl_command_syncpoint - GPU syncpoint object
- * @priv: Pointer to the type specific buffer
- * @size: Size of the type specific buffer
- * @type: type of sync point defined here
- */
-struct kgsl_command_syncpoint {
-	uint64_t __user priv;
-	uint64_t size;
-	unsigned int type;
-};
-
-/**
- * struct kgsl_command_object - Argument for IOCTL_KGSL_GPU_COMMAND
- * @flags: Current flags for the object
- * @cmdlist: List of kgsl_command_objects for submission
- * @cmd_size: Size of kgsl_command_objects structure
- * @numcmds: Number of kgsl_command_objects in command list
- * @objlist: List of kgsl_command_objects for tracking
- * @obj_size: Size of kgsl_command_objects structure
- * @numobjs: Number of kgsl_command_objects in object list
- * @synclist: List of kgsl_command_syncpoints
- * @sync_size: Size of kgsl_command_syncpoint structure
- * @numsyncs: Number of kgsl_command_syncpoints in syncpoint list
- * @context_id: Context ID submittin ghte kgsl_gpu_command
- * @timestamp: Timestamp for the submitted commands
- */
-struct kgsl_gpu_command {
-	uint64_t flags;
-	uint64_t __user cmdlist;
-	unsigned int cmdsize;
-	unsigned int numcmds;
-	uint64_t __user objlist;
-	unsigned int objsize;
-	unsigned int numobjs;
-	uint64_t __user synclist;
-	unsigned int syncsize;
-	unsigned int numsyncs;
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_GPU_COMMAND \
-	_IOWR(KGSL_IOC_TYPE, 0x4A, struct kgsl_gpu_command)
-
-/**
- * struct kgsl_preemption_counters_query - argument to
- * IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY
- * @counters: Return preemption counters array
- * @size_user: Size allocated by userspace
- * @size_priority_level: Size of preemption counters for each
- * priority level
- * @max_priority_level: Return max number of priority levels
- *
- * Query the available preemption counters. The array counters
- * is used to return preemption counters. The size of the array
- * is passed in so the kernel will only write at most size_user
- * or max available preemption counters.  The total number of
- * preemption counters is returned in max_priority_level. If the
- * array or size passed in are invalid, then an error is
- * returned back.
- */
-struct kgsl_preemption_counters_query {
-	uint64_t __user counters;
-	unsigned int size_user;
-	unsigned int size_priority_level;
-	unsigned int max_priority_level;
-};
-
-#define IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY \
-	_IOWR(KGSL_IOC_TYPE, 0x4B, struct kgsl_preemption_counters_query)
-
-/**
- * struct kgsl_gpuobj_set_info - argument for IOCTL_KGSL_GPUOBJ_SET_INFO
- * @flags: Flags to indicate which paramaters to change
- * @metadata:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, a pointer to the new
- * metadata
- * @id: GPU memory object ID to change
- * @metadata_len:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, the length of the
- * new metadata string
- * @type: If KGSL_GPUOBJ_SET_INFO_TYPE is set, the new type of the memory object
- */
-
-#define KGSL_GPUOBJ_SET_INFO_METADATA (1 << 0)
-#define KGSL_GPUOBJ_SET_INFO_TYPE (1 << 1)
-
-struct kgsl_gpuobj_set_info {
-	uint64_t flags;
-	uint64_t metadata;
-	unsigned int id;
-	unsigned int metadata_len;
-	unsigned int type;
-};
-
-#define IOCTL_KGSL_GPUOBJ_SET_INFO \
-	_IOW(KGSL_IOC_TYPE, 0x4C, struct kgsl_gpuobj_set_info)
-
-#endif /* _UAPI_MSM_KGSL_H */
diff --git a/third_party/linux/include/msm_media_info.h b/third_party/linux/include/msm_media_info.h
deleted file mode 100644
index 3fd0c8849a..0000000000
--- a/third_party/linux/include/msm_media_info.h
+++ /dev/null
@@ -1,1392 +0,0 @@
-#ifndef __MEDIA_INFO_H__
-#define __MEDIA_INFO_H__
-
-#ifndef MSM_MEDIA_ALIGN
-#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ?\
-	((((__sz) + (__align) - 1) / (__align)) * (__align)) :\
-	(((__sz) + (__align) - 1) & (~((__align) - 1))))
-#endif
-
-#ifndef MSM_MEDIA_ROUNDUP
-#define MSM_MEDIA_ROUNDUP(__sz, __r) (((__sz) + ((__r) - 1)) / (__r))
-#endif
-
-#ifndef MSM_MEDIA_MAX
-#define MSM_MEDIA_MAX(__a, __b) ((__a) > (__b)?(__a):(__b))
-#endif
-
-enum color_fmts {
-	/* Venus NV12:
-	 * YUV 4:2:0 image with a plane of 8 bit Y samples followed
-	 * by an interleaved U/V plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * U V U V U V U V U V U V . . . .  ^
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_NV12,
-
-	/* Venus NV21:
-	 * YUV 4:2:0 image with a plane of 8 bit Y samples followed
-	 * by an interleaved V/U plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * V U V U V U V U V U V U . . . .  ^
-	 * V U V U V U V U V U V U . . . .  |
-	 * V U V U V U V U V U V U . . . .  |
-	 * V U V U V U V U V U V U . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Padding & Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_NV21,
-	/* Venus NV12_MVTB:
-	 * Two YUV 4:2:0 images/views one after the other
-	 * in a top-bottom layout, same as NV12
-	 * with a plane of 8 bit Y samples followed
-	 * by an interleaved U/V plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^               ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |               |
-	 * . . . . . . . . . . . . . . . .              |             View_1
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              V               |
-	 * U V U V U V U V U V U V . . . .  ^                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines                |
-	 * . . . . . . . . . . . . . . . .  |                           |
-	 * . . . . . . . . . . . . . . . .  V                           V
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^               ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |               |
-	 * . . . . . . . . . . . . . . . .              |             View_2
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              V               |
-	 * U V U V U V U V U V U V . . . .  ^                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines                |
-	 * . . . . . . . . . . . . . . . .  |                           |
-	 * . . . . . . . . . . . . . . . .  V                           V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * View_1 begin at: 0 (zero)
-	 * View_2 begin at: Y_Stride * Y_Scanlines + UV_Stride * UV_Scanlines
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((2*(Y_Stride * Y_Scanlines)
-	 *          + 2*(UV_Stride * UV_Scanlines) + Extradata), 4096)
-	 */
-	COLOR_FMT_NV12_MVTB,
-	/*
-	 * The buffer can be of 2 types:
-	 * (1) Venus NV12 UBWC Progressive
-	 * (2) Venus NV12 UBWC Interlaced
-	 *
-	 * (1) Venus NV12 UBWC Progressive Buffer Format:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 8 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 8 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 * Y_Stride = align(Width, 128)
-	 * UV_Stride = align(Width, 128)
-	 * Y_Scanlines = align(Height, 32)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align( Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 *
-	 *
-	 * (2) Venus NV12 UBWC Interlaced Buffer Format:
-	 * Compressed Macro-tile format for NV12 interlaced.
-	 * Contains 8 planes in the following order -
-	 * (A) Y_Meta_Top_Field_Plane
-	 * (B) Y_UBWC_Top_Field_Plane
-	 * (C) UV_Meta_Top_Field_Plane
-	 * (D) UV_UBWC_Top_Field_Plane
-	 * (E) Y_Meta_Bottom_Field_Plane
-	 * (F) Y_UBWC_Bottom_Field_Plane
-	 * (G) UV_Meta_Bottom_Field_Plane
-	 * (H) UV_UBWC_Bottom_Field_Plane
-	 * Y_Meta_Top_Field_Plane consists of meta information to decode
-	 * compressed tile data for Y_UBWC_Top_Field_Plane.
-	 * Y_UBWC_Top_Field_Plane consists of Y data in compressed macro-tile
-	 * format for top field of an interlaced frame.
-	 * UBWC decoder block will use the Y_Meta_Top_Field_Plane data together
-	 * with Y_UBWC_Top_Field_Plane data to produce loss-less uncompressed
-	 * 8 bit Y samples for top field of an interlaced frame.
-	 *
-	 * UV_Meta_Top_Field_Plane consists of meta information to decode
-	 * compressed tile data in UV_UBWC_Top_Field_Plane.
-	 * UV_UBWC_Top_Field_Plane consists of UV data in compressed macro-tile
-	 * format for top field of an interlaced frame.
-	 * UBWC decoder block will use UV_Meta_Top_Field_Plane data together
-	 * with UV_UBWC_Top_Field_Plane data to produce loss-less uncompressed
-	 * 8 bit subsampled color difference samples for top field of an
-	 * interlaced frame.
-	 *
-	 * Each tile in Y_UBWC_Top_Field_Plane/UV_UBWC_Top_Field_Plane is
-	 * independently decodable and randomly accessible. There is no
-	 * dependency between tiles.
-	 *
-	 * Y_Meta_Bottom_Field_Plane consists of meta information to decode
-	 * compressed tile data for Y_UBWC_Bottom_Field_Plane.
-	 * Y_UBWC_Bottom_Field_Plane consists of Y data in compressed macro-tile
-	 * format for bottom field of an interlaced frame.
-	 * UBWC decoder block will use the Y_Meta_Bottom_Field_Plane data
-	 * together with Y_UBWC_Bottom_Field_Plane data to produce loss-less
-	 * uncompressed 8 bit Y samples for bottom field of an interlaced frame.
-	 *
-	 * UV_Meta_Bottom_Field_Plane consists of meta information to decode
-	 * compressed tile data in UV_UBWC_Bottom_Field_Plane.
-	 * UV_UBWC_Bottom_Field_Plane consists of UV data in compressed
-	 * macro-tile format for bottom field of an interlaced frame.
-	 * UBWC decoder block will use UV_Meta_Bottom_Field_Plane data together
-	 * with UV_UBWC_Bottom_Field_Plane data to produce loss-less
-	 * uncompressed 8 bit subsampled color difference samples for bottom
-	 * field of an interlaced frame.
-	 *
-	 * Each tile in Y_UBWC_Bottom_Field_Plane/UV_UBWC_Bottom_Field_Plane is
-	 * independently decodable and randomly accessible. There is no
-	 * dependency between tiles.
-	 *
-	 * <-----Y_TF_Meta_Stride---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . . Half_height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_TF_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-Compressed tile Y_TF Stride->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_TF_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----UV_TF_Meta_Stride---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_TF_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <-Compressed tile UV_TF Stride->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_TF_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * <-----Y_BF_Meta_Stride---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . . Half_height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_BF_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-Compressed tile Y_BF Stride->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_BF_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----UV_BF_Meta_Stride---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_BF_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <-Compressed tile UV_BF Stride->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_BF_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 * Half_height = (Height+1)>>1
-	 * Y_TF_Stride = align(Width, 128)
-	 * UV_TF_Stride = align(Width, 128)
-	 * Y_TF_Scanlines = align(Half_height, 32)
-	 * UV_TF_Scanlines = align((Half_height+1)/2, 32)
-	 * Y_UBWC_TF_Plane_size = align(Y_TF_Stride * Y_TF_Scanlines, 4096)
-	 * UV_UBWC_TF_Plane_size = align(UV_TF_Stride * UV_TF_Scanlines, 4096)
-	 * Y_TF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_TF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
-	 * Y_TF_Meta_Plane_size =
-	 *     align(Y_TF_Meta_Stride * Y_TF_Meta_Scanlines, 4096)
-	 * UV_TF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_TF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
-	 * UV_TF_Meta_Plane_size =
-	 *     align(UV_TF_Meta_Stride * UV_TF_Meta_Scanlines, 4096)
-	 * Y_BF_Stride = align(Width, 128)
-	 * UV_BF_Stride = align(Width, 128)
-	 * Y_BF_Scanlines = align(Half_height, 32)
-	 * UV_BF_Scanlines = align((Half_height+1)/2, 32)
-	 * Y_UBWC_BF_Plane_size = align(Y_BF_Stride * Y_BF_Scanlines, 4096)
-	 * UV_UBWC_BF_Plane_size = align(UV_BF_Stride * UV_BF_Scanlines, 4096)
-	 * Y_BF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_BF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
-	 * Y_BF_Meta_Plane_size =
-	 *     align(Y_BF_Meta_Stride * Y_BF_Meta_Scanlines, 4096)
-	 * UV_BF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_BF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
-	 * UV_BF_Meta_Plane_size =
-	 *     align(UV_BF_Meta_Stride * UV_BF_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align( Y_UBWC_TF_Plane_size + UV_UBWC_TF_Plane_size +
-	 *           Y_TF_Meta_Plane_size + UV_TF_Meta_Plane_size +
-	 *			 Y_UBWC_BF_Plane_size + UV_UBWC_BF_Plane_size +
-	 *           Y_BF_Meta_Plane_size + UV_BF_Meta_Plane_size +
-	 *           + max(Extradata, Y_TF_Stride * 48), 4096)
-	 */
-	COLOR_FMT_NV12_UBWC,
-	/* Venus NV12 10-bit UBWC:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ----->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 *
-	 * Y_Stride = align(Width * 4/3, 128)
-	 * UV_Stride = align(Width * 4/3, 128)
-	 * Y_Scanlines = align(Height, 32)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 */
-	COLOR_FMT_NV12_BPP10_UBWC,
-	/* Venus RGBA8888 format:
-	 * Contains 1 plane in the following order -
-	 * (A) RGBA plane
-	 *
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 128)
-	 * RGB_Scanlines = align(Height, 32)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Plane_size + Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA8888,
-	/* Venus RGBA8888 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGBA plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 128)
-	 * RGB_Scanlines = align(Height, 32)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA8888_UBWC,
-	/* Venus RGBA1010102 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGBA plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 256)
-	 * RGB_Scanlines = align(Height, 16)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA1010102_UBWC,
-	/* Venus RGB565 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGB plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 2, 128)
-	 * RGB_Scanlines = align(Height, 16)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGB565_UBWC,
-	/* P010 UBWC:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ----->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 *
-	 * Y_Stride = align(Width * 2, 256)
-	 * UV_Stride = align(Width * 2, 256)
-	 * Y_Scanlines = align(Height, 16)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 */
-	COLOR_FMT_P010_UBWC,
-	/* Venus P010:
-	 * YUV 4:2:0 image with a plane of 10 bit Y samples followed
-	 * by an interleaved U/V plane containing 10 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * U V U V U V U V U V U V . . . .  ^
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width * 2 aligned to 128
-	 * UV_Stride : Width * 2 aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_P010,
-};
-
-#define COLOR_FMT_RGBA1010102_UBWC	COLOR_FMT_RGBA1010102_UBWC
-#define COLOR_FMT_RGB565_UBWC		COLOR_FMT_RGB565_UBWC
-#define COLOR_FMT_P010_UBWC		COLOR_FMT_P010_UBWC
-#define COLOR_FMT_P010		COLOR_FMT_P010
-
-static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height)
-{
-	(void)height;
-	(void)width;
-
-	/*
-	 * In the future, calculate the size based on the w/h but just
-	 * hardcode it for now since 16K satisfies all current usecases.
-	 */
-	return 16 * 1024;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment, stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width, alignment);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width, 192);
-		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
-		break;
-	case COLOR_FMT_P010:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width*2, alignment);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment, stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width, alignment);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width, 192);
-		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
-		break;
-	case COLOR_FMT_P010:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width*2, alignment);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment, sclines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010:
-		alignment = 32;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		alignment = 16;
-		break;
-	default:
-		return 0;
-	}
-	sclines = MSM_MEDIA_ALIGN(height, alignment);
-invalid_input:
-	return sclines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment, sclines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-	case COLOR_FMT_P010:
-		alignment = 16;
-		break;
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 32;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	sclines = MSM_MEDIA_ALIGN((height+1)>>1, alignment);
-
-invalid_input:
-	return sclines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width)
-{
-	int y_tile_width = 0, y_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		y_tile_width = 32;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		y_tile_width = 48;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	y_meta_stride = MSM_MEDIA_ROUNDUP(width, y_tile_width);
-	y_meta_stride = MSM_MEDIA_ALIGN(y_meta_stride, 64);
-
-invalid_input:
-	return y_meta_stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height)
-{
-	int y_tile_height = 0, y_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-		y_tile_height = 8;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		y_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	y_meta_scanlines = MSM_MEDIA_ROUNDUP(height, y_tile_height);
-	y_meta_scanlines = MSM_MEDIA_ALIGN(y_meta_scanlines, 16);
-
-invalid_input:
-	return y_meta_scanlines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
-{
-	int uv_tile_width = 0, uv_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		uv_tile_width = 16;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		uv_tile_width = 24;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	uv_meta_stride = MSM_MEDIA_ROUNDUP((width+1)>>1, uv_tile_width);
-	uv_meta_stride = MSM_MEDIA_ALIGN(uv_meta_stride, 64);
-
-invalid_input:
-	return uv_meta_stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height)
-{
-	int uv_tile_height = 0, uv_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-		uv_tile_height = 8;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		uv_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	uv_meta_scanlines = MSM_MEDIA_ROUNDUP((height+1)>>1, uv_tile_height);
-	uv_meta_scanlines = MSM_MEDIA_ALIGN(uv_meta_scanlines, 16);
-
-invalid_input:
-	return uv_meta_scanlines;
-}
-
-static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment = 0, stride = 0, bpp = 4;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888:
-		alignment = 128;
-		break;
-	case COLOR_FMT_RGB565_UBWC:
-		alignment = 256;
-		bpp = 2;
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-		alignment = 256;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	stride = MSM_MEDIA_ALIGN(width * bpp, alignment);
-
-invalid_input:
-	return stride;
-}
-
-static inline unsigned int VENUS_RGB_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment = 0, scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888:
-		alignment = 32;
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		alignment = 16;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	scanlines = MSM_MEDIA_ALIGN(height, alignment);
-
-invalid_input:
-	return scanlines;
-}
-
-static inline unsigned int VENUS_RGB_META_STRIDE(int color_fmt, int width)
-{
-	int rgb_tile_width = 0, rgb_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_tile_width = 16;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	rgb_meta_stride = MSM_MEDIA_ROUNDUP(width, rgb_tile_width);
-	rgb_meta_stride = MSM_MEDIA_ALIGN(rgb_meta_stride, 64);
-
-invalid_input:
-	return rgb_meta_stride;
-}
-
-static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height)
-{
-	int rgb_tile_height = 0, rgb_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	rgb_meta_scanlines = MSM_MEDIA_ROUNDUP(height, rgb_tile_height);
-	rgb_meta_scanlines = MSM_MEDIA_ALIGN(rgb_meta_scanlines, 16);
-
-invalid_input:
-	return rgb_meta_scanlines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- * @height
- * Progressive: height
- * Interlaced: height
- */
-static inline unsigned int VENUS_BUFFER_SIZE(
-	int color_fmt, int width, int height)
-{
-	const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
-	unsigned int uv_alignment = 0, size = 0;
-	unsigned int w_alignment = 512;
-	unsigned int y_plane, uv_plane, y_stride,
-		uv_stride, y_sclines, uv_sclines;
-	unsigned int y_ubwc_plane = 0, uv_ubwc_plane = 0;
-	unsigned int y_meta_stride = 0, y_meta_scanlines = 0;
-	unsigned int uv_meta_stride = 0, uv_meta_scanlines = 0;
-	unsigned int y_meta_plane = 0, uv_meta_plane = 0;
-	unsigned int rgb_stride = 0, rgb_scanlines = 0;
-	unsigned int rgb_plane = 0, rgb_ubwc_plane = 0, rgb_meta_plane = 0;
-	unsigned int rgb_meta_stride = 0, rgb_meta_scanlines = 0;
-
-	if (!width || !height)
-		goto invalid_input;
-
-	y_stride = VENUS_Y_STRIDE(color_fmt, width);
-	uv_stride = VENUS_UV_STRIDE(color_fmt, width);
-	y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
-	uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
-	rgb_stride = VENUS_RGB_STRIDE(color_fmt, width);
-	rgb_scanlines = VENUS_RGB_SCANLINES(color_fmt, height);
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane +
-				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-
-		/* Additional size to cover last row of non-aligned frame */
-		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_P010:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane +
-				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_MVTB:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane;
-		size = 2 * size + extra_size;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_UBWC:
-		y_sclines = VENUS_Y_SCANLINES(color_fmt, (height+1)>>1);
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_sclines = VENUS_UV_SCANLINES(color_fmt, (height+1)>>1);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines =
-			VENUS_Y_META_SCANLINES(color_fmt, (height+1)>>1);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-			y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines =
-			VENUS_UV_META_SCANLINES(color_fmt, (height+1)>>1);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-			uv_meta_scanlines, 4096);
-
-		size = (y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane)*2 +
-			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-
-		/* Additional size to cover last row of non-aligned frame */
-		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-				y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-					uv_meta_scanlines, 4096);
-
-		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane +
-			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-				y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-					uv_meta_scanlines, 4096);
-
-		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_RGBA8888:
-		rgb_plane = MSM_MEDIA_ALIGN(rgb_stride  * rgb_scanlines, 4096);
-		size = rgb_plane;
-		size =  MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_ubwc_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines,
-							4096);
-		rgb_meta_stride = VENUS_RGB_META_STRIDE(color_fmt, width);
-		rgb_meta_scanlines = VENUS_RGB_META_SCANLINES(color_fmt,
-					height);
-		rgb_meta_plane = MSM_MEDIA_ALIGN(rgb_meta_stride *
-					rgb_meta_scanlines, 4096);
-		size = rgb_ubwc_plane + rgb_meta_plane;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return size;
-}
-
-static inline unsigned int VENUS_VIEW2_OFFSET(
-	int color_fmt, int width, int height)
-{
-	unsigned int offset = 0;
-	unsigned int y_plane, uv_plane, y_stride,
-		uv_stride, y_sclines, uv_sclines;
-	if (!width || !height)
-		goto invalid_input;
-
-	y_stride = VENUS_Y_STRIDE(color_fmt, width);
-	uv_stride = VENUS_UV_STRIDE(color_fmt, width);
-	y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
-	uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_MVTB:
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines;
-		offset = y_plane + uv_plane;
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return offset;
-}
-
-#endif
diff --git a/third_party/linux/include/msmb_camera.h b/third_party/linux/include/msmb_camera.h
deleted file mode 100644
index f4c4b3e183..0000000000
--- a/third_party/linux/include/msmb_camera.h
+++ /dev/null
@@ -1,220 +0,0 @@
-#ifndef __LINUX_MSMB_CAMERA_H
-#define __LINUX_MSMB_CAMERA_H
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-#define MSM_CAM_LOGSYNC_FILE_NAME "logsync"
-#define MSM_CAM_LOGSYNC_FILE_BASEDIR "camera"
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 30, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_META \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 31, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_CMD_ACK \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 32, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 33, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 34, struct msm_v4l2_event_data)
-
-#ifdef CONFIG_COMPAT
-#define MSM_CAM_V4L2_IOCTL_NOTIFY32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 30, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_META32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 31, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_CMD_ACK32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 32, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 33, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 34, struct v4l2_event32)
-
-#endif
-
-#define QCAMERA_DEVICE_GROUP_ID	1
-#define QCAMERA_VNODE_GROUP_ID	2
-#define MSM_CAMERA_NAME					"msm_camera"
-#define MSM_CONFIGURATION_NAME	"msm_config"
-
-#define MSM_CAMERA_SUBDEV_CSIPHY       0
-#define MSM_CAMERA_SUBDEV_CSID         1
-#define MSM_CAMERA_SUBDEV_ISPIF        2
-#define MSM_CAMERA_SUBDEV_VFE          3
-#define MSM_CAMERA_SUBDEV_AXI          4
-#define MSM_CAMERA_SUBDEV_VPE          5
-#define MSM_CAMERA_SUBDEV_SENSOR       6
-#define MSM_CAMERA_SUBDEV_ACTUATOR     7
-#define MSM_CAMERA_SUBDEV_EEPROM       8
-#define MSM_CAMERA_SUBDEV_CPP          9
-#define MSM_CAMERA_SUBDEV_CCI          10
-#define MSM_CAMERA_SUBDEV_LED_FLASH    11
-#define MSM_CAMERA_SUBDEV_STROBE_FLASH 12
-#define MSM_CAMERA_SUBDEV_BUF_MNGR     13
-#define MSM_CAMERA_SUBDEV_SENSOR_INIT  14
-#define MSM_CAMERA_SUBDEV_OIS          15
-#define MSM_CAMERA_SUBDEV_FLASH        16
-#define MSM_CAMERA_SUBDEV_EXT          17
-
-#define MSM_MAX_CAMERA_SENSORS  5
-
-/* The below macro is defined to put an upper limit on maximum
- * number of buffer requested per stream. In case of extremely
- * large value for number of buffer due to data structure corruption
- * we return error to avoid integer overflow. Group processing
- * can have max of 9 groups of 8 bufs each. This value may be
- * configured in future*/
-#define MSM_CAMERA_MAX_STREAM_BUF 72
-
-/* Max batch size of processing */
-#define MSM_CAMERA_MAX_USER_BUFF_CNT 16
-
-/* featur base */
-#define MSM_CAMERA_FEATURE_BASE     0x00010000
-#define MSM_CAMERA_FEATURE_SHUTDOWN (MSM_CAMERA_FEATURE_BASE + 1)
-
-#define MSM_CAMERA_STATUS_BASE      0x00020000
-#define MSM_CAMERA_STATUS_FAIL      (MSM_CAMERA_STATUS_BASE + 1)
-#define MSM_CAMERA_STATUS_SUCCESS   (MSM_CAMERA_STATUS_BASE + 2)
-
-/* event type */
-#define MSM_CAMERA_V4L2_EVENT_TYPE (V4L2_EVENT_PRIVATE_START + 0x00002000)
-
-/* event id */
-#define MSM_CAMERA_EVENT_MIN    0
-#define MSM_CAMERA_NEW_SESSION  (MSM_CAMERA_EVENT_MIN + 1)
-#define MSM_CAMERA_DEL_SESSION  (MSM_CAMERA_EVENT_MIN + 2)
-#define MSM_CAMERA_SET_PARM     (MSM_CAMERA_EVENT_MIN + 3)
-#define MSM_CAMERA_GET_PARM     (MSM_CAMERA_EVENT_MIN + 4)
-#define MSM_CAMERA_MAPPING_CFG  (MSM_CAMERA_EVENT_MIN + 5)
-#define MSM_CAMERA_MAPPING_SES  (MSM_CAMERA_EVENT_MIN + 6)
-#define MSM_CAMERA_MSM_NOTIFY   (MSM_CAMERA_EVENT_MIN + 7)
-#define MSM_CAMERA_EVENT_MAX    (MSM_CAMERA_EVENT_MIN + 8)
-
-/* data.command */
-#define MSM_CAMERA_PRIV_S_CROP		 (V4L2_CID_PRIVATE_BASE + 1)
-#define MSM_CAMERA_PRIV_G_CROP		 (V4L2_CID_PRIVATE_BASE + 2)
-#define MSM_CAMERA_PRIV_G_FMT			 (V4L2_CID_PRIVATE_BASE + 3)
-#define MSM_CAMERA_PRIV_S_FMT			 (V4L2_CID_PRIVATE_BASE + 4)
-#define MSM_CAMERA_PRIV_TRY_FMT		 (V4L2_CID_PRIVATE_BASE + 5)
-#define MSM_CAMERA_PRIV_METADATA	 (V4L2_CID_PRIVATE_BASE + 6)
-#define MSM_CAMERA_PRIV_QUERY_CAP  (V4L2_CID_PRIVATE_BASE + 7)
-#define MSM_CAMERA_PRIV_STREAM_ON  (V4L2_CID_PRIVATE_BASE + 8)
-#define MSM_CAMERA_PRIV_STREAM_OFF (V4L2_CID_PRIVATE_BASE + 9)
-#define MSM_CAMERA_PRIV_NEW_STREAM (V4L2_CID_PRIVATE_BASE + 10)
-#define MSM_CAMERA_PRIV_DEL_STREAM (V4L2_CID_PRIVATE_BASE + 11)
-#define MSM_CAMERA_PRIV_SHUTDOWN   (V4L2_CID_PRIVATE_BASE + 12)
-#define MSM_CAMERA_PRIV_STREAM_INFO_SYNC \
-	(V4L2_CID_PRIVATE_BASE + 13)
-#define MSM_CAMERA_PRIV_G_SESSION_ID (V4L2_CID_PRIVATE_BASE + 14)
-#define MSM_CAMERA_PRIV_CMD_MAX  20
-
-/* data.status - success */
-#define MSM_CAMERA_CMD_SUCESS      0x00000001
-#define MSM_CAMERA_BUF_MAP_SUCESS  0x00000002
-
-/* data.status - error */
-#define MSM_CAMERA_ERR_EVT_BASE 0x00010000
-#define MSM_CAMERA_ERR_CMD_FAIL (MSM_CAMERA_ERR_EVT_BASE + 1)
-#define MSM_CAMERA_ERR_MAPPING  (MSM_CAMERA_ERR_EVT_BASE + 2)
-#define MSM_CAMERA_ERR_DEVICE_BUSY  (MSM_CAMERA_ERR_EVT_BASE + 3)
-
-/* The msm_v4l2_event_data structure should match the
- * v4l2_event.u.data field.
- * should not exceed 16 elements */
-struct msm_v4l2_event_data {
-	/*word 0*/
-	unsigned int command;
-	/*word 1*/
-	unsigned int status;
-	/*word 2*/
-	unsigned int session_id;
-	/*word 3*/
-	unsigned int stream_id;
-	/*word 4*/
-	unsigned int map_op;
-	/*word 5*/
-	unsigned int map_buf_idx;
-	/*word 6*/
-	unsigned int notify;
-	/*word 7*/
-	unsigned int arg_value;
-	/*word 8*/
-	unsigned int ret_value;
-	/*word 9*/
-	unsigned int v4l2_event_type;
-	/*word 10*/
-	unsigned int v4l2_event_id;
-	/*word 11*/
-	unsigned int handle;
-	/*word 12*/
-	unsigned int nop6;
-	/*word 13*/
-	unsigned int nop7;
-	/*word 14*/
-	unsigned int nop8;
-	/*word 15*/
-	unsigned int nop9;
-};
-
-/* map to v4l2_format.fmt.raw_data */
-struct msm_v4l2_format_data {
-	enum v4l2_buf_type type;
-	unsigned int width;
-	unsigned int height;
-	unsigned int pixelformat; /* FOURCC */
-	unsigned char num_planes;
-	unsigned int plane_sizes[VIDEO_MAX_PLANES];
-};
-
-/*  MSM Four-character-code (FOURCC) */
-#define msm_v4l2_fourcc(a, b, c, d)\
-	((__u32)(a) | ((__u32)(b) << 8) | ((__u32)(c) << 16) |\
-	((__u32)(d) << 24))
-
-/* Composite stats */
-#define MSM_V4L2_PIX_FMT_STATS_COMB v4l2_fourcc('S', 'T', 'C', 'M')
-/* AEC stats */
-#define MSM_V4L2_PIX_FMT_STATS_AE   v4l2_fourcc('S', 'T', 'A', 'E')
-/* AF stats */
-#define MSM_V4L2_PIX_FMT_STATS_AF   v4l2_fourcc('S', 'T', 'A', 'F')
-/* AWB stats */
-#define MSM_V4L2_PIX_FMT_STATS_AWB  v4l2_fourcc('S', 'T', 'W', 'B')
-/* IHIST stats */
-#define MSM_V4L2_PIX_FMT_STATS_IHST v4l2_fourcc('I', 'H', 'S', 'T')
-/* Column count stats */
-#define MSM_V4L2_PIX_FMT_STATS_CS   v4l2_fourcc('S', 'T', 'C', 'S')
-/* Row count stats */
-#define MSM_V4L2_PIX_FMT_STATS_RS   v4l2_fourcc('S', 'T', 'R', 'S')
-/* Bayer Grid stats */
-#define MSM_V4L2_PIX_FMT_STATS_BG   v4l2_fourcc('S', 'T', 'B', 'G')
-/* Bayer focus stats */
-#define MSM_V4L2_PIX_FMT_STATS_BF   v4l2_fourcc('S', 'T', 'B', 'F')
-/* Bayer hist stats */
-#define MSM_V4L2_PIX_FMT_STATS_BHST v4l2_fourcc('B', 'H', 'S', 'T')
-
-enum smmu_attach_mode {
-	NON_SECURE_MODE = 0x01,
-	SECURE_MODE = 0x02,
-	MAX_PROTECTION_MODE = 0x03,
-};
-
-struct msm_camera_smmu_attach_type {
-	enum smmu_attach_mode attach;
-};
-
-struct msm_camera_user_buf_cont_t {
-	unsigned int buf_cnt;
-	unsigned int buf_idx[MSM_CAMERA_MAX_USER_BUFF_CNT];
-};
-
-#endif /* __LINUX_MSMB_CAMERA_H */
diff --git a/third_party/linux/include/msmb_isp.h b/third_party/linux/include/msmb_isp.h
deleted file mode 100644
index 35589e050a..0000000000
--- a/third_party/linux/include/msmb_isp.h
+++ /dev/null
@@ -1,880 +0,0 @@
-#ifndef __MSMB_ISP__
-#define __MSMB_ISP__
-
-#include <linux/videodev2.h>
-
-#define MAX_PLANES_PER_STREAM 3
-#define MAX_NUM_STREAM 7
-
-#define ISP_VERSION_47        47
-#define ISP_VERSION_46        46
-#define ISP_VERSION_44        44
-#define ISP_VERSION_40        40
-#define ISP_VERSION_32        32
-#define ISP_NATIVE_BUF_BIT    (0x10000 << 0)
-#define ISP0_BIT              (0x10000 << 1)
-#define ISP1_BIT              (0x10000 << 2)
-#define ISP_META_CHANNEL_BIT  (0x10000 << 3)
-#define ISP_SCRATCH_BUF_BIT   (0x10000 << 4)
-#define ISP_OFFLINE_STATS_BIT (0x10000 << 5)
-#define ISP_STATS_STREAM_BIT  0x80000000
-
-struct msm_vfe_cfg_cmd_list;
-
-enum ISP_START_PIXEL_PATTERN {
-	ISP_BAYER_RGRGRG,
-	ISP_BAYER_GRGRGR,
-	ISP_BAYER_BGBGBG,
-	ISP_BAYER_GBGBGB,
-	ISP_YUV_YCbYCr,
-	ISP_YUV_YCrYCb,
-	ISP_YUV_CbYCrY,
-	ISP_YUV_CrYCbY,
-	ISP_PIX_PATTERN_MAX
-};
-
-enum msm_vfe_plane_fmt {
-	Y_PLANE,
-	CB_PLANE,
-	CR_PLANE,
-	CRCB_PLANE,
-	CBCR_PLANE,
-	VFE_PLANE_FMT_MAX
-};
-
-enum msm_vfe_input_src {
-	VFE_PIX_0,
-	VFE_RAW_0,
-	VFE_RAW_1,
-	VFE_RAW_2,
-	VFE_SRC_MAX,
-};
-
-enum msm_vfe_axi_stream_src {
-	PIX_ENCODER,
-	PIX_VIEWFINDER,
-	PIX_VIDEO,
-	CAMIF_RAW,
-	IDEAL_RAW,
-	RDI_INTF_0,
-	RDI_INTF_1,
-	RDI_INTF_2,
-	VFE_AXI_SRC_MAX
-};
-
-enum msm_vfe_frame_skip_pattern {
-	NO_SKIP,
-	EVERY_2FRAME,
-	EVERY_3FRAME,
-	EVERY_4FRAME,
-	EVERY_5FRAME,
-	EVERY_6FRAME,
-	EVERY_7FRAME,
-	EVERY_8FRAME,
-	EVERY_16FRAME,
-	EVERY_32FRAME,
-	SKIP_ALL,
-	SKIP_RANGE,
-	MAX_SKIP,
-};
-
-/*
- * Define an unused period. When this period is set it means that the stream is
- * stopped(i.e the pattern is 0). We don't track the current pattern, just the
- * period defines what the pattern is, if period is this then pattern is 0 else
- * pattern is 1
- */
-#define MSM_VFE_STREAM_STOP_PERIOD 15
-
-enum msm_isp_stats_type {
-	MSM_ISP_STATS_AEC,   /* legacy based AEC */
-	MSM_ISP_STATS_AF,    /* legacy based AF */
-	MSM_ISP_STATS_AWB,   /* legacy based AWB */
-	MSM_ISP_STATS_RS,    /* legacy based RS */
-	MSM_ISP_STATS_CS,    /* legacy based CS */
-	MSM_ISP_STATS_IHIST, /* legacy based HIST */
-	MSM_ISP_STATS_SKIN,  /* legacy based SKIN */
-	MSM_ISP_STATS_BG,    /* Bayer Grids */
-	MSM_ISP_STATS_BF,    /* Bayer Focus */
-	MSM_ISP_STATS_BE,    /* Bayer Exposure*/
-	MSM_ISP_STATS_BHIST, /* Bayer Hist */
-	MSM_ISP_STATS_BF_SCALE,  /* Bayer Focus scale */
-	MSM_ISP_STATS_HDR_BE,    /* HDR Bayer Exposure */
-	MSM_ISP_STATS_HDR_BHIST, /* HDR Bayer Hist */
-	MSM_ISP_STATS_AEC_BG,   /* AEC BG */
-	MSM_ISP_STATS_MAX    /* MAX */
-};
-
-/*
- * @stats_type_mask: Stats type mask (enum msm_isp_stats_type).
- * @stream_src_mask: Stream src mask (enum msm_vfe_axi_stream_src)
- * @skip_mode: skip pattern, if skip mode is range only then min/max is used
- * @min_frame_id: minimum frame id (valid only if skip_mode = RANGE)
- * @max_frame_id: maximum frame id (valid only if skip_mode = RANGE)
-*/
-struct msm_isp_sw_framskip {
-	uint32_t stats_type_mask;
-	uint32_t stream_src_mask;
-	enum msm_vfe_frame_skip_pattern skip_mode;
-	uint32_t min_frame_id;
-	uint32_t max_frame_id;
-};
-
-enum msm_vfe_testgen_color_pattern {
-	COLOR_BAR_8_COLOR,
-	UNICOLOR_WHITE,
-	UNICOLOR_YELLOW,
-	UNICOLOR_CYAN,
-	UNICOLOR_GREEN,
-	UNICOLOR_MAGENTA,
-	UNICOLOR_RED,
-	UNICOLOR_BLUE,
-	UNICOLOR_BLACK,
-	MAX_COLOR,
-};
-
-enum msm_vfe_camif_input {
-	CAMIF_DISABLED,
-	CAMIF_PAD_REG_INPUT,
-	CAMIF_MIDDI_INPUT,
-	CAMIF_MIPI_INPUT,
-};
-
-struct msm_vfe_fetch_engine_cfg {
-	uint32_t input_format;
-	uint32_t buf_width;
-	uint32_t buf_height;
-	uint32_t fetch_width;
-	uint32_t fetch_height;
-	uint32_t x_offset;
-	uint32_t y_offset;
-	uint32_t buf_stride;
-};
-
-enum msm_vfe_camif_output_format {
-	CAMIF_QCOM_RAW,
-	CAMIF_MIPI_RAW,
-	CAMIF_PLAIN_8,
-	CAMIF_PLAIN_16,
-	CAMIF_MAX_FORMAT,
-};
-
-/*
- * Camif output general configuration
- */
-struct msm_vfe_camif_subsample_cfg {
-	uint32_t irq_subsample_period;
-	uint32_t irq_subsample_pattern;
-	uint32_t sof_counter_step;
-	uint32_t pixel_skip;
-	uint32_t line_skip;
-	uint32_t first_line;
-	uint32_t last_line;
-	uint32_t first_pixel;
-	uint32_t last_pixel;
-	enum msm_vfe_camif_output_format output_format;
-};
-
-/*
- * Camif frame and window configuration
- */
-struct msm_vfe_camif_cfg {
-	uint32_t lines_per_frame;
-	uint32_t pixels_per_line;
-	uint32_t first_pixel;
-	uint32_t last_pixel;
-	uint32_t first_line;
-	uint32_t last_line;
-	uint32_t epoch_line0;
-	uint32_t epoch_line1;
-	uint32_t is_split;
-	enum msm_vfe_camif_input camif_input;
-	struct msm_vfe_camif_subsample_cfg subsample_cfg;
-};
-
-struct msm_vfe_testgen_cfg {
-	uint32_t lines_per_frame;
-	uint32_t pixels_per_line;
-	uint32_t v_blank;
-	uint32_t h_blank;
-	enum ISP_START_PIXEL_PATTERN pixel_bayer_pattern;
-	uint32_t rotate_period;
-	enum msm_vfe_testgen_color_pattern color_bar_pattern;
-	uint32_t burst_num_frame;
-};
-
-enum msm_vfe_inputmux {
-	CAMIF,
-	TESTGEN,
-	EXTERNAL_READ,
-};
-
-enum msm_vfe_stats_composite_group {
-	STATS_COMPOSITE_GRP_NONE,
-	STATS_COMPOSITE_GRP_1,
-	STATS_COMPOSITE_GRP_2,
-	STATS_COMPOSITE_GRP_MAX,
-};
-
-enum msm_vfe_hvx_streaming_cmd {
-	HVX_DISABLE,
-	HVX_ONE_WAY,
-	HVX_ROUND_TRIP
-};
-
-struct msm_vfe_pix_cfg {
-	struct msm_vfe_camif_cfg camif_cfg;
-	struct msm_vfe_testgen_cfg testgen_cfg;
-	struct msm_vfe_fetch_engine_cfg fetch_engine_cfg;
-	enum msm_vfe_inputmux input_mux;
-	enum ISP_START_PIXEL_PATTERN pixel_pattern;
-	uint32_t input_format;
-	enum msm_vfe_hvx_streaming_cmd hvx_cmd;
-	uint32_t is_split;
-};
-
-struct msm_vfe_rdi_cfg {
-	uint8_t cid;
-	uint8_t frame_based;
-};
-
-struct msm_vfe_input_cfg {
-	union {
-		struct msm_vfe_pix_cfg pix_cfg;
-		struct msm_vfe_rdi_cfg rdi_cfg;
-	} d;
-	enum msm_vfe_input_src input_src;
-	uint32_t input_pix_clk;
-};
-
-struct msm_vfe_fetch_eng_start {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t buf_idx;
-	uint8_t  offline_mode;
-	uint32_t fd;
-	uint32_t buf_addr;
-	uint32_t frame_id;
-};
-
-struct msm_vfe_axi_plane_cfg {
-	uint32_t output_width; /*Include padding*/
-	uint32_t output_height;
-	uint32_t output_stride;
-	uint32_t output_scan_lines;
-	uint32_t output_plane_format; /*Y/Cb/Cr/CbCr*/
-	uint32_t plane_addr_offset;
-	uint8_t csid_src; /*RDI 0-2*/
-	uint8_t rdi_cid;/*CID 1-16*/
-};
-
-enum msm_stream_memory_input_t {
-	MEMORY_INPUT_DISABLED,
-	MEMORY_INPUT_ENABLED
-};
-
-struct msm_vfe_axi_stream_request_cmd {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t vt_enable;
-	uint32_t output_format;/*Planar/RAW/Misc*/
-	enum msm_vfe_axi_stream_src stream_src; /*CAMIF/IDEAL/RDIs*/
-	struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM];
-
-	uint32_t burst_count;
-	uint32_t hfr_mode;
-	uint8_t frame_base;
-
-	uint32_t init_frame_drop; /*MAX 31 Frames*/
-	enum msm_vfe_frame_skip_pattern frame_skip_pattern;
-	uint8_t buf_divert; /* if TRUE no vb2 buf done. */
-	/*Return values*/
-	uint32_t axi_stream_handle;
-	uint32_t controllable_output;
-	uint32_t burst_len;
-	/* Flag indicating memory input stream */
-	enum msm_stream_memory_input_t memory_input;
-};
-
-struct msm_vfe_axi_stream_release_cmd {
-	uint32_t stream_handle;
-};
-
-enum msm_vfe_axi_stream_cmd {
-	STOP_STREAM,
-	START_STREAM,
-	STOP_IMMEDIATELY,
-};
-
-struct msm_vfe_axi_stream_cfg_cmd {
-	uint8_t num_streams;
-	uint32_t stream_handle[VFE_AXI_SRC_MAX];
-	enum msm_vfe_axi_stream_cmd cmd;
-	uint8_t sync_frame_id_src;
-};
-
-enum msm_vfe_axi_stream_update_type {
-	ENABLE_STREAM_BUF_DIVERT,
-	DISABLE_STREAM_BUF_DIVERT,
-	UPDATE_STREAM_FRAMEDROP_PATTERN,
-	UPDATE_STREAM_STATS_FRAMEDROP_PATTERN,
-	UPDATE_STREAM_AXI_CONFIG,
-	UPDATE_STREAM_REQUEST_FRAMES,
-	UPDATE_STREAM_ADD_BUFQ,
-	UPDATE_STREAM_REMOVE_BUFQ,
-	UPDATE_STREAM_SW_FRAME_DROP,
-};
-
-enum msm_vfe_iommu_type {
-	IOMMU_ATTACH,
-	IOMMU_DETACH,
-};
-
-enum msm_vfe_buff_queue_id {
-	VFE_BUF_QUEUE_DEFAULT,
-	VFE_BUF_QUEUE_SHARED,
-	VFE_BUF_QUEUE_MAX,
-};
-
-struct msm_vfe_axi_stream_cfg_update_info {
-	uint32_t stream_handle;
-	uint32_t output_format;
-	uint32_t user_stream_id;
-	uint32_t frame_id;
-	enum msm_vfe_frame_skip_pattern skip_pattern;
-	struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM];
-	struct msm_isp_sw_framskip sw_skip_info;
-};
-
-struct msm_vfe_axi_halt_cmd {
-	uint32_t stop_camif;
-	uint32_t overflow_detected;
-	uint32_t blocking_halt;
-};
-
-struct msm_vfe_axi_reset_cmd {
-	uint32_t blocking;
-	uint32_t frame_id;
-};
-
-struct msm_vfe_axi_restart_cmd {
-	uint32_t enable_camif;
-};
-
-struct msm_vfe_axi_stream_update_cmd {
-	uint32_t num_streams;
-	enum msm_vfe_axi_stream_update_type update_type;
-	struct msm_vfe_axi_stream_cfg_update_info
-					update_info[MSM_ISP_STATS_MAX];
-};
-
-struct msm_vfe_smmu_attach_cmd {
-	uint32_t security_mode;
-	uint32_t iommu_attach_mode;
-};
-
-struct msm_vfe_stats_stream_request_cmd {
-	uint32_t session_id;
-	uint32_t stream_id;
-	enum msm_isp_stats_type stats_type;
-	uint32_t composite_flag;
-	uint32_t framedrop_pattern;
-	uint32_t init_frame_drop; /*MAX 31 Frames*/
-	uint32_t irq_subsample_pattern;
-	uint32_t buffer_offset;
-	uint32_t stream_handle;
-};
-
-struct msm_vfe_stats_stream_release_cmd {
-	uint32_t stream_handle;
-};
-struct msm_vfe_stats_stream_cfg_cmd {
-	uint8_t num_streams;
-	uint32_t stream_handle[MSM_ISP_STATS_MAX];
-	uint8_t enable;
-	uint32_t stats_burst_len;
-};
-
-enum msm_vfe_reg_cfg_type {
-	VFE_WRITE,
-	VFE_WRITE_MB,
-	VFE_READ,
-	VFE_CFG_MASK,
-	VFE_WRITE_DMI_16BIT,
-	VFE_WRITE_DMI_32BIT,
-	VFE_WRITE_DMI_64BIT,
-	VFE_READ_DMI_16BIT,
-	VFE_READ_DMI_32BIT,
-	VFE_READ_DMI_64BIT,
-	GET_MAX_CLK_RATE,
-	GET_CLK_RATES,
-	GET_ISP_ID,
-	VFE_HW_UPDATE_LOCK,
-	VFE_HW_UPDATE_UNLOCK,
-	SET_WM_UB_SIZE,
-	SET_UB_POLICY,
-};
-
-struct msm_vfe_cfg_cmd2 {
-	uint16_t num_cfg;
-	uint16_t cmd_len;
-	void __user *cfg_data;
-	void __user *cfg_cmd;
-};
-
-struct msm_vfe_cfg_cmd_list {
-	struct msm_vfe_cfg_cmd2      cfg_cmd;
-	struct msm_vfe_cfg_cmd_list *next;
-	uint32_t                     next_size;
-};
-
-struct msm_vfe_reg_rw_info {
-	uint32_t reg_offset;
-	uint32_t cmd_data_offset;
-	uint32_t len;
-};
-
-struct msm_vfe_reg_mask_info {
-	uint32_t reg_offset;
-	uint32_t mask;
-	uint32_t val;
-};
-
-struct msm_vfe_reg_dmi_info {
-	uint32_t hi_tbl_offset; /*Optional*/
-	uint32_t lo_tbl_offset; /*Required*/
-	uint32_t len;
-};
-
-struct msm_vfe_reg_cfg_cmd {
-	union {
-		struct msm_vfe_reg_rw_info rw_info;
-		struct msm_vfe_reg_mask_info mask_info;
-		struct msm_vfe_reg_dmi_info dmi_info;
-	} u;
-
-	enum msm_vfe_reg_cfg_type cmd_type;
-};
-
-enum vfe_sd_type {
-	VFE_SD_0 = 0,
-	VFE_SD_1,
-	VFE_SD_COMMON,
-	VFE_SD_MAX,
-};
-
-/* When you change the value below, check for the sof event_data size.
- * V4l2 limits payload to 64 bytes */
-#define MS_NUM_SLAVE_MAX 1
-
-/* Usecases when 2 HW need to be related or synced */
-enum msm_vfe_dual_hw_type {
-	DUAL_NONE = 0,
-	DUAL_HW_VFE_SPLIT = 1,
-	DUAL_HW_MASTER_SLAVE = 2,
-};
-
-/* Type for 2 INTF when used in Master-Slave mode */
-enum msm_vfe_dual_hw_ms_type {
-	MS_TYPE_NONE,
-	MS_TYPE_MASTER,
-	MS_TYPE_SLAVE,
-};
-
-struct msm_isp_set_dual_hw_ms_cmd {
-	uint8_t num_src;
-	/* Each session can be only one type but multiple intf if YUV cam */
-	enum msm_vfe_dual_hw_ms_type dual_hw_ms_type;
-	/* Primary intf is mostly associated with preview.
-	 * This primary intf SOF frame_id and timestamp is tracked
-	 * and used to calculate delta */
-	enum msm_vfe_input_src primary_intf;
-	/* input_src array indicates other input INTF that may be Master/Slave.
-	 * For these additional intf, frame_id and timestamp are not saved.
-	 * However, if these are slaves then they will still get their
-	 * frame_id from Master */
-	enum msm_vfe_input_src input_src[VFE_SRC_MAX];
-	uint32_t sof_delta_threshold; /* In milliseconds. Sent for Master */
-};
-
-enum msm_isp_buf_type {
-	ISP_PRIVATE_BUF,
-	ISP_SHARE_BUF,
-	MAX_ISP_BUF_TYPE,
-};
-
-struct msm_isp_unmap_buf_req {
-	uint32_t fd;
-};
-
-struct msm_isp_buf_request {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint8_t num_buf;
-	uint32_t handle;
-	enum msm_isp_buf_type buf_type;
-};
-
-struct msm_isp_qbuf_plane {
-	uint32_t addr;
-	uint32_t offset;
-	uint32_t length;
-};
-
-struct msm_isp_qbuf_buffer {
-	struct msm_isp_qbuf_plane planes[MAX_PLANES_PER_STREAM];
-	uint32_t num_planes;
-};
-
-struct msm_isp_qbuf_info {
-	uint32_t handle;
-	int32_t buf_idx;
-	/*Only used for prepare buffer*/
-	struct msm_isp_qbuf_buffer buffer;
-	/*Only used for diverted buffer*/
-	uint32_t dirty_buf;
-};
-
-struct msm_isp_clk_rates {
-	uint32_t svs_rate;
-	uint32_t nominal_rate;
-	uint32_t high_rate;
-};
-
-struct msm_vfe_axi_src_state {
-	enum msm_vfe_input_src input_src;
-	uint32_t src_active;
-	uint32_t src_frame_id;
-};
-
-enum msm_isp_event_mask_index {
-	ISP_EVENT_MASK_INDEX_STATS_NOTIFY		= 0,
-	ISP_EVENT_MASK_INDEX_ERROR			= 1,
-	ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT		= 2,
-	ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE		= 3,
-	ISP_EVENT_MASK_INDEX_REG_UPDATE			= 4,
-	ISP_EVENT_MASK_INDEX_SOF			= 5,
-	ISP_EVENT_MASK_INDEX_BUF_DIVERT			= 6,
-	ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY		= 7,
-	ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE		= 8,
-	ISP_EVENT_MASK_INDEX_BUF_DONE			= 9,
-	ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING		= 10,
-	ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH		= 11,
-	ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR		= 12,
-};
-
-
-#define ISP_EVENT_SUBS_MASK_NONE			0
-
-#define ISP_EVENT_SUBS_MASK_STATS_NOTIFY \
-			(1 << ISP_EVENT_MASK_INDEX_STATS_NOTIFY)
-
-#define ISP_EVENT_SUBS_MASK_ERROR \
-			(1 << ISP_EVENT_MASK_INDEX_ERROR)
-
-#define ISP_EVENT_SUBS_MASK_IOMMU_P_FAULT \
-			(1 << ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT)
-
-#define ISP_EVENT_SUBS_MASK_STREAM_UPDATE_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE)
-
-#define ISP_EVENT_SUBS_MASK_REG_UPDATE \
-			(1 << ISP_EVENT_MASK_INDEX_REG_UPDATE)
-
-#define ISP_EVENT_SUBS_MASK_SOF \
-			(1 << ISP_EVENT_MASK_INDEX_SOF)
-
-#define ISP_EVENT_SUBS_MASK_BUF_DIVERT \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_DIVERT)
-
-#define ISP_EVENT_SUBS_MASK_COMP_STATS_NOTIFY \
-			(1 << ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY)
-
-#define ISP_EVENT_SUBS_MASK_FE_READ_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE)
-
-#define ISP_EVENT_SUBS_MASK_BUF_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_DONE)
-
-#define ISP_EVENT_SUBS_MASK_REG_UPDATE_MISSING \
-			(1 << ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING)
-
-#define ISP_EVENT_SUBS_MASK_PING_PONG_MISMATCH \
-			(1 << ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH)
-
-#define ISP_EVENT_SUBS_MASK_BUF_FATAL_ERROR \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR)
-
-enum msm_isp_event_idx {
-	ISP_REG_UPDATE        = 0,
-	ISP_EPOCH_0           = 1,
-	ISP_EPOCH_1           = 2,
-	ISP_START_ACK         = 3,
-	ISP_STOP_ACK          = 4,
-	ISP_IRQ_VIOLATION     = 5,
-	ISP_STATS_OVERFLOW    = 6,
-	ISP_BUF_DONE          = 7,
-	ISP_FE_RD_DONE        = 8,
-	ISP_IOMMU_P_FAULT     = 9,
-	ISP_ERROR             = 10,
-	ISP_HW_FATAL_ERROR      = 11,
-	ISP_PING_PONG_MISMATCH = 12,
-	ISP_REG_UPDATE_MISSING = 13,
-	ISP_BUF_FATAL_ERROR = 14,
-	ISP_EVENT_MAX         = 15
-};
-
-#define ISP_EVENT_OFFSET          8
-#define ISP_EVENT_BASE            (V4L2_EVENT_PRIVATE_START)
-#define ISP_BUF_EVENT_BASE        (ISP_EVENT_BASE + (1 << ISP_EVENT_OFFSET))
-#define ISP_STATS_EVENT_BASE      (ISP_EVENT_BASE + (2 << ISP_EVENT_OFFSET))
-#define ISP_CAMIF_EVENT_BASE      (ISP_EVENT_BASE + (3 << ISP_EVENT_OFFSET))
-#define ISP_STREAM_EVENT_BASE     (ISP_EVENT_BASE + (4 << ISP_EVENT_OFFSET))
-#define ISP_EVENT_REG_UPDATE      (ISP_EVENT_BASE + ISP_REG_UPDATE)
-#define ISP_EVENT_EPOCH_0         (ISP_EVENT_BASE + ISP_EPOCH_0)
-#define ISP_EVENT_EPOCH_1         (ISP_EVENT_BASE + ISP_EPOCH_1)
-#define ISP_EVENT_START_ACK       (ISP_EVENT_BASE + ISP_START_ACK)
-#define ISP_EVENT_STOP_ACK        (ISP_EVENT_BASE + ISP_STOP_ACK)
-#define ISP_EVENT_IRQ_VIOLATION   (ISP_EVENT_BASE + ISP_IRQ_VIOLATION)
-#define ISP_EVENT_STATS_OVERFLOW  (ISP_EVENT_BASE + ISP_STATS_OVERFLOW)
-#define ISP_EVENT_ERROR           (ISP_EVENT_BASE + ISP_ERROR)
-#define ISP_EVENT_SOF             (ISP_CAMIF_EVENT_BASE)
-#define ISP_EVENT_EOF             (ISP_CAMIF_EVENT_BASE + 1)
-#define ISP_EVENT_BUF_DONE        (ISP_EVENT_BASE + ISP_BUF_DONE)
-#define ISP_EVENT_BUF_DIVERT      (ISP_BUF_EVENT_BASE)
-#define ISP_EVENT_STATS_NOTIFY    (ISP_STATS_EVENT_BASE)
-#define ISP_EVENT_COMP_STATS_NOTIFY (ISP_EVENT_STATS_NOTIFY + MSM_ISP_STATS_MAX)
-#define ISP_EVENT_FE_READ_DONE    (ISP_EVENT_BASE + ISP_FE_RD_DONE)
-#define ISP_EVENT_IOMMU_P_FAULT   (ISP_EVENT_BASE + ISP_IOMMU_P_FAULT)
-#define ISP_EVENT_HW_FATAL_ERROR  (ISP_EVENT_BASE + ISP_HW_FATAL_ERROR)
-#define ISP_EVENT_PING_PONG_MISMATCH (ISP_EVENT_BASE + ISP_PING_PONG_MISMATCH)
-#define ISP_EVENT_REG_UPDATE_MISSING (ISP_EVENT_BASE + ISP_REG_UPDATE_MISSING)
-#define ISP_EVENT_BUF_FATAL_ERROR (ISP_EVENT_BASE + ISP_BUF_FATAL_ERROR)
-#define ISP_EVENT_STREAM_UPDATE_DONE   (ISP_STREAM_EVENT_BASE)
-
-/* The msm_v4l2_event_data structure should match the
- * v4l2_event.u.data field.
- * should not exceed 64 bytes */
-
-struct msm_isp_buf_event {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-	uint32_t output_format;
-	int8_t buf_idx;
-};
-struct msm_isp_fetch_eng_event {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-	uint32_t fd;
-	int8_t buf_idx;
-	int8_t offline_mode;
-};
-struct msm_isp_stats_event {
-	uint32_t stats_mask;                        /* 4 bytes */
-	uint8_t stats_buf_idxs[MSM_ISP_STATS_MAX];  /* 11 bytes */
-};
-
-struct msm_isp_stream_ack {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-};
-
-enum msm_vfe_error_type {
-	ISP_ERROR_NONE,
-	ISP_ERROR_CAMIF,
-	ISP_ERROR_BUS_OVERFLOW,
-	ISP_ERROR_RETURN_EMPTY_BUFFER,
-	ISP_ERROR_FRAME_ID_MISMATCH,
-	ISP_ERROR_MAX,
-};
-
-struct msm_isp_error_info {
-	enum msm_vfe_error_type err_type;
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t stream_id_mask;
-};
-
-/* This structure reports delta between master and slave */
-struct msm_isp_ms_delta_info {
-	uint8_t num_delta_info;
-	uint32_t delta[MS_NUM_SLAVE_MAX];
-};
-
-/* This is sent in EPOCH irq */
-struct msm_isp_output_info {
-	uint8_t regs_not_updated;
-	/* mask with bufq_handle for regs not updated or return empty */
-	uint16_t output_err_mask;
-	/* mask with stream_idx for get_buf failed */
-	uint8_t stream_framedrop_mask;
-	/* mask with stats stream_idx for get_buf failed */
-	uint16_t stats_framedrop_mask;
-	/* delta between master and slave */
-};
-
-/* This structure is piggybacked with SOF event */
-struct msm_isp_sof_info {
-	uint8_t regs_not_updated;
-	/* mask with AXI_SRC for regs not updated */
-	uint16_t reg_update_fail_mask;
-	/* mask with bufq_handle for get_buf failed */
-	uint32_t stream_get_buf_fail_mask;
-	/* mask with stats stream_idx for get_buf failed */
-	uint16_t stats_get_buf_fail_mask;
-	/* delta between master and slave */
-	struct msm_isp_ms_delta_info ms_delta_info;
-};
-
-struct msm_isp_event_data {
-	/*Wall clock except for buffer divert events
-	 *which use monotonic clock
-	 */
-	struct timeval timestamp;
-	/* Monotonic timestamp since bootup */
-	struct timeval mono_timestamp;
-	uint32_t frame_id;
-	union {
-		/* Sent for Stats_Done event */
-		struct msm_isp_stats_event stats;
-		/* Sent for Buf_Divert event */
-		struct msm_isp_buf_event buf_done;
-		/* Sent for offline fetch done event */
-		struct msm_isp_fetch_eng_event fetch_done;
-		/* Sent for Error_Event */
-		struct msm_isp_error_info error_info;
-		/*
-		 * This struct needs to be removed once
-		 * userspace switches to sof_info
-		 */
-		struct msm_isp_output_info output_info;
-		/* Sent for SOF event */
-		struct msm_isp_sof_info sof_info;
-	} u; /* union can have max 52 bytes */
-};
-
-#ifdef CONFIG_COMPAT
-struct msm_isp_event_data32 {
-	struct compat_timeval timestamp;
-	struct compat_timeval mono_timestamp;
-	uint32_t frame_id;
-	union {
-		struct msm_isp_stats_event stats;
-		struct msm_isp_buf_event buf_done;
-		struct msm_isp_fetch_eng_event fetch_done;
-		struct msm_isp_error_info error_info;
-		struct msm_isp_output_info output_info;
-		struct msm_isp_sof_info sof_info;
-	} u;
-};
-#endif
-
-#define V4L2_PIX_FMT_QBGGR8  v4l2_fourcc('Q', 'B', 'G', '8')
-#define V4L2_PIX_FMT_QGBRG8  v4l2_fourcc('Q', 'G', 'B', '8')
-#define V4L2_PIX_FMT_QGRBG8  v4l2_fourcc('Q', 'G', 'R', '8')
-#define V4L2_PIX_FMT_QRGGB8  v4l2_fourcc('Q', 'R', 'G', '8')
-#define V4L2_PIX_FMT_QBGGR10 v4l2_fourcc('Q', 'B', 'G', '0')
-#define V4L2_PIX_FMT_QGBRG10 v4l2_fourcc('Q', 'G', 'B', '0')
-#define V4L2_PIX_FMT_QGRBG10 v4l2_fourcc('Q', 'G', 'R', '0')
-#define V4L2_PIX_FMT_QRGGB10 v4l2_fourcc('Q', 'R', 'G', '0')
-#define V4L2_PIX_FMT_QBGGR12 v4l2_fourcc('Q', 'B', 'G', '2')
-#define V4L2_PIX_FMT_QGBRG12 v4l2_fourcc('Q', 'G', 'B', '2')
-#define V4L2_PIX_FMT_QGRBG12 v4l2_fourcc('Q', 'G', 'R', '2')
-#define V4L2_PIX_FMT_QRGGB12 v4l2_fourcc('Q', 'R', 'G', '2')
-#define V4L2_PIX_FMT_QBGGR14 v4l2_fourcc('Q', 'B', 'G', '4')
-#define V4L2_PIX_FMT_QGBRG14 v4l2_fourcc('Q', 'G', 'B', '4')
-#define V4L2_PIX_FMT_QGRBG14 v4l2_fourcc('Q', 'G', 'R', '4')
-#define V4L2_PIX_FMT_QRGGB14 v4l2_fourcc('Q', 'R', 'G', '4')
-#define V4L2_PIX_FMT_P16BGGR10 v4l2_fourcc('P', 'B', 'G', '0')
-#define V4L2_PIX_FMT_P16GBRG10 v4l2_fourcc('P', 'G', 'B', '0')
-#define V4L2_PIX_FMT_P16GRBG10 v4l2_fourcc('P', 'G', 'R', '0')
-#define V4L2_PIX_FMT_P16RGGB10 v4l2_fourcc('P', 'R', 'G', '0')
-#define V4L2_PIX_FMT_NV14 v4l2_fourcc('N', 'V', '1', '4')
-#define V4L2_PIX_FMT_NV41 v4l2_fourcc('N', 'V', '4', '1')
-#define V4L2_PIX_FMT_META v4l2_fourcc('Q', 'M', 'E', 'T')
-#define V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4') /* 14 BGBG.GRGR.*/
-#define V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4') /* 14 GBGB.RGRG.*/
-#define V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4') /* 14 GRGR.BGBG.*/
-#define V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4') /* 14 RGRG.GBGB.*/
-
-#define VIDIOC_MSM_VFE_REG_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct msm_vfe_cfg_cmd2)
-
-#define VIDIOC_MSM_ISP_REQUEST_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+1, struct msm_isp_buf_request)
-
-#define VIDIOC_MSM_ISP_ENQUEUE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+2, struct msm_isp_qbuf_info)
-
-#define VIDIOC_MSM_ISP_RELEASE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+3, struct msm_isp_buf_request)
-
-#define VIDIOC_MSM_ISP_REQUEST_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+4, struct msm_vfe_axi_stream_request_cmd)
-
-#define VIDIOC_MSM_ISP_CFG_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+5, struct msm_vfe_axi_stream_cfg_cmd)
-
-#define VIDIOC_MSM_ISP_RELEASE_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+6, struct msm_vfe_axi_stream_release_cmd)
-
-#define VIDIOC_MSM_ISP_INPUT_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+7, struct msm_vfe_input_cfg)
-
-#define VIDIOC_MSM_ISP_SET_SRC_STATE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+8, struct msm_vfe_axi_src_state)
-
-#define VIDIOC_MSM_ISP_REQUEST_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+9, \
-	struct msm_vfe_stats_stream_request_cmd)
-
-#define VIDIOC_MSM_ISP_CFG_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+10, struct msm_vfe_stats_stream_cfg_cmd)
-
-#define VIDIOC_MSM_ISP_RELEASE_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+11, \
-	struct msm_vfe_stats_stream_release_cmd)
-
-#define VIDIOC_MSM_ISP_REG_UPDATE_CMD \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+12, enum msm_vfe_input_src)
-
-#define VIDIOC_MSM_ISP_UPDATE_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+13, struct msm_vfe_axi_stream_update_cmd)
-
-#define VIDIOC_MSM_VFE_REG_LIST_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+14, struct msm_vfe_cfg_cmd_list)
-
-#define VIDIOC_MSM_ISP_SMMU_ATTACH \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+15, struct msm_vfe_smmu_attach_cmd)
-
-#define VIDIOC_MSM_ISP_UPDATE_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+16, struct msm_vfe_axi_stream_update_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_HALT \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+17, struct msm_vfe_axi_halt_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_RESET \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+18, struct msm_vfe_axi_reset_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_RESTART \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+19, struct msm_vfe_axi_restart_cmd)
-
-#define VIDIOC_MSM_ISP_FETCH_ENG_START \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+20, struct msm_vfe_fetch_eng_start)
-
-#define VIDIOC_MSM_ISP_DEQUEUE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+21, struct msm_isp_qbuf_info)
-
-#define VIDIOC_MSM_ISP_SET_DUAL_HW_MASTER_SLAVE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+22, struct msm_isp_set_dual_hw_ms_cmd)
-
-#define VIDIOC_MSM_ISP_MAP_BUF_START_FE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+23, struct msm_vfe_fetch_eng_start)
-
-#define VIDIOC_MSM_ISP_UNMAP_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+24, struct msm_isp_unmap_buf_req)
-
-#endif /* __MSMB_ISP__ */
diff --git a/third_party/linux/include/msmb_ispif.h b/third_party/linux/include/msmb_ispif.h
deleted file mode 100644
index 2564c33b7b..0000000000
--- a/third_party/linux/include/msmb_ispif.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#ifndef MSM_CAM_ISPIF_H
-#define MSM_CAM_ISPIF_H
-
-#define CSID_VERSION_V20                      0x02000011
-#define CSID_VERSION_V22                      0x02001000
-#define CSID_VERSION_V30                      0x30000000
-#define CSID_VERSION_V3                      0x30000000
-
-enum msm_ispif_vfe_intf {
-	VFE0,
-	VFE1,
-	VFE_MAX
-};
-#define VFE0_MASK    (1 << VFE0)
-#define VFE1_MASK    (1 << VFE1)
-
-enum msm_ispif_intftype {
-	PIX0,
-	RDI0,
-	PIX1,
-	RDI1,
-	RDI2,
-	INTF_MAX
-};
-#define MAX_PARAM_ENTRIES (INTF_MAX * 2)
-#define MAX_CID_CH	8
-
-#define PIX0_MASK (1 << PIX0)
-#define PIX1_MASK (1 << PIX1)
-#define RDI0_MASK (1 << RDI0)
-#define RDI1_MASK (1 << RDI1)
-#define RDI2_MASK (1 << RDI2)
-
-
-enum msm_ispif_vc {
-	VC0,
-	VC1,
-	VC2,
-	VC3,
-	VC_MAX
-};
-
-enum msm_ispif_cid {
-	CID0,
-	CID1,
-	CID2,
-	CID3,
-	CID4,
-	CID5,
-	CID6,
-	CID7,
-	CID8,
-	CID9,
-	CID10,
-	CID11,
-	CID12,
-	CID13,
-	CID14,
-	CID15,
-	CID_MAX
-};
-
-enum msm_ispif_csid {
-	CSID0,
-	CSID1,
-	CSID2,
-	CSID3,
-	CSID_MAX
-};
-
-struct msm_ispif_params_entry {
-	enum msm_ispif_vfe_intf vfe_intf;
-	enum msm_ispif_intftype intftype;
-	int num_cids;
-	enum msm_ispif_cid cids[3];
-	enum msm_ispif_csid csid;
-	int crop_enable;
-	uint16_t crop_start_pixel;
-	uint16_t crop_end_pixel;
-};
-
-struct msm_ispif_param_data {
-	uint32_t num;
-	struct msm_ispif_params_entry entries[MAX_PARAM_ENTRIES];
-};
-
-struct msm_isp_info {
-	uint32_t max_resolution;
-	uint32_t id;
-	uint32_t ver;
-};
-
-struct msm_ispif_vfe_info {
-	int num_vfe;
-	struct msm_isp_info info[VFE_MAX];
-};
-
-enum ispif_cfg_type_t {
-	ISPIF_CLK_ENABLE,
-	ISPIF_CLK_DISABLE,
-	ISPIF_INIT,
-	ISPIF_CFG,
-	ISPIF_START_FRAME_BOUNDARY,
-	ISPIF_RESTART_FRAME_BOUNDARY,
-	ISPIF_STOP_FRAME_BOUNDARY,
-	ISPIF_STOP_IMMEDIATELY,
-	ISPIF_RELEASE,
-	ISPIF_ENABLE_REG_DUMP,
-	ISPIF_SET_VFE_INFO,
-};
-
-struct ispif_cfg_data {
-	enum ispif_cfg_type_t cfg_type;
-	union {
-		int reg_dump;                        /* ISPIF_ENABLE_REG_DUMP */
-		uint32_t csid_version;               /* ISPIF_INIT */
-		struct msm_ispif_vfe_info vfe_info;  /* ISPIF_SET_VFE_INFO */
-		struct msm_ispif_param_data params;  /* CFG, START, STOP */
-	};
-};
-
-#define VIDIOC_MSM_ISPIF_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct ispif_cfg_data)
-
-#endif /* MSM_CAM_ISPIF_H */
diff --git a/third_party/linux/include/v4l2-controls.h b/third_party/linux/include/v4l2-controls.h
deleted file mode 100644
index d14cd8fabe..0000000000
--- a/third_party/linux/include/v4l2-controls.h
+++ /dev/null
@@ -1,1696 +0,0 @@
-/*
- *  Video for Linux Two controls header file
- *
- *  Copyright (C) 1999-2012 the contributors
- *
- *  This program is free software; you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation; either version 2 of the License, or
- *  (at your option) any later version.
- *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  Alternatively you can redistribute this file under the terms of the
- *  BSD license as stated below:
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in
- *     the documentation and/or other materials provided with the
- *     distribution.
- *  3. The names of its contributors may not be used to endorse or promote
- *     products derived from this software without specific prior written
- *     permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- *  TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- *  PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
- *  LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
- *  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- *  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- *  The contents of this header was split off from videodev2.h. All control
- *  definitions should be added to this header, which is included by
- *  videodev2.h.
- */
-
-#ifndef __LINUX_V4L2_CONTROLS_H
-#define __LINUX_V4L2_CONTROLS_H
-
-/* Control classes */
-#define V4L2_CTRL_CLASS_USER		0x00980000	/* Old-style 'user' controls */
-#define V4L2_CTRL_CLASS_MPEG		0x00990000	/* MPEG-compression controls */
-#define V4L2_CTRL_CLASS_CAMERA		0x009a0000	/* Camera class controls */
-#define V4L2_CTRL_CLASS_FM_TX		0x009b0000	/* FM Modulator controls */
-#define V4L2_CTRL_CLASS_FLASH		0x009c0000	/* Camera flash controls */
-#define V4L2_CTRL_CLASS_JPEG		0x009d0000	/* JPEG-compression controls */
-#define V4L2_CTRL_CLASS_IMAGE_SOURCE	0x009e0000	/* Image source controls */
-#define V4L2_CTRL_CLASS_IMAGE_PROC	0x009f0000	/* Image processing controls */
-#define V4L2_CTRL_CLASS_DV		0x00a00000	/* Digital Video controls */
-#define V4L2_CTRL_CLASS_FM_RX		0x00a10000	/* FM Receiver controls */
-#define V4L2_CTRL_CLASS_RF_TUNER	0x00a20000	/* RF tuner controls */
-#define V4L2_CTRL_CLASS_DETECT		0x00a30000	/* Detection controls */
-
-/* User-class control IDs */
-
-#define V4L2_CID_BASE			(V4L2_CTRL_CLASS_USER | 0x900)
-#define V4L2_CID_USER_BASE 		V4L2_CID_BASE
-#define V4L2_CID_USER_CLASS 		(V4L2_CTRL_CLASS_USER | 1)
-#define V4L2_CID_BRIGHTNESS		(V4L2_CID_BASE+0)
-#define V4L2_CID_CONTRAST		(V4L2_CID_BASE+1)
-#define V4L2_CID_SATURATION		(V4L2_CID_BASE+2)
-#define V4L2_CID_HUE			(V4L2_CID_BASE+3)
-#define V4L2_CID_AUDIO_VOLUME		(V4L2_CID_BASE+5)
-#define V4L2_CID_AUDIO_BALANCE		(V4L2_CID_BASE+6)
-#define V4L2_CID_AUDIO_BASS		(V4L2_CID_BASE+7)
-#define V4L2_CID_AUDIO_TREBLE		(V4L2_CID_BASE+8)
-#define V4L2_CID_AUDIO_MUTE		(V4L2_CID_BASE+9)
-#define V4L2_CID_AUDIO_LOUDNESS		(V4L2_CID_BASE+10)
-#define V4L2_CID_BLACK_LEVEL		(V4L2_CID_BASE+11) /* Deprecated */
-#define V4L2_CID_AUTO_WHITE_BALANCE	(V4L2_CID_BASE+12)
-#define V4L2_CID_DO_WHITE_BALANCE	(V4L2_CID_BASE+13)
-#define V4L2_CID_RED_BALANCE		(V4L2_CID_BASE+14)
-#define V4L2_CID_BLUE_BALANCE		(V4L2_CID_BASE+15)
-#define V4L2_CID_GAMMA			(V4L2_CID_BASE+16)
-#define V4L2_CID_WHITENESS		(V4L2_CID_GAMMA) /* Deprecated */
-#define V4L2_CID_EXPOSURE		(V4L2_CID_BASE+17)
-#define V4L2_CID_AUTOGAIN		(V4L2_CID_BASE+18)
-#define V4L2_CID_GAIN			(V4L2_CID_BASE+19)
-#define V4L2_CID_HFLIP			(V4L2_CID_BASE+20)
-#define V4L2_CID_VFLIP			(V4L2_CID_BASE+21)
-
-#define V4L2_CID_POWER_LINE_FREQUENCY	(V4L2_CID_BASE+24)
-enum v4l2_power_line_frequency {
-	V4L2_CID_POWER_LINE_FREQUENCY_DISABLED	= 0,
-	V4L2_CID_POWER_LINE_FREQUENCY_50HZ	= 1,
-	V4L2_CID_POWER_LINE_FREQUENCY_60HZ	= 2,
-	V4L2_CID_POWER_LINE_FREQUENCY_AUTO	= 3,
-};
-#define V4L2_CID_HUE_AUTO			(V4L2_CID_BASE+25)
-#define V4L2_CID_WHITE_BALANCE_TEMPERATURE	(V4L2_CID_BASE+26)
-#define V4L2_CID_SHARPNESS			(V4L2_CID_BASE+27)
-#define V4L2_CID_BACKLIGHT_COMPENSATION 	(V4L2_CID_BASE+28)
-#define V4L2_CID_CHROMA_AGC                     (V4L2_CID_BASE+29)
-#define V4L2_CID_COLOR_KILLER                   (V4L2_CID_BASE+30)
-#define V4L2_CID_COLORFX			(V4L2_CID_BASE+31)
-enum v4l2_colorfx {
-	V4L2_COLORFX_NONE			= 0,
-	V4L2_COLORFX_BW				= 1,
-	V4L2_COLORFX_SEPIA			= 2,
-	V4L2_COLORFX_NEGATIVE			= 3,
-	V4L2_COLORFX_EMBOSS			= 4,
-	V4L2_COLORFX_SKETCH			= 5,
-	V4L2_COLORFX_SKY_BLUE			= 6,
-	V4L2_COLORFX_GRASS_GREEN		= 7,
-	V4L2_COLORFX_SKIN_WHITEN		= 8,
-	V4L2_COLORFX_VIVID			= 9,
-	V4L2_COLORFX_AQUA			= 10,
-	V4L2_COLORFX_ART_FREEZE			= 11,
-	V4L2_COLORFX_SILHOUETTE			= 12,
-	V4L2_COLORFX_SOLARIZATION		= 13,
-	V4L2_COLORFX_ANTIQUE			= 14,
-	V4L2_COLORFX_SET_CBCR			= 15,
-};
-#define V4L2_CID_AUTOBRIGHTNESS			(V4L2_CID_BASE+32)
-#define V4L2_CID_BAND_STOP_FILTER		(V4L2_CID_BASE+33)
-
-#define V4L2_CID_ROTATE				(V4L2_CID_BASE+34)
-#define V4L2_CID_BG_COLOR			(V4L2_CID_BASE+35)
-
-#define V4L2_CID_CHROMA_GAIN                    (V4L2_CID_BASE+36)
-
-#define V4L2_CID_ILLUMINATORS_1			(V4L2_CID_BASE+37)
-#define V4L2_CID_ILLUMINATORS_2			(V4L2_CID_BASE+38)
-
-#define V4L2_CID_MIN_BUFFERS_FOR_CAPTURE	(V4L2_CID_BASE+39)
-#define V4L2_CID_MIN_BUFFERS_FOR_OUTPUT		(V4L2_CID_BASE+40)
-
-#define V4L2_CID_ALPHA_COMPONENT		(V4L2_CID_BASE+41)
-#define V4L2_CID_COLORFX_CBCR			(V4L2_CID_BASE+42)
-
-/* last CID + 1 */
-#define V4L2_CID_LASTP1                         (V4L2_CID_BASE+43)
-
-/* USER-class private control IDs */
-
-/* The base for the meye driver controls. See linux/meye.h for the list
- * of controls. We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_MEYE_BASE			(V4L2_CID_USER_BASE + 0x1000)
-
-/* The base for the bttv driver controls.
- * We reserve 32 controls for this driver. */
-#define V4L2_CID_USER_BTTV_BASE			(V4L2_CID_USER_BASE + 0x1010)
-
-
-/* The base for the s2255 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_S2255_BASE		(V4L2_CID_USER_BASE + 0x1030)
-
-/*
- * The base for the si476x driver controls. See include/media/drv-intf/si476x.h
- * for the list of controls. Total of 16 controls is reserved for this driver
- */
-#define V4L2_CID_USER_SI476X_BASE		(V4L2_CID_USER_BASE + 0x1040)
-
-/* The base for the TI VPE driver controls. Total of 16 controls is reserved for
- * this driver */
-#define V4L2_CID_USER_TI_VPE_BASE		(V4L2_CID_USER_BASE + 0x1050)
-
-/* The base for the saa7134 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_SAA7134_BASE		(V4L2_CID_USER_BASE + 0x1060)
-
-/* The base for the adv7180 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_ADV7180_BASE		(V4L2_CID_USER_BASE + 0x1070)
-
-/* The base for the tc358743 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_TC358743_BASE		(V4L2_CID_USER_BASE + 0x1080)
-
-/* MPEG-class control IDs */
-/* The MPEG controls are applicable to all codec controls
- * and the 'MPEG' part of the define is historical */
-
-#define V4L2_CID_MPEG_BASE 			(V4L2_CTRL_CLASS_MPEG | 0x900)
-#define V4L2_CID_MPEG_CLASS 			(V4L2_CTRL_CLASS_MPEG | 1)
-
-/*  MPEG streams, specific to multiplexed streams */
-#define V4L2_CID_MPEG_STREAM_TYPE 		(V4L2_CID_MPEG_BASE+0)
-enum v4l2_mpeg_stream_type {
-	V4L2_MPEG_STREAM_TYPE_MPEG2_PS   = 0, /* MPEG-2 program stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_TS   = 1, /* MPEG-2 transport stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG1_SS   = 2, /* MPEG-1 system stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_DVD  = 3, /* MPEG-2 DVD-compatible stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG1_VCD  = 4, /* MPEG-1 VCD-compatible stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_SVCD = 5, /* MPEG-2 SVCD-compatible stream */
-};
-#define V4L2_CID_MPEG_STREAM_PID_PMT 		(V4L2_CID_MPEG_BASE+1)
-#define V4L2_CID_MPEG_STREAM_PID_AUDIO 		(V4L2_CID_MPEG_BASE+2)
-#define V4L2_CID_MPEG_STREAM_PID_VIDEO 		(V4L2_CID_MPEG_BASE+3)
-#define V4L2_CID_MPEG_STREAM_PID_PCR 		(V4L2_CID_MPEG_BASE+4)
-#define V4L2_CID_MPEG_STREAM_PES_ID_AUDIO 	(V4L2_CID_MPEG_BASE+5)
-#define V4L2_CID_MPEG_STREAM_PES_ID_VIDEO 	(V4L2_CID_MPEG_BASE+6)
-#define V4L2_CID_MPEG_STREAM_VBI_FMT 		(V4L2_CID_MPEG_BASE+7)
-enum v4l2_mpeg_stream_vbi_fmt {
-	V4L2_MPEG_STREAM_VBI_FMT_NONE = 0,  /* No VBI in the MPEG stream */
-	V4L2_MPEG_STREAM_VBI_FMT_IVTV = 1,  /* VBI in private packets, IVTV format */
-};
-
-/*  MPEG audio controls specific to multiplexed streams  */
-#define V4L2_CID_MPEG_AUDIO_SAMPLING_FREQ 	(V4L2_CID_MPEG_BASE+100)
-enum v4l2_mpeg_audio_sampling_freq {
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_44100 = 0,
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_48000 = 1,
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_32000 = 2,
-};
-#define V4L2_CID_MPEG_AUDIO_ENCODING 		(V4L2_CID_MPEG_BASE+101)
-enum v4l2_mpeg_audio_encoding {
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_1 = 0,
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_2 = 1,
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_3 = 2,
-	V4L2_MPEG_AUDIO_ENCODING_AAC     = 3,
-	V4L2_MPEG_AUDIO_ENCODING_AC3     = 4,
-};
-#define V4L2_CID_MPEG_AUDIO_L1_BITRATE 		(V4L2_CID_MPEG_BASE+102)
-enum v4l2_mpeg_audio_l1_bitrate {
-	V4L2_MPEG_AUDIO_L1_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L1_BITRATE_64K  = 1,
-	V4L2_MPEG_AUDIO_L1_BITRATE_96K  = 2,
-	V4L2_MPEG_AUDIO_L1_BITRATE_128K = 3,
-	V4L2_MPEG_AUDIO_L1_BITRATE_160K = 4,
-	V4L2_MPEG_AUDIO_L1_BITRATE_192K = 5,
-	V4L2_MPEG_AUDIO_L1_BITRATE_224K = 6,
-	V4L2_MPEG_AUDIO_L1_BITRATE_256K = 7,
-	V4L2_MPEG_AUDIO_L1_BITRATE_288K = 8,
-	V4L2_MPEG_AUDIO_L1_BITRATE_320K = 9,
-	V4L2_MPEG_AUDIO_L1_BITRATE_352K = 10,
-	V4L2_MPEG_AUDIO_L1_BITRATE_384K = 11,
-	V4L2_MPEG_AUDIO_L1_BITRATE_416K = 12,
-	V4L2_MPEG_AUDIO_L1_BITRATE_448K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_L2_BITRATE 		(V4L2_CID_MPEG_BASE+103)
-enum v4l2_mpeg_audio_l2_bitrate {
-	V4L2_MPEG_AUDIO_L2_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L2_BITRATE_48K  = 1,
-	V4L2_MPEG_AUDIO_L2_BITRATE_56K  = 2,
-	V4L2_MPEG_AUDIO_L2_BITRATE_64K  = 3,
-	V4L2_MPEG_AUDIO_L2_BITRATE_80K  = 4,
-	V4L2_MPEG_AUDIO_L2_BITRATE_96K  = 5,
-	V4L2_MPEG_AUDIO_L2_BITRATE_112K = 6,
-	V4L2_MPEG_AUDIO_L2_BITRATE_128K = 7,
-	V4L2_MPEG_AUDIO_L2_BITRATE_160K = 8,
-	V4L2_MPEG_AUDIO_L2_BITRATE_192K = 9,
-	V4L2_MPEG_AUDIO_L2_BITRATE_224K = 10,
-	V4L2_MPEG_AUDIO_L2_BITRATE_256K = 11,
-	V4L2_MPEG_AUDIO_L2_BITRATE_320K = 12,
-	V4L2_MPEG_AUDIO_L2_BITRATE_384K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_L3_BITRATE 		(V4L2_CID_MPEG_BASE+104)
-enum v4l2_mpeg_audio_l3_bitrate {
-	V4L2_MPEG_AUDIO_L3_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L3_BITRATE_40K  = 1,
-	V4L2_MPEG_AUDIO_L3_BITRATE_48K  = 2,
-	V4L2_MPEG_AUDIO_L3_BITRATE_56K  = 3,
-	V4L2_MPEG_AUDIO_L3_BITRATE_64K  = 4,
-	V4L2_MPEG_AUDIO_L3_BITRATE_80K  = 5,
-	V4L2_MPEG_AUDIO_L3_BITRATE_96K  = 6,
-	V4L2_MPEG_AUDIO_L3_BITRATE_112K = 7,
-	V4L2_MPEG_AUDIO_L3_BITRATE_128K = 8,
-	V4L2_MPEG_AUDIO_L3_BITRATE_160K = 9,
-	V4L2_MPEG_AUDIO_L3_BITRATE_192K = 10,
-	V4L2_MPEG_AUDIO_L3_BITRATE_224K = 11,
-	V4L2_MPEG_AUDIO_L3_BITRATE_256K = 12,
-	V4L2_MPEG_AUDIO_L3_BITRATE_320K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_MODE 		(V4L2_CID_MPEG_BASE+105)
-enum v4l2_mpeg_audio_mode {
-	V4L2_MPEG_AUDIO_MODE_STEREO       = 0,
-	V4L2_MPEG_AUDIO_MODE_JOINT_STEREO = 1,
-	V4L2_MPEG_AUDIO_MODE_DUAL         = 2,
-	V4L2_MPEG_AUDIO_MODE_MONO         = 3,
-};
-#define V4L2_CID_MPEG_AUDIO_MODE_EXTENSION 	(V4L2_CID_MPEG_BASE+106)
-enum v4l2_mpeg_audio_mode_extension {
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_4  = 0,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_8  = 1,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_12 = 2,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_16 = 3,
-};
-#define V4L2_CID_MPEG_AUDIO_EMPHASIS 		(V4L2_CID_MPEG_BASE+107)
-enum v4l2_mpeg_audio_emphasis {
-	V4L2_MPEG_AUDIO_EMPHASIS_NONE         = 0,
-	V4L2_MPEG_AUDIO_EMPHASIS_50_DIV_15_uS = 1,
-	V4L2_MPEG_AUDIO_EMPHASIS_CCITT_J17    = 2,
-};
-#define V4L2_CID_MPEG_AUDIO_CRC 		(V4L2_CID_MPEG_BASE+108)
-enum v4l2_mpeg_audio_crc {
-	V4L2_MPEG_AUDIO_CRC_NONE  = 0,
-	V4L2_MPEG_AUDIO_CRC_CRC16 = 1,
-};
-#define V4L2_CID_MPEG_AUDIO_MUTE 		(V4L2_CID_MPEG_BASE+109)
-#define V4L2_CID_MPEG_AUDIO_AAC_BITRATE		(V4L2_CID_MPEG_BASE+110)
-#define V4L2_CID_MPEG_AUDIO_AC3_BITRATE		(V4L2_CID_MPEG_BASE+111)
-enum v4l2_mpeg_audio_ac3_bitrate {
-	V4L2_MPEG_AUDIO_AC3_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_40K  = 1,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_48K  = 2,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_56K  = 3,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_64K  = 4,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_80K  = 5,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_96K  = 6,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_112K = 7,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_128K = 8,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_160K = 9,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_192K = 10,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_224K = 11,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_256K = 12,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_320K = 13,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_384K = 14,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_448K = 15,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_512K = 16,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_576K = 17,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_640K = 18,
-};
-#define V4L2_CID_MPEG_AUDIO_DEC_PLAYBACK	(V4L2_CID_MPEG_BASE+112)
-enum v4l2_mpeg_audio_dec_playback {
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_AUTO	    = 0,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_STEREO	    = 1,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_LEFT	    = 2,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_RIGHT	    = 3,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_MONO	    = 4,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_SWAPPED_STEREO = 5,
-};
-#define V4L2_CID_MPEG_AUDIO_DEC_MULTILINGUAL_PLAYBACK (V4L2_CID_MPEG_BASE+113)
-
-/*  MPEG video controls specific to multiplexed streams */
-#define V4L2_CID_MPEG_VIDEO_ENCODING 		(V4L2_CID_MPEG_BASE+200)
-enum v4l2_mpeg_video_encoding {
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_1     = 0,
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_2     = 1,
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_4_AVC = 2,
-};
-#define V4L2_CID_MPEG_VIDEO_ASPECT 		(V4L2_CID_MPEG_BASE+201)
-enum v4l2_mpeg_video_aspect {
-	V4L2_MPEG_VIDEO_ASPECT_1x1     = 0,
-	V4L2_MPEG_VIDEO_ASPECT_4x3     = 1,
-	V4L2_MPEG_VIDEO_ASPECT_16x9    = 2,
-	V4L2_MPEG_VIDEO_ASPECT_221x100 = 3,
-};
-#define V4L2_CID_MPEG_VIDEO_B_FRAMES 		(V4L2_CID_MPEG_BASE+202)
-#define V4L2_CID_MPEG_VIDEO_GOP_SIZE 		(V4L2_CID_MPEG_BASE+203)
-#define V4L2_CID_MPEG_VIDEO_GOP_CLOSURE 	(V4L2_CID_MPEG_BASE+204)
-#define V4L2_CID_MPEG_VIDEO_PULLDOWN 		(V4L2_CID_MPEG_BASE+205)
-#define V4L2_CID_MPEG_VIDEO_BITRATE_MODE 	(V4L2_CID_MPEG_BASE+206)
-enum v4l2_mpeg_video_bitrate_mode {
-	V4L2_MPEG_VIDEO_BITRATE_MODE_VBR = 0,
-	V4L2_MPEG_VIDEO_BITRATE_MODE_CBR = 1,
-};
-#define V4L2_CID_MPEG_VIDEO_BITRATE 		(V4L2_CID_MPEG_BASE+207)
-#define V4L2_CID_MPEG_VIDEO_BITRATE_PEAK 	(V4L2_CID_MPEG_BASE+208)
-#define V4L2_CID_MPEG_VIDEO_TEMPORAL_DECIMATION (V4L2_CID_MPEG_BASE+209)
-#define V4L2_CID_MPEG_VIDEO_MUTE 		(V4L2_CID_MPEG_BASE+210)
-#define V4L2_CID_MPEG_VIDEO_MUTE_YUV 		(V4L2_CID_MPEG_BASE+211)
-#define V4L2_CID_MPEG_VIDEO_DECODER_SLICE_INTERFACE		(V4L2_CID_MPEG_BASE+212)
-#define V4L2_CID_MPEG_VIDEO_DECODER_MPEG4_DEBLOCK_FILTER	(V4L2_CID_MPEG_BASE+213)
-#define V4L2_CID_MPEG_VIDEO_CYCLIC_INTRA_REFRESH_MB		(V4L2_CID_MPEG_BASE+214)
-#define V4L2_CID_MPEG_VIDEO_FRAME_RC_ENABLE			(V4L2_CID_MPEG_BASE+215)
-#define V4L2_CID_MPEG_VIDEO_HEADER_MODE				(V4L2_CID_MPEG_BASE+216)
-enum v4l2_mpeg_video_header_mode {
-	V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE			= 0,
-	V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_1ST_FRAME	= 1,
-	V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_I_FRAME		= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_MAX_REF_PIC			(V4L2_CID_MPEG_BASE+217)
-#define V4L2_CID_MPEG_VIDEO_MB_RC_ENABLE		(V4L2_CID_MPEG_BASE+218)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_BYTES	(V4L2_CID_MPEG_BASE+219)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_MB		(V4L2_CID_MPEG_BASE+220)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE		(V4L2_CID_MPEG_BASE+221)
-enum v4l2_mpeg_video_multi_slice_mode {
-	V4L2_MPEG_VIDEO_MULTI_SLICE_MODE_SINGLE		= 0,
-	V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_MB		= 1,
-	V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_BYTES	= 2,
-	V4L2_MPEG_VIDEO_MULTI_SLICE_GOB			= 3,
-};
-#define V4L2_CID_MPEG_VIDEO_VBV_SIZE			(V4L2_CID_MPEG_BASE+222)
-#define V4L2_CID_MPEG_VIDEO_DEC_PTS			(V4L2_CID_MPEG_BASE+223)
-#define V4L2_CID_MPEG_VIDEO_DEC_FRAME			(V4L2_CID_MPEG_BASE+224)
-#define V4L2_CID_MPEG_VIDEO_VBV_DELAY			(V4L2_CID_MPEG_BASE+225)
-#define V4L2_CID_MPEG_VIDEO_REPEAT_SEQ_HEADER		(V4L2_CID_MPEG_BASE+226)
-#define V4L2_CID_MPEG_VIDEO_MV_H_SEARCH_RANGE		(V4L2_CID_MPEG_BASE+227)
-#define V4L2_CID_MPEG_VIDEO_MV_V_SEARCH_RANGE		(V4L2_CID_MPEG_BASE+228)
-#define V4L2_CID_MPEG_VIDEO_FORCE_KEY_FRAME		(V4L2_CID_MPEG_BASE+229)
-
-#define V4L2_CID_MPEG_VIDEO_H263_I_FRAME_QP		(V4L2_CID_MPEG_BASE+300)
-#define V4L2_CID_MPEG_VIDEO_H263_P_FRAME_QP		(V4L2_CID_MPEG_BASE+301)
-#define V4L2_CID_MPEG_VIDEO_H263_B_FRAME_QP		(V4L2_CID_MPEG_BASE+302)
-#define V4L2_CID_MPEG_VIDEO_H263_MIN_QP			(V4L2_CID_MPEG_BASE+303)
-#define V4L2_CID_MPEG_VIDEO_H263_MAX_QP			(V4L2_CID_MPEG_BASE+304)
-#define V4L2_CID_MPEG_VIDEO_H264_I_FRAME_QP		(V4L2_CID_MPEG_BASE+350)
-#define V4L2_CID_MPEG_VIDEO_H264_P_FRAME_QP		(V4L2_CID_MPEG_BASE+351)
-#define V4L2_CID_MPEG_VIDEO_H264_B_FRAME_QP		(V4L2_CID_MPEG_BASE+352)
-#define V4L2_CID_MPEG_VIDEO_H264_MIN_QP			(V4L2_CID_MPEG_BASE+353)
-#define V4L2_CID_MPEG_VIDEO_H264_MAX_QP			(V4L2_CID_MPEG_BASE+354)
-#define V4L2_CID_MPEG_VIDEO_H264_8X8_TRANSFORM		(V4L2_CID_MPEG_BASE+355)
-#define V4L2_CID_MPEG_VIDEO_H264_CPB_SIZE		(V4L2_CID_MPEG_BASE+356)
-#define V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE		(V4L2_CID_MPEG_BASE+357)
-enum v4l2_mpeg_video_h264_entropy_mode {
-	V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CAVLC	= 0,
-	V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_I_PERIOD		(V4L2_CID_MPEG_BASE+358)
-#define V4L2_CID_MPEG_VIDEO_H264_LEVEL			(V4L2_CID_MPEG_BASE+359)
-enum v4l2_mpeg_video_h264_level {
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_0	= 0,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1B	= 1,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_1	= 2,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_2	= 3,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_3	= 4,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_0	= 5,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_1	= 6,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_2	= 7,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_0	= 8,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_1	= 9,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_2	= 10,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_0	= 11,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_1	= 12,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_2	= 13,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_0	= 14,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_1	= 15,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_2	= 16,
-#define V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN \
-	V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN
-	V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN = 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA	(V4L2_CID_MPEG_BASE+360)
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA	(V4L2_CID_MPEG_BASE+361)
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE	(V4L2_CID_MPEG_BASE+362)
-enum v4l2_mpeg_video_h264_loop_filter_mode {
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_ENABLED				= 0,
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED				= 1,
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED_AT_SLICE_BOUNDARY	= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_PROFILE		(V4L2_CID_MPEG_BASE+363)
-enum v4l2_mpeg_video_h264_profile {
-	V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE			= 0,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_BASELINE	= 1,
-	V4L2_MPEG_VIDEO_H264_PROFILE_MAIN			= 2,
-	V4L2_MPEG_VIDEO_H264_PROFILE_EXTENDED			= 3,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH			= 4,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10			= 5,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422			= 6,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_PREDICTIVE	= 7,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10_INTRA		= 8,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422_INTRA		= 9,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_INTRA		= 10,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CAVLC_444_INTRA		= 11,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_BASELINE		= 12,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH		= 13,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH_INTRA	= 14,
-	V4L2_MPEG_VIDEO_H264_PROFILE_STEREO_HIGH		= 15,
-	V4L2_MPEG_VIDEO_H264_PROFILE_MULTIVIEW_HIGH		= 16,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_HIGH		= 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_HEIGHT	(V4L2_CID_MPEG_BASE+364)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_WIDTH	(V4L2_CID_MPEG_BASE+365)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_ENABLE		(V4L2_CID_MPEG_BASE+366)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_IDC		(V4L2_CID_MPEG_BASE+367)
-enum v4l2_mpeg_video_h264_vui_sar_idc {
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_UNSPECIFIED	= 0,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_1x1		= 1,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_12x11		= 2,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_10x11		= 3,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_16x11		= 4,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_40x33		= 5,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_24x11		= 6,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_20x11		= 7,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_32x11		= 8,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_80x33		= 9,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_18x11		= 10,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_15x11		= 11,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_64x33		= 12,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_160x99		= 13,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_4x3		= 14,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_3x2		= 15,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_2x1		= 16,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_EXTENDED	= 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FRAME_PACKING		(V4L2_CID_MPEG_BASE+368)
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_CURRENT_FRAME_0		(V4L2_CID_MPEG_BASE+369)
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE	(V4L2_CID_MPEG_BASE+370)
-enum v4l2_mpeg_video_h264_sei_fp_arrangement_type {
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_CHECKERBOARD	= 0,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_COLUMN		= 1,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_ROW		= 2,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_SIDE_BY_SIDE	= 3,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TOP_BOTTOM		= 4,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TEMPORAL		= 5,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO			(V4L2_CID_MPEG_BASE+371)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_MAP_TYPE		(V4L2_CID_MPEG_BASE+372)
-enum v4l2_mpeg_video_h264_fmo_map_type {
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_INTERLEAVED_SLICES		= 0,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_SCATTERED_SLICES		= 1,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_FOREGROUND_WITH_LEFT_OVER	= 2,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_BOX_OUT			= 3,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_RASTER_SCAN			= 4,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_WIPE_SCAN			= 5,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_EXPLICIT			= 6,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_SLICE_GROUP	(V4L2_CID_MPEG_BASE+373)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_DIRECTION	(V4L2_CID_MPEG_BASE+374)
-enum v4l2_mpeg_video_h264_fmo_change_dir {
-	V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_RIGHT	= 0,
-	V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_LEFT	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_RATE	(V4L2_CID_MPEG_BASE+375)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_RUN_LENGTH		(V4L2_CID_MPEG_BASE+376)
-#define V4L2_CID_MPEG_VIDEO_H264_ASO			(V4L2_CID_MPEG_BASE+377)
-#define V4L2_CID_MPEG_VIDEO_H264_ASO_SLICE_ORDER	(V4L2_CID_MPEG_BASE+378)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING		(V4L2_CID_MPEG_BASE+379)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_TYPE	(V4L2_CID_MPEG_BASE+380)
-enum v4l2_mpeg_video_h264_hierarchical_coding_type {
-	V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_B	= 0,
-	V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_P	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER	(V4L2_CID_MPEG_BASE+381)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER_QP	(V4L2_CID_MPEG_BASE+382)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_I_FRAME_QP	(V4L2_CID_MPEG_BASE+400)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_P_FRAME_QP	(V4L2_CID_MPEG_BASE+401)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_B_FRAME_QP	(V4L2_CID_MPEG_BASE+402)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_MIN_QP	(V4L2_CID_MPEG_BASE+403)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_MAX_QP	(V4L2_CID_MPEG_BASE+404)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_LEVEL		(V4L2_CID_MPEG_BASE+405)
-enum v4l2_mpeg_video_mpeg4_level {
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_0	= 0,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_0B	= 1,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_1	= 2,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_2	= 3,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_3	= 4,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_3B	= 5,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_4	= 6,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_5	= 7,
-};
-#define V4L2_CID_MPEG_VIDEO_MPEG4_PROFILE	(V4L2_CID_MPEG_BASE+406)
-enum v4l2_mpeg_video_mpeg4_profile {
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE				= 0,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_SIMPLE			= 1,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_CORE				= 2,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE_SCALABLE			= 3,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_CODING_EFFICIENCY	= 4,
-};
-#define V4L2_CID_MPEG_VIDEO_MPEG4_QPEL		(V4L2_CID_MPEG_BASE+407)
-
-/*  Control IDs for VP8 streams
- *  Although VP8 is not part of MPEG we add these controls to the MPEG class
- *  as that class is already handling other video compression standards
- */
-#define V4L2_CID_MPEG_VIDEO_VPX_NUM_PARTITIONS		(V4L2_CID_MPEG_BASE+500)
-enum v4l2_vp8_num_partitions {
-	V4L2_CID_MPEG_VIDEO_VPX_1_PARTITION	= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_2_PARTITIONS	= 1,
-	V4L2_CID_MPEG_VIDEO_VPX_4_PARTITIONS	= 2,
-	V4L2_CID_MPEG_VIDEO_VPX_8_PARTITIONS	= 3,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_IMD_DISABLE_4X4		(V4L2_CID_MPEG_BASE+501)
-#define V4L2_CID_MPEG_VIDEO_VPX_NUM_REF_FRAMES		(V4L2_CID_MPEG_BASE+502)
-enum v4l2_vp8_num_ref_frames {
-	V4L2_CID_MPEG_VIDEO_VPX_1_REF_FRAME	= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_2_REF_FRAME	= 1,
-	V4L2_CID_MPEG_VIDEO_VPX_3_REF_FRAME	= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_LEVEL		(V4L2_CID_MPEG_BASE+503)
-#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_SHARPNESS	(V4L2_CID_MPEG_BASE+504)
-#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_REF_PERIOD	(V4L2_CID_MPEG_BASE+505)
-#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_SEL	(V4L2_CID_MPEG_BASE+506)
-enum v4l2_vp8_golden_frame_sel {
-	V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_PREV		= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_REF_PERIOD	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_MIN_QP			(V4L2_CID_MPEG_BASE+507)
-#define V4L2_CID_MPEG_VIDEO_VPX_MAX_QP			(V4L2_CID_MPEG_BASE+508)
-#define V4L2_CID_MPEG_VIDEO_VPX_I_FRAME_QP		(V4L2_CID_MPEG_BASE+509)
-#define V4L2_CID_MPEG_VIDEO_VPX_P_FRAME_QP		(V4L2_CID_MPEG_BASE+510)
-#define V4L2_CID_MPEG_VIDEO_VPX_PROFILE			(V4L2_CID_MPEG_BASE+511)
-
-/*  MPEG-class control IDs specific to the CX2341x driver as defined by V4L2 */
-#define V4L2_CID_MPEG_CX2341X_BASE 				(V4L2_CTRL_CLASS_MPEG | 0x1000)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE 	(V4L2_CID_MPEG_CX2341X_BASE+0)
-enum v4l2_mpeg_cx2341x_video_spatial_filter_mode {
-	V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_MANUAL = 0,
-	V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_AUTO   = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER 		(V4L2_CID_MPEG_CX2341X_BASE+1)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE 	(V4L2_CID_MPEG_CX2341X_BASE+2)
-enum v4l2_mpeg_cx2341x_video_luma_spatial_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_OFF                  = 0,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_HOR               = 1,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_VERT              = 2,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_HV_SEPARABLE      = 3,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_SYM_NON_SEPARABLE = 4,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE 	(V4L2_CID_MPEG_CX2341X_BASE+3)
-enum v4l2_mpeg_cx2341x_video_chroma_spatial_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_OFF    = 0,
-	V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_1D_HOR = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE 	(V4L2_CID_MPEG_CX2341X_BASE+4)
-enum v4l2_mpeg_cx2341x_video_temporal_filter_mode {
-	V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_MANUAL = 0,
-	V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_AUTO   = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER 		(V4L2_CID_MPEG_CX2341X_BASE+5)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE 		(V4L2_CID_MPEG_CX2341X_BASE+6)
-enum v4l2_mpeg_cx2341x_video_median_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_OFF      = 0,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR      = 1,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_VERT     = 2,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR_VERT = 3,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_DIAG     = 4,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_BOTTOM 	(V4L2_CID_MPEG_CX2341X_BASE+7)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_TOP 	(V4L2_CID_MPEG_CX2341X_BASE+8)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_BOTTOM	(V4L2_CID_MPEG_CX2341X_BASE+9)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_TOP 	(V4L2_CID_MPEG_CX2341X_BASE+10)
-#define V4L2_CID_MPEG_CX2341X_STREAM_INSERT_NAV_PACKETS 	(V4L2_CID_MPEG_CX2341X_BASE+11)
-
-/*  MPEG-class control IDs specific to the Samsung MFC 5.1 driver as defined by V4L2 */
-#define V4L2_CID_MPEG_MFC51_BASE				(V4L2_CTRL_CLASS_MPEG | 0x1100)
-
-#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY		(V4L2_CID_MPEG_MFC51_BASE+0)
-#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY_ENABLE	(V4L2_CID_MPEG_MFC51_BASE+1)
-#define V4L2_CID_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE			(V4L2_CID_MPEG_MFC51_BASE+2)
-enum v4l2_mpeg_mfc51_video_frame_skip_mode {
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_DISABLED		= 0,
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_LEVEL_LIMIT	= 1,
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_BUF_LIMIT		= 2,
-};
-#define V4L2_CID_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE			(V4L2_CID_MPEG_MFC51_BASE+3)
-enum v4l2_mpeg_mfc51_video_force_frame_type {
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_DISABLED		= 0,
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_I_FRAME		= 1,
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_NOT_CODED	= 2,
-};
-#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING				(V4L2_CID_MPEG_MFC51_BASE+4)
-#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING_YUV				(V4L2_CID_MPEG_MFC51_BASE+5)
-#define V4L2_CID_MPEG_MFC51_VIDEO_RC_FIXED_TARGET_BIT			(V4L2_CID_MPEG_MFC51_BASE+6)
-#define V4L2_CID_MPEG_MFC51_VIDEO_RC_REACTION_COEFF			(V4L2_CID_MPEG_MFC51_BASE+7)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_ACTIVITY		(V4L2_CID_MPEG_MFC51_BASE+50)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_DARK			(V4L2_CID_MPEG_MFC51_BASE+51)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_SMOOTH		(V4L2_CID_MPEG_MFC51_BASE+52)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_STATIC		(V4L2_CID_MPEG_MFC51_BASE+53)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_NUM_REF_PIC_FOR_P		(V4L2_CID_MPEG_MFC51_BASE+54)
-
-/*  MPEG-class control IDs specific to the msm_vidc driver */
-#define V4L2_CID_MPEG_MSM_VIDC_BASE		(V4L2_CTRL_CLASS_MPEG | 0x2000)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PICTYPE_DEC_MODE \
-			(V4L2_CID_MPEG_MSM_VIDC_BASE+0)
-enum v4l2_mpeg_vidc_video_pictype_dec_mode {
-	V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_OFF = 0,
-	V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_ON = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_KEEP_ASPECT_RATIO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+1)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_FORMAT   (V4L2_CID_MPEG_MSM_VIDC_BASE+2)
-enum v4l2_mpeg_vidc_video_stream_format {
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_STARTCODES         = 0,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_NAL_PER_BUFFER = 1,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_BYTE_LENGTH    = 2,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_TWO_BYTE_LENGTH    = 3,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_FOUR_BYTE_LENGTH   = 4,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_OUTPUT_ORDER   (V4L2_CID_MPEG_MSM_VIDC_BASE+3)
-enum v4l2_mpeg_vidc_video_output_order {
-	V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DISPLAY         = 0,
-	V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DECODE          = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_RATE   (V4L2_CID_MPEG_MSM_VIDC_BASE+4)
-#define V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD   (V4L2_CID_MPEG_MSM_VIDC_BASE+5)
-#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+6)
-#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+7)
-#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_IFRAME (V4L2_CID_MPEG_MSM_VIDC_BASE+8)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL (V4L2_CID_MPEG_MSM_VIDC_BASE+9)
-enum v4l2_mpeg_vidc_video_rate_control {
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_OFF = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_VFR = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_VFR = 3,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_CFR = 4,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR = 5,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR = 6,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CQ = 7,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR	\
-			V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR	\
-			V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ROTATION (V4L2_CID_MPEG_MSM_VIDC_BASE+10)
-enum v4l2_mpeg_vidc_video_rotation {
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_90 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_180 = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_270 = 3,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+11)
-enum v4l2_mpeg_vidc_h264_cabac_model {
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0 = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_1 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_2 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+12)
-enum v4l2_mpeg_vidc_video_intra_refresh_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_RANDOM = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_ADAPTIVE = 3,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC_ADAPTIVE = 4,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_IR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE+13)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_AU_DELIMITER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 14)
-enum v4l2_mpeg_vidc_video_au_delimiter {
-	V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_ENABLED = 1
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 15)
-enum v4l2_mpeg_vidc_video_sync_frame_decode {
-	V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_ENABLE = 1
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE (V4L2_CID_MPEG_MSM_VIDC_BASE+16)
-#define V4L2_CID_MPEG_VIDC_VIDEO_EXTRADATA \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 17)
-enum v4l2_mpeg_vidc_extradata {
-	V4L2_MPEG_VIDC_EXTRADATA_NONE = 0,
-	V4L2_MPEG_VIDC_EXTRADATA_MB_QUANTIZATION = 1,
-	V4L2_MPEG_VIDC_EXTRADATA_INTERLACE_VIDEO = 2,
-	V4L2_MPEG_VIDC_EXTRADATA_VC1_FRAMEDISP = 3,
-	V4L2_MPEG_VIDC_EXTRADATA_VC1_SEQDISP = 4,
-	V4L2_MPEG_VIDC_EXTRADATA_TIMESTAMP = 5,
-	V4L2_MPEG_VIDC_EXTRADATA_S3D_FRAME_PACKING = 6,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_RATE = 7,
-	V4L2_MPEG_VIDC_EXTRADATA_PANSCAN_WINDOW = 8,
-	V4L2_MPEG_VIDC_EXTRADATA_RECOVERY_POINT_SEI = 9,
-	V4L2_MPEG_VIDC_EXTRADATA_MULTISLICE_INFO = 10,
-	V4L2_MPEG_VIDC_EXTRADATA_NUM_CONCEALED_MB = 11,
-	V4L2_MPEG_VIDC_EXTRADATA_METADATA_FILLER = 12,
-	V4L2_MPEG_VIDC_EXTRADATA_INPUT_CROP = 13,
-	V4L2_MPEG_VIDC_EXTRADATA_DIGITAL_ZOOM = 14,
-	V4L2_MPEG_VIDC_EXTRADATA_ASPECT_RATIO = 15,
-	V4L2_MPEG_VIDC_EXTRADATA_MPEG2_SEQDISP = 16,
-	V4L2_MPEG_VIDC_EXTRADATA_STREAM_USERDATA = 17,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_QP = 18,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_BITS_INFO = 19,
-	V4L2_MPEG_VIDC_EXTRADATA_LTR = 20,
-	V4L2_MPEG_VIDC_EXTRADATA_METADATA_MBI = 21,
-	V4L2_MPEG_VIDC_EXTRADATA_VQZIP_SEI = 22,
-	V4L2_MPEG_VIDC_EXTRADATA_YUV_STATS = 23,
-	V4L2_MPEG_VIDC_EXTRADATA_ROI_QP = 24,
-#define V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP \
-	V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP
-	V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP = 25,
-#define V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI \
-	V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI
-	V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI = 26,
-#define V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI \
-	V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI
-	V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI = 27,
-#define V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO \
-	V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO
-	V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO = 28,
-#define V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY \
-	V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY
-	V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY = 29,
-#define V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE \
-	V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE
-	V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE = 30,
-#define V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO \
-	V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO
-	V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO = 31,
-#define V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP \
-	V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP
-	V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP = 32,
-};
-
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_DELIVERY_MODE	\
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 18)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 19)
-enum v4l2_mpeg_vidc_video_vui_timing_info {
-	V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_PROFILE_LEVEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 20)
-enum v4l2_mpeg_vidc_video_vp8_profile_level {
-	V4L2_MPEG_VIDC_VIDEO_VP8_UNUSED,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_0,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_1,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_2,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_3,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 21)
-enum v4l2_mpeg_vidc_video_preserve_text_quality {
-	V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
-enum v4l2_mpeg_vidc_video_decoder_multi_stream {
-	V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_PRIMARY = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_SECONDARY = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_LEVEL	(V4L2_CID_MPEG_MSM_VIDC_BASE+23)
-enum v4l2_mpeg_vidc_video_mpeg2_level {
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_0	= 0,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_1	= 1,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_2	= 2,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_3	= 3,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_PROFILE	(V4L2_CID_MPEG_MSM_VIDC_BASE+24)
-enum v4l2_mpeg_vidc_video_mpeg2_profile {
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SIMPLE		= 0,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_MAIN			= 1,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_422			= 2,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SNR_SCALABLE		= 3,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SPATIAL_SCALABLE	= 4,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_HIGH			= 5,
-};
-
-enum v4l2_mpeg_vidc_video_mvc_layout {
-	V4L2_MPEG_VIDC_VIDEO_MVC_SEQUENTIAL = 0,
-	V4L2_MPEG_VIDC_VIDEO_MVC_TOP_BOTTOM = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 25)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LTRMODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 26)
-
-enum v4l2_mpeg_vidc_video_ltrmode {
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_MANUAL = 1,
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_PERIODIC = 2
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LTRCOUNT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 27)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_USELTRFRAME \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 28)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MARKLTRFRAME \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 29)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_P_NUM_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 30)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_OUTPUT       \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+31)
-enum v4l2_mpeg_vidc_video_alloc_mode_type {
-	V4L2_MPEG_VIDC_VIDEO_STATIC = 0,
-	V4L2_MPEG_VIDC_VIDEO_RING = 1,
-	V4L2_MPEG_VIDC_VIDEO_DYNAMIC = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 32)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 33)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 34)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 35)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 36)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 37)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 38)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BUFFER_SIZE_LIMIT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 39)
-
-enum vl42_mpeg_vidc_video_vpx_error_resilience {
-	V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_ENABLED = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 40)
-enum v4l2_mpeg_video_hevc_profile {
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN			= 0,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN10		= 1,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN_STILL_PIC	= 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 41)
-enum v4l2_mpeg_video_hevc_level {
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_1	= 0,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_1	= 1,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2	= 2,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2	= 3,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2_1	= 4,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2_1	= 5,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3	= 6,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3	= 7,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3_1	= 8,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3_1	= 9,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4	= 10,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4	= 11,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4_1	= 12,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4_1	= 13,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5	= 14,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5	= 15,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_1	= 16,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_1	= 17,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_2	= 18,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_2	= 19,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6	= 20,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6	= 21,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_1	= 22,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_1	= 23,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_2	= 24,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_2	= 25,
-#define V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN \
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN = 26,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_B_NUM_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 42)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HYBRID_HIERP_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 43)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
-
-enum v4l2_mpeg_vidc_video_dpb_color_format {
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_NONE = 0,
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_UBWC = 1,
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_TP10_UBWC = 2
-};
-
-#define V4L2_CID_VIDC_QBUF_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 45)
-enum v4l2_vidc_qbuf_mode {
-	V4L2_VIDC_QBUF_STANDARD = 0,
-	V4L2_VIDC_QBUF_BATCHED = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MAX_HIERP_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 46)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BASELAYER_ID \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 47)
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_WIDTH \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 48)
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_HEIGHT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 49)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 50)
-
-enum v4l2_mpeg_vidc_video_vqzip_sei_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_DISABLE	= 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_ENABLE	= 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_LAYER_BITRATE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 51)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 52)
-
-enum v4l2_mpeg_vidc_video_priority {
-	V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 53)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_TYPE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 54)
-
-enum v4l2_mpeg_vidc_video_venc_bitrate_type_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_DISABLE	= 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_ENABLE	= 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 55)
-
-enum v4l2_cid_mpeg_vidc_video_vpe_csc_type_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_DISABLE  = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_ENABLE   = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 56)
-
-enum v4l2_mpeg_vidc_video_lowlatency_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_DISABLE     = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_ENABLE      = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_WIDTH \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 57)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_HEIGHT \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 58)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 59)
-enum v4l2_mpeg_vidc_video_h264_transform_8x8 {
-	V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_COLOR_SPACE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 60)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 61)
-
-enum v4l2_cid_mpeg_vidc_video_full_range {
-	V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_DISABLE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TRANSFER_CHARS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 62)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MATRIX_COEFFS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 63)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_TYPE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 64)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LAYER_ID \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 65)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_PROFILE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 66)
-enum v4l2_mpeg_vidc_video_vp9_profile {
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_UNUSED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P0 = 1,
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P2_10 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 67)
-enum v4l2_mpeg_vidc_video_vp9_level {
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_UNUSED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_1 = 1,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_11 = 2,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_2 = 3,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_21 = 4,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_3 = 5,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_31 = 6,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_4 = 7,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_41 = 8,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_5 = 9,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_51 = 10,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MB_ERROR_MAP_REPORTING \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 68)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONTINUE_DATA_TRANSFER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 69)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_INPUT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 70)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_ASSEMBLY	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 71)
-enum v4l2_mpeg_vidc_video_assembly {
-	V4L2_MPEG_VIDC_FRAME_ASSEMBLY_DISABLE = 0,
-	V4L2_MPEG_VIDC_FRAME_ASSEMBLY_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H263_PROFILE\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 72)
-enum v4l2_mpeg_vidc_video_h263_profile {
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BASELINE = 0,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_H320CODING	= 1,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BACKWARDCOMPATIBLE = 2,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV2 = 3,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV3 = 4,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHCOMPRESSION = 5,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERNET = 6,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERLACE = 7,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHLATENCY = 8,
-};
-
-#define V4L2_CID_MPEG_VIDEO_MIN_QP_PACKED \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 97)
-#define V4L2_CID_MPEG_VIDEO_MAX_QP_PACKED \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 98)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 99)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 100)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 101)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 102)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 103)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 104)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 105)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 106)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 107)
-#define V4L2_CID_MPEG_VIDC_VIDEO_QP_MASK \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 108)
-
-enum v4l2_mpeg_vidc_video_venc_iframesize_type {
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_DEFAULT,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_MEDIUM,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_HUGE,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_UNLIMITED,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_8BIT	\
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 109)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_10BIT \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 110)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PROFILE  \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 111)
-
-enum v4l2_mpeg_vidc_video_tme_profile {
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_0 = 0,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_1 = 1,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_2 = 2,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_3 = 3,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_LEVEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 112)
-
-enum v4l2_mpeg_vidc_video_tme_level {
-	V4L2_MPEG_VIDC_VIDEO_TME_LEVEL_INTEGER = 0,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PAYLOAD_VERSION  \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 113)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_CUSTOM_MATRIX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 114)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FLIP (V4L2_CID_MPEG_MSM_VIDC_BASE + 115)
-enum v4l2_mpeg_vidc_video_flip {
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_HORI = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_VERT = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_BOTH = 3,
-};
-
-/* HDR SEI INFO related control IDs and definitions*/
-#define V4L2_MPEG_VIDC_VENC_HDR_INFO_ENABLED 1
-#define V4L2_MPEG_VIDC_VENC_HDR_INFO_DISABLED 0
-
-#define V4L2_CID_MPEG_VIDC_VENC_HDR_INFO \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 116)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_00 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 117)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_01 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 118)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_10 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 119)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_11 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 120)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_20 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 121)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_21 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 122)
-#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_X \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 123)
-#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_Y \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 124)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_DISP_LUM \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 125)
-#define V4L2_CID_MPEG_VIDC_VENC_MIN_DISP_LUM \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 126)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_CLL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 127)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_FLL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 128)
-
-#define V4L2_CID_MPEG_VIDC_SET_PERF_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 129)
-enum v4l2_mpeg_vidc_perf_level {
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_NOMINAL	= 0,
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_PERFORMANCE	= 1,
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_TURBO	= 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 130)
-#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_REF (V4L2_CID_MPEG_MSM_VIDC_BASE + 131)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 132)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 135)
-
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_GOB \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 136)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 137)
-enum v4l2_mpeg_vidc_video_h264_vui_bitstream_restrict {
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 138)
-enum v4l2_mpeg_vidc_video_deinterlace {
-	V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_DISABLED = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG4_TIME_RESOLUTION \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 139)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_SEQ_HEADER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 140)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 141)
-enum v4l2_mpeg_vidc_video_rate_control_timestamp_mode {
-	V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_HONOR = 0,
-	V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_IGNORE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 142)
-enum vl42_mpeg_vidc_video_enable_initial_qp {
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_IFRAME = 0x1,
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_PFRAME = 0x2,
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_BFRAME = 0x4,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_I_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 143)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_P_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 144)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_B_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 145)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 146)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PERF_MODE	 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 147)
-enum v4l2_mpeg_vidc_video_perf_mode {
-	V4L2_MPEG_VIDC_VIDEO_PERF_MAX_QUALITY = 1,
-	V4L2_MPEG_VIDC_VIDEO_PERF_POWER_SAVE = 2
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MBI_STATISTICS_MODE	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 148)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONFIG_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 149)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_PIC_ORDER_CNT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 150)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_SCS_THRESHOLD \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 151)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MVC_BUFFER_LAYOUT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 152)
-
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE_SCALING_THRESHOLD \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 153)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_NON_SECURE_OUTPUT2 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 154)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MIN_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 155)
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MAX_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 156)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H263_LEVEL (V4L2_CID_MPEG_MSM_VIDC_BASE + 157)
-enum v4l2_mpeg_vidc_video_h263_level {
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_1_0 = 0,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_2_0 = 1,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_3_0 = 2,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_0 = 3,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_5 = 4,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_5_0 = 5,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_6_0 = 6,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_7_0 = 7,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_POST_LOOP_DEBLOCKER_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 158)
-
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DIVX_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE+159)
-
-enum v4l2_mpeg_vidc_video_divx_format_type {
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_4 = 0,
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_5 = 1,
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_6 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_QUALITY \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE+160)
-
-#define V4L2_CID_MPEG_VIDC_IMG_GRID_DIMENSION \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE+161)
-
-enum v4l2_mpeg_vidc_video_mbi_statistics_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_DEFAULT = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_1 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_2 = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_3 = 3,
-};
-
-enum vl42_mpeg_vidc_video_h264_svc_nal {
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_DISABLED = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_ENABLED = 1,
-};
-
-enum v4l2_mpeg_vidc_video_h264_vui_timing_info {
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_ENABLED = 1
-};
-
-/*  Camera class control IDs */
-
-#define V4L2_CID_CAMERA_CLASS_BASE 	(V4L2_CTRL_CLASS_CAMERA | 0x900)
-#define V4L2_CID_CAMERA_CLASS 		(V4L2_CTRL_CLASS_CAMERA | 1)
-
-#define V4L2_CID_EXPOSURE_AUTO			(V4L2_CID_CAMERA_CLASS_BASE+1)
-enum  v4l2_exposure_auto_type {
-	V4L2_EXPOSURE_AUTO = 0,
-	V4L2_EXPOSURE_MANUAL = 1,
-	V4L2_EXPOSURE_SHUTTER_PRIORITY = 2,
-	V4L2_EXPOSURE_APERTURE_PRIORITY = 3
-};
-#define V4L2_CID_EXPOSURE_ABSOLUTE		(V4L2_CID_CAMERA_CLASS_BASE+2)
-#define V4L2_CID_EXPOSURE_AUTO_PRIORITY		(V4L2_CID_CAMERA_CLASS_BASE+3)
-
-#define V4L2_CID_PAN_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+4)
-#define V4L2_CID_TILT_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+5)
-#define V4L2_CID_PAN_RESET			(V4L2_CID_CAMERA_CLASS_BASE+6)
-#define V4L2_CID_TILT_RESET			(V4L2_CID_CAMERA_CLASS_BASE+7)
-
-#define V4L2_CID_PAN_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+8)
-#define V4L2_CID_TILT_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+9)
-
-#define V4L2_CID_FOCUS_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+10)
-#define V4L2_CID_FOCUS_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+11)
-#define V4L2_CID_FOCUS_AUTO			(V4L2_CID_CAMERA_CLASS_BASE+12)
-
-#define V4L2_CID_ZOOM_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+13)
-#define V4L2_CID_ZOOM_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+14)
-#define V4L2_CID_ZOOM_CONTINUOUS		(V4L2_CID_CAMERA_CLASS_BASE+15)
-
-#define V4L2_CID_PRIVACY			(V4L2_CID_CAMERA_CLASS_BASE+16)
-
-#define V4L2_CID_IRIS_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+17)
-#define V4L2_CID_IRIS_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+18)
-
-#define V4L2_CID_AUTO_EXPOSURE_BIAS		(V4L2_CID_CAMERA_CLASS_BASE+19)
-
-#define V4L2_CID_AUTO_N_PRESET_WHITE_BALANCE	(V4L2_CID_CAMERA_CLASS_BASE+20)
-enum v4l2_auto_n_preset_white_balance {
-	V4L2_WHITE_BALANCE_MANUAL		= 0,
-	V4L2_WHITE_BALANCE_AUTO			= 1,
-	V4L2_WHITE_BALANCE_INCANDESCENT		= 2,
-	V4L2_WHITE_BALANCE_FLUORESCENT		= 3,
-	V4L2_WHITE_BALANCE_FLUORESCENT_H	= 4,
-	V4L2_WHITE_BALANCE_HORIZON		= 5,
-	V4L2_WHITE_BALANCE_DAYLIGHT		= 6,
-	V4L2_WHITE_BALANCE_FLASH		= 7,
-	V4L2_WHITE_BALANCE_CLOUDY		= 8,
-	V4L2_WHITE_BALANCE_SHADE		= 9,
-};
-
-#define V4L2_CID_WIDE_DYNAMIC_RANGE		(V4L2_CID_CAMERA_CLASS_BASE+21)
-#define V4L2_CID_IMAGE_STABILIZATION		(V4L2_CID_CAMERA_CLASS_BASE+22)
-
-#define V4L2_CID_ISO_SENSITIVITY		(V4L2_CID_CAMERA_CLASS_BASE+23)
-#define V4L2_CID_ISO_SENSITIVITY_AUTO		(V4L2_CID_CAMERA_CLASS_BASE+24)
-enum v4l2_iso_sensitivity_auto_type {
-	V4L2_ISO_SENSITIVITY_MANUAL		= 0,
-	V4L2_ISO_SENSITIVITY_AUTO		= 1,
-};
-
-#define V4L2_CID_EXPOSURE_METERING		(V4L2_CID_CAMERA_CLASS_BASE+25)
-enum v4l2_exposure_metering {
-	V4L2_EXPOSURE_METERING_AVERAGE		= 0,
-	V4L2_EXPOSURE_METERING_CENTER_WEIGHTED	= 1,
-	V4L2_EXPOSURE_METERING_SPOT		= 2,
-	V4L2_EXPOSURE_METERING_MATRIX		= 3,
-};
-
-#define V4L2_CID_SCENE_MODE			(V4L2_CID_CAMERA_CLASS_BASE+26)
-enum v4l2_scene_mode {
-	V4L2_SCENE_MODE_NONE			= 0,
-	V4L2_SCENE_MODE_BACKLIGHT		= 1,
-	V4L2_SCENE_MODE_BEACH_SNOW		= 2,
-	V4L2_SCENE_MODE_CANDLE_LIGHT		= 3,
-	V4L2_SCENE_MODE_DAWN_DUSK		= 4,
-	V4L2_SCENE_MODE_FALL_COLORS		= 5,
-	V4L2_SCENE_MODE_FIREWORKS		= 6,
-	V4L2_SCENE_MODE_LANDSCAPE		= 7,
-	V4L2_SCENE_MODE_NIGHT			= 8,
-	V4L2_SCENE_MODE_PARTY_INDOOR		= 9,
-	V4L2_SCENE_MODE_PORTRAIT		= 10,
-	V4L2_SCENE_MODE_SPORTS			= 11,
-	V4L2_SCENE_MODE_SUNSET			= 12,
-	V4L2_SCENE_MODE_TEXT			= 13,
-};
-
-#define V4L2_CID_3A_LOCK			(V4L2_CID_CAMERA_CLASS_BASE+27)
-#define V4L2_LOCK_EXPOSURE			(1 << 0)
-#define V4L2_LOCK_WHITE_BALANCE			(1 << 1)
-#define V4L2_LOCK_FOCUS				(1 << 2)
-
-#define V4L2_CID_AUTO_FOCUS_START		(V4L2_CID_CAMERA_CLASS_BASE+28)
-#define V4L2_CID_AUTO_FOCUS_STOP		(V4L2_CID_CAMERA_CLASS_BASE+29)
-#define V4L2_CID_AUTO_FOCUS_STATUS		(V4L2_CID_CAMERA_CLASS_BASE+30)
-#define V4L2_AUTO_FOCUS_STATUS_IDLE		(0 << 0)
-#define V4L2_AUTO_FOCUS_STATUS_BUSY		(1 << 0)
-#define V4L2_AUTO_FOCUS_STATUS_REACHED		(1 << 1)
-#define V4L2_AUTO_FOCUS_STATUS_FAILED		(1 << 2)
-
-#define V4L2_CID_AUTO_FOCUS_RANGE		(V4L2_CID_CAMERA_CLASS_BASE+31)
-enum v4l2_auto_focus_range {
-	V4L2_AUTO_FOCUS_RANGE_AUTO		= 0,
-	V4L2_AUTO_FOCUS_RANGE_NORMAL		= 1,
-	V4L2_AUTO_FOCUS_RANGE_MACRO		= 2,
-	V4L2_AUTO_FOCUS_RANGE_INFINITY		= 3,
-};
-
-#define V4L2_CID_PAN_SPEED			(V4L2_CID_CAMERA_CLASS_BASE+32)
-#define V4L2_CID_TILT_SPEED			(V4L2_CID_CAMERA_CLASS_BASE+33)
-
-/* FM Modulator class control IDs */
-
-#define V4L2_CID_FM_TX_CLASS_BASE		(V4L2_CTRL_CLASS_FM_TX | 0x900)
-#define V4L2_CID_FM_TX_CLASS			(V4L2_CTRL_CLASS_FM_TX | 1)
-
-#define V4L2_CID_RDS_TX_DEVIATION		(V4L2_CID_FM_TX_CLASS_BASE + 1)
-#define V4L2_CID_RDS_TX_PI			(V4L2_CID_FM_TX_CLASS_BASE + 2)
-#define V4L2_CID_RDS_TX_PTY			(V4L2_CID_FM_TX_CLASS_BASE + 3)
-#define V4L2_CID_RDS_TX_PS_NAME			(V4L2_CID_FM_TX_CLASS_BASE + 5)
-#define V4L2_CID_RDS_TX_RADIO_TEXT		(V4L2_CID_FM_TX_CLASS_BASE + 6)
-#define V4L2_CID_RDS_TX_MONO_STEREO		(V4L2_CID_FM_TX_CLASS_BASE + 7)
-#define V4L2_CID_RDS_TX_ARTIFICIAL_HEAD		(V4L2_CID_FM_TX_CLASS_BASE + 8)
-#define V4L2_CID_RDS_TX_COMPRESSED		(V4L2_CID_FM_TX_CLASS_BASE + 9)
-#define V4L2_CID_RDS_TX_DYNAMIC_PTY		(V4L2_CID_FM_TX_CLASS_BASE + 10)
-#define V4L2_CID_RDS_TX_TRAFFIC_ANNOUNCEMENT	(V4L2_CID_FM_TX_CLASS_BASE + 11)
-#define V4L2_CID_RDS_TX_TRAFFIC_PROGRAM		(V4L2_CID_FM_TX_CLASS_BASE + 12)
-#define V4L2_CID_RDS_TX_MUSIC_SPEECH		(V4L2_CID_FM_TX_CLASS_BASE + 13)
-#define V4L2_CID_RDS_TX_ALT_FREQS_ENABLE	(V4L2_CID_FM_TX_CLASS_BASE + 14)
-#define V4L2_CID_RDS_TX_ALT_FREQS		(V4L2_CID_FM_TX_CLASS_BASE + 15)
-
-#define V4L2_CID_AUDIO_LIMITER_ENABLED		(V4L2_CID_FM_TX_CLASS_BASE + 64)
-#define V4L2_CID_AUDIO_LIMITER_RELEASE_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 65)
-#define V4L2_CID_AUDIO_LIMITER_DEVIATION	(V4L2_CID_FM_TX_CLASS_BASE + 66)
-
-#define V4L2_CID_AUDIO_COMPRESSION_ENABLED	(V4L2_CID_FM_TX_CLASS_BASE + 80)
-#define V4L2_CID_AUDIO_COMPRESSION_GAIN		(V4L2_CID_FM_TX_CLASS_BASE + 81)
-#define V4L2_CID_AUDIO_COMPRESSION_THRESHOLD	(V4L2_CID_FM_TX_CLASS_BASE + 82)
-#define V4L2_CID_AUDIO_COMPRESSION_ATTACK_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 83)
-#define V4L2_CID_AUDIO_COMPRESSION_RELEASE_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 84)
-
-#define V4L2_CID_PILOT_TONE_ENABLED		(V4L2_CID_FM_TX_CLASS_BASE + 96)
-#define V4L2_CID_PILOT_TONE_DEVIATION		(V4L2_CID_FM_TX_CLASS_BASE + 97)
-#define V4L2_CID_PILOT_TONE_FREQUENCY		(V4L2_CID_FM_TX_CLASS_BASE + 98)
-
-#define V4L2_CID_TUNE_PREEMPHASIS		(V4L2_CID_FM_TX_CLASS_BASE + 112)
-enum v4l2_preemphasis {
-	V4L2_PREEMPHASIS_DISABLED	= 0,
-	V4L2_PREEMPHASIS_50_uS		= 1,
-	V4L2_PREEMPHASIS_75_uS		= 2,
-};
-#define V4L2_CID_TUNE_POWER_LEVEL		(V4L2_CID_FM_TX_CLASS_BASE + 113)
-#define V4L2_CID_TUNE_ANTENNA_CAPACITOR		(V4L2_CID_FM_TX_CLASS_BASE + 114)
-
-
-/* Flash and privacy (indicator) light controls */
-
-#define V4L2_CID_FLASH_CLASS_BASE		(V4L2_CTRL_CLASS_FLASH | 0x900)
-#define V4L2_CID_FLASH_CLASS			(V4L2_CTRL_CLASS_FLASH | 1)
-
-#define V4L2_CID_FLASH_LED_MODE			(V4L2_CID_FLASH_CLASS_BASE + 1)
-enum v4l2_flash_led_mode {
-	V4L2_FLASH_LED_MODE_NONE,
-	V4L2_FLASH_LED_MODE_FLASH,
-	V4L2_FLASH_LED_MODE_TORCH,
-};
-
-#define V4L2_CID_FLASH_STROBE_SOURCE		(V4L2_CID_FLASH_CLASS_BASE + 2)
-enum v4l2_flash_strobe_source {
-	V4L2_FLASH_STROBE_SOURCE_SOFTWARE,
-	V4L2_FLASH_STROBE_SOURCE_EXTERNAL,
-};
-
-#define V4L2_CID_FLASH_STROBE			(V4L2_CID_FLASH_CLASS_BASE + 3)
-#define V4L2_CID_FLASH_STROBE_STOP		(V4L2_CID_FLASH_CLASS_BASE + 4)
-#define V4L2_CID_FLASH_STROBE_STATUS		(V4L2_CID_FLASH_CLASS_BASE + 5)
-
-#define V4L2_CID_FLASH_TIMEOUT			(V4L2_CID_FLASH_CLASS_BASE + 6)
-#define V4L2_CID_FLASH_INTENSITY		(V4L2_CID_FLASH_CLASS_BASE + 7)
-#define V4L2_CID_FLASH_TORCH_INTENSITY		(V4L2_CID_FLASH_CLASS_BASE + 8)
-#define V4L2_CID_FLASH_INDICATOR_INTENSITY	(V4L2_CID_FLASH_CLASS_BASE + 9)
-
-#define V4L2_CID_FLASH_FAULT			(V4L2_CID_FLASH_CLASS_BASE + 10)
-#define V4L2_FLASH_FAULT_OVER_VOLTAGE		(1 << 0)
-#define V4L2_FLASH_FAULT_TIMEOUT		(1 << 1)
-#define V4L2_FLASH_FAULT_OVER_TEMPERATURE	(1 << 2)
-#define V4L2_FLASH_FAULT_SHORT_CIRCUIT		(1 << 3)
-#define V4L2_FLASH_FAULT_OVER_CURRENT		(1 << 4)
-#define V4L2_FLASH_FAULT_INDICATOR		(1 << 5)
-#define V4L2_FLASH_FAULT_UNDER_VOLTAGE		(1 << 6)
-#define V4L2_FLASH_FAULT_INPUT_VOLTAGE		(1 << 7)
-#define V4L2_FLASH_FAULT_LED_OVER_TEMPERATURE	(1 << 8)
-
-#define V4L2_CID_FLASH_CHARGE			(V4L2_CID_FLASH_CLASS_BASE + 11)
-#define V4L2_CID_FLASH_READY			(V4L2_CID_FLASH_CLASS_BASE + 12)
-
-
-/* JPEG-class control IDs */
-
-#define V4L2_CID_JPEG_CLASS_BASE		(V4L2_CTRL_CLASS_JPEG | 0x900)
-#define V4L2_CID_JPEG_CLASS			(V4L2_CTRL_CLASS_JPEG | 1)
-
-#define	V4L2_CID_JPEG_CHROMA_SUBSAMPLING	(V4L2_CID_JPEG_CLASS_BASE + 1)
-enum v4l2_jpeg_chroma_subsampling {
-	V4L2_JPEG_CHROMA_SUBSAMPLING_444	= 0,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_422	= 1,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_420	= 2,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_411	= 3,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_410	= 4,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_GRAY	= 5,
-};
-#define	V4L2_CID_JPEG_RESTART_INTERVAL		(V4L2_CID_JPEG_CLASS_BASE + 2)
-#define	V4L2_CID_JPEG_COMPRESSION_QUALITY	(V4L2_CID_JPEG_CLASS_BASE + 3)
-
-#define	V4L2_CID_JPEG_ACTIVE_MARKER		(V4L2_CID_JPEG_CLASS_BASE + 4)
-#define	V4L2_JPEG_ACTIVE_MARKER_APP0		(1 << 0)
-#define	V4L2_JPEG_ACTIVE_MARKER_APP1		(1 << 1)
-#define	V4L2_JPEG_ACTIVE_MARKER_COM		(1 << 16)
-#define	V4L2_JPEG_ACTIVE_MARKER_DQT		(1 << 17)
-#define	V4L2_JPEG_ACTIVE_MARKER_DHT		(1 << 18)
-
-
-/* Image source controls */
-#define V4L2_CID_IMAGE_SOURCE_CLASS_BASE	(V4L2_CTRL_CLASS_IMAGE_SOURCE | 0x900)
-#define V4L2_CID_IMAGE_SOURCE_CLASS		(V4L2_CTRL_CLASS_IMAGE_SOURCE | 1)
-
-#define V4L2_CID_VBLANK				(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 1)
-#define V4L2_CID_HBLANK				(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 2)
-#define V4L2_CID_ANALOGUE_GAIN			(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 3)
-#define V4L2_CID_TEST_PATTERN_RED		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 4)
-#define V4L2_CID_TEST_PATTERN_GREENR		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 5)
-#define V4L2_CID_TEST_PATTERN_BLUE		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 6)
-#define V4L2_CID_TEST_PATTERN_GREENB		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 7)
-
-
-/* Image processing controls */
-
-#define V4L2_CID_IMAGE_PROC_CLASS_BASE		(V4L2_CTRL_CLASS_IMAGE_PROC | 0x900)
-#define V4L2_CID_IMAGE_PROC_CLASS		(V4L2_CTRL_CLASS_IMAGE_PROC | 1)
-
-#define V4L2_CID_LINK_FREQ			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 1)
-#define V4L2_CID_PIXEL_RATE			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 2)
-#define V4L2_CID_TEST_PATTERN			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 3)
-
-
-/*  DV-class control IDs defined by V4L2 */
-#define V4L2_CID_DV_CLASS_BASE			(V4L2_CTRL_CLASS_DV | 0x900)
-#define V4L2_CID_DV_CLASS			(V4L2_CTRL_CLASS_DV | 1)
-
-#define	V4L2_CID_DV_TX_HOTPLUG			(V4L2_CID_DV_CLASS_BASE + 1)
-#define	V4L2_CID_DV_TX_RXSENSE			(V4L2_CID_DV_CLASS_BASE + 2)
-#define	V4L2_CID_DV_TX_EDID_PRESENT		(V4L2_CID_DV_CLASS_BASE + 3)
-#define	V4L2_CID_DV_TX_MODE			(V4L2_CID_DV_CLASS_BASE + 4)
-enum v4l2_dv_tx_mode {
-	V4L2_DV_TX_MODE_DVI_D	= 0,
-	V4L2_DV_TX_MODE_HDMI	= 1,
-};
-#define V4L2_CID_DV_TX_RGB_RANGE		(V4L2_CID_DV_CLASS_BASE + 5)
-enum v4l2_dv_rgb_range {
-	V4L2_DV_RGB_RANGE_AUTO	  = 0,
-	V4L2_DV_RGB_RANGE_LIMITED = 1,
-	V4L2_DV_RGB_RANGE_FULL	  = 2,
-};
-
-#define V4L2_CID_DV_TX_IT_CONTENT_TYPE		(V4L2_CID_DV_CLASS_BASE + 6)
-enum v4l2_dv_it_content_type {
-	V4L2_DV_IT_CONTENT_TYPE_GRAPHICS  = 0,
-	V4L2_DV_IT_CONTENT_TYPE_PHOTO	  = 1,
-	V4L2_DV_IT_CONTENT_TYPE_CINEMA	  = 2,
-	V4L2_DV_IT_CONTENT_TYPE_GAME	  = 3,
-	V4L2_DV_IT_CONTENT_TYPE_NO_ITC	  = 4,
-};
-
-#define	V4L2_CID_DV_RX_POWER_PRESENT		(V4L2_CID_DV_CLASS_BASE + 100)
-#define V4L2_CID_DV_RX_RGB_RANGE		(V4L2_CID_DV_CLASS_BASE + 101)
-#define V4L2_CID_DV_RX_IT_CONTENT_TYPE		(V4L2_CID_DV_CLASS_BASE + 102)
-
-#define V4L2_CID_FM_RX_CLASS_BASE		(V4L2_CTRL_CLASS_FM_RX | 0x900)
-#define V4L2_CID_FM_RX_CLASS			(V4L2_CTRL_CLASS_FM_RX | 1)
-
-#define V4L2_CID_TUNE_DEEMPHASIS		(V4L2_CID_FM_RX_CLASS_BASE + 1)
-enum v4l2_deemphasis {
-	V4L2_DEEMPHASIS_DISABLED	= V4L2_PREEMPHASIS_DISABLED,
-	V4L2_DEEMPHASIS_50_uS		= V4L2_PREEMPHASIS_50_uS,
-	V4L2_DEEMPHASIS_75_uS		= V4L2_PREEMPHASIS_75_uS,
-};
-
-#define V4L2_CID_RDS_RECEPTION			(V4L2_CID_FM_RX_CLASS_BASE + 2)
-#define V4L2_CID_RDS_RX_PTY			(V4L2_CID_FM_RX_CLASS_BASE + 3)
-#define V4L2_CID_RDS_RX_PS_NAME			(V4L2_CID_FM_RX_CLASS_BASE + 4)
-#define V4L2_CID_RDS_RX_RADIO_TEXT		(V4L2_CID_FM_RX_CLASS_BASE + 5)
-#define V4L2_CID_RDS_RX_TRAFFIC_ANNOUNCEMENT	(V4L2_CID_FM_RX_CLASS_BASE + 6)
-#define V4L2_CID_RDS_RX_TRAFFIC_PROGRAM		(V4L2_CID_FM_RX_CLASS_BASE + 7)
-#define V4L2_CID_RDS_RX_MUSIC_SPEECH		(V4L2_CID_FM_RX_CLASS_BASE + 8)
-
-#define V4L2_CID_RF_TUNER_CLASS_BASE		(V4L2_CTRL_CLASS_RF_TUNER | 0x900)
-#define V4L2_CID_RF_TUNER_CLASS			(V4L2_CTRL_CLASS_RF_TUNER | 1)
-
-#define V4L2_CID_RF_TUNER_BANDWIDTH_AUTO	(V4L2_CID_RF_TUNER_CLASS_BASE + 11)
-#define V4L2_CID_RF_TUNER_BANDWIDTH		(V4L2_CID_RF_TUNER_CLASS_BASE + 12)
-#define V4L2_CID_RF_TUNER_RF_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 32)
-#define V4L2_CID_RF_TUNER_LNA_GAIN_AUTO		(V4L2_CID_RF_TUNER_CLASS_BASE + 41)
-#define V4L2_CID_RF_TUNER_LNA_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 42)
-#define V4L2_CID_RF_TUNER_MIXER_GAIN_AUTO	(V4L2_CID_RF_TUNER_CLASS_BASE + 51)
-#define V4L2_CID_RF_TUNER_MIXER_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 52)
-#define V4L2_CID_RF_TUNER_IF_GAIN_AUTO		(V4L2_CID_RF_TUNER_CLASS_BASE + 61)
-#define V4L2_CID_RF_TUNER_IF_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 62)
-#define V4L2_CID_RF_TUNER_PLL_LOCK			(V4L2_CID_RF_TUNER_CLASS_BASE + 91)
-
-
-/*  Detection-class control IDs defined by V4L2 */
-#define V4L2_CID_DETECT_CLASS_BASE		(V4L2_CTRL_CLASS_DETECT | 0x900)
-#define V4L2_CID_DETECT_CLASS			(V4L2_CTRL_CLASS_DETECT | 1)
-
-#define V4L2_CID_DETECT_MD_MODE			(V4L2_CID_DETECT_CLASS_BASE + 1)
-enum v4l2_detect_md_mode {
-	V4L2_DETECT_MD_MODE_DISABLED		= 0,
-	V4L2_DETECT_MD_MODE_GLOBAL		= 1,
-	V4L2_DETECT_MD_MODE_THRESHOLD_GRID	= 2,
-	V4L2_DETECT_MD_MODE_REGION_GRID		= 3,
-};
-#define V4L2_CID_DETECT_MD_GLOBAL_THRESHOLD	(V4L2_CID_DETECT_CLASS_BASE + 2)
-#define V4L2_CID_DETECT_MD_THRESHOLD_GRID	(V4L2_CID_DETECT_CLASS_BASE + 3)
-#define V4L2_CID_DETECT_MD_REGION_GRID		(V4L2_CID_DETECT_CLASS_BASE + 4)
-
-#endif
diff --git a/tools/replay/qcom_decoder.cc b/tools/replay/qcom_decoder.cc
index 44ff16ce4f..b7f04a063b 100644
--- a/tools/replay/qcom_decoder.cc
+++ b/tools/replay/qcom_decoder.cc
@@ -1,7 +1,7 @@
 #include "qcom_decoder.h"
 
 #include <assert.h>
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 
 
@@ -343,4 +343,4 @@ bool MsmVidc::handleEvent() {
       break;
   }
   return true;
-}
\ No newline at end of file
+}

From 63508d0481d18d5c787f03438ea7b4990347fa15 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 10:23:49 -0700
Subject: [PATCH 107/210] Use packaged json11 dependency (#37995)

* Use packaged json11 dependency

* rm that too
---
 SConstruct                         |   6 +-
 common/swaglog.cc                  |   2 +-
 common/tests/test_swaglog.cc       |   2 +-
 pyproject.toml                     |   1 +
 third_party/SConscript             |   3 -
 third_party/build.sh               |  53 --
 third_party/json11/json11.cpp      | 785 -----------------------------
 third_party/json11/json11.hpp      | 232 ---------
 tools/jotpluggler/app.cc           |   2 +-
 tools/jotpluggler/custom_series.cc |   2 +-
 tools/jotpluggler/layout_io.cc     |   2 +-
 tools/jotpluggler/map.cc           |   2 +-
 tools/jotpluggler/sketch_layout.cc |   2 +-
 tools/replay/route.cc              |   2 +-
 tools/replay/route.h               |   2 +-
 uv.lock                            |   7 +
 16 files changed, 18 insertions(+), 1087 deletions(-)
 delete mode 100644 third_party/SConscript
 delete mode 100755 third_party/build.sh
 delete mode 100644 third_party/json11/json11.cpp
 delete mode 100644 third_party/json11/json11.hpp

diff --git a/SConstruct b/SConstruct
index 9d985ab696..6e5f31d921 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 acados_include_dirs = [
@@ -112,7 +112,6 @@ env = Environment(
     "#",
     "#msgq",
     "#third_party",
-    "#third_party/json11",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
@@ -242,9 +241,6 @@ SConscript([
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
 
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
 # Build selfdrive
 SConscript([
   'selfdrive/pandad/SConscript',
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 62a405a2b6..df7ce94c14 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -11,7 +11,7 @@
 
 #include <zmq.h>
 #include <stdarg.h>
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 09bc4c3795..8142f8d63e 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -7,7 +7,7 @@
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
diff --git a/pyproject.toml b/pyproject.toml
index fe6e9beb3c..6f5058b43c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -38,6 +38,7 @@ dependencies = [
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
   "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
   "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
diff --git a/third_party/SConscript b/third_party/SConscript
deleted file mode 100644
index 3a7497d162..0000000000
--- a/third_party/SConscript
+++ /dev/null
@@ -1,3 +0,0 @@
-Import('env')
-
-env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
diff --git a/third_party/build.sh b/third_party/build.sh
deleted file mode 100755
index d3a9c6579c..0000000000
--- a/third_party/build.sh
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-# Reproducible builds: pin timestamps to epoch
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-pids=()
-names=()
-logs=()
-
-for script in "$DIR"/*/build.sh; do
-  [ -f "$script" ] || continue
-  name=$(basename "$(dirname "$script")")
-  log=$(mktemp)
-  names+=("$name")
-  logs+=("$log")
-  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
-  pids+=($!)
-done
-
-failed=0
-for i in "${!pids[@]}"; do
-  echo "--- ${names[$i]} ---"
-  if wait "${pids[$i]}"; then
-    echo "OK"
-  else
-    echo "FAILED (exit $?)"
-    failed=1
-  fi
-  cat "${logs[$i]}"
-  rm -f "${logs[$i]}"
-  echo
-done
-
-[ $failed -ne 0 ] && exit $failed
-
-# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
-# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
-while IFS= read -r -d '' lib; do
-  tmpdir=$(mktemp -d)
-  lib=$(realpath "$lib")
-  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
-    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
-  fi
-  rm -rf "$tmpdir"
-done < <(find "$DIR" -name '*.a' \
-  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
-  -print0)
-
-echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
deleted file mode 100644
index 3bd4fde2f2..0000000000
--- a/third_party/json11/json11.cpp
+++ /dev/null
@@ -1,785 +0,0 @@
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "json11.hpp"
-#include <cassert>
-#include <cmath>
-#include <cstdlib>
-#include <cstdio>
-#include <limits>
-#include <cstdint>
-
-namespace json11 {
-
-static const int max_depth = 200;
-
-using std::string;
-using std::vector;
-using std::map;
-using std::make_shared;
-using std::initializer_list;
-using std::move;
-
-/* Helper for representing null - just a do-nothing struct, plus comparison
- * operators so the helpers in JsonValue work. We can't use nullptr_t because
- * it may not be orderable.
- */
-struct NullStruct {
-    bool operator==(NullStruct) const { return true; }
-    bool operator<(NullStruct) const { return false; }
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Serialization
- */
-
-static void dump(NullStruct, string &out) {
-    out += "null";
-}
-
-static void dump(double value, string &out) {
-    if (std::isfinite(value)) {
-        char buf[32];
-        snprintf(buf, sizeof buf, "%.17g", value);
-        out += buf;
-    } else {
-        out += "null";
-    }
-}
-
-static void dump(int value, string &out) {
-    char buf[32];
-    snprintf(buf, sizeof buf, "%d", value);
-    out += buf;
-}
-
-static void dump(bool value, string &out) {
-    out += value ? "true" : "false";
-}
-
-static void dump(const string &value, string &out) {
-    out += '"';
-    for (size_t i = 0; i < value.length(); i++) {
-        const char ch = value[i];
-        if (ch == '\\') {
-            out += "\\\\";
-        } else if (ch == '"') {
-            out += "\\\"";
-        } else if (ch == '\b') {
-            out += "\\b";
-        } else if (ch == '\f') {
-            out += "\\f";
-        } else if (ch == '\n') {
-            out += "\\n";
-        } else if (ch == '\r') {
-            out += "\\r";
-        } else if (ch == '\t') {
-            out += "\\t";
-        } else if (static_cast<uint8_t>(ch) <= 0x1f) {
-            char buf[8];
-            snprintf(buf, sizeof buf, "\\u%04x", ch);
-            out += buf;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa8) {
-            out += "\\u2028";
-            i += 2;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa9) {
-            out += "\\u2029";
-            i += 2;
-        } else {
-            out += ch;
-        }
-    }
-    out += '"';
-}
-
-static void dump(const Json::array &values, string &out) {
-    bool first = true;
-    out += "[";
-    for (const auto &value : values) {
-        if (!first)
-            out += ", ";
-        value.dump(out);
-        first = false;
-    }
-    out += "]";
-}
-
-static void dump(const Json::object &values, string &out) {
-    bool first = true;
-    out += "{";
-    for (const auto &kv : values) {
-        if (!first)
-            out += ", ";
-        dump(kv.first, out);
-        out += ": ";
-        kv.second.dump(out);
-        first = false;
-    }
-    out += "}";
-}
-
-void Json::dump(string &out) const {
-    m_ptr->dump(out);
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Value wrappers
- */
-
-template <Json::Type tag, typename T>
-class Value : public JsonValue {
-protected:
-
-    // Constructors
-    explicit Value(const T &value) : m_value(value) {}
-    explicit Value(T &&value)      : m_value(move(value)) {}
-
-    // Get type tag
-    Json::Type type() const override {
-        return tag;
-    }
-
-    // Comparisons
-    bool equals(const JsonValue * other) const override {
-        return m_value == static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-    bool less(const JsonValue * other) const override {
-        return m_value < static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-
-    const T m_value;
-    void dump(string &out) const override { json11::dump(m_value, out); }
-};
-
-class JsonDouble final : public Value<Json::NUMBER, double> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return static_cast<int>(m_value); }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonDouble(double value) : Value(value) {}
-};
-
-class JsonInt final : public Value<Json::NUMBER, int> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return m_value; }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonInt(int value) : Value(value) {}
-};
-
-class JsonBoolean final : public Value<Json::BOOL, bool> {
-    bool bool_value() const override { return m_value; }
-public:
-    explicit JsonBoolean(bool value) : Value(value) {}
-};
-
-class JsonString final : public Value<Json::STRING, string> {
-    const string &string_value() const override { return m_value; }
-public:
-    explicit JsonString(const string &value) : Value(value) {}
-    explicit JsonString(string &&value)      : Value(move(value)) {}
-};
-
-class JsonArray final : public Value<Json::ARRAY, Json::array> {
-    const Json::array &array_items() const override { return m_value; }
-    const Json & operator[](size_t i) const override;
-public:
-    explicit JsonArray(const Json::array &value) : Value(value) {}
-    explicit JsonArray(Json::array &&value)      : Value(move(value)) {}
-};
-
-class JsonObject final : public Value<Json::OBJECT, Json::object> {
-    const Json::object &object_items() const override { return m_value; }
-    const Json & operator[](const string &key) const override;
-public:
-    explicit JsonObject(const Json::object &value) : Value(value) {}
-    explicit JsonObject(Json::object &&value)      : Value(move(value)) {}
-};
-
-class JsonNull final : public Value<Json::NUL, NullStruct> {
-public:
-    JsonNull() : Value({}) {}
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Static globals - static-init-safe
- */
-struct Statics {
-    const std::shared_ptr<JsonValue> null = make_shared<JsonNull>();
-    const std::shared_ptr<JsonValue> t = make_shared<JsonBoolean>(true);
-    const std::shared_ptr<JsonValue> f = make_shared<JsonBoolean>(false);
-    const string empty_string;
-    const vector<Json> empty_vector;
-    const map<string, Json> empty_map;
-    Statics() {}
-};
-
-static const Statics & statics() {
-    static const Statics s {};
-    return s;
-}
-
-static const Json & static_null() {
-    // This has to be separate, not in Statics, because Json() accesses statics().null.
-    static const Json json_null;
-    return json_null;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Constructors
- */
-
-Json::Json() noexcept                  : m_ptr(statics().null) {}
-Json::Json(std::nullptr_t) noexcept    : m_ptr(statics().null) {}
-Json::Json(double value)               : m_ptr(make_shared<JsonDouble>(value)) {}
-Json::Json(int value)                  : m_ptr(make_shared<JsonInt>(value)) {}
-Json::Json(bool value)                 : m_ptr(value ? statics().t : statics().f) {}
-Json::Json(const string &value)        : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(string &&value)             : m_ptr(make_shared<JsonString>(move(value))) {}
-Json::Json(const char * value)         : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(const Json::array &values)  : m_ptr(make_shared<JsonArray>(values)) {}
-Json::Json(Json::array &&values)       : m_ptr(make_shared<JsonArray>(move(values))) {}
-Json::Json(const Json::object &values) : m_ptr(make_shared<JsonObject>(values)) {}
-Json::Json(Json::object &&values)      : m_ptr(make_shared<JsonObject>(move(values))) {}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Accessors
- */
-
-Json::Type Json::type()                           const { return m_ptr->type();         }
-double Json::number_value()                       const { return m_ptr->number_value(); }
-int Json::int_value()                             const { return m_ptr->int_value();    }
-bool Json::bool_value()                           const { return m_ptr->bool_value();   }
-const string & Json::string_value()               const { return m_ptr->string_value(); }
-const vector<Json> & Json::array_items()          const { return m_ptr->array_items();  }
-const map<string, Json> & Json::object_items()    const { return m_ptr->object_items(); }
-const Json & Json::operator[] (size_t i)          const { return (*m_ptr)[i];           }
-const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key];         }
-
-double                    JsonValue::number_value()              const { return 0; }
-int                       JsonValue::int_value()                 const { return 0; }
-bool                      JsonValue::bool_value()                const { return false; }
-const string &            JsonValue::string_value()              const { return statics().empty_string; }
-const vector<Json> &      JsonValue::array_items()               const { return statics().empty_vector; }
-const map<string, Json> & JsonValue::object_items()              const { return statics().empty_map; }
-const Json &              JsonValue::operator[] (size_t)         const { return static_null(); }
-const Json &              JsonValue::operator[] (const string &) const { return static_null(); }
-
-const Json & JsonObject::operator[] (const string &key) const {
-    auto iter = m_value.find(key);
-    return (iter == m_value.end()) ? static_null() : iter->second;
-}
-const Json & JsonArray::operator[] (size_t i) const {
-    if (i >= m_value.size()) return static_null();
-    else return m_value[i];
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Comparison
- */
-
-bool Json::operator== (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return false;
-
-    return m_ptr->equals(other.m_ptr.get());
-}
-
-bool Json::operator< (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return m_ptr->type() < other.m_ptr->type();
-
-    return m_ptr->less(other.m_ptr.get());
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Parsing
- */
-
-/* esc(c)
- *
- * Format char c suitable for printing in an error message.
- */
-static inline string esc(char c) {
-    char buf[12];
-    if (static_cast<uint8_t>(c) >= 0x20 && static_cast<uint8_t>(c) <= 0x7f) {
-        snprintf(buf, sizeof buf, "'%c' (%d)", c, c);
-    } else {
-        snprintf(buf, sizeof buf, "(%d)", c);
-    }
-    return string(buf);
-}
-
-static inline bool in_range(long x, long lower, long upper) {
-    return (x >= lower && x <= upper);
-}
-
-namespace {
-/* JsonParser
- *
- * Object that tracks all state of an in-progress parse.
- */
-struct JsonParser final {
-
-    /* State
-     */
-    const string &str;
-    size_t i;
-    string &err;
-    bool failed;
-    const JsonParse strategy;
-
-    /* fail(msg, err_ret = Json())
-     *
-     * Mark this parse as failed.
-     */
-    Json fail(string &&msg) {
-        return fail(move(msg), Json());
-    }
-
-    template <typename T>
-    T fail(string &&msg, const T err_ret) {
-        if (!failed)
-            err = std::move(msg);
-        failed = true;
-        return err_ret;
-    }
-
-    /* consume_whitespace()
-     *
-     * Advance until the current character is non-whitespace.
-     */
-    void consume_whitespace() {
-        while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t')
-            i++;
-    }
-
-    /* consume_comment()
-     *
-     * Advance comments (c-style inline and multiline).
-     */
-    bool consume_comment() {
-      bool comment_found = false;
-      if (str[i] == '/') {
-        i++;
-        if (i == str.size())
-          return fail("unexpected end of input after start of comment", false);
-        if (str[i] == '/') { // inline comment
-          i++;
-          // advance until next line, or end of input
-          while (i < str.size() && str[i] != '\n') {
-            i++;
-          }
-          comment_found = true;
-        }
-        else if (str[i] == '*') { // multiline comment
-          i++;
-          if (i > str.size()-2)
-            return fail("unexpected end of input inside multi-line comment", false);
-          // advance until closing tokens
-          while (!(str[i] == '*' && str[i+1] == '/')) {
-            i++;
-            if (i > str.size()-2)
-              return fail(
-                "unexpected end of input inside multi-line comment", false);
-          }
-          i += 2;
-          comment_found = true;
-        }
-        else
-          return fail("malformed comment", false);
-      }
-      return comment_found;
-    }
-
-    /* consume_garbage()
-     *
-     * Advance until the current character is non-whitespace and non-comment.
-     */
-    void consume_garbage() {
-      consume_whitespace();
-      if(strategy == JsonParse::COMMENTS) {
-        bool comment_found = false;
-        do {
-          comment_found = consume_comment();
-          if (failed) return;
-          consume_whitespace();
-        }
-        while(comment_found);
-      }
-    }
-
-    /* get_next_token()
-     *
-     * Return the next non-whitespace character. If the end of the input is reached,
-     * flag an error and return 0.
-     */
-    char get_next_token() {
-        consume_garbage();
-        if (failed) return (char)0;
-        if (i == str.size())
-            return fail("unexpected end of input", (char)0);
-
-        return str[i++];
-    }
-
-    /* encode_utf8(pt, out)
-     *
-     * Encode pt as UTF-8 and add it to out.
-     */
-    void encode_utf8(long pt, string & out) {
-        if (pt < 0)
-            return;
-
-        if (pt < 0x80) {
-            out += static_cast<char>(pt);
-        } else if (pt < 0x800) {
-            out += static_cast<char>((pt >> 6) | 0xC0);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else if (pt < 0x10000) {
-            out += static_cast<char>((pt >> 12) | 0xE0);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else {
-            out += static_cast<char>((pt >> 18) | 0xF0);
-            out += static_cast<char>(((pt >> 12) & 0x3F) | 0x80);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        }
-    }
-
-    /* parse_string()
-     *
-     * Parse a string, starting at the current position.
-     */
-    string parse_string() {
-        string out;
-        long last_escaped_codepoint = -1;
-        while (true) {
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            char ch = str[i++];
-
-            if (ch == '"') {
-                encode_utf8(last_escaped_codepoint, out);
-                return out;
-            }
-
-            if (in_range(ch, 0, 0x1f))
-                return fail("unescaped " + esc(ch) + " in string", "");
-
-            // The usual case: non-escaped characters
-            if (ch != '\\') {
-                encode_utf8(last_escaped_codepoint, out);
-                last_escaped_codepoint = -1;
-                out += ch;
-                continue;
-            }
-
-            // Handle escapes
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            ch = str[i++];
-
-            if (ch == 'u') {
-                // Extract 4-byte escape sequence
-                string esc = str.substr(i, 4);
-                // Explicitly check length of the substring. The following loop
-                // relies on std::string returning the terminating NUL when
-                // accessing str[length]. Checking here reduces brittleness.
-                if (esc.length() < 4) {
-                    return fail("bad \\u escape: " + esc, "");
-                }
-                for (size_t j = 0; j < 4; j++) {
-                    if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F')
-                            && !in_range(esc[j], '0', '9'))
-                        return fail("bad \\u escape: " + esc, "");
-                }
-
-                long codepoint = strtol(esc.data(), nullptr, 16);
-
-                // JSON specifies that characters outside the BMP shall be encoded as a pair
-                // of 4-hex-digit \u escapes encoding their surrogate pair components. Check
-                // whether we're in the middle of such a beast: the previous codepoint was an
-                // escaped lead (high) surrogate, and this is a trail (low) surrogate.
-                if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF)
-                        && in_range(codepoint, 0xDC00, 0xDFFF)) {
-                    // Reassemble the two surrogate pairs into one astral-plane character, per
-                    // the UTF-16 algorithm.
-                    encode_utf8((((last_escaped_codepoint - 0xD800) << 10)
-                                 | (codepoint - 0xDC00)) + 0x10000, out);
-                    last_escaped_codepoint = -1;
-                } else {
-                    encode_utf8(last_escaped_codepoint, out);
-                    last_escaped_codepoint = codepoint;
-                }
-
-                i += 4;
-                continue;
-            }
-
-            encode_utf8(last_escaped_codepoint, out);
-            last_escaped_codepoint = -1;
-
-            if (ch == 'b') {
-                out += '\b';
-            } else if (ch == 'f') {
-                out += '\f';
-            } else if (ch == 'n') {
-                out += '\n';
-            } else if (ch == 'r') {
-                out += '\r';
-            } else if (ch == 't') {
-                out += '\t';
-            } else if (ch == '"' || ch == '\\' || ch == '/') {
-                out += ch;
-            } else {
-                return fail("invalid escape character " + esc(ch), "");
-            }
-        }
-    }
-
-    /* parse_number()
-     *
-     * Parse a double.
-     */
-    Json parse_number() {
-        size_t start_pos = i;
-
-        if (str[i] == '-')
-            i++;
-
-        // Integer part
-        if (str[i] == '0') {
-            i++;
-            if (in_range(str[i], '0', '9'))
-                return fail("leading 0s not permitted in numbers");
-        } else if (in_range(str[i], '1', '9')) {
-            i++;
-            while (in_range(str[i], '0', '9'))
-                i++;
-        } else {
-            return fail("invalid " + esc(str[i]) + " in number");
-        }
-
-        if (str[i] != '.' && str[i] != 'e' && str[i] != 'E'
-                && (i - start_pos) <= static_cast<size_t>(std::numeric_limits<int>::digits10)) {
-            return std::atoi(str.c_str() + start_pos);
-        }
-
-        // Decimal part
-        if (str[i] == '.') {
-            i++;
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in fractional part");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        // Exponent part
-        if (str[i] == 'e' || str[i] == 'E') {
-            i++;
-
-            if (str[i] == '+' || str[i] == '-')
-                i++;
-
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in exponent");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        return std::strtod(str.c_str() + start_pos, nullptr);
-    }
-
-    /* expect(str, res)
-     *
-     * Expect that 'str' starts at the character that was just read. If it does, advance
-     * the input and return res. If not, flag an error.
-     */
-    Json expect(const string &expected, Json res) {
-        assert(i != 0);
-        i--;
-        if (str.compare(i, expected.length(), expected) == 0) {
-            i += expected.length();
-            return res;
-        } else {
-            return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length()));
-        }
-    }
-
-    /* parse_json()
-     *
-     * Parse a JSON object.
-     */
-    Json parse_json(int depth) {
-        if (depth > max_depth) {
-            return fail("exceeded maximum nesting depth");
-        }
-
-        char ch = get_next_token();
-        if (failed)
-            return Json();
-
-        if (ch == '-' || (ch >= '0' && ch <= '9')) {
-            i--;
-            return parse_number();
-        }
-
-        if (ch == 't')
-            return expect("true", true);
-
-        if (ch == 'f')
-            return expect("false", false);
-
-        if (ch == 'n')
-            return expect("null", Json());
-
-        if (ch == '"')
-            return parse_string();
-
-        if (ch == '{') {
-            map<string, Json> data;
-            ch = get_next_token();
-            if (ch == '}')
-                return data;
-
-            while (1) {
-                if (ch != '"')
-                    return fail("expected '\"' in object, got " + esc(ch));
-
-                string key = parse_string();
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch != ':')
-                    return fail("expected ':' in object, got " + esc(ch));
-
-                data[std::move(key)] = parse_json(depth + 1);
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == '}')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in object, got " + esc(ch));
-
-                ch = get_next_token();
-            }
-            return data;
-        }
-
-        if (ch == '[') {
-            vector<Json> data;
-            ch = get_next_token();
-            if (ch == ']')
-                return data;
-
-            while (1) {
-                i--;
-                data.push_back(parse_json(depth + 1));
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == ']')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in list, got " + esc(ch));
-
-                ch = get_next_token();
-                (void)ch;
-            }
-            return data;
-        }
-
-        return fail("expected value, got " + esc(ch));
-    }
-};
-}//namespace {
-
-Json Json::parse(const string &in, string &err, JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    Json result = parser.parse_json(0);
-
-    // Check for any trailing garbage
-    parser.consume_garbage();
-    if (parser.failed)
-        return Json();
-    if (parser.i != in.size())
-        return parser.fail("unexpected trailing " + esc(in[parser.i]));
-
-    return result;
-}
-
-// Documented in json11.hpp
-vector<Json> Json::parse_multi(const string &in,
-                               std::string::size_type &parser_stop_pos,
-                               string &err,
-                               JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    parser_stop_pos = 0;
-    vector<Json> json_vec;
-    while (parser.i != in.size() && !parser.failed) {
-        json_vec.push_back(parser.parse_json(0));
-        if (parser.failed)
-            break;
-
-        // Check for another object
-        parser.consume_garbage();
-        if (parser.failed)
-            break;
-        parser_stop_pos = parser.i;
-    }
-    return json_vec;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Shape-checking
- */
-
-bool Json::has_shape(const shape & types, string & err) const {
-    if (!is_object()) {
-        err = "expected JSON object, got " + dump();
-        return false;
-    }
-
-    for (auto & item : types) {
-        if ((*this)[item.first].type() != item.second) {
-            err = "bad type for " + item.first + " in " + dump();
-            return false;
-        }
-    }
-
-    return true;
-}
-
-} // namespace json11
diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp
deleted file mode 100644
index 5202ef9323..0000000000
--- a/third_party/json11/json11.hpp
+++ /dev/null
@@ -1,232 +0,0 @@
-/* json11
- *
- * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization.
- *
- * The core object provided by the library is json11::Json. A Json object represents any JSON
- * value: null, bool, number (int or double), string (std::string), array (std::vector), or
- * object (std::map).
- *
- * Json objects act like values: they can be assigned, copied, moved, compared for equality or
- * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and
- * Json::parse (static) to parse a std::string as a Json object.
- *
- * Internally, the various types of Json object are represented by the JsonValue class
- * hierarchy.
- *
- * A note on numbers - JSON specifies the syntax of number formatting but not its semantics,
- * so some JSON implementations distinguish between integers and floating-point numbers, while
- * some don't. In json11, we choose the latter. Because some JSON implementations (namely
- * Javascript itself) treat all numbers as the same type, distinguishing the two leads
- * to JSON that will be *silently* changed by a round-trip through those implementations.
- * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also
- * provides integer helpers.
- *
- * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the
- * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64
- * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch
- * will be exact for +/- 275 years.)
- */
-
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-#include <map>
-#include <memory>
-#include <initializer_list>
-
-#ifdef _MSC_VER
-    #if _MSC_VER <= 1800 // VS 2013
-        #ifndef noexcept
-            #define noexcept throw()
-        #endif
-
-        #ifndef snprintf
-            #define snprintf _snprintf_s
-        #endif
-    #endif
-#endif
-
-namespace json11 {
-
-enum JsonParse {
-    STANDARD, COMMENTS
-};
-
-class JsonValue;
-
-class Json final {
-public:
-    // Types
-    enum Type {
-        NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT
-    };
-
-    // Array and object typedefs
-    typedef std::vector<Json> array;
-    typedef std::map<std::string, Json> object;
-
-    // Constructors for the various types of JSON value.
-    Json() noexcept;                // NUL
-    Json(std::nullptr_t) noexcept;  // NUL
-    Json(double value);             // NUMBER
-    Json(int value);                // NUMBER
-    Json(bool value);               // BOOL
-    Json(const std::string &value); // STRING
-    Json(std::string &&value);      // STRING
-    Json(const char * value);       // STRING
-    Json(const array &values);      // ARRAY
-    Json(array &&values);           // ARRAY
-    Json(const object &values);     // OBJECT
-    Json(object &&values);          // OBJECT
-
-    // Implicit constructor: anything with a to_json() function.
-    template <class T, class = decltype(&T::to_json)>
-    Json(const T & t) : Json(t.to_json()) {}
-
-    // Implicit constructor: map-like objects (std::map, std::unordered_map, etc)
-    template <class M, typename std::enable_if<
-        std::is_constructible<std::string, typename M::key_type>::value
-        && std::is_constructible<Json, typename M::mapped_type>::value,
-            int>::type = 0>
-    Json(const M & m) : Json(object(m.begin(), m.end())) {}
-
-    // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc)
-    template <class V, typename std::enable_if<
-        std::is_constructible<Json, typename V::value_type>::value,
-            int>::type = 0>
-    Json(const V & v) : Json(array(v.begin(), v.end())) {}
-
-    // This prevents Json(some_pointer) from accidentally producing a bool. Use
-    // Json(bool(some_pointer)) if that behavior is desired.
-    Json(void *) = delete;
-
-    // Accessors
-    Type type() const;
-
-    bool is_null()   const { return type() == NUL; }
-    bool is_number() const { return type() == NUMBER; }
-    bool is_bool()   const { return type() == BOOL; }
-    bool is_string() const { return type() == STRING; }
-    bool is_array()  const { return type() == ARRAY; }
-    bool is_object() const { return type() == OBJECT; }
-
-    // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not
-    // distinguish between integer and non-integer numbers - number_value() and int_value()
-    // can both be applied to a NUMBER-typed object.
-    double number_value() const;
-    int int_value() const;
-
-    // Return the enclosed value if this is a boolean, false otherwise.
-    bool bool_value() const;
-    // Return the enclosed string if this is a string, "" otherwise.
-    const std::string &string_value() const;
-    // Return the enclosed std::vector if this is an array, or an empty vector otherwise.
-    const array &array_items() const;
-    // Return the enclosed std::map if this is an object, or an empty map otherwise.
-    const object &object_items() const;
-
-    // Return a reference to arr[i] if this is an array, Json() otherwise.
-    const Json & operator[](size_t i) const;
-    // Return a reference to obj[key] if this is an object, Json() otherwise.
-    const Json & operator[](const std::string &key) const;
-
-    // Serialize.
-    void dump(std::string &out) const;
-    std::string dump() const {
-        std::string out;
-        dump(out);
-        return out;
-    }
-
-    // Parse. If parse fails, return Json() and assign an error message to err.
-    static Json parse(const std::string & in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD);
-    static Json parse(const char * in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD) {
-        if (in) {
-            return parse(std::string(in), err, strategy);
-        } else {
-            err = "null input";
-            return nullptr;
-        }
-    }
-    // Parse multiple objects, concatenated or separated by whitespace
-    static std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string::size_type & parser_stop_pos,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD);
-
-    static inline std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD) {
-        std::string::size_type parser_stop_pos;
-        return parse_multi(in, parser_stop_pos, err, strategy);
-    }
-
-    bool operator== (const Json &rhs) const;
-    bool operator<  (const Json &rhs) const;
-    bool operator!= (const Json &rhs) const { return !(*this == rhs); }
-    bool operator<= (const Json &rhs) const { return !(rhs < *this); }
-    bool operator>  (const Json &rhs) const { return  (rhs < *this); }
-    bool operator>= (const Json &rhs) const { return !(*this < rhs); }
-
-    /* has_shape(types, err)
-     *
-     * Return true if this is a JSON object and, for each item in types, has a field of
-     * the given type. If not, return false and set err to a descriptive message.
-     */
-    typedef std::initializer_list<std::pair<std::string, Type>> shape;
-    bool has_shape(const shape & types, std::string & err) const;
-
-private:
-    std::shared_ptr<JsonValue> m_ptr;
-};
-
-// Internal class hierarchy - JsonValue objects are not exposed to users of this API.
-class JsonValue {
-protected:
-    friend class Json;
-    friend class JsonInt;
-    friend class JsonDouble;
-    virtual Json::Type type() const = 0;
-    virtual bool equals(const JsonValue * other) const = 0;
-    virtual bool less(const JsonValue * other) const = 0;
-    virtual void dump(std::string &out) const = 0;
-    virtual double number_value() const;
-    virtual int int_value() const;
-    virtual bool bool_value() const;
-    virtual const std::string &string_value() const;
-    virtual const Json::array &array_items() const;
-    virtual const Json &operator[](size_t i) const;
-    virtual const Json::object &object_items() const;
-    virtual const Json &operator[](const std::string &key) const;
-    virtual ~JsonValue() {}
-};
-
-} // namespace json11
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index efc848494c..22a9f9021c 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -27,7 +27,7 @@
 #include <unordered_set>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
index 568f7e97c3..aabf78a0db 100644
--- a/tools/jotpluggler/custom_series.cc
+++ b/tools/jotpluggler/custom_series.cc
@@ -11,7 +11,7 @@
 #include <stdexcept>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/layout_io.cc b/tools/jotpluggler/layout_io.cc
index f984c0f0e8..5c70f7a42a 100644
--- a/tools/jotpluggler/layout_io.cc
+++ b/tools/jotpluggler/layout_io.cc
@@ -6,7 +6,7 @@
 #include <sstream>
 #include <stdexcept>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/map.cc b/tools/jotpluggler/map.cc
index 8725908ea0..fb4e03c912 100644
--- a/tools/jotpluggler/map.cc
+++ b/tools/jotpluggler/map.cc
@@ -25,7 +25,7 @@ extern "C" {
 #include <vector>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index c44a4e93cd..2091280169 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -23,7 +23,7 @@
 #include <utility>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/logreader.h"
 #include "tools/replay/py_downloader.h"
 
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index e7b8ed6bba..df4fa813cf 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -4,7 +4,7 @@
 #include <filesystem>
 #include <regex>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "system/hardware/hw.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 119a81152e..50f3eba854 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -8,7 +8,7 @@
 #include <thread>
 #include <vector>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
diff --git a/uv.lock b/uv.lock
index e3c967cfc1..99da78c449 100644
--- a/uv.lock
+++ b/uv.lock
@@ -541,6 +541,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" },
 ]
 
+[[package]]
+name = "json11"
+version = "20170411.0"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11#8e7737088f52d10fdea69c28c55e3e40b74af3f3" }
+
 [[package]]
 name = "kiwisolver"
 version = "1.5.0"
@@ -758,6 +763,7 @@ dependencies = [
     { name = "inputs" },
     { name = "jeepney" },
     { name = "json-rpc" },
+    { name = "json11" },
     { name = "libjpeg" },
     { name = "libusb" },
     { name = "libusb1" },
@@ -842,6 +848,7 @@ requires-dist = [
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
+    { name = "json11", git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11" },
     { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
     { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libusb1" },

From 656de3f17b75466274954a2a40a0eac8ae5de909 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 10:24:16 -0700
Subject: [PATCH 108/210] Revert "Use packaged json11 dependency (#37995)"

This reverts commit 63508d0481d18d5c787f03438ea7b4990347fa15.
---
 SConstruct                         |   6 +-
 common/swaglog.cc                  |   2 +-
 common/tests/test_swaglog.cc       |   2 +-
 pyproject.toml                     |   1 -
 third_party/SConscript             |   3 +
 third_party/build.sh               |  53 ++
 third_party/json11/json11.cpp      | 785 +++++++++++++++++++++++++++++
 third_party/json11/json11.hpp      | 232 +++++++++
 tools/jotpluggler/app.cc           |   2 +-
 tools/jotpluggler/custom_series.cc |   2 +-
 tools/jotpluggler/layout_io.cc     |   2 +-
 tools/jotpluggler/map.cc           |   2 +-
 tools/jotpluggler/sketch_layout.cc |   2 +-
 tools/replay/route.cc              |   2 +-
 tools/replay/route.h               |   2 +-
 uv.lock                            |   7 -
 16 files changed, 1087 insertions(+), 18 deletions(-)
 create mode 100644 third_party/SConscript
 create mode 100755 third_party/build.sh
 create mode 100644 third_party/json11/json11.cpp
 create mode 100644 third_party/json11/json11.hpp

diff --git a/SConstruct b/SConstruct
index 6e5f31d921..9d985ab696 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 acados_include_dirs = [
@@ -112,6 +112,7 @@ env = Environment(
     "#",
     "#msgq",
     "#third_party",
+    "#third_party/json11",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
@@ -241,6 +242,9 @@ SConscript([
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
 
+# Build openpilot
+SConscript(['third_party/SConscript'])
+
 # Build selfdrive
 SConscript([
   'selfdrive/pandad/SConscript',
diff --git a/common/swaglog.cc b/common/swaglog.cc
index df7ce94c14..62a405a2b6 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -11,7 +11,7 @@
 
 #include <zmq.h>
 #include <stdarg.h>
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 8142f8d63e..09bc4c3795 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -7,7 +7,7 @@
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
diff --git a/pyproject.toml b/pyproject.toml
index 6f5058b43c..fe6e9beb3c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -38,7 +38,6 @@ dependencies = [
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
   "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
-  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
   "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
diff --git a/third_party/SConscript b/third_party/SConscript
new file mode 100644
index 0000000000..3a7497d162
--- /dev/null
+++ b/third_party/SConscript
@@ -0,0 +1,3 @@
+Import('env')
+
+env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
diff --git a/third_party/build.sh b/third_party/build.sh
new file mode 100755
index 0000000000..d3a9c6579c
--- /dev/null
+++ b/third_party/build.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+# Reproducible builds: pin timestamps to epoch
+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
+pids=()
+names=()
+logs=()
+
+for script in "$DIR"/*/build.sh; do
+  [ -f "$script" ] || continue
+  name=$(basename "$(dirname "$script")")
+  log=$(mktemp)
+  names+=("$name")
+  logs+=("$log")
+  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
+  pids+=($!)
+done
+
+failed=0
+for i in "${!pids[@]}"; do
+  echo "--- ${names[$i]} ---"
+  if wait "${pids[$i]}"; then
+    echo "OK"
+  else
+    echo "FAILED (exit $?)"
+    failed=1
+  fi
+  cat "${logs[$i]}"
+  rm -f "${logs[$i]}"
+  echo
+done
+
+[ $failed -ne 0 ] && exit $failed
+
+# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
+# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
+while IFS= read -r -d '' lib; do
+  tmpdir=$(mktemp -d)
+  lib=$(realpath "$lib")
+  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
+    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
+  fi
+  rm -rf "$tmpdir"
+done < <(find "$DIR" -name '*.a' \
+  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
+  -print0)
+
+echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
new file mode 100644
index 0000000000..3bd4fde2f2
--- /dev/null
+++ b/third_party/json11/json11.cpp
@@ -0,0 +1,785 @@
+/* Copyright (c) 2013 Dropbox, Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "json11.hpp"
+#include <cassert>
+#include <cmath>
+#include <cstdlib>
+#include <cstdio>
+#include <limits>
+#include <cstdint>
+
+namespace json11 {
+
+static const int max_depth = 200;
+
+using std::string;
+using std::vector;
+using std::map;
+using std::make_shared;
+using std::initializer_list;
+using std::move;
+
+/* Helper for representing null - just a do-nothing struct, plus comparison
+ * operators so the helpers in JsonValue work. We can't use nullptr_t because
+ * it may not be orderable.
+ */
+struct NullStruct {
+    bool operator==(NullStruct) const { return true; }
+    bool operator<(NullStruct) const { return false; }
+};
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Serialization
+ */
+
+static void dump(NullStruct, string &out) {
+    out += "null";
+}
+
+static void dump(double value, string &out) {
+    if (std::isfinite(value)) {
+        char buf[32];
+        snprintf(buf, sizeof buf, "%.17g", value);
+        out += buf;
+    } else {
+        out += "null";
+    }
+}
+
+static void dump(int value, string &out) {
+    char buf[32];
+    snprintf(buf, sizeof buf, "%d", value);
+    out += buf;
+}
+
+static void dump(bool value, string &out) {
+    out += value ? "true" : "false";
+}
+
+static void dump(const string &value, string &out) {
+    out += '"';
+    for (size_t i = 0; i < value.length(); i++) {
+        const char ch = value[i];
+        if (ch == '\\') {
+            out += "\\\\";
+        } else if (ch == '"') {
+            out += "\\\"";
+        } else if (ch == '\b') {
+            out += "\\b";
+        } else if (ch == '\f') {
+            out += "\\f";
+        } else if (ch == '\n') {
+            out += "\\n";
+        } else if (ch == '\r') {
+            out += "\\r";
+        } else if (ch == '\t') {
+            out += "\\t";
+        } else if (static_cast<uint8_t>(ch) <= 0x1f) {
+            char buf[8];
+            snprintf(buf, sizeof buf, "\\u%04x", ch);
+            out += buf;
+        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
+                   && static_cast<uint8_t>(value[i+2]) == 0xa8) {
+            out += "\\u2028";
+            i += 2;
+        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
+                   && static_cast<uint8_t>(value[i+2]) == 0xa9) {
+            out += "\\u2029";
+            i += 2;
+        } else {
+            out += ch;
+        }
+    }
+    out += '"';
+}
+
+static void dump(const Json::array &values, string &out) {
+    bool first = true;
+    out += "[";
+    for (const auto &value : values) {
+        if (!first)
+            out += ", ";
+        value.dump(out);
+        first = false;
+    }
+    out += "]";
+}
+
+static void dump(const Json::object &values, string &out) {
+    bool first = true;
+    out += "{";
+    for (const auto &kv : values) {
+        if (!first)
+            out += ", ";
+        dump(kv.first, out);
+        out += ": ";
+        kv.second.dump(out);
+        first = false;
+    }
+    out += "}";
+}
+
+void Json::dump(string &out) const {
+    m_ptr->dump(out);
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Value wrappers
+ */
+
+template <Json::Type tag, typename T>
+class Value : public JsonValue {
+protected:
+
+    // Constructors
+    explicit Value(const T &value) : m_value(value) {}
+    explicit Value(T &&value)      : m_value(move(value)) {}
+
+    // Get type tag
+    Json::Type type() const override {
+        return tag;
+    }
+
+    // Comparisons
+    bool equals(const JsonValue * other) const override {
+        return m_value == static_cast<const Value<tag, T> *>(other)->m_value;
+    }
+    bool less(const JsonValue * other) const override {
+        return m_value < static_cast<const Value<tag, T> *>(other)->m_value;
+    }
+
+    const T m_value;
+    void dump(string &out) const override { json11::dump(m_value, out); }
+};
+
+class JsonDouble final : public Value<Json::NUMBER, double> {
+    double number_value() const override { return m_value; }
+    int int_value() const override { return static_cast<int>(m_value); }
+    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
+    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
+public:
+    explicit JsonDouble(double value) : Value(value) {}
+};
+
+class JsonInt final : public Value<Json::NUMBER, int> {
+    double number_value() const override { return m_value; }
+    int int_value() const override { return m_value; }
+    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
+    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
+public:
+    explicit JsonInt(int value) : Value(value) {}
+};
+
+class JsonBoolean final : public Value<Json::BOOL, bool> {
+    bool bool_value() const override { return m_value; }
+public:
+    explicit JsonBoolean(bool value) : Value(value) {}
+};
+
+class JsonString final : public Value<Json::STRING, string> {
+    const string &string_value() const override { return m_value; }
+public:
+    explicit JsonString(const string &value) : Value(value) {}
+    explicit JsonString(string &&value)      : Value(move(value)) {}
+};
+
+class JsonArray final : public Value<Json::ARRAY, Json::array> {
+    const Json::array &array_items() const override { return m_value; }
+    const Json & operator[](size_t i) const override;
+public:
+    explicit JsonArray(const Json::array &value) : Value(value) {}
+    explicit JsonArray(Json::array &&value)      : Value(move(value)) {}
+};
+
+class JsonObject final : public Value<Json::OBJECT, Json::object> {
+    const Json::object &object_items() const override { return m_value; }
+    const Json & operator[](const string &key) const override;
+public:
+    explicit JsonObject(const Json::object &value) : Value(value) {}
+    explicit JsonObject(Json::object &&value)      : Value(move(value)) {}
+};
+
+class JsonNull final : public Value<Json::NUL, NullStruct> {
+public:
+    JsonNull() : Value({}) {}
+};
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Static globals - static-init-safe
+ */
+struct Statics {
+    const std::shared_ptr<JsonValue> null = make_shared<JsonNull>();
+    const std::shared_ptr<JsonValue> t = make_shared<JsonBoolean>(true);
+    const std::shared_ptr<JsonValue> f = make_shared<JsonBoolean>(false);
+    const string empty_string;
+    const vector<Json> empty_vector;
+    const map<string, Json> empty_map;
+    Statics() {}
+};
+
+static const Statics & statics() {
+    static const Statics s {};
+    return s;
+}
+
+static const Json & static_null() {
+    // This has to be separate, not in Statics, because Json() accesses statics().null.
+    static const Json json_null;
+    return json_null;
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Constructors
+ */
+
+Json::Json() noexcept                  : m_ptr(statics().null) {}
+Json::Json(std::nullptr_t) noexcept    : m_ptr(statics().null) {}
+Json::Json(double value)               : m_ptr(make_shared<JsonDouble>(value)) {}
+Json::Json(int value)                  : m_ptr(make_shared<JsonInt>(value)) {}
+Json::Json(bool value)                 : m_ptr(value ? statics().t : statics().f) {}
+Json::Json(const string &value)        : m_ptr(make_shared<JsonString>(value)) {}
+Json::Json(string &&value)             : m_ptr(make_shared<JsonString>(move(value))) {}
+Json::Json(const char * value)         : m_ptr(make_shared<JsonString>(value)) {}
+Json::Json(const Json::array &values)  : m_ptr(make_shared<JsonArray>(values)) {}
+Json::Json(Json::array &&values)       : m_ptr(make_shared<JsonArray>(move(values))) {}
+Json::Json(const Json::object &values) : m_ptr(make_shared<JsonObject>(values)) {}
+Json::Json(Json::object &&values)      : m_ptr(make_shared<JsonObject>(move(values))) {}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Accessors
+ */
+
+Json::Type Json::type()                           const { return m_ptr->type();         }
+double Json::number_value()                       const { return m_ptr->number_value(); }
+int Json::int_value()                             const { return m_ptr->int_value();    }
+bool Json::bool_value()                           const { return m_ptr->bool_value();   }
+const string & Json::string_value()               const { return m_ptr->string_value(); }
+const vector<Json> & Json::array_items()          const { return m_ptr->array_items();  }
+const map<string, Json> & Json::object_items()    const { return m_ptr->object_items(); }
+const Json & Json::operator[] (size_t i)          const { return (*m_ptr)[i];           }
+const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key];         }
+
+double                    JsonValue::number_value()              const { return 0; }
+int                       JsonValue::int_value()                 const { return 0; }
+bool                      JsonValue::bool_value()                const { return false; }
+const string &            JsonValue::string_value()              const { return statics().empty_string; }
+const vector<Json> &      JsonValue::array_items()               const { return statics().empty_vector; }
+const map<string, Json> & JsonValue::object_items()              const { return statics().empty_map; }
+const Json &              JsonValue::operator[] (size_t)         const { return static_null(); }
+const Json &              JsonValue::operator[] (const string &) const { return static_null(); }
+
+const Json & JsonObject::operator[] (const string &key) const {
+    auto iter = m_value.find(key);
+    return (iter == m_value.end()) ? static_null() : iter->second;
+}
+const Json & JsonArray::operator[] (size_t i) const {
+    if (i >= m_value.size()) return static_null();
+    else return m_value[i];
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Comparison
+ */
+
+bool Json::operator== (const Json &other) const {
+    if (m_ptr->type() != other.m_ptr->type())
+        return false;
+
+    return m_ptr->equals(other.m_ptr.get());
+}
+
+bool Json::operator< (const Json &other) const {
+    if (m_ptr->type() != other.m_ptr->type())
+        return m_ptr->type() < other.m_ptr->type();
+
+    return m_ptr->less(other.m_ptr.get());
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Parsing
+ */
+
+/* esc(c)
+ *
+ * Format char c suitable for printing in an error message.
+ */
+static inline string esc(char c) {
+    char buf[12];
+    if (static_cast<uint8_t>(c) >= 0x20 && static_cast<uint8_t>(c) <= 0x7f) {
+        snprintf(buf, sizeof buf, "'%c' (%d)", c, c);
+    } else {
+        snprintf(buf, sizeof buf, "(%d)", c);
+    }
+    return string(buf);
+}
+
+static inline bool in_range(long x, long lower, long upper) {
+    return (x >= lower && x <= upper);
+}
+
+namespace {
+/* JsonParser
+ *
+ * Object that tracks all state of an in-progress parse.
+ */
+struct JsonParser final {
+
+    /* State
+     */
+    const string &str;
+    size_t i;
+    string &err;
+    bool failed;
+    const JsonParse strategy;
+
+    /* fail(msg, err_ret = Json())
+     *
+     * Mark this parse as failed.
+     */
+    Json fail(string &&msg) {
+        return fail(move(msg), Json());
+    }
+
+    template <typename T>
+    T fail(string &&msg, const T err_ret) {
+        if (!failed)
+            err = std::move(msg);
+        failed = true;
+        return err_ret;
+    }
+
+    /* consume_whitespace()
+     *
+     * Advance until the current character is non-whitespace.
+     */
+    void consume_whitespace() {
+        while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t')
+            i++;
+    }
+
+    /* consume_comment()
+     *
+     * Advance comments (c-style inline and multiline).
+     */
+    bool consume_comment() {
+      bool comment_found = false;
+      if (str[i] == '/') {
+        i++;
+        if (i == str.size())
+          return fail("unexpected end of input after start of comment", false);
+        if (str[i] == '/') { // inline comment
+          i++;
+          // advance until next line, or end of input
+          while (i < str.size() && str[i] != '\n') {
+            i++;
+          }
+          comment_found = true;
+        }
+        else if (str[i] == '*') { // multiline comment
+          i++;
+          if (i > str.size()-2)
+            return fail("unexpected end of input inside multi-line comment", false);
+          // advance until closing tokens
+          while (!(str[i] == '*' && str[i+1] == '/')) {
+            i++;
+            if (i > str.size()-2)
+              return fail(
+                "unexpected end of input inside multi-line comment", false);
+          }
+          i += 2;
+          comment_found = true;
+        }
+        else
+          return fail("malformed comment", false);
+      }
+      return comment_found;
+    }
+
+    /* consume_garbage()
+     *
+     * Advance until the current character is non-whitespace and non-comment.
+     */
+    void consume_garbage() {
+      consume_whitespace();
+      if(strategy == JsonParse::COMMENTS) {
+        bool comment_found = false;
+        do {
+          comment_found = consume_comment();
+          if (failed) return;
+          consume_whitespace();
+        }
+        while(comment_found);
+      }
+    }
+
+    /* get_next_token()
+     *
+     * Return the next non-whitespace character. If the end of the input is reached,
+     * flag an error and return 0.
+     */
+    char get_next_token() {
+        consume_garbage();
+        if (failed) return (char)0;
+        if (i == str.size())
+            return fail("unexpected end of input", (char)0);
+
+        return str[i++];
+    }
+
+    /* encode_utf8(pt, out)
+     *
+     * Encode pt as UTF-8 and add it to out.
+     */
+    void encode_utf8(long pt, string & out) {
+        if (pt < 0)
+            return;
+
+        if (pt < 0x80) {
+            out += static_cast<char>(pt);
+        } else if (pt < 0x800) {
+            out += static_cast<char>((pt >> 6) | 0xC0);
+            out += static_cast<char>((pt & 0x3F) | 0x80);
+        } else if (pt < 0x10000) {
+            out += static_cast<char>((pt >> 12) | 0xE0);
+            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
+            out += static_cast<char>((pt & 0x3F) | 0x80);
+        } else {
+            out += static_cast<char>((pt >> 18) | 0xF0);
+            out += static_cast<char>(((pt >> 12) & 0x3F) | 0x80);
+            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
+            out += static_cast<char>((pt & 0x3F) | 0x80);
+        }
+    }
+
+    /* parse_string()
+     *
+     * Parse a string, starting at the current position.
+     */
+    string parse_string() {
+        string out;
+        long last_escaped_codepoint = -1;
+        while (true) {
+            if (i == str.size())
+                return fail("unexpected end of input in string", "");
+
+            char ch = str[i++];
+
+            if (ch == '"') {
+                encode_utf8(last_escaped_codepoint, out);
+                return out;
+            }
+
+            if (in_range(ch, 0, 0x1f))
+                return fail("unescaped " + esc(ch) + " in string", "");
+
+            // The usual case: non-escaped characters
+            if (ch != '\\') {
+                encode_utf8(last_escaped_codepoint, out);
+                last_escaped_codepoint = -1;
+                out += ch;
+                continue;
+            }
+
+            // Handle escapes
+            if (i == str.size())
+                return fail("unexpected end of input in string", "");
+
+            ch = str[i++];
+
+            if (ch == 'u') {
+                // Extract 4-byte escape sequence
+                string esc = str.substr(i, 4);
+                // Explicitly check length of the substring. The following loop
+                // relies on std::string returning the terminating NUL when
+                // accessing str[length]. Checking here reduces brittleness.
+                if (esc.length() < 4) {
+                    return fail("bad \\u escape: " + esc, "");
+                }
+                for (size_t j = 0; j < 4; j++) {
+                    if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F')
+                            && !in_range(esc[j], '0', '9'))
+                        return fail("bad \\u escape: " + esc, "");
+                }
+
+                long codepoint = strtol(esc.data(), nullptr, 16);
+
+                // JSON specifies that characters outside the BMP shall be encoded as a pair
+                // of 4-hex-digit \u escapes encoding their surrogate pair components. Check
+                // whether we're in the middle of such a beast: the previous codepoint was an
+                // escaped lead (high) surrogate, and this is a trail (low) surrogate.
+                if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF)
+                        && in_range(codepoint, 0xDC00, 0xDFFF)) {
+                    // Reassemble the two surrogate pairs into one astral-plane character, per
+                    // the UTF-16 algorithm.
+                    encode_utf8((((last_escaped_codepoint - 0xD800) << 10)
+                                 | (codepoint - 0xDC00)) + 0x10000, out);
+                    last_escaped_codepoint = -1;
+                } else {
+                    encode_utf8(last_escaped_codepoint, out);
+                    last_escaped_codepoint = codepoint;
+                }
+
+                i += 4;
+                continue;
+            }
+
+            encode_utf8(last_escaped_codepoint, out);
+            last_escaped_codepoint = -1;
+
+            if (ch == 'b') {
+                out += '\b';
+            } else if (ch == 'f') {
+                out += '\f';
+            } else if (ch == 'n') {
+                out += '\n';
+            } else if (ch == 'r') {
+                out += '\r';
+            } else if (ch == 't') {
+                out += '\t';
+            } else if (ch == '"' || ch == '\\' || ch == '/') {
+                out += ch;
+            } else {
+                return fail("invalid escape character " + esc(ch), "");
+            }
+        }
+    }
+
+    /* parse_number()
+     *
+     * Parse a double.
+     */
+    Json parse_number() {
+        size_t start_pos = i;
+
+        if (str[i] == '-')
+            i++;
+
+        // Integer part
+        if (str[i] == '0') {
+            i++;
+            if (in_range(str[i], '0', '9'))
+                return fail("leading 0s not permitted in numbers");
+        } else if (in_range(str[i], '1', '9')) {
+            i++;
+            while (in_range(str[i], '0', '9'))
+                i++;
+        } else {
+            return fail("invalid " + esc(str[i]) + " in number");
+        }
+
+        if (str[i] != '.' && str[i] != 'e' && str[i] != 'E'
+                && (i - start_pos) <= static_cast<size_t>(std::numeric_limits<int>::digits10)) {
+            return std::atoi(str.c_str() + start_pos);
+        }
+
+        // Decimal part
+        if (str[i] == '.') {
+            i++;
+            if (!in_range(str[i], '0', '9'))
+                return fail("at least one digit required in fractional part");
+
+            while (in_range(str[i], '0', '9'))
+                i++;
+        }
+
+        // Exponent part
+        if (str[i] == 'e' || str[i] == 'E') {
+            i++;
+
+            if (str[i] == '+' || str[i] == '-')
+                i++;
+
+            if (!in_range(str[i], '0', '9'))
+                return fail("at least one digit required in exponent");
+
+            while (in_range(str[i], '0', '9'))
+                i++;
+        }
+
+        return std::strtod(str.c_str() + start_pos, nullptr);
+    }
+
+    /* expect(str, res)
+     *
+     * Expect that 'str' starts at the character that was just read. If it does, advance
+     * the input and return res. If not, flag an error.
+     */
+    Json expect(const string &expected, Json res) {
+        assert(i != 0);
+        i--;
+        if (str.compare(i, expected.length(), expected) == 0) {
+            i += expected.length();
+            return res;
+        } else {
+            return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length()));
+        }
+    }
+
+    /* parse_json()
+     *
+     * Parse a JSON object.
+     */
+    Json parse_json(int depth) {
+        if (depth > max_depth) {
+            return fail("exceeded maximum nesting depth");
+        }
+
+        char ch = get_next_token();
+        if (failed)
+            return Json();
+
+        if (ch == '-' || (ch >= '0' && ch <= '9')) {
+            i--;
+            return parse_number();
+        }
+
+        if (ch == 't')
+            return expect("true", true);
+
+        if (ch == 'f')
+            return expect("false", false);
+
+        if (ch == 'n')
+            return expect("null", Json());
+
+        if (ch == '"')
+            return parse_string();
+
+        if (ch == '{') {
+            map<string, Json> data;
+            ch = get_next_token();
+            if (ch == '}')
+                return data;
+
+            while (1) {
+                if (ch != '"')
+                    return fail("expected '\"' in object, got " + esc(ch));
+
+                string key = parse_string();
+                if (failed)
+                    return Json();
+
+                ch = get_next_token();
+                if (ch != ':')
+                    return fail("expected ':' in object, got " + esc(ch));
+
+                data[std::move(key)] = parse_json(depth + 1);
+                if (failed)
+                    return Json();
+
+                ch = get_next_token();
+                if (ch == '}')
+                    break;
+                if (ch != ',')
+                    return fail("expected ',' in object, got " + esc(ch));
+
+                ch = get_next_token();
+            }
+            return data;
+        }
+
+        if (ch == '[') {
+            vector<Json> data;
+            ch = get_next_token();
+            if (ch == ']')
+                return data;
+
+            while (1) {
+                i--;
+                data.push_back(parse_json(depth + 1));
+                if (failed)
+                    return Json();
+
+                ch = get_next_token();
+                if (ch == ']')
+                    break;
+                if (ch != ',')
+                    return fail("expected ',' in list, got " + esc(ch));
+
+                ch = get_next_token();
+                (void)ch;
+            }
+            return data;
+        }
+
+        return fail("expected value, got " + esc(ch));
+    }
+};
+}//namespace {
+
+Json Json::parse(const string &in, string &err, JsonParse strategy) {
+    JsonParser parser { in, 0, err, false, strategy };
+    Json result = parser.parse_json(0);
+
+    // Check for any trailing garbage
+    parser.consume_garbage();
+    if (parser.failed)
+        return Json();
+    if (parser.i != in.size())
+        return parser.fail("unexpected trailing " + esc(in[parser.i]));
+
+    return result;
+}
+
+// Documented in json11.hpp
+vector<Json> Json::parse_multi(const string &in,
+                               std::string::size_type &parser_stop_pos,
+                               string &err,
+                               JsonParse strategy) {
+    JsonParser parser { in, 0, err, false, strategy };
+    parser_stop_pos = 0;
+    vector<Json> json_vec;
+    while (parser.i != in.size() && !parser.failed) {
+        json_vec.push_back(parser.parse_json(0));
+        if (parser.failed)
+            break;
+
+        // Check for another object
+        parser.consume_garbage();
+        if (parser.failed)
+            break;
+        parser_stop_pos = parser.i;
+    }
+    return json_vec;
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Shape-checking
+ */
+
+bool Json::has_shape(const shape & types, string & err) const {
+    if (!is_object()) {
+        err = "expected JSON object, got " + dump();
+        return false;
+    }
+
+    for (auto & item : types) {
+        if ((*this)[item.first].type() != item.second) {
+            err = "bad type for " + item.first + " in " + dump();
+            return false;
+        }
+    }
+
+    return true;
+}
+
+} // namespace json11
diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp
new file mode 100644
index 0000000000..5202ef9323
--- /dev/null
+++ b/third_party/json11/json11.hpp
@@ -0,0 +1,232 @@
+/* json11
+ *
+ * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization.
+ *
+ * The core object provided by the library is json11::Json. A Json object represents any JSON
+ * value: null, bool, number (int or double), string (std::string), array (std::vector), or
+ * object (std::map).
+ *
+ * Json objects act like values: they can be assigned, copied, moved, compared for equality or
+ * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and
+ * Json::parse (static) to parse a std::string as a Json object.
+ *
+ * Internally, the various types of Json object are represented by the JsonValue class
+ * hierarchy.
+ *
+ * A note on numbers - JSON specifies the syntax of number formatting but not its semantics,
+ * so some JSON implementations distinguish between integers and floating-point numbers, while
+ * some don't. In json11, we choose the latter. Because some JSON implementations (namely
+ * Javascript itself) treat all numbers as the same type, distinguishing the two leads
+ * to JSON that will be *silently* changed by a round-trip through those implementations.
+ * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also
+ * provides integer helpers.
+ *
+ * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the
+ * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64
+ * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch
+ * will be exact for +/- 275 years.)
+ */
+
+/* Copyright (c) 2013 Dropbox, Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <string>
+#include <vector>
+#include <map>
+#include <memory>
+#include <initializer_list>
+
+#ifdef _MSC_VER
+    #if _MSC_VER <= 1800 // VS 2013
+        #ifndef noexcept
+            #define noexcept throw()
+        #endif
+
+        #ifndef snprintf
+            #define snprintf _snprintf_s
+        #endif
+    #endif
+#endif
+
+namespace json11 {
+
+enum JsonParse {
+    STANDARD, COMMENTS
+};
+
+class JsonValue;
+
+class Json final {
+public:
+    // Types
+    enum Type {
+        NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT
+    };
+
+    // Array and object typedefs
+    typedef std::vector<Json> array;
+    typedef std::map<std::string, Json> object;
+
+    // Constructors for the various types of JSON value.
+    Json() noexcept;                // NUL
+    Json(std::nullptr_t) noexcept;  // NUL
+    Json(double value);             // NUMBER
+    Json(int value);                // NUMBER
+    Json(bool value);               // BOOL
+    Json(const std::string &value); // STRING
+    Json(std::string &&value);      // STRING
+    Json(const char * value);       // STRING
+    Json(const array &values);      // ARRAY
+    Json(array &&values);           // ARRAY
+    Json(const object &values);     // OBJECT
+    Json(object &&values);          // OBJECT
+
+    // Implicit constructor: anything with a to_json() function.
+    template <class T, class = decltype(&T::to_json)>
+    Json(const T & t) : Json(t.to_json()) {}
+
+    // Implicit constructor: map-like objects (std::map, std::unordered_map, etc)
+    template <class M, typename std::enable_if<
+        std::is_constructible<std::string, typename M::key_type>::value
+        && std::is_constructible<Json, typename M::mapped_type>::value,
+            int>::type = 0>
+    Json(const M & m) : Json(object(m.begin(), m.end())) {}
+
+    // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc)
+    template <class V, typename std::enable_if<
+        std::is_constructible<Json, typename V::value_type>::value,
+            int>::type = 0>
+    Json(const V & v) : Json(array(v.begin(), v.end())) {}
+
+    // This prevents Json(some_pointer) from accidentally producing a bool. Use
+    // Json(bool(some_pointer)) if that behavior is desired.
+    Json(void *) = delete;
+
+    // Accessors
+    Type type() const;
+
+    bool is_null()   const { return type() == NUL; }
+    bool is_number() const { return type() == NUMBER; }
+    bool is_bool()   const { return type() == BOOL; }
+    bool is_string() const { return type() == STRING; }
+    bool is_array()  const { return type() == ARRAY; }
+    bool is_object() const { return type() == OBJECT; }
+
+    // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not
+    // distinguish between integer and non-integer numbers - number_value() and int_value()
+    // can both be applied to a NUMBER-typed object.
+    double number_value() const;
+    int int_value() const;
+
+    // Return the enclosed value if this is a boolean, false otherwise.
+    bool bool_value() const;
+    // Return the enclosed string if this is a string, "" otherwise.
+    const std::string &string_value() const;
+    // Return the enclosed std::vector if this is an array, or an empty vector otherwise.
+    const array &array_items() const;
+    // Return the enclosed std::map if this is an object, or an empty map otherwise.
+    const object &object_items() const;
+
+    // Return a reference to arr[i] if this is an array, Json() otherwise.
+    const Json & operator[](size_t i) const;
+    // Return a reference to obj[key] if this is an object, Json() otherwise.
+    const Json & operator[](const std::string &key) const;
+
+    // Serialize.
+    void dump(std::string &out) const;
+    std::string dump() const {
+        std::string out;
+        dump(out);
+        return out;
+    }
+
+    // Parse. If parse fails, return Json() and assign an error message to err.
+    static Json parse(const std::string & in,
+                      std::string & err,
+                      JsonParse strategy = JsonParse::STANDARD);
+    static Json parse(const char * in,
+                      std::string & err,
+                      JsonParse strategy = JsonParse::STANDARD) {
+        if (in) {
+            return parse(std::string(in), err, strategy);
+        } else {
+            err = "null input";
+            return nullptr;
+        }
+    }
+    // Parse multiple objects, concatenated or separated by whitespace
+    static std::vector<Json> parse_multi(
+        const std::string & in,
+        std::string::size_type & parser_stop_pos,
+        std::string & err,
+        JsonParse strategy = JsonParse::STANDARD);
+
+    static inline std::vector<Json> parse_multi(
+        const std::string & in,
+        std::string & err,
+        JsonParse strategy = JsonParse::STANDARD) {
+        std::string::size_type parser_stop_pos;
+        return parse_multi(in, parser_stop_pos, err, strategy);
+    }
+
+    bool operator== (const Json &rhs) const;
+    bool operator<  (const Json &rhs) const;
+    bool operator!= (const Json &rhs) const { return !(*this == rhs); }
+    bool operator<= (const Json &rhs) const { return !(rhs < *this); }
+    bool operator>  (const Json &rhs) const { return  (rhs < *this); }
+    bool operator>= (const Json &rhs) const { return !(*this < rhs); }
+
+    /* has_shape(types, err)
+     *
+     * Return true if this is a JSON object and, for each item in types, has a field of
+     * the given type. If not, return false and set err to a descriptive message.
+     */
+    typedef std::initializer_list<std::pair<std::string, Type>> shape;
+    bool has_shape(const shape & types, std::string & err) const;
+
+private:
+    std::shared_ptr<JsonValue> m_ptr;
+};
+
+// Internal class hierarchy - JsonValue objects are not exposed to users of this API.
+class JsonValue {
+protected:
+    friend class Json;
+    friend class JsonInt;
+    friend class JsonDouble;
+    virtual Json::Type type() const = 0;
+    virtual bool equals(const JsonValue * other) const = 0;
+    virtual bool less(const JsonValue * other) const = 0;
+    virtual void dump(std::string &out) const = 0;
+    virtual double number_value() const;
+    virtual int int_value() const;
+    virtual bool bool_value() const;
+    virtual const std::string &string_value() const;
+    virtual const Json::array &array_items() const;
+    virtual const Json &operator[](size_t i) const;
+    virtual const Json::object &object_items() const;
+    virtual const Json &operator[](const std::string &key) const;
+    virtual ~JsonValue() {}
+};
+
+} // namespace json11
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index 22a9f9021c..efc848494c 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -27,7 +27,7 @@
 #include <unordered_set>
 #include <unistd.h>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
index aabf78a0db..568f7e97c3 100644
--- a/tools/jotpluggler/custom_series.cc
+++ b/tools/jotpluggler/custom_series.cc
@@ -11,7 +11,7 @@
 #include <stdexcept>
 #include <unistd.h>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/layout_io.cc b/tools/jotpluggler/layout_io.cc
index 5c70f7a42a..f984c0f0e8 100644
--- a/tools/jotpluggler/layout_io.cc
+++ b/tools/jotpluggler/layout_io.cc
@@ -6,7 +6,7 @@
 #include <sstream>
 #include <stdexcept>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/map.cc b/tools/jotpluggler/map.cc
index fb4e03c912..8725908ea0 100644
--- a/tools/jotpluggler/map.cc
+++ b/tools/jotpluggler/map.cc
@@ -25,7 +25,7 @@ extern "C" {
 #include <vector>
 
 #include "common/util.h"
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index 2091280169..c44a4e93cd 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -23,7 +23,7 @@
 #include <utility>
 
 #include "common/util.h"
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "tools/replay/logreader.h"
 #include "tools/replay/py_downloader.h"
 
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index df4fa813cf..e7b8ed6bba 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -4,7 +4,7 @@
 #include <filesystem>
 #include <regex>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "system/hardware/hw.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 50f3eba854..119a81152e 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -8,7 +8,7 @@
 #include <thread>
 #include <vector>
 
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
diff --git a/uv.lock b/uv.lock
index 99da78c449..e3c967cfc1 100644
--- a/uv.lock
+++ b/uv.lock
@@ -541,11 +541,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" },
 ]
 
-[[package]]
-name = "json11"
-version = "20170411.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11#8e7737088f52d10fdea69c28c55e3e40b74af3f3" }
-
 [[package]]
 name = "kiwisolver"
 version = "1.5.0"
@@ -763,7 +758,6 @@ dependencies = [
     { name = "inputs" },
     { name = "jeepney" },
     { name = "json-rpc" },
-    { name = "json11" },
     { name = "libjpeg" },
     { name = "libusb" },
     { name = "libusb1" },
@@ -848,7 +842,6 @@ requires-dist = [
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
-    { name = "json11", git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11" },
     { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
     { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libusb1" },

From e624da2eedc85ddb2b4153526857d2a69f6d8c62 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 10:24:53 -0700
Subject: [PATCH 109/210] add json11 to pyproject

---
 pyproject.toml | 1 +
 uv.lock        | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index fe6e9beb3c..6f5058b43c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -38,6 +38,7 @@ dependencies = [
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
   "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
   "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
diff --git a/uv.lock b/uv.lock
index e3c967cfc1..99da78c449 100644
--- a/uv.lock
+++ b/uv.lock
@@ -541,6 +541,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" },
 ]
 
+[[package]]
+name = "json11"
+version = "20170411.0"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11#8e7737088f52d10fdea69c28c55e3e40b74af3f3" }
+
 [[package]]
 name = "kiwisolver"
 version = "1.5.0"
@@ -758,6 +763,7 @@ dependencies = [
     { name = "inputs" },
     { name = "jeepney" },
     { name = "json-rpc" },
+    { name = "json11" },
     { name = "libjpeg" },
     { name = "libusb" },
     { name = "libusb1" },
@@ -842,6 +848,7 @@ requires-dist = [
     { name = "jeepney" },
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
+    { name = "json11", git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11" },
     { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
     { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libusb1" },

From bea893820e8665b6bc0a03237d4f22019108020e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 10:28:03 -0700
Subject: [PATCH 110/210] use packaged bootstrap icons (#37994)

* vendor bootstrap icons from dependencies

* use bootstrap-icons release
---
 pyproject.toml                            |  1 +
 selfdrive/assets/assets.qrc               |  2 +-
 selfdrive/assets/prep-svg.sh              |  2 +-
 third_party/bootstrap/.gitignore          |  1 -
 third_party/bootstrap/bootstrap-icons.svg |  3 ---
 third_party/bootstrap/bootstrap-icons.ttf |  3 ---
 third_party/bootstrap/pull.sh             | 24 -----------------------
 tools/cabana/SConscript                   | 14 ++++++++++++-
 tools/cabana/assets/assets.qrc            |  2 +-
 tools/jotpluggler/SConscript              |  2 ++
 tools/jotpluggler/icons.cc                |  2 +-
 uv.lock                                   |  7 +++++++
 12 files changed, 27 insertions(+), 36 deletions(-)
 delete mode 100644 third_party/bootstrap/.gitignore
 delete mode 100644 third_party/bootstrap/bootstrap-icons.svg
 delete mode 100644 third_party/bootstrap/bootstrap-icons.ttf
 delete mode 100755 third_party/bootstrap/pull.sh

diff --git a/pyproject.toml b/pyproject.toml
index 6f5058b43c..8b8662836f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -27,6 +27,7 @@ dependencies = [
 
   # vendored native dependencies
   "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
+  "bootstrap-icons @ git+https://github.com/commaai/dependencies.git@release-bootstrap-icons#subdirectory=bootstrap-icons",
   "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
   "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc
index 26a7d998ed..72e2f7f3c0 100644
--- a/selfdrive/assets/assets.qrc
+++ b/selfdrive/assets/assets.qrc
@@ -1,6 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
+  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
   <file>images/button_continue_triangle.svg</file>
   <file>icons/circled_check.svg</file>
   <file>icons/circled_slash.svg</file>
diff --git a/selfdrive/assets/prep-svg.sh b/selfdrive/assets/prep-svg.sh
index 2332cd25c5..567c17da32 100755
--- a/selfdrive/assets/prep-svg.sh
+++ b/selfdrive/assets/prep-svg.sh
@@ -3,7 +3,7 @@ set -e
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ICONS_DIR="$DIR/icons"
-BOOTSTRAP_SVG="$DIR/../../third_party/bootstrap/bootstrap-icons.svg"
+BOOTSTRAP_SVG="$(python3 -c 'import bootstrap_icons; print(bootstrap_icons.SVG_PATH)')"
 
 ICON_IDS=(
   arrow-right
diff --git a/third_party/bootstrap/.gitignore b/third_party/bootstrap/.gitignore
deleted file mode 100644
index ac06c0cf85..0000000000
--- a/third_party/bootstrap/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/icons/
diff --git a/third_party/bootstrap/bootstrap-icons.svg b/third_party/bootstrap/bootstrap-icons.svg
deleted file mode 100644
index 692a27ea55..0000000000
--- a/third_party/bootstrap/bootstrap-icons.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d7ecfaac355e51c9b95319fdf4681cf4c423109fd477e961af588b92607a76da
-size 1087239
diff --git a/third_party/bootstrap/bootstrap-icons.ttf b/third_party/bootstrap/bootstrap-icons.ttf
deleted file mode 100644
index 49c8ea699a..0000000000
--- a/third_party/bootstrap/bootstrap-icons.ttf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:57e798d421bb56bb058ed9b0c83dd97fe1e411cde3a2bd6eb4a8705234f69027
-size 453096
diff --git a/third_party/bootstrap/pull.sh b/third_party/bootstrap/pull.sh
deleted file mode 100755
index 5c4c955c04..0000000000
--- a/third_party/bootstrap/pull.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/bin/bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-if [ ! -d icons/ ]; then
-  git clone https://github.com/twbs/icons/
-fi
-
-cd icons
-git fetch --all
-git checkout d5aa187483a1b0b186f87adcfa8576350d970d98
-cp bootstrap-icons.svg ../
-
-# Convert WOFF → TTF for imgui (imgui only reads TTF/OTF)
-python3 -c "
-from fontTools.ttLib import TTFont
-import io
-f = TTFont('font/fonts/bootstrap-icons.woff')
-f.flavor = None
-f.save('../bootstrap-icons.ttf')
-print('bootstrap-icons.ttf written')
-"
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index f5ef0f4393..04389a9ebf 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -2,6 +2,7 @@ import subprocess
 import os
 import shutil
 
+import bootstrap_icons
 import libusb
 
 Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
@@ -80,10 +81,21 @@ if arch != "Darwin":
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
+def write_assets_qrc(target, source, env):
+  with open(str(source[0])) as f:
+    qrc = f.read()
+  with open(str(target[0]), "w") as f:
+    f.write(qrc.replace("@BOOTSTRAP_ICONS_SVG@", str(bootstrap_icons.SVG_PATH)))
+
 # build assets
 assets = "assets/assets.cc"
-assets_src = "assets/assets.qrc"
+assets_src = cabana_env.Command(
+  "assets/assets.generated.qrc",
+  "assets/assets.qrc",
+  write_assets_qrc,
+)
 cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
+cabana_env.Depends(assets_src, str(bootstrap_icons.SVG_PATH))
 cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
 
 cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
diff --git a/tools/cabana/assets/assets.qrc b/tools/cabana/assets/assets.qrc
index 6a8e5a3414..f5880e5580 100644
--- a/tools/cabana/assets/assets.qrc
+++ b/tools/cabana/assets/assets.qrc
@@ -1,6 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">../../../third_party/bootstrap/bootstrap-icons.svg</file>
+  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
   <file>cabana-icon.png</file>
 </qresource>
 </RCC>
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
index 082d052445..078e173959 100644
--- a/tools/jotpluggler/SConscript
+++ b/tools/jotpluggler/SConscript
@@ -1,5 +1,6 @@
 import os
 import subprocess
+import bootstrap_icons
 import imgui
 import libusb
 from opendbc import get_generated_dbcs
@@ -16,6 +17,7 @@ jot_env["CPPPATH"] += [imgui.INCLUDE_DIR, libusb.INCLUDE_DIR]
 jot_env["CXXFLAGS"] += [
   "-DGLFW_INCLUDE_NONE",
   '-DJOTP_REPO_ROOT=\'"%s"\'' % os.path.realpath(BASEDIR),
+  '-DBOOTSTRAP_ICONS_TTF=\'"%s"\'' % bootstrap_icons.TTF_PATH,
 ]
 
 def materialize_generated_dbcs(target, source, env):
diff --git a/tools/jotpluggler/icons.cc b/tools/jotpluggler/icons.cc
index 9507090e03..29edabad4e 100644
--- a/tools/jotpluggler/icons.cc
+++ b/tools/jotpluggler/icons.cc
@@ -4,7 +4,7 @@
 #include <cmath>
 
 void icon_add_font(float size, bool merge, const ImFont *base_font) {
-  const std::filesystem::path ttf = repo_root() / "third_party" / "bootstrap" / "bootstrap-icons.ttf";
+  const std::filesystem::path ttf = BOOTSTRAP_ICONS_TTF;
   ImGuiIO &io = ImGui::GetIO();
   ImFontConfig config;
   config.MergeMode = merge;
diff --git a/uv.lock b/uv.lock
index 99da78c449..0635f9ae1a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -121,6 +121,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/c8/b9/275df9607f7fb44317ccb1d4be74827185c0d410f52b6e2cd770fe209118/av-16.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:f49243b1d27c91cd8c66fdba90a674e344eb8eb917264f36117bf2b6879118fd", size = 31752045, upload-time = "2026-01-11T09:57:45.106Z" },
 ]
 
+[[package]]
+name = "bootstrap-icons"
+version = "1.10.5.0"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#3db70e363cf3471969381bcb8f4ce3ebbab7b369" }
+
 [[package]]
 name = "bzip2"
 version = "1.0.8"
@@ -750,6 +755,7 @@ dependencies = [
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },
+    { name = "bootstrap-icons" },
     { name = "bzip2" },
     { name = "capnproto" },
     { name = "catch2" },
@@ -830,6 +836,7 @@ requires-dist = [
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },
+    { name = "bootstrap-icons", git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons" },
     { name = "bzip2", git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2" },
     { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto" },
     { name = "catch2", git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2" },

From 6b6b7f0f330639213f87ad7540bcabec8fbccb1d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 11:03:08 -0700
Subject: [PATCH 111/210] ci: remove old translation badge workflow

---
 .github/workflows/badges.yaml | 35 -----------------------------------
 1 file changed, 35 deletions(-)
 delete mode 100644 .github/workflows/badges.yaml

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
deleted file mode 100644
index 9b99c4f1fe..0000000000
--- a/.github/workflows/badges.yaml
+++ /dev/null
@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

From 93ed08ba20a08aeee5e15599d965d35e7bb7bd77 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 17:19:33 -0700
Subject: [PATCH 112/210] agnos 18.1.2  + raylib 6.0 (#37997)

* raylib 6

* uv lock

* one more time
---
 launch_env.sh                            |    2 +-
 pyproject.toml                           |    2 +-
 release/pack.py                          |    2 +-
 scripts/lint/check_raylib_includes.sh    |   10 -
 selfdrive/assets/fonts/process.py        |   16 +-
 selfdrive/ui/SConscript                  |   12 +-
 selfdrive/ui/installer/installer.cc      |    2 +-
 selfdrive/ui/mici/onroad/hud_renderer.py |    2 +-
 system/hardware/tici/agnos.json          |   12 +-
 system/hardware/tici/all-partitions.json |   28 +-
 system/ui/widgets/mici_keyboard.py       |    2 +-
 third_party/raylib/.gitignore            |    4 -
 third_party/raylib/Darwin/libraylib.a    |    3 -
 third_party/raylib/build.sh              |   91 -
 third_party/raylib/include/raygui.h      | 5759 ----------------------
 third_party/raylib/include/raylib.h      | 1766 -------
 third_party/raylib/include/raymath.h     | 2949 -----------
 third_party/raylib/include/rlgl.h        | 5262 --------------------
 third_party/raylib/larch64/libraylib.a   |    3 -
 third_party/raylib/x86_64/libraylib.a    |    3 -
 uv.lock                                  |  369 +-
 21 files changed, 233 insertions(+), 16066 deletions(-)
 delete mode 100755 scripts/lint/check_raylib_includes.sh
 delete mode 100644 third_party/raylib/.gitignore
 delete mode 100644 third_party/raylib/Darwin/libraylib.a
 delete mode 100755 third_party/raylib/build.sh
 delete mode 100644 third_party/raylib/include/raygui.h
 delete mode 100644 third_party/raylib/include/raylib.h
 delete mode 100644 third_party/raylib/include/raymath.h
 delete mode 100644 third_party/raylib/include/rlgl.h
 delete mode 100644 third_party/raylib/larch64/libraylib.a
 delete mode 100644 third_party/raylib/x86_64/libraylib.a

diff --git a/launch_env.sh b/launch_env.sh
index 1f096bca16..d836bbbb0b 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.1.1"
+  export AGNOS_VERSION="18.1.2"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/pyproject.toml b/pyproject.toml
index 8b8662836f..d9788925b2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -75,7 +75,7 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib > 5.5.0.3",
+  "raylib @ git+https://github.com/commaai/dependencies.git@release-raylib#subdirectory=raylib",
   "qrcode",
   "jeepney",
   "pillow",
diff --git a/release/pack.py b/release/pack.py
index 8831a0b34d..560500e7a7 100755
--- a/release/pack.py
+++ b/release/pack.py
@@ -13,7 +13,7 @@ from openpilot.common.basedir import BASEDIR
 
 DIRS = ['cereal', 'openpilot']
 EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
-EXCLUDE = ['selfdrive/assets/training', 'third_party/raylib/raylib_repo/examples']
+EXCLUDE = ['selfdrive/assets/training']
 INTERPRETER = '/usr/bin/env python3'
 
 
diff --git a/scripts/lint/check_raylib_includes.sh b/scripts/lint/check_raylib_includes.sh
deleted file mode 100755
index e3be73a489..0000000000
--- a/scripts/lint/check_raylib_includes.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-FAIL=0
-
-if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
-  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
-  FAIL=1
-fi
-
-exit $FAIL
diff --git a/selfdrive/assets/fonts/process.py b/selfdrive/assets/fonts/process.py
index 30ccf9ca55..62ae6ec684 100755
--- a/selfdrive/assets/fonts/process.py
+++ b/selfdrive/assets/fonts/process.py
@@ -37,10 +37,10 @@ def _char_sets():
   return tuple(sorted(ord(c) for c in base)), tuple(sorted(ord(c) for c in unifont))
 
 
-def _glyph_metrics(glyphs, rects, codepoints):
+def _glyph_metrics(glyphs, rects, glyph_count: int):
   entries = []
   min_offset_y, max_extent = None, 0
-  for idx, codepoint in enumerate(codepoints):
+  for idx in range(glyph_count):
     glyph = glyphs[idx]
     rect = rects[idx]
     width = int(round(rect.width))
@@ -49,7 +49,7 @@ def _glyph_metrics(glyphs, rects, codepoints):
     min_offset_y = offset_y if min_offset_y is None else min(min_offset_y, offset_y)
     max_extent = max(max_extent, offset_y + height)
     entries.append({
-      "id": codepoint,
+      "id": glyph.value,
       "x": int(round(rect.x)),
       "y": int(round(rect.y)),
       "width": width,
@@ -97,19 +97,23 @@ def _process_font(font_path: Path, codepoints: tuple[int, ...]):
   file_buf = rl.ffi.new("unsigned char[]", data)
   cp_buffer = rl.ffi.new("int[]", codepoints)
   cp_ptr = rl.ffi.cast("int *", cp_buffer)
-  glyphs = rl.load_font_data(rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints), rl.FontType.FONT_DEFAULT)
+  glyph_count = rl.ffi.new("int *", len(codepoints))
+  glyphs = rl.load_font_data(
+    rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints),
+    rl.FontType.FONT_DEFAULT, glyph_count
+  )
   if glyphs == rl.ffi.NULL:
     raise RuntimeError("raylib failed to load font data")
 
   rects_ptr = rl.ffi.new("Rectangle **")
-  image = rl.gen_image_font_atlas(glyphs, rects_ptr, len(codepoints), font_size, GLYPH_PADDING, 0)
+  image = rl.gen_image_font_atlas(glyphs, rects_ptr, glyph_count[0], font_size, GLYPH_PADDING, 0)
   if image.width == 0 or image.height == 0:
     raise RuntimeError("raylib returned an empty atlas")
 
   rects = rects_ptr[0]
   atlas_name = f"{font_path.stem}.png"
   atlas_path = FONT_DIR / atlas_name
-  entries, line_height, base = _glyph_metrics(glyphs, rects, codepoints)
+  entries, line_height, base = _glyph_metrics(glyphs, rects, glyph_count[0])
 
   if not rl.export_image(image, atlas_path.as_posix()):
     raise RuntimeError("Failed to export atlas image")
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 1a662e6b24..3d668aef8f 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,4 +1,6 @@
 from pathlib import Path
+import importlib.util
+
 Import('env', 'arch', 'common')
 
 # build the fonts
@@ -18,15 +20,13 @@ env.Command(
 
 if GetOption('extras') and arch == "larch64":
   # build installers
+  raylib_dir = Path(importlib.util.find_spec("raylib").submodule_search_locations[0]) / "install"
   raylib_env = env.Clone()
-  raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+  raylib_env['CPPPATH'] += [str(raylib_dir / "include")]
+  raylib_env['LIBPATH'] += [str(raylib_dir / "lib")]
   raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
 
-  raylib_libs = common + ["raylib"]
-  if arch == "larch64":
-    raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
-  else:
-    raylib_libs += ["GL"]
+  raylib_libs = common + ["raylib_comma", "GLESv2", "EGL", "gbm", "drm"]
 
   release = "release3"
   installers = [
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 0832fbb628..176c2d510f 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -6,7 +6,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
-#include "third_party/raylib/include/raylib.h"
+#include "raylib.h"
 
 int freshClone();
 int cachedFetch(const std::string &cache);
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 7f69ea9433..620dc543b7 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -233,7 +233,7 @@ class HudRenderer(Widget):
 
     # draw drop shadow
     circle_radius = 162 // 2
-    rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
+    rl.draw_circle_gradient(rl.Vector2(x + circle_radius, y + circle_radius), circle_radius,
                             rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
 
     set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index bde39e35b4..bb7e0f9bf7 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -67,17 +67,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img.xz",
-    "hash": "a414abb7c37de6d6dd563ccd1436098f41d4a09b19969554be6da44eacf80a46",
-    "hash_raw": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img.xz",
+    "hash": "dd35538c93330e53ef7bf1216cb0513ccdcea07ce124a2053c8498ebaa944085",
+    "hash_raw": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "cb40885b4e2678d80d28d11816e93cb3bd6dd684305525371ba1f837e0f5466b",
+    "ondevice_hash": "5d398f3afde808725c13c7e4a01d8ce12d8733c1c38ee2ac0de7366885c329ff",
     "alt": {
-      "hash": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img",
+      "hash": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 534aa48723..195da35168 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -350,40 +350,40 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img.xz",
-    "hash": "a414abb7c37de6d6dd563ccd1436098f41d4a09b19969554be6da44eacf80a46",
-    "hash_raw": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img.xz",
+    "hash": "dd35538c93330e53ef7bf1216cb0513ccdcea07ce124a2053c8498ebaa944085",
+    "hash_raw": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "cb40885b4e2678d80d28d11816e93cb3bd6dd684305525371ba1f837e0f5466b",
+    "ondevice_hash": "5d398f3afde808725c13c7e4a01d8ce12d8733c1c38ee2ac0de7366885c329ff",
     "alt": {
-      "hash": "a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-a887cc5f678eac5f6b5b29c64aef56dfa69d30258104f0f97aa7af4f9e8734e8.img",
+      "hash": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-bef05b88eef9e34a2f21c7efa558d5f508c1942bffef326c518c05da98ef30da.img.xz",
-    "hash": "8ea6d720aaf0d549b9ff1420a8b8ab109928da2b3549e5d0998532fab6daeb4b",
-    "hash_raw": "bef05b88eef9e34a2f21c7efa558d5f508c1942bffef326c518c05da98ef30da",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630.img.xz",
+    "hash": "52160dd01b30b3dc572226e8d549a034b03bc328e80f1f4cd6a857b6dd447687",
+    "hash_raw": "14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "ee80da4150cd885a17d9411865941050221ba4d408b52accae9b7678557a9b1f"
+    "ondevice_hash": "3bbc052c7793087946b0cd668c1778f930084f6b00896aeebd193dfce53fa518"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-32a53ea75d4c8d91e4fb272f3e8178bc91b7a6cda60318dab4cbd5f855381251.img.xz",
-    "hash": "e997e7d143e35b4033533727e3414c1cdb3e46a3ac16cb3d5e1e32ca07be1054",
-    "hash_raw": "32a53ea75d4c8d91e4fb272f3e8178bc91b7a6cda60318dab4cbd5f855381251",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0.img.xz",
+    "hash": "02a8c5512754d7781d930d242be3fad01fbce652297c69dfe8722dc92b18dc09",
+    "hash_raw": "425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "513279caaf06937932961577d94b21e5207dba5cbcf27613c2116da98093d342"
+    "ondevice_hash": "3667d500f91b08a4671d7c09623eb6ae8fc905d9273893b50689e214005c7fa6"
   }
 ]
\ No newline at end of file
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
index 75a3c29e6b..bc3041aa3c 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/system/ui/widgets/mici_keyboard.py
@@ -353,7 +353,7 @@ class MiciKeyboard(Widget):
 
           # draw black circle behind selected key
           circle_alpha = int(self._selected_key_filter.x * 225)
-          rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
+          rl.draw_circle_gradient(rl.Vector2(key_x + key.rect.width / 2, key_y + key.rect.height / 2),
                                   SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
         else:
           # move other keys away from selected key a bit
diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore
deleted file mode 100644
index 6b1d3ad748..0000000000
--- a/third_party/raylib/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-/raylib_repo/
-/raylib_python_repo/
-/wheel/
-!*.a
diff --git a/third_party/raylib/Darwin/libraylib.a b/third_party/raylib/Darwin/libraylib.a
deleted file mode 100644
index dd2e9b33f1..0000000000
--- a/third_party/raylib/Darwin/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fd045c1d4bca5c9b2ad044ea730826ff6cedeef0b64451b123717b136f1cd702
-size 6392532
diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh
deleted file mode 100755
index 869e9e447c..0000000000
--- a/third_party/raylib/build.sh
+++ /dev/null
@@ -1,91 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-SUDO=""
-
-# Use sudo if not root
-if [[ ! $(id -u) -eq 0 ]]; then
-  if [[ -z $(which sudo) ]]; then
-    echo "Please install sudo or run as root"
-    exit 1
-  fi
-  SUDO="sudo"
-fi
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-RAYLIB_PLATFORM="PLATFORM_DESKTOP"
-
-ARCHNAME=$(uname -m)
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  RAYLIB_PLATFORM="PLATFORM_COMMA"
-elif [[ "$OSTYPE" == "linux"* ]]; then
-  # required dependencies on Linux PC
-  $SUDO apt install \
-    libxcursor-dev \
-    libxi-dev \
-    libxinerama-dev \
-    libxrandr-dev
-fi
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ARCHNAME="Darwin"
-fi
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-INSTALL_H_DIR="$DIR/include"
-rm -rf $INSTALL_H_DIR
-mkdir -p $INSTALL_H_DIR
-
-if [ ! -d raylib_repo ]; then
-  git clone -b master --no-tags https://github.com/commaai/raylib.git raylib_repo
-fi
-
-cd raylib_repo
-
-COMMIT=${1:-faf6e4392780de7471504e43e70975efaba07e95}
-git fetch origin $COMMIT
-git reset --hard $COMMIT
-git clean -xdff .
-
-cd src
-
-make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM RAYLIB_RELEASE_PATH=$INSTALL_DIR
-cp raylib.h raymath.h rlgl.h $INSTALL_H_DIR/
-echo "raylib development files installed/updated in $INSTALL_H_DIR"
-
-# this commit needs to be in line with raylib
-set -x
-RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827"
-curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h
-
-if [ -f /TICI ]; then
-  # Building the python bindings
-  cd $DIR
-
-  if [ ! -d raylib_python_repo ]; then
-    git clone -b master --no-tags https://github.com/commaai/raylib-python-cffi.git raylib_python_repo
-  fi
-
-  cd raylib_python_repo
-
-  BINDINGS_COMMIT="a0710d95af3c12fd7f4b639589be9a13dad93cb6"
-  git fetch origin $BINDINGS_COMMIT
-  git reset --hard $BINDINGS_COMMIT
-  git clean -xdff .
-
-  RAYLIB_PLATFORM=$RAYLIB_PLATFORM RAYLIB_INCLUDE_PATH=$INSTALL_H_DIR RAYLIB_LIB_PATH=$INSTALL_DIR python setup.py bdist_wheel
-  cd $DIR
-
-  rm -rf wheel
-  mkdir wheel
-  cp raylib_python_repo/dist/*.whl wheel/
-fi
diff --git a/third_party/raylib/include/raygui.h b/third_party/raylib/include/raygui.h
deleted file mode 100644
index fe233a16cf..0000000000
--- a/third_party/raylib/include/raygui.h
+++ /dev/null
@@ -1,5759 +0,0 @@
-/*******************************************************************************************
-*
-*   raygui v4.5-dev - A simple and easy-to-use immediate-mode gui library
-*
-*   DESCRIPTION:
-*       raygui is a tools-dev-focused immediate-mode-gui library based on raylib but also
-*       available as a standalone library, as long as input and drawing functions are provided.
-*
-*   FEATURES:
-*       - Immediate-mode gui, minimal retained data
-*       - +25 controls provided (basic and advanced)
-*       - Styling system for colors, font and metrics
-*       - Icons supported, embedded as a 1-bit icons pack
-*       - Standalone mode option (custom input/graphics backend)
-*       - Multiple support tools provided for raygui development
-*
-*   POSSIBLE IMPROVEMENTS:
-*       - Better standalone mode API for easy plug of custom backends
-*       - Externalize required inputs, allow user easier customization
-*
-*   LIMITATIONS:
-*       - No editable multi-line word-wraped text box supported
-*       - No auto-layout mechanism, up to the user to define controls position and size
-*       - Standalone mode requires library modification and some user work to plug another backend
-*
-*   NOTES:
-*       - WARNING: GuiLoadStyle() and GuiLoadStyle{Custom}() functions, allocate memory for
-*         font atlas recs and glyphs, freeing that memory is (usually) up to the user,
-*         no unload function is explicitly provided... but note that GuiLoadStyleDefault() unloads
-*         by default any previously loaded font (texture, recs, glyphs).
-*       - Global UI alpha (guiAlpha) is applied inside GuiDrawRectangle() and GuiDrawText() functions
-*
-*   CONTROLS PROVIDED:
-*     # Container/separators Controls
-*       - WindowBox     --> StatusBar, Panel
-*       - GroupBox      --> Line
-*       - Line
-*       - Panel         --> StatusBar
-*       - ScrollPanel   --> StatusBar
-*       - TabBar        --> Button
-*
-*     # Basic Controls
-*       - Label
-*       - LabelButton   --> Label
-*       - Button
-*       - Toggle
-*       - ToggleGroup   --> Toggle
-*       - ToggleSlider
-*       - CheckBox
-*       - ComboBox
-*       - DropdownBox
-*       - TextBox
-*       - ValueBox      --> TextBox
-*       - Spinner       --> Button, ValueBox
-*       - Slider
-*       - SliderBar     --> Slider
-*       - ProgressBar
-*       - StatusBar
-*       - DummyRec
-*       - Grid
-*
-*     # Advance Controls
-*       - ListView
-*       - ColorPicker   --> ColorPanel, ColorBarHue
-*       - MessageBox    --> Window, Label, Button
-*       - TextInputBox  --> Window, Label, TextBox, Button
-*
-*     It also provides a set of functions for styling the controls based on its properties (size, color).
-*
-*
-*   RAYGUI STYLE (guiStyle):
-*       raygui uses a global data array for all gui style properties (allocated on data segment by default),
-*       when a new style is loaded, it is loaded over the global style... but a default gui style could always be
-*       recovered with GuiLoadStyleDefault() function, that overwrites the current style to the default one
-*
-*       The global style array size is fixed and depends on the number of controls and properties:
-*
-*           static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)];
-*
-*       guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
-*
-*       Note that the first set of BASE properties (by default guiStyle[0..15]) belong to the generic style
-*       used for all controls, when any of those base values is set, it is automatically populated to all
-*       controls, so, specific control values overwriting generic style should be set after base values.
-*
-*       After the first BASE set we have the EXTENDED properties (by default guiStyle[16..23]), those
-*       properties are actually common to all controls and can not be overwritten individually (like BASE ones)
-*       Some of those properties are: TEXT_SIZE, TEXT_SPACING, LINE_COLOR, BACKGROUND_COLOR
-*
-*       Custom control properties can be defined using the EXTENDED properties for each independent control.
-*
-*       TOOL: rGuiStyler is a visual tool to customize raygui style: github.com/raysan5/rguistyler
-*
-*
-*   RAYGUI ICONS (guiIcons):
-*       raygui could use a global array containing icons data (allocated on data segment by default),
-*       a custom icons set could be loaded over this array using GuiLoadIcons(), but loaded icons set
-*       must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS will be loaded
-*
-*       Every icon is codified in binary form, using 1 bit per pixel, so, every 16x16 icon
-*       requires 8 integers (16*16/32) to be stored in memory.
-*
-*       When the icon is draw, actually one quad per pixel is drawn if the bit for that pixel is set.
-*
-*       The global icons array size is fixed and depends on the number of icons and size:
-*
-*           static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS];
-*
-*       guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
-*
-*       TOOL: rGuiIcons is a visual tool to customize/create raygui icons: github.com/raysan5/rguiicons
-*
-*   RAYGUI LAYOUT:
-*       raygui currently does not provide an auto-layout mechanism like other libraries,
-*       layouts must be defined manually on controls drawing, providing the right bounds Rectangle for it.
-*
-*       TOOL: rGuiLayout is a visual tool to create raygui layouts: github.com/raysan5/rguilayout
-*
-*   CONFIGURATION:
-*       #define RAYGUI_IMPLEMENTATION
-*           Generates the implementation of the library into the included file.
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation.
-*
-*       #define RAYGUI_STANDALONE
-*           Avoid raylib.h header inclusion in this file. Data types defined on raylib are defined
-*           internally in the library and input management and drawing functions must be provided by
-*           the user (check library implementation for further details).
-*
-*       #define RAYGUI_NO_ICONS
-*           Avoid including embedded ricons data (256 icons, 16x16 pixels, 1-bit per pixel, 2KB)
-*
-*       #define RAYGUI_CUSTOM_ICONS
-*           Includes custom ricons.h header defining a set of custom icons,
-*           this file can be generated using rGuiIcons tool
-*
-*       #define RAYGUI_DEBUG_RECS_BOUNDS
-*           Draw control bounds rectangles for debug
-*
-*       #define RAYGUI_DEBUG_TEXT_BOUNDS
-*           Draw text bounds rectangles for debug
-*
-*   VERSIONS HISTORY:
-*       4.5-dev (Sep-2024)    Current dev version...
-*                         ADDED: guiControlExclusiveMode and guiControlExclusiveRec for exclusive modes
-*                         ADDED: GuiValueBoxFloat()
-*                         ADDED: GuiDropdonwBox() properties: DROPDOWN_ARROW_HIDDEN, DROPDOWN_ROLL_UP
-*                         ADDED: GuiListView() property: LIST_ITEMS_BORDER_WIDTH
-*                         ADDED: Multiple new icons
-*                         REVIEWED: GuiTabBar(), close tab with mouse middle button
-*                         REVIEWED: GuiScrollPanel(), scroll speed proportional to content
-*                         REVIEWED: GuiDropdownBox(), support roll up and hidden arrow
-*                         REVIEWED: GuiTextBox(), cursor position initialization
-*                         REVIEWED: GuiSliderPro(), control value change check
-*                         REVIEWED: GuiGrid(), simplified implementation
-*                         REVIEWED: GuiIconText(), increase buffer size and reviewed padding
-*                         REVIEWED: GuiDrawText(), improved wrap mode drawing
-*                         REVIEWED: GuiScrollBar(), minor tweaks
-*                         REVIEWED: Functions descriptions, removed wrong return value reference
-*                         REDESIGNED: GuiColorPanel(), improved HSV <-> RGBA convertion
-*
-*       4.0 (12-Sep-2023) ADDED: GuiToggleSlider()
-*                         ADDED: GuiColorPickerHSV() and GuiColorPanelHSV()
-*                         ADDED: Multiple new icons, mostly compiler related
-*                         ADDED: New DEFAULT properties: TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE
-*                         ADDED: New enum values: GuiTextAlignment, GuiTextAlignmentVertical, GuiTextWrapMode
-*                         ADDED: Support loading styles with custom font charset from external file
-*                         REDESIGNED: GuiTextBox(), support mouse cursor positioning
-*                         REDESIGNED: GuiDrawText(), support multiline and word-wrap modes (read only)
-*                         REDESIGNED: GuiProgressBar() to be more visual, progress affects border color
-*                         REDESIGNED: Global alpha consideration moved to GuiDrawRectangle() and GuiDrawText()
-*                         REDESIGNED: GuiScrollPanel(), get parameters by reference and return result value
-*                         REDESIGNED: GuiToggleGroup(), get parameters by reference and return result value
-*                         REDESIGNED: GuiComboBox(), get parameters by reference and return result value
-*                         REDESIGNED: GuiCheckBox(), get parameters by reference and return result value
-*                         REDESIGNED: GuiSlider(), get parameters by reference and return result value
-*                         REDESIGNED: GuiSliderBar(), get parameters by reference and return result value
-*                         REDESIGNED: GuiProgressBar(), get parameters by reference and return result value
-*                         REDESIGNED: GuiListView(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorPicker(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorPanel(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorBarAlpha(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorBarHue(), get parameters by reference and return result value
-*                         REDESIGNED: GuiGrid(), get parameters by reference and return result value
-*                         REDESIGNED: GuiGrid(), added extra parameter
-*                         REDESIGNED: GuiListViewEx(), change parameters order
-*                         REDESIGNED: All controls return result as int value
-*                         REVIEWED: GuiScrollPanel() to avoid smallish scroll-bars
-*                         REVIEWED: All examples and specially controls_test_suite
-*                         RENAMED: gui_file_dialog module to gui_window_file_dialog
-*                         UPDATED: All styles to include ISO-8859-15 charset (as much as possible)
-*
-*       3.6 (10-May-2023) ADDED: New icon: SAND_TIMER
-*                         ADDED: GuiLoadStyleFromMemory() (binary only)
-*                         REVIEWED: GuiScrollBar() horizontal movement key
-*                         REVIEWED: GuiTextBox() crash on cursor movement
-*                         REVIEWED: GuiTextBox(), additional inputs support
-*                         REVIEWED: GuiLabelButton(), avoid text cut
-*                         REVIEWED: GuiTextInputBox(), password input
-*                         REVIEWED: Local GetCodepointNext(), aligned with raylib
-*                         REDESIGNED: GuiSlider*()/GuiScrollBar() to support out-of-bounds
-*
-*       3.5 (20-Apr-2023) ADDED: GuiTabBar(), based on GuiToggle()
-*                         ADDED: Helper functions to split text in separate lines
-*                         ADDED: Multiple new icons, useful for code editing tools
-*                         REMOVED: Unneeded icon editing functions
-*                         REMOVED: GuiTextBoxMulti(), very limited and broken
-*                         REMOVED: MeasureTextEx() dependency, logic directly implemented
-*                         REMOVED: DrawTextEx() dependency, logic directly implemented
-*                         REVIEWED: GuiScrollBar(), improve mouse-click behaviour
-*                         REVIEWED: Library header info, more info, better organized
-*                         REDESIGNED: GuiTextBox() to support cursor movement
-*                         REDESIGNED: GuiDrawText() to divide drawing by lines
-*
-*       3.2 (22-May-2022) RENAMED: Some enum values, for unification, avoiding prefixes
-*                         REMOVED: GuiScrollBar(), only internal
-*                         REDESIGNED: GuiPanel() to support text parameter
-*                         REDESIGNED: GuiScrollPanel() to support text parameter
-*                         REDESIGNED: GuiColorPicker() to support text parameter
-*                         REDESIGNED: GuiColorPanel() to support text parameter
-*                         REDESIGNED: GuiColorBarAlpha() to support text parameter
-*                         REDESIGNED: GuiColorBarHue() to support text parameter
-*                         REDESIGNED: GuiTextInputBox() to support password
-*
-*       3.1 (12-Jan-2022) REVIEWED: Default style for consistency (aligned with rGuiLayout v2.5 tool)
-*                         REVIEWED: GuiLoadStyle() to support compressed font atlas image data and unload previous textures
-*                         REVIEWED: External icons usage logic
-*                         REVIEWED: GuiLine() for centered alignment when including text
-*                         RENAMED: Multiple controls properties definitions to prepend RAYGUI_
-*                         RENAMED: RICON_ references to RAYGUI_ICON_ for library consistency
-*                         Projects updated and multiple tweaks
-*
-*       3.0 (04-Nov-2021) Integrated ricons data to avoid external file
-*                         REDESIGNED: GuiTextBoxMulti()
-*                         REMOVED: GuiImageButton*()
-*                         Multiple minor tweaks and bugs corrected
-*
-*       2.9 (17-Mar-2021) REMOVED: Tooltip API
-*       2.8 (03-May-2020) Centralized rectangles drawing to GuiDrawRectangle()
-*       2.7 (20-Feb-2020) ADDED: Possible tooltips API
-*       2.6 (09-Sep-2019) ADDED: GuiTextInputBox()
-*                         REDESIGNED: GuiListView*(), GuiDropdownBox(), GuiSlider*(), GuiProgressBar(), GuiMessageBox()
-*                         REVIEWED: GuiTextBox(), GuiSpinner(), GuiValueBox(), GuiLoadStyle()
-*                         Replaced property INNER_PADDING by TEXT_PADDING, renamed some properties
-*                         ADDED: 8 new custom styles ready to use
-*                         Multiple minor tweaks and bugs corrected
-*
-*       2.5 (28-May-2019) Implemented extended GuiTextBox(), GuiValueBox(), GuiSpinner()
-*       2.3 (29-Apr-2019) ADDED: rIcons auxiliar library and support for it, multiple controls reviewed
-*                         Refactor all controls drawing mechanism to use control state
-*       2.2 (05-Feb-2019) ADDED: GuiScrollBar(), GuiScrollPanel(), reviewed GuiListView(), removed Gui*Ex() controls
-*       2.1 (26-Dec-2018) REDESIGNED: GuiCheckBox(), GuiComboBox(), GuiDropdownBox(), GuiToggleGroup() > Use combined text string
-*                         REDESIGNED: Style system (breaking change)
-*       2.0 (08-Nov-2018) ADDED: Support controls guiLock and custom fonts
-*                         REVIEWED: GuiComboBox(), GuiListView()...
-*       1.9 (09-Oct-2018) REVIEWED: GuiGrid(), GuiTextBox(), GuiTextBoxMulti(), GuiValueBox()...
-*       1.8 (01-May-2018) Lot of rework and redesign to align with rGuiStyler and rGuiLayout
-*       1.5 (21-Jun-2017) Working in an improved styles system
-*       1.4 (15-Jun-2017) Rewritten all GUI functions (removed useless ones)
-*       1.3 (12-Jun-2017) Complete redesign of style system
-*       1.1 (01-Jun-2017) Complete review of the library
-*       1.0 (07-Jun-2016) Converted to header-only by Ramon Santamaria.
-*       0.9 (07-Mar-2016) Reviewed and tested by Albert Martos, Ian Eito, Sergio Martinez and Ramon Santamaria.
-*       0.8 (27-Aug-2015) Initial release. Implemented by Kevin Gato, Daniel Nicolás and Ramon Santamaria.
-*
-*   DEPENDENCIES:
-*       raylib 5.0  - Inputs reading (keyboard/mouse), shapes drawing, font loading and text drawing
-*
-*   STANDALONE MODE:
-*       By default raygui depends on raylib mostly for the inputs and the drawing functionality but that dependency can be disabled
-*       with the config flag RAYGUI_STANDALONE. In that case is up to the user to provide another backend to cover library needs.
-*
-*       The following functions should be redefined for a custom backend:
-*
-*           - Vector2 GetMousePosition(void);
-*           - float GetMouseWheelMove(void);
-*           - bool IsMouseButtonDown(int button);
-*           - bool IsMouseButtonPressed(int button);
-*           - bool IsMouseButtonReleased(int button);
-*           - bool IsKeyDown(int key);
-*           - bool IsKeyPressed(int key);
-*           - int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
-*
-*           - void DrawRectangle(int x, int y, int width, int height, Color color); // -- GuiDrawRectangle()
-*           - void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
-*
-*           - Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
-*           - Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle()
-*           - Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
-*           - void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
-*           - char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
-*           - void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
-*           - const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
-*           - int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
-*           - void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
-*           - unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
-*
-*   CONTRIBUTORS:
-*       Ramon Santamaria:   Supervision, review, redesign, update and maintenance
-*       Vlad Adrian:        Complete rewrite of GuiTextBox() to support extended features (2019)
-*       Sergio Martinez:    Review, testing (2015) and redesign of multiple controls (2018)
-*       Adria Arranz:       Testing and implementation of additional controls (2018)
-*       Jordi Jorba:        Testing and implementation of additional controls (2018)
-*       Albert Martos:      Review and testing of the library (2015)
-*       Ian Eito:           Review and testing of the library (2015)
-*       Kevin Gato:         Initial implementation of basic components (2014)
-*       Daniel Nicolas:     Initial implementation of basic components (2014)
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2014-2025 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYGUI_H
-#define RAYGUI_H
-
-#define RAYGUI_VERSION_MAJOR 4
-#define RAYGUI_VERSION_MINOR 5
-#define RAYGUI_VERSION_PATCH 0
-#define RAYGUI_VERSION  "4.5-dev"
-
-#if !defined(RAYGUI_STANDALONE)
-    #include "raylib.h"
-#endif
-
-// Function specifiers in case library is build/used as a shared library (Windows)
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-#if defined(_WIN32)
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RAYGUIAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-    #elif defined(USE_LIBTYPE_SHARED)
-        #define RAYGUIAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-    #endif
-#endif
-
-// Function specifiers definition
-#ifndef RAYGUIAPI
-    #define RAYGUIAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-// Allow custom memory allocators
-#ifndef RAYGUI_MALLOC
-    #define RAYGUI_MALLOC(sz)       malloc(sz)
-#endif
-#ifndef RAYGUI_CALLOC
-    #define RAYGUI_CALLOC(n,sz)     calloc(n,sz)
-#endif
-#ifndef RAYGUI_FREE
-    #define RAYGUI_FREE(p)          free(p)
-#endif
-
-// Simple log system to avoid printf() calls if required
-// NOTE: Avoiding those calls, also avoids const strings memory usage
-#define RAYGUI_SUPPORT_LOG_INFO
-#if defined(RAYGUI_SUPPORT_LOG_INFO)
-  #define RAYGUI_LOG(...)           printf(__VA_ARGS__)
-#else
-  #define RAYGUI_LOG(...)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-// NOTE: Some types are required for RAYGUI_STANDALONE usage
-//----------------------------------------------------------------------------------
-#if defined(RAYGUI_STANDALONE)
-    #ifndef __cplusplus
-    // Boolean type
-        #ifndef true
-            typedef enum { false, true } bool;
-        #endif
-    #endif
-
-    // Vector2 type
-    typedef struct Vector2 {
-        float x;
-        float y;
-    } Vector2;
-
-    // Vector3 type                 // -- ConvertHSVtoRGB(), ConvertRGBtoHSV()
-    typedef struct Vector3 {
-        float x;
-        float y;
-        float z;
-    } Vector3;
-
-    // Color type, RGBA (32bit)
-    typedef struct Color {
-        unsigned char r;
-        unsigned char g;
-        unsigned char b;
-        unsigned char a;
-    } Color;
-
-    // Rectangle type
-    typedef struct Rectangle {
-        float x;
-        float y;
-        float width;
-        float height;
-    } Rectangle;
-
-    // TODO: Texture2D type is very coupled to raylib, required by Font type
-    // It should be redesigned to be provided by user
-    typedef struct Texture2D {
-        unsigned int id;        // OpenGL texture id
-        int width;              // Texture base width
-        int height;             // Texture base height
-        int mipmaps;            // Mipmap levels, 1 by default
-        int format;             // Data format (PixelFormat type)
-    } Texture2D;
-
-    // Image, pixel data stored in CPU memory (RAM)
-    typedef struct Image {
-        void *data;             // Image raw data
-        int width;              // Image base width
-        int height;             // Image base height
-        int mipmaps;            // Mipmap levels, 1 by default
-        int format;             // Data format (PixelFormat type)
-    } Image;
-
-    // GlyphInfo, font characters glyphs info
-    typedef struct GlyphInfo {
-        int value;              // Character value (Unicode)
-        int offsetX;            // Character offset X when drawing
-        int offsetY;            // Character offset Y when drawing
-        int advanceX;           // Character advance position X
-        Image image;            // Character image data
-    } GlyphInfo;
-
-    // TODO: Font type is very coupled to raylib, mostly required by GuiLoadStyle()
-    // It should be redesigned to be provided by user
-    typedef struct Font {
-        int baseSize;           // Base size (default chars height)
-        int glyphCount;         // Number of glyph characters
-        int glyphPadding;       // Padding around the glyph characters
-        Texture2D texture;      // Texture atlas containing the glyphs
-        Rectangle *recs;        // Rectangles in texture for the glyphs
-        GlyphInfo *glyphs;      // Glyphs info data
-    } Font;
-#endif
-
-// Style property
-// NOTE: Used when exporting style as code for convenience
-typedef struct GuiStyleProp {
-    unsigned short controlId;   // Control identifier
-    unsigned short propertyId;  // Property identifier
-    int propertyValue;          // Property value
-} GuiStyleProp;
-
-/*
-// Controls text style -NOT USED-
-// NOTE: Text style is defined by control
-typedef struct GuiTextStyle {
-    unsigned int size;
-    int charSpacing;
-    int lineSpacing;
-    int alignmentH;
-    int alignmentV;
-    int padding;
-} GuiTextStyle;
-*/
-
-// Gui control state
-typedef enum {
-    STATE_NORMAL = 0,
-    STATE_FOCUSED,
-    STATE_PRESSED,
-    STATE_DISABLED
-} GuiState;
-
-// Gui control text alignment
-typedef enum {
-    TEXT_ALIGN_LEFT = 0,
-    TEXT_ALIGN_CENTER,
-    TEXT_ALIGN_RIGHT
-} GuiTextAlignment;
-
-// Gui control text alignment vertical
-// NOTE: Text vertical position inside the text bounds
-typedef enum {
-    TEXT_ALIGN_TOP = 0,
-    TEXT_ALIGN_MIDDLE,
-    TEXT_ALIGN_BOTTOM
-} GuiTextAlignmentVertical;
-
-// Gui control text wrap mode
-// NOTE: Useful for multiline text
-typedef enum {
-    TEXT_WRAP_NONE = 0,
-    TEXT_WRAP_CHAR,
-    TEXT_WRAP_WORD
-} GuiTextWrapMode;
-
-// Gui controls
-typedef enum {
-    // Default -> populates to all controls when set
-    DEFAULT = 0,
-
-    // Basic controls
-    LABEL,          // Used also for: LABELBUTTON
-    BUTTON,
-    TOGGLE,         // Used also for: TOGGLEGROUP
-    SLIDER,         // Used also for: SLIDERBAR, TOGGLESLIDER
-    PROGRESSBAR,
-    CHECKBOX,
-    COMBOBOX,
-    DROPDOWNBOX,
-    TEXTBOX,        // Used also for: TEXTBOXMULTI
-    VALUEBOX,
-    SPINNER,        // Uses: BUTTON, VALUEBOX
-    LISTVIEW,
-    COLORPICKER,
-    SCROLLBAR,
-    STATUSBAR
-} GuiControl;
-
-// Gui base properties for every control
-// NOTE: RAYGUI_MAX_PROPS_BASE properties (by default 16 properties)
-typedef enum {
-    BORDER_COLOR_NORMAL = 0,    // Control border color in STATE_NORMAL
-    BASE_COLOR_NORMAL,          // Control base color in STATE_NORMAL
-    TEXT_COLOR_NORMAL,          // Control text color in STATE_NORMAL
-    BORDER_COLOR_FOCUSED,       // Control border color in STATE_FOCUSED
-    BASE_COLOR_FOCUSED,         // Control base color in STATE_FOCUSED
-    TEXT_COLOR_FOCUSED,         // Control text color in STATE_FOCUSED
-    BORDER_COLOR_PRESSED,       // Control border color in STATE_PRESSED
-    BASE_COLOR_PRESSED,         // Control base color in STATE_PRESSED
-    TEXT_COLOR_PRESSED,         // Control text color in STATE_PRESSED
-    BORDER_COLOR_DISABLED,      // Control border color in STATE_DISABLED
-    BASE_COLOR_DISABLED,        // Control base color in STATE_DISABLED
-    TEXT_COLOR_DISABLED,        // Control text color in STATE_DISABLED
-    BORDER_WIDTH,               // Control border size, 0 for no border
-    //TEXT_SIZE,                  // Control text size (glyphs max height) -> GLOBAL for all controls
-    //TEXT_SPACING,               // Control text spacing between glyphs -> GLOBAL for all controls
-    //TEXT_LINE_SPACING           // Control text spacing between lines -> GLOBAL for all controls
-    TEXT_PADDING,               // Control text padding, not considering border
-    TEXT_ALIGNMENT,             // Control text horizontal alignment inside control text bound (after border and padding)
-    //TEXT_WRAP_MODE              // Control text wrap-mode inside text bounds -> GLOBAL for all controls
-} GuiControlProperty;
-
-// TODO: Which text styling properties should be global or per-control?
-// At this moment TEXT_PADDING and TEXT_ALIGNMENT is configured and saved per control while
-// TEXT_SIZE, TEXT_SPACING, TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE are global and
-// should be configured by user as needed while defining the UI layout
-
-// Gui extended properties depend on control
-// NOTE: RAYGUI_MAX_PROPS_EXTENDED properties (by default, max 8 properties)
-//----------------------------------------------------------------------------------
-// DEFAULT extended properties
-// NOTE: Those properties are common to all controls or global
-// WARNING: We only have 8 slots for those properties by default!!! -> New global control: TEXT?
-typedef enum {
-    TEXT_SIZE = 16,             // Text size (glyphs max height)
-    TEXT_SPACING,               // Text spacing between glyphs
-    LINE_COLOR,                 // Line control color
-    BACKGROUND_COLOR,           // Background color
-    TEXT_LINE_SPACING,          // Text spacing between lines
-    TEXT_ALIGNMENT_VERTICAL,    // Text vertical alignment inside text bounds (after border and padding)
-    TEXT_WRAP_MODE              // Text wrap-mode inside text bounds
-    //TEXT_DECORATION             // Text decoration: 0-None, 1-Underline, 2-Line-through, 3-Overline
-    //TEXT_DECORATION_THICK       // Text decoration line thickness
-} GuiDefaultProperty;
-
-// Other possible text properties:
-// TEXT_WEIGHT                  // Normal, Italic, Bold -> Requires specific font change
-// TEXT_INDENT                  // Text indentation -> Now using TEXT_PADDING...
-
-// Label
-//typedef enum { } GuiLabelProperty;
-
-// Button/Spinner
-//typedef enum { } GuiButtonProperty;
-
-// Toggle/ToggleGroup
-typedef enum {
-    GROUP_PADDING = 16,         // ToggleGroup separation between toggles
-} GuiToggleProperty;
-
-// Slider/SliderBar
-typedef enum {
-    SLIDER_WIDTH = 16,          // Slider size of internal bar
-    SLIDER_PADDING              // Slider/SliderBar internal bar padding
-} GuiSliderProperty;
-
-// ProgressBar
-typedef enum {
-    PROGRESS_PADDING = 16,      // ProgressBar internal padding
-} GuiProgressBarProperty;
-
-// ScrollBar
-typedef enum {
-    ARROWS_SIZE = 16,           // ScrollBar arrows size
-    ARROWS_VISIBLE,             // ScrollBar arrows visible
-    SCROLL_SLIDER_PADDING,      // ScrollBar slider internal padding
-    SCROLL_SLIDER_SIZE,         // ScrollBar slider size
-    SCROLL_PADDING,             // ScrollBar scroll padding from arrows
-    SCROLL_SPEED,               // ScrollBar scrolling speed
-} GuiScrollBarProperty;
-
-// CheckBox
-typedef enum {
-    CHECK_PADDING = 16          // CheckBox internal check padding
-} GuiCheckBoxProperty;
-
-// ComboBox
-typedef enum {
-    COMBO_BUTTON_WIDTH = 16,    // ComboBox right button width
-    COMBO_BUTTON_SPACING        // ComboBox button separation
-} GuiComboBoxProperty;
-
-// DropdownBox
-typedef enum {
-    ARROW_PADDING = 16,         // DropdownBox arrow separation from border and items
-    DROPDOWN_ITEMS_SPACING,     // DropdownBox items separation
-    DROPDOWN_ARROW_HIDDEN,      // DropdownBox arrow hidden
-    DROPDOWN_ROLL_UP            // DropdownBox roll up flag (default rolls down)
-} GuiDropdownBoxProperty;
-
-// TextBox/TextBoxMulti/ValueBox/Spinner
-typedef enum {
-    TEXT_READONLY = 16,         // TextBox in read-only mode: 0-text editable, 1-text no-editable
-} GuiTextBoxProperty;
-
-// Spinner
-typedef enum {
-    SPIN_BUTTON_WIDTH = 16,     // Spinner left/right buttons width
-    SPIN_BUTTON_SPACING,        // Spinner buttons separation
-} GuiSpinnerProperty;
-
-// ListView
-typedef enum {
-    LIST_ITEMS_HEIGHT = 16,     // ListView items height
-    LIST_ITEMS_SPACING,         // ListView items separation
-    SCROLLBAR_WIDTH,            // ListView scrollbar size (usually width)
-    SCROLLBAR_SIDE,             // ListView scrollbar side (0-SCROLLBAR_LEFT_SIDE, 1-SCROLLBAR_RIGHT_SIDE)
-    LIST_ITEMS_BORDER_WIDTH     // ListView items border width
-} GuiListViewProperty;
-
-// ColorPicker
-typedef enum {
-    COLOR_SELECTOR_SIZE = 16,
-    HUEBAR_WIDTH,               // ColorPicker right hue bar width
-    HUEBAR_PADDING,             // ColorPicker right hue bar separation from panel
-    HUEBAR_SELECTOR_HEIGHT,     // ColorPicker right hue bar selector height
-    HUEBAR_SELECTOR_OVERFLOW    // ColorPicker right hue bar selector overflow
-} GuiColorPickerProperty;
-
-#define SCROLLBAR_LEFT_SIDE     0
-#define SCROLLBAR_RIGHT_SIDE    1
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-// ...
-
-//----------------------------------------------------------------------------------
-// Module Functions Declaration
-//----------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-// Global gui state control functions
-RAYGUIAPI void GuiEnable(void);                                 // Enable gui controls (global state)
-RAYGUIAPI void GuiDisable(void);                                // Disable gui controls (global state)
-RAYGUIAPI void GuiLock(void);                                   // Lock gui controls (global state)
-RAYGUIAPI void GuiUnlock(void);                                 // Unlock gui controls (global state)
-RAYGUIAPI bool GuiIsLocked(void);                               // Check if gui is locked (global state)
-RAYGUIAPI void GuiSetAlpha(float alpha);                        // Set gui controls alpha (global state), alpha goes from 0.0f to 1.0f
-RAYGUIAPI void GuiSetState(int state);                          // Set gui state (global state)
-RAYGUIAPI int GuiGetState(void);                                // Get gui state (global state)
-
-// Font set/get functions
-RAYGUIAPI void GuiSetFont(Font font);                           // Set gui custom font (global state)
-RAYGUIAPI Font GuiGetFont(void);                                // Get gui custom font (global state)
-
-// Style set/get functions
-RAYGUIAPI void GuiSetStyle(int control, int property, int value); // Set one style property
-RAYGUIAPI int GuiGetStyle(int control, int property);           // Get one style property
-
-// Styles loading functions
-RAYGUIAPI void GuiLoadStyle(const char *fileName);              // Load style file over global style variable (.rgs)
-RAYGUIAPI void GuiLoadStyleDefault(void);                       // Load style default over global style
-
-// Tooltips management functions
-RAYGUIAPI void GuiEnableTooltip(void);                          // Enable gui tooltips (global state)
-RAYGUIAPI void GuiDisableTooltip(void);                         // Disable gui tooltips (global state)
-RAYGUIAPI void GuiSetTooltip(const char *tooltip);              // Set tooltip string
-
-// Icons functionality
-RAYGUIAPI const char *GuiIconText(int iconId, const char *text); // Get text with icon id prepended (if supported)
-#if !defined(RAYGUI_NO_ICONS)
-RAYGUIAPI void GuiSetIconScale(int scale);                      // Set default icon drawing size
-RAYGUIAPI unsigned int *GuiGetIcons(void);                      // Get raygui icons data pointer
-RAYGUIAPI char **GuiLoadIcons(const char *fileName, bool loadIconsName); // Load raygui icons file (.rgi) into internal icons data
-RAYGUIAPI void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color); // Draw icon using pixel size at specified position
-#endif
-
-// Controls
-//----------------------------------------------------------------------------------------------------------
-// Container/separator controls, useful for controls organization
-RAYGUIAPI int GuiWindowBox(Rectangle bounds, const char *title);                                       // Window Box control, shows a window that can be closed
-RAYGUIAPI int GuiGroupBox(Rectangle bounds, const char *text);                                         // Group Box control with text name
-RAYGUIAPI int GuiLine(Rectangle bounds, const char *text);                                             // Line separator control, could contain text
-RAYGUIAPI int GuiPanel(Rectangle bounds, const char *text);                                            // Panel control, useful to group controls
-RAYGUIAPI int GuiTabBar(Rectangle bounds, const char **text, int count, int *active);                  // Tab Bar control, returns TAB to be closed or -1
-RAYGUIAPI int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view); // Scroll Panel control
-
-// Basic controls set
-RAYGUIAPI int GuiLabel(Rectangle bounds, const char *text);                                            // Label control
-RAYGUIAPI int GuiButton(Rectangle bounds, const char *text);                                           // Button control, returns true when clicked
-RAYGUIAPI int GuiLabelButton(Rectangle bounds, const char *text);                                      // Label button control, returns true when clicked
-RAYGUIAPI int GuiToggle(Rectangle bounds, const char *text, bool *active);                             // Toggle Button control
-RAYGUIAPI int GuiToggleGroup(Rectangle bounds, const char *text, int *active);                         // Toggle Group control
-RAYGUIAPI int GuiToggleSlider(Rectangle bounds, const char *text, int *active);                        // Toggle Slider control
-RAYGUIAPI int GuiCheckBox(Rectangle bounds, const char *text, bool *checked);                          // Check Box control, returns true when active
-RAYGUIAPI int GuiComboBox(Rectangle bounds, const char *text, int *active);                            // Combo Box control
-
-RAYGUIAPI int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode);          // Dropdown Box control
-RAYGUIAPI int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Spinner control
-RAYGUIAPI int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Value Box control, updates input text with numbers
-RAYGUIAPI int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode); // Value box control for float values
-RAYGUIAPI int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode);                   // Text Box control, updates input text
-
-RAYGUIAPI int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider control
-RAYGUIAPI int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider Bar control
-RAYGUIAPI int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Progress Bar control
-RAYGUIAPI int GuiStatusBar(Rectangle bounds, const char *text);                                        // Status Bar control, shows info text
-RAYGUIAPI int GuiDummyRec(Rectangle bounds, const char *text);                                         // Dummy control for placeholders
-RAYGUIAPI int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell); // Grid control
-
-// Advance controls set
-RAYGUIAPI int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active);          // List View control
-RAYGUIAPI int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus); // List View with extended parameters
-RAYGUIAPI int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons); // Message Box control, displays a message
-RAYGUIAPI int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive); // Text Input Box control, ask for text, supports secret
-RAYGUIAPI int GuiColorPicker(Rectangle bounds, const char *text, Color *color);                        // Color Picker control (multiple color controls)
-RAYGUIAPI int GuiColorPanel(Rectangle bounds, const char *text, Color *color);                         // Color Panel control
-RAYGUIAPI int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha);                      // Color Bar Alpha control
-RAYGUIAPI int GuiColorBarHue(Rectangle bounds, const char *text, float *value);                        // Color Bar Hue control
-RAYGUIAPI int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                // Color Picker control that avoids conversion to RGB on each call (multiple color controls)
-RAYGUIAPI int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                 // Color Panel control that updates Hue-Saturation-Value color value, used by GuiColorPickerHSV()
-//----------------------------------------------------------------------------------------------------------
-
-#if !defined(RAYGUI_NO_ICONS)
-
-#if !defined(RAYGUI_CUSTOM_ICONS)
-//----------------------------------------------------------------------------------
-// Icons enumeration
-//----------------------------------------------------------------------------------
-typedef enum {
-    ICON_NONE                     = 0,
-    ICON_FOLDER_FILE_OPEN         = 1,
-    ICON_FILE_SAVE_CLASSIC        = 2,
-    ICON_FOLDER_OPEN              = 3,
-    ICON_FOLDER_SAVE              = 4,
-    ICON_FILE_OPEN                = 5,
-    ICON_FILE_SAVE                = 6,
-    ICON_FILE_EXPORT              = 7,
-    ICON_FILE_ADD                 = 8,
-    ICON_FILE_DELETE              = 9,
-    ICON_FILETYPE_TEXT            = 10,
-    ICON_FILETYPE_AUDIO           = 11,
-    ICON_FILETYPE_IMAGE           = 12,
-    ICON_FILETYPE_PLAY            = 13,
-    ICON_FILETYPE_VIDEO           = 14,
-    ICON_FILETYPE_INFO            = 15,
-    ICON_FILE_COPY                = 16,
-    ICON_FILE_CUT                 = 17,
-    ICON_FILE_PASTE               = 18,
-    ICON_CURSOR_HAND              = 19,
-    ICON_CURSOR_POINTER           = 20,
-    ICON_CURSOR_CLASSIC           = 21,
-    ICON_PENCIL                   = 22,
-    ICON_PENCIL_BIG               = 23,
-    ICON_BRUSH_CLASSIC            = 24,
-    ICON_BRUSH_PAINTER            = 25,
-    ICON_WATER_DROP               = 26,
-    ICON_COLOR_PICKER             = 27,
-    ICON_RUBBER                   = 28,
-    ICON_COLOR_BUCKET             = 29,
-    ICON_TEXT_T                   = 30,
-    ICON_TEXT_A                   = 31,
-    ICON_SCALE                    = 32,
-    ICON_RESIZE                   = 33,
-    ICON_FILTER_POINT             = 34,
-    ICON_FILTER_BILINEAR          = 35,
-    ICON_CROP                     = 36,
-    ICON_CROP_ALPHA               = 37,
-    ICON_SQUARE_TOGGLE            = 38,
-    ICON_SYMMETRY                 = 39,
-    ICON_SYMMETRY_HORIZONTAL      = 40,
-    ICON_SYMMETRY_VERTICAL        = 41,
-    ICON_LENS                     = 42,
-    ICON_LENS_BIG                 = 43,
-    ICON_EYE_ON                   = 44,
-    ICON_EYE_OFF                  = 45,
-    ICON_FILTER_TOP               = 46,
-    ICON_FILTER                   = 47,
-    ICON_TARGET_POINT             = 48,
-    ICON_TARGET_SMALL             = 49,
-    ICON_TARGET_BIG               = 50,
-    ICON_TARGET_MOVE              = 51,
-    ICON_CURSOR_MOVE              = 52,
-    ICON_CURSOR_SCALE             = 53,
-    ICON_CURSOR_SCALE_RIGHT       = 54,
-    ICON_CURSOR_SCALE_LEFT        = 55,
-    ICON_UNDO                     = 56,
-    ICON_REDO                     = 57,
-    ICON_REREDO                   = 58,
-    ICON_MUTATE                   = 59,
-    ICON_ROTATE                   = 60,
-    ICON_REPEAT                   = 61,
-    ICON_SHUFFLE                  = 62,
-    ICON_EMPTYBOX                 = 63,
-    ICON_TARGET                   = 64,
-    ICON_TARGET_SMALL_FILL        = 65,
-    ICON_TARGET_BIG_FILL          = 66,
-    ICON_TARGET_MOVE_FILL         = 67,
-    ICON_CURSOR_MOVE_FILL         = 68,
-    ICON_CURSOR_SCALE_FILL        = 69,
-    ICON_CURSOR_SCALE_RIGHT_FILL  = 70,
-    ICON_CURSOR_SCALE_LEFT_FILL   = 71,
-    ICON_UNDO_FILL                = 72,
-    ICON_REDO_FILL                = 73,
-    ICON_REREDO_FILL              = 74,
-    ICON_MUTATE_FILL              = 75,
-    ICON_ROTATE_FILL              = 76,
-    ICON_REPEAT_FILL              = 77,
-    ICON_SHUFFLE_FILL             = 78,
-    ICON_EMPTYBOX_SMALL           = 79,
-    ICON_BOX                      = 80,
-    ICON_BOX_TOP                  = 81,
-    ICON_BOX_TOP_RIGHT            = 82,
-    ICON_BOX_RIGHT                = 83,
-    ICON_BOX_BOTTOM_RIGHT         = 84,
-    ICON_BOX_BOTTOM               = 85,
-    ICON_BOX_BOTTOM_LEFT          = 86,
-    ICON_BOX_LEFT                 = 87,
-    ICON_BOX_TOP_LEFT             = 88,
-    ICON_BOX_CENTER               = 89,
-    ICON_BOX_CIRCLE_MASK          = 90,
-    ICON_POT                      = 91,
-    ICON_ALPHA_MULTIPLY           = 92,
-    ICON_ALPHA_CLEAR              = 93,
-    ICON_DITHERING                = 94,
-    ICON_MIPMAPS                  = 95,
-    ICON_BOX_GRID                 = 96,
-    ICON_GRID                     = 97,
-    ICON_BOX_CORNERS_SMALL        = 98,
-    ICON_BOX_CORNERS_BIG          = 99,
-    ICON_FOUR_BOXES               = 100,
-    ICON_GRID_FILL                = 101,
-    ICON_BOX_MULTISIZE            = 102,
-    ICON_ZOOM_SMALL               = 103,
-    ICON_ZOOM_MEDIUM              = 104,
-    ICON_ZOOM_BIG                 = 105,
-    ICON_ZOOM_ALL                 = 106,
-    ICON_ZOOM_CENTER              = 107,
-    ICON_BOX_DOTS_SMALL           = 108,
-    ICON_BOX_DOTS_BIG             = 109,
-    ICON_BOX_CONCENTRIC           = 110,
-    ICON_BOX_GRID_BIG             = 111,
-    ICON_OK_TICK                  = 112,
-    ICON_CROSS                    = 113,
-    ICON_ARROW_LEFT               = 114,
-    ICON_ARROW_RIGHT              = 115,
-    ICON_ARROW_DOWN               = 116,
-    ICON_ARROW_UP                 = 117,
-    ICON_ARROW_LEFT_FILL          = 118,
-    ICON_ARROW_RIGHT_FILL         = 119,
-    ICON_ARROW_DOWN_FILL          = 120,
-    ICON_ARROW_UP_FILL            = 121,
-    ICON_AUDIO                    = 122,
-    ICON_FX                       = 123,
-    ICON_WAVE                     = 124,
-    ICON_WAVE_SINUS               = 125,
-    ICON_WAVE_SQUARE              = 126,
-    ICON_WAVE_TRIANGULAR          = 127,
-    ICON_CROSS_SMALL              = 128,
-    ICON_PLAYER_PREVIOUS          = 129,
-    ICON_PLAYER_PLAY_BACK         = 130,
-    ICON_PLAYER_PLAY              = 131,
-    ICON_PLAYER_PAUSE             = 132,
-    ICON_PLAYER_STOP              = 133,
-    ICON_PLAYER_NEXT              = 134,
-    ICON_PLAYER_RECORD            = 135,
-    ICON_MAGNET                   = 136,
-    ICON_LOCK_CLOSE               = 137,
-    ICON_LOCK_OPEN                = 138,
-    ICON_CLOCK                    = 139,
-    ICON_TOOLS                    = 140,
-    ICON_GEAR                     = 141,
-    ICON_GEAR_BIG                 = 142,
-    ICON_BIN                      = 143,
-    ICON_HAND_POINTER             = 144,
-    ICON_LASER                    = 145,
-    ICON_COIN                     = 146,
-    ICON_EXPLOSION                = 147,
-    ICON_1UP                      = 148,
-    ICON_PLAYER                   = 149,
-    ICON_PLAYER_JUMP              = 150,
-    ICON_KEY                      = 151,
-    ICON_DEMON                    = 152,
-    ICON_TEXT_POPUP               = 153,
-    ICON_GEAR_EX                  = 154,
-    ICON_CRACK                    = 155,
-    ICON_CRACK_POINTS             = 156,
-    ICON_STAR                     = 157,
-    ICON_DOOR                     = 158,
-    ICON_EXIT                     = 159,
-    ICON_MODE_2D                  = 160,
-    ICON_MODE_3D                  = 161,
-    ICON_CUBE                     = 162,
-    ICON_CUBE_FACE_TOP            = 163,
-    ICON_CUBE_FACE_LEFT           = 164,
-    ICON_CUBE_FACE_FRONT          = 165,
-    ICON_CUBE_FACE_BOTTOM         = 166,
-    ICON_CUBE_FACE_RIGHT          = 167,
-    ICON_CUBE_FACE_BACK           = 168,
-    ICON_CAMERA                   = 169,
-    ICON_SPECIAL                  = 170,
-    ICON_LINK_NET                 = 171,
-    ICON_LINK_BOXES               = 172,
-    ICON_LINK_MULTI               = 173,
-    ICON_LINK                     = 174,
-    ICON_LINK_BROKE               = 175,
-    ICON_TEXT_NOTES               = 176,
-    ICON_NOTEBOOK                 = 177,
-    ICON_SUITCASE                 = 178,
-    ICON_SUITCASE_ZIP             = 179,
-    ICON_MAILBOX                  = 180,
-    ICON_MONITOR                  = 181,
-    ICON_PRINTER                  = 182,
-    ICON_PHOTO_CAMERA             = 183,
-    ICON_PHOTO_CAMERA_FLASH       = 184,
-    ICON_HOUSE                    = 185,
-    ICON_HEART                    = 186,
-    ICON_CORNER                   = 187,
-    ICON_VERTICAL_BARS            = 188,
-    ICON_VERTICAL_BARS_FILL       = 189,
-    ICON_LIFE_BARS                = 190,
-    ICON_INFO                     = 191,
-    ICON_CROSSLINE                = 192,
-    ICON_HELP                     = 193,
-    ICON_FILETYPE_ALPHA           = 194,
-    ICON_FILETYPE_HOME            = 195,
-    ICON_LAYERS_VISIBLE           = 196,
-    ICON_LAYERS                   = 197,
-    ICON_WINDOW                   = 198,
-    ICON_HIDPI                    = 199,
-    ICON_FILETYPE_BINARY          = 200,
-    ICON_HEX                      = 201,
-    ICON_SHIELD                   = 202,
-    ICON_FILE_NEW                 = 203,
-    ICON_FOLDER_ADD               = 204,
-    ICON_ALARM                    = 205,
-    ICON_CPU                      = 206,
-    ICON_ROM                      = 207,
-    ICON_STEP_OVER                = 208,
-    ICON_STEP_INTO                = 209,
-    ICON_STEP_OUT                 = 210,
-    ICON_RESTART                  = 211,
-    ICON_BREAKPOINT_ON            = 212,
-    ICON_BREAKPOINT_OFF           = 213,
-    ICON_BURGER_MENU              = 214,
-    ICON_CASE_SENSITIVE           = 215,
-    ICON_REG_EXP                  = 216,
-    ICON_FOLDER                   = 217,
-    ICON_FILE                     = 218,
-    ICON_SAND_TIMER               = 219,
-    ICON_WARNING                  = 220,
-    ICON_HELP_BOX                 = 221,
-    ICON_INFO_BOX                 = 222,
-    ICON_PRIORITY                 = 223,
-    ICON_LAYERS_ISO               = 224,
-    ICON_LAYERS2                  = 225,
-    ICON_MLAYERS                  = 226,
-    ICON_MAPS                     = 227,
-    ICON_HOT                      = 228,
-    ICON_229                      = 229,
-    ICON_230                      = 230,
-    ICON_231                      = 231,
-    ICON_232                      = 232,
-    ICON_233                      = 233,
-    ICON_234                      = 234,
-    ICON_235                      = 235,
-    ICON_236                      = 236,
-    ICON_237                      = 237,
-    ICON_238                      = 238,
-    ICON_239                      = 239,
-    ICON_240                      = 240,
-    ICON_241                      = 241,
-    ICON_242                      = 242,
-    ICON_243                      = 243,
-    ICON_244                      = 244,
-    ICON_245                      = 245,
-    ICON_246                      = 246,
-    ICON_247                      = 247,
-    ICON_248                      = 248,
-    ICON_249                      = 249,
-    ICON_250                      = 250,
-    ICON_251                      = 251,
-    ICON_252                      = 252,
-    ICON_253                      = 253,
-    ICON_254                      = 254,
-    ICON_255                      = 255,
-} GuiIconName;
-#endif
-
-#endif
-
-#if defined(__cplusplus)
-}            // Prevents name mangling of functions
-#endif
-
-#endif // RAYGUI_H
-
-/***********************************************************************************
-*
-*   RAYGUI IMPLEMENTATION
-*
-************************************************************************************/
-
-#if defined(RAYGUI_IMPLEMENTATION)
-
-#include <ctype.h>              // required for: isspace() [GuiTextBox()]
-#include <stdio.h>              // Required for: FILE, fopen(), fclose(), fprintf(), feof(), fscanf(), vsprintf() [GuiLoadStyle(), GuiLoadIcons()]
-#include <stdlib.h>             // Required for: malloc(), calloc(), free() [GuiLoadStyle(), GuiLoadIcons()]
-#include <string.h>             // Required for: strlen() [GuiTextBox(), GuiValueBox()], memset(), memcpy()
-#include <stdarg.h>             // Required for: va_list, va_start(), vfprintf(), va_end() [TextFormat()]
-#include <math.h>               // Required for: roundf() [GuiColorPicker()]
-
-#ifdef __cplusplus
-    #define RAYGUI_CLITERAL(name) name
-#else
-    #define RAYGUI_CLITERAL(name) (name)
-#endif
-
-// Check if two rectangles are equal, used to validate a slider bounds as an id
-#ifndef CHECK_BOUNDS_ID
-    #define CHECK_BOUNDS_ID(src, dst) ((src.x == dst.x) && (src.y == dst.y) && (src.width == dst.width) && (src.height == dst.height))
-#endif
-
-#if !defined(RAYGUI_NO_ICONS) && !defined(RAYGUI_CUSTOM_ICONS)
-
-// Embedded icons, no external file provided
-#define RAYGUI_ICON_SIZE               16          // Size of icons in pixels (squared)
-#define RAYGUI_ICON_MAX_ICONS         256          // Maximum number of icons
-#define RAYGUI_ICON_MAX_NAME_LENGTH    32          // Maximum length of icon name id
-
-// Icons data is defined by bit array (every bit represents one pixel)
-// Those arrays are stored as unsigned int data arrays, so,
-// every array element defines 32 pixels (bits) of information
-// One icon is defined by 8 int, (8 int * 32 bit = 256 bit = 16*16 pixels)
-// NOTE: Number of elemens depend on RAYGUI_ICON_SIZE (by default 16x16 pixels)
-#define RAYGUI_ICON_DATA_ELEMENTS   (RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32)
-
-//----------------------------------------------------------------------------------
-// Icons data for all gui possible icons (allocated on data segment by default)
-//
-// NOTE 1: Every icon is codified in binary form, using 1 bit per pixel, so,
-// every 16x16 icon requires 8 integers (16*16/32) to be stored
-//
-// NOTE 2: A different icon set could be loaded over this array using GuiLoadIcons(),
-// but loaded icons set must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS
-//
-// guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
-//----------------------------------------------------------------------------------
-static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS] = {
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_NONE
-    0x3ff80000, 0x2f082008, 0x2042207e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x00007ffe,      // ICON_FOLDER_FILE_OPEN
-    0x3ffe0000, 0x44226422, 0x400247e2, 0x5ffa4002, 0x57ea500a, 0x500a500a, 0x40025ffa, 0x00007ffe,      // ICON_FILE_SAVE_CLASSIC
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024002, 0x44424282, 0x793e4102, 0x00000100,      // ICON_FOLDER_OPEN
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024102, 0x44424102, 0x793e4282, 0x00000000,      // ICON_FOLDER_SAVE
-    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x24442284, 0x21042104, 0x20042104, 0x00003ffc,      // ICON_FILE_OPEN
-    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x21042104, 0x22842444, 0x20042104, 0x00003ffc,      // ICON_FILE_SAVE
-    0x3ff00000, 0x201c2010, 0x00042004, 0x20041004, 0x20844784, 0x00841384, 0x20042784, 0x00003ffc,      // ICON_FILE_EXPORT
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x22042204, 0x22042f84, 0x20042204, 0x00003ffc,      // ICON_FILE_ADD
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x25042884, 0x25042204, 0x20042884, 0x00003ffc,      // ICON_FILE_DELETE
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_TEXT
-    0x3ff00000, 0x201c2010, 0x27042004, 0x244424c4, 0x26442444, 0x20642664, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_AUDIO
-    0x3ff00000, 0x201c2010, 0x26042604, 0x20042004, 0x35442884, 0x2414222c, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_IMAGE
-    0x3ff00000, 0x201c2010, 0x20c42004, 0x22442144, 0x22442444, 0x20c42144, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_PLAY
-    0x3ff00000, 0x3ffc2ff0, 0x3f3c2ff4, 0x3dbc2eb4, 0x3dbc2bb4, 0x3f3c2eb4, 0x3ffc2ff4, 0x00002ff4,      // ICON_FILETYPE_VIDEO
-    0x3ff00000, 0x201c2010, 0x21842184, 0x21842004, 0x21842184, 0x21842184, 0x20042184, 0x00003ffc,      // ICON_FILETYPE_INFO
-    0x0ff00000, 0x381c0810, 0x28042804, 0x28042804, 0x28042804, 0x28042804, 0x20102ffc, 0x00003ff0,      // ICON_FILE_COPY
-    0x00000000, 0x701c0000, 0x079c1e14, 0x55a000f0, 0x079c00f0, 0x701c1e14, 0x00000000, 0x00000000,      // ICON_FILE_CUT
-    0x01c00000, 0x13e41bec, 0x3f841004, 0x204420c4, 0x20442044, 0x20442044, 0x207c2044, 0x00003fc0,      // ICON_FILE_PASTE
-    0x00000000, 0x3aa00fe0, 0x2abc2aa0, 0x2aa42aa4, 0x20042aa4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_CURSOR_HAND
-    0x00000000, 0x003c000c, 0x030800c8, 0x30100c10, 0x10202020, 0x04400840, 0x01800280, 0x00000000,      // ICON_CURSOR_POINTER
-    0x00000000, 0x00180000, 0x01f00078, 0x03e007f0, 0x07c003e0, 0x04000e40, 0x00000000, 0x00000000,      // ICON_CURSOR_CLASSIC
-    0x00000000, 0x04000000, 0x11000a00, 0x04400a80, 0x01100220, 0x00580088, 0x00000038, 0x00000000,      // ICON_PENCIL
-    0x04000000, 0x15000a00, 0x50402880, 0x14102820, 0x05040a08, 0x015c028c, 0x007c00bc, 0x00000000,      // ICON_PENCIL_BIG
-    0x01c00000, 0x01400140, 0x01400140, 0x0ff80140, 0x0ff80808, 0x0aa80808, 0x0aa80aa8, 0x00000ff8,      // ICON_BRUSH_CLASSIC
-    0x1ffc0000, 0x5ffc7ffe, 0x40004000, 0x00807f80, 0x01c001c0, 0x01c001c0, 0x01c001c0, 0x00000080,      // ICON_BRUSH_PAINTER
-    0x00000000, 0x00800000, 0x01c00080, 0x03e001c0, 0x07f003e0, 0x036006f0, 0x000001c0, 0x00000000,      // ICON_WATER_DROP
-    0x00000000, 0x3e003800, 0x1f803f80, 0x0c201e40, 0x02080c10, 0x00840104, 0x00380044, 0x00000000,      // ICON_COLOR_PICKER
-    0x00000000, 0x07800300, 0x1fe00fc0, 0x3f883fd0, 0x0e021f04, 0x02040402, 0x00f00108, 0x00000000,      // ICON_RUBBER
-    0x00c00000, 0x02800140, 0x08200440, 0x20081010, 0x2ffe3004, 0x03f807fc, 0x00e001f0, 0x00000040,      // ICON_COLOR_BUCKET
-    0x00000000, 0x21843ffc, 0x01800180, 0x01800180, 0x01800180, 0x01800180, 0x03c00180, 0x00000000,      // ICON_TEXT_T
-    0x00800000, 0x01400180, 0x06200340, 0x0c100620, 0x1ff80c10, 0x380c1808, 0x70067004, 0x0000f80f,      // ICON_TEXT_A
-    0x78000000, 0x50004000, 0x00004800, 0x03c003c0, 0x03c003c0, 0x00100000, 0x0002000a, 0x0000000e,      // ICON_SCALE
-    0x75560000, 0x5e004002, 0x54001002, 0x41001202, 0x408200fe, 0x40820082, 0x40820082, 0x00006afe,      // ICON_RESIZE
-    0x00000000, 0x3f003f00, 0x3f003f00, 0x3f003f00, 0x00400080, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_POINT
-    0x6d800000, 0x00004080, 0x40804080, 0x40800000, 0x00406d80, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_BILINEAR
-    0x40080000, 0x1ffe2008, 0x14081008, 0x11081208, 0x10481088, 0x10081028, 0x10047ff8, 0x00001002,      // ICON_CROP
-    0x00100000, 0x3ffc0010, 0x2ab03550, 0x22b02550, 0x20b02150, 0x20302050, 0x2000fff0, 0x00002000,      // ICON_CROP_ALPHA
-    0x40000000, 0x1ff82000, 0x04082808, 0x01082208, 0x00482088, 0x00182028, 0x35542008, 0x00000002,      // ICON_SQUARE_TOGGLE
-    0x00000000, 0x02800280, 0x06c006c0, 0x0ea00ee0, 0x1e901eb0, 0x3e883e98, 0x7efc7e8c, 0x00000000,      // ICON_SYMMETRY
-    0x01000000, 0x05600100, 0x1d480d50, 0x7d423d44, 0x3d447d42, 0x0d501d48, 0x01000560, 0x00000100,      // ICON_SYMMETRY_HORIZONTAL
-    0x01800000, 0x04200240, 0x10080810, 0x00001ff8, 0x00007ffe, 0x0ff01ff8, 0x03c007e0, 0x00000180,      // ICON_SYMMETRY_VERTICAL
-    0x00000000, 0x010800f0, 0x02040204, 0x02040204, 0x07f00308, 0x1c000e00, 0x30003800, 0x00000000,      // ICON_LENS
-    0x00000000, 0x061803f0, 0x08240c0c, 0x08040814, 0x0c0c0804, 0x23f01618, 0x18002400, 0x00000000,      // ICON_LENS_BIG
-    0x00000000, 0x00000000, 0x1c7007c0, 0x638e3398, 0x1c703398, 0x000007c0, 0x00000000, 0x00000000,      // ICON_EYE_ON
-    0x00000000, 0x10002000, 0x04700fc0, 0x610e3218, 0x1c703098, 0x001007a0, 0x00000008, 0x00000000,      // ICON_EYE_OFF
-    0x00000000, 0x00007ffc, 0x40047ffc, 0x10102008, 0x04400820, 0x02800280, 0x02800280, 0x00000100,      // ICON_FILTER_TOP
-    0x00000000, 0x40027ffe, 0x10082004, 0x04200810, 0x02400240, 0x02400240, 0x01400240, 0x000000c0,      // ICON_FILTER
-    0x00800000, 0x00800080, 0x00000080, 0x3c9e0000, 0x00000000, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_POINT
-    0x00800000, 0x00800080, 0x00800080, 0x3f7e01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL
-    0x00800000, 0x00800080, 0x03e00080, 0x3e3e0220, 0x03e00220, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG
-    0x01000000, 0x04400280, 0x01000100, 0x43842008, 0x43849ab2, 0x01002008, 0x04400100, 0x01000280,      // ICON_TARGET_MOVE
-    0x01000000, 0x04400280, 0x01000100, 0x41042108, 0x41049ff2, 0x01002108, 0x04400100, 0x01000280,      // ICON_CURSOR_MOVE
-    0x781e0000, 0x500a4002, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x4002500a, 0x0000781e,      // ICON_CURSOR_SCALE
-    0x00000000, 0x20003c00, 0x24002800, 0x01000200, 0x00400080, 0x00140024, 0x003c0004, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT
-    0x00000000, 0x0004003c, 0x00240014, 0x00800040, 0x02000100, 0x28002400, 0x3c002000, 0x00000000,      // ICON_CURSOR_SCALE_LEFT
-    0x00000000, 0x00100020, 0x10101fc8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO
-    0x00000000, 0x08000400, 0x080813f8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO
-    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3f902020, 0x00400020, 0x00000000,      // ICON_REREDO
-    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3fc82010, 0x00200010, 0x00000000,      // ICON_MUTATE
-    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18101020, 0x00100fc8, 0x00000020,      // ICON_ROTATE
-    0x00000000, 0x04000200, 0x240429fc, 0x20042204, 0x20442004, 0x3f942024, 0x00400020, 0x00000000,      // ICON_REPEAT
-    0x00000000, 0x20001000, 0x22104c0e, 0x00801120, 0x11200040, 0x4c0e2210, 0x10002000, 0x00000000,      // ICON_SHUFFLE
-    0x7ffe0000, 0x50024002, 0x44024802, 0x41024202, 0x40424082, 0x40124022, 0x4002400a, 0x00007ffe,      // ICON_EMPTYBOX
-    0x00800000, 0x03e00080, 0x08080490, 0x3c9e0808, 0x08080808, 0x03e00490, 0x00800080, 0x00000000,      // ICON_TARGET
-    0x00800000, 0x00800080, 0x00800080, 0x3ffe01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL_FILL
-    0x00800000, 0x00800080, 0x03e00080, 0x3ffe03e0, 0x03e003e0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG_FILL
-    0x01000000, 0x07c00380, 0x01000100, 0x638c2008, 0x638cfbbe, 0x01002008, 0x07c00100, 0x01000380,      // ICON_TARGET_MOVE_FILL
-    0x01000000, 0x07c00380, 0x01000100, 0x610c2108, 0x610cfffe, 0x01002108, 0x07c00100, 0x01000380,      // ICON_CURSOR_MOVE_FILL
-    0x781e0000, 0x6006700e, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x700e6006, 0x0000781e,      // ICON_CURSOR_SCALE_FILL
-    0x00000000, 0x38003c00, 0x24003000, 0x01000200, 0x00400080, 0x000c0024, 0x003c001c, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT_FILL
-    0x00000000, 0x001c003c, 0x0024000c, 0x00800040, 0x02000100, 0x30002400, 0x3c003800, 0x00000000,      // ICON_CURSOR_SCALE_LEFT_FILL
-    0x00000000, 0x00300020, 0x10301ff8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO_FILL
-    0x00000000, 0x0c000400, 0x0c081ff8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO_FILL
-    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3ff02060, 0x00400060, 0x00000000,      // ICON_REREDO_FILL
-    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3ff82030, 0x00200030, 0x00000000,      // ICON_MUTATE_FILL
-    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18301020, 0x00300ff8, 0x00000020,      // ICON_ROTATE_FILL
-    0x00000000, 0x06000200, 0x26042ffc, 0x20042204, 0x20442004, 0x3ff42064, 0x00400060, 0x00000000,      // ICON_REPEAT_FILL
-    0x00000000, 0x30001000, 0x32107c0e, 0x00801120, 0x11200040, 0x7c0e3210, 0x10003000, 0x00000000,      // ICON_SHUFFLE_FILL
-    0x00000000, 0x30043ffc, 0x24042804, 0x21042204, 0x20442084, 0x20142024, 0x3ffc200c, 0x00000000,      // ICON_EMPTYBOX_SMALL
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX
-    0x00000000, 0x23c43ffc, 0x23c423c4, 0x200423c4, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP
-    0x00000000, 0x3e043ffc, 0x3e043e04, 0x20043e04, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x3e043e04, 0x3e043e04, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x3e042004, 0x3e043e04, 0x3ffc3e04, 0x00000000,      // ICON_BOX_BOTTOM_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x23c42004, 0x23c423c4, 0x3ffc23c4, 0x00000000,      // ICON_BOX_BOTTOM
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x207c2004, 0x207c207c, 0x3ffc207c, 0x00000000,      // ICON_BOX_BOTTOM_LEFT
-    0x00000000, 0x20043ffc, 0x20042004, 0x207c207c, 0x207c207c, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_LEFT
-    0x00000000, 0x207c3ffc, 0x207c207c, 0x2004207c, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_LEFT
-    0x00000000, 0x20043ffc, 0x20042004, 0x23c423c4, 0x23c423c4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_CENTER
-    0x7ffe0000, 0x40024002, 0x47e24182, 0x4ff247e2, 0x47e24ff2, 0x418247e2, 0x40024002, 0x00007ffe,      // ICON_BOX_CIRCLE_MASK
-    0x7fff0000, 0x40014001, 0x40014001, 0x49555ddd, 0x4945495d, 0x400149c5, 0x40014001, 0x00007fff,      // ICON_POT
-    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x404e40ce, 0x48125432, 0x4006540e, 0x00007ffe,      // ICON_ALPHA_MULTIPLY
-    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x5c4e40ce, 0x44124432, 0x40065c0e, 0x00007ffe,      // ICON_ALPHA_CLEAR
-    0x7ffe0000, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x00007ffe,      // ICON_DITHERING
-    0x07fe0000, 0x1ffa0002, 0x7fea000a, 0x402a402a, 0x5b2a512a, 0x5128552a, 0x40205128, 0x00007fe0,      // ICON_MIPMAPS
-    0x00000000, 0x1ff80000, 0x12481248, 0x12481ff8, 0x1ff81248, 0x12481248, 0x00001ff8, 0x00000000,      // ICON_BOX_GRID
-    0x12480000, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x00001248,      // ICON_GRID
-    0x00000000, 0x1c380000, 0x1c3817e8, 0x08100810, 0x08100810, 0x17e81c38, 0x00001c38, 0x00000000,      // ICON_BOX_CORNERS_SMALL
-    0x700e0000, 0x700e5ffa, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x5ffa700e, 0x0000700e,      // ICON_BOX_CORNERS_BIG
-    0x3f7e0000, 0x21422142, 0x21422142, 0x00003f7e, 0x21423f7e, 0x21422142, 0x3f7e2142, 0x00000000,      // ICON_FOUR_BOXES
-    0x00000000, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x00000000,      // ICON_GRID_FILL
-    0x7ffe0000, 0x7ffe7ffe, 0x77fe7000, 0x77fe77fe, 0x777e7700, 0x777e777e, 0x777e777e, 0x0000777e,      // ICON_BOX_MULTISIZE
-    0x781e0000, 0x40024002, 0x00004002, 0x01800000, 0x00000180, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_SMALL
-    0x781e0000, 0x40024002, 0x00004002, 0x03c003c0, 0x03c003c0, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_MEDIUM
-    0x781e0000, 0x40024002, 0x07e04002, 0x07e007e0, 0x07e007e0, 0x400207e0, 0x40024002, 0x0000781e,      // ICON_ZOOM_BIG
-    0x781e0000, 0x5ffa4002, 0x1ff85ffa, 0x1ff81ff8, 0x1ff81ff8, 0x5ffa1ff8, 0x40025ffa, 0x0000781e,      // ICON_ZOOM_ALL
-    0x00000000, 0x2004381c, 0x00002004, 0x00000000, 0x00000000, 0x20040000, 0x381c2004, 0x00000000,      // ICON_ZOOM_CENTER
-    0x00000000, 0x1db80000, 0x10081008, 0x10080000, 0x00001008, 0x10081008, 0x00001db8, 0x00000000,      // ICON_BOX_DOTS_SMALL
-    0x35560000, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x35562002, 0x00000000,      // ICON_BOX_DOTS_BIG
-    0x7ffe0000, 0x40024002, 0x48124ff2, 0x49924812, 0x48124992, 0x4ff24812, 0x40024002, 0x00007ffe,      // ICON_BOX_CONCENTRIC
-    0x00000000, 0x10841ffc, 0x10841084, 0x1ffc1084, 0x10841084, 0x10841084, 0x00001ffc, 0x00000000,      // ICON_BOX_GRID_BIG
-    0x00000000, 0x00000000, 0x10000000, 0x04000800, 0x01040200, 0x00500088, 0x00000020, 0x00000000,      // ICON_OK_TICK
-    0x00000000, 0x10080000, 0x04200810, 0x01800240, 0x02400180, 0x08100420, 0x00001008, 0x00000000,      // ICON_CROSS
-    0x00000000, 0x02000000, 0x00800100, 0x00200040, 0x00200010, 0x00800040, 0x02000100, 0x00000000,      // ICON_ARROW_LEFT
-    0x00000000, 0x00400000, 0x01000080, 0x04000200, 0x04000800, 0x01000200, 0x00400080, 0x00000000,      // ICON_ARROW_RIGHT
-    0x00000000, 0x00000000, 0x00000000, 0x08081004, 0x02200410, 0x00800140, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN
-    0x00000000, 0x00000000, 0x01400080, 0x04100220, 0x10040808, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP
-    0x00000000, 0x02000000, 0x03800300, 0x03e003c0, 0x03e003f0, 0x038003c0, 0x02000300, 0x00000000,      // ICON_ARROW_LEFT_FILL
-    0x00000000, 0x00400000, 0x01c000c0, 0x07c003c0, 0x07c00fc0, 0x01c003c0, 0x004000c0, 0x00000000,      // ICON_ARROW_RIGHT_FILL
-    0x00000000, 0x00000000, 0x00000000, 0x0ff81ffc, 0x03e007f0, 0x008001c0, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN_FILL
-    0x00000000, 0x00000000, 0x01c00080, 0x07f003e0, 0x1ffc0ff8, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP_FILL
-    0x00000000, 0x18a008c0, 0x32881290, 0x24822686, 0x26862482, 0x12903288, 0x08c018a0, 0x00000000,      // ICON_AUDIO
-    0x00000000, 0x04800780, 0x004000c0, 0x662000f0, 0x08103c30, 0x130a0e18, 0x0000318e, 0x00000000,      // ICON_FX
-    0x00000000, 0x00800000, 0x08880888, 0x2aaa0a8a, 0x0a8a2aaa, 0x08880888, 0x00000080, 0x00000000,      // ICON_WAVE
-    0x00000000, 0x00600000, 0x01080090, 0x02040108, 0x42044204, 0x24022402, 0x00001800, 0x00000000,      // ICON_WAVE_SINUS
-    0x00000000, 0x07f80000, 0x04080408, 0x04080408, 0x04080408, 0x7c0e0408, 0x00000000, 0x00000000,      // ICON_WAVE_SQUARE
-    0x00000000, 0x00000000, 0x00a00040, 0x22084110, 0x08021404, 0x00000000, 0x00000000, 0x00000000,      // ICON_WAVE_TRIANGULAR
-    0x00000000, 0x00000000, 0x04200000, 0x01800240, 0x02400180, 0x00000420, 0x00000000, 0x00000000,      // ICON_CROSS_SMALL
-    0x00000000, 0x18380000, 0x12281428, 0x10a81128, 0x112810a8, 0x14281228, 0x00001838, 0x00000000,      // ICON_PLAYER_PREVIOUS
-    0x00000000, 0x18000000, 0x11801600, 0x10181060, 0x10601018, 0x16001180, 0x00001800, 0x00000000,      // ICON_PLAYER_PLAY_BACK
-    0x00000000, 0x00180000, 0x01880068, 0x18080608, 0x06081808, 0x00680188, 0x00000018, 0x00000000,      // ICON_PLAYER_PLAY
-    0x00000000, 0x1e780000, 0x12481248, 0x12481248, 0x12481248, 0x12481248, 0x00001e78, 0x00000000,      // ICON_PLAYER_PAUSE
-    0x00000000, 0x1ff80000, 0x10081008, 0x10081008, 0x10081008, 0x10081008, 0x00001ff8, 0x00000000,      // ICON_PLAYER_STOP
-    0x00000000, 0x1c180000, 0x14481428, 0x15081488, 0x14881508, 0x14281448, 0x00001c18, 0x00000000,      // ICON_PLAYER_NEXT
-    0x00000000, 0x03c00000, 0x08100420, 0x10081008, 0x10081008, 0x04200810, 0x000003c0, 0x00000000,      // ICON_PLAYER_RECORD
-    0x00000000, 0x0c3007e0, 0x13c81818, 0x14281668, 0x14281428, 0x1c381c38, 0x08102244, 0x00000000,      // ICON_MAGNET
-    0x07c00000, 0x08200820, 0x3ff80820, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_CLOSE
-    0x07c00000, 0x08000800, 0x3ff80800, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_OPEN
-    0x01c00000, 0x0c180770, 0x3086188c, 0x60832082, 0x60034781, 0x30062002, 0x0c18180c, 0x01c00770,      // ICON_CLOCK
-    0x0a200000, 0x1b201b20, 0x04200e20, 0x04200420, 0x04700420, 0x0e700e70, 0x0e700e70, 0x04200e70,      // ICON_TOOLS
-    0x01800000, 0x3bdc318c, 0x0ff01ff8, 0x7c3e1e78, 0x1e787c3e, 0x1ff80ff0, 0x318c3bdc, 0x00000180,      // ICON_GEAR
-    0x01800000, 0x3ffc318c, 0x1c381ff8, 0x781e1818, 0x1818781e, 0x1ff81c38, 0x318c3ffc, 0x00000180,      // ICON_GEAR_BIG
-    0x00000000, 0x08080ff8, 0x08081ffc, 0x0aa80aa8, 0x0aa80aa8, 0x0aa80aa8, 0x08080aa8, 0x00000ff8,      // ICON_BIN
-    0x00000000, 0x00000000, 0x20043ffc, 0x08043f84, 0x04040f84, 0x04040784, 0x000007fc, 0x00000000,      // ICON_HAND_POINTER
-    0x00000000, 0x24400400, 0x00001480, 0x6efe0e00, 0x00000e00, 0x24401480, 0x00000400, 0x00000000,      // ICON_LASER
-    0x00000000, 0x03c00000, 0x08300460, 0x11181118, 0x11181118, 0x04600830, 0x000003c0, 0x00000000,      // ICON_COIN
-    0x00000000, 0x10880080, 0x06c00810, 0x366c07e0, 0x07e00240, 0x00001768, 0x04200240, 0x00000000,      // ICON_EXPLOSION
-    0x00000000, 0x3d280000, 0x2528252c, 0x3d282528, 0x05280528, 0x05e80528, 0x00000000, 0x00000000,      // ICON_1UP
-    0x01800000, 0x03c003c0, 0x018003c0, 0x0ff007e0, 0x0bd00bd0, 0x0a500bd0, 0x02400240, 0x02400240,      // ICON_PLAYER
-    0x01800000, 0x03c003c0, 0x118013c0, 0x03c81ff8, 0x07c003c8, 0x04400440, 0x0c080478, 0x00000000,      // ICON_PLAYER_JUMP
-    0x3ff80000, 0x30183ff8, 0x30183018, 0x3ff83ff8, 0x03000300, 0x03c003c0, 0x03e00300, 0x000003e0,      // ICON_KEY
-    0x3ff80000, 0x3ff83ff8, 0x33983ff8, 0x3ff83398, 0x3ff83ff8, 0x00000540, 0x0fe00aa0, 0x00000fe0,      // ICON_DEMON
-    0x00000000, 0x0ff00000, 0x20041008, 0x25442004, 0x10082004, 0x06000bf0, 0x00000300, 0x00000000,      // ICON_TEXT_POPUP
-    0x00000000, 0x11440000, 0x07f00be8, 0x1c1c0e38, 0x1c1c0c18, 0x07f00e38, 0x11440be8, 0x00000000,      // ICON_GEAR_EX
-    0x00000000, 0x20080000, 0x0c601010, 0x07c00fe0, 0x07c007c0, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK
-    0x00000000, 0x20080000, 0x0c601010, 0x04400fe0, 0x04405554, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK_POINTS
-    0x00000000, 0x00800080, 0x01c001c0, 0x1ffc3ffe, 0x03e007f0, 0x07f003e0, 0x0c180770, 0x00000808,      // ICON_STAR
-    0x0ff00000, 0x08180810, 0x08100818, 0x0a100810, 0x08180810, 0x08100818, 0x08100810, 0x00001ff8,      // ICON_DOOR
-    0x0ff00000, 0x08100810, 0x08100810, 0x10100010, 0x4f902010, 0x10102010, 0x08100010, 0x00000ff0,      // ICON_EXIT
-    0x00040000, 0x001f000e, 0x0ef40004, 0x12f41284, 0x0ef41214, 0x10040004, 0x7ffc3004, 0x10003000,      // ICON_MODE_2D
-    0x78040000, 0x501f600e, 0x0ef44004, 0x12f41284, 0x0ef41284, 0x10140004, 0x7ffc300c, 0x10003000,      // ICON_MODE_3D
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE
-    0x7fe00000, 0x5ff87ff0, 0x47fe4ffc, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_TOP
-    0x7fe00000, 0x50386030, 0x47c2483c, 0x443e443e, 0x443e443e, 0x241e75fe, 0x0c06140e, 0x000007fe,      // ICON_CUBE_FACE_LEFT
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x47fe47fe, 0x47fe47fe, 0x27fe77fe, 0x0ffe17fe, 0x000007fe,      // ICON_CUBE_FACE_FRONT
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x3bf27be2, 0x0bfe1bfa, 0x000007fe,      // ICON_CUBE_FACE_BOTTOM
-    0x7fe00000, 0x70286030, 0x7ffe7804, 0x7c227c02, 0x7c227c22, 0x3c127de2, 0x0c061c0a, 0x000007fe,      // ICON_CUBE_FACE_RIGHT
-    0x7fe00000, 0x6fe85ff0, 0x781e77e4, 0x7be27be2, 0x7be27be2, 0x24127be2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_BACK
-    0x00000000, 0x2a0233fe, 0x22022602, 0x22022202, 0x2a022602, 0x00a033fe, 0x02080110, 0x00000000,      // ICON_CAMERA
-    0x00000000, 0x200c3ffc, 0x000c000c, 0x3ffc000c, 0x30003000, 0x30003000, 0x3ffc3004, 0x00000000,      // ICON_SPECIAL
-    0x00000000, 0x0022003e, 0x012201e2, 0x0100013e, 0x01000100, 0x79000100, 0x4f004900, 0x00007800,      // ICON_LINK_NET
-    0x00000000, 0x44007c00, 0x45004600, 0x00627cbe, 0x00620022, 0x45007cbe, 0x44004600, 0x00007c00,      // ICON_LINK_BOXES
-    0x00000000, 0x0044007c, 0x0010007c, 0x3f100010, 0x3f1021f0, 0x3f100010, 0x3f0021f0, 0x00000000,      // ICON_LINK_MULTI
-    0x00000000, 0x0044007c, 0x00440044, 0x0010007c, 0x00100010, 0x44107c10, 0x440047f0, 0x00007c00,      // ICON_LINK
-    0x00000000, 0x0044007c, 0x00440044, 0x0000007c, 0x00000010, 0x44007c10, 0x44004550, 0x00007c00,      // ICON_LINK_BROKE
-    0x02a00000, 0x22a43ffc, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_TEXT_NOTES
-    0x3ffc0000, 0x20042004, 0x245e27c4, 0x27c42444, 0x2004201e, 0x201e2004, 0x20042004, 0x00003ffc,      // ICON_NOTEBOOK
-    0x00000000, 0x07e00000, 0x04200420, 0x24243ffc, 0x24242424, 0x24242424, 0x3ffc2424, 0x00000000,      // ICON_SUITCASE
-    0x00000000, 0x0fe00000, 0x08200820, 0x40047ffc, 0x7ffc5554, 0x40045554, 0x7ffc4004, 0x00000000,      // ICON_SUITCASE_ZIP
-    0x00000000, 0x20043ffc, 0x3ffc2004, 0x13c81008, 0x100813c8, 0x10081008, 0x1ff81008, 0x00000000,      // ICON_MAILBOX
-    0x00000000, 0x40027ffe, 0x5ffa5ffa, 0x5ffa5ffa, 0x40025ffa, 0x03c07ffe, 0x1ff81ff8, 0x00000000,      // ICON_MONITOR
-    0x0ff00000, 0x6bfe7ffe, 0x7ffe7ffe, 0x68167ffe, 0x08106816, 0x08100810, 0x0ff00810, 0x00000000,      // ICON_PRINTER
-    0x3ff80000, 0xfffe2008, 0x870a8002, 0x904a888a, 0x904a904a, 0x870a888a, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA
-    0x0fc00000, 0xfcfe0cd8, 0x8002fffe, 0x84428382, 0x84428442, 0x80028382, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA_FLASH
-    0x00000000, 0x02400180, 0x08100420, 0x20041008, 0x23c42004, 0x22442244, 0x3ffc2244, 0x00000000,      // ICON_HOUSE
-    0x00000000, 0x1c700000, 0x3ff83ef8, 0x3ff83ff8, 0x0fe01ff0, 0x038007c0, 0x00000100, 0x00000000,      // ICON_HEART
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x80000000, 0xe000c000,      // ICON_CORNER
-    0x00000000, 0x14001c00, 0x15c01400, 0x15401540, 0x155c1540, 0x15541554, 0x1ddc1554, 0x00000000,      // ICON_VERTICAL_BARS
-    0x00000000, 0x03000300, 0x1b001b00, 0x1b601b60, 0x1b6c1b60, 0x1b6c1b6c, 0x1b6c1b6c, 0x00000000,      // ICON_VERTICAL_BARS_FILL
-    0x00000000, 0x00000000, 0x403e7ffe, 0x7ffe403e, 0x7ffe0000, 0x43fe43fe, 0x00007ffe, 0x00000000,      // ICON_LIFE_BARS
-    0x7ffc0000, 0x43844004, 0x43844284, 0x43844004, 0x42844284, 0x42844284, 0x40044384, 0x00007ffc,      // ICON_INFO
-    0x40008000, 0x10002000, 0x04000800, 0x01000200, 0x00400080, 0x00100020, 0x00040008, 0x00010002,      // ICON_CROSSLINE
-    0x00000000, 0x1ff01ff0, 0x18301830, 0x1f001830, 0x03001f00, 0x00000300, 0x03000300, 0x00000000,      // ICON_HELP
-    0x3ff00000, 0x2abc3550, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x00003ffc,      // ICON_FILETYPE_ALPHA
-    0x3ff00000, 0x201c2010, 0x22442184, 0x28142424, 0x29942814, 0x2ff42994, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_HOME
-    0x07fe0000, 0x04020402, 0x7fe20402, 0x44224422, 0x44224422, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS_VISIBLE
-    0x07fe0000, 0x04020402, 0x7c020402, 0x44024402, 0x44024402, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS
-    0x00000000, 0x40027ffe, 0x7ffe4002, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_WINDOW
-    0x09100000, 0x09f00910, 0x09100910, 0x00000910, 0x24a2779e, 0x27a224a2, 0x709e20a2, 0x00000000,      // ICON_HIDPI
-    0x3ff00000, 0x201c2010, 0x2a842e84, 0x2e842a84, 0x2ba42004, 0x2aa42aa4, 0x20042ba4, 0x00003ffc,      // ICON_FILETYPE_BINARY
-    0x00000000, 0x00000000, 0x00120012, 0x4a5e4bd2, 0x485233d2, 0x00004bd2, 0x00000000, 0x00000000,      // ICON_HEX
-    0x01800000, 0x381c0660, 0x23c42004, 0x23c42044, 0x13c82204, 0x08101008, 0x02400420, 0x00000180,      // ICON_SHIELD
-    0x007e0000, 0x20023fc2, 0x40227fe2, 0x400a403a, 0x400a400a, 0x400a400a, 0x4008400e, 0x00007ff8,      // ICON_FILE_NEW
-    0x00000000, 0x0042007e, 0x40027fc2, 0x44024002, 0x5f024402, 0x44024402, 0x7ffe4002, 0x00000000,      // ICON_FOLDER_ADD
-    0x44220000, 0x12482244, 0xf3cf0000, 0x14280420, 0x48122424, 0x08100810, 0x1ff81008, 0x03c00420,      // ICON_ALARM
-    0x0aa00000, 0x1ff80aa0, 0x1068700e, 0x1008706e, 0x1008700e, 0x1008700e, 0x0aa01ff8, 0x00000aa0,      // ICON_CPU
-    0x07e00000, 0x04201db8, 0x04a01c38, 0x04a01d38, 0x04a01d38, 0x04a01d38, 0x04201d38, 0x000007e0,      // ICON_ROM
-    0x00000000, 0x03c00000, 0x3c382ff0, 0x3c04380c, 0x01800000, 0x03c003c0, 0x00000180, 0x00000000,      // ICON_STEP_OVER
-    0x01800000, 0x01800180, 0x01800180, 0x03c007e0, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_INTO
-    0x01800000, 0x07e003c0, 0x01800180, 0x01800180, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_OUT
-    0x00000000, 0x0ff003c0, 0x181c1c34, 0x303c301c, 0x30003000, 0x1c301800, 0x03c00ff0, 0x00000000,      // ICON_RESTART
-    0x00000000, 0x00000000, 0x07e003c0, 0x0ff00ff0, 0x0ff00ff0, 0x03c007e0, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_ON
-    0x00000000, 0x00000000, 0x042003c0, 0x08100810, 0x08100810, 0x03c00420, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_OFF
-    0x00000000, 0x00000000, 0x1ff81ff8, 0x1ff80000, 0x00001ff8, 0x1ff81ff8, 0x00000000, 0x00000000,      // ICON_BURGER_MENU
-    0x00000000, 0x00000000, 0x00880070, 0x0c880088, 0x1e8810f8, 0x3e881288, 0x00000000, 0x00000000,      // ICON_CASE_SENSITIVE
-    0x00000000, 0x02000000, 0x07000a80, 0x07001fc0, 0x02000a80, 0x00300030, 0x00000000, 0x00000000,      // ICON_REG_EXP
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_FOLDER
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x00003ffc,      // ICON_FILE
-    0x1ff00000, 0x20082008, 0x17d02fe8, 0x05400ba0, 0x09200540, 0x23881010, 0x2fe827c8, 0x00001ff0,      // ICON_SAND_TIMER
-    0x01800000, 0x02400240, 0x05a00420, 0x09900990, 0x11881188, 0x21842004, 0x40024182, 0x00003ffc,      // ICON_WARNING
-    0x7ffe0000, 0x4ff24002, 0x4c324ff2, 0x4f824c02, 0x41824f82, 0x41824002, 0x40024182, 0x00007ffe,      // ICON_HELP_BOX
-    0x7ffe0000, 0x41824002, 0x40024182, 0x41824182, 0x41824182, 0x41824182, 0x40024182, 0x00007ffe,      // ICON_INFO_BOX
-    0x01800000, 0x04200240, 0x10080810, 0x7bde2004, 0x0a500a50, 0x08500bd0, 0x08100850, 0x00000ff0,      // ICON_PRIORITY
-    0x01800000, 0x18180660, 0x80016006, 0x98196006, 0x99996666, 0x19986666, 0x01800660, 0x00000000,      // ICON_LAYERS_ISO
-    0x07fe0000, 0x1c020402, 0x74021402, 0x54025402, 0x54025402, 0x500857fe, 0x40205ff8, 0x00007fe0,      // ICON_LAYERS2
-    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x422a422a, 0x422e422a, 0x40384e28, 0x00007fe0,      // ICON_MLAYERS
-    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x5b2a512a, 0x512e552a, 0x40385128, 0x00007fe0,      // ICON_MAPS
-    0x04200000, 0x1cf00c60, 0x11f019f0, 0x0f3807b8, 0x1e3c0f3c, 0x1c1c1e1c, 0x1e3c1c1c, 0x00000f70,      // ICON_HOT
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_229
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_230
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_231
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_232
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_233
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_234
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_235
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_236
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_237
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_238
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_239
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_240
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_241
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_242
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_243
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_244
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_245
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_246
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_247
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_248
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_249
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_250
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_251
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_252
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_253
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_254
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_255
-};
-
-// NOTE: A pointer to current icons array should be defined
-static unsigned int *guiIconsPtr = guiIcons;
-
-#endif      // !RAYGUI_NO_ICONS && !RAYGUI_CUSTOM_ICONS
-
-#ifndef RAYGUI_ICON_SIZE
-    #define RAYGUI_ICON_SIZE             0
-#endif
-
-// WARNING: Those values define the total size of the style data array,
-// if changed, previous saved styles could become incompatible
-#define RAYGUI_MAX_CONTROLS             16      // Maximum number of controls
-#define RAYGUI_MAX_PROPS_BASE           16      // Maximum number of base properties
-#define RAYGUI_MAX_PROPS_EXTENDED        8      // Maximum number of extended properties
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-// Gui control property style color element
-typedef enum { BORDER = 0, BASE, TEXT, OTHER } GuiPropertyElement;
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-static GuiState guiState = STATE_NORMAL;        // Gui global state, if !STATE_NORMAL, forces defined state
-
-static Font guiFont = { 0 };                    // Gui current font (WARNING: highly coupled to raylib)
-static bool guiLocked = false;                  // Gui lock state (no inputs processed)
-static float guiAlpha = 1.0f;                   // Gui controls transparency
-
-static unsigned int guiIconScale = 1;           // Gui icon default scale (if icons enabled)
-
-static bool guiTooltip = false;                 // Tooltip enabled/disabled
-static const char *guiTooltipPtr = NULL;        // Tooltip string pointer (string provided by user)
-
-static bool guiControlExclusiveMode = false;    // Gui control exclusive mode (no inputs processed except current control)
-static Rectangle guiControlExclusiveRec = { 0 }; // Gui control exclusive bounds rectangle, used as an unique identifier
-
-static int textBoxCursorIndex = 0;              // Cursor index, shared by all GuiTextBox*()
-//static int blinkCursorFrameCounter = 0;       // Frame counter for cursor blinking
-static int autoCursorCooldownCounter = 0;       // Cooldown frame counter for automatic cursor movement on key-down
-static int autoCursorDelayCounter = 0;          // Delay frame counter for automatic cursor movement
-
-//----------------------------------------------------------------------------------
-// Style data array for all gui style properties (allocated on data segment by default)
-//
-// NOTE 1: First set of BASE properties are generic to all controls but could be individually
-// overwritten per control, first set of EXTENDED properties are generic to all controls and
-// can not be overwritten individually but custom EXTENDED properties can be used by control
-//
-// NOTE 2: A new style set could be loaded over this array using GuiLoadStyle(),
-// but default gui style could always be recovered with GuiLoadStyleDefault()
-//
-// guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
-//----------------------------------------------------------------------------------
-static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)] = { 0 };
-
-static bool guiStyleLoaded = false;         // Style loaded flag for lazy style initialization
-
-//----------------------------------------------------------------------------------
-// Standalone Mode Functions Declaration
-//
-// NOTE: raygui depend on some raylib input and drawing functions
-// To use raygui as standalone library, below functions must be defined by the user
-//----------------------------------------------------------------------------------
-#if defined(RAYGUI_STANDALONE)
-
-#define KEY_RIGHT           262
-#define KEY_LEFT            263
-#define KEY_DOWN            264
-#define KEY_UP              265
-#define KEY_BACKSPACE       259
-#define KEY_ENTER           257
-
-#define MOUSE_LEFT_BUTTON     0
-
-// Input required functions
-//-------------------------------------------------------------------------------
-static Vector2 GetMousePosition(void);
-static float GetMouseWheelMove(void);
-static bool IsMouseButtonDown(int button);
-static bool IsMouseButtonPressed(int button);
-static bool IsMouseButtonReleased(int button);
-
-static bool IsKeyDown(int key);
-static bool IsKeyPressed(int key);
-static int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
-//-------------------------------------------------------------------------------
-
-// Drawing required functions
-//-------------------------------------------------------------------------------
-static void DrawRectangle(int x, int y, int width, int height, Color color);        // -- GuiDrawRectangle()
-static void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
-//-------------------------------------------------------------------------------
-
-// Text required functions
-//-------------------------------------------------------------------------------
-static Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
-static Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle(), load font
-
-static Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
-static void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
-
-static char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
-static void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
-
-static const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
-
-static int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
-static void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
-
-static unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
-//-------------------------------------------------------------------------------
-
-// raylib functions already implemented in raygui
-//-------------------------------------------------------------------------------
-static Color GetColor(int hexValue);                // Returns a Color struct from hexadecimal value
-static int ColorToInt(Color color);                 // Returns hexadecimal value for a Color
-static bool CheckCollisionPointRec(Vector2 point, Rectangle rec);   // Check if point is inside rectangle
-static const char *TextFormat(const char *text, ...);               // Formatting of text with variables to 'embed'
-static const char **TextSplit(const char *text, char delimiter, int *count);    // Split text into multiple strings
-static int TextToInteger(const char *text);         // Get integer value from text
-static float TextToFloat(const char *text);         // Get float value from text
-
-static int GetCodepointNext(const char *text, int *codepointSize);  // Get next codepoint in a UTF-8 encoded text
-static const char *CodepointToUTF8(int codepoint, int *byteSize);   // Encode codepoint into UTF-8 text (char array size returned as parameter)
-
-static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);  // Draw rectangle vertical gradient
-//-------------------------------------------------------------------------------
-
-#endif      // RAYGUI_STANDALONE
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Declaration
-//----------------------------------------------------------------------------------
-static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize);    // Load style from memory (binary only)
-
-static int GetTextWidth(const char *text);                      // Gui get text width using gui font and style
-static Rectangle GetTextBounds(int control, Rectangle bounds);  // Get text bounds considering control bounds
-static const char *GetTextIcon(const char *text, int *iconId);  // Get text icon if provided and move text cursor
-
-static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint);     // Gui draw text using default font
-static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color);   // Gui draw rectangle using default raygui style
-
-static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow);   // Split controls text into multiple strings
-static Vector3 ConvertHSVtoRGB(Vector3 hsv);                    // Convert color data from HSV to RGB
-static Vector3 ConvertRGBtoHSV(Vector3 rgb);                    // Convert color data from RGB to HSV
-
-static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue);   // Scroll bar control, used by GuiScrollPanel()
-static void GuiTooltip(Rectangle controlRec);                   // Draw tooltip using control rec position
-
-static Color GuiFade(Color color, float alpha);         // Fade color by an alpha factor
-
-//----------------------------------------------------------------------------------
-// Gui Setup Functions Definition
-//----------------------------------------------------------------------------------
-// Enable gui global state
-// NOTE: We check for STATE_DISABLED to avoid messing custom global state setups
-void GuiEnable(void) { if (guiState == STATE_DISABLED) guiState = STATE_NORMAL; }
-
-// Disable gui global state
-// NOTE: We check for STATE_NORMAL to avoid messing custom global state setups
-void GuiDisable(void) { if (guiState == STATE_NORMAL) guiState = STATE_DISABLED; }
-
-// Lock gui global state
-void GuiLock(void) { guiLocked = true; }
-
-// Unlock gui global state
-void GuiUnlock(void) { guiLocked = false; }
-
-// Check if gui is locked (global state)
-bool GuiIsLocked(void) { return guiLocked; }
-
-// Set gui controls alpha global state
-void GuiSetAlpha(float alpha)
-{
-    if (alpha < 0.0f) alpha = 0.0f;
-    else if (alpha > 1.0f) alpha = 1.0f;
-
-    guiAlpha = alpha;
-}
-
-// Set gui state (global state)
-void GuiSetState(int state) { guiState = (GuiState)state; }
-
-// Get gui state (global state)
-int GuiGetState(void) { return guiState; }
-
-// Set custom gui font
-// NOTE: Font loading/unloading is external to raygui
-void GuiSetFont(Font font)
-{
-    if (font.texture.id > 0)
-    {
-        // NOTE: If we try to setup a font but default style has not been
-        // lazily loaded before, it will be overwritten, so we need to force
-        // default style loading first
-        if (!guiStyleLoaded) GuiLoadStyleDefault();
-
-        guiFont = font;
-    }
-}
-
-// Get custom gui font
-Font GuiGetFont(void)
-{
-    return guiFont;
-}
-
-// Set control style property value
-void GuiSetStyle(int control, int property, int value)
-{
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-    guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
-
-    // Default properties are propagated to all controls
-    if ((control == 0) && (property < RAYGUI_MAX_PROPS_BASE))
-    {
-        for (int i = 1; i < RAYGUI_MAX_CONTROLS; i++) guiStyle[i*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
-    }
-}
-
-// Get control style property value
-int GuiGetStyle(int control, int property)
-{
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-    return guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property];
-}
-
-//----------------------------------------------------------------------------------
-// Gui Controls Functions Definition
-//----------------------------------------------------------------------------------
-
-// Window Box control
-int GuiWindowBox(Rectangle bounds, const char *title)
-{
-    // Window title bar height (including borders)
-    // NOTE: This define is also used by GuiMessageBox() and GuiTextInputBox()
-    #if !defined(RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT)
-        #define RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT        24
-    #endif
-
-    int result = 0;
-    //GuiState state = guiState;
-
-    int statusBarHeight = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT;
-
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)statusBarHeight };
-    if (bounds.height < statusBarHeight*2.0f) bounds.height = statusBarHeight*2.0f;
-
-    Rectangle windowPanel = { bounds.x, bounds.y + (float)statusBarHeight - 1, bounds.width, bounds.height - (float)statusBarHeight + 1 };
-    Rectangle closeButtonRec = { statusBar.x + statusBar.width - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - 20,
-                                 statusBar.y + statusBarHeight/2.0f - 18.0f/2.0f, 18, 18 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    // NOTE: Logic is directly managed by button
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiStatusBar(statusBar, title); // Draw window header as status bar
-    GuiPanel(windowPanel, NULL);    // Draw window base
-
-    // Draw window close button
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-#if defined(RAYGUI_NO_ICONS)
-    result = GuiButton(closeButtonRec, "x");
-#else
-    result = GuiButton(closeButtonRec, GuiIconText(ICON_CROSS_SMALL, NULL));
-#endif
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;      // Window close button clicked: result = 1
-}
-
-// Group Box control with text name
-int GuiGroupBox(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_GROUPBOX_LINE_THICK)
-        #define RAYGUI_GROUPBOX_LINE_THICK     1
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, RAYGUI_GROUPBOX_LINE_THICK }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-
-    GuiLine(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y - GuiGetStyle(DEFAULT, TEXT_SIZE)/2, bounds.width, (float)GuiGetStyle(DEFAULT, TEXT_SIZE) }, text);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Line control
-int GuiLine(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_LINE_ORIGIN_SIZE)
-        #define RAYGUI_LINE_MARGIN_TEXT  12
-    #endif
-    #if !defined(RAYGUI_LINE_TEXT_PADDING)
-        #define RAYGUI_LINE_TEXT_PADDING  4
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Color color = GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR));
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text == NULL) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, bounds.width, 1 }, 0, BLANK, color);
-    else
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = bounds.height;
-        textBounds.x = bounds.x + RAYGUI_LINE_MARGIN_TEXT;
-        textBounds.y = bounds.y;
-
-        // Draw line with embedded text label: "--- text --------------"
-        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
-        GuiDrawText(text, textBounds, TEXT_ALIGN_LEFT, color);
-        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + 12 + textBounds.width + 4, bounds.y + bounds.height/2, bounds.width - textBounds.width - RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Panel control
-int GuiPanel(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_PANEL_BORDER_WIDTH)
-        #define RAYGUI_PANEL_BORDER_WIDTH   1
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    // Text will be drawn as a header bar (if provided)
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
-    if ((text != NULL) && (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f)) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
-
-    if (text != NULL)
-    {
-        // Move panel bounds after the header bar
-        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-    }
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
-
-    GuiDrawRectangle(bounds, RAYGUI_PANEL_BORDER_WIDTH, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED: (int)LINE_COLOR)),
-                     GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? BASE_COLOR_DISABLED : BACKGROUND_COLOR)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Tab Bar control
-// NOTE: Using GuiToggle() for the TABS
-int GuiTabBar(Rectangle bounds, const char **text, int count, int *active)
-{
-    #define RAYGUI_TABBAR_ITEM_WIDTH    160
-
-    int result = -1;
-    //GuiState state = guiState;
-
-    Rectangle tabBounds = { bounds.x, bounds.y, RAYGUI_TABBAR_ITEM_WIDTH, bounds.height };
-
-    if (*active < 0) *active = 0;
-    else if (*active > count - 1) *active = count - 1;
-
-    int offsetX = 0;    // Required in case tabs go out of screen
-    offsetX = (*active + 2)*RAYGUI_TABBAR_ITEM_WIDTH - GetScreenWidth();
-    if (offsetX < 0) offsetX = 0;
-
-    bool toggle = false;    // Required for individual toggles
-
-    // Draw control
-    //--------------------------------------------------------------------
-    for (int i = 0; i < count; i++)
-    {
-        tabBounds.x = bounds.x + (RAYGUI_TABBAR_ITEM_WIDTH + 4)*i - offsetX;
-
-        if (tabBounds.x < GetScreenWidth())
-        {
-            // Draw tabs as toggle controls
-            int textAlignment = GuiGetStyle(TOGGLE, TEXT_ALIGNMENT);
-            int textPadding = GuiGetStyle(TOGGLE, TEXT_PADDING);
-            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-            GuiSetStyle(TOGGLE, TEXT_PADDING, 8);
-
-            if (i == (*active))
-            {
-                toggle = true;
-                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
-            }
-            else
-            {
-                toggle = false;
-                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
-                if (toggle) *active = i;
-            }
-
-            // Close tab with middle mouse button pressed
-            if (CheckCollisionPointRec(GetMousePosition(), tabBounds) && IsMouseButtonPressed(MOUSE_MIDDLE_BUTTON)) result = i;
-
-            GuiSetStyle(TOGGLE, TEXT_PADDING, textPadding);
-            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, textAlignment);
-
-            // Draw tab close button
-            // NOTE: Only draw close button for current tab: if (CheckCollisionPointRec(mousePosition, tabBounds))
-            int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-            int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-            GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-#if defined(RAYGUI_NO_ICONS)
-            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, "x")) result = i;
-#else
-            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, GuiIconText(ICON_CROSS_SMALL, NULL))) result = i;
-#endif
-            GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
-        }
-    }
-
-    // Draw tab-bar bottom line
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, 1 }, 0, BLANK, GetColor(GuiGetStyle(TOGGLE, BORDER_COLOR_NORMAL)));
-    //--------------------------------------------------------------------
-
-    return result;     // Return as result the current TAB closing requested
-}
-
-// Scroll Panel control
-int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view)
-{
-    #define RAYGUI_MIN_SCROLLBAR_WIDTH     40
-    #define RAYGUI_MIN_SCROLLBAR_HEIGHT    40
-    #define RAYGUI_MIN_MOUSE_WHEEL_SPEED   20
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Rectangle temp = { 0 };
-    if (view == NULL) view = &temp;
-
-    Vector2 scrollPos = { 0.0f, 0.0f };
-    if (scroll != NULL) scrollPos = *scroll;
-
-    // Text will be drawn as a header bar (if provided)
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
-    if (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
-
-    if (text != NULL)
-    {
-        // Move panel bounds after the header bar
-        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + 1;
-    }
-
-    bool hasHorizontalScrollBar = (content.width > bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
-    bool hasVerticalScrollBar = (content.height > bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
-
-    // Recheck to account for the other scrollbar being visible
-    if (!hasHorizontalScrollBar) hasHorizontalScrollBar = (hasVerticalScrollBar && (content.width > (bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
-    if (!hasVerticalScrollBar) hasVerticalScrollBar = (hasHorizontalScrollBar && (content.height > (bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
-
-    int horizontalScrollBarWidth = hasHorizontalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
-    int verticalScrollBarWidth =  hasVerticalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
-    Rectangle horizontalScrollBar = {
-        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + verticalScrollBarWidth : (float)bounds.x) + GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)bounds.y + bounds.height - horizontalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)bounds.width - verticalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)horizontalScrollBarWidth
-    };
-    Rectangle verticalScrollBar = {
-        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)bounds.x + bounds.width - verticalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH)),
-        (float)bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)verticalScrollBarWidth,
-        (float)bounds.height - horizontalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
-    };
-
-    // Make sure scroll bars have a minimum width/height
-    if (horizontalScrollBar.width < RAYGUI_MIN_SCROLLBAR_WIDTH) horizontalScrollBar.width = RAYGUI_MIN_SCROLLBAR_WIDTH;
-    if (verticalScrollBar.height < RAYGUI_MIN_SCROLLBAR_HEIGHT) verticalScrollBar.height = RAYGUI_MIN_SCROLLBAR_HEIGHT;
-
-    // Calculate view area (area without the scrollbars)
-    *view = (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)?
-                RAYGUI_CLITERAL(Rectangle){ bounds.x + verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth } :
-                RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth };
-
-    // Clip view area to the actual content size
-    if (view->width > content.width) view->width = content.width;
-    if (view->height > content.height) view->height = content.height;
-
-    float horizontalMin = hasHorizontalScrollBar? ((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    float horizontalMax = hasHorizontalScrollBar? content.width - bounds.width + (float)verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH) - (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)verticalScrollBarWidth : 0) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    float verticalMin = hasVerticalScrollBar? 0.0f : -1.0f;
-    float verticalMax = hasVerticalScrollBar? content.height - bounds.height + (float)horizontalScrollBarWidth + (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-#if defined(SUPPORT_SCROLLBAR_KEY_INPUT)
-            if (hasHorizontalScrollBar)
-            {
-                if (IsKeyDown(KEY_RIGHT)) scrollPos.x -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                if (IsKeyDown(KEY_LEFT)) scrollPos.x += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-            }
-
-            if (hasVerticalScrollBar)
-            {
-                if (IsKeyDown(KEY_DOWN)) scrollPos.y -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                if (IsKeyDown(KEY_UP)) scrollPos.y += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-            }
-#endif
-            float wheelMove = GetMouseWheelMove();
-
-            // Set scrolling speed with mouse wheel based on ratio between bounds and content
-            Vector2 mouseWheelSpeed = { content.width/bounds.width, content.height/bounds.height };
-            if (mouseWheelSpeed.x < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.x = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
-            if (mouseWheelSpeed.y < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.y = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
-
-            // Horizontal and vertical scrolling with mouse wheel
-            if (hasHorizontalScrollBar && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_LEFT_SHIFT))) scrollPos.x += wheelMove*mouseWheelSpeed.x;
-            else scrollPos.y += wheelMove*mouseWheelSpeed.y; // Vertical scroll
-        }
-    }
-
-    // Normalize scroll values
-    if (scrollPos.x > -horizontalMin) scrollPos.x = -horizontalMin;
-    if (scrollPos.x < -horizontalMax) scrollPos.x = -horizontalMax;
-    if (scrollPos.y > -verticalMin) scrollPos.y = -verticalMin;
-    if (scrollPos.y < -verticalMax) scrollPos.y = -verticalMax;
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
-
-    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));        // Draw background
-
-    // Save size of the scrollbar slider
-    const int slider = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
-
-    // Draw horizontal scrollbar if visible
-    if (hasHorizontalScrollBar)
-    {
-        // Change scrollbar slider size to show the diff in size between the content width and the widget width
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)/(int)content.width)*((int)bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)));
-        scrollPos.x = (float)-GuiScrollBar(horizontalScrollBar, (int)-scrollPos.x, (int)horizontalMin, (int)horizontalMax);
-    }
-    else scrollPos.x = 0.0f;
-
-    // Draw vertical scrollbar if visible
-    if (hasVerticalScrollBar)
-    {
-        // Change scrollbar slider size to show the diff in size between the content height and the widget height
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)/(int)content.height)*((int)bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)));
-        scrollPos.y = (float)-GuiScrollBar(verticalScrollBar, (int)-scrollPos.y, (int)verticalMin, (int)verticalMax);
-    }
-    else scrollPos.y = 0.0f;
-
-    // Draw detail corner rectangle if both scroll bars are visible
-    if (hasHorizontalScrollBar && hasVerticalScrollBar)
-    {
-        Rectangle corner = { (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) + 2) : (horizontalScrollBar.x + horizontalScrollBar.width + 2), verticalScrollBar.y + verticalScrollBar.height + 2, (float)horizontalScrollBarWidth - 4, (float)verticalScrollBarWidth - 4 };
-        GuiDrawRectangle(corner, 0, BLANK, GetColor(GuiGetStyle(LISTVIEW, TEXT + (state*3))));
-    }
-
-    // Draw scrollbar lines depending on current state
-    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + (state*3))), BLANK);
-
-    // Set scrollbar slider size back to the way it was before
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, slider);
-    //--------------------------------------------------------------------
-
-    if (scroll != NULL) *scroll = scrollPos;
-
-    return result;
-}
-
-// Label control
-int GuiLabel(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    //...
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Button control, returns true when clicked
-int GuiButton(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(BUTTON, BORDER_WIDTH), GetColor(GuiGetStyle(BUTTON, BORDER + (state*3))), GetColor(GuiGetStyle(BUTTON, BASE + (state*3))));
-    GuiDrawText(text, GetTextBounds(BUTTON, bounds), GuiGetStyle(BUTTON, TEXT_ALIGNMENT), GetColor(GuiGetStyle(BUTTON, TEXT + (state*3))));
-
-    if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //------------------------------------------------------------------
-
-    return result;      // Button pressed: result = 1
-}
-
-// Label button control
-int GuiLabelButton(Rectangle bounds, const char *text)
-{
-    GuiState state = guiState;
-    bool pressed = false;
-
-    // NOTE: We force bounds.width to be all text
-    float textWidth = (float)GetTextWidth(text);
-    if ((bounds.width - 2*GuiGetStyle(LABEL, BORDER_WIDTH) - 2*GuiGetStyle(LABEL, TEXT_PADDING)) < textWidth) bounds.width = textWidth + 2*GuiGetStyle(LABEL, BORDER_WIDTH) + 2*GuiGetStyle(LABEL, TEXT_PADDING) + 2;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check checkbox state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) pressed = true;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return pressed;
-}
-
-// Toggle Button control
-int GuiToggle(Rectangle bounds, const char *text, bool *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    bool temp = false;
-    if (active == NULL) active = &temp;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check toggle button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_NORMAL;
-                *active = !(*active);
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_NORMAL)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, ((*active)? BORDER_COLOR_PRESSED : (BORDER + state*3)))), GetColor(GuiGetStyle(TOGGLE, ((*active)? BASE_COLOR_PRESSED : (BASE + state*3)))));
-        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, ((*active)? TEXT_COLOR_PRESSED : (TEXT + state*3)))));
-    }
-    else
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + state*3)), GetColor(GuiGetStyle(TOGGLE, BASE + state*3)));
-        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, TEXT + state*3)));
-    }
-
-    if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Toggle Group control
-int GuiToggleGroup(Rectangle bounds, const char *text, int *active)
-{
-    #if !defined(RAYGUI_TOGGLEGROUP_MAX_ITEMS)
-        #define RAYGUI_TOGGLEGROUP_MAX_ITEMS    32
-    #endif
-
-    int result = 0;
-    float initBoundsX = bounds.x;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    bool toggle = false;    // Required for individual toggles
-
-    // Get substrings items from text (items pointers)
-    int rows[RAYGUI_TOGGLEGROUP_MAX_ITEMS] = { 0 };
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, rows);
-
-    int prevRow = rows[0];
-
-    for (int i = 0; i < itemCount; i++)
-    {
-        if (prevRow != rows[i])
-        {
-            bounds.x = initBoundsX;
-            bounds.y += (bounds.height + GuiGetStyle(TOGGLE, GROUP_PADDING));
-            prevRow = rows[i];
-        }
-
-        if (i == (*active))
-        {
-            toggle = true;
-            GuiToggle(bounds, items[i], &toggle);
-        }
-        else
-        {
-            toggle = false;
-            GuiToggle(bounds, items[i], &toggle);
-            if (toggle) *active = i;
-        }
-
-        bounds.x += (bounds.width + GuiGetStyle(TOGGLE, GROUP_PADDING));
-    }
-
-    return result;
-}
-
-// Toggle Slider control extended
-int GuiToggleSlider(Rectangle bounds, const char *text, int *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    //bool toggle = false;    // Required for individual toggles
-
-    // Get substrings items from text (items pointers)
-    int itemCount = 0;
-    const char **items = NULL;
-
-    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    Rectangle slider = {
-        0,      // Calculated later depending on the active toggle
-        bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
-        (bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - (itemCount + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING))/itemCount,
-        bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                (*active)++;
-                result = 1;
-            }
-            else state = STATE_FOCUSED;
-        }
-
-        if ((*active) && (state != STATE_FOCUSED)) state = STATE_PRESSED;
-    }
-
-    if (*active >= itemCount) *active = 0;
-    slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH) + (*active + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING) + (*active)*slider.width;
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + (state*3))),
-        GetColor(GuiGetStyle(TOGGLE, BASE_COLOR_NORMAL)));
-
-    // Draw internal slider
-    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_FOCUSED)));
-    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-
-    // Draw text in slider
-    if (text != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(text);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = slider.x + slider.width/2 - textBounds.width/2;
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(items[*active], textBounds, GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), Fade(GetColor(GuiGetStyle(TOGGLE, TEXT + (state*3))), guiAlpha));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Check Box control, returns 1 when state changed
-int GuiCheckBox(Rectangle bounds, const char *text, bool *checked)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    bool temp = false;
-    if (checked == NULL) checked = &temp;
-
-    Rectangle textBounds = { 0 };
-
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(CHECKBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        Rectangle totalBounds = {
-            (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT)? textBounds.x : bounds.x,
-            bounds.y,
-            bounds.width + textBounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING),
-            bounds.height,
-        };
-
-        // Check checkbox state
-        if (CheckCollisionPointRec(mousePoint, totalBounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                *checked = !(*checked);
-                result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(CHECKBOX, BORDER_WIDTH), GetColor(GuiGetStyle(CHECKBOX, BORDER + (state*3))), BLANK);
-
-    if (*checked)
-    {
-        Rectangle check = { bounds.x + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
-                            bounds.y + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
-                            bounds.width - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)),
-                            bounds.height - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)) };
-        GuiDrawRectangle(check, 0, BLANK, GetColor(GuiGetStyle(CHECKBOX, TEXT + state*3)));
-    }
-
-    GuiDrawText(text, textBounds, (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Combo Box control
-int GuiComboBox(Rectangle bounds, const char *text, int *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    bounds.width -= (GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH) + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING));
-
-    Rectangle selector = { (float)bounds.x + bounds.width + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING),
-                           (float)bounds.y, (float)GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH), (float)bounds.height };
-
-    // Get substrings items from text (items pointers, lengths and count)
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    if (*active < 0) *active = 0;
-    else if (*active > (itemCount - 1)) *active = itemCount - 1;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && (itemCount > 1) && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (CheckCollisionPointRec(mousePoint, bounds) ||
-            CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-            {
-                *active += 1;
-                if (*active >= itemCount) *active = 0;      // Cyclic combobox
-            }
-
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    // Draw combo box main
-    GuiDrawRectangle(bounds, GuiGetStyle(COMBOBOX, BORDER_WIDTH), GetColor(GuiGetStyle(COMBOBOX, BORDER + (state*3))), GetColor(GuiGetStyle(COMBOBOX, BASE + (state*3))));
-    GuiDrawText(items[*active], GetTextBounds(COMBOBOX, bounds), GuiGetStyle(COMBOBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(COMBOBOX, TEXT + (state*3))));
-
-    // Draw selector using a custom button
-    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    GuiButton(selector, TextFormat("%i/%i", *active + 1, itemCount));
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Dropdown Box control
-// NOTE: Returns mouse click
-int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    int itemSelected = *active;
-    int itemFocused = -1;
-
-    int direction = 0; // Dropdown box open direction: down (default)
-    if (GuiGetStyle(DROPDOWNBOX, DROPDOWN_ROLL_UP) == 1) direction = 1; // Up
-
-    // Get substrings items from text (items pointers, lengths and count)
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    Rectangle boundsOpen = bounds;
-    boundsOpen.height = (itemCount + 1)*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-    if (direction == 1) boundsOpen.y -= itemCount*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING)) + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING);
-
-    Rectangle itemBounds = bounds;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && (editMode || !guiLocked) && (itemCount > 1) && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            // Check if mouse has been pressed or released outside limits
-            if (!CheckCollisionPointRec(mousePoint, boundsOpen))
-            {
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON) || IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-
-            // Check if already selected item has been pressed again
-            if (CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-
-            // Check focused and selected item
-            for (int i = 0; i < itemCount; i++)
-            {
-                // Update item rectangle y position for next item
-                if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-                else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-
-                if (CheckCollisionPointRec(mousePoint, itemBounds))
-                {
-                    itemFocused = i;
-                    if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-                    {
-                        itemSelected = i;
-                        result = 1;         // Item selected
-                    }
-                    break;
-                }
-            }
-
-            itemBounds = bounds;
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    result = 1;
-                    state = STATE_PRESSED;
-                }
-                else state = STATE_FOCUSED;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (editMode) GuiPanel(boundsOpen, NULL);
-
-    GuiDrawRectangle(bounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER + state*3)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE + state*3)));
-    GuiDrawText(items[itemSelected], GetTextBounds(DROPDOWNBOX, bounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + state*3)));
-
-    if (editMode)
-    {
-        // Draw visible items
-        for (int i = 0; i < itemCount; i++)
-        {
-            // Update item rectangle y position for next item
-            if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-            else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-
-            if (i == itemSelected)
-            {
-                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_PRESSED)));
-                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_PRESSED)));
-            }
-            else if (i == itemFocused)
-            {
-                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_FOCUSED)));
-                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_FOCUSED)));
-            }
-            else GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_NORMAL)));
-        }
-    }
-
-    if (!GuiGetStyle(DROPDOWNBOX, DROPDOWN_ARROW_HIDDEN))
-    {
-        // Draw arrows (using icon if available)
-#if defined(RAYGUI_NO_ICONS)
-        GuiDrawText("v", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 2, 10, 10 },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-#else
-        GuiDrawText(direction? "#121#" : "#120#", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 6, 10, 10 },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));   // ICON_ARROW_DOWN_FILL
-#endif
-    }
-    //--------------------------------------------------------------------
-
-    *active = itemSelected;
-
-    // TODO: Use result to return more internal states: mouse-press out-of-bounds, mouse-press over selected-item...
-    return result;   // Mouse click: result = 1
-}
-
-// Text Box control
-// NOTE: Returns true on ENTER pressed (useful for data validation)
-int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode)
-{
-    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)
-        #define RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN  40        // Frames to wait for autocursor movement
-    #endif
-    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY)
-        #define RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY      1        // Frames delay for autocursor movement
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    bool multiline = false;     // TODO: Consider multiline text input
-    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);
-
-    Rectangle textBounds = GetTextBounds(TEXTBOX, bounds);
-    int textLength = (int)strlen(text);     // Get current text length
-    int thisCursorIndex = textBoxCursorIndex;
-    if (thisCursorIndex > textLength) thisCursorIndex = textLength;
-    int textWidth = GetTextWidth(text) - GetTextWidth(text + thisCursorIndex);
-    int textIndexOffset = 0;    // Text index offset to start drawing in the box
-
-    // Cursor rectangle
-    // NOTE: Position X value should be updated
-    Rectangle cursor = {
-        textBounds.x + textWidth + GuiGetStyle(DEFAULT, TEXT_SPACING),
-        textBounds.y + textBounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE),
-        2,
-        (float)GuiGetStyle(DEFAULT, TEXT_SIZE)*2
-    };
-
-    if (cursor.height >= bounds.height) cursor.height = bounds.height - GuiGetStyle(TEXTBOX, BORDER_WIDTH)*2;
-    if (cursor.y < (bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH))) cursor.y = bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH);
-
-    // Mouse cursor rectangle
-    // NOTE: Initialized outside of screen
-    Rectangle mouseCursor = cursor;
-    mouseCursor.x = -1;
-    mouseCursor.width = 1;
-
-    // Auto-cursor movement logic
-    // NOTE: Cursor moves automatically when key down after some time
-    if (IsKeyDown(KEY_LEFT) || IsKeyDown(KEY_RIGHT) || IsKeyDown(KEY_UP) || IsKeyDown(KEY_DOWN) || IsKeyDown(KEY_BACKSPACE) || IsKeyDown(KEY_DELETE)) autoCursorCooldownCounter++;
-    else
-    {
-        autoCursorCooldownCounter = 0;      // GLOBAL: Cursor cooldown counter
-        autoCursorDelayCounter = 0;         // GLOBAL: Cursor delay counter
-    }
-
-    // Blink-cursor frame counter
-    //if (!autoCursorMode) blinkCursorFrameCounter++;
-    //else blinkCursorFrameCounter = 0;
-
-    // Update control
-    //--------------------------------------------------------------------
-    // WARNING: Text editing is only supported under certain conditions:
-    if ((state != STATE_DISABLED) &&                // Control not disabled
-        !GuiGetStyle(TEXTBOX, TEXT_READONLY) &&     // TextBox not on read-only mode
-        !guiLocked &&                               // Gui not locked
-        !guiControlExclusiveMode &&                       // No gui slider on dragging
-        (wrapMode == TEXT_WRAP_NONE))               // No wrap mode
-    {
-        Vector2 mousePosition = GetMousePosition();
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
-
-            // If text does not fit in the textbox and current cursor position is out of bounds,
-            // we add an index offset to text for drawing only what requires depending on cursor
-            while (textWidth >= textBounds.width)
-            {
-                int nextCodepointSize = 0;
-                GetCodepointNext(text + textIndexOffset, &nextCodepointSize);
-
-                textIndexOffset += nextCodepointSize;
-
-                textWidth = GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex);
-            }
-
-            int codepoint = GetCharPressed();       // Get Unicode codepoint
-            if (multiline && IsKeyPressed(KEY_ENTER)) codepoint = (int)'\n';
-
-            // Encode codepoint as UTF-8
-            int codepointSize = 0;
-            const char *charEncoded = CodepointToUTF8(codepoint, &codepointSize);
-
-            // Add codepoint to text, at current cursor position
-            // NOTE: Make sure we do not overflow buffer size
-            if (((multiline && (codepoint == (int)'\n')) || (codepoint >= 32)) && ((textLength + codepointSize) < textSize))
-            {
-                // Move forward data from cursor position
-                for (int i = (textLength + codepointSize); i > textBoxCursorIndex; i--) text[i] = text[i - codepointSize];
-
-                // Add new codepoint in current cursor position
-                for (int i = 0; i < codepointSize; i++) text[textBoxCursorIndex + i] = charEncoded[i];
-
-                textBoxCursorIndex += codepointSize;
-                textLength += codepointSize;
-
-                // Make sure text last character is EOL
-                text[textLength] = '\0';
-            }
-
-            // Move cursor to start
-            if ((textLength > 0) && IsKeyPressed(KEY_HOME)) textBoxCursorIndex = 0;
-
-            // Move cursor to end
-            if ((textLength > textBoxCursorIndex) && IsKeyPressed(KEY_END)) textBoxCursorIndex = textLength;
-
-            // Delete codepoint from text, after current cursor position
-            if ((textLength > textBoxCursorIndex) && (IsKeyPressed(KEY_DELETE) || (IsKeyDown(KEY_DELETE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_DELETE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int nextCodepointSize = 0;
-                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
-
-                    // Move backward text from cursor position
-                    for (int i = textBoxCursorIndex; i < textLength; i++) text[i] = text[i + nextCodepointSize];
-
-                    textLength -= codepointSize;
-                    if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
-
-                    // Make sure text last character is EOL
-                    text[textLength] = '\0';
-                }
-            }
-
-            // Delete related codepoints from text, before current cursor position
-            if ((textLength > 0) && IsKeyPressed(KEY_BACKSPACE) && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_RIGHT_CONTROL)))
-            {
-                int i = textBoxCursorIndex - 1;
-                int accCodepointSize = 0;
-
-                // Move cursor to the end of word if on space already
-                while ((i > 0) && isspace(text[i]))
-                {
-                    int prevCodepointSize = 0;
-                    GetCodepointPrevious(text + i, &prevCodepointSize);
-                    i -= prevCodepointSize;
-                    accCodepointSize += prevCodepointSize;
-                }
-
-                // Move cursor to the start of the word
-                while ((i > 0) && !isspace(text[i]))
-                {
-                    int prevCodepointSize = 0;
-                    GetCodepointPrevious(text + i, &prevCodepointSize);
-                    i -= prevCodepointSize;
-                    accCodepointSize += prevCodepointSize;
-                }
-
-                // Move forward text from cursor position
-                for (int j = (textBoxCursorIndex - accCodepointSize); j < textLength; j++) text[j] = text[j + accCodepointSize];
-
-                // Prevent cursor index from decrementing past 0
-                if (textBoxCursorIndex > 0)
-                {
-                    textBoxCursorIndex -= accCodepointSize;
-                    textLength -= accCodepointSize;
-                }
-
-                // Make sure text last character is EOL
-                text[textLength] = '\0';
-            }
-            else if ((textLength > 0) && (IsKeyPressed(KEY_BACKSPACE) || (IsKeyDown(KEY_BACKSPACE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_BACKSPACE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int prevCodepointSize = 0;
-
-                    // Prevent cursor index from decrementing past 0
-                    if (textBoxCursorIndex > 0)
-                    {
-                        GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
-
-                        // Move backward text from cursor position
-                        for (int i = (textBoxCursorIndex - prevCodepointSize); i < textLength; i++) text[i] = text[i + prevCodepointSize];
-
-                        textBoxCursorIndex -= codepointSize;
-                        textLength -= codepointSize;
-                    }
-
-                    // Make sure text last character is EOL
-                    text[textLength] = '\0';
-                }
-            }
-
-            // Move cursor position with keys
-            if (IsKeyPressed(KEY_LEFT) || (IsKeyDown(KEY_LEFT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_LEFT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int prevCodepointSize = 0;
-                    if (textBoxCursorIndex > 0) GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
-
-                    if (textBoxCursorIndex >= prevCodepointSize) textBoxCursorIndex -= prevCodepointSize;
-                }
-            }
-            else if (IsKeyPressed(KEY_RIGHT) || (IsKeyDown(KEY_RIGHT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_RIGHT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int nextCodepointSize = 0;
-                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
-
-                    if ((textBoxCursorIndex + nextCodepointSize) <= textLength) textBoxCursorIndex += nextCodepointSize;
-                }
-            }
-
-            // Move cursor position with mouse
-            if (CheckCollisionPointRec(mousePosition, textBounds))     // Mouse hover text
-            {
-                float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/(float)guiFont.baseSize;
-                int codepointIndex = 0;
-                float glyphWidth = 0.0f;
-                float widthToMouseX = 0;
-                int mouseCursorIndex = 0;
-
-                for (int i = textIndexOffset; i < textLength; i++)
-                {
-                    codepoint = GetCodepointNext(&text[i], &codepointSize);
-                    codepointIndex = GetGlyphIndex(guiFont, codepoint);
-
-                    if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
-                    else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
-
-                    if (mousePosition.x <= (textBounds.x + (widthToMouseX + glyphWidth/2)))
-                    {
-                        mouseCursor.x = textBounds.x + widthToMouseX;
-                        mouseCursorIndex = i;
-                        break;
-                    }
-
-                    widthToMouseX += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-                }
-
-                // Check if mouse cursor is at the last position
-                int textEndWidth = GetTextWidth(text + textIndexOffset);
-                if (GetMousePosition().x >= (textBounds.x + textEndWidth - glyphWidth/2))
-                {
-                    mouseCursor.x = textBounds.x + textEndWidth;
-                    mouseCursorIndex = textLength;
-                }
-
-                // Place cursor at required index on mouse click
-                if ((mouseCursor.x >= 0) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    cursor.x = mouseCursor.x;
-                    textBoxCursorIndex = mouseCursorIndex;
-                }
-            }
-            else mouseCursor.x = -1;
-
-            // Recalculate cursor position.y depending on textBoxCursorIndex
-            cursor.x = bounds.x + GuiGetStyle(TEXTBOX, TEXT_PADDING) + GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex) + GuiGetStyle(DEFAULT, TEXT_SPACING);
-            //if (multiline) cursor.y = GetTextLines()
-
-            // Finish text editing on ENTER or mouse click outside bounds
-            if ((!multiline && IsKeyPressed(KEY_ENTER)) ||
-                (!CheckCollisionPointRec(mousePosition, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
-            {
-                textBoxCursorIndex = 0;     // GLOBAL: Reset the shared cursor index
-                result = 1;
-            }
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePosition, bounds))
-            {
-                state = STATE_FOCUSED;
-
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    textBoxCursorIndex = textLength;   // GLOBAL: Place cursor index to the end of current text
-                    result = 1;
-                }
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_PRESSED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_PRESSED)));
-    }
-    else if (state == STATE_DISABLED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_DISABLED)));
-    }
-    else GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), BLANK);
-
-    // Draw text considering index offset if required
-    // NOTE: Text index offset depends on cursor position
-    GuiDrawText(text + textIndexOffset, textBounds, GuiGetStyle(TEXTBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TEXTBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode && !GuiGetStyle(TEXTBOX, TEXT_READONLY))
-    {
-        //if (autoCursorMode || ((blinkCursorFrameCounter/40)%2 == 0))
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
-
-        // Draw mouse position cursor (if required)
-        if (mouseCursor.x >= 0) GuiDrawRectangle(mouseCursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
-    }
-    else if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //--------------------------------------------------------------------
-
-    return result;      // Mouse button pressed: result = 1
-}
-
-/*
-// Text Box control with multiple lines and word-wrap
-// NOTE: This text-box is readonly, no editing supported by default
-bool GuiTextBoxMulti(Rectangle bounds, char *text, int textSize, bool editMode)
-{
-    bool pressed = false;
-
-    GuiSetStyle(TEXTBOX, TEXT_READONLY, 1);
-    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_WORD);   // WARNING: If wrap mode enabled, text editing is not supported
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_TOP);
-
-    // TODO: Implement methods to calculate cursor position properly
-    pressed = GuiTextBox(bounds, text, textSize, editMode);
-
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);
-    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_NONE);
-    GuiSetStyle(TEXTBOX, TEXT_READONLY, 0);
-
-    return pressed;
-}
-*/
-
-// Spinner control, returns selected value
-int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
-{
-    int result = 1;
-    GuiState state = guiState;
-
-    int tempValue = *value;
-
-    Rectangle spinner = { bounds.x + GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING), bounds.y,
-                          bounds.width - 2*(GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING)), bounds.height };
-    Rectangle leftButtonBound = { (float)bounds.x, (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
-    Rectangle rightButtonBound = { (float)bounds.x + bounds.width - GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
-
-    Rectangle textBounds = { 0 };
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SPINNER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SPINNER, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check spinner state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-
-#if defined(RAYGUI_NO_ICONS)
-    if (GuiButton(leftButtonBound, "<")) tempValue--;
-    if (GuiButton(rightButtonBound, ">")) tempValue++;
-#else
-    if (GuiButton(leftButtonBound, GuiIconText(ICON_ARROW_LEFT_FILL, NULL))) tempValue--;
-    if (GuiButton(rightButtonBound, GuiIconText(ICON_ARROW_RIGHT_FILL, NULL))) tempValue++;
-#endif
-
-    if (!editMode)
-    {
-        if (tempValue < minValue) tempValue = minValue;
-        if (tempValue > maxValue) tempValue = maxValue;
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    result = GuiValueBox(spinner, NULL, &tempValue, minValue, maxValue, editMode);
-
-    // Draw value selector custom buttons
-    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, GuiGetStyle(SPINNER, BORDER_WIDTH));
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds, (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    *value = tempValue;
-    return result;
-}
-
-// Value Box control, updates input text with numbers
-// NOTE: Requires static variables: frameCounter
-int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
-{
-    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
-        #define RAYGUI_VALUEBOX_MAX_CHARS  32
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
-    sprintf(textValue, "%i", *value);
-
-    Rectangle textBounds = { 0 };
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        bool valueHasChanged = false;
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            int keyCount = (int)strlen(textValue);
-
-            // Only allow keys in range [48..57]
-            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
-            {
-                if (GetTextWidth(textValue) < bounds.width)
-                {
-                    int key = GetCharPressed();
-                    if ((key >= 48) && (key <= 57))
-                    {
-                        textValue[keyCount] = (char)key;
-                        keyCount++;
-                        valueHasChanged = true;
-                    }
-                }
-            }
-
-            // Delete text
-            if (keyCount > 0)
-            {
-                if (IsKeyPressed(KEY_BACKSPACE))
-                {
-                    keyCount--;
-                    textValue[keyCount] = '\0';
-                    valueHasChanged = true;
-                }
-            }
-
-            if (valueHasChanged) *value = TextToInteger(textValue);
-
-            // NOTE: We are not clamp values until user input finishes
-            //if (*value > maxValue) *value = maxValue;
-            //else if (*value < minValue) *value = minValue;
-
-            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
-            {
-                if (*value > maxValue) *value = maxValue;
-                else if (*value < minValue) *value = minValue;
-
-                result = 1;
-            }
-        }
-        else
-        {
-            if (*value > maxValue) *value = maxValue;
-            else if (*value < minValue) *value = minValue;
-
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                state = STATE_FOCUSED;
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    Color baseColor = BLANK;
-    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
-    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
-    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode)
-    {
-        // NOTE: ValueBox internal text is always centered
-        Rectangle cursor = { bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1, bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4, bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH) };
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
-    }
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds, (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Floating point Value Box control, updates input val_str with numbers
-// NOTE: Requires static variables: frameCounter
-int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode)
-{
-    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
-        #define RAYGUI_VALUEBOX_MAX_CHARS  32
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    //char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
-    //sprintf(textValue, "%2.2f", *value);
-
-    Rectangle textBounds = {0};
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        bool valueHasChanged = false;
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            int keyCount = (int)strlen(textValue);
-
-            // Only allow keys in range [48..57]
-            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
-            {
-                if (GetTextWidth(textValue) < bounds.width)
-                {
-                    int key = GetCharPressed();
-                    if (((key >= 48) && (key <= 57)) ||
-                        (key == '.') ||
-                        ((keyCount == 0) && (key == '+')) ||  // NOTE: Sign can only be in first position
-                        ((keyCount == 0) && (key == '-')))
-                    {
-                        textValue[keyCount] = (char)key;
-                        keyCount++;
-
-                        valueHasChanged = true;
-                    }
-                }
-            }
-
-            // Pressed backspace
-            if (IsKeyPressed(KEY_BACKSPACE))
-            {
-                if (keyCount > 0)
-                {
-                    keyCount--;
-                    textValue[keyCount] = '\0';
-                    valueHasChanged = true;
-                }
-            }
-
-            if (valueHasChanged) *value = TextToFloat(textValue);
-
-            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))) result = 1;
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                state = STATE_FOCUSED;
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    Color baseColor = BLANK;
-    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
-    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
-    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode)
-    {
-        // NOTE: ValueBox internal text is always centered
-        Rectangle cursor = {bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1,
-                            bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4,
-                            bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH)};
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
-    }
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds,
-                (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT,
-                GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Slider control with pro parameters
-// NOTE: Other GuiSlider*() controls use this one
-int GuiSliderPro(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue, int sliderWidth)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    float temp = (maxValue - minValue)/2.0f;
-    if (value == NULL) value = &temp;
-    float oldValue = *value;
-
-    Rectangle slider = { bounds.x, bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
-                         0, bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-                    // Get equivalent value and slider position from mousePosition.x
-                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                if (!CheckCollisionPointRec(mousePoint, slider))
-                {
-                    // Get equivalent value and slider position from mousePosition.x
-                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
-                }
-            }
-            else state = STATE_FOCUSED;
-        }
-
-        if (*value > maxValue) *value = maxValue;
-        else if (*value < minValue) *value = minValue;
-    }
-
-    // Control value change check
-    if (oldValue == *value) result = 0;
-    else result = 1;
-
-    // Slider bar limits check
-    float sliderValue = (((*value - minValue)/(maxValue - minValue))*(bounds.width - sliderWidth - 2*GuiGetStyle(SLIDER, BORDER_WIDTH)));
-    if (sliderWidth > 0)        // Slider
-    {
-        slider.x += sliderValue;
-        slider.width = (float)sliderWidth;
-        if (slider.x <= (bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH))) slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH);
-        else if ((slider.x + slider.width) >= (bounds.x + bounds.width)) slider.x = bounds.x + bounds.width - slider.width - GuiGetStyle(SLIDER, BORDER_WIDTH);
-    }
-    else if (sliderWidth == 0)  // SliderBar
-    {
-        slider.x += GuiGetStyle(SLIDER, BORDER_WIDTH);
-        slider.width = sliderValue;
-        if (slider.width > bounds.width) slider.width = bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH);
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(SLIDER, BORDER + (state*3))), GetColor(GuiGetStyle(SLIDER, (state != STATE_DISABLED)?  BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
-
-    // Draw slider internal bar (depends on state)
-    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_FOCUSED)));
-    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_PRESSED)));
-
-    // Draw left/right text if provided
-    if (textLeft != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textLeft);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SLIDER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
-    }
-
-    if (textRight != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textRight);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SLIDER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Slider control extended, returns selected value and has text
-int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, GuiGetStyle(SLIDER, SLIDER_WIDTH));
-}
-
-// Slider Bar control extended, returns selected value
-int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, 0);
-}
-
-// Progress Bar control extended, shows current progress value
-int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    float temp = (maxValue - minValue)/2.0f;
-    if (value == NULL) value = &temp;
-
-    // Progress bar
-    Rectangle progress = { bounds.x + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH),
-                           bounds.y + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) + GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING), 0,
-                           bounds.height - 2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) - 2*GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if (*value > maxValue) *value = maxValue;
-
-    // WARNING: Working with floats could lead to rounding issues
-    if ((state != STATE_DISABLED)) progress.width = (float)(*value/(maxValue - minValue))*bounds.width - ((*value >= maxValue)? (float)(2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH)) : 0.0f);
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_DISABLED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(PROGRESSBAR, BORDER + (state*3))), BLANK);
-    }
-    else
-    {
-        if (*value > minValue)
-        {
-            // Draw progress bar with colored border, more visual
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-        }
-        else GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-
-        if (*value >= maxValue) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + progress.width + 1, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-        else
-        {
-            // Draw borders not yet reached by value
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y + bounds.height - 1, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-        }
-
-        // Draw slider internal progress bar (depends on state)
-        GuiDrawRectangle(progress, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BASE_COLOR_PRESSED)));
-    }
-
-    // Draw left/right text if provided
-    if (textLeft != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textLeft);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
-    }
-
-    if (textRight != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textRight);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Status Bar control
-int GuiStatusBar(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(STATUSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(STATUSBAR, BORDER + (state*3))), GetColor(GuiGetStyle(STATUSBAR, BASE + (state*3))));
-    GuiDrawText(text, GetTextBounds(STATUSBAR, bounds), GuiGetStyle(STATUSBAR, TEXT_ALIGNMENT), GetColor(GuiGetStyle(STATUSBAR, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Dummy rectangle control, intended for placeholding
-int GuiDummyRec(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state != STATE_DISABLED)? BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
-    GuiDrawText(text, GetTextBounds(DEFAULT, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(BUTTON, (state != STATE_DISABLED)? TEXT_COLOR_NORMAL : TEXT_COLOR_DISABLED)));
-    //------------------------------------------------------------------
-
-    return result;
-}
-
-// List View control
-int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active)
-{
-    int result = 0;
-    int itemCount = 0;
-    const char **items = NULL;
-
-    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    result = GuiListViewEx(bounds, items, itemCount, scrollIndex, active, NULL);
-
-    return result;
-}
-
-// List View control with extended parameters
-int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int itemFocused = (focus == NULL)? -1 : *focus;
-    int itemSelected = (active == NULL)? -1 : *active;
-
-    // Check if we need a scroll bar
-    bool useScrollBar = false;
-    if ((GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING))*count > bounds.height) useScrollBar = true;
-
-    // Define base item rectangle [0]
-    Rectangle itemBounds = { 0 };
-    itemBounds.x = bounds.x + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING);
-    itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    itemBounds.width = bounds.width - 2*GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) - GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    itemBounds.height = (float)GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT);
-    if (useScrollBar) itemBounds.width -= GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH);
-
-    // Get items on the list
-    int visibleItems = (int)bounds.height/(GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-    if (visibleItems > count) visibleItems = count;
-
-    int startIndex = (scrollIndex == NULL)? 0 : *scrollIndex;
-    if ((startIndex < 0) || (startIndex > (count - visibleItems))) startIndex = 0;
-    int endIndex = startIndex + visibleItems;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check mouse inside list view
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            state = STATE_FOCUSED;
-
-            // Check focused and selected item
-            for (int i = 0; i < visibleItems; i++)
-            {
-                if (CheckCollisionPointRec(mousePoint, itemBounds))
-                {
-                    itemFocused = startIndex + i;
-                    if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                    {
-                        if (itemSelected == (startIndex + i)) itemSelected = -1;
-                        else itemSelected = startIndex + i;
-                    }
-                    break;
-                }
-
-                // Update item rectangle y position for next item
-                itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-            }
-
-            if (useScrollBar)
-            {
-                int wheelMove = (int)GetMouseWheelMove();
-                startIndex -= wheelMove;
-
-                if (startIndex < 0) startIndex = 0;
-                else if (startIndex > (count - visibleItems)) startIndex = count - visibleItems;
-
-                endIndex = startIndex + visibleItems;
-                if (endIndex > count) endIndex = count;
-            }
-        }
-        else itemFocused = -1;
-
-        // Reset item rectangle y to [0]
-        itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));     // Draw background
-
-    // Draw visible items
-    for (int i = 0; ((i < visibleItems) && (text != NULL)); i++)
-    {
-        GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, LIST_ITEMS_BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_NORMAL)), BLANK);
-
-        if (state == STATE_DISABLED)
-        {
-            if ((startIndex + i) == itemSelected) GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_DISABLED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_DISABLED)));
-
-            GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_DISABLED)));
-        }
-        else
-        {
-            if (((startIndex + i) == itemSelected) && (active != NULL))
-            {
-                // Draw item selected
-                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_PRESSED)));
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_PRESSED)));
-            }
-            else if (((startIndex + i) == itemFocused)) // && (focus != NULL))  // NOTE: We want items focused, despite not returned!
-            {
-                // Draw item focused
-                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_FOCUSED)));
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_FOCUSED)));
-            }
-            else
-            {
-                // Draw item normal
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_NORMAL)));
-            }
-        }
-
-        // Update item rectangle y position for next item
-        itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-    }
-
-    if (useScrollBar)
-    {
-        Rectangle scrollBarBounds = {
-            bounds.x + bounds.width - GuiGetStyle(LISTVIEW, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
-            bounds.y + GuiGetStyle(LISTVIEW, BORDER_WIDTH), (float)GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
-            bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
-        };
-
-        // Calculate percentage of visible items and apply same percentage to scrollbar
-        float percentVisible = (float)(endIndex - startIndex)/count;
-        float sliderSize = bounds.height*percentVisible;
-
-        int prevSliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);   // Save default slider size
-        int prevScrollSpeed = GuiGetStyle(SCROLLBAR, SCROLL_SPEED); // Save default scroll speed
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)sliderSize);            // Change slider size
-        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, count - visibleItems); // Change scroll speed
-
-        startIndex = GuiScrollBar(scrollBarBounds, startIndex, 0, count - visibleItems);
-
-        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, prevScrollSpeed); // Reset scroll speed to default
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, prevSliderSize); // Reset slider size to default
-    }
-    //--------------------------------------------------------------------
-
-    if (active != NULL) *active = itemSelected;
-    if (focus != NULL) *focus = itemFocused;
-    if (scrollIndex != NULL) *scrollIndex = startIndex;
-
-    return result;
-}
-
-// Color Panel control - Color (RGBA) variant.
-int GuiColorPanel(Rectangle bounds, const char *text, Color *color)
-{
-    int result = 0;
-
-    Vector3 vcolor = { (float)color->r/255.0f, (float)color->g/255.0f, (float)color->b/255.0f };
-    Vector3 hsv = ConvertRGBtoHSV(vcolor);
-    Vector3 prevHsv = hsv; // workaround to see if GuiColorPanelHSV modifies the hsv.
-
-    GuiColorPanelHSV(bounds, text, &hsv);
-
-    // Check if the hsv was changed, only then change the color.
-    // This is required, because the Color->HSV->Color conversion has precision errors.
-    // Thus the assignment from HSV to Color should only be made, if the HSV has a new user-entered value.
-    // Otherwise GuiColorPanel would often modify it's color without user input.
-    // TODO: GuiColorPanelHSV could return 1 if the slider was dragged, to simplify this check.
-    if (hsv.x != prevHsv.x || hsv.y != prevHsv.y || hsv.z != prevHsv.z)
-    {
-        Vector3 rgb = ConvertHSVtoRGB(hsv);
-
-        // NOTE: Vector3ToColor() only available on raylib 1.8.1
-        *color = RAYGUI_CLITERAL(Color){ (unsigned char)(255.0f*rgb.x),
-                            (unsigned char)(255.0f*rgb.y),
-                            (unsigned char)(255.0f*rgb.z),
-                            color->a };
-    }
-    return result;
-}
-
-// Color Bar Alpha control
-// NOTE: Returns alpha value normalized [0..1]
-int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
-{
-    #if !defined(RAYGUI_COLORBARALPHA_CHECKED_SIZE)
-        #define RAYGUI_COLORBARALPHA_CHECKED_SIZE   10
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-    Rectangle selector = { (float)bounds.x + (*alpha)*bounds.width - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.y - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT), (float)bounds.height + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    *alpha = (mousePoint.x - bounds.x)/bounds.width;
-                    if (*alpha <= 0.0f) *alpha = 0.0f;
-                    if (*alpha >= 1.0f) *alpha = 1.0f;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                *alpha = (mousePoint.x - bounds.x)/bounds.width;
-                if (*alpha <= 0.0f) *alpha = 0.0f;
-                if (*alpha >= 1.0f) *alpha = 1.0f;
-                //selector.x = bounds.x + (int)(((alpha - 0)/(100 - 0))*(bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH))) - selector.width/2;
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-
-    // Draw alpha bar: checked background
-    if (state != STATE_DISABLED)
-    {
-        int checksX = (int)bounds.width/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
-        int checksY = (int)bounds.height/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
-
-        for (int x = 0; x < checksX; x++)
-        {
-            for (int y = 0; y < checksY; y++)
-            {
-                Rectangle check = { bounds.x + x*RAYGUI_COLORBARALPHA_CHECKED_SIZE, bounds.y + y*RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE };
-                GuiDrawRectangle(check, 0, BLANK, ((x + y)%2)? Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.4f) : Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.4f));
-            }
-        }
-
-        DrawRectangleGradientEx(bounds, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha));
-    }
-    else DrawRectangleGradientEx(bounds, Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-
-    // Draw alpha bar: selector
-    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Color Bar Hue control
-// Returns hue value normalized [0..1]
-// NOTE: Other similar bars (for reference):
-//      Color GuiColorBarSat() [WHITE->color]
-//      Color GuiColorBarValue() [BLACK->color], HSV/HSL
-//      float GuiColorBarLuminance() [BLACK->WHITE]
-int GuiColorBarHue(Rectangle bounds, const char *text, float *hue)
-{
-    int result = 0;
-    GuiState state = guiState;
-    Rectangle selector = { (float)bounds.x - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)bounds.y + (*hue)/360.0f*bounds.height - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2, (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    *hue = (mousePoint.y - bounds.y)*360/bounds.height;
-                    if (*hue <= 0.0f) *hue = 0.0f;
-                    if (*hue >= 359.0f) *hue = 359.0f;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                *hue = (mousePoint.y - bounds.y)*360/bounds.height;
-                if (*hue <= 0.0f) *hue = 0.0f;
-                if (*hue >= 359.0f) *hue = 359.0f;
-
-            }
-            else state = STATE_FOCUSED;
-
-            /*if (IsKeyDown(KEY_UP))
-            {
-                hue -= 2.0f;
-                if (hue <= 0.0f) hue = 0.0f;
-            }
-            else if (IsKeyDown(KEY_DOWN))
-            {
-                hue += 2.0f;
-                if (hue >= 360.0f) hue = 360.0f;
-            }*/
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state != STATE_DISABLED)
-    {
-        // Draw hue bar:color bars
-        // TODO: Use directly DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + bounds.height/6), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 2*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 3*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 4*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 5*(bounds.height/6)), (int)bounds.width, (int)(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha));
-    }
-    else DrawRectangleGradientV((int)bounds.x, (int)bounds.y, (int)bounds.width, (int)bounds.height, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-
-    // Draw hue bar: selector
-    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Color Picker control
-// NOTE: It's divided in multiple controls:
-//      Color GuiColorPanel(Rectangle bounds, Color color)
-//      float GuiColorBarAlpha(Rectangle bounds, float alpha)
-//      float GuiColorBarHue(Rectangle bounds, float value)
-// NOTE: bounds define GuiColorPanel() size
-// NOTE: this picker converts RGB to HSV, which can cause the Hue control to jump. If you have this problem, consider using the HSV variant instead
-int GuiColorPicker(Rectangle bounds, const char *text, Color *color)
-{
-    int result = 0;
-
-    Color temp = { 200, 0, 0, 255 };
-    if (color == NULL) color = &temp;
-
-    GuiColorPanel(bounds, NULL, color);
-
-    Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
-    //Rectangle boundsAlpha = { bounds.x, bounds.y + bounds.height + GuiGetStyle(COLORPICKER, BARS_PADDING), bounds.width, GuiGetStyle(COLORPICKER, BARS_THICK) };
-
-    // NOTE: this conversion can cause low hue-resolution, if the r, g and b value are very similar, which causes the hue bar to shift around when only the GuiColorPanel is used.
-    Vector3 hsv = ConvertRGBtoHSV(RAYGUI_CLITERAL(Vector3){ (*color).r/255.0f, (*color).g/255.0f, (*color).b/255.0f });
-
-    GuiColorBarHue(boundsHue, NULL, &hsv.x);
-
-    //color.a = (unsigned char)(GuiColorBarAlpha(boundsAlpha, (float)color.a/255.0f)*255.0f);
-    Vector3 rgb = ConvertHSVtoRGB(hsv);
-
-    *color = RAYGUI_CLITERAL(Color){ (unsigned char)roundf(rgb.x*255.0f), (unsigned char)roundf(rgb.y*255.0f), (unsigned char)roundf(rgb.z*255.0f), (*color).a };
-
-    return result;
-}
-
-// Color Picker control that avoids conversion to RGB and back to HSV on each call, thus avoiding jittering.
-// The user can call ConvertHSVtoRGB() to convert *colorHsv value to RGB.
-// NOTE: It's divided in multiple controls:
-//      int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-//      int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
-//      float GuiColorBarHue(Rectangle bounds, float value)
-// NOTE: bounds define GuiColorPanelHSV() size
-int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-{
-    int result = 0;
-
-    Vector3 tempHsv = { 0 };
-
-    if (colorHsv == NULL)
-    {
-        const Vector3 tempColor = { 200.0f/255.0f, 0.0f, 0.0f };
-        tempHsv = ConvertRGBtoHSV(tempColor);
-        colorHsv = &tempHsv;
-    }
-
-    GuiColorPanelHSV(bounds, NULL, colorHsv);
-
-    const Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
-
-    GuiColorBarHue(boundsHue, NULL, &colorHsv->x);
-
-    return result;
-}
-
-// Color Panel control - HSV variant
-int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-{
-    int result = 0;
-    GuiState state = guiState;
-    Vector2 pickerSelector = { 0 };
-
-    const Color colWhite = { 255, 255, 255, 255 };
-    const Color colBlack = { 0, 0, 0, 255 };
-
-    pickerSelector.x = bounds.x + (float)colorHsv->y*bounds.width;            // HSV: Saturation
-    pickerSelector.y = bounds.y + (1.0f - (float)colorHsv->z)*bounds.height;  // HSV: Value
-
-    Vector3 maxHue = { colorHsv->x, 1.0f, 1.0f };
-    Vector3 rgbHue = ConvertHSVtoRGB(maxHue);
-    Color maxHueCol = { (unsigned char)(255.0f*rgbHue.x),
-                      (unsigned char)(255.0f*rgbHue.y),
-                      (unsigned char)(255.0f*rgbHue.z), 255 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    pickerSelector = mousePoint;
-
-                    if (pickerSelector.x < bounds.x) pickerSelector.x = bounds.x;
-                    if (pickerSelector.x > bounds.x + bounds.width) pickerSelector.x = bounds.x + bounds.width;
-                    if (pickerSelector.y < bounds.y) pickerSelector.y = bounds.y;
-                    if (pickerSelector.y > bounds.y + bounds.height) pickerSelector.y = bounds.y + bounds.height;
-
-                    // Calculate color from picker
-                    Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
-
-                    colorPick.x /= (float)bounds.width;     // Get normalized value on x
-                    colorPick.y /= (float)bounds.height;    // Get normalized value on y
-
-                    colorHsv->y = colorPick.x;
-                    colorHsv->z = 1.0f - colorPick.y;
-
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds;
-                pickerSelector = mousePoint;
-
-                // Calculate color from picker
-                Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
-
-                colorPick.x /= (float)bounds.width;     // Get normalized value on x
-                colorPick.y /= (float)bounds.height;    // Get normalized value on y
-
-                colorHsv->y = colorPick.x;
-                colorHsv->z = 1.0f - colorPick.y;
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state != STATE_DISABLED)
-    {
-        DrawRectangleGradientEx(bounds, Fade(colWhite, guiAlpha), Fade(colWhite, guiAlpha), Fade(maxHueCol, guiAlpha), Fade(maxHueCol, guiAlpha));
-        DrawRectangleGradientEx(bounds, Fade(colBlack, 0), Fade(colBlack, guiAlpha), Fade(colBlack, guiAlpha), Fade(colBlack, 0));
-
-        // Draw color picker: selector
-        Rectangle selector = { pickerSelector.x - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, pickerSelector.y - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE), (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE) };
-        GuiDrawRectangle(selector, 0, BLANK, colWhite);
-    }
-    else
-    {
-        DrawRectangleGradientEx(bounds, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.6f), guiAlpha));
-    }
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Message Box control
-int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons)
-{
-    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_HEIGHT)
-        #define RAYGUI_MESSAGEBOX_BUTTON_HEIGHT    24
-    #endif
-    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_PADDING)
-        #define RAYGUI_MESSAGEBOX_BUTTON_PADDING   12
-    #endif
-
-    int result = -1;    // Returns clicked button from buttons list, 0 refers to closed window button
-
-    int buttonCount = 0;
-    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
-    Rectangle buttonBounds = { 0 };
-    buttonBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    buttonBounds.y = bounds.y + bounds.height - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT - RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    buttonBounds.width = (bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
-    buttonBounds.height = RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
-
-    //int textWidth = GetTextWidth(message) + 2;
-
-    Rectangle textBounds = { 0 };
-    textBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    textBounds.width = bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*2;
-    textBounds.height = bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 3*RAYGUI_MESSAGEBOX_BUTTON_PADDING - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (GuiWindowBox(bounds, title)) result = 0;
-
-    int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-    GuiLabel(textBounds, message);
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
-
-    prevTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    for (int i = 0; i < buttonCount; i++)
-    {
-        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
-        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
-    }
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Text Input Box control, ask for text
-int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive)
-{
-    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT)
-        #define RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT      24
-    #endif
-    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_PADDING)
-        #define RAYGUI_TEXTINPUTBOX_BUTTON_PADDING     12
-    #endif
-    #if !defined(RAYGUI_TEXTINPUTBOX_HEIGHT)
-        #define RAYGUI_TEXTINPUTBOX_HEIGHT             26
-    #endif
-
-    // Used to enable text edit mode
-    // WARNING: No more than one GuiTextInputBox() should be open at the same time
-    static bool textEditMode = false;
-
-    int result = -1;
-
-    int buttonCount = 0;
-    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
-    Rectangle buttonBounds = { 0 };
-    buttonBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    buttonBounds.y = bounds.y + bounds.height - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    buttonBounds.width = (bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
-    buttonBounds.height = RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT;
-
-    int messageInputHeight = (int)bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - 2*RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-
-    Rectangle textBounds = { 0 };
-    if (message != NULL)
-    {
-        int textSize = GetTextWidth(message) + 2;
-
-        textBounds.x = bounds.x + bounds.width/2 - textSize/2;
-        textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + messageInputHeight/4 - (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        textBounds.width = (float)textSize;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-    }
-
-    Rectangle textBoxBounds = { 0 };
-    textBoxBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    textBoxBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - RAYGUI_TEXTINPUTBOX_HEIGHT/2;
-    if (message == NULL) textBoxBounds.y = bounds.y + 24 + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    else textBoxBounds.y += (messageInputHeight/2 + messageInputHeight/4);
-    textBoxBounds.width = bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*2;
-    textBoxBounds.height = RAYGUI_TEXTINPUTBOX_HEIGHT;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (GuiWindowBox(bounds, title)) result = 0;
-
-    // Draw message if available
-    if (message != NULL)
-    {
-        int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-        GuiLabel(textBounds, message);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
-    }
-
-    if (secretViewActive != NULL)
-    {
-        static char stars[] = "****************";
-        if (GuiTextBox(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x, textBoxBounds.y, textBoxBounds.width - 4 - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.height },
-            ((*secretViewActive == 1) || textEditMode)? text : stars, textMaxSize, textEditMode)) textEditMode = !textEditMode;
-
-        GuiToggle(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x + textBoxBounds.width - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.y, RAYGUI_TEXTINPUTBOX_HEIGHT, RAYGUI_TEXTINPUTBOX_HEIGHT }, (*secretViewActive == 1)? "#44#" : "#45#", secretViewActive);
-    }
-    else
-    {
-        if (GuiTextBox(textBoxBounds, text, textMaxSize, textEditMode)) textEditMode = !textEditMode;
-    }
-
-    int prevBtnTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    for (int i = 0; i < buttonCount; i++)
-    {
-        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
-        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
-    }
-
-    if (result >= 0) textEditMode = false;
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevBtnTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;      // Result is the pressed button index
-}
-
-// Grid control
-// NOTE: Returns grid mouse-hover selected cell
-// About drawing lines at subpixel spacing, simple put, not easy solution:
-// https://stackoverflow.com/questions/4435450/2d-opengl-drawing-lines-that-dont-exactly-fit-pixel-raster
-int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell)
-{
-    // Grid lines alpha amount
-    #if !defined(RAYGUI_GRID_ALPHA)
-        #define RAYGUI_GRID_ALPHA    0.15f
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Vector2 mousePoint = GetMousePosition();
-    Vector2 currentMouseCell = { -1, -1 };
-
-    float spaceWidth = spacing/(float)subdivs;
-    int linesV = (int)(bounds.width/spaceWidth) + 1;
-    int linesH = (int)(bounds.height/spaceWidth) + 1;
-
-    int color = GuiGetStyle(DEFAULT, LINE_COLOR);
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            // NOTE: Cell values must be the upper left of the cell the mouse is in
-            currentMouseCell.x = floorf((mousePoint.x - bounds.x)/spacing);
-            currentMouseCell.y = floorf((mousePoint.y - bounds.y)/spacing);
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_DISABLED) color = GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED);
-
-    if (subdivs > 0)
-    {
-        // Draw vertical grid lines
-        for (int i = 0; i < linesV; i++)
-        {
-            Rectangle lineV = { bounds.x + spacing*i/subdivs, bounds.y, 1, bounds.height + 1 };
-            GuiDrawRectangle(lineV, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
-        }
-
-        // Draw horizontal grid lines
-        for (int i = 0; i < linesH; i++)
-        {
-            Rectangle lineH = { bounds.x, bounds.y + spacing*i/subdivs, bounds.width + 1, 1 };
-            GuiDrawRectangle(lineH, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
-        }
-    }
-
-    if (mouseCell != NULL) *mouseCell = currentMouseCell;
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Tooltip management functions
-// NOTE: Tooltips requires some global variables: tooltipPtr
-//----------------------------------------------------------------------------------
-// Enable gui tooltips (global state)
-void GuiEnableTooltip(void) { guiTooltip = true; }
-
-// Disable gui tooltips (global state)
-void GuiDisableTooltip(void) { guiTooltip = false; }
-
-// Set tooltip string
-void GuiSetTooltip(const char *tooltip) { guiTooltipPtr = tooltip; }
-
-//----------------------------------------------------------------------------------
-// Styles loading functions
-//----------------------------------------------------------------------------------
-
-// Load raygui style file (.rgs)
-// NOTE: By default a binary file is expected, that file could contain a custom font,
-// in that case, custom font image atlas is GRAY+ALPHA and pixel data can be compressed (DEFLATE)
-void GuiLoadStyle(const char *fileName)
-{
-    #define MAX_LINE_BUFFER_SIZE    256
-
-    bool tryBinary = false;
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-
-    // Try reading the files as text file first
-    FILE *rgsFile = fopen(fileName, "rt");
-
-    if (rgsFile != NULL)
-    {
-        char buffer[MAX_LINE_BUFFER_SIZE] = { 0 };
-        fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
-
-        if (buffer[0] == '#')
-        {
-            int controlId = 0;
-            int propertyId = 0;
-            unsigned int propertyValue = 0;
-
-            while (!feof(rgsFile))
-            {
-                switch (buffer[0])
-                {
-                    case 'p':
-                    {
-                        // Style property: p <control_id> <property_id> <property_value> <property_name>
-
-                        sscanf(buffer, "p %d %d 0x%x", &controlId, &propertyId, &propertyValue);
-                        GuiSetStyle(controlId, propertyId, (int)propertyValue);
-
-                    } break;
-                    case 'f':
-                    {
-                        // Style font: f <gen_font_size> <charmap_file> <font_file>
-
-                        int fontSize = 0;
-                        char charmapFileName[256] = { 0 };
-                        char fontFileName[256] = { 0 };
-                        sscanf(buffer, "f %d %s %[^\r\n]s", &fontSize, charmapFileName, fontFileName);
-
-                        Font font = { 0 };
-                        int *codepoints = NULL;
-                        int codepointCount = 0;
-
-                        if (charmapFileName[0] != '0')
-                        {
-                            // Load text data from file
-                            // NOTE: Expected an UTF-8 array of codepoints, no separation
-                            char *textData = LoadFileText(TextFormat("%s/%s", GetDirectoryPath(fileName), charmapFileName));
-                            codepoints = LoadCodepoints(textData, &codepointCount);
-                            UnloadFileText(textData);
-                        }
-
-                        if (fontFileName[0] != '\0')
-                        {
-                            // In case a font is already loaded and it is not default internal font, unload it
-                            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
-
-                            if (codepointCount > 0) font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, codepoints, codepointCount);
-                            else font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, NULL, 0);   // Default to 95 standard codepoints
-                        }
-
-                        // If font texture not properly loaded, revert to default font and size/spacing
-                        if (font.texture.id == 0)
-                        {
-                            font = GetFontDefault();
-                            GuiSetStyle(DEFAULT, TEXT_SIZE, 10);
-                            GuiSetStyle(DEFAULT, TEXT_SPACING, 1);
-                        }
-
-                        UnloadCodepoints(codepoints);
-
-                        if ((font.texture.id > 0) && (font.glyphCount > 0)) GuiSetFont(font);
-
-                    } break;
-                    default: break;
-                }
-
-                fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
-            }
-        }
-        else tryBinary = true;
-
-        fclose(rgsFile);
-    }
-
-    if (tryBinary)
-    {
-        rgsFile = fopen(fileName, "rb");
-
-        if (rgsFile != NULL)
-        {
-            fseek(rgsFile, 0, SEEK_END);
-            int fileDataSize = ftell(rgsFile);
-            fseek(rgsFile, 0, SEEK_SET);
-
-            if (fileDataSize > 0)
-            {
-                unsigned char *fileData = (unsigned char *)RAYGUI_MALLOC(fileDataSize*sizeof(unsigned char));
-                fread(fileData, sizeof(unsigned char), fileDataSize, rgsFile);
-
-                GuiLoadStyleFromMemory(fileData, fileDataSize);
-
-                RAYGUI_FREE(fileData);
-            }
-
-            fclose(rgsFile);
-        }
-    }
-}
-
-// Load style default over global style
-void GuiLoadStyleDefault(void)
-{
-    // We set this variable first to avoid cyclic function calls
-    // when calling GuiSetStyle() and GuiGetStyle()
-    guiStyleLoaded = true;
-
-    // Initialize default LIGHT style property values
-    // WARNING: Default value are applied to all controls on set but
-    // they can be overwritten later on for every custom control
-    GuiSetStyle(DEFAULT, BORDER_COLOR_NORMAL, 0x838383ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_NORMAL, 0xc9c9c9ff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_NORMAL, 0x686868ff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_FOCUSED, 0x5bb2d9ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_FOCUSED, 0xc9effeff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_FOCUSED, 0x6c9bbcff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_PRESSED, 0x0492c7ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_PRESSED, 0x97e8ffff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_PRESSED, 0x368bafff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_DISABLED, 0xb5c1c2ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_DISABLED, 0xe6e9e9ff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_DISABLED, 0xaeb7b8ff);
-    GuiSetStyle(DEFAULT, BORDER_WIDTH, 1);
-    GuiSetStyle(DEFAULT, TEXT_PADDING, 0);
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    // Initialize default extended property values
-    // NOTE: By default, extended property values are initialized to 0
-    GuiSetStyle(DEFAULT, TEXT_SIZE, 10);                // DEFAULT, shared by all controls
-    GuiSetStyle(DEFAULT, TEXT_SPACING, 1);              // DEFAULT, shared by all controls
-    GuiSetStyle(DEFAULT, LINE_COLOR, 0x90abb5ff);       // DEFAULT specific property
-    GuiSetStyle(DEFAULT, BACKGROUND_COLOR, 0xf5f5f5ff); // DEFAULT specific property
-    GuiSetStyle(DEFAULT, TEXT_LINE_SPACING, 15);        // DEFAULT, 15 pixels between lines
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);   // DEFAULT, text aligned vertically to middle of text-bounds
-
-    // Initialize control-specific property values
-    // NOTE: Those properties are in default list but require specific values by control type
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 2);
-    GuiSetStyle(SLIDER, TEXT_PADDING, 4);
-    GuiSetStyle(PROGRESSBAR, TEXT_PADDING, 4);
-    GuiSetStyle(CHECKBOX, TEXT_PADDING, 4);
-    GuiSetStyle(CHECKBOX, TEXT_ALIGNMENT, TEXT_ALIGN_RIGHT);
-    GuiSetStyle(DROPDOWNBOX, TEXT_PADDING, 0);
-    GuiSetStyle(DROPDOWNBOX, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-    GuiSetStyle(TEXTBOX, TEXT_PADDING, 4);
-    GuiSetStyle(TEXTBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(VALUEBOX, TEXT_PADDING, 0);
-    GuiSetStyle(VALUEBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(SPINNER, TEXT_PADDING, 0);
-    GuiSetStyle(SPINNER, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(STATUSBAR, TEXT_PADDING, 8);
-    GuiSetStyle(STATUSBAR, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-
-    // Initialize extended property values
-    // NOTE: By default, extended property values are initialized to 0
-    GuiSetStyle(TOGGLE, GROUP_PADDING, 2);
-    GuiSetStyle(SLIDER, SLIDER_WIDTH, 16);
-    GuiSetStyle(SLIDER, SLIDER_PADDING, 1);
-    GuiSetStyle(PROGRESSBAR, PROGRESS_PADDING, 1);
-    GuiSetStyle(CHECKBOX, CHECK_PADDING, 1);
-    GuiSetStyle(COMBOBOX, COMBO_BUTTON_WIDTH, 32);
-    GuiSetStyle(COMBOBOX, COMBO_BUTTON_SPACING, 2);
-    GuiSetStyle(DROPDOWNBOX, ARROW_PADDING, 16);
-    GuiSetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING, 2);
-    GuiSetStyle(SPINNER, SPIN_BUTTON_WIDTH, 24);
-    GuiSetStyle(SPINNER, SPIN_BUTTON_SPACING, 2);
-    GuiSetStyle(SCROLLBAR, BORDER_WIDTH, 0);
-    GuiSetStyle(SCROLLBAR, ARROWS_VISIBLE, 0);
-    GuiSetStyle(SCROLLBAR, ARROWS_SIZE, 6);
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING, 0);
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, 16);
-    GuiSetStyle(SCROLLBAR, SCROLL_PADDING, 0);
-    GuiSetStyle(SCROLLBAR, SCROLL_SPEED, 12);
-    GuiSetStyle(LISTVIEW, LIST_ITEMS_HEIGHT, 28);
-    GuiSetStyle(LISTVIEW, LIST_ITEMS_SPACING, 2);
-    GuiSetStyle(LISTVIEW, SCROLLBAR_WIDTH, 12);
-    GuiSetStyle(LISTVIEW, SCROLLBAR_SIDE, SCROLLBAR_RIGHT_SIDE);
-    GuiSetStyle(COLORPICKER, COLOR_SELECTOR_SIZE, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_WIDTH, 16);
-    GuiSetStyle(COLORPICKER, HUEBAR_PADDING, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW, 2);
-
-    if (guiFont.texture.id != GetFontDefault().texture.id)
-    {
-        // Unload previous font texture
-        UnloadTexture(guiFont.texture);
-        RL_FREE(guiFont.recs);
-        RL_FREE(guiFont.glyphs);
-        guiFont.recs = NULL;
-        guiFont.glyphs = NULL;
-
-        // Setup default raylib font
-        guiFont = GetFontDefault();
-
-        // NOTE: Default raylib font character 95 is a white square
-        Rectangle whiteChar = guiFont.recs[95];
-
-        // NOTE: We set up a 1px padding on char rectangle to avoid pixel bleeding on MSAA filtering
-        SetShapesTexture(guiFont.texture, RAYGUI_CLITERAL(Rectangle){ whiteChar.x + 1, whiteChar.y + 1, whiteChar.width - 2, whiteChar.height - 2 });
-    }
-}
-
-// Get text with icon id prepended
-// NOTE: Useful to add icons by name id (enum) instead of
-// a number that can change between ricon versions
-const char *GuiIconText(int iconId, const char *text)
-{
-#if defined(RAYGUI_NO_ICONS)
-    return NULL;
-#else
-    static char buffer[1024] = { 0 };
-    static char iconBuffer[16] = { 0 };
-
-    if (text != NULL)
-    {
-        memset(buffer, 0, 1024);
-        sprintf(buffer, "#%03i#", iconId);
-
-        for (int i = 5; i < 1024; i++)
-        {
-            buffer[i] = text[i - 5];
-            if (text[i - 5] == '\0') break;
-        }
-
-        return buffer;
-    }
-    else
-    {
-        sprintf(iconBuffer, "#%03i#", iconId);
-
-        return iconBuffer;
-    }
-#endif
-}
-
-#if !defined(RAYGUI_NO_ICONS)
-// Get full icons data pointer
-unsigned int *GuiGetIcons(void) { return guiIconsPtr; }
-
-// Load raygui icons file (.rgi)
-// NOTE: In case nameIds are required, they can be requested with loadIconsName,
-// they are returned as a guiIconsName[iconCount][RAYGUI_ICON_MAX_NAME_LENGTH],
-// WARNING: guiIconsName[]][] memory should be manually freed!
-char **GuiLoadIcons(const char *fileName, bool loadIconsName)
-{
-    // Style File Structure (.rgi)
-    // ------------------------------------------------------
-    // Offset  | Size    | Type       | Description
-    // ------------------------------------------------------
-    // 0       | 4       | char       | Signature: "rGI "
-    // 4       | 2       | short      | Version: 100
-    // 6       | 2       | short      | reserved
-
-    // 8       | 2       | short      | Num icons (N)
-    // 10      | 2       | short      | Icons size (Options: 16, 32, 64) (S)
-
-    // Icons name id (32 bytes per name id)
-    // foreach (icon)
-    // {
-    //   12+32*i  | 32   | char       | Icon NameId
-    // }
-
-    // Icons data: One bit per pixel, stored as unsigned int array (depends on icon size)
-    // S*S pixels/32bit per unsigned int = K unsigned int per icon
-    // foreach (icon)
-    // {
-    //   ...   | K       | unsigned int | Icon Data
-    // }
-
-    FILE *rgiFile = fopen(fileName, "rb");
-
-    char **guiIconsName = NULL;
-
-    if (rgiFile != NULL)
-    {
-        char signature[5] = { 0 };
-        short version = 0;
-        short reserved = 0;
-        short iconCount = 0;
-        short iconSize = 0;
-
-        fread(signature, 1, 4, rgiFile);
-        fread(&version, sizeof(short), 1, rgiFile);
-        fread(&reserved, sizeof(short), 1, rgiFile);
-        fread(&iconCount, sizeof(short), 1, rgiFile);
-        fread(&iconSize, sizeof(short), 1, rgiFile);
-
-        if ((signature[0] == 'r') &&
-            (signature[1] == 'G') &&
-            (signature[2] == 'I') &&
-            (signature[3] == ' '))
-        {
-            if (loadIconsName)
-            {
-                guiIconsName = (char **)RAYGUI_MALLOC(iconCount*sizeof(char **));
-                for (int i = 0; i < iconCount; i++)
-                {
-                    guiIconsName[i] = (char *)RAYGUI_MALLOC(RAYGUI_ICON_MAX_NAME_LENGTH);
-                    fread(guiIconsName[i], 1, RAYGUI_ICON_MAX_NAME_LENGTH, rgiFile);
-                }
-            }
-            else fseek(rgiFile, iconCount*RAYGUI_ICON_MAX_NAME_LENGTH, SEEK_CUR);
-
-            // Read icons data directly over internal icons array
-            fread(guiIconsPtr, sizeof(unsigned int), iconCount*(iconSize*iconSize/32), rgiFile);
-        }
-
-        fclose(rgiFile);
-    }
-
-    return guiIconsName;
-}
-
-// Draw selected icon using rectangles pixel-by-pixel
-void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color)
-{
-    #define BIT_CHECK(a,b) ((a) & (1u<<(b)))
-
-    for (int i = 0, y = 0; i < RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32; i++)
-    {
-        for (int k = 0; k < 32; k++)
-        {
-            if (BIT_CHECK(guiIconsPtr[iconId*RAYGUI_ICON_DATA_ELEMENTS + i], k))
-            {
-            #if !defined(RAYGUI_STANDALONE)
-                GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ (float)posX + (k%RAYGUI_ICON_SIZE)*pixelSize, (float)posY + y*pixelSize, (float)pixelSize, (float)pixelSize }, 0, BLANK, color);
-            #endif
-            }
-
-            if ((k == 15) || (k == 31)) y++;
-        }
-    }
-}
-
-// Set icon drawing size
-void GuiSetIconScale(int scale)
-{
-    if (scale >= 1) guiIconScale = scale;
-}
-
-#endif      // !RAYGUI_NO_ICONS
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Definition
-//----------------------------------------------------------------------------------
-
-// Load style from memory
-// WARNING: Binary files only
-static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize)
-{
-    unsigned char *fileDataPtr = (unsigned char *)fileData;
-
-    char signature[5] = { 0 };
-    short version = 0;
-    short reserved = 0;
-    int propertyCount = 0;
-
-    memcpy(signature, fileDataPtr, 4);
-    memcpy(&version, fileDataPtr + 4, sizeof(short));
-    memcpy(&reserved, fileDataPtr + 4 + 2, sizeof(short));
-    memcpy(&propertyCount, fileDataPtr + 4 + 2 + 2, sizeof(int));
-    fileDataPtr += 12;
-
-    if ((signature[0] == 'r') &&
-        (signature[1] == 'G') &&
-        (signature[2] == 'S') &&
-        (signature[3] == ' '))
-    {
-        short controlId = 0;
-        short propertyId = 0;
-        unsigned int propertyValue = 0;
-
-        for (int i = 0; i < propertyCount; i++)
-        {
-            memcpy(&controlId, fileDataPtr, sizeof(short));
-            memcpy(&propertyId, fileDataPtr + 2, sizeof(short));
-            memcpy(&propertyValue, fileDataPtr + 2 + 2, sizeof(unsigned int));
-            fileDataPtr += 8;
-
-            if (controlId == 0) // DEFAULT control
-            {
-                // If a DEFAULT property is loaded, it is propagated to all controls
-                // NOTE: All DEFAULT properties should be defined first in the file
-                GuiSetStyle(0, (int)propertyId, propertyValue);
-
-                if (propertyId < RAYGUI_MAX_PROPS_BASE) for (int j = 1; j < RAYGUI_MAX_CONTROLS; j++) GuiSetStyle(j, (int)propertyId, propertyValue);
-            }
-            else GuiSetStyle((int)controlId, (int)propertyId, propertyValue);
-        }
-
-        // Font loading is highly dependant on raylib API to load font data and image
-
-#if !defined(RAYGUI_STANDALONE)
-        // Load custom font if available
-        int fontDataSize = 0;
-        memcpy(&fontDataSize, fileDataPtr, sizeof(int));
-        fileDataPtr += 4;
-
-        if (fontDataSize > 0)
-        {
-            Font font = { 0 };
-            int fontType = 0;   // 0-Normal, 1-SDF
-
-            memcpy(&font.baseSize, fileDataPtr, sizeof(int));
-            memcpy(&font.glyphCount, fileDataPtr + 4, sizeof(int));
-            memcpy(&fontType, fileDataPtr + 4 + 4, sizeof(int));
-            fileDataPtr += 12;
-
-            // Load font white rectangle
-            Rectangle fontWhiteRec = { 0 };
-            memcpy(&fontWhiteRec, fileDataPtr, sizeof(Rectangle));
-            fileDataPtr += 16;
-
-            // Load font image parameters
-            int fontImageUncompSize = 0;
-            int fontImageCompSize = 0;
-            memcpy(&fontImageUncompSize, fileDataPtr, sizeof(int));
-            memcpy(&fontImageCompSize, fileDataPtr + 4, sizeof(int));
-            fileDataPtr += 8;
-
-            Image imFont = { 0 };
-            imFont.mipmaps = 1;
-            memcpy(&imFont.width, fileDataPtr, sizeof(int));
-            memcpy(&imFont.height, fileDataPtr + 4, sizeof(int));
-            memcpy(&imFont.format, fileDataPtr + 4 + 4, sizeof(int));
-            fileDataPtr += 12;
-
-            if ((fontImageCompSize > 0) && (fontImageCompSize != fontImageUncompSize))
-            {
-                // Compressed font atlas image data (DEFLATE), it requires DecompressData()
-                int dataUncompSize = 0;
-                unsigned char *compData = (unsigned char *)RAYGUI_MALLOC(fontImageCompSize);
-                memcpy(compData, fileDataPtr, fontImageCompSize);
-                fileDataPtr += fontImageCompSize;
-
-                imFont.data = DecompressData(compData, fontImageCompSize, &dataUncompSize);
-
-                // Security check, dataUncompSize must match the provided fontImageUncompSize
-                if (dataUncompSize != fontImageUncompSize) RAYGUI_LOG("WARNING: Uncompressed font atlas image data could be corrupted");
-
-                RAYGUI_FREE(compData);
-            }
-            else
-            {
-                // Font atlas image data is not compressed
-                imFont.data = (unsigned char *)RAYGUI_MALLOC(fontImageUncompSize);
-                memcpy(imFont.data, fileDataPtr, fontImageUncompSize);
-                fileDataPtr += fontImageUncompSize;
-            }
-
-            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
-            font.texture = LoadTextureFromImage(imFont);
-
-            RAYGUI_FREE(imFont.data);
-
-            // Validate font atlas texture was loaded correctly
-            if (font.texture.id != 0)
-            {
-                // Load font recs data
-                int recsDataSize = font.glyphCount*sizeof(Rectangle);
-                int recsDataCompressedSize = 0;
-
-                // WARNING: Version 400 adds the compression size parameter
-                if (version >= 400)
-                {
-                    // RGS files version 400 support compressed recs data
-                    memcpy(&recsDataCompressedSize, fileDataPtr, sizeof(int));
-                    fileDataPtr += sizeof(int);
-                }
-
-                if ((recsDataCompressedSize > 0) && (recsDataCompressedSize != recsDataSize))
-                {
-                    // Recs data is compressed, uncompress it
-                    unsigned char *recsDataCompressed = (unsigned char *)RAYGUI_MALLOC(recsDataCompressedSize);
-
-                    memcpy(recsDataCompressed, fileDataPtr, recsDataCompressedSize);
-                    fileDataPtr += recsDataCompressedSize;
-
-                    int recsDataUncompSize = 0;
-                    font.recs = (Rectangle *)DecompressData(recsDataCompressed, recsDataCompressedSize, &recsDataUncompSize);
-
-                    // Security check, data uncompressed size must match the expected original data size
-                    if (recsDataUncompSize != recsDataSize) RAYGUI_LOG("WARNING: Uncompressed font recs data could be corrupted");
-
-                    RAYGUI_FREE(recsDataCompressed);
-                }
-                else
-                {
-                    // Recs data is uncompressed
-                    font.recs = (Rectangle *)RAYGUI_CALLOC(font.glyphCount, sizeof(Rectangle));
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.recs[i], fileDataPtr, sizeof(Rectangle));
-                        fileDataPtr += sizeof(Rectangle);
-                    }
-                }
-
-                // Load font glyphs info data
-                int glyphsDataSize = font.glyphCount*16;    // 16 bytes data per glyph
-                int glyphsDataCompressedSize = 0;
-
-                // WARNING: Version 400 adds the compression size parameter
-                if (version >= 400)
-                {
-                    // RGS files version 400 support compressed glyphs data
-                    memcpy(&glyphsDataCompressedSize, fileDataPtr, sizeof(int));
-                    fileDataPtr += sizeof(int);
-                }
-
-                // Allocate required glyphs space to fill with data
-                font.glyphs = (GlyphInfo *)RAYGUI_CALLOC(font.glyphCount, sizeof(GlyphInfo));
-
-                if ((glyphsDataCompressedSize > 0) && (glyphsDataCompressedSize != glyphsDataSize))
-                {
-                    // Glyphs data is compressed, uncompress it
-                    unsigned char *glypsDataCompressed = (unsigned char *)RAYGUI_MALLOC(glyphsDataCompressedSize);
-
-                    memcpy(glypsDataCompressed, fileDataPtr, glyphsDataCompressedSize);
-                    fileDataPtr += glyphsDataCompressedSize;
-
-                    int glyphsDataUncompSize = 0;
-                    unsigned char *glyphsDataUncomp = DecompressData(glypsDataCompressed, glyphsDataCompressedSize, &glyphsDataUncompSize);
-
-                    // Security check, data uncompressed size must match the expected original data size
-                    if (glyphsDataUncompSize != glyphsDataSize) RAYGUI_LOG("WARNING: Uncompressed font glyphs data could be corrupted");
-
-                    unsigned char *glyphsDataUncompPtr = glyphsDataUncomp;
-
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.glyphs[i].value, glyphsDataUncompPtr, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetX, glyphsDataUncompPtr + 4, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetY, glyphsDataUncompPtr + 8, sizeof(int));
-                        memcpy(&font.glyphs[i].advanceX, glyphsDataUncompPtr + 12, sizeof(int));
-                        glyphsDataUncompPtr += 16;
-                    }
-
-                    RAYGUI_FREE(glypsDataCompressed);
-                    RAYGUI_FREE(glyphsDataUncomp);
-                }
-                else
-                {
-                    // Glyphs data is uncompressed
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.glyphs[i].value, fileDataPtr, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetX, fileDataPtr + 4, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetY, fileDataPtr + 8, sizeof(int));
-                        memcpy(&font.glyphs[i].advanceX, fileDataPtr + 12, sizeof(int));
-                        fileDataPtr += 16;
-                    }
-                }
-            }
-            else font = GetFontDefault();   // Fallback in case of errors loading font atlas texture
-
-            GuiSetFont(font);
-
-            // Set font texture source rectangle to be used as white texture to draw shapes
-            // NOTE: It makes possible to draw shapes and text (full UI) in a single draw call
-            if ((fontWhiteRec.x > 0) &&
-                (fontWhiteRec.y > 0) &&
-                (fontWhiteRec.width > 0) &&
-                (fontWhiteRec.height > 0)) SetShapesTexture(font.texture, fontWhiteRec);
-        }
-#endif
-    }
-}
-
-// Gui get text width considering icon
-static int GetTextWidth(const char *text)
-{
-    #if !defined(ICON_TEXT_PADDING)
-        #define ICON_TEXT_PADDING   4
-    #endif
-
-    Vector2 textSize = { 0 };
-    int textIconOffset = 0;
-
-    if ((text != NULL) && (text[0] != '\0'))
-    {
-        if (text[0] == '#')
-        {
-            for (int i = 1; (i < 5) && (text[i] != '\0'); i++)
-            {
-                if (text[i] == '#')
-                {
-                    textIconOffset = i;
-                    break;
-                }
-            }
-        }
-
-        text += textIconOffset;
-
-        // Make sure guiFont is set, GuiGetStyle() initializes it lazynessly
-        float fontSize = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-
-        // Custom MeasureText() implementation
-        if ((guiFont.texture.id > 0) && (text != NULL))
-        {
-            // Get size in bytes of text, considering end of line and line break
-            int size = 0;
-            for (int i = 0; i < MAX_LINE_BUFFER_SIZE; i++)
-            {
-                if ((text[i] != '\0') && (text[i] != '\n')) size++;
-                else break;
-            }
-
-            float scaleFactor = fontSize/(float)guiFont.baseSize;
-            textSize.y = (float)guiFont.baseSize*scaleFactor;
-            float glyphWidth = 0.0f;
-
-            for (int i = 0, codepointSize = 0; i < size; i += codepointSize)
-            {
-                int codepoint = GetCodepointNext(&text[i], &codepointSize);
-                int codepointIndex = GetGlyphIndex(guiFont, codepoint);
-
-                if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
-                else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
-
-                textSize.x += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-            }
-        }
-
-        if (textIconOffset > 0) textSize.x += (RAYGUI_ICON_SIZE + ICON_TEXT_PADDING);
-    }
-
-    return (int)textSize.x;
-}
-
-// Get text bounds considering control bounds
-static Rectangle GetTextBounds(int control, Rectangle bounds)
-{
-    Rectangle textBounds = bounds;
-
-    textBounds.x = bounds.x + GuiGetStyle(control, BORDER_WIDTH);
-    textBounds.y = bounds.y + GuiGetStyle(control, BORDER_WIDTH) + GuiGetStyle(control, TEXT_PADDING);
-    textBounds.width = bounds.width - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);
-    textBounds.height = bounds.height - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);    // NOTE: Text is processed line per line!
-
-    // Depending on control, TEXT_PADDING and TEXT_ALIGNMENT properties could affect the text-bounds
-    switch (control)
-    {
-        case COMBOBOX:
-        case DROPDOWNBOX:
-        case LISTVIEW:
-            // TODO: Special cases (no label): COMBOBOX, DROPDOWNBOX, LISTVIEW
-        case SLIDER:
-        case CHECKBOX:
-        case VALUEBOX:
-        case SPINNER:
-            // TODO: More special cases (label on side): SLIDER, CHECKBOX, VALUEBOX, SPINNER
-        default:
-        {
-            // TODO: WARNING: TEXT_ALIGNMENT is already considered in GuiDrawText()
-            if (GuiGetStyle(control, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT) textBounds.x -= GuiGetStyle(control, TEXT_PADDING);
-            else textBounds.x += GuiGetStyle(control, TEXT_PADDING);
-        }
-        break;
-    }
-
-    return textBounds;
-}
-
-// Get text icon if provided and move text cursor
-// NOTE: We support up to 999 values for iconId
-static const char *GetTextIcon(const char *text, int *iconId)
-{
-#if !defined(RAYGUI_NO_ICONS)
-    *iconId = -1;
-    if (text[0] == '#')     // Maybe we have an icon!
-    {
-        char iconValue[4] = { 0 };  // Maximum length for icon value: 3 digits + '\0'
-
-        int pos = 1;
-        while ((pos < 4) && (text[pos] >= '0') && (text[pos] <= '9'))
-        {
-            iconValue[pos - 1] = text[pos];
-            pos++;
-        }
-
-        if (text[pos] == '#')
-        {
-            *iconId = TextToInteger(iconValue);
-
-            // Move text pointer after icon
-            // WARNING: If only icon provided, it could point to EOL character: '\0'
-            if (*iconId >= 0) text += (pos + 1);
-        }
-    }
-#endif
-
-    return text;
-}
-
-// Get text divided into lines (by line-breaks '\n')
-const char **GetTextLines(const char *text, int *count)
-{
-    #define RAYGUI_MAX_TEXT_LINES   128
-
-    static const char *lines[RAYGUI_MAX_TEXT_LINES] = { 0 };
-    for (int i = 0; i < RAYGUI_MAX_TEXT_LINES; i++) lines[i] = NULL;    // Init NULL pointers to substrings
-
-    int textSize = (int)strlen(text);
-
-    lines[0] = text;
-    int len = 0;
-    *count = 1;
-    //int lineSize = 0;   // Stores current line size, not returned
-
-    for (int i = 0, k = 0; (i < textSize) && (*count < RAYGUI_MAX_TEXT_LINES); i++)
-    {
-        if (text[i] == '\n')
-        {
-            //lineSize = len;
-            k++;
-            lines[k] = &text[i + 1];     // WARNING: next value is valid?
-            len = 0;
-            *count += 1;
-        }
-        else len++;
-    }
-
-    //lines[*count - 1].size = len;
-
-    return lines;
-}
-
-// Get text width to next space for provided string
-static float GetNextSpaceWidth(const char *text, int *nextSpaceIndex)
-{
-    float width = 0;
-    int codepointByteCount = 0;
-    int codepoint = 0;
-    int index = 0;
-    float glyphWidth = 0;
-    float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
-
-    for (int i = 0; text[i] != '\0'; i++)
-    {
-        if (text[i] != ' ')
-        {
-            codepoint = GetCodepoint(&text[i], &codepointByteCount);
-            index = GetGlyphIndex(guiFont, codepoint);
-            glyphWidth = (guiFont.glyphs[index].advanceX == 0)? guiFont.recs[index].width*scaleFactor : guiFont.glyphs[index].advanceX*scaleFactor;
-            width += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-        }
-        else
-        {
-            *nextSpaceIndex = i;
-            break;
-        }
-    }
-
-    return width;
-}
-
-// Gui draw text using default font
-static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint)
-{
-    #define TEXT_VALIGN_PIXEL_OFFSET(h)  ((int)h%2)     // Vertical alignment for pixel perfect
-
-    #if !defined(ICON_TEXT_PADDING)
-        #define ICON_TEXT_PADDING   4
-    #endif
-
-    if ((text == NULL) || (text[0] == '\0')) return;    // Security check
-
-    // PROCEDURE:
-    //   - Text is processed line per line
-    //   - For every line, horizontal alignment is defined
-    //   - For all text, vertical alignment is defined (multiline text only)
-    //   - For every line, wordwrap mode is checked (useful for GuitextBox(), read-only)
-
-    // Get text lines (using '\n' as delimiter) to be processed individually
-    // WARNING: We can't use GuiTextSplit() function because it can be already used
-    // before the GuiDrawText() call and its buffer is static, it would be overriden :(
-    int lineCount = 0;
-    const char **lines = GetTextLines(text, &lineCount);
-
-    // Text style variables
-    //int alignment = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT);
-    int alignmentVertical = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL);
-    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);    // Wrap-mode only available in read-only mode, no for text editing
-
-    // TODO: WARNING: This totalHeight is not valid for vertical alignment in case of word-wrap
-    float totalHeight = (float)(lineCount*GuiGetStyle(DEFAULT, TEXT_SIZE) + (lineCount - 1)*GuiGetStyle(DEFAULT, TEXT_SIZE)/2);
-    float posOffsetY = 0.0f;
-
-    for (int i = 0; i < lineCount; i++)
-    {
-        int iconId = 0;
-        lines[i] = GetTextIcon(lines[i], &iconId);      // Check text for icon and move cursor
-
-        // Get text position depending on alignment and iconId
-        //---------------------------------------------------------------------------------
-        Vector2 textBoundsPosition = { textBounds.x, textBounds.y };
-        float textBoundsWidthOffset = 0.0f;
-
-        // NOTE: We get text size after icon has been processed
-        // WARNING: GetTextWidth() also processes text icon to get width! -> Really needed?
-        int textSizeX = GetTextWidth(lines[i]);
-
-        // If text requires an icon, add size to measure
-        if (iconId >= 0)
-        {
-            textSizeX += RAYGUI_ICON_SIZE*guiIconScale;
-
-            // WARNING: If only icon provided, text could be pointing to EOF character: '\0'
-#if !defined(RAYGUI_NO_ICONS)
-            if ((lines[i] != NULL) && (lines[i][0] != '\0')) textSizeX += ICON_TEXT_PADDING;
-#endif
-        }
-
-        // Check guiTextAlign global variables
-        switch (alignment)
-        {
-            case TEXT_ALIGN_LEFT: textBoundsPosition.x = textBounds.x; break;
-            case TEXT_ALIGN_CENTER: textBoundsPosition.x = textBounds.x +  textBounds.width/2 - textSizeX/2; break;
-            case TEXT_ALIGN_RIGHT: textBoundsPosition.x = textBounds.x + textBounds.width - textSizeX; break;
-            default: break;
-        }
-
-        if (textSizeX > textBounds.width && (lines[i] != NULL) && (lines[i][0] != '\0')) textBoundsPosition.x = textBounds.x;
-
-        switch (alignmentVertical)
-        {
-            // Only valid in case of wordWrap = 0;
-            case TEXT_ALIGN_TOP: textBoundsPosition.y = textBounds.y + posOffsetY; break;
-            case TEXT_ALIGN_MIDDLE: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height/2 - totalHeight/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
-            case TEXT_ALIGN_BOTTOM: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height - totalHeight + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
-            default: break;
-        }
-
-        // NOTE: Make sure we get pixel-perfect coordinates,
-        // In case of decimals we got weird text positioning
-        textBoundsPosition.x = (float)((int)textBoundsPosition.x);
-        textBoundsPosition.y = (float)((int)textBoundsPosition.y);
-        //---------------------------------------------------------------------------------
-
-        // Draw text (with icon if available)
-        //---------------------------------------------------------------------------------
-#if !defined(RAYGUI_NO_ICONS)
-        if (iconId >= 0)
-        {
-            // NOTE: We consider icon height, probably different than text size
-            GuiDrawIcon(iconId, (int)textBoundsPosition.x, (int)(textBounds.y + textBounds.height/2 - RAYGUI_ICON_SIZE*guiIconScale/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height)), guiIconScale, tint);
-            textBoundsPosition.x += (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
-            textBoundsWidthOffset = (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
-        }
-#endif
-        // Get size in bytes of text,
-        // considering end of line and line break
-        int lineSize = 0;
-        for (int c = 0; (lines[i][c] != '\0') && (lines[i][c] != '\n') && (lines[i][c] != '\r'); c++, lineSize++){ }
-        float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
-
-        int lastSpaceIndex = 0;
-        bool tempWrapCharMode = false;
-
-        int textOffsetY = 0;
-        float textOffsetX = 0.0f;
-        float glyphWidth = 0;
-
-        int ellipsisWidth = GetTextWidth("...");
-        bool textOverflow = false;
-        for (int c = 0, codepointSize = 0; c < lineSize; c += codepointSize)
-        {
-            int codepoint = GetCodepointNext(&lines[i][c], &codepointSize);
-            int index = GetGlyphIndex(guiFont, codepoint);
-
-            // NOTE: Normally we exit the decoding sequence as soon as a bad byte is found (and return 0x3f)
-            // but we need to draw all of the bad bytes using the '?' symbol moving one byte
-            if (codepoint == 0x3f) codepointSize = 1; // TODO: Review not recognized codepoints size
-
-            // Get glyph width to check if it goes out of bounds
-            if (guiFont.glyphs[index].advanceX == 0) glyphWidth = ((float)guiFont.recs[index].width*scaleFactor);
-            else glyphWidth = (float)guiFont.glyphs[index].advanceX*scaleFactor;
-
-            // Wrap mode text measuring, to validate if
-            // it can be drawn or a new line is required
-            if (wrapMode == TEXT_WRAP_CHAR)
-            {
-                // Jump to next line if current character reach end of the box limits
-                if ((textOffsetX + glyphWidth) > textBounds.width - textBoundsWidthOffset)
-                {
-                    textOffsetX = 0.0f;
-                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-
-                    if (tempWrapCharMode)   // Wrap at char level when too long words
-                    {
-                        wrapMode = TEXT_WRAP_WORD;
-                        tempWrapCharMode = false;
-                    }
-                }
-            }
-            else if (wrapMode == TEXT_WRAP_WORD)
-            {
-                if (codepoint == 32) lastSpaceIndex = c;
-
-                // Get width to next space in line
-                int nextSpaceIndex = 0;
-                float nextSpaceWidth = GetNextSpaceWidth(lines[i] + c, &nextSpaceIndex);
-
-                int nextSpaceIndex2 = 0;
-                float nextWordSize = GetNextSpaceWidth(lines[i] + lastSpaceIndex + 1, &nextSpaceIndex2);
-
-                if (nextWordSize > textBounds.width - textBoundsWidthOffset)
-                {
-                    // Considering the case the next word is longer than bounds
-                    tempWrapCharMode = true;
-                    wrapMode = TEXT_WRAP_CHAR;
-                }
-                else if ((textOffsetX + nextSpaceWidth) > textBounds.width - textBoundsWidthOffset)
-                {
-                    textOffsetX = 0.0f;
-                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-                }
-            }
-
-            if (codepoint == '\n') break;   // WARNING: Lines are already processed manually, no need to keep drawing after this codepoint
-            else
-            {
-                // TODO: There are multiple types of spaces in Unicode,
-                // maybe it's a good idea to add support for more: http://jkorpela.fi/chars/spaces.html
-                if ((codepoint != ' ') && (codepoint != '\t'))      // Do not draw codepoints with no glyph
-                {
-                    if (wrapMode == TEXT_WRAP_NONE)
-                    {
-                        // Draw only required text glyphs fitting the textBounds.width
-                        if (textSizeX > textBounds.width)
-                        {
-                            if (textOffsetX <= (textBounds.width - glyphWidth - textBoundsWidthOffset - ellipsisWidth))
-                            {
-                                DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                            }
-                            else if (!textOverflow)
-                            {
-                                textOverflow = true;
-
-                                for (int j = 0; j < ellipsisWidth; j += ellipsisWidth/3)
-                                {
-                                    DrawTextCodepoint(guiFont, '.', RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX + j, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                                }
-                            }
-                        }
-                        else
-                        {
-                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                        }
-                    }
-                    else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD))
-                    {
-                        // Draw only glyphs inside the bounds
-                        if ((textBoundsPosition.y + textOffsetY) <= (textBounds.y + textBounds.height - GuiGetStyle(DEFAULT, TEXT_SIZE)))
-                        {
-                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                        }
-                    }
-                }
-
-                if (guiFont.glyphs[index].advanceX == 0) textOffsetX += ((float)guiFont.recs[index].width*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-                else textOffsetX += ((float)guiFont.glyphs[index].advanceX*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-            }
-        }
-
-        if (wrapMode == TEXT_WRAP_NONE) posOffsetY += (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-        else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD)) posOffsetY += (textOffsetY + (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING));
-        //---------------------------------------------------------------------------------
-    }
-
-#if defined(RAYGUI_DEBUG_TEXT_BOUNDS)
-    GuiDrawRectangle(textBounds, 0, WHITE, Fade(BLUE, 0.4f));
-#endif
-}
-
-// Gui draw rectangle using default raygui plain style with borders
-static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color)
-{
-    if (color.a > 0)
-    {
-        // Draw rectangle filled with color
-        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, GuiFade(color, guiAlpha));
-    }
-
-    if (borderWidth > 0)
-    {
-        // Draw rectangle border lines with color
-        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x + (int)rec.width - borderWidth, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x, (int)rec.y + (int)rec.height - borderWidth, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
-    }
-
-#if defined(RAYGUI_DEBUG_RECS_BOUNDS)
-    DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, Fade(RED, 0.4f));
-#endif
-}
-
-// Draw tooltip using control bounds
-static void GuiTooltip(Rectangle controlRec)
-{
-    if (!guiLocked && guiTooltip && (guiTooltipPtr != NULL) && !guiControlExclusiveMode)
-    {
-        Vector2 textSize = MeasureTextEx(GuiGetFont(), guiTooltipPtr, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-
-        if ((controlRec.x + textSize.x + 16) > GetScreenWidth()) controlRec.x -= (textSize.x + 16 - controlRec.width);
-
-        GuiPanel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, NULL);
-
-        int textPadding = GuiGetStyle(LABEL, TEXT_PADDING);
-        int textAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-        GuiSetStyle(LABEL, TEXT_PADDING, 0);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-        GuiLabel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, guiTooltipPtr);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, textAlignment);
-        GuiSetStyle(LABEL, TEXT_PADDING, textPadding);
-    }
-}
-
-// Split controls text into multiple strings
-// Also check for multiple columns (required by GuiToggleGroup())
-static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow)
-{
-    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
-    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
-    // all used memory is static... it has some limitations:
-    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
-    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
-    // NOTE: Those definitions could be externally provided if required
-
-    // TODO: HACK: GuiTextSplit() - Review how textRows are returned to user
-    // textRow is an externally provided array of integers that stores row number for every splitted string
-
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
-        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
-    #endif
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
-        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE     1024
-    #endif
-
-    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };   // String pointers array (points to buffer data)
-    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };         // Buffer data (text input copy with '\0' added)
-    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
-
-    result[0] = buffer;
-    int counter = 1;
-
-    if (textRow != NULL) textRow[0] = 0;
-
-    // Count how many substrings we have on text and point to every one
-    for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
-    {
-        buffer[i] = text[i];
-        if (buffer[i] == '\0') break;
-        else if ((buffer[i] == delimiter) || (buffer[i] == '\n'))
-        {
-            result[counter] = buffer + i + 1;
-
-            if (textRow != NULL)
-            {
-                if (buffer[i] == '\n') textRow[counter] = textRow[counter - 1] + 1;
-                else textRow[counter] = textRow[counter - 1];
-            }
-
-            buffer[i] = '\0';   // Set an end of string at this point
-
-            counter++;
-            if (counter > RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
-        }
-    }
-
-    *count = counter;
-
-    return result;
-}
-
-// Convert color data from RGB to HSV
-// NOTE: Color data should be passed normalized
-static Vector3 ConvertRGBtoHSV(Vector3 rgb)
-{
-    Vector3 hsv = { 0 };
-    float min = 0.0f;
-    float max = 0.0f;
-    float delta = 0.0f;
-
-    min = (rgb.x < rgb.y)? rgb.x : rgb.y;
-    min = (min < rgb.z)? min  : rgb.z;
-
-    max = (rgb.x > rgb.y)? rgb.x : rgb.y;
-    max = (max > rgb.z)? max  : rgb.z;
-
-    hsv.z = max;            // Value
-    delta = max - min;
-
-    if (delta < 0.00001f)
-    {
-        hsv.y = 0.0f;
-        hsv.x = 0.0f;           // Undefined, maybe NAN?
-        return hsv;
-    }
-
-    if (max > 0.0f)
-    {
-        // NOTE: If max is 0, this divide would cause a crash
-        hsv.y = (delta/max);    // Saturation
-    }
-    else
-    {
-        // NOTE: If max is 0, then r = g = b = 0, s = 0, h is undefined
-        hsv.y = 0.0f;
-        hsv.x = 0.0f;           // Undefined, maybe NAN?
-        return hsv;
-    }
-
-    // NOTE: Comparing float values could not work properly
-    if (rgb.x >= max) hsv.x = (rgb.y - rgb.z)/delta;    // Between yellow & magenta
-    else
-    {
-        if (rgb.y >= max) hsv.x = 2.0f + (rgb.z - rgb.x)/delta;  // Between cyan & yellow
-        else hsv.x = 4.0f + (rgb.x - rgb.y)/delta;      // Between magenta & cyan
-    }
-
-    hsv.x *= 60.0f;     // Convert to degrees
-
-    if (hsv.x < 0.0f) hsv.x += 360.0f;
-
-    return hsv;
-}
-
-// Convert color data from HSV to RGB
-// NOTE: Color data should be passed normalized
-static Vector3 ConvertHSVtoRGB(Vector3 hsv)
-{
-    Vector3 rgb = { 0 };
-    float hh = 0.0f, p = 0.0f, q = 0.0f, t = 0.0f, ff = 0.0f;
-    long i = 0;
-
-    // NOTE: Comparing float values could not work properly
-    if (hsv.y <= 0.0f)
-    {
-        rgb.x = hsv.z;
-        rgb.y = hsv.z;
-        rgb.z = hsv.z;
-        return rgb;
-    }
-
-    hh = hsv.x;
-    if (hh >= 360.0f) hh = 0.0f;
-    hh /= 60.0f;
-
-    i = (long)hh;
-    ff = hh - i;
-    p = hsv.z*(1.0f - hsv.y);
-    q = hsv.z*(1.0f - (hsv.y*ff));
-    t = hsv.z*(1.0f - (hsv.y*(1.0f - ff)));
-
-    switch (i)
-    {
-        case 0:
-        {
-            rgb.x = hsv.z;
-            rgb.y = t;
-            rgb.z = p;
-        } break;
-        case 1:
-        {
-            rgb.x = q;
-            rgb.y = hsv.z;
-            rgb.z = p;
-        } break;
-        case 2:
-        {
-            rgb.x = p;
-            rgb.y = hsv.z;
-            rgb.z = t;
-        } break;
-        case 3:
-        {
-            rgb.x = p;
-            rgb.y = q;
-            rgb.z = hsv.z;
-        } break;
-        case 4:
-        {
-            rgb.x = t;
-            rgb.y = p;
-            rgb.z = hsv.z;
-        } break;
-        case 5:
-        default:
-        {
-            rgb.x = hsv.z;
-            rgb.y = p;
-            rgb.z = q;
-        } break;
-    }
-
-    return rgb;
-}
-
-// Scroll bar control (used by GuiScrollPanel())
-static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue)
-{
-    GuiState state = guiState;
-
-    // Is the scrollbar horizontal or vertical?
-    bool isVertical = (bounds.width > bounds.height)? false : true;
-
-    // The size (width or height depending on scrollbar type) of the spinner buttons
-    const int spinnerSize = GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE)?
-        (isVertical? (int)bounds.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) :
-        (int)bounds.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH)) : 0;
-
-    // Arrow buttons [<] [>] [∧] [∨]
-    Rectangle arrowUpLeft = { 0 };
-    Rectangle arrowDownRight = { 0 };
-
-    // Actual area of the scrollbar excluding the arrow buttons
-    Rectangle scrollbar = { 0 };
-
-    // Slider bar that moves     --[///]-----
-    Rectangle slider = { 0 };
-
-    // Normalize value
-    if (value > maxValue) value = maxValue;
-    if (value < minValue) value = minValue;
-
-    int valueRange = maxValue - minValue;
-    if (valueRange <= 0) valueRange = 1;
-
-    int sliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
-    if (sliderSize < 1) sliderSize = 1;  // TODO: Consider a minimum slider size
-
-    // Calculate rectangles for all of the components
-    arrowUpLeft = RAYGUI_CLITERAL(Rectangle){
-        (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
-        (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
-        (float)spinnerSize, (float)spinnerSize };
-
-    if (isVertical)
-    {
-        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + bounds.height - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
-        scrollbar = RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), arrowUpLeft.y + arrowUpLeft.height, bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)), bounds.height - arrowUpLeft.height - arrowDownRight.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) };
-
-        // Make sure the slider won't get outside of the scrollbar
-        sliderSize = (sliderSize >= scrollbar.height)? ((int)scrollbar.height - 2) : sliderSize;
-        slider = RAYGUI_CLITERAL(Rectangle){
-            bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
-            scrollbar.y + (int)(((float)(value - minValue)/valueRange)*(scrollbar.height - sliderSize)),
-            bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)),
-            (float)sliderSize };
-    }
-    else    // horizontal
-    {
-        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + bounds.width - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
-        scrollbar = RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x + arrowUpLeft.width, bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), bounds.width - arrowUpLeft.width - arrowDownRight.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH), bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)) };
-
-        // Make sure the slider won't get outside of the scrollbar
-        sliderSize = (sliderSize >= scrollbar.width)? ((int)scrollbar.width - 2) : sliderSize;
-        slider = RAYGUI_CLITERAL(Rectangle){
-            scrollbar.x + (int)(((float)(value - minValue)/valueRange)*(scrollbar.width - sliderSize)),
-            bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
-            (float)sliderSize,
-            bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)) };
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON) &&
-                !CheckCollisionPointRec(mousePoint, arrowUpLeft) &&
-                !CheckCollisionPointRec(mousePoint, arrowDownRight))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
-                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            state = STATE_FOCUSED;
-
-            // Handle mouse wheel
-            int wheel = (int)GetMouseWheelMove();
-            if (wheel != 0) value += wheel;
-
-            // Handle mouse button down
-            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-            {
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                // Check arrows click
-                if (CheckCollisionPointRec(mousePoint, arrowUpLeft)) value -= valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                else if (CheckCollisionPointRec(mousePoint, arrowDownRight)) value += valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                else if (!CheckCollisionPointRec(mousePoint, slider))
-                {
-                    // If click on scrollbar position but not on slider, place slider directly on that position
-                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
-                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
-                }
-
-                state = STATE_PRESSED;
-            }
-
-            // Keyboard control on mouse hover scrollbar
-            /*
-            if (isVertical)
-            {
-                if (IsKeyDown(KEY_DOWN)) value += 5;
-                else if (IsKeyDown(KEY_UP)) value -= 5;
-            }
-            else
-            {
-                if (IsKeyDown(KEY_RIGHT)) value += 5;
-                else if (IsKeyDown(KEY_LEFT)) value -= 5;
-            }
-            */
-        }
-
-        // Normalize value
-        if (value > maxValue) value = maxValue;
-        if (value < minValue) value = minValue;
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SCROLLBAR, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED)));   // Draw the background
-
-    GuiDrawRectangle(scrollbar, 0, BLANK, GetColor(GuiGetStyle(BUTTON, BASE_COLOR_NORMAL)));     // Draw the scrollbar active area background
-    GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BORDER + state*3)));         // Draw the slider bar
-
-    // Draw arrows (using icon if available)
-    if (GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE))
-    {
-#if defined(RAYGUI_NO_ICONS)
-        GuiDrawText(isVertical? "^" : "<",
-            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-        GuiDrawText(isVertical? "v" : ">",
-            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-#else
-        GuiDrawText(isVertical? "#121#" : "#118#",
-            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_UP_FILL / ICON_ARROW_LEFT_FILL
-        GuiDrawText(isVertical? "#120#" : "#119#",
-            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_DOWN_FILL / ICON_ARROW_RIGHT_FILL
-#endif
-    }
-    //--------------------------------------------------------------------
-
-    return value;
-}
-
-// Color fade-in or fade-out, alpha goes from 0.0f to 1.0f
-// WARNING: It multiplies current alpha by alpha scale factor
-static Color GuiFade(Color color, float alpha)
-{
-    if (alpha < 0.0f) alpha = 0.0f;
-    else if (alpha > 1.0f) alpha = 1.0f;
-
-    Color result = { color.r, color.g, color.b, (unsigned char)(color.a*alpha) };
-
-    return result;
-}
-
-#if defined(RAYGUI_STANDALONE)
-// Returns a Color struct from hexadecimal value
-static Color GetColor(int hexValue)
-{
-    Color color;
-
-    color.r = (unsigned char)(hexValue >> 24) & 0xFF;
-    color.g = (unsigned char)(hexValue >> 16) & 0xFF;
-    color.b = (unsigned char)(hexValue >> 8) & 0xFF;
-    color.a = (unsigned char)hexValue & 0xFF;
-
-    return color;
-}
-
-// Returns hexadecimal value for a Color
-static int ColorToInt(Color color)
-{
-    return (((int)color.r << 24) | ((int)color.g << 16) | ((int)color.b << 8) | (int)color.a);
-}
-
-// Check if point is inside rectangle
-static bool CheckCollisionPointRec(Vector2 point, Rectangle rec)
-{
-    bool collision = false;
-
-    if ((point.x >= rec.x) && (point.x <= (rec.x + rec.width)) &&
-        (point.y >= rec.y) && (point.y <= (rec.y + rec.height))) collision = true;
-
-    return collision;
-}
-
-// Formatting of text with variables to 'embed'
-static const char *TextFormat(const char *text, ...)
-{
-    #if !defined(RAYGUI_TEXTFORMAT_MAX_SIZE)
-        #define RAYGUI_TEXTFORMAT_MAX_SIZE   256
-    #endif
-
-    static char buffer[RAYGUI_TEXTFORMAT_MAX_SIZE];
-
-    va_list args;
-    va_start(args, text);
-    vsprintf(buffer, text, args);
-    va_end(args);
-
-    return buffer;
-}
-
-// Draw rectangle with vertical gradient fill color
-// NOTE: This function is only used by GuiColorPicker()
-static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2)
-{
-    Rectangle bounds = { (float)posX, (float)posY, (float)width, (float)height };
-    DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
-}
-
-// Split string into multiple strings
-const char **TextSplit(const char *text, char delimiter, int *count)
-{
-    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
-    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
-    // all used memory is static... it has some limitations:
-    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
-    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
-
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
-        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
-    #endif
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
-        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE      1024
-    #endif
-
-    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };
-    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };
-    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
-
-    result[0] = buffer;
-    int counter = 0;
-
-    if (text != NULL)
-    {
-        counter = 1;
-
-        // Count how many substrings we have on text and point to every one
-        for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
-        {
-            buffer[i] = text[i];
-            if (buffer[i] == '\0') break;
-            else if (buffer[i] == delimiter)
-            {
-                buffer[i] = '\0';   // Set an end of string at this point
-                result[counter] = buffer + i + 1;
-                counter++;
-
-                if (counter == RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
-            }
-        }
-    }
-
-    *count = counter;
-    return result;
-}
-
-// Get integer value from text
-// NOTE: This function replaces atoi() [stdlib.h]
-static int TextToInteger(const char *text)
-{
-    int value = 0;
-    int sign = 1;
-
-    if ((text[0] == '+') || (text[0] == '-'))
-    {
-        if (text[0] == '-') sign = -1;
-        text++;
-    }
-
-    for (int i = 0; ((text[i] >= '0') && (text[i] <= '9')); ++i) value = value*10 + (int)(text[i] - '0');
-
-    return value*sign;
-}
-
-// Get float value from text
-// NOTE: This function replaces atof() [stdlib.h]
-// WARNING: Only '.' character is understood as decimal point
-static float TextToFloat(const char *text)
-{
-    float value = 0.0f;
-    float sign = 1.0f;
-
-    if ((text[0] == '+') || (text[0] == '-'))
-    {
-        if (text[0] == '-') sign = -1.0f;
-        text++;
-    }
-
-    int i = 0;
-    for (; ((text[i] >= '0') && (text[i] <= '9')); i++) value = value*10.0f + (float)(text[i] - '0');
-
-    if (text[i++] != '.') value *= sign;
-    else
-    {
-        float divisor = 10.0f;
-        for (; ((text[i] >= '0') && (text[i] <= '9')); i++)
-        {
-            value += ((float)(text[i] - '0'))/divisor;
-            divisor = divisor*10.0f;
-        }
-    }
-
-    return value;
-}
-
-// Encode codepoint into UTF-8 text (char array size returned as parameter)
-static const char *CodepointToUTF8(int codepoint, int *byteSize)
-{
-    static char utf8[6] = { 0 };
-    int size = 0;
-
-    if (codepoint <= 0x7f)
-    {
-        utf8[0] = (char)codepoint;
-        size = 1;
-    }
-    else if (codepoint <= 0x7ff)
-    {
-        utf8[0] = (char)(((codepoint >> 6) & 0x1f) | 0xc0);
-        utf8[1] = (char)((codepoint & 0x3f) | 0x80);
-        size = 2;
-    }
-    else if (codepoint <= 0xffff)
-    {
-        utf8[0] = (char)(((codepoint >> 12) & 0x0f) | 0xe0);
-        utf8[1] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
-        utf8[2] = (char)((codepoint & 0x3f) | 0x80);
-        size = 3;
-    }
-    else if (codepoint <= 0x10ffff)
-    {
-        utf8[0] = (char)(((codepoint >> 18) & 0x07) | 0xf0);
-        utf8[1] = (char)(((codepoint >> 12) & 0x3f) | 0x80);
-        utf8[2] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
-        utf8[3] = (char)((codepoint & 0x3f) | 0x80);
-        size = 4;
-    }
-
-    *byteSize = size;
-
-    return utf8;
-}
-
-// Get next codepoint in a UTF-8 encoded text, scanning until '\0' is found
-// When a invalid UTF-8 byte is encountered we exit as soon as possible and a '?'(0x3f) codepoint is returned
-// Total number of bytes processed are returned as a parameter
-// NOTE: the standard says U+FFFD should be returned in case of errors
-// but that character is not supported by the default font in raylib
-static int GetCodepointNext(const char *text, int *codepointSize)
-{
-    const char *ptr = text;
-    int codepoint = 0x3f;       // Codepoint (defaults to '?')
-    *codepointSize = 1;
-
-    // Get current codepoint and bytes processed
-    if (0xf0 == (0xf8 & ptr[0]))
-    {
-        // 4 byte UTF-8 codepoint
-        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80) || ((ptr[3] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x07 & ptr[0]) << 18) | ((0x3f & ptr[1]) << 12) | ((0x3f & ptr[2]) << 6) | (0x3f & ptr[3]);
-        *codepointSize = 4;
-    }
-    else if (0xe0 == (0xf0 & ptr[0]))
-    {
-        // 3 byte UTF-8 codepoint */
-        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x0f & ptr[0]) << 12) | ((0x3f & ptr[1]) << 6) | (0x3f & ptr[2]);
-        *codepointSize = 3;
-    }
-    else if (0xc0 == (0xe0 & ptr[0]))
-    {
-        // 2 byte UTF-8 codepoint
-        if ((ptr[1] & 0xC0) ^ 0x80) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x1f & ptr[0]) << 6) | (0x3f & ptr[1]);
-        *codepointSize = 2;
-    }
-    else if (0x00 == (0x80 & ptr[0]))
-    {
-        // 1 byte UTF-8 codepoint
-        codepoint = ptr[0];
-        *codepointSize = 1;
-    }
-
-    return codepoint;
-}
-#endif      // RAYGUI_STANDALONE
-
-#endif      // RAYGUI_IMPLEMENTATION
diff --git a/third_party/raylib/include/raylib.h b/third_party/raylib/include/raylib.h
deleted file mode 100644
index ea973ff1ba..0000000000
--- a/third_party/raylib/include/raylib.h
+++ /dev/null
@@ -1,1766 +0,0 @@
-/**********************************************************************************************
-*
-*   raylib v5.6-dev - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
-*
-*   FEATURES:
-*       - NO external dependencies, all required libraries included with raylib
-*       - Multiplatform: Windows, Linux, FreeBSD, OpenBSD, NetBSD, DragonFly,
-*                        MacOS, Haiku, Android, Raspberry Pi, DRM native, HTML5.
-*       - Written in plain C code (C99) in PascalCase/camelCase notation
-*       - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3, ES2, ES3 - choose at compile)
-*       - Unique OpenGL abstraction layer (usable as standalone module): [rlgl]
-*       - Multiple Fonts formats supported (TTF, OTF, FNT, BDF, Sprite fonts)
-*       - Outstanding texture formats support, including compressed formats (DXT, ETC, ASTC)
-*       - Full 3d support for 3d Shapes, Models, Billboards, Heightmaps and more!
-*       - Flexible Materials system, supporting classic maps and PBR maps
-*       - Animated 3D models supported (skeletal bones animation) (IQM, M3D, GLTF)
-*       - Shaders support, including Model shaders and Postprocessing shaders
-*       - Powerful math module for Vector, Matrix and Quaternion operations: [raymath]
-*       - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, QOA, XM, MOD)
-*       - VR stereo rendering with configurable HMD device parameters
-*       - Bindings to multiple programming languages available!
-*
-*   NOTES:
-*       - One default Font is loaded on InitWindow()->LoadFontDefault() [core, text]
-*       - One default Texture2D is loaded on rlglInit(), 1x1 white pixel R8G8B8A8 [rlgl] (OpenGL 3.3 or ES2)
-*       - One default Shader is loaded on rlglInit()->rlLoadShaderDefault() [rlgl] (OpenGL 3.3 or ES2)
-*       - One default RenderBatch is loaded on rlglInit()->rlLoadRenderBatch() [rlgl] (OpenGL 3.3 or ES2)
-*
-*   DEPENDENCIES (included):
-*       [rcore][GLFW] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input
-*       [rcore][RGFW] rgfw (ColleagueRiley - github.com/ColleagueRiley/RGFW) for window/context management and input
-*       [rlgl] glad/glad_gles2 (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading
-*       [raudio] miniaudio (David Reid - github.com/mackron/miniaudio) for audio device/context management
-*
-*   OPTIONAL DEPENDENCIES (included):
-*       [rcore] msf_gif (Miles Fogle) for GIF recording
-*       [rcore] sinfl (Micha Mettke) for DEFLATE decompression algorithm
-*       [rcore] sdefl (Micha Mettke) for DEFLATE compression algorithm
-*       [rcore] rprand (Ramon Snatamaria) for pseudo-random numbers generation
-*       [rtextures] qoi (Dominic Szablewski - https://phoboslab.org) for QOI image manage
-*       [rtextures] stb_image (Sean Barret) for images loading (BMP, TGA, PNG, JPEG, HDR...)
-*       [rtextures] stb_image_write (Sean Barret) for image writing (BMP, TGA, PNG, JPG)
-*       [rtextures] stb_image_resize2 (Sean Barret) for image resizing algorithms
-*       [rtextures] stb_perlin (Sean Barret) for Perlin Noise image generation
-*       [rtext] stb_truetype (Sean Barret) for ttf fonts loading
-*       [rtext] stb_rect_pack (Sean Barret) for rectangles packing
-*       [rmodels] par_shapes (Philip Rideout) for parametric 3d shapes generation
-*       [rmodels] tinyobj_loader_c (Syoyo Fujita) for models loading (OBJ, MTL)
-*       [rmodels] cgltf (Johannes Kuhlmann) for models loading (glTF)
-*       [rmodels] m3d (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
-*       [rmodels] vox_loader (Johann Nadalutti) for models loading (VOX)
-*       [raudio] dr_wav (David Reid) for WAV audio file loading
-*       [raudio] dr_flac (David Reid) for FLAC audio file loading
-*       [raudio] dr_mp3 (David Reid) for MP3 audio file loading
-*       [raudio] stb_vorbis (Sean Barret) for OGG audio loading
-*       [raudio] jar_xm (Joshua Reisenauer) for XM audio module loading
-*       [raudio] jar_mod (Joshua Reisenauer) for MOD audio module loading
-*       [raudio] qoa (Dominic Szablewski - https://phoboslab.org) for QOA audio manage
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   raylib is licensed under an unmodified zlib/libpng license, which is an OSI-certified,
-*   BSD-like license that allows static linking with closed source software:
-*
-*   Copyright (c) 2013-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYLIB_H
-#define RAYLIB_H
-
-#include <stdarg.h>     // Required for: va_list - Only used by TraceLogCallback
-
-#define RAYLIB_VERSION_MAJOR 5
-#define RAYLIB_VERSION_MINOR 6
-#define RAYLIB_VERSION_PATCH 0
-#define RAYLIB_VERSION  "5.6-dev"
-
-// Function specifiers in case library is build/used as a shared library
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-// NOTE: visibility("default") attribute makes symbols "visible" when compiled with -fvisibility=hidden
-#if defined(_WIN32)
-    #if defined(__TINYC__)
-        #define __declspec(x) __attribute__((x))
-    #endif
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-    #elif defined(USE_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-    #endif
-#else
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RLAPI __attribute__((visibility("default"))) // We are building as a Unix shared library (.so/.dylib)
-    #endif
-#endif
-
-#ifndef RLAPI
-    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-//----------------------------------------------------------------------------------
-// Some basic Defines
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-// Allow custom memory allocators
-// NOTE: Require recompiling raylib sources
-#ifndef RL_MALLOC
-    #define RL_MALLOC(sz)       malloc(sz)
-#endif
-#ifndef RL_CALLOC
-    #define RL_CALLOC(n,sz)     calloc(n,sz)
-#endif
-#ifndef RL_REALLOC
-    #define RL_REALLOC(ptr,sz)  realloc(ptr,sz)
-#endif
-#ifndef RL_FREE
-    #define RL_FREE(ptr)        free(ptr)
-#endif
-
-// NOTE: MSVC C++ compiler does not support compound literals (C99 feature)
-// Plain structures in C++ (without constructors) can be initialized with { }
-// This is called aggregate initialization (C++11 feature)
-#if defined(__cplusplus)
-    #define CLITERAL(type)      type
-#else
-    #define CLITERAL(type)      (type)
-#endif
-
-// Some compilers (mostly macos clang) default to C++98,
-// where aggregate initialization can't be used
-// So, give a more clear error stating how to fix this
-#if !defined(_MSC_VER) && (defined(__cplusplus) && __cplusplus < 201103L)
-    #error "C++11 or later is required. Add -std=c++11"
-#endif
-
-// NOTE: We set some defines with some data types declared by raylib
-// Other modules (raymath, rlgl) also require some of those types, so,
-// to be able to use those other modules as standalone (not depending on raylib)
-// this defines are very useful for internal check and avoid type (re)definitions
-#define RL_COLOR_TYPE
-#define RL_RECTANGLE_TYPE
-#define RL_VECTOR2_TYPE
-#define RL_VECTOR3_TYPE
-#define RL_VECTOR4_TYPE
-#define RL_QUATERNION_TYPE
-#define RL_MATRIX_TYPE
-
-// Some Basic Colors
-// NOTE: Custom raylib color palette for amazing visuals on WHITE background
-#define _rl_LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
-#define _rl_GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
-#define _rl_DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
-#define _rl_YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
-#define _rl_GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
-#define _rl_ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
-#define _rl_PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
-#define _rl_RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
-#define _rl_MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
-#define _rl_GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
-#define _rl_LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
-#define _rl_DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
-#define _rl_SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
-#define _rl_BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
-#define _rl_DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
-#define _rl_PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
-#define _rl_VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
-#define _rl_DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
-#define _rl_BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
-#define _rl_BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
-#define _rl_DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
-
-#define _rl_WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
-#define _rl_BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
-#define _rl_BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
-#define _rl_MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
-#define _rl_RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
-
-#ifndef OPENPILOT_RAYLIB
-  #define LIGHTGRAY  _rl_LIGHTGRAY
-  #define GRAY       _rl_GRAY
-  #define DARKGRAY   _rl_DARKGRAY
-  #define YELLOW     _rl_YELLOW
-  #define GOLD       _rl_GOLD
-  #define ORANGE     _rl_ORANGE
-  #define PINK       _rl_PINK
-  #define RED        _rl_RED
-  #define MAROON     _rl_MAROON
-  #define GREEN      _rl_GREEN
-  #define LIME       _rl_LIME
-  #define DARKGREEN  _rl_DARKGREEN
-  #define SKYBLUE    _rl_SKYBLUE
-  #define BLUE       _rl_BLUE
-  #define DARKBLUE   _rl_DARKBLUE
-  #define PURPLE     _rl_PURPLE
-  #define VIOLET     _rl_VIOLET
-  #define DARKPURPLE _rl_DARKBLUE
-  #define BEIGE      _rl_BEIGE
-  #define BROWN      _rl_BROWN
-  #define DARKBROWN  _rl_DARKBROWN
-
-  #define WHITE      _rl_WHITE
-  #define BLACK      _rl_BLACK
-  #define BLANK      _rl_BLANK
-  #define MAGENTA    _rl_MAGENTA
-  #define RAYWHITE   _rl_RAYWHITE
-#else
-  #define RAYLIB_LIGHTGRAY  _rl_LIGHTGRAY
-  #define RAYLIB_GRAY       _rl_GRAY
-  #define RAYLIB_DARKGRAY   _rl_DARKGRAY
-  #define RAYLIB_YELLOW     _rl_YELLOW
-  #define RAYLIB_GOLD       _rl_GOLD
-  #define RAYLIB_ORANGE     _rl_ORANGE
-  #define RAYLIB_PINK       _rl_PINK
-  #define RAYLIB_RED        _rl_RED
-  #define RAYLIB_MAROON     _rl_MAROON
-  #define RAYLIB_GREEN      _rl_GREEN
-  #define RAYLIB_LIME       _rl_LIME
-  #define RAYLIB_DARKGREEN  _rl_DARKGREEN
-  #define RAYLIB_SKYBLUE    _rl_SKYBLUE
-  #define RAYLIB_BLUE       _rl_BLUE
-  #define RAYLIB_DARKBLUE   _rl_DARKBLUE
-  #define RAYLIB_PURPLE     _rl_PURPLE
-  #define RAYLIB_VIOLET     _rl_VIOLET
-  #define RAYLIB_DARKPURPLE _rl_DARKBLUE
-  #define RAYLIB_BEIGE      _rl_BEIGE
-  #define RAYLIB_BROWN      _rl_BROWN
-  #define RAYLIB_DARKBROWN  _rl_DARKBROWN
-
-  #define RAYLIB_WHITE      _rl_WHITE
-  #define RAYLIB_BLACK      _rl_BLACK
-  #define RAYLIB_BLANK      _rl_BLANK
-  #define RAYLIB_MAGENTA    _rl_MAGENTA
-  #define RAYLIB_RAYWHITE   _rl_RAYWHITE
-#endif
-
-//----------------------------------------------------------------------------------
-// Structures Definition
-//----------------------------------------------------------------------------------
-// Boolean type
-#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
-    #include <stdbool.h>
-#elif !defined(__cplusplus) && !defined(bool)
-    typedef enum bool { false = 0, true = !false } bool;
-    #define RL_BOOL_TYPE
-#endif
-
-// Vector2, 2 components
-typedef struct Vector2 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-} Vector2;
-
-// Vector3, 3 components
-typedef struct Vector3 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-    float z;                // Vector z component
-} Vector3;
-
-// Vector4, 4 components
-typedef struct Vector4 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-    float z;                // Vector z component
-    float w;                // Vector w component
-} Vector4;
-
-// Quaternion, 4 components (Vector4 alias)
-typedef Vector4 Quaternion;
-
-// Matrix, 4x4 components, column major, OpenGL style, right-handed
-typedef struct Matrix {
-    float m0, m4, m8, m12;  // Matrix first row (4 components)
-    float m1, m5, m9, m13;  // Matrix second row (4 components)
-    float m2, m6, m10, m14; // Matrix third row (4 components)
-    float m3, m7, m11, m15; // Matrix fourth row (4 components)
-} Matrix;
-
-// Color, 4 components, R8G8B8A8 (32bit)
-typedef struct Color {
-    unsigned char r;        // Color red value
-    unsigned char g;        // Color green value
-    unsigned char b;        // Color blue value
-    unsigned char a;        // Color alpha value
-} Color;
-
-// Rectangle, 4 components
-typedef struct Rectangle {
-    float x;                // Rectangle top-left corner position x
-    float y;                // Rectangle top-left corner position y
-    float width;            // Rectangle width
-    float height;           // Rectangle height
-} Rectangle;
-
-// Image, pixel data stored in CPU memory (RAM)
-typedef struct Image {
-    void *data;             // Image raw data
-    int width;              // Image base width
-    int height;             // Image base height
-    int mipmaps;            // Mipmap levels, 1 by default
-    int format;             // Data format (PixelFormat type)
-} Image;
-
-// Texture, tex data stored in GPU memory (VRAM)
-typedef struct Texture {
-    unsigned int id;        // OpenGL texture id
-    int width;              // Texture base width
-    int height;             // Texture base height
-    int mipmaps;            // Mipmap levels, 1 by default
-    int format;             // Data format (PixelFormat type)
-} Texture;
-
-// Texture2D, same as Texture
-typedef Texture Texture2D;
-
-// TextureCubemap, same as Texture
-typedef Texture TextureCubemap;
-
-// RenderTexture, fbo for texture rendering
-typedef struct RenderTexture {
-    unsigned int id;        // OpenGL framebuffer object id
-    Texture texture;        // Color buffer attachment texture
-    Texture depth;          // Depth buffer attachment texture
-} RenderTexture;
-
-// RenderTexture2D, same as RenderTexture
-typedef RenderTexture RenderTexture2D;
-
-// NPatchInfo, n-patch layout info
-typedef struct NPatchInfo {
-    Rectangle source;       // Texture source rectangle
-    int left;               // Left border offset
-    int top;                // Top border offset
-    int right;              // Right border offset
-    int bottom;             // Bottom border offset
-    int layout;             // Layout of the n-patch: 3x3, 1x3 or 3x1
-} NPatchInfo;
-
-// GlyphInfo, font characters glyphs info
-typedef struct GlyphInfo {
-    int value;              // Character value (Unicode)
-    int offsetX;            // Character offset X when drawing
-    int offsetY;            // Character offset Y when drawing
-    int advanceX;           // Character advance position X
-    Image image;            // Character image data
-} GlyphInfo;
-
-// Font, font texture and GlyphInfo array data
-typedef struct Font {
-    int baseSize;           // Base size (default chars height)
-    int glyphCount;         // Number of glyph characters
-    int glyphPadding;       // Padding around the glyph characters
-    Texture2D texture;      // Texture atlas containing the glyphs
-    Rectangle *recs;        // Rectangles in texture for the glyphs
-    GlyphInfo *glyphs;      // Glyphs info data
-} Font;
-
-// Camera, defines position/orientation in 3d space
-typedef struct Camera3D {
-    Vector3 position;       // Camera position
-    Vector3 target;         // Camera target it looks-at
-    Vector3 up;             // Camera up vector (rotation over its axis)
-    float fovy;             // Camera field-of-view aperture in Y (degrees) in perspective, used as near plane width in orthographic
-    int projection;         // Camera projection: CAMERA_PERSPECTIVE or CAMERA_ORTHOGRAPHIC
-} Camera3D;
-
-typedef Camera3D Camera;    // Camera type fallback, defaults to Camera3D
-
-// Camera2D, defines position/orientation in 2d space
-typedef struct Camera2D {
-    Vector2 offset;         // Camera offset (displacement from target)
-    Vector2 target;         // Camera target (rotation and zoom origin)
-    float rotation;         // Camera rotation in degrees
-    float zoom;             // Camera zoom (scaling), should be 1.0f by default
-} Camera2D;
-
-// Mesh, vertex data and vao/vbo
-typedef struct Mesh {
-    int vertexCount;        // Number of vertices stored in arrays
-    int triangleCount;      // Number of triangles stored (indexed or not)
-
-    // Vertex attributes data
-    float *vertices;        // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
-    float *texcoords;       // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
-    float *texcoords2;      // Vertex texture second coordinates (UV - 2 components per vertex) (shader-location = 5)
-    float *normals;         // Vertex normals (XYZ - 3 components per vertex) (shader-location = 2)
-    float *tangents;        // Vertex tangents (XYZW - 4 components per vertex) (shader-location = 4)
-    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
-    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed)
-
-    // Animation vertex data
-    float *animVertices;    // Animated vertex positions (after bones transformations)
-    float *animNormals;     // Animated normals (after bones transformations)
-    unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning) (shader-location = 6)
-    float *boneWeights;     // Vertex bone weight, up to 4 bones influence by vertex (skinning) (shader-location = 7)
-    Matrix *boneMatrices;   // Bones animated transformation matrices
-    int boneCount;          // Number of bones
-
-    // OpenGL identifiers
-    unsigned int vaoId;     // OpenGL Vertex Array Object id
-    unsigned int *vboId;    // OpenGL Vertex Buffer Objects id (default vertex data)
-} Mesh;
-
-// Shader
-typedef struct Shader {
-    unsigned int id;        // Shader program id
-    int *locs;              // Shader locations array (RL_MAX_SHADER_LOCATIONS)
-} Shader;
-
-// MaterialMap
-typedef struct MaterialMap {
-    Texture2D texture;      // Material map texture
-    Color color;            // Material map color
-    float value;            // Material map value
-} MaterialMap;
-
-// Material, includes shader and maps
-typedef struct Material {
-    Shader shader;          // Material shader
-    MaterialMap *maps;      // Material maps array (MAX_MATERIAL_MAPS)
-    float params[4];        // Material generic parameters (if required)
-} Material;
-
-// Transform, vertex transformation data
-typedef struct Transform {
-    Vector3 translation;    // Translation
-    Quaternion rotation;    // Rotation
-    Vector3 scale;          // Scale
-} Transform;
-
-// Bone, skeletal animation bone
-typedef struct BoneInfo {
-    char name[32];          // Bone name
-    int parent;             // Bone parent
-} BoneInfo;
-
-// Model, meshes, materials and animation data
-typedef struct Model {
-    Matrix transform;       // Local transform matrix
-
-    int meshCount;          // Number of meshes
-    int materialCount;      // Number of materials
-    Mesh *meshes;           // Meshes array
-    Material *materials;    // Materials array
-    int *meshMaterial;      // Mesh material number
-
-    // Animation data
-    int boneCount;          // Number of bones
-    BoneInfo *bones;        // Bones information (skeleton)
-    Transform *bindPose;    // Bones base transformation (pose)
-} Model;
-
-// ModelAnimation
-typedef struct ModelAnimation {
-    int boneCount;          // Number of bones
-    int frameCount;         // Number of animation frames
-    BoneInfo *bones;        // Bones information (skeleton)
-    Transform **framePoses; // Poses array by frame
-    char name[32];          // Animation name
-} ModelAnimation;
-
-// Ray, ray for raycasting
-typedef struct Ray {
-    Vector3 position;       // Ray position (origin)
-    Vector3 direction;      // Ray direction (normalized)
-} Ray;
-
-// RayCollision, ray hit information
-typedef struct RayCollision {
-    bool hit;               // Did the ray hit something?
-    float distance;         // Distance to the nearest hit
-    Vector3 point;          // Point of the nearest hit
-    Vector3 normal;         // Surface normal of hit
-} RayCollision;
-
-// BoundingBox
-typedef struct BoundingBox {
-    Vector3 min;            // Minimum vertex box-corner
-    Vector3 max;            // Maximum vertex box-corner
-} BoundingBox;
-
-// Wave, audio wave data
-typedef struct Wave {
-    unsigned int frameCount;    // Total number of frames (considering channels)
-    unsigned int sampleRate;    // Frequency (samples per second)
-    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
-    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
-    void *data;                 // Buffer data pointer
-} Wave;
-
-// Opaque structs declaration
-// NOTE: Actual structs are defined internally in raudio module
-typedef struct rAudioBuffer rAudioBuffer;
-typedef struct rAudioProcessor rAudioProcessor;
-
-// AudioStream, custom audio stream
-typedef struct AudioStream {
-    rAudioBuffer *buffer;       // Pointer to internal data used by the audio system
-    rAudioProcessor *processor; // Pointer to internal data processor, useful for audio effects
-
-    unsigned int sampleRate;    // Frequency (samples per second)
-    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
-    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
-} AudioStream;
-
-// Sound
-typedef struct Sound {
-    AudioStream stream;         // Audio stream
-    unsigned int frameCount;    // Total number of frames (considering channels)
-} Sound;
-
-// Music, audio stream, anything longer than ~10 seconds should be streamed
-typedef struct Music {
-    AudioStream stream;         // Audio stream
-    unsigned int frameCount;    // Total number of frames (considering channels)
-    bool looping;               // Music looping enable
-
-    int ctxType;                // Type of music context (audio filetype)
-    void *ctxData;              // Audio context data, depends on type
-} Music;
-
-// VrDeviceInfo, Head-Mounted-Display device parameters
-typedef struct VrDeviceInfo {
-    int hResolution;                // Horizontal resolution in pixels
-    int vResolution;                // Vertical resolution in pixels
-    float hScreenSize;              // Horizontal size in meters
-    float vScreenSize;              // Vertical size in meters
-    float eyeToScreenDistance;      // Distance between eye and display in meters
-    float lensSeparationDistance;   // Lens separation distance in meters
-    float interpupillaryDistance;   // IPD (distance between pupils) in meters
-    float lensDistortionValues[4];  // Lens distortion constant parameters
-    float chromaAbCorrection[4];    // Chromatic aberration correction parameters
-} VrDeviceInfo;
-
-// VrStereoConfig, VR stereo rendering configuration for simulator
-typedef struct VrStereoConfig {
-    Matrix projection[2];           // VR projection matrices (per eye)
-    Matrix viewOffset[2];           // VR view offset matrices (per eye)
-    float leftLensCenter[2];        // VR left lens center
-    float rightLensCenter[2];       // VR right lens center
-    float leftScreenCenter[2];      // VR left screen center
-    float rightScreenCenter[2];     // VR right screen center
-    float scale[2];                 // VR distortion scale
-    float scaleIn[2];               // VR distortion scale in
-} VrStereoConfig;
-
-// File path list
-typedef struct FilePathList {
-    unsigned int capacity;          // Filepaths max entries
-    unsigned int count;             // Filepaths entries count
-    char **paths;                   // Filepaths entries
-} FilePathList;
-
-// Automation event
-typedef struct AutomationEvent {
-    unsigned int frame;             // Event frame
-    unsigned int type;              // Event type (AutomationEventType)
-    int params[4];                  // Event parameters (if required)
-} AutomationEvent;
-
-// Automation event list
-typedef struct AutomationEventList {
-    unsigned int capacity;          // Events max entries (MAX_AUTOMATION_EVENTS)
-    unsigned int count;             // Events entries count
-    AutomationEvent *events;        // Events entries
-} AutomationEventList;
-
-//----------------------------------------------------------------------------------
-// Enumerators Definition
-//----------------------------------------------------------------------------------
-// System/Window config flags
-// NOTE: Every bit registers one state (use it with bit masks)
-// By default all flags are set to 0
-typedef enum {
-    FLAG_VSYNC_HINT         = 0x00000040,   // Set to try enabling V-Sync on GPU
-    FLAG_FULLSCREEN_MODE    = 0x00000002,   // Set to run program in fullscreen
-    FLAG_WINDOW_RESIZABLE   = 0x00000004,   // Set to allow resizable window
-    FLAG_WINDOW_UNDECORATED = 0x00000008,   // Set to disable window decoration (frame and buttons)
-    FLAG_WINDOW_HIDDEN      = 0x00000080,   // Set to hide window
-    FLAG_WINDOW_MINIMIZED   = 0x00000200,   // Set to minimize window (iconify)
-    FLAG_WINDOW_MAXIMIZED   = 0x00000400,   // Set to maximize window (expanded to monitor)
-    FLAG_WINDOW_UNFOCUSED   = 0x00000800,   // Set to window non focused
-    FLAG_WINDOW_TOPMOST     = 0x00001000,   // Set to window always on top
-    FLAG_WINDOW_ALWAYS_RUN  = 0x00000100,   // Set to allow windows running while minimized
-    FLAG_WINDOW_TRANSPARENT = 0x00000010,   // Set to allow transparent framebuffer
-    FLAG_WINDOW_HIGHDPI     = 0x00002000,   // Set to support HighDPI
-    FLAG_WINDOW_MOUSE_PASSTHROUGH = 0x00004000, // Set to support mouse passthrough, only supported when FLAG_WINDOW_UNDECORATED
-    FLAG_BORDERLESS_WINDOWED_MODE = 0x00008000, // Set to run program in borderless windowed mode
-    FLAG_MSAA_4X_HINT       = 0x00000020,   // Set to try enabling MSAA 4X
-    FLAG_INTERLACED_HINT    = 0x00010000    // Set to try enabling interlaced video format (for V3D)
-} ConfigFlags;
-
-// Trace log level
-// NOTE: Organized by priority level
-typedef enum {
-    LOG_ALL = 0,        // Display all logs
-    LOG_TRACE,          // Trace logging, intended for internal use only
-    LOG_DEBUG,          // Debug logging, used for internal debugging, it should be disabled on release builds
-    LOG_INFO,           // Info logging, used for program execution info
-    LOG_WARNING,        // Warning logging, used on recoverable failures
-    LOG_ERROR,          // Error logging, used on unrecoverable failures
-    LOG_FATAL,          // Fatal logging, used to abort program: exit(EXIT_FAILURE)
-    LOG_NONE            // Disable logging
-} TraceLogLevel;
-
-// Keyboard keys (US keyboard layout)
-// NOTE: Use GetKeyPressed() to allow redefining
-// required keys for alternative layouts
-typedef enum {
-    KEY_NULL            = 0,        // Key: NULL, used for no key pressed
-    // Alphanumeric keys
-    KEY_APOSTROPHE      = 39,       // Key: '
-    KEY_COMMA           = 44,       // Key: ,
-    KEY_MINUS           = 45,       // Key: -
-    KEY_PERIOD          = 46,       // Key: .
-    KEY_SLASH           = 47,       // Key: /
-    KEY_ZERO            = 48,       // Key: 0
-    KEY_ONE             = 49,       // Key: 1
-    KEY_TWO             = 50,       // Key: 2
-    KEY_THREE           = 51,       // Key: 3
-    KEY_FOUR            = 52,       // Key: 4
-    KEY_FIVE            = 53,       // Key: 5
-    KEY_SIX             = 54,       // Key: 6
-    KEY_SEVEN           = 55,       // Key: 7
-    KEY_EIGHT           = 56,       // Key: 8
-    KEY_NINE            = 57,       // Key: 9
-    KEY_SEMICOLON       = 59,       // Key: ;
-    KEY_EQUAL           = 61,       // Key: =
-    KEY_A               = 65,       // Key: A | a
-    KEY_B               = 66,       // Key: B | b
-    KEY_C               = 67,       // Key: C | c
-    KEY_D               = 68,       // Key: D | d
-    KEY_E               = 69,       // Key: E | e
-    KEY_F               = 70,       // Key: F | f
-    KEY_G               = 71,       // Key: G | g
-    KEY_H               = 72,       // Key: H | h
-    KEY_I               = 73,       // Key: I | i
-    KEY_J               = 74,       // Key: J | j
-    KEY_K               = 75,       // Key: K | k
-    KEY_L               = 76,       // Key: L | l
-    KEY_M               = 77,       // Key: M | m
-    KEY_N               = 78,       // Key: N | n
-    KEY_O               = 79,       // Key: O | o
-    KEY_P               = 80,       // Key: P | p
-    KEY_Q               = 81,       // Key: Q | q
-    KEY_R               = 82,       // Key: R | r
-    KEY_S               = 83,       // Key: S | s
-    KEY_T               = 84,       // Key: T | t
-    KEY_U               = 85,       // Key: U | u
-    KEY_V               = 86,       // Key: V | v
-    KEY_W               = 87,       // Key: W | w
-    KEY_X               = 88,       // Key: X | x
-    KEY_Y               = 89,       // Key: Y | y
-    KEY_Z               = 90,       // Key: Z | z
-    KEY_LEFT_BRACKET    = 91,       // Key: [
-    KEY_BACKSLASH       = 92,       // Key: '\'
-    KEY_RIGHT_BRACKET   = 93,       // Key: ]
-    KEY_GRAVE           = 96,       // Key: `
-    // Function keys
-    KEY_SPACE           = 32,       // Key: Space
-    KEY_ESCAPE          = 256,      // Key: Esc
-    KEY_ENTER           = 257,      // Key: Enter
-    KEY_TAB             = 258,      // Key: Tab
-    KEY_BACKSPACE       = 259,      // Key: Backspace
-    KEY_INSERT          = 260,      // Key: Ins
-    KEY_DELETE          = 261,      // Key: Del
-    KEY_RIGHT           = 262,      // Key: Cursor right
-    KEY_LEFT            = 263,      // Key: Cursor left
-    KEY_DOWN            = 264,      // Key: Cursor down
-    KEY_UP              = 265,      // Key: Cursor up
-    KEY_PAGE_UP         = 266,      // Key: Page up
-    KEY_PAGE_DOWN       = 267,      // Key: Page down
-    KEY_HOME            = 268,      // Key: Home
-    KEY_END             = 269,      // Key: End
-    KEY_CAPS_LOCK       = 280,      // Key: Caps lock
-    KEY_SCROLL_LOCK     = 281,      // Key: Scroll down
-    KEY_NUM_LOCK        = 282,      // Key: Num lock
-    KEY_PRINT_SCREEN    = 283,      // Key: Print screen
-    KEY_PAUSE           = 284,      // Key: Pause
-    KEY_F1              = 290,      // Key: F1
-    KEY_F2              = 291,      // Key: F2
-    KEY_F3              = 292,      // Key: F3
-    KEY_F4              = 293,      // Key: F4
-    KEY_F5              = 294,      // Key: F5
-    KEY_F6              = 295,      // Key: F6
-    KEY_F7              = 296,      // Key: F7
-    KEY_F8              = 297,      // Key: F8
-    KEY_F9              = 298,      // Key: F9
-    KEY_F10             = 299,      // Key: F10
-    KEY_F11             = 300,      // Key: F11
-    KEY_F12             = 301,      // Key: F12
-    KEY_LEFT_SHIFT      = 340,      // Key: Shift left
-    KEY_LEFT_CONTROL    = 341,      // Key: Control left
-    KEY_LEFT_ALT        = 342,      // Key: Alt left
-    KEY_LEFT_SUPER      = 343,      // Key: Super left
-    KEY_RIGHT_SHIFT     = 344,      // Key: Shift right
-    KEY_RIGHT_CONTROL   = 345,      // Key: Control right
-    KEY_RIGHT_ALT       = 346,      // Key: Alt right
-    KEY_RIGHT_SUPER     = 347,      // Key: Super right
-    KEY_KB_MENU         = 348,      // Key: KB menu
-    // Keypad keys
-    KEY_KP_0            = 320,      // Key: Keypad 0
-    KEY_KP_1            = 321,      // Key: Keypad 1
-    KEY_KP_2            = 322,      // Key: Keypad 2
-    KEY_KP_3            = 323,      // Key: Keypad 3
-    KEY_KP_4            = 324,      // Key: Keypad 4
-    KEY_KP_5            = 325,      // Key: Keypad 5
-    KEY_KP_6            = 326,      // Key: Keypad 6
-    KEY_KP_7            = 327,      // Key: Keypad 7
-    KEY_KP_8            = 328,      // Key: Keypad 8
-    KEY_KP_9            = 329,      // Key: Keypad 9
-    KEY_KP_DECIMAL      = 330,      // Key: Keypad .
-    KEY_KP_DIVIDE       = 331,      // Key: Keypad /
-    KEY_KP_MULTIPLY     = 332,      // Key: Keypad *
-    KEY_KP_SUBTRACT     = 333,      // Key: Keypad -
-    KEY_KP_ADD          = 334,      // Key: Keypad +
-    KEY_KP_ENTER        = 335,      // Key: Keypad Enter
-    KEY_KP_EQUAL        = 336,      // Key: Keypad =
-    // Android key buttons
-    KEY_BACK            = 4,        // Key: Android back button
-    KEY_MENU            = 5,        // Key: Android menu button
-    KEY_VOLUME_UP       = 24,       // Key: Android volume up button
-    KEY_VOLUME_DOWN     = 25        // Key: Android volume down button
-} KeyboardKey;
-
-// Add backwards compatibility support for deprecated names
-#define MOUSE_LEFT_BUTTON   MOUSE_BUTTON_LEFT
-#define MOUSE_RIGHT_BUTTON  MOUSE_BUTTON_RIGHT
-#define MOUSE_MIDDLE_BUTTON MOUSE_BUTTON_MIDDLE
-
-// Mouse buttons
-typedef enum {
-    MOUSE_BUTTON_LEFT    = 0,       // Mouse button left
-    MOUSE_BUTTON_RIGHT   = 1,       // Mouse button right
-    MOUSE_BUTTON_MIDDLE  = 2,       // Mouse button middle (pressed wheel)
-    MOUSE_BUTTON_SIDE    = 3,       // Mouse button side (advanced mouse device)
-    MOUSE_BUTTON_EXTRA   = 4,       // Mouse button extra (advanced mouse device)
-    MOUSE_BUTTON_FORWARD = 5,       // Mouse button forward (advanced mouse device)
-    MOUSE_BUTTON_BACK    = 6,       // Mouse button back (advanced mouse device)
-} MouseButton;
-
-// Mouse cursor
-typedef enum {
-    MOUSE_CURSOR_DEFAULT       = 0,     // Default pointer shape
-    MOUSE_CURSOR_ARROW         = 1,     // Arrow shape
-    MOUSE_CURSOR_IBEAM         = 2,     // Text writing cursor shape
-    MOUSE_CURSOR_CROSSHAIR     = 3,     // Cross shape
-    MOUSE_CURSOR_POINTING_HAND = 4,     // Pointing hand cursor
-    MOUSE_CURSOR_RESIZE_EW     = 5,     // Horizontal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NS     = 6,     // Vertical resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NWSE   = 7,     // Top-left to bottom-right diagonal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NESW   = 8,     // The top-right to bottom-left diagonal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_ALL    = 9,     // The omnidirectional resize/move cursor shape
-    MOUSE_CURSOR_NOT_ALLOWED   = 10     // The operation-not-allowed shape
-} MouseCursor;
-
-// Gamepad buttons
-typedef enum {
-    GAMEPAD_BUTTON_UNKNOWN = 0,         // Unknown button, just for error checking
-    GAMEPAD_BUTTON_LEFT_FACE_UP,        // Gamepad left DPAD up button
-    GAMEPAD_BUTTON_LEFT_FACE_RIGHT,     // Gamepad left DPAD right button
-    GAMEPAD_BUTTON_LEFT_FACE_DOWN,      // Gamepad left DPAD down button
-    GAMEPAD_BUTTON_LEFT_FACE_LEFT,      // Gamepad left DPAD left button
-    GAMEPAD_BUTTON_RIGHT_FACE_UP,       // Gamepad right button up (i.e. PS3: Triangle, Xbox: Y)
-    GAMEPAD_BUTTON_RIGHT_FACE_RIGHT,    // Gamepad right button right (i.e. PS3: Circle, Xbox: B)
-    GAMEPAD_BUTTON_RIGHT_FACE_DOWN,     // Gamepad right button down (i.e. PS3: Cross, Xbox: A)
-    GAMEPAD_BUTTON_RIGHT_FACE_LEFT,     // Gamepad right button left (i.e. PS3: Square, Xbox: X)
-    GAMEPAD_BUTTON_LEFT_TRIGGER_1,      // Gamepad top/back trigger left (first), it could be a trailing button
-    GAMEPAD_BUTTON_LEFT_TRIGGER_2,      // Gamepad top/back trigger left (second), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_1,     // Gamepad top/back trigger right (first), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_2,     // Gamepad top/back trigger right (second), it could be a trailing button
-    GAMEPAD_BUTTON_MIDDLE_LEFT,         // Gamepad center buttons, left one (i.e. PS3: Select)
-    GAMEPAD_BUTTON_MIDDLE,              // Gamepad center buttons, middle one (i.e. PS3: PS, Xbox: XBOX)
-    GAMEPAD_BUTTON_MIDDLE_RIGHT,        // Gamepad center buttons, right one (i.e. PS3: Start)
-    GAMEPAD_BUTTON_LEFT_THUMB,          // Gamepad joystick pressed button left
-    GAMEPAD_BUTTON_RIGHT_THUMB          // Gamepad joystick pressed button right
-} GamepadButton;
-
-// Gamepad axis
-typedef enum {
-    GAMEPAD_AXIS_LEFT_X        = 0,     // Gamepad left stick X axis
-    GAMEPAD_AXIS_LEFT_Y        = 1,     // Gamepad left stick Y axis
-    GAMEPAD_AXIS_RIGHT_X       = 2,     // Gamepad right stick X axis
-    GAMEPAD_AXIS_RIGHT_Y       = 3,     // Gamepad right stick Y axis
-    GAMEPAD_AXIS_LEFT_TRIGGER  = 4,     // Gamepad back trigger left, pressure level: [1..-1]
-    GAMEPAD_AXIS_RIGHT_TRIGGER = 5      // Gamepad back trigger right, pressure level: [1..-1]
-} GamepadAxis;
-
-// Material map index
-typedef enum {
-    MATERIAL_MAP_ALBEDO = 0,        // Albedo material (same as: MATERIAL_MAP_DIFFUSE)
-    MATERIAL_MAP_METALNESS,         // Metalness material (same as: MATERIAL_MAP_SPECULAR)
-    MATERIAL_MAP_NORMAL,            // Normal material
-    MATERIAL_MAP_ROUGHNESS,         // Roughness material
-    MATERIAL_MAP_OCCLUSION,         // Ambient occlusion material
-    MATERIAL_MAP_EMISSION,          // Emission material
-    MATERIAL_MAP_HEIGHT,            // Heightmap material
-    MATERIAL_MAP_CUBEMAP,           // Cubemap material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_IRRADIANCE,        // Irradiance material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_PREFILTER,         // Prefilter material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_BRDF               // Brdf material
-} MaterialMapIndex;
-
-#define MATERIAL_MAP_DIFFUSE      MATERIAL_MAP_ALBEDO
-#define MATERIAL_MAP_SPECULAR     MATERIAL_MAP_METALNESS
-
-// Shader location index
-typedef enum {
-    SHADER_LOC_VERTEX_POSITION = 0, // Shader location: vertex attribute: position
-    SHADER_LOC_VERTEX_TEXCOORD01,   // Shader location: vertex attribute: texcoord01
-    SHADER_LOC_VERTEX_TEXCOORD02,   // Shader location: vertex attribute: texcoord02
-    SHADER_LOC_VERTEX_NORMAL,       // Shader location: vertex attribute: normal
-    SHADER_LOC_VERTEX_TANGENT,      // Shader location: vertex attribute: tangent
-    SHADER_LOC_VERTEX_COLOR,        // Shader location: vertex attribute: color
-    SHADER_LOC_MATRIX_MVP,          // Shader location: matrix uniform: model-view-projection
-    SHADER_LOC_MATRIX_VIEW,         // Shader location: matrix uniform: view (camera transform)
-    SHADER_LOC_MATRIX_PROJECTION,   // Shader location: matrix uniform: projection
-    SHADER_LOC_MATRIX_MODEL,        // Shader location: matrix uniform: model (transform)
-    SHADER_LOC_MATRIX_NORMAL,       // Shader location: matrix uniform: normal
-    SHADER_LOC_VECTOR_VIEW,         // Shader location: vector uniform: view
-    SHADER_LOC_COLOR_DIFFUSE,       // Shader location: vector uniform: diffuse color
-    SHADER_LOC_COLOR_SPECULAR,      // Shader location: vector uniform: specular color
-    SHADER_LOC_COLOR_AMBIENT,       // Shader location: vector uniform: ambient color
-    SHADER_LOC_MAP_ALBEDO,          // Shader location: sampler2d texture: albedo (same as: SHADER_LOC_MAP_DIFFUSE)
-    SHADER_LOC_MAP_METALNESS,       // Shader location: sampler2d texture: metalness (same as: SHADER_LOC_MAP_SPECULAR)
-    SHADER_LOC_MAP_NORMAL,          // Shader location: sampler2d texture: normal
-    SHADER_LOC_MAP_ROUGHNESS,       // Shader location: sampler2d texture: roughness
-    SHADER_LOC_MAP_OCCLUSION,       // Shader location: sampler2d texture: occlusion
-    SHADER_LOC_MAP_EMISSION,        // Shader location: sampler2d texture: emission
-    SHADER_LOC_MAP_HEIGHT,          // Shader location: sampler2d texture: height
-    SHADER_LOC_MAP_CUBEMAP,         // Shader location: samplerCube texture: cubemap
-    SHADER_LOC_MAP_IRRADIANCE,      // Shader location: samplerCube texture: irradiance
-    SHADER_LOC_MAP_PREFILTER,       // Shader location: samplerCube texture: prefilter
-    SHADER_LOC_MAP_BRDF,            // Shader location: sampler2d texture: brdf
-    SHADER_LOC_VERTEX_BONEIDS,      // Shader location: vertex attribute: boneIds
-    SHADER_LOC_VERTEX_BONEWEIGHTS,  // Shader location: vertex attribute: boneWeights
-    SHADER_LOC_BONE_MATRICES        // Shader location: array of matrices uniform: boneMatrices
-} ShaderLocationIndex;
-
-#define SHADER_LOC_MAP_DIFFUSE      SHADER_LOC_MAP_ALBEDO
-#define SHADER_LOC_MAP_SPECULAR     SHADER_LOC_MAP_METALNESS
-
-// Shader uniform data type
-typedef enum {
-    SHADER_UNIFORM_FLOAT = 0,       // Shader uniform type: float
-    SHADER_UNIFORM_VEC2,            // Shader uniform type: vec2 (2 float)
-    SHADER_UNIFORM_VEC3,            // Shader uniform type: vec3 (3 float)
-    SHADER_UNIFORM_VEC4,            // Shader uniform type: vec4 (4 float)
-    SHADER_UNIFORM_INT,             // Shader uniform type: int
-    SHADER_UNIFORM_IVEC2,           // Shader uniform type: ivec2 (2 int)
-    SHADER_UNIFORM_IVEC3,           // Shader uniform type: ivec3 (3 int)
-    SHADER_UNIFORM_IVEC4,           // Shader uniform type: ivec4 (4 int)
-    SHADER_UNIFORM_SAMPLER2D        // Shader uniform type: sampler2d
-} ShaderUniformDataType;
-
-// Shader attribute data types
-typedef enum {
-    SHADER_ATTRIB_FLOAT = 0,        // Shader attribute type: float
-    SHADER_ATTRIB_VEC2,             // Shader attribute type: vec2 (2 float)
-    SHADER_ATTRIB_VEC3,             // Shader attribute type: vec3 (3 float)
-    SHADER_ATTRIB_VEC4              // Shader attribute type: vec4 (4 float)
-} ShaderAttributeDataType;
-
-// Pixel formats
-// NOTE: Support depends on OpenGL version and platform
-typedef enum {
-    PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1, // 8 bit per pixel (no alpha)
-    PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,    // 8*2 bpp (2 channels)
-    PIXELFORMAT_UNCOMPRESSED_R5G6B5,        // 16 bpp
-    PIXELFORMAT_UNCOMPRESSED_R8G8B8,        // 24 bpp
-    PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,      // 16 bpp (1 bit alpha)
-    PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,      // 16 bpp (4 bit alpha)
-    PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,      // 32 bpp
-    PIXELFORMAT_UNCOMPRESSED_R32,           // 32 bpp (1 channel - float)
-    PIXELFORMAT_UNCOMPRESSED_R32G32B32,     // 32*3 bpp (3 channels - float)
-    PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,  // 32*4 bpp (4 channels - float)
-    PIXELFORMAT_UNCOMPRESSED_R16,           // 16 bpp (1 channel - half float)
-    PIXELFORMAT_UNCOMPRESSED_R16G16B16,     // 16*3 bpp (3 channels - half float)
-    PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,  // 16*4 bpp (4 channels - half float)
-    PIXELFORMAT_COMPRESSED_DXT1_RGB,        // 4 bpp (no alpha)
-    PIXELFORMAT_COMPRESSED_DXT1_RGBA,       // 4 bpp (1 bit alpha)
-    PIXELFORMAT_COMPRESSED_DXT3_RGBA,       // 8 bpp
-    PIXELFORMAT_COMPRESSED_DXT5_RGBA,       // 8 bpp
-    PIXELFORMAT_COMPRESSED_ETC1_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_ETC2_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,   // 8 bpp
-    PIXELFORMAT_COMPRESSED_PVRT_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_PVRT_RGBA,       // 4 bpp
-    PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,   // 8 bpp
-    PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA    // 2 bpp
-} PixelFormat;
-
-// Texture parameters: filter mode
-// NOTE 1: Filtering considers mipmaps if available in the texture
-// NOTE 2: Filter is accordingly set for minification and magnification
-typedef enum {
-    TEXTURE_FILTER_POINT = 0,               // No filter, just pixel approximation
-    TEXTURE_FILTER_BILINEAR,                // Linear filtering
-    TEXTURE_FILTER_TRILINEAR,               // Trilinear filtering (linear with mipmaps)
-    TEXTURE_FILTER_ANISOTROPIC_4X,          // Anisotropic filtering 4x
-    TEXTURE_FILTER_ANISOTROPIC_8X,          // Anisotropic filtering 8x
-    TEXTURE_FILTER_ANISOTROPIC_16X,         // Anisotropic filtering 16x
-} TextureFilter;
-
-// Texture parameters: wrap mode
-typedef enum {
-    TEXTURE_WRAP_REPEAT = 0,                // Repeats texture in tiled mode
-    TEXTURE_WRAP_CLAMP,                     // Clamps texture to edge pixel in tiled mode
-    TEXTURE_WRAP_MIRROR_REPEAT,             // Mirrors and repeats the texture in tiled mode
-    TEXTURE_WRAP_MIRROR_CLAMP               // Mirrors and clamps to border the texture in tiled mode
-} TextureWrap;
-
-// Cubemap layouts
-typedef enum {
-    CUBEMAP_LAYOUT_AUTO_DETECT = 0,         // Automatically detect layout type
-    CUBEMAP_LAYOUT_LINE_VERTICAL,           // Layout is defined by a vertical line with faces
-    CUBEMAP_LAYOUT_LINE_HORIZONTAL,         // Layout is defined by a horizontal line with faces
-    CUBEMAP_LAYOUT_CROSS_THREE_BY_FOUR,     // Layout is defined by a 3x4 cross with cubemap faces
-    CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE     // Layout is defined by a 4x3 cross with cubemap faces
-} CubemapLayout;
-
-// Font type, defines generation method
-typedef enum {
-    FONT_DEFAULT = 0,               // Default font generation, anti-aliased
-    FONT_BITMAP,                    // Bitmap font generation, no anti-aliasing
-    FONT_SDF                        // SDF font generation, requires external shader
-} FontType;
-
-// Color blending modes (pre-defined)
-typedef enum {
-    BLEND_ALPHA = 0,                // Blend textures considering alpha (default)
-    BLEND_ADDITIVE,                 // Blend textures adding colors
-    BLEND_MULTIPLIED,               // Blend textures multiplying colors
-    BLEND_ADD_COLORS,               // Blend textures adding colors (alternative)
-    BLEND_SUBTRACT_COLORS,          // Blend textures subtracting colors (alternative)
-    BLEND_ALPHA_PREMULTIPLY,        // Blend premultiplied textures considering alpha
-    BLEND_CUSTOM,                   // Blend textures using custom src/dst factors (use rlSetBlendFactors())
-    BLEND_CUSTOM_SEPARATE           // Blend textures using custom rgb/alpha separate src/dst factors (use rlSetBlendFactorsSeparate())
-} BlendMode;
-
-// Gesture
-// NOTE: Provided as bit-wise flags to enable only desired gestures
-typedef enum {
-    GESTURE_NONE        = 0,        // No gesture
-    GESTURE_TAP         = 1,        // Tap gesture
-    GESTURE_DOUBLETAP   = 2,        // Double tap gesture
-    GESTURE_HOLD        = 4,        // Hold gesture
-    GESTURE_DRAG        = 8,        // Drag gesture
-    GESTURE_SWIPE_RIGHT = 16,       // Swipe right gesture
-    GESTURE_SWIPE_LEFT  = 32,       // Swipe left gesture
-    GESTURE_SWIPE_UP    = 64,       // Swipe up gesture
-    GESTURE_SWIPE_DOWN  = 128,      // Swipe down gesture
-    GESTURE_PINCH_IN    = 256,      // Pinch in gesture
-    GESTURE_PINCH_OUT   = 512       // Pinch out gesture
-} Gesture;
-
-// Camera system modes
-typedef enum {
-    CAMERA_CUSTOM = 0,              // Camera custom, controlled by user (UpdateCamera() does nothing)
-    CAMERA_FREE,                    // Camera free mode
-    CAMERA_ORBITAL,                 // Camera orbital, around target, zoom supported
-    CAMERA_FIRST_PERSON,            // Camera first person
-    CAMERA_THIRD_PERSON             // Camera third person
-} CameraMode;
-
-// Camera projection
-typedef enum {
-    CAMERA_PERSPECTIVE = 0,         // Perspective projection
-    CAMERA_ORTHOGRAPHIC             // Orthographic projection
-} CameraProjection;
-
-// N-patch layout
-typedef enum {
-    NPATCH_NINE_PATCH = 0,          // Npatch layout: 3x3 tiles
-    NPATCH_THREE_PATCH_VERTICAL,    // Npatch layout: 1x3 tiles
-    NPATCH_THREE_PATCH_HORIZONTAL   // Npatch layout: 3x1 tiles
-} NPatchLayout;
-
-// Callbacks to hook some internal functions
-// WARNING: These callbacks are intended for advanced users
-typedef void (*TraceLogCallback)(int logLevel, const char *text, va_list args);  // Logging: Redirect trace log messages
-typedef unsigned char *(*LoadFileDataCallback)(const char *fileName, int *dataSize);    // FileIO: Load binary data
-typedef bool (*SaveFileDataCallback)(const char *fileName, void *data, int dataSize);   // FileIO: Save binary data
-typedef char *(*LoadFileTextCallback)(const char *fileName);            // FileIO: Load text data
-typedef bool (*SaveFileTextCallback)(const char *fileName, char *text); // FileIO: Save text data
-
-//------------------------------------------------------------------------------------
-// Global Variables Definition
-//------------------------------------------------------------------------------------
-// It's lonely here...
-
-//------------------------------------------------------------------------------------
-// Window and Graphics Device Functions (Module: core)
-//------------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-// Window-related functions
-RLAPI void InitWindow(int width, int height, const char *title);  // Initialize window and OpenGL context
-RLAPI void CloseWindow(void);                                     // Close window and unload OpenGL context
-RLAPI bool WindowShouldClose(void);                               // Check if application should close (KEY_ESCAPE pressed or windows close icon clicked)
-RLAPI bool IsWindowReady(void);                                   // Check if window has been initialized successfully
-RLAPI bool IsWindowFullscreen(void);                              // Check if window is currently fullscreen
-RLAPI bool IsWindowHidden(void);                                  // Check if window is currently hidden
-RLAPI bool IsWindowMinimized(void);                               // Check if window is currently minimized
-RLAPI bool IsWindowMaximized(void);                               // Check if window is currently maximized
-RLAPI bool IsWindowFocused(void);                                 // Check if window is currently focused
-RLAPI bool IsWindowResized(void);                                 // Check if window has been resized last frame
-RLAPI bool IsWindowState(unsigned int flag);                      // Check if one specific window flag is enabled
-RLAPI void SetWindowState(unsigned int flags);                    // Set window configuration state using flags
-RLAPI void ClearWindowState(unsigned int flags);                  // Clear window configuration state flags
-RLAPI void ToggleFullscreen(void);                                // Toggle window state: fullscreen/windowed, resizes monitor to match window resolution
-RLAPI void ToggleBorderlessWindowed(void);                        // Toggle window state: borderless windowed, resizes window to match monitor resolution
-RLAPI void MaximizeWindow(void);                                  // Set window state: maximized, if resizable
-RLAPI void MinimizeWindow(void);                                  // Set window state: minimized, if resizable
-RLAPI void RestoreWindow(void);                                   // Set window state: not minimized/maximized
-RLAPI void SetWindowIcon(Image image);                            // Set icon for window (single image, RGBA 32bit)
-RLAPI void SetWindowIcons(Image *images, int count);              // Set icon for window (multiple images, RGBA 32bit)
-RLAPI void SetWindowTitle(const char *title);                     // Set title for window
-RLAPI void SetWindowPosition(int x, int y);                       // Set window position on screen
-RLAPI void SetWindowMonitor(int monitor);                         // Set monitor for the current window
-RLAPI void SetWindowMinSize(int width, int height);               // Set window minimum dimensions (for FLAG_WINDOW_RESIZABLE)
-RLAPI void SetWindowMaxSize(int width, int height);               // Set window maximum dimensions (for FLAG_WINDOW_RESIZABLE)
-RLAPI void SetWindowSize(int width, int height);                  // Set window dimensions
-RLAPI void SetWindowOpacity(float opacity);                       // Set window opacity [0.0f..1.0f]
-RLAPI void SetWindowFocused(void);                                // Set window focused
-RLAPI void *GetWindowHandle(void);                                // Get native window handle
-RLAPI int GetScreenWidth(void);                                   // Get current screen width
-RLAPI int GetScreenHeight(void);                                  // Get current screen height
-RLAPI int GetRenderWidth(void);                                   // Get current render width (it considers HiDPI)
-RLAPI int GetRenderHeight(void);                                  // Get current render height (it considers HiDPI)
-RLAPI int GetMonitorCount(void);                                  // Get number of connected monitors
-RLAPI int GetCurrentMonitor(void);                                // Get current monitor where window is placed
-RLAPI Vector2 GetMonitorPosition(int monitor);                    // Get specified monitor position
-RLAPI int GetMonitorWidth(int monitor);                           // Get specified monitor width (current video mode used by monitor)
-RLAPI int GetMonitorHeight(int monitor);                          // Get specified monitor height (current video mode used by monitor)
-RLAPI int GetMonitorPhysicalWidth(int monitor);                   // Get specified monitor physical width in millimetres
-RLAPI int GetMonitorPhysicalHeight(int monitor);                  // Get specified monitor physical height in millimetres
-RLAPI int GetMonitorRefreshRate(int monitor);                     // Get specified monitor refresh rate
-RLAPI Vector2 GetWindowPosition(void);                            // Get window position XY on monitor
-RLAPI Vector2 GetWindowScaleDPI(void);                            // Get window scale DPI factor
-RLAPI const char *GetMonitorName(int monitor);                    // Get the human-readable, UTF-8 encoded name of the specified monitor
-RLAPI void SetClipboardText(const char *text);                    // Set clipboard text content
-RLAPI const char *GetClipboardText(void);                         // Get clipboard text content
-RLAPI Image GetClipboardImage(void);                              // Get clipboard image content
-RLAPI void EnableEventWaiting(void);                              // Enable waiting for events on EndDrawing(), no automatic event polling
-RLAPI void DisableEventWaiting(void);                             // Disable waiting for events on EndDrawing(), automatic events polling
-
-// Cursor-related functions
-RLAPI void ShowCursor(void);                                      // Shows cursor
-RLAPI void HideCursor(void);                                      // Hides cursor
-RLAPI bool IsCursorHidden(void);                                  // Check if cursor is not visible
-RLAPI void EnableCursor(void);                                    // Enables cursor (unlock cursor)
-RLAPI void DisableCursor(void);                                   // Disables cursor (lock cursor)
-RLAPI bool IsCursorOnScreen(void);                                // Check if cursor is on the screen
-
-// Drawing-related functions
-RLAPI void ClearBackground(Color color);                          // Set background color (framebuffer clear color)
-RLAPI void BeginDrawing(void);                                    // Setup canvas (framebuffer) to start drawing
-RLAPI void EndDrawing(void);                                      // End canvas drawing and swap buffers (double buffering)
-RLAPI void BeginMode2D(Camera2D camera);                          // Begin 2D mode with custom camera (2D)
-RLAPI void EndMode2D(void);                                       // Ends 2D mode with custom camera
-RLAPI void BeginMode3D(Camera3D camera);                          // Begin 3D mode with custom camera (3D)
-RLAPI void EndMode3D(void);                                       // Ends 3D mode and returns to default 2D orthographic mode
-RLAPI void BeginTextureMode(RenderTexture2D target);              // Begin drawing to render texture
-RLAPI void EndTextureMode(void);                                  // Ends drawing to render texture
-RLAPI void BeginShaderMode(Shader shader);                        // Begin custom shader drawing
-RLAPI void EndShaderMode(void);                                   // End custom shader drawing (use default shader)
-RLAPI void BeginBlendMode(int mode);                              // Begin blending mode (alpha, additive, multiplied, subtract, custom)
-RLAPI void EndBlendMode(void);                                    // End blending mode (reset to default: alpha blending)
-RLAPI void BeginScissorMode(int x, int y, int width, int height); // Begin scissor mode (define screen area for following drawing)
-RLAPI void EndScissorMode(void);                                  // End scissor mode
-RLAPI void BeginVrStereoMode(VrStereoConfig config);              // Begin stereo rendering (requires VR simulator)
-RLAPI void EndVrStereoMode(void);                                 // End stereo rendering (requires VR simulator)
-
-// VR stereo config functions for VR simulator
-RLAPI VrStereoConfig LoadVrStereoConfig(VrDeviceInfo device);     // Load VR stereo config for VR simulator device parameters
-RLAPI void UnloadVrStereoConfig(VrStereoConfig config);           // Unload VR stereo config
-
-// Shader management functions
-// NOTE: Shader functionality is not available on OpenGL 1.1
-RLAPI Shader LoadShader(const char *vsFileName, const char *fsFileName);   // Load shader from files and bind default locations
-RLAPI Shader LoadShaderFromMemory(const char *vsCode, const char *fsCode); // Load shader from code strings and bind default locations
-RLAPI bool IsShaderValid(Shader shader);                                   // Check if a shader is valid (loaded on GPU)
-RLAPI int GetShaderLocation(Shader shader, const char *uniformName);       // Get shader uniform location
-RLAPI int GetShaderLocationAttrib(Shader shader, const char *attribName);  // Get shader attribute location
-RLAPI void SetShaderValue(Shader shader, int locIndex, const void *value, int uniformType);               // Set shader uniform value
-RLAPI void SetShaderValueV(Shader shader, int locIndex, const void *value, int uniformType, int count);   // Set shader uniform value vector
-RLAPI void SetShaderValueMatrix(Shader shader, int locIndex, Matrix mat);         // Set shader uniform value (matrix 4x4)
-RLAPI void SetShaderValueTexture(Shader shader, int locIndex, Texture2D texture); // Set shader uniform value for texture (sampler2d)
-RLAPI void UnloadShader(Shader shader);                                    // Unload shader from GPU memory (VRAM)
-
-// Screen-space-related functions
-#define GetMouseRay GetScreenToWorldRay     // Compatibility hack for previous raylib versions
-RLAPI Ray GetScreenToWorldRay(Vector2 position, Camera camera);         // Get a ray trace from screen position (i.e mouse)
-RLAPI Ray GetScreenToWorldRayEx(Vector2 position, Camera camera, int width, int height); // Get a ray trace from screen position (i.e mouse) in a viewport
-RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera);        // Get the screen space position for a 3d world space position
-RLAPI Vector2 GetWorldToScreenEx(Vector3 position, Camera camera, int width, int height); // Get size position for a 3d world space position
-RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera);    // Get the screen space position for a 2d camera world space position
-RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera);    // Get the world space position for a 2d camera screen space position
-RLAPI Matrix GetCameraMatrix(Camera camera);                            // Get camera transform matrix (view matrix)
-RLAPI Matrix GetCameraMatrix2D(Camera2D camera);                        // Get camera 2d transform matrix
-
-// Timing-related functions
-RLAPI void SetTargetFPS(int fps);                                 // Set target FPS (maximum)
-RLAPI float GetFrameTime(void);                                   // Get time in seconds for last frame drawn (delta time)
-RLAPI double GetTime(void);                                       // Get elapsed time in seconds since InitWindow()
-RLAPI int GetFPS(void);                                           // Get current FPS
-
-// Custom frame control functions
-// NOTE: Those functions are intended for advanced users that want full control over the frame processing
-// By default EndDrawing() does this job: draws everything + SwapScreenBuffer() + manage frame timing + PollInputEvents()
-// To avoid that behaviour and control frame processes manually, enable in config.h: SUPPORT_CUSTOM_FRAME_CONTROL
-RLAPI void SwapScreenBuffer(void);                                // Swap back buffer with front buffer (screen drawing)
-RLAPI void PollInputEvents(void);                                 // Register all input events
-RLAPI void WaitTime(double seconds);                              // Wait for some time (halt program execution)
-
-// Random values generation functions
-RLAPI void SetRandomSeed(unsigned int seed);                      // Set the seed for the random number generator
-RLAPI int GetRandomValue(int min, int max);                       // Get a random value between min and max (both included)
-RLAPI int *LoadRandomSequence(unsigned int count, int min, int max); // Load random values sequence, no values repeated
-RLAPI void UnloadRandomSequence(int *sequence);                   // Unload random values sequence
-
-// Misc. functions
-RLAPI void TakeScreenshot(const char *fileName);                  // Takes a screenshot of current screen (filename extension defines format)
-RLAPI void SetConfigFlags(unsigned int flags);                    // Setup init configuration flags (view FLAGS)
-RLAPI void OpenURL(const char *url);                              // Open URL with default system browser (if available)
-
-// NOTE: Following functions implemented in module [utils]
-//------------------------------------------------------------------
-RLAPI void TraceLog(int logLevel, const char *text, ...);         // Show trace log messages (LOG_DEBUG, LOG_INFO, LOG_WARNING, LOG_ERROR...)
-RLAPI void SetTraceLogLevel(int logLevel);                        // Set the current threshold (minimum) log level
-RLAPI void *MemAlloc(unsigned int size);                          // Internal memory allocator
-RLAPI void *MemRealloc(void *ptr, unsigned int size);             // Internal memory reallocator
-RLAPI void MemFree(void *ptr);                                    // Internal memory free
-
-// Set custom callbacks
-// WARNING: Callbacks setup is intended for advanced users
-RLAPI void SetTraceLogCallback(TraceLogCallback callback);         // Set custom trace log
-RLAPI void SetLoadFileDataCallback(LoadFileDataCallback callback); // Set custom file binary data loader
-RLAPI void SetSaveFileDataCallback(SaveFileDataCallback callback); // Set custom file binary data saver
-RLAPI void SetLoadFileTextCallback(LoadFileTextCallback callback); // Set custom file text data loader
-RLAPI void SetSaveFileTextCallback(SaveFileTextCallback callback); // Set custom file text data saver
-
-// Files management functions
-RLAPI unsigned char *LoadFileData(const char *fileName, int *dataSize); // Load file data as byte array (read)
-RLAPI void UnloadFileData(unsigned char *data);                   // Unload file data allocated by LoadFileData()
-RLAPI bool SaveFileData(const char *fileName, void *data, int dataSize); // Save data to file from byte array (write), returns true on success
-RLAPI bool ExportDataAsCode(const unsigned char *data, int dataSize, const char *fileName); // Export data to code (.h), returns true on success
-RLAPI char *LoadFileText(const char *fileName);                   // Load text data from file (read), returns a '\0' terminated string
-RLAPI void UnloadFileText(char *text);                            // Unload file text data allocated by LoadFileText()
-RLAPI bool SaveFileText(const char *fileName, char *text);        // Save text data to file (write), string must be '\0' terminated, returns true on success
-//------------------------------------------------------------------
-
-// File system functions
-RLAPI bool FileExists(const char *fileName);                      // Check if file exists
-RLAPI bool DirectoryExists(const char *dirPath);                  // Check if a directory path exists
-RLAPI bool IsFileExtension(const char *fileName, const char *ext); // Check file extension (including point: .png, .wav)
-RLAPI int GetFileLength(const char *fileName);                    // Get file length in bytes (NOTE: GetFileSize() conflicts with windows.h)
-RLAPI const char *GetFileExtension(const char *fileName);         // Get pointer to extension for a filename string (includes dot: '.png')
-RLAPI const char *GetFileName(const char *filePath);              // Get pointer to filename for a path string
-RLAPI const char *GetFileNameWithoutExt(const char *filePath);    // Get filename string without extension (uses static string)
-RLAPI const char *GetDirectoryPath(const char *filePath);         // Get full path for a given fileName with path (uses static string)
-RLAPI const char *GetPrevDirectoryPath(const char *dirPath);      // Get previous directory path for a given path (uses static string)
-RLAPI const char *GetWorkingDirectory(void);                      // Get current working directory (uses static string)
-RLAPI const char *GetApplicationDirectory(void);                  // Get the directory of the running application (uses static string)
-RLAPI int MakeDirectory(const char *dirPath);                     // Create directories (including full path requested), returns 0 on success
-RLAPI bool ChangeDirectory(const char *dir);                      // Change working directory, return true on success
-RLAPI bool IsPathFile(const char *path);                          // Check if a given path is a file or a directory
-RLAPI bool IsFileNameValid(const char *fileName);                 // Check if fileName is valid for the platform/OS
-RLAPI FilePathList LoadDirectoryFiles(const char *dirPath);       // Load directory filepaths
-RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan. Use 'DIR' in the filter string to include directories in the result
-RLAPI void UnloadDirectoryFiles(FilePathList files);              // Unload filepaths
-RLAPI bool IsFileDropped(void);                                   // Check if a file has been dropped into window
-RLAPI FilePathList LoadDroppedFiles(void);                        // Load dropped filepaths
-RLAPI void UnloadDroppedFiles(FilePathList files);                // Unload dropped filepaths
-RLAPI long GetFileModTime(const char *fileName);                  // Get file modification time (last write time)
-
-// Compression/Encoding functionality
-RLAPI unsigned char *CompressData(const unsigned char *data, int dataSize, int *compDataSize);        // Compress data (DEFLATE algorithm), memory must be MemFree()
-RLAPI unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize);  // Decompress data (DEFLATE algorithm), memory must be MemFree()
-RLAPI char *EncodeDataBase64(const unsigned char *data, int dataSize, int *outputSize);               // Encode data to Base64 string, memory must be MemFree()
-RLAPI unsigned char *DecodeDataBase64(const unsigned char *data, int *outputSize);                    // Decode Base64 string data, memory must be MemFree()
-RLAPI unsigned int ComputeCRC32(unsigned char *data, int dataSize);     // Compute CRC32 hash code
-RLAPI unsigned int *ComputeMD5(unsigned char *data, int dataSize);      // Compute MD5 hash code, returns static int[4] (16 bytes)
-RLAPI unsigned int *ComputeSHA1(unsigned char *data, int dataSize);     // Compute SHA1 hash code, returns static int[5] (20 bytes)
-
-
-// Automation events functionality
-RLAPI AutomationEventList LoadAutomationEventList(const char *fileName);                // Load automation events list from file, NULL for empty list, capacity = MAX_AUTOMATION_EVENTS
-RLAPI void UnloadAutomationEventList(AutomationEventList list);                         // Unload automation events list from file
-RLAPI bool ExportAutomationEventList(AutomationEventList list, const char *fileName);   // Export automation events list as text file
-RLAPI void SetAutomationEventList(AutomationEventList *list);                           // Set automation event list to record to
-RLAPI void SetAutomationEventBaseFrame(int frame);                                      // Set automation event internal base frame to start recording
-RLAPI void StartAutomationEventRecording(void);                                         // Start recording automation events (AutomationEventList must be set)
-RLAPI void StopAutomationEventRecording(void);                                          // Stop recording automation events
-RLAPI void PlayAutomationEvent(AutomationEvent event);                                  // Play a recorded automation event
-
-//------------------------------------------------------------------------------------
-// Input Handling Functions (Module: core)
-//------------------------------------------------------------------------------------
-
-// Input-related functions: keyboard
-RLAPI bool IsKeyPressed(int key);                             // Check if a key has been pressed once
-RLAPI bool IsKeyPressedRepeat(int key);                       // Check if a key has been pressed again
-RLAPI bool IsKeyDown(int key);                                // Check if a key is being pressed
-RLAPI bool IsKeyReleased(int key);                            // Check if a key has been released once
-RLAPI bool IsKeyUp(int key);                                  // Check if a key is NOT being pressed
-RLAPI int GetKeyPressed(void);                                // Get key pressed (keycode), call it multiple times for keys queued, returns 0 when the queue is empty
-RLAPI int GetCharPressed(void);                               // Get char pressed (unicode), call it multiple times for chars queued, returns 0 when the queue is empty
-RLAPI void SetExitKey(int key);                               // Set a custom key to exit program (default is ESC)
-
-// Input-related functions: gamepads
-RLAPI bool IsGamepadAvailable(int gamepad);                                        // Check if a gamepad is available
-RLAPI const char *GetGamepadName(int gamepad);                                     // Get gamepad internal name id
-RLAPI bool IsGamepadButtonPressed(int gamepad, int button);                        // Check if a gamepad button has been pressed once
-RLAPI bool IsGamepadButtonDown(int gamepad, int button);                           // Check if a gamepad button is being pressed
-RLAPI bool IsGamepadButtonReleased(int gamepad, int button);                       // Check if a gamepad button has been released once
-RLAPI bool IsGamepadButtonUp(int gamepad, int button);                             // Check if a gamepad button is NOT being pressed
-RLAPI int GetGamepadButtonPressed(void);                                           // Get the last gamepad button pressed
-RLAPI int GetGamepadAxisCount(int gamepad);                                        // Get gamepad axis count for a gamepad
-RLAPI float GetGamepadAxisMovement(int gamepad, int axis);                         // Get axis movement value for a gamepad axis
-RLAPI int SetGamepadMappings(const char *mappings);                                // Set internal gamepad mappings (SDL_GameControllerDB)
-RLAPI void SetGamepadVibration(int gamepad, float leftMotor, float rightMotor, float duration); // Set gamepad vibration for both motors (duration in seconds)
-
-// Input-related functions: mouse
-RLAPI bool IsMouseButtonPressed(int button);                  // Check if a mouse button has been pressed once
-RLAPI bool IsMouseButtonDown(int button);                     // Check if a mouse button is being pressed
-RLAPI bool IsMouseButtonReleased(int button);                 // Check if a mouse button has been released once
-RLAPI bool IsMouseButtonUp(int button);                       // Check if a mouse button is NOT being pressed
-RLAPI int GetMouseX(void);                                    // Get mouse position X
-RLAPI int GetMouseY(void);                                    // Get mouse position Y
-RLAPI Vector2 GetMousePosition(void);                         // Get mouse position XY
-RLAPI Vector2 GetMouseDelta(void);                            // Get mouse delta between frames
-RLAPI void SetMousePosition(int x, int y);                    // Set mouse position XY
-RLAPI void SetMouseOffset(int offsetX, int offsetY);          // Set mouse offset
-RLAPI void SetMouseScale(float scaleX, float scaleY);         // Set mouse scaling
-RLAPI float GetMouseWheelMove(void);                          // Get mouse wheel movement for X or Y, whichever is larger
-RLAPI Vector2 GetMouseWheelMoveV(void);                       // Get mouse wheel movement for both X and Y
-RLAPI void SetMouseCursor(int cursor);                        // Set mouse cursor
-
-// Input-related functions: touch
-RLAPI int GetTouchX(void);                                    // Get touch position X for touch point 0 (relative to screen size)
-RLAPI int GetTouchY(void);                                    // Get touch position Y for touch point 0 (relative to screen size)
-RLAPI Vector2 GetTouchPosition(int index);                    // Get touch position XY for a touch point index (relative to screen size)
-RLAPI int GetTouchPointId(int index);                         // Get touch point identifier for given index
-RLAPI int GetTouchPointCount(void);                           // Get number of touch points
-
-//------------------------------------------------------------------------------------
-// Gestures and Touch Handling Functions (Module: rgestures)
-//------------------------------------------------------------------------------------
-RLAPI void SetGesturesEnabled(unsigned int flags);      // Enable a set of gestures using flags
-RLAPI bool IsGestureDetected(unsigned int gesture);     // Check if a gesture have been detected
-RLAPI int GetGestureDetected(void);                     // Get latest detected gesture
-RLAPI float GetGestureHoldDuration(void);               // Get gesture hold time in seconds
-RLAPI Vector2 GetGestureDragVector(void);               // Get gesture drag vector
-RLAPI float GetGestureDragAngle(void);                  // Get gesture drag angle
-RLAPI Vector2 GetGesturePinchVector(void);              // Get gesture pinch delta
-RLAPI float GetGesturePinchAngle(void);                 // Get gesture pinch angle
-
-//------------------------------------------------------------------------------------
-// Camera System Functions (Module: rcamera)
-//------------------------------------------------------------------------------------
-RLAPI void UpdateCamera(Camera *camera, int mode);      // Update camera position for selected mode
-RLAPI void UpdateCameraPro(Camera *camera, Vector3 movement, Vector3 rotation, float zoom); // Update camera movement/rotation
-
-//------------------------------------------------------------------------------------
-// Basic Shapes Drawing Functions (Module: shapes)
-//------------------------------------------------------------------------------------
-// Set texture and rectangle to be used on shapes drawing
-// NOTE: It can be useful when using basic shapes and one single font,
-// defining a font char white rectangle would allow drawing everything in a single draw call
-RLAPI void SetShapesTexture(Texture2D texture, Rectangle source);       // Set texture and rectangle to be used on shapes drawing
-RLAPI Texture2D GetShapesTexture(void);                                 // Get texture that is used for shapes drawing
-RLAPI Rectangle GetShapesTextureRectangle(void);                        // Get texture source rectangle that is used for shapes drawing
-
-// Basic shapes drawing functions
-RLAPI void DrawPixel(int posX, int posY, Color color);                                                   // Draw a pixel using geometry [Can be slow, use with care]
-RLAPI void DrawPixelV(Vector2 position, Color color);                                                    // Draw a pixel using geometry (Vector version) [Can be slow, use with care]
-RLAPI void DrawLine(int startPosX, int startPosY, int endPosX, int endPosY, Color color);                // Draw a line
-RLAPI void DrawLineV(Vector2 startPos, Vector2 endPos, Color color);                                     // Draw a line (using gl lines)
-RLAPI void DrawLineEx(Vector2 startPos, Vector2 endPos, float thick, Color color);                       // Draw a line (using triangles/quads)
-RLAPI void DrawLineStrip(const Vector2 *points, int pointCount, Color color);                            // Draw lines sequence (using gl lines)
-RLAPI void DrawLineBezier(Vector2 startPos, Vector2 endPos, float thick, Color color);                   // Draw line segment cubic-bezier in-out interpolation
-RLAPI void DrawCircle(int centerX, int centerY, float radius, Color color);                              // Draw a color-filled circle
-RLAPI void DrawCircleSector(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color);      // Draw a piece of a circle
-RLAPI void DrawCircleSectorLines(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color); // Draw circle sector outline
-RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color inner, Color outer);         // Draw a gradient-filled circle
-RLAPI void DrawCircleV(Vector2 center, float radius, Color color);                                       // Draw a color-filled circle (Vector version)
-RLAPI void DrawCircleLines(int centerX, int centerY, float radius, Color color);                         // Draw circle outline
-RLAPI void DrawCircleLinesV(Vector2 center, float radius, Color color);                                  // Draw circle outline (Vector version)
-RLAPI void DrawEllipse(int centerX, int centerY, float radiusH, float radiusV, Color color);             // Draw ellipse
-RLAPI void DrawEllipseLines(int centerX, int centerY, float radiusH, float radiusV, Color color);        // Draw ellipse outline
-RLAPI void DrawRing(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color); // Draw ring
-RLAPI void DrawRingLines(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color);    // Draw ring outline
-RLAPI void DrawRectangle(int posX, int posY, int width, int height, Color color);                        // Draw a color-filled rectangle
-RLAPI void DrawRectangleV(Vector2 position, Vector2 size, Color color);                                  // Draw a color-filled rectangle (Vector version)
-RLAPI void DrawRectangleRec(Rectangle rec, Color color);                                                 // Draw a color-filled rectangle
-RLAPI void DrawRectanglePro(Rectangle rec, Vector2 origin, float rotation, Color color);                 // Draw a color-filled rectangle with pro parameters
-RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color top, Color bottom);   // Draw a vertical-gradient-filled rectangle
-RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color left, Color right);   // Draw a horizontal-gradient-filled rectangle
-RLAPI void DrawRectangleGradientEx(Rectangle rec, Color topLeft, Color bottomLeft, Color topRight, Color bottomRight); // Draw a gradient-filled rectangle with custom vertex colors
-RLAPI void DrawRectangleLines(int posX, int posY, int width, int height, Color color);                   // Draw rectangle outline
-RLAPI void DrawRectangleLinesEx(Rectangle rec, float lineThick, Color color);                            // Draw rectangle outline with extended parameters
-RLAPI void DrawRectangleRounded(Rectangle rec, float roundness, int segments, Color color);              // Draw rectangle with rounded edges
-RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, Color color);         // Draw rectangle lines with rounded edges
-RLAPI void DrawRectangleRoundedLinesEx(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
-RLAPI void DrawTriangle(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                                // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleLines(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                           // Draw triangle outline (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleFan(const Vector2 *points, int pointCount, Color color);                          // Draw a triangle fan defined by points (first vertex is the center)
-RLAPI void DrawTriangleStrip(const Vector2 *points, int pointCount, Color color);                        // Draw a triangle strip defined by points
-RLAPI void DrawPoly(Vector2 center, int sides, float radius, float rotation, Color color);               // Draw a regular polygon (Vector version)
-RLAPI void DrawPolyLines(Vector2 center, int sides, float radius, float rotation, Color color);          // Draw a polygon outline of n sides
-RLAPI void DrawPolyLinesEx(Vector2 center, int sides, float radius, float rotation, float lineThick, Color color); // Draw a polygon outline of n sides with extended parameters
-
-// Splines drawing functions
-RLAPI void DrawSplineLinear(const Vector2 *points, int pointCount, float thick, Color color);                  // Draw spline: Linear, minimum 2 points
-RLAPI void DrawSplineBasis(const Vector2 *points, int pointCount, float thick, Color color);                   // Draw spline: B-Spline, minimum 4 points
-RLAPI void DrawSplineCatmullRom(const Vector2 *points, int pointCount, float thick, Color color);              // Draw spline: Catmull-Rom, minimum 4 points
-RLAPI void DrawSplineBezierQuadratic(const Vector2 *points, int pointCount, float thick, Color color);         // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
-RLAPI void DrawSplineBezierCubic(const Vector2 *points, int pointCount, float thick, Color color);             // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
-RLAPI void DrawSplineSegmentLinear(Vector2 p1, Vector2 p2, float thick, Color color);                    // Draw spline segment: Linear, 2 points
-RLAPI void DrawSplineSegmentBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: B-Spline, 4 points
-RLAPI void DrawSplineSegmentCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: Catmull-Rom, 4 points
-RLAPI void DrawSplineSegmentBezierQuadratic(Vector2 p1, Vector2 c2, Vector2 p3, float thick, Color color); // Draw spline segment: Quadratic Bezier, 2 points, 1 control point
-RLAPI void DrawSplineSegmentBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float thick, Color color); // Draw spline segment: Cubic Bezier, 2 points, 2 control points
-
-// Spline segment point evaluation functions, for a given t [0.0f .. 1.0f]
-RLAPI Vector2 GetSplinePointLinear(Vector2 startPos, Vector2 endPos, float t);                           // Get (evaluate) spline point: Linear
-RLAPI Vector2 GetSplinePointBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);              // Get (evaluate) spline point: B-Spline
-RLAPI Vector2 GetSplinePointCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);         // Get (evaluate) spline point: Catmull-Rom
-RLAPI Vector2 GetSplinePointBezierQuad(Vector2 p1, Vector2 c2, Vector2 p3, float t);                     // Get (evaluate) spline point: Quadratic Bezier
-RLAPI Vector2 GetSplinePointBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float t);        // Get (evaluate) spline point: Cubic Bezier
-
-// Basic shapes collision detection functions
-RLAPI bool CheckCollisionRecs(Rectangle rec1, Rectangle rec2);                                           // Check collision between two rectangles
-RLAPI bool CheckCollisionCircles(Vector2 center1, float radius1, Vector2 center2, float radius2);        // Check collision between two circles
-RLAPI bool CheckCollisionCircleRec(Vector2 center, float radius, Rectangle rec);                         // Check collision between circle and rectangle
-RLAPI bool CheckCollisionCircleLine(Vector2 center, float radius, Vector2 p1, Vector2 p2);               // Check if circle collides with a line created betweeen two points [p1] and [p2]
-RLAPI bool CheckCollisionPointRec(Vector2 point, Rectangle rec);                                         // Check if point is inside rectangle
-RLAPI bool CheckCollisionPointCircle(Vector2 point, Vector2 center, float radius);                       // Check if point is inside circle
-RLAPI bool CheckCollisionPointTriangle(Vector2 point, Vector2 p1, Vector2 p2, Vector2 p3);               // Check if point is inside a triangle
-RLAPI bool CheckCollisionPointLine(Vector2 point, Vector2 p1, Vector2 p2, int threshold);                // Check if point belongs to line created between two points [p1] and [p2] with defined margin in pixels [threshold]
-RLAPI bool CheckCollisionPointPoly(Vector2 point, const Vector2 *points, int pointCount);                // Check if point is within a polygon described by array of vertices
-RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
-RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);                                         // Get collision rectangle for two rectangles collision
-
-//------------------------------------------------------------------------------------
-// Texture Loading and Drawing Functions (Module: textures)
-//------------------------------------------------------------------------------------
-
-// Image loading functions
-// NOTE: These functions do not require GPU access
-RLAPI Image LoadImage(const char *fileName);                                                             // Load image from file into CPU memory (RAM)
-RLAPI Image LoadImageRaw(const char *fileName, int width, int height, int format, int headerSize);       // Load image from RAW file data
-RLAPI Image LoadImageAnim(const char *fileName, int *frames);                                            // Load image sequence from file (frames appended to image.data)
-RLAPI Image LoadImageAnimFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int *frames); // Load image sequence from memory buffer
-RLAPI Image LoadImageFromMemory(const char *fileType, const unsigned char *fileData, int dataSize);      // Load image from memory buffer, fileType refers to extension: i.e. '.png'
-RLAPI Image LoadImageFromTexture(Texture2D texture);                                                     // Load image from GPU texture data
-RLAPI Image LoadImageFromScreen(void);                                                                   // Load image from screen buffer and (screenshot)
-RLAPI bool IsImageValid(Image image);                                                                    // Check if an image is valid (data and parameters)
-RLAPI void UnloadImage(Image image);                                                                     // Unload image from CPU memory (RAM)
-RLAPI bool ExportImage(Image image, const char *fileName);                                               // Export image data to file, returns true on success
-RLAPI unsigned char *ExportImageToMemory(Image image, const char *fileType, int *fileSize);              // Export image to memory buffer
-RLAPI bool ExportImageAsCode(Image image, const char *fileName);                                         // Export image as code file defining an array of bytes, returns true on success
-
-// Image generation functions
-RLAPI Image GenImageColor(int width, int height, Color color);                                           // Generate image: plain color
-RLAPI Image GenImageGradientLinear(int width, int height, int direction, Color start, Color end);        // Generate image: linear gradient, direction in degrees [0..360], 0=Vertical gradient
-RLAPI Image GenImageGradientRadial(int width, int height, float density, Color inner, Color outer);      // Generate image: radial gradient
-RLAPI Image GenImageGradientSquare(int width, int height, float density, Color inner, Color outer);      // Generate image: square gradient
-RLAPI Image GenImageChecked(int width, int height, int checksX, int checksY, Color col1, Color col2);    // Generate image: checked
-RLAPI Image GenImageWhiteNoise(int width, int height, float factor);                                     // Generate image: white noise
-RLAPI Image GenImagePerlinNoise(int width, int height, int offsetX, int offsetY, float scale);           // Generate image: perlin noise
-RLAPI Image GenImageCellular(int width, int height, int tileSize);                                       // Generate image: cellular algorithm, bigger tileSize means bigger cells
-RLAPI Image GenImageText(int width, int height, const char *text);                                       // Generate image: grayscale image from text data
-
-// Image manipulation functions
-RLAPI Image ImageCopy(Image image);                                                                      // Create an image duplicate (useful for transformations)
-RLAPI Image ImageFromImage(Image image, Rectangle rec);                                                  // Create an image from another image piece
-RLAPI Image ImageFromChannel(Image image, int selectedChannel);                                          // Create an image from a selected channel of another image (GRAYSCALE)
-RLAPI Image ImageText(const char *text, int fontSize, Color color);                                      // Create an image from text (default font)
-RLAPI Image ImageTextEx(Font font, const char *text, float fontSize, float spacing, Color tint);         // Create an image from text (custom sprite font)
-RLAPI void ImageFormat(Image *image, int newFormat);                                                     // Convert image data to desired format
-RLAPI void ImageToPOT(Image *image, Color fill);                                                         // Convert image to POT (power-of-two)
-RLAPI void ImageCrop(Image *image, Rectangle crop);                                                      // Crop an image to a defined rectangle
-RLAPI void ImageAlphaCrop(Image *image, float threshold);                                                // Crop image depending on alpha value
-RLAPI void ImageAlphaClear(Image *image, Color color, float threshold);                                  // Clear alpha channel to desired color
-RLAPI void ImageAlphaMask(Image *image, Image alphaMask);                                                // Apply alpha mask to image
-RLAPI void ImageAlphaPremultiply(Image *image);                                                          // Premultiply alpha channel
-RLAPI void ImageBlurGaussian(Image *image, int blurSize);                                                // Apply Gaussian blur using a box blur approximation
-RLAPI void ImageKernelConvolution(Image *image, const float *kernel, int kernelSize);                    // Apply custom square convolution kernel to image
-RLAPI void ImageResize(Image *image, int newWidth, int newHeight);                                       // Resize image (Bicubic scaling algorithm)
-RLAPI void ImageResizeNN(Image *image, int newWidth,int newHeight);                                      // Resize image (Nearest-Neighbor scaling algorithm)
-RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill); // Resize canvas and fill with color
-RLAPI void ImageMipmaps(Image *image);                                                                   // Compute all mipmap levels for a provided image
-RLAPI void ImageDither(Image *image, int rBpp, int gBpp, int bBpp, int aBpp);                            // Dither image data to 16bpp or lower (Floyd-Steinberg dithering)
-RLAPI void ImageFlipVertical(Image *image);                                                              // Flip image vertically
-RLAPI void ImageFlipHorizontal(Image *image);                                                            // Flip image horizontally
-RLAPI void ImageRotate(Image *image, int degrees);                                                       // Rotate image by input angle in degrees (-359 to 359)
-RLAPI void ImageRotateCW(Image *image);                                                                  // Rotate image clockwise 90deg
-RLAPI void ImageRotateCCW(Image *image);                                                                 // Rotate image counter-clockwise 90deg
-RLAPI void ImageColorTint(Image *image, Color color);                                                    // Modify image color: tint
-RLAPI void ImageColorInvert(Image *image);                                                               // Modify image color: invert
-RLAPI void ImageColorGrayscale(Image *image);                                                            // Modify image color: grayscale
-RLAPI void ImageColorContrast(Image *image, float contrast);                                             // Modify image color: contrast (-100 to 100)
-RLAPI void ImageColorBrightness(Image *image, int brightness);                                           // Modify image color: brightness (-255 to 255)
-RLAPI void ImageColorReplace(Image *image, Color color, Color replace);                                  // Modify image color: replace color
-RLAPI Color *LoadImageColors(Image image);                                                               // Load color data from image as a Color array (RGBA - 32bit)
-RLAPI Color *LoadImagePalette(Image image, int maxPaletteSize, int *colorCount);                         // Load colors palette from image as a Color array (RGBA - 32bit)
-RLAPI void UnloadImageColors(Color *colors);                                                             // Unload color data loaded with LoadImageColors()
-RLAPI void UnloadImagePalette(Color *colors);                                                            // Unload colors palette loaded with LoadImagePalette()
-RLAPI Rectangle GetImageAlphaBorder(Image image, float threshold);                                       // Get image alpha border rectangle
-RLAPI Color GetImageColor(Image image, int x, int y);                                                    // Get image pixel color at (x, y) position
-
-// Image drawing functions
-// NOTE: Image software-rendering functions (CPU)
-RLAPI void ImageClearBackground(Image *dst, Color color);                                                // Clear image background with given color
-RLAPI void ImageDrawPixel(Image *dst, int posX, int posY, Color color);                                  // Draw pixel within an image
-RLAPI void ImageDrawPixelV(Image *dst, Vector2 position, Color color);                                   // Draw pixel within an image (Vector version)
-RLAPI void ImageDrawLine(Image *dst, int startPosX, int startPosY, int endPosX, int endPosY, Color color); // Draw line within an image
-RLAPI void ImageDrawLineV(Image *dst, Vector2 start, Vector2 end, Color color);                          // Draw line within an image (Vector version)
-RLAPI void ImageDrawLineEx(Image *dst, Vector2 start, Vector2 end, int thick, Color color);              // Draw a line defining thickness within an image
-RLAPI void ImageDrawCircle(Image *dst, int centerX, int centerY, int radius, Color color);               // Draw a filled circle within an image
-RLAPI void ImageDrawCircleV(Image *dst, Vector2 center, int radius, Color color);                        // Draw a filled circle within an image (Vector version)
-RLAPI void ImageDrawCircleLines(Image *dst, int centerX, int centerY, int radius, Color color);          // Draw circle outline within an image
-RLAPI void ImageDrawCircleLinesV(Image *dst, Vector2 center, int radius, Color color);                   // Draw circle outline within an image (Vector version)
-RLAPI void ImageDrawRectangle(Image *dst, int posX, int posY, int width, int height, Color color);       // Draw rectangle within an image
-RLAPI void ImageDrawRectangleV(Image *dst, Vector2 position, Vector2 size, Color color);                 // Draw rectangle within an image (Vector version)
-RLAPI void ImageDrawRectangleRec(Image *dst, Rectangle rec, Color color);                                // Draw rectangle within an image
-RLAPI void ImageDrawRectangleLines(Image *dst, Rectangle rec, int thick, Color color);                   // Draw rectangle lines within an image
-RLAPI void ImageDrawTriangle(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);               // Draw triangle within an image
-RLAPI void ImageDrawTriangleEx(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color c1, Color c2, Color c3); // Draw triangle with interpolated colors within an image
-RLAPI void ImageDrawTriangleLines(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);          // Draw triangle outline within an image
-RLAPI void ImageDrawTriangleFan(Image *dst, Vector2 *points, int pointCount, Color color);               // Draw a triangle fan defined by points within an image (first vertex is the center)
-RLAPI void ImageDrawTriangleStrip(Image *dst, Vector2 *points, int pointCount, Color color);             // Draw a triangle strip defined by points within an image
-RLAPI void ImageDraw(Image *dst, Image src, Rectangle srcRec, Rectangle dstRec, Color tint);             // Draw a source image within a destination image (tint applied to source)
-RLAPI void ImageDrawText(Image *dst, const char *text, int posX, int posY, int fontSize, Color color);   // Draw text (using default font) within an image (destination)
-RLAPI void ImageDrawTextEx(Image *dst, Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text (custom sprite font) within an image (destination)
-
-// Texture loading functions
-// NOTE: These functions require GPU access
-RLAPI Texture2D LoadTexture(const char *fileName);                                                       // Load texture from file into GPU memory (VRAM)
-RLAPI Texture2D LoadTextureFromImage(Image image);                                                       // Load texture from image data
-RLAPI TextureCubemap LoadTextureCubemap(Image image, int layout);                                        // Load cubemap from image, multiple image cubemap layouts supported
-RLAPI RenderTexture2D LoadRenderTexture(int width, int height);                                          // Load texture for rendering (framebuffer)
-RLAPI bool IsTextureValid(Texture2D texture);                                                            // Check if a texture is valid (loaded in GPU)
-RLAPI void UnloadTexture(Texture2D texture);                                                             // Unload texture from GPU memory (VRAM)
-RLAPI bool IsRenderTextureValid(RenderTexture2D target);                                                 // Check if a render texture is valid (loaded in GPU)
-RLAPI void UnloadRenderTexture(RenderTexture2D target);                                                  // Unload render texture from GPU memory (VRAM)
-RLAPI void UpdateTexture(Texture2D texture, const void *pixels);                                         // Update GPU texture with new data
-RLAPI void UpdateTextureRec(Texture2D texture, Rectangle rec, const void *pixels);                       // Update GPU texture rectangle with new data
-
-// Texture configuration functions
-RLAPI void GenTextureMipmaps(Texture2D *texture);                                                        // Generate GPU mipmaps for a texture
-RLAPI void SetTextureFilter(Texture2D texture, int filter);                                              // Set texture scaling filter mode
-RLAPI void SetTextureWrap(Texture2D texture, int wrap);                                                  // Set texture wrapping mode
-
-// Texture drawing functions
-RLAPI void DrawTexture(Texture2D texture, int posX, int posY, Color tint);                               // Draw a Texture2D
-RLAPI void DrawTextureV(Texture2D texture, Vector2 position, Color tint);                                // Draw a Texture2D with position defined as Vector2
-RLAPI void DrawTextureEx(Texture2D texture, Vector2 position, float rotation, float scale, Color tint);  // Draw a Texture2D with extended parameters
-RLAPI void DrawTextureRec(Texture2D texture, Rectangle source, Vector2 position, Color tint);            // Draw a part of a texture defined by a rectangle
-RLAPI void DrawTexturePro(Texture2D texture, Rectangle source, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draw a part of a texture defined by a rectangle with 'pro' parameters
-RLAPI void DrawTextureNPatch(Texture2D texture, NPatchInfo nPatchInfo, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draws a texture (or part of it) that stretches or shrinks nicely
-
-// Color/pixel related functions
-RLAPI bool ColorIsEqual(Color col1, Color col2);                            // Check if two colors are equal
-RLAPI Color Fade(Color color, float alpha);                                 // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI int ColorToInt(Color color);                                          // Get hexadecimal value for a Color (0xRRGGBBAA)
-RLAPI Vector4 ColorNormalize(Color color);                                  // Get Color normalized as float [0..1]
-RLAPI Color ColorFromNormalized(Vector4 normalized);                        // Get Color from normalized values [0..1]
-RLAPI Vector3 ColorToHSV(Color color);                                      // Get HSV values for a Color, hue [0..360], saturation/value [0..1]
-RLAPI Color ColorFromHSV(float hue, float saturation, float value);         // Get a Color from HSV values, hue [0..360], saturation/value [0..1]
-RLAPI Color ColorTint(Color color, Color tint);                             // Get color multiplied with another color
-RLAPI Color ColorBrightness(Color color, float factor);                     // Get color with brightness correction, brightness factor goes from -1.0f to 1.0f
-RLAPI Color ColorContrast(Color color, float contrast);                     // Get color with contrast correction, contrast values between -1.0f and 1.0f
-RLAPI Color ColorAlpha(Color color, float alpha);                           // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI Color ColorAlphaBlend(Color dst, Color src, Color tint);              // Get src alpha-blended into dst color with tint
-RLAPI Color ColorLerp(Color color1, Color color2, float factor);            // Get color lerp interpolation between two colors, factor [0.0f..1.0f]
-RLAPI Color GetColor(unsigned int hexValue);                                // Get Color structure from hexadecimal value
-RLAPI Color GetPixelColor(void *srcPtr, int format);                        // Get Color from a source pixel pointer of certain format
-RLAPI void SetPixelColor(void *dstPtr, Color color, int format);            // Set color formatted into destination pixel pointer
-RLAPI int GetPixelDataSize(int width, int height, int format);              // Get pixel data size in bytes for certain format
-
-//------------------------------------------------------------------------------------
-// Font Loading and Text Drawing Functions (Module: text)
-//------------------------------------------------------------------------------------
-
-// Font loading/unloading functions
-RLAPI Font GetFontDefault(void);                                                            // Get the default Font
-RLAPI Font LoadFont(const char *fileName);                                                  // Load font from file into GPU memory (VRAM)
-RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set, font size is provided in pixels height
-RLAPI Font LoadFontFromImage(Image image, Color key, int firstChar);                        // Load font from Image (XNA style)
-RLAPI Font LoadFontFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount); // Load font from memory buffer, fileType refers to extension: i.e. '.ttf'
-RLAPI bool IsFontValid(Font font);                                                          // Check if a font is valid (font data loaded, WARNING: GPU texture not checked)
-RLAPI GlyphInfo *LoadFontData(const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount, int type); // Load font data for further use
-RLAPI Image GenImageFontAtlas(const GlyphInfo *glyphs, Rectangle **glyphRecs, int glyphCount, int fontSize, int padding, int packMethod); // Generate image font atlas using chars info
-RLAPI void UnloadFontData(GlyphInfo *glyphs, int glyphCount);                               // Unload font chars info data (RAM)
-RLAPI void UnloadFont(Font font);                                                           // Unload font from GPU memory (VRAM)
-RLAPI bool ExportFontAsCode(Font font, const char *fileName);                               // Export font as code file, returns true on success
-
-// Text drawing functions
-RLAPI void DrawFPS(int posX, int posY);                                                     // Draw current FPS
-RLAPI void DrawText(const char *text, int posX, int posY, int fontSize, Color color);       // Draw text (using default font)
-RLAPI void DrawTextEx(Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text using font and additional parameters
-RLAPI void DrawTextPro(Font font, const char *text, Vector2 position, Vector2 origin, float rotation, float fontSize, float spacing, Color tint); // Draw text using Font and pro parameters (rotation)
-RLAPI void DrawTextCodepoint(Font font, int codepoint, Vector2 position, float fontSize, Color tint); // Draw one character (codepoint)
-RLAPI void DrawTextCodepoints(Font font, const int *codepoints, int codepointCount, Vector2 position, float fontSize, float spacing, Color tint); // Draw multiple character (codepoint)
-
-// Text font info functions
-RLAPI void SetTextLineSpacing(int spacing);                                                 // Set vertical line spacing when drawing with line-breaks
-RLAPI int MeasureText(const char *text, int fontSize);                                      // Measure string width for default font
-RLAPI Vector2 MeasureTextEx(Font font, const char *text, float fontSize, float spacing);    // Measure string size for Font
-RLAPI int GetGlyphIndex(Font font, int codepoint);                                          // Get glyph index position in font for a codepoint (unicode character), fallback to '?' if not found
-RLAPI GlyphInfo GetGlyphInfo(Font font, int codepoint);                                     // Get glyph font info data for a codepoint (unicode character), fallback to '?' if not found
-RLAPI Rectangle GetGlyphAtlasRec(Font font, int codepoint);                                 // Get glyph rectangle in font atlas for a codepoint (unicode character), fallback to '?' if not found
-
-// Text codepoints management functions (unicode characters)
-RLAPI char *LoadUTF8(const int *codepoints, int length);                // Load UTF-8 text encoded from codepoints array
-RLAPI void UnloadUTF8(char *text);                                      // Unload UTF-8 text encoded from codepoints array
-RLAPI int *LoadCodepoints(const char *text, int *count);                // Load all codepoints from a UTF-8 text string, codepoints count returned by parameter
-RLAPI void UnloadCodepoints(int *codepoints);                           // Unload codepoints data from memory
-RLAPI int GetCodepointCount(const char *text);                          // Get total number of codepoints in a UTF-8 encoded string
-RLAPI int GetCodepoint(const char *text, int *codepointSize);           // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI int GetCodepointNext(const char *text, int *codepointSize);       // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI int GetCodepointPrevious(const char *text, int *codepointSize);   // Get previous codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI const char *CodepointToUTF8(int codepoint, int *utf8Size);        // Encode one codepoint into UTF-8 byte array (array length returned as parameter)
-
-// Text strings management functions (no UTF-8 strings, only byte chars)
-// NOTE: Some strings allocate memory internally for returned strings, just be careful!
-RLAPI int TextCopy(char *dst, const char *src);                                             // Copy one string to another, returns bytes copied
-RLAPI bool TextIsEqual(const char *text1, const char *text2);                               // Check if two text string are equal
-RLAPI unsigned int TextLength(const char *text);                                            // Get text length, checks for '\0' ending
-RLAPI const char *TextFormat(const char *text, ...);                                        // Text formatting with variables (sprintf() style)
-RLAPI const char *TextSubtext(const char *text, int position, int length);                  // Get a piece of a text string
-RLAPI char *TextReplace(const char *text, const char *replace, const char *by);             // Replace text string (WARNING: memory must be freed!)
-RLAPI char *TextInsert(const char *text, const char *insert, int position);                 // Insert text in a position (WARNING: memory must be freed!)
-RLAPI const char *TextJoin(const char **textList, int count, const char *delimiter);        // Join text strings with delimiter
-RLAPI const char **TextSplit(const char *text, char delimiter, int *count);                 // Split text into multiple strings
-RLAPI void TextAppend(char *text, const char *append, int *position);                       // Append text at specific position and move cursor!
-RLAPI int TextFindIndex(const char *text, const char *find);                                // Find first text occurrence within a string
-RLAPI const char *TextToUpper(const char *text);                      // Get upper case version of provided string
-RLAPI const char *TextToLower(const char *text);                      // Get lower case version of provided string
-RLAPI const char *TextToPascal(const char *text);                     // Get Pascal case notation version of provided string
-RLAPI const char *TextToSnake(const char *text);                      // Get Snake case notation version of provided string
-RLAPI const char *TextToCamel(const char *text);                      // Get Camel case notation version of provided string
-
-RLAPI int TextToInteger(const char *text);                            // Get integer value from text (negative values not supported)
-RLAPI float TextToFloat(const char *text);                            // Get float value from text (negative values not supported)
-
-//------------------------------------------------------------------------------------
-// Basic 3d Shapes Drawing Functions (Module: models)
-//------------------------------------------------------------------------------------
-
-// Basic geometric 3D shapes drawing functions
-RLAPI void DrawLine3D(Vector3 startPos, Vector3 endPos, Color color);                                    // Draw a line in 3D world space
-RLAPI void DrawPoint3D(Vector3 position, Color color);                                                   // Draw a point in 3D space, actually a small line
-RLAPI void DrawCircle3D(Vector3 center, float radius, Vector3 rotationAxis, float rotationAngle, Color color); // Draw a circle in 3D world space
-RLAPI void DrawTriangle3D(Vector3 v1, Vector3 v2, Vector3 v3, Color color);                              // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleStrip3D(const Vector3 *points, int pointCount, Color color);                      // Draw a triangle strip defined by points
-RLAPI void DrawCube(Vector3 position, float width, float height, float length, Color color);             // Draw cube
-RLAPI void DrawCubeV(Vector3 position, Vector3 size, Color color);                                       // Draw cube (Vector version)
-RLAPI void DrawCubeWires(Vector3 position, float width, float height, float length, Color color);        // Draw cube wires
-RLAPI void DrawCubeWiresV(Vector3 position, Vector3 size, Color color);                                  // Draw cube wires (Vector version)
-RLAPI void DrawSphere(Vector3 centerPos, float radius, Color color);                                     // Draw sphere
-RLAPI void DrawSphereEx(Vector3 centerPos, float radius, int rings, int slices, Color color);            // Draw sphere with extended parameters
-RLAPI void DrawSphereWires(Vector3 centerPos, float radius, int rings, int slices, Color color);         // Draw sphere wires
-RLAPI void DrawCylinder(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone
-RLAPI void DrawCylinderEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder with base at startPos and top at endPos
-RLAPI void DrawCylinderWires(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone wires
-RLAPI void DrawCylinderWiresEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder wires with base at startPos and top at endPos
-RLAPI void DrawCapsule(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw a capsule with the center of its sphere caps at startPos and endPos
-RLAPI void DrawCapsuleWires(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw capsule wireframe with the center of its sphere caps at startPos and endPos
-RLAPI void DrawPlane(Vector3 centerPos, Vector2 size, Color color);                                      // Draw a plane XZ
-RLAPI void DrawRay(Ray ray, Color color);                                                                // Draw a ray line
-RLAPI void DrawGrid(int slices, float spacing);                                                          // Draw a grid (centered at (0, 0, 0))
-
-//------------------------------------------------------------------------------------
-// Model 3d Loading and Drawing Functions (Module: models)
-//------------------------------------------------------------------------------------
-
-// Model management functions
-RLAPI Model LoadModel(const char *fileName);                                                // Load model from files (meshes and materials)
-RLAPI Model LoadModelFromMesh(Mesh mesh);                                                   // Load model from generated mesh (default material)
-RLAPI bool IsModelValid(Model model);                                                       // Check if a model is valid (loaded in GPU, VAO/VBOs)
-RLAPI void UnloadModel(Model model);                                                        // Unload model (including meshes) from memory (RAM and/or VRAM)
-RLAPI BoundingBox GetModelBoundingBox(Model model);                                         // Compute model bounding box limits (considers all meshes)
-
-// Model drawing functions
-RLAPI void DrawModel(Model model, Vector3 position, float scale, Color tint);               // Draw a model (with texture if set)
-RLAPI void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model with extended parameters
-RLAPI void DrawModelWires(Model model, Vector3 position, float scale, Color tint);          // Draw a model wires (with texture if set)
-RLAPI void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model wires (with texture if set) with extended parameters
-RLAPI void DrawModelPoints(Model model, Vector3 position, float scale, Color tint); // Draw a model as points
-RLAPI void DrawModelPointsEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model as points with extended parameters
-RLAPI void DrawBoundingBox(BoundingBox box, Color color);                                   // Draw bounding box (wires)
-RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float scale, Color tint);   // Draw a billboard texture
-RLAPI void DrawBillboardRec(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector2 size, Color tint); // Draw a billboard texture defined by source
-RLAPI void DrawBillboardPro(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector3 up, Vector2 size, Vector2 origin, float rotation, Color tint); // Draw a billboard texture defined by source and rotation
-
-// Mesh management functions
-RLAPI void UploadMesh(Mesh *mesh, bool dynamic);                                            // Upload mesh vertex data in GPU and provide VAO/VBO ids
-RLAPI void UpdateMeshBuffer(Mesh mesh, int index, const void *data, int dataSize, int offset); // Update mesh vertex data in GPU for a specific buffer index
-RLAPI void UnloadMesh(Mesh mesh);                                                           // Unload mesh data from CPU and GPU
-RLAPI void DrawMesh(Mesh mesh, Material material, Matrix transform);                        // Draw a 3d mesh with material and transform
-RLAPI void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, int instances); // Draw multiple mesh instances with material and different transforms
-RLAPI BoundingBox GetMeshBoundingBox(Mesh mesh);                                            // Compute mesh bounding box limits
-RLAPI void GenMeshTangents(Mesh *mesh);                                                     // Compute mesh tangents
-RLAPI bool ExportMesh(Mesh mesh, const char *fileName);                                     // Export mesh data to file, returns true on success
-RLAPI bool ExportMeshAsCode(Mesh mesh, const char *fileName);                               // Export mesh as code file (.h) defining multiple arrays of vertex attributes
-
-// Mesh generation functions
-RLAPI Mesh GenMeshPoly(int sides, float radius);                                            // Generate polygonal mesh
-RLAPI Mesh GenMeshPlane(float width, float length, int resX, int resZ);                     // Generate plane mesh (with subdivisions)
-RLAPI Mesh GenMeshCube(float width, float height, float length);                            // Generate cuboid mesh
-RLAPI Mesh GenMeshSphere(float radius, int rings, int slices);                              // Generate sphere mesh (standard sphere)
-RLAPI Mesh GenMeshHemiSphere(float radius, int rings, int slices);                          // Generate half-sphere mesh (no bottom cap)
-RLAPI Mesh GenMeshCylinder(float radius, float height, int slices);                         // Generate cylinder mesh
-RLAPI Mesh GenMeshCone(float radius, float height, int slices);                             // Generate cone/pyramid mesh
-RLAPI Mesh GenMeshTorus(float radius, float size, int radSeg, int sides);                   // Generate torus mesh
-RLAPI Mesh GenMeshKnot(float radius, float size, int radSeg, int sides);                    // Generate trefoil knot mesh
-RLAPI Mesh GenMeshHeightmap(Image heightmap, Vector3 size);                                 // Generate heightmap mesh from image data
-RLAPI Mesh GenMeshCubicmap(Image cubicmap, Vector3 cubeSize);                               // Generate cubes-based map mesh from image data
-
-// Material loading/unloading functions
-RLAPI Material *LoadMaterials(const char *fileName, int *materialCount);                    // Load materials from model file
-RLAPI Material LoadMaterialDefault(void);                                                   // Load default material (Supports: DIFFUSE, SPECULAR, NORMAL maps)
-RLAPI bool IsMaterialValid(Material material);                                              // Check if a material is valid (shader assigned, map textures loaded in GPU)
-RLAPI void UnloadMaterial(Material material);                                               // Unload material from GPU memory (VRAM)
-RLAPI void SetMaterialTexture(Material *material, int mapType, Texture2D texture);          // Set texture for a material map type (MATERIAL_MAP_DIFFUSE, MATERIAL_MAP_SPECULAR...)
-RLAPI void SetModelMeshMaterial(Model *model, int meshId, int materialId);                  // Set material for a mesh
-
-// Model animations loading/unloading functions
-RLAPI ModelAnimation *LoadModelAnimations(const char *fileName, int *animCount);            // Load model animations from file
-RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame);               // Update model animation pose (CPU)
-RLAPI void UpdateModelAnimationBones(Model model, ModelAnimation anim, int frame);          // Update model animation mesh bone matrices (GPU skinning)
-RLAPI void UnloadModelAnimation(ModelAnimation anim);                                       // Unload animation data
-RLAPI void UnloadModelAnimations(ModelAnimation *animations, int animCount);                // Unload animation array data
-RLAPI bool IsModelAnimationValid(Model model, ModelAnimation anim);                         // Check model animation skeleton match
-
-// Collision detection functions
-RLAPI bool CheckCollisionSpheres(Vector3 center1, float radius1, Vector3 center2, float radius2);   // Check collision between two spheres
-RLAPI bool CheckCollisionBoxes(BoundingBox box1, BoundingBox box2);                                 // Check collision between two bounding boxes
-RLAPI bool CheckCollisionBoxSphere(BoundingBox box, Vector3 center, float radius);                  // Check collision between box and sphere
-RLAPI RayCollision GetRayCollisionSphere(Ray ray, Vector3 center, float radius);                    // Get collision info between ray and sphere
-RLAPI RayCollision GetRayCollisionBox(Ray ray, BoundingBox box);                                    // Get collision info between ray and box
-RLAPI RayCollision GetRayCollisionMesh(Ray ray, Mesh mesh, Matrix transform);                       // Get collision info between ray and mesh
-RLAPI RayCollision GetRayCollisionTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3);            // Get collision info between ray and triangle
-RLAPI RayCollision GetRayCollisionQuad(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4);    // Get collision info between ray and quad
-
-//------------------------------------------------------------------------------------
-// Audio Loading and Playing Functions (Module: audio)
-//------------------------------------------------------------------------------------
-typedef void (*AudioCallback)(void *bufferData, unsigned int frames);
-
-// Audio device management functions
-RLAPI void InitAudioDevice(void);                                     // Initialize audio device and context
-RLAPI void CloseAudioDevice(void);                                    // Close the audio device and context
-RLAPI bool IsAudioDeviceReady(void);                                  // Check if audio device has been initialized successfully
-RLAPI void SetMasterVolume(float volume);                             // Set master volume (listener)
-RLAPI float GetMasterVolume(void);                                    // Get master volume (listener)
-
-// Wave/Sound loading/unloading functions
-RLAPI Wave LoadWave(const char *fileName);                            // Load wave data from file
-RLAPI Wave LoadWaveFromMemory(const char *fileType, const unsigned char *fileData, int dataSize); // Load wave from memory buffer, fileType refers to extension: i.e. '.wav'
-RLAPI bool IsWaveValid(Wave wave);                                    // Checks if wave data is valid (data loaded and parameters)
-RLAPI Sound LoadSound(const char *fileName);                          // Load sound from file
-RLAPI Sound LoadSoundFromWave(Wave wave);                             // Load sound from wave data
-RLAPI Sound LoadSoundAlias(Sound source);                             // Create a new sound that shares the same sample data as the source sound, does not own the sound data
-RLAPI bool IsSoundValid(Sound sound);                                 // Checks if a sound is valid (data loaded and buffers initialized)
-RLAPI void UpdateSound(Sound sound, const void *data, int sampleCount); // Update sound buffer with new data
-RLAPI void UnloadWave(Wave wave);                                     // Unload wave data
-RLAPI void UnloadSound(Sound sound);                                  // Unload sound
-RLAPI void UnloadSoundAlias(Sound alias);                             // Unload a sound alias (does not deallocate sample data)
-RLAPI bool ExportWave(Wave wave, const char *fileName);               // Export wave data to file, returns true on success
-RLAPI bool ExportWaveAsCode(Wave wave, const char *fileName);         // Export wave sample data to code (.h), returns true on success
-
-// Wave/Sound management functions
-RLAPI void PlaySound(Sound sound);                                    // Play a sound
-RLAPI void StopSound(Sound sound);                                    // Stop playing a sound
-RLAPI void PauseSound(Sound sound);                                   // Pause a sound
-RLAPI void ResumeSound(Sound sound);                                  // Resume a paused sound
-RLAPI bool IsSoundPlaying(Sound sound);                               // Check if a sound is currently playing
-RLAPI void SetSoundVolume(Sound sound, float volume);                 // Set volume for a sound (1.0 is max level)
-RLAPI void SetSoundPitch(Sound sound, float pitch);                   // Set pitch for a sound (1.0 is base level)
-RLAPI void SetSoundPan(Sound sound, float pan);                       // Set pan for a sound (0.5 is center)
-RLAPI Wave WaveCopy(Wave wave);                                       // Copy a wave to a new wave
-RLAPI void WaveCrop(Wave *wave, int initFrame, int finalFrame);       // Crop a wave to defined frames range
-RLAPI void WaveFormat(Wave *wave, int sampleRate, int sampleSize, int channels); // Convert wave data to desired format
-RLAPI float *LoadWaveSamples(Wave wave);                              // Load samples data from wave as a 32bit float data array
-RLAPI void UnloadWaveSamples(float *samples);                         // Unload samples data loaded with LoadWaveSamples()
-
-// Music management functions
-RLAPI Music LoadMusicStream(const char *fileName);                    // Load music stream from file
-RLAPI Music LoadMusicStreamFromMemory(const char *fileType, const unsigned char *data, int dataSize); // Load music stream from data
-RLAPI bool IsMusicValid(Music music);                                 // Checks if a music stream is valid (context and buffers initialized)
-RLAPI void UnloadMusicStream(Music music);                            // Unload music stream
-RLAPI void PlayMusicStream(Music music);                              // Start music playing
-RLAPI bool IsMusicStreamPlaying(Music music);                         // Check if music is playing
-RLAPI void UpdateMusicStream(Music music);                            // Updates buffers for music streaming
-RLAPI void StopMusicStream(Music music);                              // Stop music playing
-RLAPI void PauseMusicStream(Music music);                             // Pause music playing
-RLAPI void ResumeMusicStream(Music music);                            // Resume playing paused music
-RLAPI void SeekMusicStream(Music music, float position);              // Seek music to a position (in seconds)
-RLAPI void SetMusicVolume(Music music, float volume);                 // Set volume for music (1.0 is max level)
-RLAPI void SetMusicPitch(Music music, float pitch);                   // Set pitch for a music (1.0 is base level)
-RLAPI void SetMusicPan(Music music, float pan);                       // Set pan for a music (0.5 is center)
-RLAPI float GetMusicTimeLength(Music music);                          // Get music time length (in seconds)
-RLAPI float GetMusicTimePlayed(Music music);                          // Get current music time played (in seconds)
-
-// AudioStream management functions
-RLAPI AudioStream LoadAudioStream(unsigned int sampleRate, unsigned int sampleSize, unsigned int channels); // Load audio stream (to stream raw audio pcm data)
-RLAPI bool IsAudioStreamValid(AudioStream stream);                    // Checks if an audio stream is valid (buffers initialized)
-RLAPI void UnloadAudioStream(AudioStream stream);                     // Unload audio stream and free memory
-RLAPI void UpdateAudioStream(AudioStream stream, const void *data, int frameCount); // Update audio stream buffers with data
-RLAPI bool IsAudioStreamProcessed(AudioStream stream);                // Check if any audio stream buffers requires refill
-RLAPI void PlayAudioStream(AudioStream stream);                       // Play audio stream
-RLAPI void PauseAudioStream(AudioStream stream);                      // Pause audio stream
-RLAPI void ResumeAudioStream(AudioStream stream);                     // Resume audio stream
-RLAPI bool IsAudioStreamPlaying(AudioStream stream);                  // Check if audio stream is playing
-RLAPI void StopAudioStream(AudioStream stream);                       // Stop audio stream
-RLAPI void SetAudioStreamVolume(AudioStream stream, float volume);    // Set volume for audio stream (1.0 is max level)
-RLAPI void SetAudioStreamPitch(AudioStream stream, float pitch);      // Set pitch for audio stream (1.0 is base level)
-RLAPI void SetAudioStreamPan(AudioStream stream, float pan);          // Set pan for audio stream (0.5 is centered)
-RLAPI void SetAudioStreamBufferSizeDefault(int size);                 // Default size for new audio streams
-RLAPI void SetAudioStreamCallback(AudioStream stream, AudioCallback callback); // Audio thread callback to request new data
-
-RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as 'float'
-RLAPI void DetachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Detach audio stream processor from stream
-
-RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as 'float'
-RLAPI void DetachAudioMixedProcessor(AudioCallback processor); // Detach audio stream processor from the entire audio pipeline
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // RAYLIB_H
diff --git a/third_party/raylib/include/raymath.h b/third_party/raylib/include/raymath.h
deleted file mode 100644
index 5b5e4c74ff..0000000000
--- a/third_party/raylib/include/raymath.h
+++ /dev/null
@@ -1,2949 +0,0 @@
-/**********************************************************************************************
-*
-*   raymath v2.0 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
-*
-*   CONVENTIONS:
-*     - Matrix structure is defined as row-major (memory layout) but parameters naming AND all
-*       math operations performed by the library consider the structure as it was column-major
-*       It is like transposed versions of the matrices are used for all the maths
-*       It benefits some functions making them cache-friendly and also avoids matrix
-*       transpositions sometimes required by OpenGL
-*       Example: In memory order, row0 is [m0 m4 m8 m12] but in semantic math row0 is [m0 m1 m2 m3]
-*     - Functions are always self-contained, no function use another raymath function inside,
-*       required code is directly re-implemented inside
-*     - Functions input parameters are always received by value (2 unavoidable exceptions)
-*     - Functions use always a "result" variable for return (except C++ operators)
-*     - Functions are always defined inline
-*     - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for convenience)
-*     - No compound literals used to make sure libray is compatible with C++
-*
-*   CONFIGURATION:
-*       #define RAYMATH_IMPLEMENTATION
-*           Generates the implementation of the library into the included file.
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation.
-*
-*       #define RAYMATH_STATIC_INLINE
-*           Define static inline functions code, so #include header suffices for use.
-*           This may use up lots of memory.
-*
-*       #define RAYMATH_DISABLE_CPP_OPERATORS
-*           Disables C++ operator overloads for raymath types.
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2015-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYMATH_H
-#define RAYMATH_H
-
-#if defined(RAYMATH_IMPLEMENTATION) && defined(RAYMATH_STATIC_INLINE)
-    #error "Specifying both RAYMATH_IMPLEMENTATION and RAYMATH_STATIC_INLINE is contradictory"
-#endif
-
-// Function specifiers definition
-#if defined(RAYMATH_IMPLEMENTATION)
-    #if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll)
-    #elif defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __attribute__((visibility("default"))) // We are building raylib as a Unix shared library (.so/.dylib)
-    #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllimport)         // We are using raylib as a Win32 shared library (.dll)
-    #else
-        #define RMAPI extern inline // Provide external definition
-    #endif
-#elif defined(RAYMATH_STATIC_INLINE)
-    #define RMAPI static inline // Functions may be inlined, no external out-of-line definition
-#else
-    #if defined(__TINYC__)
-        #define RMAPI static inline // plain inline not supported by tinycc (See issue #435)
-    #else
-        #define RMAPI inline        // Functions may be inlined or external definition used
-    #endif
-#endif
-
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-
-#ifndef EPSILON
-    #define EPSILON 0.000001f
-#endif
-
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-// Get float vector for Matrix
-#ifndef MatrixToFloat
-    #define MatrixToFloat(mat) (MatrixToFloatV(mat).v)
-#endif
-
-// Get float vector for Vector3
-#ifndef Vector3ToFloat
-    #define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if !defined(RL_VECTOR2_TYPE)
-// Vector2 type
-typedef struct Vector2 {
-    float x;
-    float y;
-} Vector2;
-#define RL_VECTOR2_TYPE
-#endif
-
-#if !defined(RL_VECTOR3_TYPE)
-// Vector3 type
-typedef struct Vector3 {
-    float x;
-    float y;
-    float z;
-} Vector3;
-#define RL_VECTOR3_TYPE
-#endif
-
-#if !defined(RL_VECTOR4_TYPE)
-// Vector4 type
-typedef struct Vector4 {
-    float x;
-    float y;
-    float z;
-    float w;
-} Vector4;
-#define RL_VECTOR4_TYPE
-#endif
-
-#if !defined(RL_QUATERNION_TYPE)
-// Quaternion type
-typedef Vector4 Quaternion;
-#define RL_QUATERNION_TYPE
-#endif
-
-#if !defined(RL_MATRIX_TYPE)
-// Matrix type (OpenGL style 4x4 - right handed, column major)
-typedef struct Matrix {
-    float m0, m4, m8, m12;      // Matrix first row (4 components)
-    float m1, m5, m9, m13;      // Matrix second row (4 components)
-    float m2, m6, m10, m14;     // Matrix third row (4 components)
-    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
-} Matrix;
-#define RL_MATRIX_TYPE
-#endif
-
-// NOTE: Helper types to be used instead of array return types for *ToFloat functions
-typedef struct float3 {
-    float v[3];
-} float3;
-
-typedef struct float16 {
-    float v[16];
-} float16;
-
-#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabsf()
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Utils math
-//----------------------------------------------------------------------------------
-
-// Clamp float value
-RMAPI float Clamp(float value, float min, float max)
-{
-    float result = (value < min)? min : value;
-
-    if (result > max) result = max;
-
-    return result;
-}
-
-// Calculate linear interpolation between two floats
-RMAPI float Lerp(float start, float end, float amount)
-{
-    float result = start + amount*(end - start);
-
-    return result;
-}
-
-// Normalize input value within input range
-RMAPI float Normalize(float value, float start, float end)
-{
-    float result = (value - start)/(end - start);
-
-    return result;
-}
-
-// Remap input value within input range to output range
-RMAPI float Remap(float value, float inputStart, float inputEnd, float outputStart, float outputEnd)
-{
-    float result = (value - inputStart)/(inputEnd - inputStart)*(outputEnd - outputStart) + outputStart;
-
-    return result;
-}
-
-// Wrap input value from min to max
-RMAPI float Wrap(float value, float min, float max)
-{
-    float result = value - (max - min)*floorf((value - min)/(max - min));
-
-    return result;
-}
-
-// Check whether two given floats are almost equal
-RMAPI int FloatEquals(float x, float y)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = (fabsf(x - y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(x), fabsf(y))));
-
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector2 math
-//----------------------------------------------------------------------------------
-
-// Vector with components value 0.0f
-RMAPI Vector2 Vector2Zero(void)
-{
-    Vector2 result = { 0.0f, 0.0f };
-
-    return result;
-}
-
-// Vector with components value 1.0f
-RMAPI Vector2 Vector2One(void)
-{
-    Vector2 result = { 1.0f, 1.0f };
-
-    return result;
-}
-
-// Add two vectors (v1 + v2)
-RMAPI Vector2 Vector2Add(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x + v2.x, v1.y + v2.y };
-
-    return result;
-}
-
-// Add vector and float value
-RMAPI Vector2 Vector2AddValue(Vector2 v, float add)
-{
-    Vector2 result = { v.x + add, v.y + add };
-
-    return result;
-}
-
-// Subtract two vectors (v1 - v2)
-RMAPI Vector2 Vector2Subtract(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x - v2.x, v1.y - v2.y };
-
-    return result;
-}
-
-// Subtract vector by float value
-RMAPI Vector2 Vector2SubtractValue(Vector2 v, float sub)
-{
-    Vector2 result = { v.x - sub, v.y - sub };
-
-    return result;
-}
-
-// Calculate vector length
-RMAPI float Vector2Length(Vector2 v)
-{
-    float result = sqrtf((v.x*v.x) + (v.y*v.y));
-
-    return result;
-}
-
-// Calculate vector square length
-RMAPI float Vector2LengthSqr(Vector2 v)
-{
-    float result = (v.x*v.x) + (v.y*v.y);
-
-    return result;
-}
-
-// Calculate two vectors dot product
-RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y);
-
-    return result;
-}
-
-// Calculate two vectors cross product
-RMAPI float Vector2CrossProduct(Vector2 v1, Vector2 v2)
-{
-    float result = (v1.x*v2.y - v1.y*v2.x);
-
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector2Distance(Vector2 v1, Vector2 v2)
-{
-    float result = sqrtf((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
-
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector2DistanceSqr(Vector2 v1, Vector2 v2)
-{
-    float result = ((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
-
-    return result;
-}
-
-// Calculate angle between two vectors
-// NOTE: Angle is calculated from origin point (0, 0)
-RMAPI float Vector2Angle(Vector2 v1, Vector2 v2)
-{
-    float result = 0.0f;
-
-    float dot = v1.x*v2.x + v1.y*v2.y;
-    float det = v1.x*v2.y - v1.y*v2.x;
-
-    result = atan2f(det, dot);
-
-    return result;
-}
-
-// Calculate angle defined by a two vectors line
-// NOTE: Parameters need to be normalized
-// Current implementation should be aligned with glm::angle
-RMAPI float Vector2LineAngle(Vector2 start, Vector2 end)
-{
-    float result = 0.0f;
-
-    // TODO(10/9/2023): Currently angles move clockwise, determine if this is wanted behavior
-    result = -atan2f(end.y - start.y, end.x - start.x);
-
-    return result;
-}
-
-// Scale vector (multiply by value)
-RMAPI Vector2 Vector2Scale(Vector2 v, float scale)
-{
-    Vector2 result = { v.x*scale, v.y*scale };
-
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector2 Vector2Multiply(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x*v2.x, v1.y*v2.y };
-
-    return result;
-}
-
-// Negate vector
-RMAPI Vector2 Vector2Negate(Vector2 v)
-{
-    Vector2 result = { -v.x, -v.y };
-
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector2 Vector2Divide(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x/v2.x, v1.y/v2.y };
-
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector2 Vector2Normalize(Vector2 v)
-{
-    Vector2 result = { 0 };
-    float length = sqrtf((v.x*v.x) + (v.y*v.y));
-
-    if (length > 0)
-    {
-        float ilength = 1.0f/length;
-        result.x = v.x*ilength;
-        result.y = v.y*ilength;
-    }
-
-    return result;
-}
-
-// Transforms a Vector2 by a given Matrix
-RMAPI Vector2 Vector2Transform(Vector2 v, Matrix mat)
-{
-    Vector2 result = { 0 };
-
-    float x = v.x;
-    float y = v.y;
-    float z = 0;
-
-    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
-    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount)
-{
-    Vector2 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-
-    return result;
-}
-
-// Calculate reflected vector to normal
-RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal)
-{
-    Vector2 result = { 0 };
-
-    float dotProduct = (v.x*normal.x + v.y*normal.y); // Dot product
-
-    result.x = v.x - (2.0f*normal.x)*dotProduct;
-    result.y = v.y - (2.0f*normal.y)*dotProduct;
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector2 Vector2Min(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector2 Vector2Max(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-
-    return result;
-}
-
-// Rotate vector by angle
-RMAPI Vector2 Vector2Rotate(Vector2 v, float angle)
-{
-    Vector2 result = { 0 };
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.x = v.x*cosres - v.y*sinres;
-    result.y = v.x*sinres + v.y*cosres;
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector2 Vector2MoveTowards(Vector2 v, Vector2 target, float maxDistance)
-{
-    Vector2 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float value = (dx*dx) + (dy*dy);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-
-    return result;
-}
-
-// Invert the given vector
-RMAPI Vector2 Vector2Invert(Vector2 v)
-{
-    Vector2 result = { 1.0f/v.x, 1.0f/v.y };
-
-    return result;
-}
-
-// Clamp the components of the vector between
-// min and max values specified by the given vectors
-RMAPI Vector2 Vector2Clamp(Vector2 v, Vector2 min, Vector2 max)
-{
-    Vector2 result = { 0 };
-
-    result.x = fminf(max.x, fmaxf(min.x, v.x));
-    result.y = fminf(max.y, fmaxf(min.y, v.y));
-
-    return result;
-}
-
-// Clamp the magnitude of the vector between two min and max values
-RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max)
-{
-    Vector2 result = v;
-
-    float length = (v.x*v.x) + (v.y*v.y);
-    if (length > 0.0f)
-    {
-        length = sqrtf(length);
-
-        float scale = 1;    // By default, 1 as the neutral element.
-        if (length < min)
-        {
-            scale = min/length;
-        }
-        else if (length > max)
-        {
-            scale = max/length;
-        }
-
-        result.x = v.x*scale;
-        result.y = v.y*scale;
-    }
-
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector2Equals(Vector2 p, Vector2 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y)))));
-
-    return result;
-}
-
-// Compute the direction of a refracted ray
-// v: normalized direction of the incoming ray
-// n: normalized normal vector of the interface of two optical media
-// r: ratio of the refractive index of the medium from where the ray comes
-//    to the refractive index of the medium on the other side of the surface
-RMAPI Vector2 Vector2Refract(Vector2 v, Vector2 n, float r)
-{
-    Vector2 result = { 0 };
-
-    float dot = v.x*n.x + v.y*n.y;
-    float d = 1.0f - r*r*(1.0f - dot*dot);
-
-    if (d >= 0.0f)
-    {
-        d = sqrtf(d);
-        v.x = r*v.x - (r*dot + d)*n.x;
-        v.y = r*v.y - (r*dot + d)*n.y;
-
-        result = v;
-    }
-
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector3 math
-//----------------------------------------------------------------------------------
-
-// Vector with components value 0.0f
-RMAPI Vector3 Vector3Zero(void)
-{
-    Vector3 result = { 0.0f, 0.0f, 0.0f };
-
-    return result;
-}
-
-// Vector with components value 1.0f
-RMAPI Vector3 Vector3One(void)
-{
-    Vector3 result = { 1.0f, 1.0f, 1.0f };
-
-    return result;
-}
-
-// Add two vectors
-RMAPI Vector3 Vector3Add(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z };
-
-    return result;
-}
-
-// Add vector and float value
-RMAPI Vector3 Vector3AddValue(Vector3 v, float add)
-{
-    Vector3 result = { v.x + add, v.y + add, v.z + add };
-
-    return result;
-}
-
-// Subtract two vectors
-RMAPI Vector3 Vector3Subtract(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z };
-
-    return result;
-}
-
-// Subtract vector by float value
-RMAPI Vector3 Vector3SubtractValue(Vector3 v, float sub)
-{
-    Vector3 result = { v.x - sub, v.y - sub, v.z - sub };
-
-    return result;
-}
-
-// Multiply vector by scalar
-RMAPI Vector3 Vector3Scale(Vector3 v, float scalar)
-{
-    Vector3 result = { v.x*scalar, v.y*scalar, v.z*scalar };
-
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector3 Vector3Multiply(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z };
-
-    return result;
-}
-
-// Calculate two vectors cross product
-RMAPI Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
-
-    return result;
-}
-
-// Calculate one vector perpendicular vector
-RMAPI Vector3 Vector3Perpendicular(Vector3 v)
-{
-    Vector3 result = { 0 };
-
-    float min = fabsf(v.x);
-    Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
-
-    if (fabsf(v.y) < min)
-    {
-        min = fabsf(v.y);
-        Vector3 tmp = {0.0f, 1.0f, 0.0f};
-        cardinalAxis = tmp;
-    }
-
-    if (fabsf(v.z) < min)
-    {
-        Vector3 tmp = {0.0f, 0.0f, 1.0f};
-        cardinalAxis = tmp;
-    }
-
-    // Cross product between vectors
-    result.x = v.y*cardinalAxis.z - v.z*cardinalAxis.y;
-    result.y = v.z*cardinalAxis.x - v.x*cardinalAxis.z;
-    result.z = v.x*cardinalAxis.y - v.y*cardinalAxis.x;
-
-    return result;
-}
-
-// Calculate vector length
-RMAPI float Vector3Length(const Vector3 v)
-{
-    float result = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-
-    return result;
-}
-
-// Calculate vector square length
-RMAPI float Vector3LengthSqr(const Vector3 v)
-{
-    float result = v.x*v.x + v.y*v.y + v.z*v.z;
-
-    return result;
-}
-
-// Calculate two vectors dot product
-RMAPI float Vector3DotProduct(Vector3 v1, Vector3 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector3Distance(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    float dx = v2.x - v1.x;
-    float dy = v2.y - v1.y;
-    float dz = v2.z - v1.z;
-    result = sqrtf(dx*dx + dy*dy + dz*dz);
-
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector3DistanceSqr(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    float dx = v2.x - v1.x;
-    float dy = v2.y - v1.y;
-    float dz = v2.z - v1.z;
-    result = dx*dx + dy*dy + dz*dz;
-
-    return result;
-}
-
-// Calculate angle between two vectors
-RMAPI float Vector3Angle(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    Vector3 cross = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
-    float len = sqrtf(cross.x*cross.x + cross.y*cross.y + cross.z*cross.z);
-    float dot = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    result = atan2f(len, dot);
-
-    return result;
-}
-
-// Negate provided vector (invert direction)
-RMAPI Vector3 Vector3Negate(Vector3 v)
-{
-    Vector3 result = { -v.x, -v.y, -v.z };
-
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector3 Vector3Divide(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z };
-
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector3 Vector3Normalize(Vector3 v)
-{
-    Vector3 result = v;
-
-    float length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length != 0.0f)
-    {
-        float ilength = 1.0f/length;
-
-        result.x *= ilength;
-        result.y *= ilength;
-        result.z *= ilength;
-    }
-
-    return result;
-}
-
-//Calculate the projection of the vector v1 on to v2
-RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
-
-    float mag = v1dv2/v2dv2;
-
-    result.x = v2.x*mag;
-    result.y = v2.y*mag;
-    result.z = v2.z*mag;
-
-    return result;
-}
-
-//Calculate the rejection of the vector v1 on to v2
-RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
-
-    float mag = v1dv2/v2dv2;
-
-    result.x = v1.x - (v2.x*mag);
-    result.y = v1.y - (v2.y*mag);
-    result.z = v1.z - (v2.z*mag);
-
-    return result;
-}
-
-// Orthonormalize provided vectors
-// Makes vectors normalized and orthogonal to each other
-// Gram-Schmidt function implementation
-RMAPI void Vector3OrthoNormalize(Vector3 *v1, Vector3 *v2)
-{
-    float length = 0.0f;
-    float ilength = 0.0f;
-
-    // Vector3Normalize(*v1);
-    Vector3 v = *v1;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    v1->x *= ilength;
-    v1->y *= ilength;
-    v1->z *= ilength;
-
-    // Vector3CrossProduct(*v1, *v2)
-    Vector3 vn1 = { v1->y*v2->z - v1->z*v2->y, v1->z*v2->x - v1->x*v2->z, v1->x*v2->y - v1->y*v2->x };
-
-    // Vector3Normalize(vn1);
-    v = vn1;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vn1.x *= ilength;
-    vn1.y *= ilength;
-    vn1.z *= ilength;
-
-    // Vector3CrossProduct(vn1, *v1)
-    Vector3 vn2 = { vn1.y*v1->z - vn1.z*v1->y, vn1.z*v1->x - vn1.x*v1->z, vn1.x*v1->y - vn1.y*v1->x };
-
-    *v2 = vn2;
-}
-
-// Transforms a Vector3 by a given Matrix
-RMAPI Vector3 Vector3Transform(Vector3 v, Matrix mat)
-{
-    Vector3 result = { 0 };
-
-    float x = v.x;
-    float y = v.y;
-    float z = v.z;
-
-    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
-    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
-    result.z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14;
-
-    return result;
-}
-
-// Transform a vector by quaternion rotation
-RMAPI Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q)
-{
-    Vector3 result = { 0 };
-
-    result.x = v.x*(q.x*q.x + q.w*q.w - q.y*q.y - q.z*q.z) + v.y*(2*q.x*q.y - 2*q.w*q.z) + v.z*(2*q.x*q.z + 2*q.w*q.y);
-    result.y = v.x*(2*q.w*q.z + 2*q.x*q.y) + v.y*(q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z) + v.z*(-2*q.w*q.x + 2*q.y*q.z);
-    result.z = v.x*(-2*q.w*q.y + 2*q.x*q.z) + v.y*(2*q.w*q.x + 2*q.y*q.z)+ v.z*(q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z);
-
-    return result;
-}
-
-// Rotates a vector around an axis
-RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
-{
-    // Using Euler-Rodrigues Formula
-    // Ref.: https://en.wikipedia.org/w/index.php?title=Euler%E2%80%93Rodrigues_formula
-
-    Vector3 result = v;
-
-    // Vector3Normalize(axis);
-    float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-    axis.x *= ilength;
-    axis.y *= ilength;
-    axis.z *= ilength;
-
-    angle /= 2.0f;
-    float a = sinf(angle);
-    float b = axis.x*a;
-    float c = axis.y*a;
-    float d = axis.z*a;
-    a = cosf(angle);
-    Vector3 w = { b, c, d };
-
-    // Vector3CrossProduct(w, v)
-    Vector3 wv = { w.y*v.z - w.z*v.y, w.z*v.x - w.x*v.z, w.x*v.y - w.y*v.x };
-
-    // Vector3CrossProduct(w, wv)
-    Vector3 wwv = { w.y*wv.z - w.z*wv.y, w.z*wv.x - w.x*wv.z, w.x*wv.y - w.y*wv.x };
-
-    // Vector3Scale(wv, 2*a)
-    a *= 2;
-    wv.x *= a;
-    wv.y *= a;
-    wv.z *= a;
-
-    // Vector3Scale(wwv, 2)
-    wwv.x *= 2;
-    wwv.y *= 2;
-    wwv.z *= 2;
-
-    result.x += wv.x;
-    result.y += wv.y;
-    result.z += wv.z;
-
-    result.x += wwv.x;
-    result.y += wwv.y;
-    result.z += wwv.z;
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector3 Vector3MoveTowards(Vector3 v, Vector3 target, float maxDistance)
-{
-    Vector3 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float dz = target.z - v.z;
-    float value = (dx*dx) + (dy*dy) + (dz*dz);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-    result.z = v.z + dz/dist*maxDistance;
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
-{
-    Vector3 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-    result.z = v1.z + amount*(v2.z - v1.z);
-
-    return result;
-}
-
-// Calculate cubic hermite interpolation between two vectors and their tangents
-// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
-RMAPI Vector3 Vector3CubicHermite(Vector3 v1, Vector3 tangent1, Vector3 v2, Vector3 tangent2, float amount)
-{
-    Vector3 result = { 0 };
-
-    float amountPow2 = amount*amount;
-    float amountPow3 = amount*amount*amount;
-
-    result.x = (2*amountPow3 - 3*amountPow2 + 1)*v1.x + (amountPow3 - 2*amountPow2 + amount)*tangent1.x + (-2*amountPow3 + 3*amountPow2)*v2.x + (amountPow3 - amountPow2)*tangent2.x;
-    result.y = (2*amountPow3 - 3*amountPow2 + 1)*v1.y + (amountPow3 - 2*amountPow2 + amount)*tangent1.y + (-2*amountPow3 + 3*amountPow2)*v2.y + (amountPow3 - amountPow2)*tangent2.y;
-    result.z = (2*amountPow3 - 3*amountPow2 + 1)*v1.z + (amountPow3 - 2*amountPow2 + amount)*tangent1.z + (-2*amountPow3 + 3*amountPow2)*v2.z + (amountPow3 - amountPow2)*tangent2.z;
-
-    return result;
-}
-
-// Calculate reflected vector to normal
-RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
-{
-    Vector3 result = { 0 };
-
-    // I is the original vector
-    // N is the normal of the incident plane
-    // R = I - (2*N*(DotProduct[I, N]))
-
-    float dotProduct = (v.x*normal.x + v.y*normal.y + v.z*normal.z);
-
-    result.x = v.x - (2.0f*normal.x)*dotProduct;
-    result.y = v.y - (2.0f*normal.y)*dotProduct;
-    result.z = v.z - (2.0f*normal.z)*dotProduct;
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector3 Vector3Min(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-    result.z = fminf(v1.z, v2.z);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector3 Vector3Max(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-    result.z = fmaxf(v1.z, v2.z);
-
-    return result;
-}
-
-// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c)
-// NOTE: Assumes P is on the plane of the triangle
-RMAPI Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
-{
-    Vector3 result = { 0 };
-
-    Vector3 v0 = { b.x - a.x, b.y - a.y, b.z - a.z };   // Vector3Subtract(b, a)
-    Vector3 v1 = { c.x - a.x, c.y - a.y, c.z - a.z };   // Vector3Subtract(c, a)
-    Vector3 v2 = { p.x - a.x, p.y - a.y, p.z - a.z };   // Vector3Subtract(p, a)
-    float d00 = (v0.x*v0.x + v0.y*v0.y + v0.z*v0.z);    // Vector3DotProduct(v0, v0)
-    float d01 = (v0.x*v1.x + v0.y*v1.y + v0.z*v1.z);    // Vector3DotProduct(v0, v1)
-    float d11 = (v1.x*v1.x + v1.y*v1.y + v1.z*v1.z);    // Vector3DotProduct(v1, v1)
-    float d20 = (v2.x*v0.x + v2.y*v0.y + v2.z*v0.z);    // Vector3DotProduct(v2, v0)
-    float d21 = (v2.x*v1.x + v2.y*v1.y + v2.z*v1.z);    // Vector3DotProduct(v2, v1)
-
-    float denom = d00*d11 - d01*d01;
-
-    result.y = (d11*d20 - d01*d21)/denom;
-    result.z = (d00*d21 - d01*d20)/denom;
-    result.x = 1.0f - (result.z + result.y);
-
-    return result;
-}
-
-// Projects a Vector3 from screen space into object space
-// NOTE: We are avoiding calling other raymath functions despite available
-RMAPI Vector3 Vector3Unproject(Vector3 source, Matrix projection, Matrix view)
-{
-    Vector3 result = { 0 };
-
-    // Calculate unprojected matrix (multiply view matrix by projection matrix) and invert it
-    Matrix matViewProj = {      // MatrixMultiply(view, projection);
-        view.m0*projection.m0 + view.m1*projection.m4 + view.m2*projection.m8 + view.m3*projection.m12,
-        view.m0*projection.m1 + view.m1*projection.m5 + view.m2*projection.m9 + view.m3*projection.m13,
-        view.m0*projection.m2 + view.m1*projection.m6 + view.m2*projection.m10 + view.m3*projection.m14,
-        view.m0*projection.m3 + view.m1*projection.m7 + view.m2*projection.m11 + view.m3*projection.m15,
-        view.m4*projection.m0 + view.m5*projection.m4 + view.m6*projection.m8 + view.m7*projection.m12,
-        view.m4*projection.m1 + view.m5*projection.m5 + view.m6*projection.m9 + view.m7*projection.m13,
-        view.m4*projection.m2 + view.m5*projection.m6 + view.m6*projection.m10 + view.m7*projection.m14,
-        view.m4*projection.m3 + view.m5*projection.m7 + view.m6*projection.m11 + view.m7*projection.m15,
-        view.m8*projection.m0 + view.m9*projection.m4 + view.m10*projection.m8 + view.m11*projection.m12,
-        view.m8*projection.m1 + view.m9*projection.m5 + view.m10*projection.m9 + view.m11*projection.m13,
-        view.m8*projection.m2 + view.m9*projection.m6 + view.m10*projection.m10 + view.m11*projection.m14,
-        view.m8*projection.m3 + view.m9*projection.m7 + view.m10*projection.m11 + view.m11*projection.m15,
-        view.m12*projection.m0 + view.m13*projection.m4 + view.m14*projection.m8 + view.m15*projection.m12,
-        view.m12*projection.m1 + view.m13*projection.m5 + view.m14*projection.m9 + view.m15*projection.m13,
-        view.m12*projection.m2 + view.m13*projection.m6 + view.m14*projection.m10 + view.m15*projection.m14,
-        view.m12*projection.m3 + view.m13*projection.m7 + view.m14*projection.m11 + view.m15*projection.m15 };
-
-    // Calculate inverted matrix -> MatrixInvert(matViewProj);
-    // Cache the matrix values (speed optimization)
-    float a00 = matViewProj.m0, a01 = matViewProj.m1, a02 = matViewProj.m2, a03 = matViewProj.m3;
-    float a10 = matViewProj.m4, a11 = matViewProj.m5, a12 = matViewProj.m6, a13 = matViewProj.m7;
-    float a20 = matViewProj.m8, a21 = matViewProj.m9, a22 = matViewProj.m10, a23 = matViewProj.m11;
-    float a30 = matViewProj.m12, a31 = matViewProj.m13, a32 = matViewProj.m14, a33 = matViewProj.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    Matrix matViewProjInv = {
-        (a11*b11 - a12*b10 + a13*b09)*invDet,
-        (-a01*b11 + a02*b10 - a03*b09)*invDet,
-        (a31*b05 - a32*b04 + a33*b03)*invDet,
-        (-a21*b05 + a22*b04 - a23*b03)*invDet,
-        (-a10*b11 + a12*b08 - a13*b07)*invDet,
-        (a00*b11 - a02*b08 + a03*b07)*invDet,
-        (-a30*b05 + a32*b02 - a33*b01)*invDet,
-        (a20*b05 - a22*b02 + a23*b01)*invDet,
-        (a10*b10 - a11*b08 + a13*b06)*invDet,
-        (-a00*b10 + a01*b08 - a03*b06)*invDet,
-        (a30*b04 - a31*b02 + a33*b00)*invDet,
-        (-a20*b04 + a21*b02 - a23*b00)*invDet,
-        (-a10*b09 + a11*b07 - a12*b06)*invDet,
-        (a00*b09 - a01*b07 + a02*b06)*invDet,
-        (-a30*b03 + a31*b01 - a32*b00)*invDet,
-        (a20*b03 - a21*b01 + a22*b00)*invDet };
-
-    // Create quaternion from source point
-    Quaternion quat = { source.x, source.y, source.z, 1.0f };
-
-    // Multiply quat point by unprojecte matrix
-    Quaternion qtransformed = {     // QuaternionTransform(quat, matViewProjInv)
-        matViewProjInv.m0*quat.x + matViewProjInv.m4*quat.y + matViewProjInv.m8*quat.z + matViewProjInv.m12*quat.w,
-        matViewProjInv.m1*quat.x + matViewProjInv.m5*quat.y + matViewProjInv.m9*quat.z + matViewProjInv.m13*quat.w,
-        matViewProjInv.m2*quat.x + matViewProjInv.m6*quat.y + matViewProjInv.m10*quat.z + matViewProjInv.m14*quat.w,
-        matViewProjInv.m3*quat.x + matViewProjInv.m7*quat.y + matViewProjInv.m11*quat.z + matViewProjInv.m15*quat.w };
-
-    // Normalized world points in vectors
-    result.x = qtransformed.x/qtransformed.w;
-    result.y = qtransformed.y/qtransformed.w;
-    result.z = qtransformed.z/qtransformed.w;
-
-    return result;
-}
-
-// Get Vector3 as float array
-RMAPI float3 Vector3ToFloatV(Vector3 v)
-{
-    float3 buffer = { 0 };
-
-    buffer.v[0] = v.x;
-    buffer.v[1] = v.y;
-    buffer.v[2] = v.z;
-
-    return buffer;
-}
-
-// Invert the given vector
-RMAPI Vector3 Vector3Invert(Vector3 v)
-{
-    Vector3 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z };
-
-    return result;
-}
-
-// Clamp the components of the vector between
-// min and max values specified by the given vectors
-RMAPI Vector3 Vector3Clamp(Vector3 v, Vector3 min, Vector3 max)
-{
-    Vector3 result = { 0 };
-
-    result.x = fminf(max.x, fmaxf(min.x, v.x));
-    result.y = fminf(max.y, fmaxf(min.y, v.y));
-    result.z = fminf(max.z, fmaxf(min.z, v.z));
-
-    return result;
-}
-
-// Clamp the magnitude of the vector between two values
-RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max)
-{
-    Vector3 result = v;
-
-    float length = (v.x*v.x) + (v.y*v.y) + (v.z*v.z);
-    if (length > 0.0f)
-    {
-        length = sqrtf(length);
-
-        float scale = 1;    // By default, 1 as the neutral element.
-        if (length < min)
-        {
-            scale = min/length;
-        }
-        else if (length > max)
-        {
-            scale = max/length;
-        }
-
-        result.x = v.x*scale;
-        result.y = v.y*scale;
-        result.z = v.z*scale;
-    }
-
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector3Equals(Vector3 p, Vector3 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                 ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                 ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z)))));
-
-    return result;
-}
-
-// Compute the direction of a refracted ray
-// v: normalized direction of the incoming ray
-// n: normalized normal vector of the interface of two optical media
-// r: ratio of the refractive index of the medium from where the ray comes
-//    to the refractive index of the medium on the other side of the surface
-RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r)
-{
-    Vector3 result = { 0 };
-
-    float dot = v.x*n.x + v.y*n.y + v.z*n.z;
-    float d = 1.0f - r*r*(1.0f - dot*dot);
-
-    if (d >= 0.0f)
-    {
-        d = sqrtf(d);
-        v.x = r*v.x - (r*dot + d)*n.x;
-        v.y = r*v.y - (r*dot + d)*n.y;
-        v.z = r*v.z - (r*dot + d)*n.z;
-
-        result = v;
-    }
-
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector4 math
-//----------------------------------------------------------------------------------
-
-RMAPI Vector4 Vector4Zero(void)
-{
-    Vector4 result = { 0.0f, 0.0f, 0.0f, 0.0f };
-    return result;
-}
-
-RMAPI Vector4 Vector4One(void)
-{
-    Vector4 result = { 1.0f, 1.0f, 1.0f, 1.0f };
-    return result;
-}
-
-RMAPI Vector4 Vector4Add(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = {
-        v1.x + v2.x,
-        v1.y + v2.y,
-        v1.z + v2.z,
-        v1.w + v2.w
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4AddValue(Vector4 v, float add)
-{
-    Vector4 result = {
-        v.x + add,
-        v.y + add,
-        v.z + add,
-        v.w + add
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4Subtract(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = {
-        v1.x - v2.x,
-        v1.y - v2.y,
-        v1.z - v2.z,
-        v1.w - v2.w
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4SubtractValue(Vector4 v, float add)
-{
-    Vector4 result = {
-        v.x - add,
-        v.y - add,
-        v.z - add,
-        v.w - add
-    };
-    return result;
-}
-
-RMAPI float Vector4Length(Vector4 v)
-{
-    float result = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
-    return result;
-}
-
-RMAPI float Vector4LengthSqr(Vector4 v)
-{
-    float result = (v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w);
-    return result;
-}
-
-RMAPI float Vector4DotProduct(Vector4 v1, Vector4 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z + v1.w*v2.w);
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector4Distance(Vector4 v1, Vector4 v2)
-{
-    float result = sqrtf(
-        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
-        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w));
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector4DistanceSqr(Vector4 v1, Vector4 v2)
-{
-    float result =
-        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
-        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w);
-
-    return result;
-}
-
-RMAPI Vector4 Vector4Scale(Vector4 v, float scale)
-{
-    Vector4 result = { v.x*scale, v.y*scale, v.z*scale, v.w*scale };
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector4 Vector4Multiply(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z, v1.w*v2.w };
-    return result;
-}
-
-// Negate vector
-RMAPI Vector4 Vector4Negate(Vector4 v)
-{
-    Vector4 result = { -v.x, -v.y, -v.z, -v.w };
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector4 Vector4Divide(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z, v1.w/v2.w };
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector4 Vector4Normalize(Vector4 v)
-{
-    Vector4 result = { 0 };
-    float length = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
-
-    if (length > 0)
-    {
-        float ilength = 1.0f/length;
-        result.x = v.x*ilength;
-        result.y = v.y*ilength;
-        result.z = v.z*ilength;
-        result.w = v.w*ilength;
-    }
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector4 Vector4Min(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-    result.z = fminf(v1.z, v2.z);
-    result.w = fminf(v1.w, v2.w);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector4 Vector4Max(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-    result.z = fmaxf(v1.z, v2.z);
-    result.w = fmaxf(v1.w, v2.w);
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector4 Vector4Lerp(Vector4 v1, Vector4 v2, float amount)
-{
-    Vector4 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-    result.z = v1.z + amount*(v2.z - v1.z);
-    result.w = v1.w + amount*(v2.w - v1.w);
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector4 Vector4MoveTowards(Vector4 v, Vector4 target, float maxDistance)
-{
-    Vector4 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float dz = target.z - v.z;
-    float dw = target.w - v.w;
-    float value = (dx*dx) + (dy*dy) + (dz*dz) + (dw*dw);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-    result.z = v.z + dz/dist*maxDistance;
-    result.w = v.w + dw/dist*maxDistance;
-
-    return result;
-}
-
-// Invert the given vector
-RMAPI Vector4 Vector4Invert(Vector4 v)
-{
-    Vector4 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z, 1.0f/v.w };
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector4Equals(Vector4 p, Vector4 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))));
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Matrix math
-//----------------------------------------------------------------------------------
-
-// Compute matrix determinant
-RMAPI float MatrixDeterminant(Matrix mat)
-{
-    float result = 0.0f;
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    result = a30*a21*a12*a03 - a20*a31*a12*a03 - a30*a11*a22*a03 + a10*a31*a22*a03 +
-             a20*a11*a32*a03 - a10*a21*a32*a03 - a30*a21*a02*a13 + a20*a31*a02*a13 +
-             a30*a01*a22*a13 - a00*a31*a22*a13 - a20*a01*a32*a13 + a00*a21*a32*a13 +
-             a30*a11*a02*a23 - a10*a31*a02*a23 - a30*a01*a12*a23 + a00*a31*a12*a23 +
-             a10*a01*a32*a23 - a00*a11*a32*a23 - a20*a11*a02*a33 + a10*a21*a02*a33 +
-             a20*a01*a12*a33 - a00*a21*a12*a33 - a10*a01*a22*a33 + a00*a11*a22*a33;
-
-    return result;
-}
-
-// Get the trace of the matrix (sum of the values along the diagonal)
-RMAPI float MatrixTrace(Matrix mat)
-{
-    float result = (mat.m0 + mat.m5 + mat.m10 + mat.m15);
-
-    return result;
-}
-
-// Transposes provided matrix
-RMAPI Matrix MatrixTranspose(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    result.m0 = mat.m0;
-    result.m1 = mat.m4;
-    result.m2 = mat.m8;
-    result.m3 = mat.m12;
-    result.m4 = mat.m1;
-    result.m5 = mat.m5;
-    result.m6 = mat.m9;
-    result.m7 = mat.m13;
-    result.m8 = mat.m2;
-    result.m9 = mat.m6;
-    result.m10 = mat.m10;
-    result.m11 = mat.m14;
-    result.m12 = mat.m3;
-    result.m13 = mat.m7;
-    result.m14 = mat.m11;
-    result.m15 = mat.m15;
-
-    return result;
-}
-
-// Invert provided matrix
-RMAPI Matrix MatrixInvert(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
-    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
-    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
-    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
-    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
-    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
-    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
-    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
-    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
-    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
-    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
-    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
-    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
-    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
-    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
-    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
-
-    return result;
-}
-
-// Get identity matrix
-RMAPI Matrix MatrixIdentity(void)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Add two matrices
-RMAPI Matrix MatrixAdd(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0 + right.m0;
-    result.m1 = left.m1 + right.m1;
-    result.m2 = left.m2 + right.m2;
-    result.m3 = left.m3 + right.m3;
-    result.m4 = left.m4 + right.m4;
-    result.m5 = left.m5 + right.m5;
-    result.m6 = left.m6 + right.m6;
-    result.m7 = left.m7 + right.m7;
-    result.m8 = left.m8 + right.m8;
-    result.m9 = left.m9 + right.m9;
-    result.m10 = left.m10 + right.m10;
-    result.m11 = left.m11 + right.m11;
-    result.m12 = left.m12 + right.m12;
-    result.m13 = left.m13 + right.m13;
-    result.m14 = left.m14 + right.m14;
-    result.m15 = left.m15 + right.m15;
-
-    return result;
-}
-
-// Subtract two matrices (left - right)
-RMAPI Matrix MatrixSubtract(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0 - right.m0;
-    result.m1 = left.m1 - right.m1;
-    result.m2 = left.m2 - right.m2;
-    result.m3 = left.m3 - right.m3;
-    result.m4 = left.m4 - right.m4;
-    result.m5 = left.m5 - right.m5;
-    result.m6 = left.m6 - right.m6;
-    result.m7 = left.m7 - right.m7;
-    result.m8 = left.m8 - right.m8;
-    result.m9 = left.m9 - right.m9;
-    result.m10 = left.m10 - right.m10;
-    result.m11 = left.m11 - right.m11;
-    result.m12 = left.m12 - right.m12;
-    result.m13 = left.m13 - right.m13;
-    result.m14 = left.m14 - right.m14;
-    result.m15 = left.m15 - right.m15;
-
-    return result;
-}
-
-// Get two matrix multiplication
-// NOTE: When multiplying matrices... the order matters!
-RMAPI Matrix MatrixMultiply(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
-    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
-    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
-    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
-    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
-    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
-    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
-    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
-    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
-    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
-    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
-    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
-    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
-    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
-    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
-    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
-
-    return result;
-}
-
-// Get translation matrix
-RMAPI Matrix MatrixTranslate(float x, float y, float z)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, x,
-                      0.0f, 1.0f, 0.0f, y,
-                      0.0f, 0.0f, 1.0f, z,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Create rotation matrix from axis and angle
-// NOTE: Angle should be provided in radians
-RMAPI Matrix MatrixRotate(Vector3 axis, float angle)
-{
-    Matrix result = { 0 };
-
-    float x = axis.x, y = axis.y, z = axis.z;
-
-    float lengthSquared = x*x + y*y + z*z;
-
-    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
-    {
-        float ilength = 1.0f/sqrtf(lengthSquared);
-        x *= ilength;
-        y *= ilength;
-        z *= ilength;
-    }
-
-    float sinres = sinf(angle);
-    float cosres = cosf(angle);
-    float t = 1.0f - cosres;
-
-    result.m0 = x*x*t + cosres;
-    result.m1 = y*x*t + z*sinres;
-    result.m2 = z*x*t - y*sinres;
-    result.m3 = 0.0f;
-
-    result.m4 = x*y*t - z*sinres;
-    result.m5 = y*y*t + cosres;
-    result.m6 = z*y*t + x*sinres;
-    result.m7 = 0.0f;
-
-    result.m8 = x*z*t + y*sinres;
-    result.m9 = y*z*t - x*sinres;
-    result.m10 = z*z*t + cosres;
-    result.m11 = 0.0f;
-
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = 0.0f;
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get x-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateX(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m5 = cosres;
-    result.m6 = sinres;
-    result.m9 = -sinres;
-    result.m10 = cosres;
-
-    return result;
-}
-
-// Get y-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateY(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m0 = cosres;
-    result.m2 = -sinres;
-    result.m8 = sinres;
-    result.m10 = cosres;
-
-    return result;
-}
-
-// Get z-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateZ(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m0 = cosres;
-    result.m1 = sinres;
-    result.m4 = -sinres;
-    result.m5 = cosres;
-
-    return result;
-}
-
-
-// Get xyz-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateXYZ(Vector3 angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosz = cosf(-angle.z);
-    float sinz = sinf(-angle.z);
-    float cosy = cosf(-angle.y);
-    float siny = sinf(-angle.y);
-    float cosx = cosf(-angle.x);
-    float sinx = sinf(-angle.x);
-
-    result.m0 = cosz*cosy;
-    result.m1 = (cosz*siny*sinx) - (sinz*cosx);
-    result.m2 = (cosz*siny*cosx) + (sinz*sinx);
-
-    result.m4 = sinz*cosy;
-    result.m5 = (sinz*siny*sinx) + (cosz*cosx);
-    result.m6 = (sinz*siny*cosx) - (cosz*sinx);
-
-    result.m8 = -siny;
-    result.m9 = cosy*sinx;
-    result.m10= cosy*cosx;
-
-    return result;
-}
-
-// Get zyx-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateZYX(Vector3 angle)
-{
-    Matrix result = { 0 };
-
-    float cz = cosf(angle.z);
-    float sz = sinf(angle.z);
-    float cy = cosf(angle.y);
-    float sy = sinf(angle.y);
-    float cx = cosf(angle.x);
-    float sx = sinf(angle.x);
-
-    result.m0 = cz*cy;
-    result.m4 = cz*sy*sx - cx*sz;
-    result.m8 = sz*sx + cz*cx*sy;
-    result.m12 = 0;
-
-    result.m1 = cy*sz;
-    result.m5 = cz*cx + sz*sy*sx;
-    result.m9 = cx*sz*sy - cz*sx;
-    result.m13 = 0;
-
-    result.m2 = -sy;
-    result.m6 = cy*sx;
-    result.m10 = cy*cx;
-    result.m14 = 0;
-
-    result.m3 = 0;
-    result.m7 = 0;
-    result.m11 = 0;
-    result.m15 = 1;
-
-    return result;
-}
-
-// Get scaling matrix
-RMAPI Matrix MatrixScale(float x, float y, float z)
-{
-    Matrix result = { x, 0.0f, 0.0f, 0.0f,
-                      0.0f, y, 0.0f, 0.0f,
-                      0.0f, 0.0f, z, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Get perspective projection matrix
-RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = ((float)nearPlane*2.0f)/rl;
-    result.m1 = 0.0f;
-    result.m2 = 0.0f;
-    result.m3 = 0.0f;
-
-    result.m4 = 0.0f;
-    result.m5 = ((float)nearPlane*2.0f)/tb;
-    result.m6 = 0.0f;
-    result.m7 = 0.0f;
-
-    result.m8 = ((float)right + (float)left)/rl;
-    result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m11 = -1.0f;
-
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
-    result.m15 = 0.0f;
-
-    return result;
-}
-
-// Get perspective projection matrix
-// NOTE: Fovy angle must be provided in radians
-RMAPI Matrix MatrixPerspective(double fovY, double aspect, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    double top = nearPlane*tan(fovY*0.5);
-    double bottom = -top;
-    double right = top*aspect;
-    double left = -right;
-
-    // MatrixFrustum(-right, right, -top, top, near, far);
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = ((float)nearPlane*2.0f)/rl;
-    result.m5 = ((float)nearPlane*2.0f)/tb;
-    result.m8 = ((float)right + (float)left)/rl;
-    result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m11 = -1.0f;
-    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
-
-    return result;
-}
-
-// Get orthographic projection matrix
-RMAPI Matrix MatrixOrtho(double left, double right, double bottom, double top, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = 2.0f/rl;
-    result.m1 = 0.0f;
-    result.m2 = 0.0f;
-    result.m3 = 0.0f;
-    result.m4 = 0.0f;
-    result.m5 = 2.0f/tb;
-    result.m6 = 0.0f;
-    result.m7 = 0.0f;
-    result.m8 = 0.0f;
-    result.m9 = 0.0f;
-    result.m10 = -2.0f/fn;
-    result.m11 = 0.0f;
-    result.m12 = -((float)left + (float)right)/rl;
-    result.m13 = -((float)top + (float)bottom)/tb;
-    result.m14 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get camera look-at matrix (view matrix)
-RMAPI Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
-{
-    Matrix result = { 0 };
-
-    float length = 0.0f;
-    float ilength = 0.0f;
-
-    // Vector3Subtract(eye, target)
-    Vector3 vz = { eye.x - target.x, eye.y - target.y, eye.z - target.z };
-
-    // Vector3Normalize(vz)
-    Vector3 v = vz;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vz.x *= ilength;
-    vz.y *= ilength;
-    vz.z *= ilength;
-
-    // Vector3CrossProduct(up, vz)
-    Vector3 vx = { up.y*vz.z - up.z*vz.y, up.z*vz.x - up.x*vz.z, up.x*vz.y - up.y*vz.x };
-
-    // Vector3Normalize(x)
-    v = vx;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vx.x *= ilength;
-    vx.y *= ilength;
-    vx.z *= ilength;
-
-    // Vector3CrossProduct(vz, vx)
-    Vector3 vy = { vz.y*vx.z - vz.z*vx.y, vz.z*vx.x - vz.x*vx.z, vz.x*vx.y - vz.y*vx.x };
-
-    result.m0 = vx.x;
-    result.m1 = vy.x;
-    result.m2 = vz.x;
-    result.m3 = 0.0f;
-    result.m4 = vx.y;
-    result.m5 = vy.y;
-    result.m6 = vz.y;
-    result.m7 = 0.0f;
-    result.m8 = vx.z;
-    result.m9 = vy.z;
-    result.m10 = vz.z;
-    result.m11 = 0.0f;
-    result.m12 = -(vx.x*eye.x + vx.y*eye.y + vx.z*eye.z);   // Vector3DotProduct(vx, eye)
-    result.m13 = -(vy.x*eye.x + vy.y*eye.y + vy.z*eye.z);   // Vector3DotProduct(vy, eye)
-    result.m14 = -(vz.x*eye.x + vz.y*eye.y + vz.z*eye.z);   // Vector3DotProduct(vz, eye)
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get float array of matrix data
-RMAPI float16 MatrixToFloatV(Matrix mat)
-{
-    float16 result = { 0 };
-
-    result.v[0] = mat.m0;
-    result.v[1] = mat.m1;
-    result.v[2] = mat.m2;
-    result.v[3] = mat.m3;
-    result.v[4] = mat.m4;
-    result.v[5] = mat.m5;
-    result.v[6] = mat.m6;
-    result.v[7] = mat.m7;
-    result.v[8] = mat.m8;
-    result.v[9] = mat.m9;
-    result.v[10] = mat.m10;
-    result.v[11] = mat.m11;
-    result.v[12] = mat.m12;
-    result.v[13] = mat.m13;
-    result.v[14] = mat.m14;
-    result.v[15] = mat.m15;
-
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Quaternion math
-//----------------------------------------------------------------------------------
-
-// Add two quaternions
-RMAPI Quaternion QuaternionAdd(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = {q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w};
-
-    return result;
-}
-
-// Add quaternion and float value
-RMAPI Quaternion QuaternionAddValue(Quaternion q, float add)
-{
-    Quaternion result = {q.x + add, q.y + add, q.z + add, q.w + add};
-
-    return result;
-}
-
-// Subtract two quaternions
-RMAPI Quaternion QuaternionSubtract(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = {q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w};
-
-    return result;
-}
-
-// Subtract quaternion and float value
-RMAPI Quaternion QuaternionSubtractValue(Quaternion q, float sub)
-{
-    Quaternion result = {q.x - sub, q.y - sub, q.z - sub, q.w - sub};
-
-    return result;
-}
-
-// Get identity quaternion
-RMAPI Quaternion QuaternionIdentity(void)
-{
-    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Computes the length of a quaternion
-RMAPI float QuaternionLength(Quaternion q)
-{
-    float result = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-
-    return result;
-}
-
-// Normalize provided quaternion
-RMAPI Quaternion QuaternionNormalize(Quaternion q)
-{
-    Quaternion result = { 0 };
-
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Invert provided quaternion
-RMAPI Quaternion QuaternionInvert(Quaternion q)
-{
-    Quaternion result = q;
-
-    float lengthSq = q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w;
-
-    if (lengthSq != 0.0f)
-    {
-        float invLength = 1.0f/lengthSq;
-
-        result.x *= -invLength;
-        result.y *= -invLength;
-        result.z *= -invLength;
-        result.w *= invLength;
-    }
-
-    return result;
-}
-
-// Calculate two quaternion multiplication
-RMAPI Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = { 0 };
-
-    float qax = q1.x, qay = q1.y, qaz = q1.z, qaw = q1.w;
-    float qbx = q2.x, qby = q2.y, qbz = q2.z, qbw = q2.w;
-
-    result.x = qax*qbw + qaw*qbx + qay*qbz - qaz*qby;
-    result.y = qay*qbw + qaw*qby + qaz*qbx - qax*qbz;
-    result.z = qaz*qbw + qaw*qbz + qax*qby - qay*qbx;
-    result.w = qaw*qbw - qax*qbx - qay*qby - qaz*qbz;
-
-    return result;
-}
-
-// Scale quaternion by float value
-RMAPI Quaternion QuaternionScale(Quaternion q, float mul)
-{
-    Quaternion result = { 0 };
-
-    result.x = q.x*mul;
-    result.y = q.y*mul;
-    result.z = q.z*mul;
-    result.w = q.w*mul;
-
-    return result;
-}
-
-// Divide two quaternions
-RMAPI Quaternion QuaternionDivide(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = { q1.x/q2.x, q1.y/q2.y, q1.z/q2.z, q1.w/q2.w };
-
-    return result;
-}
-
-// Calculate linear interpolation between two quaternions
-RMAPI Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-    result.x = q1.x + amount*(q2.x - q1.x);
-    result.y = q1.y + amount*(q2.y - q1.y);
-    result.z = q1.z + amount*(q2.z - q1.z);
-    result.w = q1.w + amount*(q2.w - q1.w);
-
-    return result;
-}
-
-// Calculate slerp-optimized interpolation between two quaternions
-RMAPI Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-    // QuaternionLerp(q1, q2, amount)
-    result.x = q1.x + amount*(q2.x - q1.x);
-    result.y = q1.y + amount*(q2.y - q1.y);
-    result.z = q1.z + amount*(q2.z - q1.z);
-    result.w = q1.w + amount*(q2.w - q1.w);
-
-    // QuaternionNormalize(q);
-    Quaternion q = result;
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Calculates spherical linear interpolation between two quaternions
-RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    float cosHalfTheta = q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
-
-    if (cosHalfTheta < 0)
-    {
-        q2.x = -q2.x; q2.y = -q2.y; q2.z = -q2.z; q2.w = -q2.w;
-        cosHalfTheta = -cosHalfTheta;
-    }
-
-    if (fabsf(cosHalfTheta) >= 1.0f) result = q1;
-    else if (cosHalfTheta > 0.95f) result = QuaternionNlerp(q1, q2, amount);
-    else
-    {
-        float halfTheta = acosf(cosHalfTheta);
-        float sinHalfTheta = sqrtf(1.0f - cosHalfTheta*cosHalfTheta);
-
-        if (fabsf(sinHalfTheta) < EPSILON)
-        {
-            result.x = (q1.x*0.5f + q2.x*0.5f);
-            result.y = (q1.y*0.5f + q2.y*0.5f);
-            result.z = (q1.z*0.5f + q2.z*0.5f);
-            result.w = (q1.w*0.5f + q2.w*0.5f);
-        }
-        else
-        {
-            float ratioA = sinf((1 - amount)*halfTheta)/sinHalfTheta;
-            float ratioB = sinf(amount*halfTheta)/sinHalfTheta;
-
-            result.x = (q1.x*ratioA + q2.x*ratioB);
-            result.y = (q1.y*ratioA + q2.y*ratioB);
-            result.z = (q1.z*ratioA + q2.z*ratioB);
-            result.w = (q1.w*ratioA + q2.w*ratioB);
-        }
-    }
-
-    return result;
-}
-
-// Calculate quaternion cubic spline interpolation using Cubic Hermite Spline algorithm
-// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
-RMAPI Quaternion QuaternionCubicHermiteSpline(Quaternion q1, Quaternion outTangent1, Quaternion q2, Quaternion inTangent2, float t)
-{
-    float t2 = t*t;
-    float t3 = t2*t;
-    float h00 = 2*t3 - 3*t2 + 1;
-    float h10 = t3 - 2*t2 + t;
-    float h01 = -2*t3 + 3*t2;
-    float h11 = t3 - t2;
-
-    Quaternion p0 = QuaternionScale(q1, h00);
-    Quaternion m0 = QuaternionScale(outTangent1, h10);
-    Quaternion p1 = QuaternionScale(q2, h01);
-    Quaternion m1 = QuaternionScale(inTangent2, h11);
-
-    Quaternion result = { 0 };
-
-    result = QuaternionAdd(p0, m0);
-    result = QuaternionAdd(result, p1);
-    result = QuaternionAdd(result, m1);
-    result = QuaternionNormalize(result);
-
-    return result;
-}
-
-// Calculate quaternion based on the rotation from one vector to another
-RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
-{
-    Quaternion result = { 0 };
-
-    float cos2Theta = (from.x*to.x + from.y*to.y + from.z*to.z);    // Vector3DotProduct(from, to)
-    Vector3 cross = { from.y*to.z - from.z*to.y, from.z*to.x - from.x*to.z, from.x*to.y - from.y*to.x }; // Vector3CrossProduct(from, to)
-
-    result.x = cross.x;
-    result.y = cross.y;
-    result.z = cross.z;
-    result.w = 1.0f + cos2Theta;
-
-    // QuaternionNormalize(q);
-    // NOTE: Normalize to essentially nlerp the original and identity to 0.5
-    Quaternion q = result;
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Get a quaternion for a given rotation matrix
-RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
-{
-    Quaternion result = { 0 };
-
-    float fourWSquaredMinus1 = mat.m0  + mat.m5 + mat.m10;
-    float fourXSquaredMinus1 = mat.m0  - mat.m5 - mat.m10;
-    float fourYSquaredMinus1 = mat.m5  - mat.m0 - mat.m10;
-    float fourZSquaredMinus1 = mat.m10 - mat.m0 - mat.m5;
-
-    int biggestIndex = 0;
-    float fourBiggestSquaredMinus1 = fourWSquaredMinus1;
-    if (fourXSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourXSquaredMinus1;
-        biggestIndex = 1;
-    }
-
-    if (fourYSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourYSquaredMinus1;
-        biggestIndex = 2;
-    }
-
-    if (fourZSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourZSquaredMinus1;
-        biggestIndex = 3;
-    }
-
-    float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f)*0.5f;
-    float mult = 0.25f/biggestVal;
-
-    switch (biggestIndex)
-    {
-        case 0:
-            result.w = biggestVal;
-            result.x = (mat.m6 - mat.m9)*mult;
-            result.y = (mat.m8 - mat.m2)*mult;
-            result.z = (mat.m1 - mat.m4)*mult;
-            break;
-        case 1:
-            result.x = biggestVal;
-            result.w = (mat.m6 - mat.m9)*mult;
-            result.y = (mat.m1 + mat.m4)*mult;
-            result.z = (mat.m8 + mat.m2)*mult;
-            break;
-        case 2:
-            result.y = biggestVal;
-            result.w = (mat.m8 - mat.m2)*mult;
-            result.x = (mat.m1 + mat.m4)*mult;
-            result.z = (mat.m6 + mat.m9)*mult;
-            break;
-        case 3:
-            result.z = biggestVal;
-            result.w = (mat.m1 - mat.m4)*mult;
-            result.x = (mat.m8 + mat.m2)*mult;
-            result.y = (mat.m6 + mat.m9)*mult;
-            break;
-    }
-
-    return result;
-}
-
-// Get a matrix for a given quaternion
-RMAPI Matrix QuaternionToMatrix(Quaternion q)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float a2 = q.x*q.x;
-    float b2 = q.y*q.y;
-    float c2 = q.z*q.z;
-    float ac = q.x*q.z;
-    float ab = q.x*q.y;
-    float bc = q.y*q.z;
-    float ad = q.w*q.x;
-    float bd = q.w*q.y;
-    float cd = q.w*q.z;
-
-    result.m0 = 1 - 2*(b2 + c2);
-    result.m1 = 2*(ab + cd);
-    result.m2 = 2*(ac - bd);
-
-    result.m4 = 2*(ab - cd);
-    result.m5 = 1 - 2*(a2 + c2);
-    result.m6 = 2*(bc + ad);
-
-    result.m8 = 2*(ac + bd);
-    result.m9 = 2*(bc - ad);
-    result.m10 = 1 - 2*(a2 + b2);
-
-    return result;
-}
-
-// Get rotation quaternion for an angle and axis
-// NOTE: Angle must be provided in radians
-RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
-{
-    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
-
-    float axisLength = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
-
-    if (axisLength != 0.0f)
-    {
-        angle *= 0.5f;
-
-        float length = 0.0f;
-        float ilength = 0.0f;
-
-        // Vector3Normalize(axis)
-        length = axisLength;
-        if (length == 0.0f) length = 1.0f;
-        ilength = 1.0f/length;
-        axis.x *= ilength;
-        axis.y *= ilength;
-        axis.z *= ilength;
-
-        float sinres = sinf(angle);
-        float cosres = cosf(angle);
-
-        result.x = axis.x*sinres;
-        result.y = axis.y*sinres;
-        result.z = axis.z*sinres;
-        result.w = cosres;
-
-        // QuaternionNormalize(q);
-        Quaternion q = result;
-        length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-        if (length == 0.0f) length = 1.0f;
-        ilength = 1.0f/length;
-        result.x = q.x*ilength;
-        result.y = q.y*ilength;
-        result.z = q.z*ilength;
-        result.w = q.w*ilength;
-    }
-
-    return result;
-}
-
-// Get the rotation angle and axis for a given quaternion
-RMAPI void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle)
-{
-    if (fabsf(q.w) > 1.0f)
-    {
-        // QuaternionNormalize(q);
-        float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-        if (length == 0.0f) length = 1.0f;
-        float ilength = 1.0f/length;
-
-        q.x = q.x*ilength;
-        q.y = q.y*ilength;
-        q.z = q.z*ilength;
-        q.w = q.w*ilength;
-    }
-
-    Vector3 resAxis = { 0.0f, 0.0f, 0.0f };
-    float resAngle = 2.0f*acosf(q.w);
-    float den = sqrtf(1.0f - q.w*q.w);
-
-    if (den > EPSILON)
-    {
-        resAxis.x = q.x/den;
-        resAxis.y = q.y/den;
-        resAxis.z = q.z/den;
-    }
-    else
-    {
-        // This occurs when the angle is zero.
-        // Not a problem: just set an arbitrary normalized axis.
-        resAxis.x = 1.0f;
-    }
-
-    *outAxis = resAxis;
-    *outAngle = resAngle;
-}
-
-// Get the quaternion equivalent to Euler angles
-// NOTE: Rotation order is ZYX
-RMAPI Quaternion QuaternionFromEuler(float pitch, float yaw, float roll)
-{
-    Quaternion result = { 0 };
-
-    float x0 = cosf(pitch*0.5f);
-    float x1 = sinf(pitch*0.5f);
-    float y0 = cosf(yaw*0.5f);
-    float y1 = sinf(yaw*0.5f);
-    float z0 = cosf(roll*0.5f);
-    float z1 = sinf(roll*0.5f);
-
-    result.x = x1*y0*z0 - x0*y1*z1;
-    result.y = x0*y1*z0 + x1*y0*z1;
-    result.z = x0*y0*z1 - x1*y1*z0;
-    result.w = x0*y0*z0 + x1*y1*z1;
-
-    return result;
-}
-
-// Get the Euler angles equivalent to quaternion (roll, pitch, yaw)
-// NOTE: Angles are returned in a Vector3 struct in radians
-RMAPI Vector3 QuaternionToEuler(Quaternion q)
-{
-    Vector3 result = { 0 };
-
-    // Roll (x-axis rotation)
-    float x0 = 2.0f*(q.w*q.x + q.y*q.z);
-    float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y);
-    result.x = atan2f(x0, x1);
-
-    // Pitch (y-axis rotation)
-    float y0 = 2.0f*(q.w*q.y - q.z*q.x);
-    y0 = y0 > 1.0f ? 1.0f : y0;
-    y0 = y0 < -1.0f ? -1.0f : y0;
-    result.y = asinf(y0);
-
-    // Yaw (z-axis rotation)
-    float z0 = 2.0f*(q.w*q.z + q.x*q.y);
-    float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
-    result.z = atan2f(z0, z1);
-
-    return result;
-}
-
-// Transform a quaternion given a transformation matrix
-RMAPI Quaternion QuaternionTransform(Quaternion q, Matrix mat)
-{
-    Quaternion result = { 0 };
-
-    result.x = mat.m0*q.x + mat.m4*q.y + mat.m8*q.z + mat.m12*q.w;
-    result.y = mat.m1*q.x + mat.m5*q.y + mat.m9*q.z + mat.m13*q.w;
-    result.z = mat.m2*q.x + mat.m6*q.y + mat.m10*q.z + mat.m14*q.w;
-    result.w = mat.m3*q.x + mat.m7*q.y + mat.m11*q.z + mat.m15*q.w;
-
-    return result;
-}
-
-// Check whether two given quaternions are almost equal
-RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = (((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))))) ||
-                 (((fabsf(p.x + q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y + q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z + q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w + q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w))))));
-
-    return result;
-}
-
-// Decompose a transformation matrix into its rotational, translational and scaling components
-RMAPI void MatrixDecompose(Matrix mat, Vector3 *translation, Quaternion *rotation, Vector3 *scale)
-{
-    // Extract translation.
-    translation->x = mat.m12;
-    translation->y = mat.m13;
-    translation->z = mat.m14;
-
-    // Extract upper-left for determinant computation
-    const float a = mat.m0;
-    const float b = mat.m4;
-    const float c = mat.m8;
-    const float d = mat.m1;
-    const float e = mat.m5;
-    const float f = mat.m9;
-    const float g = mat.m2;
-    const float h = mat.m6;
-    const float i = mat.m10;
-    const float A = e*i - f*h;
-    const float B = f*g - d*i;
-    const float C = d*h - e*g;
-
-    // Extract scale
-    const float det = a*A + b*B + c*C;
-    Vector3 abc = { a, b, c };
-    Vector3 def = { d, e, f };
-    Vector3 ghi = { g, h, i };
-
-    float scalex = Vector3Length(abc);
-    float scaley = Vector3Length(def);
-    float scalez = Vector3Length(ghi);
-    Vector3 s = { scalex, scaley, scalez };
-
-    if (det < 0) s = Vector3Negate(s);
-
-    *scale = s;
-
-    // Remove scale from the matrix if it is not close to zero
-    Matrix clone = mat;
-    if (!FloatEquals(det, 0))
-    {
-        clone.m0 /= s.x;
-        clone.m4 /= s.x;
-        clone.m8 /= s.x;
-        clone.m1 /= s.y;
-        clone.m5 /= s.y;
-        clone.m9 /= s.y;
-        clone.m2 /= s.z;
-        clone.m6 /= s.z;
-        clone.m10 /= s.z;
-
-        // Extract rotation
-        *rotation = QuaternionFromMatrix(clone);
-    }
-    else
-    {
-        // Set to identity if close to zero
-        *rotation = QuaternionIdentity();
-    }
-}
-
-#if defined(__cplusplus) && !defined(RAYMATH_DISABLE_CPP_OPERATORS)
-
-// Optional C++ math operators
-//-------------------------------------------------------------------------------
-
-// Vector2 operators
-static constexpr Vector2 Vector2Zeros = { 0, 0 };
-static constexpr Vector2 Vector2Ones = { 1, 1 };
-static constexpr Vector2 Vector2UnitX = { 1, 0 };
-static constexpr Vector2 Vector2UnitY = { 0, 1 };
-
-inline Vector2 operator + (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Add(lhs, rhs);
-}
-
-inline const Vector2& operator += (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator - (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Subtract(lhs, rhs);
-}
-
-inline const Vector2& operator -= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const float& rhs)
-{
-    return Vector2Scale(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const float& rhs)
-{
-    lhs = Vector2Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Multiply(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const Matrix& rhs)
-{
-    return Vector2Transform(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const Matrix& rhs)
-{
-    lhs = Vector2Transform(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator / (const Vector2& lhs, const float& rhs)
-{
-    return Vector2Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector2& operator /= (Vector2& lhs, const float& rhs)
-{
-    lhs = Vector2Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector2 operator / (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Divide(lhs, rhs);
-}
-
-inline const Vector2& operator /= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector2& lhs, const Vector2& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y);
-}
-
-inline bool operator != (const Vector2& lhs, const Vector2& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y);
-}
-
-// Vector3 operators
-static constexpr Vector3 Vector3Zeros = { 0, 0, 0 };
-static constexpr Vector3 Vector3Ones = { 1, 1, 1 };
-static constexpr Vector3 Vector3UnitX = { 1, 0, 0 };
-static constexpr Vector3 Vector3UnitY = { 0, 1, 0 };
-static constexpr Vector3 Vector3UnitZ = { 0, 0, 1 };
-
-inline Vector3 operator + (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Add(lhs, rhs);
-}
-
-inline const Vector3& operator += (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator - (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Subtract(lhs, rhs);
-}
-
-inline const Vector3& operator -= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const float& rhs)
-{
-    return Vector3Scale(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const float& rhs)
-{
-    lhs = Vector3Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Multiply(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const Matrix& rhs)
-{
-    return Vector3Transform(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const Matrix& rhs)
-{
-    lhs = Vector3Transform(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator / (const Vector3& lhs, const float& rhs)
-{
-    return Vector3Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector3& operator /= (Vector3& lhs, const float& rhs)
-{
-    lhs = Vector3Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector3 operator / (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Divide(lhs, rhs);
-}
-
-inline const Vector3& operator /= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector3& lhs, const Vector3& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z);
-}
-
-inline bool operator != (const Vector3& lhs, const Vector3& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z);
-}
-
-// Vector4 operators
-static constexpr Vector4 Vector4Zeros = { 0, 0, 0, 0 };
-static constexpr Vector4 Vector4Ones = { 1, 1, 1, 1 };
-static constexpr Vector4 Vector4UnitX = { 1, 0, 0, 0 };
-static constexpr Vector4 Vector4UnitY = { 0, 1, 0, 0 };
-static constexpr Vector4 Vector4UnitZ = { 0, 0, 1, 0 };
-static constexpr Vector4 Vector4UnitW = { 0, 0, 0, 1 };
-
-inline Vector4 operator + (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Add(lhs, rhs);
-}
-
-inline const Vector4& operator += (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator - (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Subtract(lhs, rhs);
-}
-
-inline const Vector4& operator -= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator * (const Vector4& lhs, const float& rhs)
-{
-    return Vector4Scale(lhs, rhs);
-}
-
-inline const Vector4& operator *= (Vector4& lhs, const float& rhs)
-{
-    lhs = Vector4Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator * (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Multiply(lhs, rhs);
-}
-
-inline const Vector4& operator *= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator / (const Vector4& lhs, const float& rhs)
-{
-    return Vector4Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector4& operator /= (Vector4& lhs, const float& rhs)
-{
-    lhs = Vector4Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector4 operator / (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Divide(lhs, rhs);
-}
-
-inline const Vector4& operator /= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector4& lhs, const Vector4& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z) && FloatEquals(lhs.w, rhs.w);
-}
-
-inline bool operator != (const Vector4& lhs, const Vector4& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z) || !FloatEquals(lhs.w, rhs.w);
-}
-
-// Quaternion operators
-static constexpr Quaternion QuaternionZeros = { 0, 0, 0, 0 };
-static constexpr Quaternion QuaternionOnes = { 1, 1, 1, 1 };
-static constexpr Quaternion QuaternionUnitX = { 0, 0, 0, 1 };
-
-inline Quaternion operator + (const Quaternion& lhs, const float& rhs)
-{
-    return QuaternionAddValue(lhs, rhs);
-}
-
-inline const Quaternion& operator += (Quaternion& lhs, const float& rhs)
-{
-    lhs = QuaternionAddValue(lhs, rhs);
-    return lhs;
-}
-
-inline Quaternion operator - (const Quaternion& lhs, const float& rhs)
-{
-    return QuaternionSubtractValue(lhs, rhs);
-}
-
-inline const Quaternion& operator -= (Quaternion& lhs, const float& rhs)
-{
-    lhs = QuaternionSubtractValue(lhs, rhs);
-    return lhs;
-}
-
-inline Quaternion operator * (const Quaternion& lhs, const Matrix& rhs)
-{
-    return QuaternionTransform(lhs, rhs);
-}
-
-inline const Quaternion& operator *= (Quaternion& lhs, const Matrix& rhs)
-{
-    lhs = QuaternionTransform(lhs, rhs);
-    return lhs;
-}
-
-// Matrix operators
-inline Matrix operator + (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixAdd(lhs, rhs);
-}
-
-inline const Matrix& operator += (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixAdd(lhs, rhs);
-    return lhs;
-}
-
-inline Matrix operator - (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixSubtract(lhs, rhs);
-}
-
-inline const Matrix& operator -= (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixSubtract(lhs, rhs);
-    return lhs;
-}
-
-inline Matrix operator * (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixMultiply(lhs, rhs);
-}
-
-inline const Matrix& operator *= (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixMultiply(lhs, rhs);
-    return lhs;
-}
-//-------------------------------------------------------------------------------
-#endif  // C++ operators
-
-#endif  // RAYMATH_H
diff --git a/third_party/raylib/include/rlgl.h b/third_party/raylib/include/rlgl.h
deleted file mode 100644
index 92971df627..0000000000
--- a/third_party/raylib/include/rlgl.h
+++ /dev/null
@@ -1,5262 +0,0 @@
-/**********************************************************************************************
-*
-*   rlgl v5.0 - A multi-OpenGL abstraction layer with an immediate-mode style API
-*
-*   DESCRIPTION:
-*       An abstraction layer for multiple OpenGL versions (1.1, 2.1, 3.3 Core, 4.3 Core, ES 2.0, ES 3.0)
-*       that provides a pseudo-OpenGL 1.1 immediate-mode style API (rlVertex, rlTranslate, rlRotate...)
-*
-*   ADDITIONAL NOTES:
-*       When choosing an OpenGL backend different than OpenGL 1.1, some internal buffer are
-*       initialized on rlglInit() to accumulate vertex data
-*
-*       When an internal state change is required all the stored vertex data is renderer in batch,
-*       additionally, rlDrawRenderBatchActive() could be called to force flushing of the batch
-*
-*       Some resources are also loaded for convenience, here the complete list:
-*          - Default batch (RLGL.defaultBatch): RenderBatch system to accumulate vertex data
-*          - Default texture (RLGL.defaultTextureId): 1x1 white pixel R8G8B8A8
-*          - Default shader (RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs)
-*
-*       Internal buffer (and resources) must be manually unloaded calling rlglClose()
-*
-*   CONFIGURATION:
-*       #define GRAPHICS_API_OPENGL_11
-*       #define GRAPHICS_API_OPENGL_21
-*       #define GRAPHICS_API_OPENGL_33
-*       #define GRAPHICS_API_OPENGL_43
-*       #define GRAPHICS_API_OPENGL_ES2
-*       #define GRAPHICS_API_OPENGL_ES3
-*           Use selected OpenGL graphics backend, should be supported by platform
-*           Those preprocessor defines are only used on rlgl module, if OpenGL version is
-*           required by any other module, use rlGetVersion() to check it
-*
-*       #define RLGL_IMPLEMENTATION
-*           Generates the implementation of the library into the included file
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation
-*
-*       #define RLGL_RENDER_TEXTURES_HINT
-*           Enable framebuffer objects (fbo) support (enabled by default)
-*           Some GPUs could not support them despite the OpenGL version
-*
-*       #define RLGL_SHOW_GL_DETAILS_INFO
-*           Show OpenGL extensions and capabilities detailed logs on init
-*
-*       #define RLGL_ENABLE_OPENGL_DEBUG_CONTEXT
-*           Enable debug context (only available on OpenGL 4.3)
-*
-*       rlgl capabilities could be customized just defining some internal
-*       values before library inclusion (default values listed):
-*
-*       #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS   8192    // Default internal render batch elements limits
-*       #define RL_DEFAULT_BATCH_BUFFERS              1    // Default number of batch buffers (multi-buffering)
-*       #define RL_DEFAULT_BATCH_DRAWCALLS          256    // Default number of batch draw calls (by state changes: mode, texture)
-*       #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS    4    // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
-*
-*       #define RL_MAX_MATRIX_STACK_SIZE             32    // Maximum size of internal Matrix stack
-*       #define RL_MAX_SHADER_LOCATIONS              32    // Maximum number of shader locations supported
-*       #define RL_CULL_DISTANCE_NEAR              0.01    // Default projection matrix near cull distance
-*       #define RL_CULL_DISTANCE_FAR             1000.0    // Default projection matrix far cull distance
-*
-*       When loading a shader, the following vertex attributes and uniform
-*       location names are tried to be set automatically:
-*
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView)))
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
-*
-*   DEPENDENCIES:
-*      - OpenGL libraries (depending on platform and OpenGL version selected)
-*      - GLAD OpenGL extensions loading library (only for OpenGL 3.3 Core, 4.3 Core)
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2014-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RLGL_H
-#define RLGL_H
-
-#define RLGL_VERSION  "5.0"
-
-// Function specifiers in case library is build/used as a shared library
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-// NOTE: visibility(default) attribute makes symbols "visible" when compiled with -fvisibility=hidden
-#if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-    #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-#elif defined(BUILD_LIBTYPE_SHARED)
-    #define RLAPI __attribute__((visibility("default"))) // We are building the library as a Unix shared library (.so/.dylib)
-#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
-    #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-#endif
-
-// Function specifiers definition
-#ifndef RLAPI
-    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-// Support TRACELOG macros
-#ifndef TRACELOG
-    #define TRACELOG(level, ...) (void)0
-    #define TRACELOGD(...) (void)0
-#endif
-
-// Allow custom memory allocators
-#ifndef RL_MALLOC
-    #define RL_MALLOC(sz)     malloc(sz)
-#endif
-#ifndef RL_CALLOC
-    #define RL_CALLOC(n,sz)   calloc(n,sz)
-#endif
-#ifndef RL_REALLOC
-    #define RL_REALLOC(n,sz)  realloc(n,sz)
-#endif
-#ifndef RL_FREE
-    #define RL_FREE(p)        free(p)
-#endif
-
-// Security check in case no GRAPHICS_API_OPENGL_* defined
-#if !defined(GRAPHICS_API_OPENGL_11) && \
-    !defined(GRAPHICS_API_OPENGL_21) && \
-    !defined(GRAPHICS_API_OPENGL_33) && \
-    !defined(GRAPHICS_API_OPENGL_43) && \
-    !defined(GRAPHICS_API_OPENGL_ES2) && \
-    !defined(GRAPHICS_API_OPENGL_ES3)
-        #define GRAPHICS_API_OPENGL_33
-#endif
-
-// Security check in case multiple GRAPHICS_API_OPENGL_* defined
-#if defined(GRAPHICS_API_OPENGL_11)
-    #if defined(GRAPHICS_API_OPENGL_21)
-        #undef GRAPHICS_API_OPENGL_21
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_33)
-        #undef GRAPHICS_API_OPENGL_33
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_43)
-        #undef GRAPHICS_API_OPENGL_43
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-        #undef GRAPHICS_API_OPENGL_ES2
-    #endif
-#endif
-
-// OpenGL 2.1 uses most of OpenGL 3.3 Core functionality
-// WARNING: Specific parts are checked with #if defines
-#if defined(GRAPHICS_API_OPENGL_21)
-    #define GRAPHICS_API_OPENGL_33
-#endif
-
-// OpenGL 4.3 uses OpenGL 3.3 Core functionality
-#if defined(GRAPHICS_API_OPENGL_43)
-    #define GRAPHICS_API_OPENGL_33
-#endif
-
-// OpenGL ES 3.0 uses OpenGL ES 2.0 functionality (and more)
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    #define GRAPHICS_API_OPENGL_ES2
-#endif
-
-// Support framebuffer objects by default
-// NOTE: Some driver implementation do not support it, despite they should
-#define RLGL_RENDER_TEXTURES_HINT
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-
-// Default internal render batch elements limits
-#ifndef RL_DEFAULT_BATCH_BUFFER_ELEMENTS
-    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-        // This is the maximum amount of elements (quads) per batch
-        // NOTE: Be careful with text, every letter maps to a quad
-        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  8192
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-        // We reduce memory sizes for embedded systems (RPI and HTML5)
-        // NOTE: On HTML5 (emscripten) this is allocated on heap,
-        // by default it's only 16MB!...just take care...
-        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  2048
-    #endif
-#endif
-#ifndef RL_DEFAULT_BATCH_BUFFERS
-    #define RL_DEFAULT_BATCH_BUFFERS                 1      // Default number of batch buffers (multi-buffering)
-#endif
-#ifndef RL_DEFAULT_BATCH_DRAWCALLS
-    #define RL_DEFAULT_BATCH_DRAWCALLS             256      // Default number of batch draw calls (by state changes: mode, texture)
-#endif
-#ifndef RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS
-    #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS       4      // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
-#endif
-
-// Internal Matrix stack
-#ifndef RL_MAX_MATRIX_STACK_SIZE
-    #define RL_MAX_MATRIX_STACK_SIZE                32      // Maximum size of Matrix stack
-#endif
-
-// Shader limits
-#ifndef RL_MAX_SHADER_LOCATIONS
-    #define RL_MAX_SHADER_LOCATIONS                 32      // Maximum number of shader locations supported
-#endif
-
-// Projection matrix culling
-#ifndef RL_CULL_DISTANCE_NEAR
-    #define RL_CULL_DISTANCE_NEAR                 0.01      // Default near cull distance
-#endif
-#ifndef RL_CULL_DISTANCE_FAR
-    #define RL_CULL_DISTANCE_FAR                1000.0      // Default far cull distance
-#endif
-
-// Texture parameters (equivalent to OpenGL defines)
-#define RL_TEXTURE_WRAP_S                       0x2802      // GL_TEXTURE_WRAP_S
-#define RL_TEXTURE_WRAP_T                       0x2803      // GL_TEXTURE_WRAP_T
-#define RL_TEXTURE_MAG_FILTER                   0x2800      // GL_TEXTURE_MAG_FILTER
-#define RL_TEXTURE_MIN_FILTER                   0x2801      // GL_TEXTURE_MIN_FILTER
-
-#define RL_TEXTURE_FILTER_NEAREST               0x2600      // GL_NEAREST
-#define RL_TEXTURE_FILTER_LINEAR                0x2601      // GL_LINEAR
-#define RL_TEXTURE_FILTER_MIP_NEAREST           0x2700      // GL_NEAREST_MIPMAP_NEAREST
-#define RL_TEXTURE_FILTER_NEAREST_MIP_LINEAR    0x2702      // GL_NEAREST_MIPMAP_LINEAR
-#define RL_TEXTURE_FILTER_LINEAR_MIP_NEAREST    0x2701      // GL_LINEAR_MIPMAP_NEAREST
-#define RL_TEXTURE_FILTER_MIP_LINEAR            0x2703      // GL_LINEAR_MIPMAP_LINEAR
-#define RL_TEXTURE_FILTER_ANISOTROPIC           0x3000      // Anisotropic filter (custom identifier)
-#define RL_TEXTURE_MIPMAP_BIAS_RATIO            0x4000      // Texture mipmap bias, percentage ratio (custom identifier)
-
-#define RL_TEXTURE_WRAP_REPEAT                  0x2901      // GL_REPEAT
-#define RL_TEXTURE_WRAP_CLAMP                   0x812F      // GL_CLAMP_TO_EDGE
-#define RL_TEXTURE_WRAP_MIRROR_REPEAT           0x8370      // GL_MIRRORED_REPEAT
-#define RL_TEXTURE_WRAP_MIRROR_CLAMP            0x8742      // GL_MIRROR_CLAMP_EXT
-
-// Matrix modes (equivalent to OpenGL)
-#define RL_MODELVIEW                            0x1700      // GL_MODELVIEW
-#define RL_PROJECTION                           0x1701      // GL_PROJECTION
-#define RL_TEXTURE                              0x1702      // GL_TEXTURE
-
-// Primitive assembly draw modes
-#define RL_LINES                                0x0001      // GL_LINES
-#define RL_TRIANGLES                            0x0004      // GL_TRIANGLES
-#define RL_QUADS                                0x0007      // GL_QUADS
-
-// GL equivalent data types
-#define RL_UNSIGNED_BYTE                        0x1401      // GL_UNSIGNED_BYTE
-#define RL_FLOAT                                0x1406      // GL_FLOAT
-
-// GL buffer usage hint
-#define RL_STREAM_DRAW                          0x88E0      // GL_STREAM_DRAW
-#define RL_STREAM_READ                          0x88E1      // GL_STREAM_READ
-#define RL_STREAM_COPY                          0x88E2      // GL_STREAM_COPY
-#define RL_STATIC_DRAW                          0x88E4      // GL_STATIC_DRAW
-#define RL_STATIC_READ                          0x88E5      // GL_STATIC_READ
-#define RL_STATIC_COPY                          0x88E6      // GL_STATIC_COPY
-#define RL_DYNAMIC_DRAW                         0x88E8      // GL_DYNAMIC_DRAW
-#define RL_DYNAMIC_READ                         0x88E9      // GL_DYNAMIC_READ
-#define RL_DYNAMIC_COPY                         0x88EA      // GL_DYNAMIC_COPY
-
-// GL Shader type
-#define RL_FRAGMENT_SHADER                      0x8B30      // GL_FRAGMENT_SHADER
-#define RL_VERTEX_SHADER                        0x8B31      // GL_VERTEX_SHADER
-#define RL_COMPUTE_SHADER                       0x91B9      // GL_COMPUTE_SHADER
-
-// GL blending factors
-#define RL_ZERO                                 0           // GL_ZERO
-#define RL_ONE                                  1           // GL_ONE
-#define RL_SRC_COLOR                            0x0300      // GL_SRC_COLOR
-#define RL_ONE_MINUS_SRC_COLOR                  0x0301      // GL_ONE_MINUS_SRC_COLOR
-#define RL_SRC_ALPHA                            0x0302      // GL_SRC_ALPHA
-#define RL_ONE_MINUS_SRC_ALPHA                  0x0303      // GL_ONE_MINUS_SRC_ALPHA
-#define RL_DST_ALPHA                            0x0304      // GL_DST_ALPHA
-#define RL_ONE_MINUS_DST_ALPHA                  0x0305      // GL_ONE_MINUS_DST_ALPHA
-#define RL_DST_COLOR                            0x0306      // GL_DST_COLOR
-#define RL_ONE_MINUS_DST_COLOR                  0x0307      // GL_ONE_MINUS_DST_COLOR
-#define RL_SRC_ALPHA_SATURATE                   0x0308      // GL_SRC_ALPHA_SATURATE
-#define RL_CONSTANT_COLOR                       0x8001      // GL_CONSTANT_COLOR
-#define RL_ONE_MINUS_CONSTANT_COLOR             0x8002      // GL_ONE_MINUS_CONSTANT_COLOR
-#define RL_CONSTANT_ALPHA                       0x8003      // GL_CONSTANT_ALPHA
-#define RL_ONE_MINUS_CONSTANT_ALPHA             0x8004      // GL_ONE_MINUS_CONSTANT_ALPHA
-
-// GL blending functions/equations
-#define RL_FUNC_ADD                             0x8006      // GL_FUNC_ADD
-#define RL_MIN                                  0x8007      // GL_MIN
-#define RL_MAX                                  0x8008      // GL_MAX
-#define RL_FUNC_SUBTRACT                        0x800A      // GL_FUNC_SUBTRACT
-#define RL_FUNC_REVERSE_SUBTRACT                0x800B      // GL_FUNC_REVERSE_SUBTRACT
-#define RL_BLEND_EQUATION                       0x8009      // GL_BLEND_EQUATION
-#define RL_BLEND_EQUATION_RGB                   0x8009      // GL_BLEND_EQUATION_RGB   // (Same as BLEND_EQUATION)
-#define RL_BLEND_EQUATION_ALPHA                 0x883D      // GL_BLEND_EQUATION_ALPHA
-#define RL_BLEND_DST_RGB                        0x80C8      // GL_BLEND_DST_RGB
-#define RL_BLEND_SRC_RGB                        0x80C9      // GL_BLEND_SRC_RGB
-#define RL_BLEND_DST_ALPHA                      0x80CA      // GL_BLEND_DST_ALPHA
-#define RL_BLEND_SRC_ALPHA                      0x80CB      // GL_BLEND_SRC_ALPHA
-#define RL_BLEND_COLOR                          0x8005      // GL_BLEND_COLOR
-
-#define RL_READ_FRAMEBUFFER                     0x8CA8      // GL_READ_FRAMEBUFFER
-#define RL_DRAW_FRAMEBUFFER                     0x8CA9      // GL_DRAW_FRAMEBUFFER
-
-// Default shader vertex attribute locations
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION    0
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD    1
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL      2
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR       3
-#endif
-    #ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
-#define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT         4
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2   5
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES     6
-#endif
-#ifdef RL_SUPPORT_MESH_GPU_SKINNING
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS     7
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS 8
-#endif
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
-    #include <stdbool.h>
-#elif !defined(__cplusplus) && !defined(bool) && !defined(RL_BOOL_TYPE)
-    // Boolean type
-typedef enum bool { false = 0, true = !false } bool;
-#endif
-
-#if !defined(RL_MATRIX_TYPE)
-// Matrix, 4x4 components, column major, OpenGL style, right handed
-typedef struct Matrix {
-    float m0, m4, m8, m12;      // Matrix first row (4 components)
-    float m1, m5, m9, m13;      // Matrix second row (4 components)
-    float m2, m6, m10, m14;     // Matrix third row (4 components)
-    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
-} Matrix;
-#define RL_MATRIX_TYPE
-#endif
-
-// Dynamic vertex buffers (position + texcoords + colors + indices arrays)
-typedef struct rlVertexBuffer {
-    int elementCount;           // Number of elements in the buffer (QUADS)
-
-    float *vertices;            // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
-    float *texcoords;           // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
-    float *normals;             // Vertex normal (XYZ - 3 components per vertex) (shader-location = 2)
-    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    unsigned int *indices;      // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
-#endif
-    unsigned int vaoId;         // OpenGL Vertex Array Object id
-    unsigned int vboId[5];      // OpenGL Vertex Buffer Objects id (5 types of vertex data)
-} rlVertexBuffer;
-
-// Draw call type
-// NOTE: Only texture changes register a new draw, other state-change-related elements are not
-// used at this moment (vaoId, shaderId, matrices), raylib just forces a batch draw call if any
-// of those state-change happens (this is done in core module)
-typedef struct rlDrawCall {
-    int mode;                   // Drawing mode: LINES, TRIANGLES, QUADS
-    int vertexCount;            // Number of vertex of the draw
-    int vertexAlignment;        // Number of vertex required for index alignment (LINES, TRIANGLES)
-    //unsigned int vaoId;       // Vertex array id to be used on the draw -> Using RLGL.currentBatch->vertexBuffer.vaoId
-    //unsigned int shaderId;    // Shader id to be used on the draw -> Using RLGL.currentShaderId
-    unsigned int textureId;     // Texture id to be used on the draw -> Use to create new draw call if changes
-
-    //Matrix projection;        // Projection matrix for this draw -> Using RLGL.projection by default
-    //Matrix modelview;         // Modelview matrix for this draw -> Using RLGL.modelview by default
-} rlDrawCall;
-
-// rlRenderBatch type
-typedef struct rlRenderBatch {
-    int bufferCount;            // Number of vertex buffers (multi-buffering support)
-    int currentBuffer;          // Current buffer tracking in case of multi-buffering
-    rlVertexBuffer *vertexBuffer; // Dynamic buffer(s) for vertex data
-
-    rlDrawCall *draws;          // Draw calls array, depends on textureId
-    int drawCounter;            // Draw calls counter
-    float currentDepth;         // Current depth value for next draw
-} rlRenderBatch;
-
-// OpenGL version
-typedef enum {
-    RL_OPENGL_11 = 1,           // OpenGL 1.1
-    RL_OPENGL_21,               // OpenGL 2.1 (GLSL 120)
-    RL_OPENGL_33,               // OpenGL 3.3 (GLSL 330)
-    RL_OPENGL_43,               // OpenGL 4.3 (using GLSL 330)
-    RL_OPENGL_ES_20,            // OpenGL ES 2.0 (GLSL 100)
-    RL_OPENGL_ES_30             // OpenGL ES 3.0 (GLSL 300 es)
-} rlGlVersion;
-
-// Trace log level
-// NOTE: Organized by priority level
-typedef enum {
-    RL_LOG_ALL = 0,             // Display all logs
-    RL_LOG_TRACE,               // Trace logging, intended for internal use only
-    RL_LOG_DEBUG,               // Debug logging, used for internal debugging, it should be disabled on release builds
-    RL_LOG_INFO,                // Info logging, used for program execution info
-    RL_LOG_WARNING,             // Warning logging, used on recoverable failures
-    RL_LOG_ERROR,               // Error logging, used on unrecoverable failures
-    RL_LOG_FATAL,               // Fatal logging, used to abort program: exit(EXIT_FAILURE)
-    RL_LOG_NONE                 // Disable logging
-} rlTraceLogLevel;
-
-// Texture pixel formats
-// NOTE: Support depends on OpenGL version
-typedef enum {
-    RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1,     // 8 bit per pixel (no alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,        // 8*2 bpp (2 channels)
-    RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5,            // 16 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8,            // 24 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,          // 16 bpp (1 bit alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,          // 16 bpp (4 bit alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,          // 32 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R32,               // 32 bpp (1 channel - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32,         // 32*3 bpp (3 channels - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,      // 32*4 bpp (4 channels - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16,               // 16 bpp (1 channel - half float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16,         // 16*3 bpp (3 channels - half float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,      // 16*4 bpp (4 channels - half float)
-    RL_PIXELFORMAT_COMPRESSED_DXT1_RGB,            // 4 bpp (no alpha)
-    RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA,           // 4 bpp (1 bit alpha)
-    RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA,           // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA,           // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC1_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC2_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,       // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_PVRT_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA,           // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,       // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA        // 2 bpp
-} rlPixelFormat;
-
-// Texture parameters: filter mode
-// NOTE 1: Filtering considers mipmaps if available in the texture
-// NOTE 2: Filter is accordingly set for minification and magnification
-typedef enum {
-    RL_TEXTURE_FILTER_POINT = 0,        // No filter, just pixel approximation
-    RL_TEXTURE_FILTER_BILINEAR,         // Linear filtering
-    RL_TEXTURE_FILTER_TRILINEAR,        // Trilinear filtering (linear with mipmaps)
-    RL_TEXTURE_FILTER_ANISOTROPIC_4X,   // Anisotropic filtering 4x
-    RL_TEXTURE_FILTER_ANISOTROPIC_8X,   // Anisotropic filtering 8x
-    RL_TEXTURE_FILTER_ANISOTROPIC_16X,  // Anisotropic filtering 16x
-} rlTextureFilter;
-
-// Color blending modes (pre-defined)
-typedef enum {
-    RL_BLEND_ALPHA = 0,                 // Blend textures considering alpha (default)
-    RL_BLEND_ADDITIVE,                  // Blend textures adding colors
-    RL_BLEND_MULTIPLIED,                // Blend textures multiplying colors
-    RL_BLEND_ADD_COLORS,                // Blend textures adding colors (alternative)
-    RL_BLEND_SUBTRACT_COLORS,           // Blend textures subtracting colors (alternative)
-    RL_BLEND_ALPHA_PREMULTIPLY,         // Blend premultiplied textures considering alpha
-    RL_BLEND_CUSTOM,                    // Blend textures using custom src/dst factors (use rlSetBlendFactors())
-    RL_BLEND_CUSTOM_SEPARATE            // Blend textures using custom src/dst factors (use rlSetBlendFactorsSeparate())
-} rlBlendMode;
-
-// Shader location point type
-typedef enum {
-    RL_SHADER_LOC_VERTEX_POSITION = 0,  // Shader location: vertex attribute: position
-    RL_SHADER_LOC_VERTEX_TEXCOORD01,    // Shader location: vertex attribute: texcoord01
-    RL_SHADER_LOC_VERTEX_TEXCOORD02,    // Shader location: vertex attribute: texcoord02
-    RL_SHADER_LOC_VERTEX_NORMAL,        // Shader location: vertex attribute: normal
-    RL_SHADER_LOC_VERTEX_TANGENT,       // Shader location: vertex attribute: tangent
-    RL_SHADER_LOC_VERTEX_COLOR,         // Shader location: vertex attribute: color
-    RL_SHADER_LOC_MATRIX_MVP,           // Shader location: matrix uniform: model-view-projection
-    RL_SHADER_LOC_MATRIX_VIEW,          // Shader location: matrix uniform: view (camera transform)
-    RL_SHADER_LOC_MATRIX_PROJECTION,    // Shader location: matrix uniform: projection
-    RL_SHADER_LOC_MATRIX_MODEL,         // Shader location: matrix uniform: model (transform)
-    RL_SHADER_LOC_MATRIX_NORMAL,        // Shader location: matrix uniform: normal
-    RL_SHADER_LOC_VECTOR_VIEW,          // Shader location: vector uniform: view
-    RL_SHADER_LOC_COLOR_DIFFUSE,        // Shader location: vector uniform: diffuse color
-    RL_SHADER_LOC_COLOR_SPECULAR,       // Shader location: vector uniform: specular color
-    RL_SHADER_LOC_COLOR_AMBIENT,        // Shader location: vector uniform: ambient color
-    RL_SHADER_LOC_MAP_ALBEDO,           // Shader location: sampler2d texture: albedo (same as: RL_SHADER_LOC_MAP_DIFFUSE)
-    RL_SHADER_LOC_MAP_METALNESS,        // Shader location: sampler2d texture: metalness (same as: RL_SHADER_LOC_MAP_SPECULAR)
-    RL_SHADER_LOC_MAP_NORMAL,           // Shader location: sampler2d texture: normal
-    RL_SHADER_LOC_MAP_ROUGHNESS,        // Shader location: sampler2d texture: roughness
-    RL_SHADER_LOC_MAP_OCCLUSION,        // Shader location: sampler2d texture: occlusion
-    RL_SHADER_LOC_MAP_EMISSION,         // Shader location: sampler2d texture: emission
-    RL_SHADER_LOC_MAP_HEIGHT,           // Shader location: sampler2d texture: height
-    RL_SHADER_LOC_MAP_CUBEMAP,          // Shader location: samplerCube texture: cubemap
-    RL_SHADER_LOC_MAP_IRRADIANCE,       // Shader location: samplerCube texture: irradiance
-    RL_SHADER_LOC_MAP_PREFILTER,        // Shader location: samplerCube texture: prefilter
-    RL_SHADER_LOC_MAP_BRDF              // Shader location: sampler2d texture: brdf
-} rlShaderLocationIndex;
-
-#define RL_SHADER_LOC_MAP_DIFFUSE       RL_SHADER_LOC_MAP_ALBEDO
-#define RL_SHADER_LOC_MAP_SPECULAR      RL_SHADER_LOC_MAP_METALNESS
-
-// Shader uniform data type
-typedef enum {
-    RL_SHADER_UNIFORM_FLOAT = 0,        // Shader uniform type: float
-    RL_SHADER_UNIFORM_VEC2,             // Shader uniform type: vec2 (2 float)
-    RL_SHADER_UNIFORM_VEC3,             // Shader uniform type: vec3 (3 float)
-    RL_SHADER_UNIFORM_VEC4,             // Shader uniform type: vec4 (4 float)
-    RL_SHADER_UNIFORM_INT,              // Shader uniform type: int
-    RL_SHADER_UNIFORM_IVEC2,            // Shader uniform type: ivec2 (2 int)
-    RL_SHADER_UNIFORM_IVEC3,            // Shader uniform type: ivec3 (3 int)
-    RL_SHADER_UNIFORM_IVEC4,            // Shader uniform type: ivec4 (4 int)
-    RL_SHADER_UNIFORM_UINT,             // Shader uniform type: unsigned int
-    RL_SHADER_UNIFORM_UIVEC2,           // Shader uniform type: uivec2 (2 unsigned int)
-    RL_SHADER_UNIFORM_UIVEC3,           // Shader uniform type: uivec3 (3 unsigned int)
-    RL_SHADER_UNIFORM_UIVEC4,           // Shader uniform type: uivec4 (4 unsigned int)
-    RL_SHADER_UNIFORM_SAMPLER2D         // Shader uniform type: sampler2d
-} rlShaderUniformDataType;
-
-// Shader attribute data types
-typedef enum {
-    RL_SHADER_ATTRIB_FLOAT = 0,         // Shader attribute type: float
-    RL_SHADER_ATTRIB_VEC2,              // Shader attribute type: vec2 (2 float)
-    RL_SHADER_ATTRIB_VEC3,              // Shader attribute type: vec3 (3 float)
-    RL_SHADER_ATTRIB_VEC4               // Shader attribute type: vec4 (4 float)
-} rlShaderAttributeDataType;
-
-// Framebuffer attachment type
-// NOTE: By default up to 8 color channels defined, but it can be more
-typedef enum {
-    RL_ATTACHMENT_COLOR_CHANNEL0 = 0,       // Framebuffer attachment type: color 0
-    RL_ATTACHMENT_COLOR_CHANNEL1 = 1,       // Framebuffer attachment type: color 1
-    RL_ATTACHMENT_COLOR_CHANNEL2 = 2,       // Framebuffer attachment type: color 2
-    RL_ATTACHMENT_COLOR_CHANNEL3 = 3,       // Framebuffer attachment type: color 3
-    RL_ATTACHMENT_COLOR_CHANNEL4 = 4,       // Framebuffer attachment type: color 4
-    RL_ATTACHMENT_COLOR_CHANNEL5 = 5,       // Framebuffer attachment type: color 5
-    RL_ATTACHMENT_COLOR_CHANNEL6 = 6,       // Framebuffer attachment type: color 6
-    RL_ATTACHMENT_COLOR_CHANNEL7 = 7,       // Framebuffer attachment type: color 7
-    RL_ATTACHMENT_DEPTH = 100,              // Framebuffer attachment type: depth
-    RL_ATTACHMENT_STENCIL = 200,            // Framebuffer attachment type: stencil
-} rlFramebufferAttachType;
-
-// Framebuffer texture attachment type
-typedef enum {
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_X = 0,   // Framebuffer texture attachment type: cubemap, +X side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_X = 1,   // Framebuffer texture attachment type: cubemap, -X side
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_Y = 2,   // Framebuffer texture attachment type: cubemap, +Y side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Y = 3,   // Framebuffer texture attachment type: cubemap, -Y side
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_Z = 4,   // Framebuffer texture attachment type: cubemap, +Z side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Z = 5,   // Framebuffer texture attachment type: cubemap, -Z side
-    RL_ATTACHMENT_TEXTURE2D = 100,          // Framebuffer texture attachment type: texture2d
-    RL_ATTACHMENT_RENDERBUFFER = 200,       // Framebuffer texture attachment type: renderbuffer
-} rlFramebufferAttachTextureType;
-
-// Face culling mode
-typedef enum {
-    RL_CULL_FACE_FRONT = 0,
-    RL_CULL_FACE_BACK
-} rlCullMode;
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - Matrix operations
-//------------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-RLAPI void rlMatrixMode(int mode);                      // Choose the current matrix to be transformed
-RLAPI void rlPushMatrix(void);                          // Push the current matrix to stack
-RLAPI void rlPopMatrix(void);                           // Pop latest inserted matrix from stack
-RLAPI void rlLoadIdentity(void);                        // Reset current matrix to identity matrix
-RLAPI void rlTranslatef(float x, float y, float z);     // Multiply the current matrix by a translation matrix
-RLAPI void rlRotatef(float angle, float x, float y, float z); // Multiply the current matrix by a rotation matrix
-RLAPI void rlScalef(float x, float y, float z);         // Multiply the current matrix by a scaling matrix
-RLAPI void rlMultMatrixf(const float *matf);            // Multiply the current matrix by another matrix
-RLAPI void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar);
-RLAPI void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar);
-RLAPI void rlViewport(int x, int y, int width, int height); // Set the viewport area
-RLAPI void rlSetClipPlanes(double nearPlane, double farPlane);    // Set clip planes distances
-RLAPI double rlGetCullDistanceNear(void);               // Get cull plane distance near
-RLAPI double rlGetCullDistanceFar(void);                // Get cull plane distance far
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - Vertex level operations
-//------------------------------------------------------------------------------------
-RLAPI void rlBegin(int mode);                           // Initialize drawing mode (how to organize vertex)
-RLAPI void rlEnd(void);                                 // Finish vertex providing
-RLAPI void rlVertex2i(int x, int y);                    // Define one vertex (position) - 2 int
-RLAPI void rlVertex2f(float x, float y);                // Define one vertex (position) - 2 float
-RLAPI void rlVertex3f(float x, float y, float z);       // Define one vertex (position) - 3 float
-RLAPI void rlTexCoord2f(float x, float y);              // Define one vertex (texture coordinate) - 2 float
-RLAPI void rlNormal3f(float x, float y, float z);       // Define one vertex (normal) - 3 float
-RLAPI void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Define one vertex (color) - 4 byte
-RLAPI void rlColor3f(float x, float y, float z);        // Define one vertex (color) - 3 float
-RLAPI void rlColor4f(float x, float y, float z, float w); // Define one vertex (color) - 4 float
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - OpenGL style functions (common to 1.1, 3.3+, ES2)
-// NOTE: This functions are used to completely abstract raylib code from OpenGL layer,
-// some of them are direct wrappers over OpenGL calls, some others are custom
-//------------------------------------------------------------------------------------
-
-// Vertex buffers state
-RLAPI bool rlEnableVertexArray(unsigned int vaoId);     // Enable vertex array (VAO, if supported)
-RLAPI void rlDisableVertexArray(void);                  // Disable vertex array (VAO, if supported)
-RLAPI void rlEnableVertexBuffer(unsigned int id);       // Enable vertex buffer (VBO)
-RLAPI void rlDisableVertexBuffer(void);                 // Disable vertex buffer (VBO)
-RLAPI void rlEnableVertexBufferElement(unsigned int id); // Enable vertex buffer element (VBO element)
-RLAPI void rlDisableVertexBufferElement(void);          // Disable vertex buffer element (VBO element)
-RLAPI void rlEnableVertexAttribute(unsigned int index); // Enable vertex attribute index
-RLAPI void rlDisableVertexAttribute(unsigned int index); // Disable vertex attribute index
-#if defined(GRAPHICS_API_OPENGL_11)
-RLAPI void rlEnableStatePointer(int vertexAttribType, void *buffer); // Enable attribute state pointer
-RLAPI void rlDisableStatePointer(int vertexAttribType); // Disable attribute state pointer
-#endif
-
-// Textures state
-RLAPI void rlActiveTextureSlot(int slot);               // Select and active a texture slot
-RLAPI void rlEnableTexture(unsigned int id);            // Enable texture
-RLAPI void rlDisableTexture(void);                      // Disable texture
-RLAPI void rlEnableTextureCubemap(unsigned int id);     // Enable texture cubemap
-RLAPI void rlDisableTextureCubemap(void);               // Disable texture cubemap
-RLAPI void rlTextureParameters(unsigned int id, int param, int value); // Set texture parameters (filter, wrap)
-RLAPI void rlCubemapParameters(unsigned int id, int param, int value); // Set cubemap parameters (filter, wrap)
-
-// Shader state
-RLAPI void rlEnableShader(unsigned int id);             // Enable shader program
-RLAPI void rlDisableShader(void);                       // Disable shader program
-
-// Framebuffer state
-RLAPI void rlEnableFramebuffer(unsigned int id);        // Enable render texture (fbo)
-RLAPI void rlDisableFramebuffer(void);                  // Disable render texture (fbo), return to default framebuffer
-RLAPI unsigned int rlGetActiveFramebuffer(void);        // Get the currently active render texture (fbo), 0 for default framebuffer
-RLAPI void rlActiveDrawBuffers(int count);              // Activate multiple draw color buffers
-RLAPI void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask); // Blit active framebuffer to main framebuffer
-RLAPI void rlBindFramebuffer(unsigned int target, unsigned int framebuffer); // Bind framebuffer (FBO)
-
-// General render state
-RLAPI void rlEnableColorBlend(void);                    // Enable color blending
-RLAPI void rlDisableColorBlend(void);                   // Disable color blending
-RLAPI void rlEnableDepthTest(void);                     // Enable depth test
-RLAPI void rlDisableDepthTest(void);                    // Disable depth test
-RLAPI void rlEnableDepthMask(void);                     // Enable depth write
-RLAPI void rlDisableDepthMask(void);                    // Disable depth write
-RLAPI void rlEnableBackfaceCulling(void);               // Enable backface culling
-RLAPI void rlDisableBackfaceCulling(void);              // Disable backface culling
-RLAPI void rlColorMask(bool r, bool g, bool b, bool a); // Color mask control
-RLAPI void rlSetCullFace(int mode);                     // Set face culling mode
-RLAPI void rlEnableScissorTest(void);                   // Enable scissor test
-RLAPI void rlDisableScissorTest(void);                  // Disable scissor test
-RLAPI void rlScissor(int x, int y, int width, int height); // Scissor test
-RLAPI void rlEnableWireMode(void);                      // Enable wire mode
-RLAPI void rlEnablePointMode(void);                     // Enable point mode
-RLAPI void rlDisableWireMode(void);                     // Disable wire (and point) mode
-RLAPI void rlSetLineWidth(float width);                 // Set the line drawing width
-RLAPI float rlGetLineWidth(void);                       // Get the line drawing width
-RLAPI void rlEnableSmoothLines(void);                   // Enable line aliasing
-RLAPI void rlDisableSmoothLines(void);                  // Disable line aliasing
-RLAPI void rlEnableStereoRender(void);                  // Enable stereo rendering
-RLAPI void rlDisableStereoRender(void);                 // Disable stereo rendering
-RLAPI bool rlIsStereoRenderEnabled(void);               // Check if stereo render is enabled
-
-RLAPI void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Clear color buffer with color
-RLAPI void rlClearScreenBuffers(void);                  // Clear used screen buffers (color and depth)
-RLAPI void rlCheckErrors(void);                         // Check and log OpenGL error codes
-RLAPI void rlSetBlendMode(int mode);                    // Set blending mode
-RLAPI void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation); // Set blending mode factor and equation (using OpenGL factors)
-RLAPI void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha); // Set blending mode factors and equations separately (using OpenGL factors)
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - rlgl functionality
-//------------------------------------------------------------------------------------
-// rlgl initialization functions
-RLAPI void rlglInit(int width, int height);             // Initialize rlgl (buffers, shaders, textures, states)
-RLAPI void rlglClose(void);                             // De-initialize rlgl (buffers, shaders, textures)
-RLAPI void rlLoadExtensions(void *loader);              // Load OpenGL extensions (loader function required)
-RLAPI int rlGetVersion(void);                           // Get current OpenGL version
-RLAPI void rlSetFramebufferWidth(int width);            // Set current framebuffer width
-RLAPI int rlGetFramebufferWidth(void);                  // Get default framebuffer width
-RLAPI void rlSetFramebufferHeight(int height);          // Set current framebuffer height
-RLAPI int rlGetFramebufferHeight(void);                 // Get default framebuffer height
-
-RLAPI unsigned int rlGetTextureIdDefault(void);         // Get default texture id
-RLAPI unsigned int rlGetShaderIdDefault(void);          // Get default shader id
-RLAPI int *rlGetShaderLocsDefault(void);                // Get default shader locations
-
-// Render batch management
-// NOTE: rlgl provides a default render batch to behave like OpenGL 1.1 immediate mode
-// but this render batch API is exposed in case of custom batches are required
-RLAPI rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements); // Load a render batch system
-RLAPI void rlUnloadRenderBatch(rlRenderBatch batch);    // Unload render batch system
-RLAPI void rlDrawRenderBatch(rlRenderBatch *batch);     // Draw render batch data (Update->Draw->Reset)
-RLAPI void rlSetRenderBatchActive(rlRenderBatch *batch); // Set the active render batch for rlgl (NULL for default internal)
-RLAPI void rlDrawRenderBatchActive(void);               // Update and draw internal render batch
-RLAPI bool rlCheckRenderBatchLimit(int vCount);         // Check internal buffer overflow for a given number of vertex
-
-RLAPI void rlSetTexture(unsigned int id);               // Set current texture for render batch and check buffers limits
-
-//------------------------------------------------------------------------------------------------------------------------
-
-// Vertex buffers management
-RLAPI unsigned int rlLoadVertexArray(void);             // Load vertex array (vao) if supported
-RLAPI unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic); // Load a vertex buffer object
-RLAPI unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic); // Load vertex buffer elements object
-RLAPI void rlUpdateVertexBuffer(unsigned int bufferId, const void *data, int dataSize, int offset); // Update vertex buffer object data on GPU buffer
-RLAPI void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset); // Update vertex buffer elements data on GPU buffer
-RLAPI void rlUnloadVertexArray(unsigned int vaoId);     // Unload vertex array (vao)
-RLAPI void rlUnloadVertexBuffer(unsigned int vboId);    // Unload vertex buffer object
-RLAPI void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset); // Set vertex attribute data configuration
-RLAPI void rlSetVertexAttributeDivisor(unsigned int index, int divisor); // Set vertex attribute data divisor
-RLAPI void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count); // Set vertex attribute default value, when attribute to provided
-RLAPI void rlDrawVertexArray(int offset, int count);    // Draw vertex array (currently active vao)
-RLAPI void rlDrawVertexArrayElements(int offset, int count, const void *buffer); // Draw vertex array elements
-RLAPI void rlDrawVertexArrayInstanced(int offset, int count, int instances); // Draw vertex array (currently active vao) with instancing
-RLAPI void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances); // Draw vertex array elements with instancing
-
-// Textures management
-RLAPI unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount); // Load texture data
-RLAPI unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer); // Load depth texture/renderbuffer (to be attached to fbo)
-RLAPI unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount); // Load texture cubemap data
-RLAPI void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data); // Update texture with new data on GPU
-RLAPI void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType); // Get OpenGL internal formats
-RLAPI const char *rlGetPixelFormatName(unsigned int format);              // Get name string for pixel format
-RLAPI void rlUnloadTexture(unsigned int id);                              // Unload texture from GPU memory
-RLAPI void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps); // Generate mipmap data for selected texture
-RLAPI void *rlReadTexturePixels(unsigned int id, int width, int height, int format); // Read texture pixel data
-RLAPI unsigned char *rlReadScreenPixels(int width, int height);           // Read screen pixel data (color buffer)
-
-// Framebuffer management (fbo)
-RLAPI unsigned int rlLoadFramebuffer(void);                               // Load an empty framebuffer
-RLAPI void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel); // Attach texture/renderbuffer to a framebuffer
-RLAPI bool rlFramebufferComplete(unsigned int id);                        // Verify framebuffer is complete
-RLAPI void rlUnloadFramebuffer(unsigned int id);                          // Delete framebuffer from GPU
-
-// Shaders management
-RLAPI unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode);    // Load shader from code strings
-RLAPI unsigned int rlCompileShader(const char *shaderCode, int type);           // Compile custom shader and return shader id (type: RL_VERTEX_SHADER, RL_FRAGMENT_SHADER, RL_COMPUTE_SHADER)
-RLAPI unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId); // Load custom shader program
-RLAPI void rlUnloadShaderProgram(unsigned int id);                              // Unload shader program
-RLAPI int rlGetLocationUniform(unsigned int shaderId, const char *uniformName); // Get shader location uniform
-RLAPI int rlGetLocationAttrib(unsigned int shaderId, const char *attribName);   // Get shader location attribute
-RLAPI void rlSetUniform(int locIndex, const void *value, int uniformType, int count); // Set shader value uniform
-RLAPI void rlSetUniformMatrix(int locIndex, Matrix mat);                        // Set shader value matrix
-RLAPI void rlSetUniformMatrices(int locIndex, const Matrix *mat, int count);    // Set shader value matrices
-RLAPI void rlSetUniformSampler(int locIndex, unsigned int textureId);           // Set shader value sampler
-RLAPI void rlSetShader(unsigned int id, int *locs);                             // Set shader currently active (id and locations)
-
-// Compute shader management
-RLAPI unsigned int rlLoadComputeShaderProgram(unsigned int shaderId);           // Load compute shader program
-RLAPI void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ); // Dispatch compute shader (equivalent to *draw* for graphics pipeline)
-
-// Shader buffer storage object management (ssbo)
-RLAPI unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint); // Load shader storage buffer object (SSBO)
-RLAPI void rlUnloadShaderBuffer(unsigned int ssboId);                           // Unload shader storage buffer object (SSBO)
-RLAPI void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset); // Update SSBO buffer data
-RLAPI void rlBindShaderBuffer(unsigned int id, unsigned int index);             // Bind SSBO buffer
-RLAPI void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset); // Read SSBO buffer data (GPU->CPU)
-RLAPI void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count); // Copy SSBO data between buffers
-RLAPI unsigned int rlGetShaderBufferSize(unsigned int id);                      // Get SSBO buffer size
-
-// Buffer management
-RLAPI void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly);  // Bind image texture
-
-// Matrix state management
-RLAPI Matrix rlGetMatrixModelview(void);                                  // Get internal modelview matrix
-RLAPI Matrix rlGetMatrixProjection(void);                                 // Get internal projection matrix
-RLAPI Matrix rlGetMatrixTransform(void);                                  // Get internal accumulated transform matrix
-RLAPI Matrix rlGetMatrixProjectionStereo(int eye);                        // Get internal projection matrix for stereo render (selected eye)
-RLAPI Matrix rlGetMatrixViewOffsetStereo(int eye);                        // Get internal view offset matrix for stereo render (selected eye)
-RLAPI void rlSetMatrixProjection(Matrix proj);                            // Set a custom projection matrix (replaces internal projection matrix)
-RLAPI void rlSetMatrixModelview(Matrix view);                             // Set a custom modelview matrix (replaces internal modelview matrix)
-RLAPI void rlSetMatrixProjectionStereo(Matrix right, Matrix left);        // Set eyes projection matrices for stereo rendering
-RLAPI void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left);        // Set eyes view offsets matrices for stereo rendering
-
-// Quick and dirty cube/quad buffers load->draw->unload
-RLAPI void rlLoadDrawCube(void);     // Load and draw a cube
-RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // RLGL_H
-
-/***********************************************************************************
-*
-*   RLGL IMPLEMENTATION
-*
-************************************************************************************/
-
-#if defined(RLGL_IMPLEMENTATION)
-
-// Expose OpenGL functions from glad in raylib
-#if defined(BUILD_LIBTYPE_SHARED)
-    #define GLAD_API_CALL_EXPORT
-    #define GLAD_API_CALL_EXPORT_BUILD
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    #if defined(__APPLE__)
-        #include <OpenGL/gl.h>          // OpenGL 1.1 library for OSX
-        #include <OpenGL/glext.h>       // OpenGL extensions library
-    #else
-        // APIENTRY for OpenGL function pointer declarations is required
-        #if !defined(APIENTRY)
-            #if defined(_WIN32)
-                #define APIENTRY __stdcall
-            #else
-                #define APIENTRY
-            #endif
-        #endif
-        // WINGDIAPI definition. Some Windows OpenGL headers need it
-        #if !defined(WINGDIAPI) && defined(_WIN32)
-            #define WINGDIAPI __declspec(dllimport)
-        #endif
-
-        #include <GL/gl.h>              // OpenGL 1.1 library
-    #endif
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33)
-    #define GLAD_MALLOC RL_MALLOC
-    #define GLAD_FREE RL_FREE
-
-    #define GLAD_GL_IMPLEMENTATION
-    #include "external/glad.h"          // GLAD extensions loading library, includes OpenGL headers
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    #include <GLES3/gl3.h>              // OpenGL ES 3.0 library
-    #define GL_GLEXT_PROTOTYPES
-    #include <GLES2/gl2ext.h>           // OpenGL ES 2.0 extensions library
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: OpenGL ES 2.0 can be enabled on Desktop platforms,
-    // in that case, functions are loaded from a custom glad for OpenGL ES 2.0
-    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
-        #define GLAD_GLES2_IMPLEMENTATION
-        #include "external/glad_gles2.h"
-    #else
-        #define GL_GLEXT_PROTOTYPES
-        //#include <EGL/egl.h>          // EGL library -> not required, platform layer
-        #include <GLES2/gl2.h>          // OpenGL ES 2.0 library
-        #include <GLES2/gl2ext.h>       // OpenGL ES 2.0 extensions library
-    #endif
-
-    // It seems OpenGL ES 2.0 instancing entry points are not defined on Raspberry Pi
-    // provided headers (despite being defined in official Khronos GLES2 headers)
-    #if defined(PLATFORM_DRM)
-    typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount);
-    typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount);
-    typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISOREXTPROC) (GLuint index, GLuint divisor);
-    #endif
-#endif
-
-#include <stdlib.h>                     // Required for: malloc(), free()
-#include <string.h>                     // Required for: strcmp(), strlen() [Used in rlglInit(), on extensions loading]
-#include <math.h>                       // Required for: sqrtf(), sinf(), cosf(), floor(), log()
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-#ifndef GL_SHADING_LANGUAGE_VERSION
-    #define GL_SHADING_LANGUAGE_VERSION         0x8B8C
-#endif
-
-#ifndef GL_COMPRESSED_RGB_S3TC_DXT1_EXT
-    #define GL_COMPRESSED_RGB_S3TC_DXT1_EXT     0x83F0
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT1_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT    0x83F1
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT3_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT    0x83F2
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT5_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT    0x83F3
-#endif
-#ifndef GL_ETC1_RGB8_OES
-    #define GL_ETC1_RGB8_OES                    0x8D64
-#endif
-#ifndef GL_COMPRESSED_RGB8_ETC2
-    #define GL_COMPRESSED_RGB8_ETC2             0x9274
-#endif
-#ifndef GL_COMPRESSED_RGBA8_ETC2_EAC
-    #define GL_COMPRESSED_RGBA8_ETC2_EAC        0x9278
-#endif
-#ifndef GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG
-    #define GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG  0x8C00
-#endif
-#ifndef GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG
-    #define GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG 0x8C02
-#endif
-#ifndef GL_COMPRESSED_RGBA_ASTC_4x4_KHR
-    #define GL_COMPRESSED_RGBA_ASTC_4x4_KHR     0x93b0
-#endif
-#ifndef GL_COMPRESSED_RGBA_ASTC_8x8_KHR
-    #define GL_COMPRESSED_RGBA_ASTC_8x8_KHR     0x93b7
-#endif
-
-#ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
-    #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT   0x84FF
-#endif
-#ifndef GL_TEXTURE_MAX_ANISOTROPY_EXT
-    #define GL_TEXTURE_MAX_ANISOTROPY_EXT       0x84FE
-#endif
-
-#ifndef GL_PROGRAM_POINT_SIZE
-    #define GL_PROGRAM_POINT_SIZE               0x8642
-#endif
-
-#ifndef GL_LINE_WIDTH
-    #define GL_LINE_WIDTH                       0x0B21
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    #define GL_UNSIGNED_SHORT_5_6_5             0x8363
-    #define GL_UNSIGNED_SHORT_5_5_5_1           0x8034
-    #define GL_UNSIGNED_SHORT_4_4_4_4           0x8033
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_21)
-    #define GL_LUMINANCE                        0x1909
-    #define GL_LUMINANCE_ALPHA                  0x190A
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    #define glClearDepth                 glClearDepthf
-    #if !defined(GRAPHICS_API_OPENGL_ES3)
-        #define GL_READ_FRAMEBUFFER         GL_FRAMEBUFFER
-        #define GL_DRAW_FRAMEBUFFER         GL_FRAMEBUFFER
-    #endif
-#endif
-
-// Default shader vertex attribute names to set location points
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
-#endif
-
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MVP
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView))
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-typedef struct rlglData {
-    rlRenderBatch *currentBatch;            // Current render batch
-    rlRenderBatch defaultBatch;             // Default internal render batch
-
-    struct {
-        int vertexCounter;                  // Current active render batch vertex counter (generic, used for all batches)
-        float texcoordx, texcoordy;         // Current active texture coordinate (added on glVertex*())
-        float normalx, normaly, normalz;    // Current active normal (added on glVertex*())
-        unsigned char colorr, colorg, colorb, colora;   // Current active color (added on glVertex*())
-
-        int currentMatrixMode;              // Current matrix mode
-        Matrix *currentMatrix;              // Current matrix pointer
-        Matrix modelview;                   // Default modelview matrix
-        Matrix projection;                  // Default projection matrix
-        Matrix transform;                   // Transform matrix to be used with rlTranslate, rlRotate, rlScale
-        bool transformRequired;             // Require transform matrix application to current draw-call vertex (if required)
-        Matrix stack[RL_MAX_MATRIX_STACK_SIZE];// Matrix stack for push/pop
-        int stackCounter;                   // Matrix stack counter
-
-        unsigned int defaultTextureId;      // Default texture used on shapes/poly drawing (required by shader)
-        unsigned int activeTextureId[RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS];    // Active texture ids to be enabled on batch drawing (0 active by default)
-        unsigned int defaultVShaderId;      // Default vertex shader id (used by default shader program)
-        unsigned int defaultFShaderId;      // Default fragment shader id (used by default shader program)
-        unsigned int defaultShaderId;       // Default shader program id, supports vertex color and diffuse texture
-        int *defaultShaderLocs;             // Default shader locations pointer to be used on rendering
-        unsigned int currentShaderId;       // Current shader id to be used on rendering (by default, defaultShaderId)
-        int *currentShaderLocs;             // Current shader locations pointer to be used on rendering (by default, defaultShaderLocs)
-
-        bool stereoRender;                  // Stereo rendering flag
-        Matrix projectionStereo[2];         // VR stereo rendering eyes projection matrices
-        Matrix viewOffsetStereo[2];         // VR stereo rendering eyes view offset matrices
-
-        // Blending variables
-        int currentBlendMode;               // Blending mode active
-        int glBlendSrcFactor;               // Blending source factor
-        int glBlendDstFactor;               // Blending destination factor
-        int glBlendEquation;                // Blending equation
-        int glBlendSrcFactorRGB;            // Blending source RGB factor
-        int glBlendDestFactorRGB;           // Blending destination RGB factor
-        int glBlendSrcFactorAlpha;          // Blending source alpha factor
-        int glBlendDestFactorAlpha;         // Blending destination alpha factor
-        int glBlendEquationRGB;             // Blending equation for RGB
-        int glBlendEquationAlpha;           // Blending equation for alpha
-        bool glCustomBlendModeModified;     // Custom blending factor and equation modification status
-
-        int framebufferWidth;               // Current framebuffer width
-        int framebufferHeight;              // Current framebuffer height
-
-    } State;            // Renderer state
-    struct {
-        bool vao;                           // VAO support (OpenGL ES2 could not support VAO extension) (GL_ARB_vertex_array_object)
-        bool instancing;                    // Instancing supported (GL_ANGLE_instanced_arrays, GL_EXT_draw_instanced + GL_EXT_instanced_arrays)
-        bool texNPOT;                       // NPOT textures full support (GL_ARB_texture_non_power_of_two, GL_OES_texture_npot)
-        bool texDepth;                      // Depth textures supported (GL_ARB_depth_texture, GL_OES_depth_texture)
-        bool texDepthWebGL;                 // Depth textures supported WebGL specific (GL_WEBGL_depth_texture)
-        bool texFloat32;                    // float textures support (32 bit per channel) (GL_OES_texture_float)
-        bool texFloat16;                    // half float textures support (16 bit per channel) (GL_OES_texture_half_float)
-        bool texCompDXT;                    // DDS texture compression support (GL_EXT_texture_compression_s3tc, GL_WEBGL_compressed_texture_s3tc, GL_WEBKIT_WEBGL_compressed_texture_s3tc)
-        bool texCompETC1;                   // ETC1 texture compression support (GL_OES_compressed_ETC1_RGB8_texture, GL_WEBGL_compressed_texture_etc1)
-        bool texCompETC2;                   // ETC2/EAC texture compression support (GL_ARB_ES3_compatibility)
-        bool texCompPVRT;                   // PVR texture compression support (GL_IMG_texture_compression_pvrtc)
-        bool texCompASTC;                   // ASTC texture compression support (GL_KHR_texture_compression_astc_hdr, GL_KHR_texture_compression_astc_ldr)
-        bool texMirrorClamp;                // Clamp mirror wrap mode supported (GL_EXT_texture_mirror_clamp)
-        bool texAnisoFilter;                // Anisotropic texture filtering support (GL_EXT_texture_filter_anisotropic)
-        bool computeShader;                 // Compute shaders support (GL_ARB_compute_shader)
-        bool ssbo;                          // Shader storage buffer object support (GL_ARB_shader_storage_buffer_object)
-
-        float maxAnisotropyLevel;           // Maximum anisotropy level supported (minimum is 2.0f)
-        int maxDepthBits;                   // Maximum bits for depth component
-
-    } ExtSupported;     // Extensions supported flags
-} rlglData;
-
-typedef void *(*rlglLoadProc)(const char *name);   // OpenGL extension functions loader signature (same as GLADloadproc)
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-static double rlCullDistanceNear = RL_CULL_DISTANCE_NEAR;
-static double rlCullDistanceFar = RL_CULL_DISTANCE_FAR;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-static rlglData RLGL = { 0 };
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-#if defined(GRAPHICS_API_OPENGL_ES2) && !defined(GRAPHICS_API_OPENGL_ES3)
-// NOTE: VAO functionality is exposed through extensions (OES)
-static PFNGLGENVERTEXARRAYSOESPROC glGenVertexArrays = NULL;
-static PFNGLBINDVERTEXARRAYOESPROC glBindVertexArray = NULL;
-static PFNGLDELETEVERTEXARRAYSOESPROC glDeleteVertexArrays = NULL;
-
-// NOTE: Instancing functionality could also be available through extension
-static PFNGLDRAWARRAYSINSTANCEDEXTPROC glDrawArraysInstanced = NULL;
-static PFNGLDRAWELEMENTSINSTANCEDEXTPROC glDrawElementsInstanced = NULL;
-static PFNGLVERTEXATTRIBDIVISOREXTPROC glVertexAttribDivisor = NULL;
-#endif
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Declaration
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-static void rlLoadShaderDefault(void);      // Load default shader
-static void rlUnloadShaderDefault(void);    // Unload default shader
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-static const char *rlGetCompressedFormatName(int format); // Get compressed format official GL identifier name
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-static int rlGetPixelDataSize(int width, int height, int format);   // Get pixel data size in bytes (image or texture)
-
-// Auxiliar matrix math functions
-typedef struct rl_float16 {
-    float v[16];
-} rl_float16;
-static rl_float16 rlMatrixToFloatV(Matrix mat);             // Get float array of matrix data
-#define rlMatrixToFloat(mat) (rlMatrixToFloatV(mat).v)      // Get float vector for Matrix
-static Matrix rlMatrixIdentity(void);                       // Get identity matrix
-static Matrix rlMatrixMultiply(Matrix left, Matrix right);  // Multiply two matrices
-static Matrix rlMatrixTranspose(Matrix mat);                // Transposes provided matrix
-static Matrix rlMatrixInvert(Matrix mat);                   // Invert provided matrix
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Matrix operations
-//----------------------------------------------------------------------------------
-
-#if defined(GRAPHICS_API_OPENGL_11)
-// Fallback to OpenGL 1.1 function calls
-//---------------------------------------
-void rlMatrixMode(int mode)
-{
-    switch (mode)
-    {
-        case RL_PROJECTION: glMatrixMode(GL_PROJECTION); break;
-        case RL_MODELVIEW: glMatrixMode(GL_MODELVIEW); break;
-        case RL_TEXTURE: glMatrixMode(GL_TEXTURE); break;
-        default: break;
-    }
-}
-
-void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    glFrustum(left, right, bottom, top, znear, zfar);
-}
-
-void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    glOrtho(left, right, bottom, top, znear, zfar);
-}
-
-void rlPushMatrix(void) { glPushMatrix(); }
-void rlPopMatrix(void) { glPopMatrix(); }
-void rlLoadIdentity(void) { glLoadIdentity(); }
-void rlTranslatef(float x, float y, float z) { glTranslatef(x, y, z); }
-void rlRotatef(float angle, float x, float y, float z) { glRotatef(angle, x, y, z); }
-void rlScalef(float x, float y, float z) { glScalef(x, y, z); }
-void rlMultMatrixf(const float *matf) { glMultMatrixf(matf); }
-#endif
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Choose the current matrix to be transformed
-void rlMatrixMode(int mode)
-{
-    if (mode == RL_PROJECTION) RLGL.State.currentMatrix = &RLGL.State.projection;
-    else if (mode == RL_MODELVIEW) RLGL.State.currentMatrix = &RLGL.State.modelview;
-    //else if (mode == RL_TEXTURE) // Not supported
-
-    RLGL.State.currentMatrixMode = mode;
-}
-
-// Push the current matrix into RLGL.State.stack
-void rlPushMatrix(void)
-{
-    if (RLGL.State.stackCounter >= RL_MAX_MATRIX_STACK_SIZE) TRACELOG(RL_LOG_ERROR, "RLGL: Matrix stack overflow (RL_MAX_MATRIX_STACK_SIZE)");
-
-    if (RLGL.State.currentMatrixMode == RL_MODELVIEW)
-    {
-        RLGL.State.transformRequired = true;
-        RLGL.State.currentMatrix = &RLGL.State.transform;
-    }
-
-    RLGL.State.stack[RLGL.State.stackCounter] = *RLGL.State.currentMatrix;
-    RLGL.State.stackCounter++;
-}
-
-// Pop lattest inserted matrix from RLGL.State.stack
-void rlPopMatrix(void)
-{
-    if (RLGL.State.stackCounter > 0)
-    {
-        Matrix mat = RLGL.State.stack[RLGL.State.stackCounter - 1];
-        *RLGL.State.currentMatrix = mat;
-        RLGL.State.stackCounter--;
-    }
-
-    if ((RLGL.State.stackCounter == 0) && (RLGL.State.currentMatrixMode == RL_MODELVIEW))
-    {
-        RLGL.State.currentMatrix = &RLGL.State.modelview;
-        RLGL.State.transformRequired = false;
-    }
-}
-
-// Reset current matrix to identity matrix
-void rlLoadIdentity(void)
-{
-    *RLGL.State.currentMatrix = rlMatrixIdentity();
-}
-
-// Multiply the current matrix by a translation matrix
-void rlTranslatef(float x, float y, float z)
-{
-    Matrix matTranslation = {
-        1.0f, 0.0f, 0.0f, x,
-        0.0f, 1.0f, 0.0f, y,
-        0.0f, 0.0f, 1.0f, z,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matTranslation, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a rotation matrix
-// NOTE: The provided angle must be in degrees
-void rlRotatef(float angle, float x, float y, float z)
-{
-    Matrix matRotation = rlMatrixIdentity();
-
-    // Axis vector (x, y, z) normalization
-    float lengthSquared = x*x + y*y + z*z;
-    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
-    {
-        float inverseLength = 1.0f/sqrtf(lengthSquared);
-        x *= inverseLength;
-        y *= inverseLength;
-        z *= inverseLength;
-    }
-
-    // Rotation matrix generation
-    float sinres = sinf(DEG2RAD*angle);
-    float cosres = cosf(DEG2RAD*angle);
-    float t = 1.0f - cosres;
-
-    matRotation.m0 = x*x*t + cosres;
-    matRotation.m1 = y*x*t + z*sinres;
-    matRotation.m2 = z*x*t - y*sinres;
-    matRotation.m3 = 0.0f;
-
-    matRotation.m4 = x*y*t - z*sinres;
-    matRotation.m5 = y*y*t + cosres;
-    matRotation.m6 = z*y*t + x*sinres;
-    matRotation.m7 = 0.0f;
-
-    matRotation.m8 = x*z*t + y*sinres;
-    matRotation.m9 = y*z*t - x*sinres;
-    matRotation.m10 = z*z*t + cosres;
-    matRotation.m11 = 0.0f;
-
-    matRotation.m12 = 0.0f;
-    matRotation.m13 = 0.0f;
-    matRotation.m14 = 0.0f;
-    matRotation.m15 = 1.0f;
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matRotation, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a scaling matrix
-void rlScalef(float x, float y, float z)
-{
-    Matrix matScale = {
-        x, 0.0f, 0.0f, 0.0f,
-        0.0f, y, 0.0f, 0.0f,
-        0.0f, 0.0f, z, 0.0f,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matScale, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by another matrix
-void rlMultMatrixf(const float *matf)
-{
-    // Matrix creation from array
-    Matrix mat = { matf[0], matf[4], matf[8], matf[12],
-                   matf[1], matf[5], matf[9], matf[13],
-                   matf[2], matf[6], matf[10], matf[14],
-                   matf[3], matf[7], matf[11], matf[15] };
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(mat, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a perspective matrix generated by parameters
-void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    Matrix matFrustum = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(zfar - znear);
-
-    matFrustum.m0 = ((float) znear*2.0f)/rl;
-    matFrustum.m1 = 0.0f;
-    matFrustum.m2 = 0.0f;
-    matFrustum.m3 = 0.0f;
-
-    matFrustum.m4 = 0.0f;
-    matFrustum.m5 = ((float) znear*2.0f)/tb;
-    matFrustum.m6 = 0.0f;
-    matFrustum.m7 = 0.0f;
-
-    matFrustum.m8 = ((float)right + (float)left)/rl;
-    matFrustum.m9 = ((float)top + (float)bottom)/tb;
-    matFrustum.m10 = -((float)zfar + (float)znear)/fn;
-    matFrustum.m11 = -1.0f;
-
-    matFrustum.m12 = 0.0f;
-    matFrustum.m13 = 0.0f;
-    matFrustum.m14 = -((float)zfar*(float)znear*2.0f)/fn;
-    matFrustum.m15 = 0.0f;
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matFrustum);
-}
-
-// Multiply the current matrix by an orthographic matrix generated by parameters
-void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    // NOTE: If left-right and top-botton values are equal it could create a division by zero,
-    // response to it is platform/compiler dependant
-    Matrix matOrtho = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(zfar - znear);
-
-    matOrtho.m0 = 2.0f/rl;
-    matOrtho.m1 = 0.0f;
-    matOrtho.m2 = 0.0f;
-    matOrtho.m3 = 0.0f;
-    matOrtho.m4 = 0.0f;
-    matOrtho.m5 = 2.0f/tb;
-    matOrtho.m6 = 0.0f;
-    matOrtho.m7 = 0.0f;
-    matOrtho.m8 = 0.0f;
-    matOrtho.m9 = 0.0f;
-    matOrtho.m10 = -2.0f/fn;
-    matOrtho.m11 = 0.0f;
-    matOrtho.m12 = -((float)left + (float)right)/rl;
-    matOrtho.m13 = -((float)top + (float)bottom)/tb;
-    matOrtho.m14 = -((float)zfar + (float)znear)/fn;
-    matOrtho.m15 = 1.0f;
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matOrtho);
-}
-#endif
-
-// Set the viewport area (transformation from normalized device coordinates to window coordinates)
-// NOTE: We store current viewport dimensions
-void rlViewport(int x, int y, int width, int height)
-{
-    glViewport(x, y, width, height);
-}
-
-// Set clip planes distances
-void rlSetClipPlanes(double nearPlane, double farPlane)
-{
-    rlCullDistanceNear = nearPlane;
-    rlCullDistanceFar = farPlane;
-}
-
-// Get cull plane distance near
-double rlGetCullDistanceNear(void)
-{
-    return rlCullDistanceNear;
-}
-
-// Get cull plane distance far
-double rlGetCullDistanceFar(void)
-{
-    return rlCullDistanceFar;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vertex level operations
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_11)
-// Fallback to OpenGL 1.1 function calls
-//---------------------------------------
-void rlBegin(int mode)
-{
-    switch (mode)
-    {
-        case RL_LINES: glBegin(GL_LINES); break;
-        case RL_TRIANGLES: glBegin(GL_TRIANGLES); break;
-        case RL_QUADS: glBegin(GL_QUADS); break;
-        default: break;
-    }
-}
-
-void rlEnd(void) { glEnd(); }
-void rlVertex2i(int x, int y) { glVertex2i(x, y); }
-void rlVertex2f(float x, float y) { glVertex2f(x, y); }
-void rlVertex3f(float x, float y, float z) { glVertex3f(x, y, z); }
-void rlTexCoord2f(float x, float y) { glTexCoord2f(x, y); }
-void rlNormal3f(float x, float y, float z) { glNormal3f(x, y, z); }
-void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a) { glColor4ub(r, g, b, a); }
-void rlColor3f(float x, float y, float z) { glColor3f(x, y, z); }
-void rlColor4f(float x, float y, float z, float w) { glColor4f(x, y, z, w); }
-#endif
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Initialize drawing mode (how to organize vertex)
-void rlBegin(int mode)
-{
-    // Draw mode can be RL_LINES, RL_TRIANGLES and RL_QUADS
-    // NOTE: In all three cases, vertex are accumulated over default internal vertex buffer
-    if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode != mode)
-    {
-        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
-        {
-            // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
-            // that way, following QUADS drawing will keep aligned with index processing
-            // It implies adding some extra alignment vertex at the end of the draw,
-            // those vertex are not processed but they are considered as an additional offset
-            // for the next set of vertex to be drawn
-            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
-            else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
-            else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
-
-            if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
-            {
-                RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
-                RLGL.currentBatch->drawCounter++;
-            }
-        }
-
-        if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
-
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = mode;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = RLGL.State.defaultTextureId;
-    }
-}
-
-// Finish vertex providing
-void rlEnd(void)
-{
-    // NOTE: Depth increment is dependant on rlOrtho(): z-near and z-far values,
-    // as well as depth buffer bit-depth (16bit or 24bit or 32bit)
-    // Correct increment formula would be: depthInc = (zfar - znear)/pow(2, bits)
-    RLGL.currentBatch->currentDepth += (1.0f/20000.0f);
-}
-
-// Define one vertex (position)
-// NOTE: Vertex position data is the basic information required for drawing
-void rlVertex3f(float x, float y, float z)
-{
-    float tx = x;
-    float ty = y;
-    float tz = z;
-
-    // Transform provided vector if required
-    if (RLGL.State.transformRequired)
-    {
-        tx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z + RLGL.State.transform.m12;
-        ty = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z + RLGL.State.transform.m13;
-        tz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z + RLGL.State.transform.m14;
-    }
-
-    // WARNING: We can't break primitives when launching a new batch
-    // RL_LINES comes in pairs, RL_TRIANGLES come in groups of 3 vertices and RL_QUADS come in groups of 4 vertices
-    // We must check current draw.mode when a new vertex is required and finish the batch only if the draw.mode draw.vertexCount is %2, %3 or %4
-    if (RLGL.State.vertexCounter > (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4 - 4))
-    {
-        if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%2 == 0))
-        {
-            // Reached the maximum number of vertices for RL_LINES drawing
-            // Launch a draw call but keep current state for next vertices comming
-            // NOTE: We add +1 vertex to the check for security
-            rlCheckRenderBatchLimit(2 + 1);
-        }
-        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%3 == 0))
-        {
-            rlCheckRenderBatchLimit(3 + 1);
-        }
-        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_QUADS) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4 == 0))
-        {
-            rlCheckRenderBatchLimit(4 + 1);
-        }
-    }
-
-    // Add vertices
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter] = tx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 1] = ty;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 2] = tz;
-
-    // Add current texcoord
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter] = RLGL.State.texcoordx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter + 1] = RLGL.State.texcoordy;
-
-    // Add current normal
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter] = RLGL.State.normalx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 1] = RLGL.State.normaly;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 2] = RLGL.State.normalz;
-
-    // Add current color
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter] = RLGL.State.colorr;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 1] = RLGL.State.colorg;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 2] = RLGL.State.colorb;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 3] = RLGL.State.colora;
-
-    RLGL.State.vertexCounter++;
-    RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount++;
-}
-
-// Define one vertex (position)
-void rlVertex2f(float x, float y)
-{
-    rlVertex3f(x, y, RLGL.currentBatch->currentDepth);
-}
-
-// Define one vertex (position)
-void rlVertex2i(int x, int y)
-{
-    rlVertex3f((float)x, (float)y, RLGL.currentBatch->currentDepth);
-}
-
-// Define one vertex (texture coordinate)
-// NOTE: Texture coordinates are limited to QUADS only
-void rlTexCoord2f(float x, float y)
-{
-    RLGL.State.texcoordx = x;
-    RLGL.State.texcoordy = y;
-}
-
-// Define one vertex (normal)
-// NOTE: Normals limited to TRIANGLES only?
-void rlNormal3f(float x, float y, float z)
-{
-    float normalx = x;
-    float normaly = y;
-    float normalz = z;
-    if (RLGL.State.transformRequired)
-    {
-        normalx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z;
-        normaly = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z;
-        normalz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z;
-    }
-    float length = sqrtf(normalx*normalx + normaly*normaly + normalz*normalz);
-    if (length != 0.0f)
-    {
-        float ilength = 1.0f/length;
-        normalx *= ilength;
-        normaly *= ilength;
-        normalz *= ilength;
-    }
-    RLGL.State.normalx = normalx;
-    RLGL.State.normaly = normaly;
-    RLGL.State.normalz = normalz;
-}
-
-// Define one vertex (color)
-void rlColor4ub(unsigned char x, unsigned char y, unsigned char z, unsigned char w)
-{
-    RLGL.State.colorr = x;
-    RLGL.State.colorg = y;
-    RLGL.State.colorb = z;
-    RLGL.State.colora = w;
-}
-
-// Define one vertex (color)
-void rlColor4f(float r, float g, float b, float a)
-{
-    rlColor4ub((unsigned char)(r*255), (unsigned char)(g*255), (unsigned char)(b*255), (unsigned char)(a*255));
-}
-
-// Define one vertex (color)
-void rlColor3f(float x, float y, float z)
-{
-    rlColor4ub((unsigned char)(x*255), (unsigned char)(y*255), (unsigned char)(z*255), 255);
-}
-
-#endif
-
-//--------------------------------------------------------------------------------------
-// Module Functions Definition - OpenGL style functions (common to 1.1, 3.3+, ES2)
-//--------------------------------------------------------------------------------------
-
-// Set current texture to use
-void rlSetTexture(unsigned int id)
-{
-    if (id == 0)
-    {
-#if defined(GRAPHICS_API_OPENGL_11)
-        rlDisableTexture();
-#else
-        // NOTE: If quads batch limit is reached, we force a draw call and next batch starts
-        if (RLGL.State.vertexCounter >=
-            RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4)
-        {
-            rlDrawRenderBatch(RLGL.currentBatch);
-        }
-#endif
-    }
-    else
-    {
-#if defined(GRAPHICS_API_OPENGL_11)
-        rlEnableTexture(id);
-#else
-        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId != id)
-        {
-            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
-            {
-                // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
-                // that way, following QUADS drawing will keep aligned with index processing
-                // It implies adding some extra alignment vertex at the end of the draw,
-                // those vertex are not processed but they are considered as an additional offset
-                // for the next set of vertex to be drawn
-                if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
-                else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
-                else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
-
-                if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
-                {
-                    RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
-
-                    RLGL.currentBatch->drawCounter++;
-                }
-            }
-
-            if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
-
-            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = id;
-            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
-        }
-#endif
-    }
-}
-
-// Select and active a texture slot
-void rlActiveTextureSlot(int slot)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glActiveTexture(GL_TEXTURE0 + slot);
-#endif
-}
-
-// Enable texture
-void rlEnableTexture(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    glEnable(GL_TEXTURE_2D);
-#endif
-    glBindTexture(GL_TEXTURE_2D, id);
-}
-
-// Disable texture
-void rlDisableTexture(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    glDisable(GL_TEXTURE_2D);
-#endif
-    glBindTexture(GL_TEXTURE_2D, 0);
-}
-
-// Enable texture cubemap
-void rlEnableTextureCubemap(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-#endif
-}
-
-// Disable texture cubemap
-void rlDisableTextureCubemap(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-}
-
-// Set texture parameters (wrap mode/filter mode)
-void rlTextureParameters(unsigned int id, int param, int value)
-{
-    glBindTexture(GL_TEXTURE_2D, id);
-
-#if !defined(GRAPHICS_API_OPENGL_11)
-    // Reset anisotropy filter, in case it was set
-    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
-#endif
-
-    switch (param)
-    {
-        case RL_TEXTURE_WRAP_S:
-        case RL_TEXTURE_WRAP_T:
-        {
-            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
-            {
-#if !defined(GRAPHICS_API_OPENGL_11)
-                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_2D, param, value);
-                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
-#endif
-            }
-            else glTexParameteri(GL_TEXTURE_2D, param, value);
-
-        } break;
-        case RL_TEXTURE_MAG_FILTER:
-        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_2D, param, value); break;
-        case RL_TEXTURE_FILTER_ANISOTROPIC:
-        {
-#if !defined(GRAPHICS_API_OPENGL_11)
-            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
-            {
-                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
-                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            }
-            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
-#endif
-        } break;
-#if defined(GRAPHICS_API_OPENGL_33)
-        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_LOD_BIAS, value/100.0f);
-#endif
-        default: break;
-    }
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-}
-
-// Set cubemap parameters (wrap mode/filter mode)
-void rlCubemapParameters(unsigned int id, int param, int value)
-{
-#if !defined(GRAPHICS_API_OPENGL_11)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-
-    // Reset anisotropy filter, in case it was set
-    glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
-
-    switch (param)
-    {
-        case RL_TEXTURE_WRAP_S:
-        case RL_TEXTURE_WRAP_T:
-        {
-            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
-            {
-                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
-                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
-            }
-            else glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
-
-        } break;
-        case RL_TEXTURE_MAG_FILTER:
-        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value); break;
-        case RL_TEXTURE_FILTER_ANISOTROPIC:
-        {
-            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
-            {
-                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
-                glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            }
-            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
-        } break;
-#if defined(GRAPHICS_API_OPENGL_33)
-        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_LOD_BIAS, value/100.0f);
-#endif
-        default: break;
-    }
-
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-}
-
-// Enable shader program
-void rlEnableShader(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    glUseProgram(id);
-#endif
-}
-
-// Disable shader program
-void rlDisableShader(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    glUseProgram(0);
-#endif
-}
-
-// Enable rendering to texture (fbo)
-void rlEnableFramebuffer(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, id);
-#endif
-}
-
-// return the active render texture (fbo)
-unsigned int rlGetActiveFramebuffer(void)
-{
-    GLint fboId = 0;
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glGetIntegerv(GL_DRAW_FRAMEBUFFER_BINDING, &fboId);
-#endif
-    return fboId;
-}
-
-// Disable rendering to texture
-void rlDisableFramebuffer(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-#endif
-}
-
-// Blit active framebuffer to main framebuffer
-void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBlitFramebuffer(srcX, srcY, srcWidth, srcHeight, dstX, dstY, dstWidth, dstHeight, bufferMask, GL_NEAREST);
-#endif
-}
-
-// Bind framebuffer object (fbo)
-void rlBindFramebuffer(unsigned int target, unsigned int framebuffer)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(target, framebuffer);
-#endif
-}
-
-// Activate multiple draw color buffers
-// NOTE: One color buffer is always active by default
-void rlActiveDrawBuffers(int count)
-{
-#if ((defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT))
-    // NOTE: Maximum number of draw buffers supported is implementation dependant,
-    // it can be queried with glGet*() but it must be at least 8
-    //GLint maxDrawBuffers = 0;
-    //glGetIntegerv(GL_MAX_DRAW_BUFFERS, &maxDrawBuffers);
-
-    if (count > 0)
-    {
-        if (count > 8) TRACELOG(LOG_WARNING, "GL: Max color buffers limited to 8");
-        else
-        {
-            unsigned int buffers[8] = {
-#if defined(GRAPHICS_API_OPENGL_ES3)
-                GL_COLOR_ATTACHMENT0_EXT,
-                GL_COLOR_ATTACHMENT1_EXT,
-                GL_COLOR_ATTACHMENT2_EXT,
-                GL_COLOR_ATTACHMENT3_EXT,
-                GL_COLOR_ATTACHMENT4_EXT,
-                GL_COLOR_ATTACHMENT5_EXT,
-                GL_COLOR_ATTACHMENT6_EXT,
-                GL_COLOR_ATTACHMENT7_EXT,
-#else
-                GL_COLOR_ATTACHMENT0,
-                GL_COLOR_ATTACHMENT1,
-                GL_COLOR_ATTACHMENT2,
-                GL_COLOR_ATTACHMENT3,
-                GL_COLOR_ATTACHMENT4,
-                GL_COLOR_ATTACHMENT5,
-                GL_COLOR_ATTACHMENT6,
-                GL_COLOR_ATTACHMENT7,
-#endif
-            };
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-            glDrawBuffersEXT(count, buffers);
-#else
-            glDrawBuffers(count, buffers);
-#endif
-        }
-    }
-    else TRACELOG(LOG_WARNING, "GL: One color buffer active by default");
-#endif
-}
-
-//----------------------------------------------------------------------------------
-// General render state configuration
-//----------------------------------------------------------------------------------
-
-// Enable color blending
-void rlEnableColorBlend(void) { glEnable(GL_BLEND); }
-
-// Disable color blending
-void rlDisableColorBlend(void) { glDisable(GL_BLEND); }
-
-// Enable depth test
-void rlEnableDepthTest(void) { glEnable(GL_DEPTH_TEST); }
-
-// Disable depth test
-void rlDisableDepthTest(void) { glDisable(GL_DEPTH_TEST); }
-
-// Enable depth write
-void rlEnableDepthMask(void) { glDepthMask(GL_TRUE); }
-
-// Disable depth write
-void rlDisableDepthMask(void) { glDepthMask(GL_FALSE); }
-
-// Enable backface culling
-void rlEnableBackfaceCulling(void) { glEnable(GL_CULL_FACE); }
-
-// Disable backface culling
-void rlDisableBackfaceCulling(void) { glDisable(GL_CULL_FACE); }
-
-// Set color mask active for screen read/draw
-void rlColorMask(bool r, bool g, bool b, bool a) { glColorMask(r, g, b, a); }
-
-// Set face culling mode
-void rlSetCullFace(int mode)
-{
-    switch (mode)
-    {
-        case RL_CULL_FACE_BACK: glCullFace(GL_BACK); break;
-        case RL_CULL_FACE_FRONT: glCullFace(GL_FRONT); break;
-        default: break;
-    }
-}
-
-// Enable scissor test
-void rlEnableScissorTest(void) { glEnable(GL_SCISSOR_TEST); }
-
-// Disable scissor test
-void rlDisableScissorTest(void) { glDisable(GL_SCISSOR_TEST); }
-
-// Scissor test
-void rlScissor(int x, int y, int width, int height) { glScissor(x, y, width, height); }
-
-// Enable wire mode
-void rlEnableWireMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
-#endif
-}
-
-// Enable point mode
-void rlEnablePointMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_POINT);
-    glEnable(GL_PROGRAM_POINT_SIZE);
-#endif
-}
-
-// Disable wire mode
-void rlDisableWireMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-#endif
-}
-
-// Set the line drawing width
-void rlSetLineWidth(float width) { glLineWidth(width); }
-
-// Get the line drawing width
-float rlGetLineWidth(void)
-{
-    float width = 0;
-    glGetFloatv(GL_LINE_WIDTH, &width);
-    return width;
-}
-
-// Enable line aliasing
-void rlEnableSmoothLines(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
-    glEnable(GL_LINE_SMOOTH);
-#endif
-}
-
-// Disable line aliasing
-void rlDisableSmoothLines(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
-    glDisable(GL_LINE_SMOOTH);
-#endif
-}
-
-// Enable stereo rendering
-void rlEnableStereoRender(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    RLGL.State.stereoRender = true;
-#endif
-}
-
-// Disable stereo rendering
-void rlDisableStereoRender(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    RLGL.State.stereoRender = false;
-#endif
-}
-
-// Check if stereo render is enabled
-bool rlIsStereoRenderEnabled(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    return RLGL.State.stereoRender;
-#else
-    return false;
-#endif
-}
-
-// Clear color buffer with color
-void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a)
-{
-    // Color values clamp to 0.0f(0) and 1.0f(255)
-    float cr = (float)r/255;
-    float cg = (float)g/255;
-    float cb = (float)b/255;
-    float ca = (float)a/255;
-
-    glClearColor(cr, cg, cb, ca);
-}
-
-// Clear used screen buffers (color and depth)
-void rlClearScreenBuffers(void)
-{
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear used buffers: Color and Depth (Depth is used for 3D)
-    //glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);     // Stencil buffer not used...
-}
-
-// Check and log OpenGL error codes
-void rlCheckErrors(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    int check = 1;
-    while (check)
-    {
-        const GLenum err = glGetError();
-        switch (err)
-        {
-            case GL_NO_ERROR: check = 0; break;
-            case 0x0500: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_ENUM"); break;
-            case 0x0501: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_VALUE"); break;
-            case 0x0502: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_OPERATION"); break;
-            case 0x0503: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_OVERFLOW"); break;
-            case 0x0504: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_UNDERFLOW"); break;
-            case 0x0505: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_OUT_OF_MEMORY"); break;
-            case 0x0506: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_FRAMEBUFFER_OPERATION"); break;
-            default: TRACELOG(RL_LOG_WARNING, "GL: Error detected: Unknown error code: %x", err); break;
-        }
-    }
-#endif
-}
-
-// Set blend mode
-void rlSetBlendMode(int mode)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.currentBlendMode != mode) || ((mode == RL_BLEND_CUSTOM || mode == RL_BLEND_CUSTOM_SEPARATE) && RLGL.State.glCustomBlendModeModified))
-    {
-        rlDrawRenderBatch(RLGL.currentBatch);
-
-        switch (mode)
-        {
-            case RL_BLEND_ALPHA: glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_ADDITIVE: glBlendFunc(GL_SRC_ALPHA, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_MULTIPLIED: glBlendFunc(GL_DST_COLOR, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_ADD_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_SUBTRACT_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_SUBTRACT); break;
-            case RL_BLEND_ALPHA_PREMULTIPLY: glBlendFunc(GL_ONE, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_CUSTOM:
-            {
-                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactors()
-                glBlendFunc(RLGL.State.glBlendSrcFactor, RLGL.State.glBlendDstFactor); glBlendEquation(RLGL.State.glBlendEquation);
-
-            } break;
-            case RL_BLEND_CUSTOM_SEPARATE:
-            {
-                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactorsSeparate()
-                glBlendFuncSeparate(RLGL.State.glBlendSrcFactorRGB, RLGL.State.glBlendDestFactorRGB, RLGL.State.glBlendSrcFactorAlpha, RLGL.State.glBlendDestFactorAlpha);
-                glBlendEquationSeparate(RLGL.State.glBlendEquationRGB, RLGL.State.glBlendEquationAlpha);
-
-            } break;
-            default: break;
-        }
-
-        RLGL.State.currentBlendMode = mode;
-        RLGL.State.glCustomBlendModeModified = false;
-    }
-#endif
-}
-
-// Set blending mode factor and equation
-void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.glBlendSrcFactor != glSrcFactor) ||
-        (RLGL.State.glBlendDstFactor != glDstFactor) ||
-        (RLGL.State.glBlendEquation != glEquation))
-    {
-        RLGL.State.glBlendSrcFactor = glSrcFactor;
-        RLGL.State.glBlendDstFactor = glDstFactor;
-        RLGL.State.glBlendEquation = glEquation;
-
-        RLGL.State.glCustomBlendModeModified = true;
-    }
-#endif
-}
-
-// Set blending mode factor and equation separately for RGB and alpha
-void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.glBlendSrcFactorRGB != glSrcRGB) ||
-        (RLGL.State.glBlendDestFactorRGB != glDstRGB) ||
-        (RLGL.State.glBlendSrcFactorAlpha != glSrcAlpha) ||
-        (RLGL.State.glBlendDestFactorAlpha != glDstAlpha) ||
-        (RLGL.State.glBlendEquationRGB != glEqRGB) ||
-        (RLGL.State.glBlendEquationAlpha != glEqAlpha))
-    {
-        RLGL.State.glBlendSrcFactorRGB = glSrcRGB;
-        RLGL.State.glBlendDestFactorRGB = glDstRGB;
-        RLGL.State.glBlendSrcFactorAlpha = glSrcAlpha;
-        RLGL.State.glBlendDestFactorAlpha = glDstAlpha;
-        RLGL.State.glBlendEquationRGB = glEqRGB;
-        RLGL.State.glBlendEquationAlpha = glEqAlpha;
-
-        RLGL.State.glCustomBlendModeModified = true;
-    }
-#endif
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - OpenGL Debug
-//----------------------------------------------------------------------------------
-#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
-static void GLAPIENTRY rlDebugMessageCallback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam)
-{
-    // Ignore non-significant error/warning codes (NVidia drivers)
-    // NOTE: Here there are the details with a sample output:
-    // - #131169 - Framebuffer detailed info: The driver allocated storage for renderbuffer 2. (severity: low)
-    // - #131185 - Buffer detailed info: Buffer object 1 (bound to GL_ELEMENT_ARRAY_BUFFER_ARB, usage hint is GL_ENUM_88e4)
-    //             will use VIDEO memory as the source for buffer object operations. (severity: low)
-    // - #131218 - Program/shader state performance warning: Vertex shader in program 7 is being recompiled based on GL state. (severity: medium)
-    // - #131204 - Texture state usage warning: The texture object (0) bound to texture image unit 0 does not have
-    //             a defined base level and cannot be used for texture mapping. (severity: low)
-    if ((id == 131169) || (id == 131185) || (id == 131218) || (id == 131204)) return;
-
-    const char *msgSource = NULL;
-    switch (source)
-    {
-        case GL_DEBUG_SOURCE_API: msgSource = "API"; break;
-        case GL_DEBUG_SOURCE_WINDOW_SYSTEM: msgSource = "WINDOW_SYSTEM"; break;
-        case GL_DEBUG_SOURCE_SHADER_COMPILER: msgSource = "SHADER_COMPILER"; break;
-        case GL_DEBUG_SOURCE_THIRD_PARTY: msgSource = "THIRD_PARTY"; break;
-        case GL_DEBUG_SOURCE_APPLICATION: msgSource = "APPLICATION"; break;
-        case GL_DEBUG_SOURCE_OTHER: msgSource = "OTHER"; break;
-        default: break;
-    }
-
-    const char *msgType = NULL;
-    switch (type)
-    {
-        case GL_DEBUG_TYPE_ERROR: msgType = "ERROR"; break;
-        case GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR: msgType = "DEPRECATED_BEHAVIOR"; break;
-        case GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR: msgType = "UNDEFINED_BEHAVIOR"; break;
-        case GL_DEBUG_TYPE_PORTABILITY: msgType = "PORTABILITY"; break;
-        case GL_DEBUG_TYPE_PERFORMANCE: msgType = "PERFORMANCE"; break;
-        case GL_DEBUG_TYPE_MARKER: msgType = "MARKER"; break;
-        case GL_DEBUG_TYPE_PUSH_GROUP: msgType = "PUSH_GROUP"; break;
-        case GL_DEBUG_TYPE_POP_GROUP: msgType = "POP_GROUP"; break;
-        case GL_DEBUG_TYPE_OTHER: msgType = "OTHER"; break;
-        default: break;
-    }
-
-    const char *msgSeverity = "DEFAULT";
-    switch (severity)
-    {
-        case GL_DEBUG_SEVERITY_LOW: msgSeverity = "LOW"; break;
-        case GL_DEBUG_SEVERITY_MEDIUM: msgSeverity = "MEDIUM"; break;
-        case GL_DEBUG_SEVERITY_HIGH: msgSeverity = "HIGH"; break;
-        case GL_DEBUG_SEVERITY_NOTIFICATION: msgSeverity = "NOTIFICATION"; break;
-        default: break;
-    }
-
-    TRACELOG(LOG_WARNING, "GL: OpenGL debug message: %s", message);
-    TRACELOG(LOG_WARNING, "    > Type: %s", msgType);
-    TRACELOG(LOG_WARNING, "    > Source = %s", msgSource);
-    TRACELOG(LOG_WARNING, "    > Severity = %s", msgSeverity);
-}
-#endif
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - rlgl functionality
-//----------------------------------------------------------------------------------
-
-// Initialize rlgl: OpenGL extensions, default buffers/shaders/textures, OpenGL states
-void rlglInit(int width, int height)
-{
-    // Enable OpenGL debug context if required
-#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
-    if ((glDebugMessageCallback != NULL) && (glDebugMessageControl != NULL))
-    {
-        glDebugMessageCallback(rlDebugMessageCallback, 0);
-        // glDebugMessageControl(GL_DEBUG_SOURCE_API, GL_DEBUG_TYPE_ERROR, GL_DEBUG_SEVERITY_HIGH, 0, 0, GL_TRUE);
-
-        // Debug context options:
-        //  - GL_DEBUG_OUTPUT - Faster version but not useful for breakpoints
-        //  - GL_DEBUG_OUTPUT_SYNCHRONUS - Callback is in sync with errors, so a breakpoint can be placed on the callback in order to get a stacktrace for the GL error
-        glEnable(GL_DEBUG_OUTPUT);
-        glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
-    }
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Init default white texture
-    unsigned char pixels[4] = { 255, 255, 255, 255 };   // 1 pixel RGBA (4 bytes)
-    RLGL.State.defaultTextureId = rlLoadTexture(pixels, 1, 1, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8, 1);
-
-    if (RLGL.State.defaultTextureId != 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture loaded successfully", RLGL.State.defaultTextureId);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load default texture");
-
-    // Init default Shader (customized for GL 3.3 and ES2)
-    // Loaded: RLGL.State.defaultShaderId + RLGL.State.defaultShaderLocs
-    rlLoadShaderDefault();
-    RLGL.State.currentShaderId = RLGL.State.defaultShaderId;
-    RLGL.State.currentShaderLocs = RLGL.State.defaultShaderLocs;
-
-    // Init default vertex arrays buffers
-    // Simulate that the default shader has the location RL_SHADER_LOC_VERTEX_NORMAL to bind the normal buffer for the default render batch
-    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL;
-    RLGL.defaultBatch = rlLoadRenderBatch(RL_DEFAULT_BATCH_BUFFERS, RL_DEFAULT_BATCH_BUFFER_ELEMENTS);
-    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = -1;
-    RLGL.currentBatch = &RLGL.defaultBatch;
-
-    // Init stack matrices (emulating OpenGL 1.1)
-    for (int i = 0; i < RL_MAX_MATRIX_STACK_SIZE; i++) RLGL.State.stack[i] = rlMatrixIdentity();
-
-    // Init internal matrices
-    RLGL.State.transform = rlMatrixIdentity();
-    RLGL.State.projection = rlMatrixIdentity();
-    RLGL.State.modelview = rlMatrixIdentity();
-    RLGL.State.currentMatrix = &RLGL.State.modelview;
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-    // Initialize OpenGL default states
-    //----------------------------------------------------------
-    // Init state: Depth test
-    glDepthFunc(GL_LEQUAL);                                 // Type of depth testing to apply
-    glDisable(GL_DEPTH_TEST);                               // Disable depth testing for 2D (only used for 3D)
-
-    // Init state: Blending mode
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);      // Color blending function (how colors are mixed)
-    glEnable(GL_BLEND);                                     // Enable color blending (required to work with transparencies)
-
-    // Init state: Culling
-    // NOTE: All shapes/models triangles are drawn CCW
-    glCullFace(GL_BACK);                                    // Cull the back face (default)
-    glFrontFace(GL_CCW);                                    // Front face are defined counter clockwise (default)
-    glEnable(GL_CULL_FACE);                                 // Enable backface culling
-
-    // Init state: Cubemap seamless
-#if defined(GRAPHICS_API_OPENGL_33)
-    glEnable(GL_TEXTURE_CUBE_MAP_SEAMLESS);                 // Seamless cubemaps (not supported on OpenGL ES 2.0)
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    // Init state: Color hints (deprecated in OpenGL 3.0+)
-    glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);      // Improve quality of color and texture coordinate interpolation
-    glShadeModel(GL_SMOOTH);                                // Smooth shading between vertex (vertex colors interpolation)
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Store screen size into global variables
-    RLGL.State.framebufferWidth = width;
-    RLGL.State.framebufferHeight = height;
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Default OpenGL state initialized successfully");
-    //----------------------------------------------------------
-#endif
-
-    // Init state: Color/Depth buffers clear
-    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);                   // Set clear color (black)
-    glClearDepth(1.0f);                                     // Set clear depth value (default)
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear color and depth buffers (depth buffer required for 3D)
-}
-
-// Vertex Buffer Object deinitialization (memory free)
-void rlglClose(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlUnloadRenderBatch(RLGL.defaultBatch);
-
-    rlUnloadShaderDefault();          // Unload default shader
-
-    glDeleteTextures(1, &RLGL.State.defaultTextureId); // Unload default texture
-    TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture unloaded successfully", RLGL.State.defaultTextureId);
-#endif
-}
-
-// Load OpenGL extensions
-// NOTE: External loader function must be provided
-void rlLoadExtensions(void *loader)
-{
-#if defined(GRAPHICS_API_OPENGL_33)     // Also defined for GRAPHICS_API_OPENGL_21
-    // NOTE: glad is generated and contains only required OpenGL 3.3 Core extensions (and lower versions)
-    if (gladLoadGL((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL extensions");
-    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL extensions loaded successfully");
-
-    // Get number of supported extensions
-    GLint numExt = 0;
-    glGetIntegerv(GL_NUM_EXTENSIONS, &numExt);
-    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    // Get supported extensions list
-    // WARNING: glGetStringi() not available on OpenGL 2.1
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
-    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", glGetStringi(GL_EXTENSIONS, i));
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_21)
-    // Register supported extensions flags
-    // Optional OpenGL 2.1 extensions
-    RLGL.ExtSupported.vao = GLAD_GL_ARB_vertex_array_object;
-    RLGL.ExtSupported.instancing = (GLAD_GL_EXT_draw_instanced && GLAD_GL_ARB_instanced_arrays);
-    RLGL.ExtSupported.texNPOT = GLAD_GL_ARB_texture_non_power_of_two;
-    RLGL.ExtSupported.texFloat32 = GLAD_GL_ARB_texture_float;
-    RLGL.ExtSupported.texFloat16 = GLAD_GL_ARB_texture_float;
-    RLGL.ExtSupported.texDepth = GLAD_GL_ARB_depth_texture;
-    RLGL.ExtSupported.maxDepthBits = 32;
-    RLGL.ExtSupported.texAnisoFilter = GLAD_GL_EXT_texture_filter_anisotropic;
-    RLGL.ExtSupported.texMirrorClamp = GLAD_GL_EXT_texture_mirror_clamp;
-#else
-    // Register supported extensions flags
-    // OpenGL 3.3 extensions supported by default (core)
-    RLGL.ExtSupported.vao = true;
-    RLGL.ExtSupported.instancing = true;
-    RLGL.ExtSupported.texNPOT = true;
-    RLGL.ExtSupported.texFloat32 = true;
-    RLGL.ExtSupported.texFloat16 = true;
-    RLGL.ExtSupported.texDepth = true;
-    RLGL.ExtSupported.maxDepthBits = 32;
-    RLGL.ExtSupported.texAnisoFilter = true;
-    RLGL.ExtSupported.texMirrorClamp = true;
-#endif
-
-    // Optional OpenGL 3.3 extensions
-    RLGL.ExtSupported.texCompASTC = GLAD_GL_KHR_texture_compression_astc_hdr && GLAD_GL_KHR_texture_compression_astc_ldr;
-    RLGL.ExtSupported.texCompDXT = GLAD_GL_EXT_texture_compression_s3tc;  // Texture compression: DXT
-    RLGL.ExtSupported.texCompETC2 = GLAD_GL_ARB_ES3_compatibility;        // Texture compression: ETC2/EAC
-    #if defined(GRAPHICS_API_OPENGL_43)
-    RLGL.ExtSupported.computeShader = GLAD_GL_ARB_compute_shader;
-    RLGL.ExtSupported.ssbo = GLAD_GL_ARB_shader_storage_buffer_object;
-    #endif
-
-#endif  // GRAPHICS_API_OPENGL_33
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    // Register supported extensions flags
-    // OpenGL ES 3.0 extensions supported by default (or it should be)
-    RLGL.ExtSupported.vao = true;
-    RLGL.ExtSupported.instancing = true;
-    RLGL.ExtSupported.texNPOT = true;
-    RLGL.ExtSupported.texFloat32 = true;
-    RLGL.ExtSupported.texFloat16 = true;
-    RLGL.ExtSupported.texDepth = true;
-    RLGL.ExtSupported.texDepthWebGL = true;
-    RLGL.ExtSupported.maxDepthBits = 24;
-    RLGL.ExtSupported.texAnisoFilter = true;
-    RLGL.ExtSupported.texMirrorClamp = true;
-    // TODO: Check for additional OpenGL ES 3.0 supported extensions:
-    //RLGL.ExtSupported.texCompDXT = true;
-    //RLGL.ExtSupported.texCompETC1 = true;
-    //RLGL.ExtSupported.texCompETC2 = true;
-    //RLGL.ExtSupported.texCompPVRT = true;
-    //RLGL.ExtSupported.texCompASTC = true;
-    //RLGL.ExtSupported.maxAnisotropyLevel = true;
-    //RLGL.ExtSupported.computeShader = true;
-    //RLGL.ExtSupported.ssbo = true;
-
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-
-    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
-    // TODO: Support GLAD loader for OpenGL ES 3.0
-    if (gladLoadGLES2((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL ES2.0 functions");
-    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL ES 2.0 loaded successfully");
-    #endif
-
-    // Get supported extensions list
-    GLint numExt = 0;
-    const char **extList = RL_MALLOC(512*sizeof(const char *)); // Allocate 512 strings pointers (2 KB)
-    const char *extensions = (const char *)glGetString(GL_EXTENSIONS);  // One big const string
-
-    // NOTE: We have to duplicate string because glGetString() returns a const string
-    int size = strlen(extensions) + 1;      // Get extensions string size in bytes
-    char *extensionsDup = (char *)RL_CALLOC(size, sizeof(char));
-    strcpy(extensionsDup, extensions);
-    extList[numExt] = extensionsDup;
-
-    for (int i = 0; i < size; i++)
-    {
-        if (extensionsDup[i] == ' ')
-        {
-            extensionsDup[i] = '\0';
-            numExt++;
-            extList[numExt] = &extensionsDup[i + 1];
-        }
-    }
-
-    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
-    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", extList[i]);
-#endif
-
-    // Check required extensions
-    for (int i = 0; i < numExt; i++)
-    {
-        // Check VAO support
-        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has VAO support as core feature
-        if (strcmp(extList[i], (const char *)"GL_OES_vertex_array_object") == 0)
-        {
-            // The extension is supported by our hardware and driver, try to get related functions pointers
-            // NOTE: emscripten does not support VAOs natively, it uses emulation and it reduces overall performance...
-            glGenVertexArrays = (PFNGLGENVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glGenVertexArraysOES");
-            glBindVertexArray = (PFNGLBINDVERTEXARRAYOESPROC)((rlglLoadProc)loader)("glBindVertexArrayOES");
-            glDeleteVertexArrays = (PFNGLDELETEVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glDeleteVertexArraysOES");
-            //glIsVertexArray = (PFNGLISVERTEXARRAYOESPROC)loader("glIsVertexArrayOES");     // NOTE: Fails in WebGL, omitted
-
-            if ((glGenVertexArrays != NULL) && (glBindVertexArray != NULL) && (glDeleteVertexArrays != NULL)) RLGL.ExtSupported.vao = true;
-        }
-
-        // Check instanced rendering support
-        if (strstr(extList[i], (const char*)"instanced_arrays") != NULL)   // Broad check for instanced_arrays
-        {
-            // Specific check
-            if (strcmp(extList[i], (const char *)"GL_ANGLE_instanced_arrays") == 0)      // ANGLE
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedANGLE");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedANGLE");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorANGLE");
-            }
-            else if (strcmp(extList[i], (const char *)"GL_EXT_instanced_arrays") == 0)   // EXT
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorEXT");
-            }
-            else if (strcmp(extList[i], (const char *)"GL_NV_instanced_arrays") == 0)    // NVIDIA GLES
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorNV");
-            }
-
-            // The feature will only be marked as supported if the elements from GL_XXX_instanced_arrays are present
-            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
-        }
-        else if (strstr(extList[i], (const char *)"draw_instanced") != NULL)
-        {
-            // GL_ANGLE_draw_instanced doesn't exist
-            if (strcmp(extList[i], (const char *)"GL_EXT_draw_instanced") == 0)
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
-            }
-            else if (strcmp(extList[i], (const char*)"GL_NV_draw_instanced") == 0)
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
-            }
-
-            // But the functions will at least be loaded if only GL_XX_EXT_draw_instanced exist
-            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
-        }
-
-        // Check NPOT textures support
-        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has NPOT textures full support as core feature
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_npot") == 0) RLGL.ExtSupported.texNPOT = true;
-
-        // Check texture float support
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_float") == 0) RLGL.ExtSupported.texFloat32 = true;
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_half_float") == 0) RLGL.ExtSupported.texFloat16 = true;
-
-        // Check depth texture support
-        if (strcmp(extList[i], (const char *)"GL_OES_depth_texture") == 0) RLGL.ExtSupported.texDepth = true;
-        if (strcmp(extList[i], (const char *)"GL_WEBGL_depth_texture") == 0) RLGL.ExtSupported.texDepthWebGL = true;    // WebGL requires unsized internal format
-        if (RLGL.ExtSupported.texDepthWebGL) RLGL.ExtSupported.texDepth = true;
-
-        if (strcmp(extList[i], (const char *)"GL_OES_depth24") == 0) RLGL.ExtSupported.maxDepthBits = 24;   // Not available on WebGL
-        if (strcmp(extList[i], (const char *)"GL_OES_depth32") == 0) RLGL.ExtSupported.maxDepthBits = 32;   // Not available on WebGL
-
-        // Check texture compression support: DXT
-        if ((strcmp(extList[i], (const char *)"GL_EXT_texture_compression_s3tc") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_s3tc") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBKIT_WEBGL_compressed_texture_s3tc") == 0)) RLGL.ExtSupported.texCompDXT = true;
-
-        // Check texture compression support: ETC1
-        if ((strcmp(extList[i], (const char *)"GL_OES_compressed_ETC1_RGB8_texture") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_etc1") == 0)) RLGL.ExtSupported.texCompETC1 = true;
-
-        // Check texture compression support: ETC2/EAC
-        if (strcmp(extList[i], (const char *)"GL_ARB_ES3_compatibility") == 0) RLGL.ExtSupported.texCompETC2 = true;
-
-        // Check texture compression support: PVR
-        if (strcmp(extList[i], (const char *)"GL_IMG_texture_compression_pvrtc") == 0) RLGL.ExtSupported.texCompPVRT = true;
-
-        // Check texture compression support: ASTC
-        if (strcmp(extList[i], (const char *)"GL_KHR_texture_compression_astc_hdr") == 0) RLGL.ExtSupported.texCompASTC = true;
-
-        // Check anisotropic texture filter support
-        if (strcmp(extList[i], (const char *)"GL_EXT_texture_filter_anisotropic") == 0) RLGL.ExtSupported.texAnisoFilter = true;
-
-        // Check clamp mirror wrap mode support
-        if (strcmp(extList[i], (const char *)"GL_EXT_texture_mirror_clamp") == 0) RLGL.ExtSupported.texMirrorClamp = true;
-    }
-
-    // Free extensions pointers
-    RL_FREE(extList);
-    RL_FREE(extensionsDup);    // Duplicated string must be deallocated
-#endif  // GRAPHICS_API_OPENGL_ES2
-
-    // Check OpenGL information and capabilities
-    //------------------------------------------------------------------------------
-    // Show current OpenGL and GLSL version
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL device information:");
-    TRACELOG(RL_LOG_INFO, "    > Vendor:   %s", glGetString(GL_VENDOR));
-    TRACELOG(RL_LOG_INFO, "    > Renderer: %s", glGetString(GL_RENDERER));
-    TRACELOG(RL_LOG_INFO, "    > Version:  %s", glGetString(GL_VERSION));
-    TRACELOG(RL_LOG_INFO, "    > GLSL:     %s", glGetString(GL_SHADING_LANGUAGE_VERSION));
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Anisotropy levels capability is an extension
-    #ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
-        #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF
-    #endif
-    glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &RLGL.ExtSupported.maxAnisotropyLevel);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    // Show some OpenGL GPU capabilities
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL capabilities:");
-    GLint capability = 0;
-    glGetIntegerv(GL_MAX_TEXTURE_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_CUBE_MAP_TEXTURE_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_CUBE_MAP_TEXTURE_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_TEXTURE_IMAGE_UNITS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_IMAGE_UNITS: %i", capability);
-    glGetIntegerv(GL_MAX_VERTEX_ATTRIBS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIBS: %i", capability);
-    #if !defined(GRAPHICS_API_OPENGL_ES2)
-    glGetIntegerv(GL_MAX_UNIFORM_BLOCK_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_BLOCK_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_DRAW_BUFFERS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_DRAW_BUFFERS: %i", capability);
-    if (RLGL.ExtSupported.texAnisoFilter) TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_MAX_ANISOTROPY: %.0f", RLGL.ExtSupported.maxAnisotropyLevel);
-    #endif
-    glGetIntegerv(GL_NUM_COMPRESSED_TEXTURE_FORMATS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_NUM_COMPRESSED_TEXTURE_FORMATS: %i", capability);
-    GLint *compFormats = (GLint *)RL_CALLOC(capability, sizeof(GLint));
-    glGetIntegerv(GL_COMPRESSED_TEXTURE_FORMATS, compFormats);
-    for (int i = 0; i < capability; i++) TRACELOG(RL_LOG_INFO, "        %s", rlGetCompressedFormatName(compFormats[i]));
-    RL_FREE(compFormats);
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    glGetIntegerv(GL_MAX_VERTEX_ATTRIB_BINDINGS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIB_BINDINGS: %i", capability);
-    glGetIntegerv(GL_MAX_UNIFORM_LOCATIONS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_LOCATIONS: %i", capability);
-#endif  // GRAPHICS_API_OPENGL_43
-#else   // RLGL_SHOW_GL_DETAILS_INFO
-
-    // Show some basic info about GL supported features
-    if (RLGL.ExtSupported.vao) TRACELOG(RL_LOG_INFO, "GL: VAO extension detected, VAO functions loaded successfully");
-    else TRACELOG(RL_LOG_WARNING, "GL: VAO extension not found, VAO not supported");
-    if (RLGL.ExtSupported.texNPOT) TRACELOG(RL_LOG_INFO, "GL: NPOT textures extension detected, full NPOT textures supported");
-    else TRACELOG(RL_LOG_WARNING, "GL: NPOT textures extension not found, limited NPOT support (no-mipmaps, no-repeat)");
-    if (RLGL.ExtSupported.texCompDXT) TRACELOG(RL_LOG_INFO, "GL: DXT compressed textures supported");
-    if (RLGL.ExtSupported.texCompETC1) TRACELOG(RL_LOG_INFO, "GL: ETC1 compressed textures supported");
-    if (RLGL.ExtSupported.texCompETC2) TRACELOG(RL_LOG_INFO, "GL: ETC2/EAC compressed textures supported");
-    if (RLGL.ExtSupported.texCompPVRT) TRACELOG(RL_LOG_INFO, "GL: PVRT compressed textures supported");
-    if (RLGL.ExtSupported.texCompASTC) TRACELOG(RL_LOG_INFO, "GL: ASTC compressed textures supported");
-    if (RLGL.ExtSupported.computeShader) TRACELOG(RL_LOG_INFO, "GL: Compute shaders supported");
-    if (RLGL.ExtSupported.ssbo) TRACELOG(RL_LOG_INFO, "GL: Shader storage buffer objects supported");
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-}
-
-// Get current OpenGL version
-int rlGetVersion(void)
-{
-    int glVersion = 0;
-#if defined(GRAPHICS_API_OPENGL_11)
-    glVersion = RL_OPENGL_11;
-#endif
-#if defined(GRAPHICS_API_OPENGL_21)
-    glVersion = RL_OPENGL_21;
-#elif defined(GRAPHICS_API_OPENGL_43)
-    glVersion = RL_OPENGL_43;
-#elif defined(GRAPHICS_API_OPENGL_33)
-    glVersion = RL_OPENGL_33;
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    glVersion = RL_OPENGL_ES_30;
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    glVersion = RL_OPENGL_ES_20;
-#endif
-
-    return glVersion;
-}
-
-// Set current framebuffer width
-void rlSetFramebufferWidth(int width)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.framebufferWidth = width;
-#endif
-}
-
-// Set current framebuffer height
-void rlSetFramebufferHeight(int height)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.framebufferHeight = height;
-#endif
-}
-
-// Get default framebuffer width
-int rlGetFramebufferWidth(void)
-{
-    int width = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    width = RLGL.State.framebufferWidth;
-#endif
-    return width;
-}
-
-// Get default framebuffer height
-int rlGetFramebufferHeight(void)
-{
-    int height = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    height = RLGL.State.framebufferHeight;
-#endif
-    return height;
-}
-
-// Get default internal texture (white texture)
-// NOTE: Default texture is a 1x1 pixel UNCOMPRESSED_R8G8B8A8
-unsigned int rlGetTextureIdDefault(void)
-{
-    unsigned int id = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    id = RLGL.State.defaultTextureId;
-#endif
-    return id;
-}
-
-// Get default shader id
-unsigned int rlGetShaderIdDefault(void)
-{
-    unsigned int id = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    id = RLGL.State.defaultShaderId;
-#endif
-    return id;
-}
-
-// Get default shader locs
-int *rlGetShaderLocsDefault(void)
-{
-    int *locs = NULL;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    locs = RLGL.State.defaultShaderLocs;
-#endif
-    return locs;
-}
-
-// Render batch management
-//------------------------------------------------------------------------------------------------
-// Load render batch
-rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements)
-{
-    rlRenderBatch batch = { 0 };
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Initialize CPU (RAM) vertex buffers (position, texcoord, color data and indexes)
-    //--------------------------------------------------------------------------------------------
-    batch.vertexBuffer = (rlVertexBuffer *)RL_MALLOC(numBuffers*sizeof(rlVertexBuffer));
-
-    for (int i = 0; i < numBuffers; i++)
-    {
-        batch.vertexBuffer[i].elementCount = bufferElements;
-
-        batch.vertexBuffer[i].vertices = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
-        batch.vertexBuffer[i].texcoords = (float *)RL_MALLOC(bufferElements*2*4*sizeof(float));       // 2 float by texcoord, 4 texcoord by quad
-        batch.vertexBuffer[i].normals = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
-        batch.vertexBuffer[i].colors = (unsigned char *)RL_MALLOC(bufferElements*4*4*sizeof(unsigned char));   // 4 float by color, 4 colors by quad
-#if defined(GRAPHICS_API_OPENGL_33)
-        batch.vertexBuffer[i].indices = (unsigned int *)RL_MALLOC(bufferElements*6*sizeof(unsigned int));      // 6 int by quad (indices)
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-        batch.vertexBuffer[i].indices = (unsigned short *)RL_MALLOC(bufferElements*6*sizeof(unsigned short));  // 6 int by quad (indices)
-#endif
-
-        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].vertices[j] = 0.0f;
-        for (int j = 0; j < (2*4*bufferElements); j++) batch.vertexBuffer[i].texcoords[j] = 0.0f;
-        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].normals[j] = 0.0f;
-        for (int j = 0; j < (4*4*bufferElements); j++) batch.vertexBuffer[i].colors[j] = 0;
-
-        int k = 0;
-
-        // Indices can be initialized right now
-        for (int j = 0; j < (6*bufferElements); j += 6)
-        {
-            batch.vertexBuffer[i].indices[j] = 4*k;
-            batch.vertexBuffer[i].indices[j + 1] = 4*k + 1;
-            batch.vertexBuffer[i].indices[j + 2] = 4*k + 2;
-            batch.vertexBuffer[i].indices[j + 3] = 4*k;
-            batch.vertexBuffer[i].indices[j + 4] = 4*k + 2;
-            batch.vertexBuffer[i].indices[j + 5] = 4*k + 3;
-
-            k++;
-        }
-
-        RLGL.State.vertexCounter = 0;
-    }
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in RAM (CPU)");
-    //--------------------------------------------------------------------------------------------
-
-    // Upload to GPU (VRAM) vertex data and initialize VAOs/VBOs
-    //--------------------------------------------------------------------------------------------
-    for (int i = 0; i < numBuffers; i++)
-    {
-        if (RLGL.ExtSupported.vao)
-        {
-            // Initialize Quads VAO
-            glGenVertexArrays(1, &batch.vertexBuffer[i].vaoId);
-            glBindVertexArray(batch.vertexBuffer[i].vaoId);
-        }
-
-        // Quads - Vertex buffers binding and attributes enable
-        // Vertex position buffer (shader-location = 0)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[0]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[0]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].vertices, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
-
-        // Vertex texcoord buffer (shader-location = 1)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[1]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[1]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*2*4*sizeof(float), batch.vertexBuffer[i].texcoords, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
-
-        // Vertex normal buffer (shader-location = 2)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[2]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[2]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].normals, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
-
-        // Vertex color buffer (shader-location = 3)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[3]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[3]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*4*4*sizeof(unsigned char), batch.vertexBuffer[i].colors, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
-
-        // Fill index buffer
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[4]);
-        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[4]);
-#if defined(GRAPHICS_API_OPENGL_33)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(int), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(short), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
-#endif
-    }
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in VRAM (GPU)");
-
-    // Unbind the current VAO
-    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-    //--------------------------------------------------------------------------------------------
-
-    // Init draw calls tracking system
-    //--------------------------------------------------------------------------------------------
-    batch.draws = (rlDrawCall *)RL_MALLOC(RL_DEFAULT_BATCH_DRAWCALLS*sizeof(rlDrawCall));
-
-    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
-    {
-        batch.draws[i].mode = RL_QUADS;
-        batch.draws[i].vertexCount = 0;
-        batch.draws[i].vertexAlignment = 0;
-        //batch.draws[i].vaoId = 0;
-        //batch.draws[i].shaderId = 0;
-        batch.draws[i].textureId = RLGL.State.defaultTextureId;
-        //batch.draws[i].RLGL.State.projection = rlMatrixIdentity();
-        //batch.draws[i].RLGL.State.modelview = rlMatrixIdentity();
-    }
-
-    batch.bufferCount = numBuffers;    // Record buffer count
-    batch.drawCounter = 1;             // Reset draws counter
-    batch.currentDepth = -1.0f;         // Reset depth value
-    //--------------------------------------------------------------------------------------------
-#endif
-
-    return batch;
-}
-
-// Unload default internal buffers vertex data from CPU and GPU
-void rlUnloadRenderBatch(rlRenderBatch batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Unbind everything
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-
-    // Unload all vertex buffers data
-    for (int i = 0; i < batch.bufferCount; i++)
-    {
-        // Unbind VAO attribs data
-        if (RLGL.ExtSupported.vao)
-        {
-            glBindVertexArray(batch.vertexBuffer[i].vaoId);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR);
-            glBindVertexArray(0);
-        }
-
-        // Delete VBOs from GPU (VRAM)
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[0]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[1]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[2]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[3]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[4]);
-
-        // Delete VAOs from GPU (VRAM)
-        if (RLGL.ExtSupported.vao) glDeleteVertexArrays(1, &batch.vertexBuffer[i].vaoId);
-
-        // Free vertex arrays memory from CPU (RAM)
-        RL_FREE(batch.vertexBuffer[i].vertices);
-        RL_FREE(batch.vertexBuffer[i].texcoords);
-        RL_FREE(batch.vertexBuffer[i].normals);
-        RL_FREE(batch.vertexBuffer[i].colors);
-        RL_FREE(batch.vertexBuffer[i].indices);
-    }
-
-    // Unload arrays
-    RL_FREE(batch.vertexBuffer);
-    RL_FREE(batch.draws);
-#endif
-}
-
-// Draw render batch
-// NOTE: We require a pointer to reset batch and increase current buffer (multi-buffer)
-void rlDrawRenderBatch(rlRenderBatch *batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Update batch vertex buffers
-    //------------------------------------------------------------------------------------------------------------
-    // NOTE: If there is not vertex data, buffers doesn't need to be updated (vertexCount > 0)
-    // TODO: If no data changed on the CPU arrays --> No need to re-update GPU arrays (use a change detector flag?)
-    if (RLGL.State.vertexCounter > 0)
-    {
-        // Activate elements VAO
-        if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
-
-        // Vertex positions buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].vertices);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].vertices, GL_DYNAMIC_DRAW);  // Update all buffer
-
-        // Texture coordinates buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*2*sizeof(float), batch->vertexBuffer[batch->currentBuffer].texcoords);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*2*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].texcoords, GL_DYNAMIC_DRAW); // Update all buffer
-
-        // Normals buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].normals);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].normals, GL_DYNAMIC_DRAW); // Update all buffer
-
-        // Colors buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*4*sizeof(unsigned char), batch->vertexBuffer[batch->currentBuffer].colors);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*4*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].colors, GL_DYNAMIC_DRAW);    // Update all buffer
-
-        // NOTE: glMapBuffer() causes sync issue
-        // If GPU is working with this buffer, glMapBuffer() will wait(stall) until GPU to finish its job
-        // To avoid waiting (idle), you can call first glBufferData() with NULL pointer before glMapBuffer()
-        // If you do that, the previous data in PBO will be discarded and glMapBuffer() returns a new
-        // allocated pointer immediately even if GPU is still working with the previous data
-
-        // Another option: map the buffer object into client's memory
-        // Probably this code could be moved somewhere else...
-        // batch->vertexBuffer[batch->currentBuffer].vertices = (float *)glMapBuffer(GL_ARRAY_BUFFER, GL_READ_WRITE);
-        // if (batch->vertexBuffer[batch->currentBuffer].vertices)
-        // {
-            // Update vertex data
-        // }
-        // glUnmapBuffer(GL_ARRAY_BUFFER);
-
-        // Unbind the current VAO
-        if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-    }
-    //------------------------------------------------------------------------------------------------------------
-
-    // Draw batch vertex buffers (considering VR stereo if required)
-    //------------------------------------------------------------------------------------------------------------
-    Matrix matProjection = RLGL.State.projection;
-    Matrix matModelView = RLGL.State.modelview;
-
-    int eyeCount = 1;
-    if (RLGL.State.stereoRender) eyeCount = 2;
-
-    for (int eye = 0; eye < eyeCount; eye++)
-    {
-        if (eyeCount == 2)
-        {
-            // Setup current eye viewport (half screen width)
-            rlViewport(eye*RLGL.State.framebufferWidth/2, 0, RLGL.State.framebufferWidth/2, RLGL.State.framebufferHeight);
-
-            // Set current eye view offset to modelview matrix
-            rlSetMatrixModelview(rlMatrixMultiply(matModelView, RLGL.State.viewOffsetStereo[eye]));
-            // Set current eye projection matrix
-            rlSetMatrixProjection(RLGL.State.projectionStereo[eye]);
-        }
-
-        // Draw buffers
-        if (RLGL.State.vertexCounter > 0)
-        {
-            // Set current shader and upload current MVP matrix
-            glUseProgram(RLGL.State.currentShaderId);
-
-            // Create modelview-projection matrix and upload to shader
-            Matrix matMVP = rlMatrixMultiply(RLGL.State.modelview, RLGL.State.projection);
-            glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MVP], 1, false, rlMatrixToFloat(matMVP));
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION], 1, false, rlMatrixToFloat(RLGL.State.projection));
-            }
-
-            // WARNING: For the following setup of the view, model, and normal matrices, it is expected that
-            // transformations and rendering occur between rlPushMatrix() and rlPopMatrix()
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW], 1, false, rlMatrixToFloat(RLGL.State.modelview));
-            }
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL], 1, false, rlMatrixToFloat(RLGL.State.transform));
-            }
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL], 1, false, rlMatrixToFloat(rlMatrixTranspose(rlMatrixInvert(RLGL.State.transform))));
-            }
-
-            if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
-            else
-            {
-                // Bind vertex attrib: position (shader-location = 0)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
-
-                // Bind vertex attrib: texcoord (shader-location = 1)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
-
-                // Bind vertex attrib: normal (shader-location = 2)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
-
-                // Bind vertex attrib: color (shader-location = 3)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
-
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[4]);
-            }
-
-            // Setup some default shader values
-            glUniform4f(RLGL.State.currentShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE], 1.0f, 1.0f, 1.0f, 1.0f);
-            glUniform1i(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE], 0);  // Active default sampler2D: texture0
-
-            // Activate additional sampler textures
-            // Those additional textures will be common for all draw calls of the batch
-            for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-            {
-                if (RLGL.State.activeTextureId[i] > 0)
-                {
-                    glActiveTexture(GL_TEXTURE0 + 1 + i);
-                    glBindTexture(GL_TEXTURE_2D, RLGL.State.activeTextureId[i]);
-                }
-            }
-
-            // Activate default sampler2D texture0 (one texture is always active for default batch shader)
-            // NOTE: Batch system accumulates calls by texture0 changes, additional textures are enabled for all the draw calls
-            glActiveTexture(GL_TEXTURE0);
-
-            for (int i = 0, vertexOffset = 0; i < batch->drawCounter; i++)
-            {
-                // Bind current draw call texture, activated as GL_TEXTURE0 and Bound to sampler2D texture0 by default
-                glBindTexture(GL_TEXTURE_2D, batch->draws[i].textureId);
-
-                if ((batch->draws[i].mode == RL_LINES) || (batch->draws[i].mode == RL_TRIANGLES)) glDrawArrays(batch->draws[i].mode, vertexOffset, batch->draws[i].vertexCount);
-                else
-                {
-    #if defined(GRAPHICS_API_OPENGL_33)
-                    // We need to define the number of indices to be processed: elementCount*6
-                    // NOTE: The final parameter tells the GPU the offset in bytes from the
-                    // start of the index buffer to the location of the first index to process
-                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_INT, (GLvoid *)(vertexOffset/4*6*sizeof(GLuint)));
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_SHORT, (GLvoid *)(vertexOffset/4*6*sizeof(GLushort)));
-    #endif
-                }
-
-                vertexOffset += (batch->draws[i].vertexCount + batch->draws[i].vertexAlignment);
-            }
-
-            if (!RLGL.ExtSupported.vao)
-            {
-                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-            }
-
-            glBindTexture(GL_TEXTURE_2D, 0);    // Unbind textures
-        }
-
-        if (RLGL.ExtSupported.vao) glBindVertexArray(0); // Unbind VAO
-
-        glUseProgram(0);    // Unbind shader program
-    }
-
-    // Restore viewport to default measures
-    if (eyeCount == 2) rlViewport(0, 0, RLGL.State.framebufferWidth, RLGL.State.framebufferHeight);
-    //------------------------------------------------------------------------------------------------------------
-
-    // Reset batch buffers
-    //------------------------------------------------------------------------------------------------------------
-    // Reset vertex counter for next frame
-    RLGL.State.vertexCounter = 0;
-
-    // Reset depth for next draw
-    batch->currentDepth = -1.0f;
-
-    // Restore projection/modelview matrices
-    RLGL.State.projection = matProjection;
-    RLGL.State.modelview = matModelView;
-
-    // Reset RLGL.currentBatch->draws array
-    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
-    {
-        batch->draws[i].mode = RL_QUADS;
-        batch->draws[i].vertexCount = 0;
-        batch->draws[i].textureId = RLGL.State.defaultTextureId;
-    }
-
-    // Reset active texture units for next batch
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++) RLGL.State.activeTextureId[i] = 0;
-
-    // Reset draws counter to one draw for the batch
-    batch->drawCounter = 1;
-    //------------------------------------------------------------------------------------------------------------
-
-    // Change to next buffer in the list (in case of multi-buffering)
-    batch->currentBuffer++;
-    if (batch->currentBuffer >= batch->bufferCount) batch->currentBuffer = 0;
-#endif
-}
-
-// Set the active render batch for rlgl
-void rlSetRenderBatchActive(rlRenderBatch *batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlDrawRenderBatch(RLGL.currentBatch);
-
-    if (batch != NULL) RLGL.currentBatch = batch;
-    else RLGL.currentBatch = &RLGL.defaultBatch;
-#endif
-}
-
-// Update and draw internal render batch
-void rlDrawRenderBatchActive(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
-#endif
-}
-
-// Check internal buffer overflow for a given number of vertex
-// and force a rlRenderBatch draw call if required
-bool rlCheckRenderBatchLimit(int vCount)
-{
-    bool overflow = false;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.vertexCounter + vCount) >=
-        (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4))
-    {
-        overflow = true;
-
-        // Store current primitive drawing mode and texture id
-        int currentMode = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode;
-        int currentTexture = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId;
-
-        rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
-
-        // Restore state of last batch so we can continue adding vertices
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = currentMode;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = currentTexture;
-    }
-#endif
-
-    return overflow;
-}
-
-// Textures data management
-//-----------------------------------------------------------------------------------------
-// Convert image data to OpenGL texture (returns OpenGL valid Id)
-unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount)
-{
-    unsigned int id = 0;
-
-    glBindTexture(GL_TEXTURE_2D, 0);    // Free any old binding
-
-    // Check texture format support by OpenGL 1.1 (compressed textures not supported)
-#if defined(GRAPHICS_API_OPENGL_11)
-    if (format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: OpenGL 1.1 does not support GPU compressed texture formats");
-        return id;
-    }
-#else
-    if ((!RLGL.ExtSupported.texCompDXT) && ((format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA) ||
-        (format == RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: DXT compressed texture format not supported");
-        return id;
-    }
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((!RLGL.ExtSupported.texCompETC1) && (format == RL_PIXELFORMAT_COMPRESSED_ETC1_RGB))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ETC1 compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompETC2) && ((format == RL_PIXELFORMAT_COMPRESSED_ETC2_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ETC2 compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompPVRT) && ((format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: PVRT compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompASTC) && ((format == RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ASTC compressed texture format not supported");
-        return id;
-    }
-#endif
-#endif  // GRAPHICS_API_OPENGL_11
-
-    glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-
-    glGenTextures(1, &id);              // Generate texture id
-
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    int mipWidth = width;
-    int mipHeight = height;
-    int mipOffset = 0;          // Mipmap data offset, only used for tracelog
-
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned char *dataPtr = NULL;
-    if (data != NULL) dataPtr = (unsigned char *)data;
-
-    // Load the different mipmap levels
-    for (int i = 0; i < mipmapCount; i++)
-    {
-        unsigned int mipSize = rlGetPixelDataSize(mipWidth, mipHeight, format);
-
-        unsigned int glInternalFormat, glFormat, glType;
-        rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-        TRACELOGD("TEXTURE: Load mipmap level %i (%i x %i), size: %i, offset: %i", i, mipWidth, mipHeight, mipSize, mipOffset);
-
-        if (glInternalFormat != 0)
-        {
-            if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, glFormat, glType, dataPtr);
-#if !defined(GRAPHICS_API_OPENGL_11)
-            else glCompressedTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, mipSize, dataPtr);
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33)
-            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
-            {
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
-                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
-            {
-#if defined(GRAPHICS_API_OPENGL_21)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
-#elif defined(GRAPHICS_API_OPENGL_33)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
-#endif
-                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-#endif
-        }
-
-        mipWidth /= 2;
-        mipHeight /= 2;
-        mipOffset += mipSize;       // Increment offset position to next mipmap
-        if (data != NULL) dataPtr += mipSize;         // Increment data pointer to next mipmap
-
-        // Security check for NPOT textures
-        if (mipWidth < 1) mipWidth = 1;
-        if (mipHeight < 1) mipHeight = 1;
-    }
-
-    // Texture parameters configuration
-    // NOTE: glTexParameteri does NOT affect texture uploading, just the way it's used
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: OpenGL ES 2.0 with no GL_OES_texture_npot support (i.e. WebGL) has limited NPOT support, so CLAMP_TO_EDGE must be used
-    if (RLGL.ExtSupported.texNPOT)
-    {
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
-    }
-    else
-    {
-        // NOTE: If using negative texture coordinates (LoadOBJ()), it does not work!
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);       // Set texture to clamp on x-axis
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);       // Set texture to clamp on y-axis
-    }
-#else
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
-#endif
-
-    // Magnification and minification filters
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
-
-#if defined(GRAPHICS_API_OPENGL_33)
-    if (mipmapCount > 1)
-    {
-        // Activate Trilinear filtering if mipmaps are available
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    }
-#endif
-
-    // At this point we have the texture loaded in GPU and texture parameters configured
-
-    // NOTE: If mipmaps were not in data, they are not generated automatically
-
-    // Unbind current texture
-    glBindTexture(GL_TEXTURE_2D, 0);
-
-    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Texture loaded successfully (%ix%i | %s | %i mipmaps)", id, width, height, rlGetPixelFormatName(format), mipmapCount);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load texture");
-
-    return id;
-}
-
-// Load depth texture/renderbuffer (to be attached to fbo)
-// WARNING: OpenGL ES 2.0 requires GL_OES_depth_texture and WebGL requires WEBGL_depth_texture extensions
-unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // In case depth textures not supported, we force renderbuffer usage
-    if (!RLGL.ExtSupported.texDepth) useRenderBuffer = true;
-
-    // NOTE: We let the implementation to choose the best bit-depth
-    // Possible formats: GL_DEPTH_COMPONENT16, GL_DEPTH_COMPONENT24, GL_DEPTH_COMPONENT32 and GL_DEPTH_COMPONENT32F
-    unsigned int glInternalFormat = GL_DEPTH_COMPONENT;
-
-#if (defined(GRAPHICS_API_OPENGL_ES2) || defined(GRAPHICS_API_OPENGL_ES3))
-    // WARNING: WebGL platform requires unsized internal format definition (GL_DEPTH_COMPONENT)
-    // while other platforms using OpenGL ES 2.0 require/support sized internal formats depending on the GPU capabilities
-    if (!RLGL.ExtSupported.texDepthWebGL || useRenderBuffer)
-    {
-        if (RLGL.ExtSupported.maxDepthBits == 32) glInternalFormat = GL_DEPTH_COMPONENT32_OES;
-        else if (RLGL.ExtSupported.maxDepthBits == 24) glInternalFormat = GL_DEPTH_COMPONENT24_OES;
-        else glInternalFormat = GL_DEPTH_COMPONENT16;
-    }
-#endif
-
-    if (!useRenderBuffer && RLGL.ExtSupported.texDepth)
-    {
-        glGenTextures(1, &id);
-        glBindTexture(GL_TEXTURE_2D, id);
-        glTexImage2D(GL_TEXTURE_2D, 0, glInternalFormat, width, height, 0, GL_DEPTH_COMPONENT, GL_UNSIGNED_INT, NULL);
-
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-
-        glBindTexture(GL_TEXTURE_2D, 0);
-
-        TRACELOG(RL_LOG_INFO, "TEXTURE: Depth texture loaded successfully");
-    }
-    else
-    {
-        // Create the renderbuffer that will serve as the depth attachment for the framebuffer
-        // NOTE: A renderbuffer is simpler than a texture and could offer better performance on embedded devices
-        glGenRenderbuffers(1, &id);
-        glBindRenderbuffer(GL_RENDERBUFFER, id);
-        glRenderbufferStorage(GL_RENDERBUFFER, glInternalFormat, width, height);
-
-        glBindRenderbuffer(GL_RENDERBUFFER, 0);
-
-        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Depth renderbuffer loaded successfully (%i bits)", id, (RLGL.ExtSupported.maxDepthBits >= 24)? RLGL.ExtSupported.maxDepthBits : 16);
-    }
-#endif
-
-    return id;
-}
-
-// Load texture cubemap
-// NOTE: Cubemap data is expected to be 6 images in a single data array (one after the other),
-// expected the following convention: +X, -X, +Y, -Y, +Z, -Z
-unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    int mipSize = size;
-
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned char *dataPtr = NULL;
-    if (data != NULL) dataPtr = (unsigned char *)data;
-
-    unsigned int dataSize = rlGetPixelDataSize(size, size, format);
-
-    glGenTextures(1, &id);
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-    if (glInternalFormat != 0)
-    {
-        // Load cubemap faces/mipmaps
-        for (int i = 0; i < 6*mipmapCount; i++)
-        {
-            int mipmapLevel = i/6;
-            int face = i%6;
-
-            if (data == NULL)
-            {
-                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
-                {
-                    if ((format == RL_PIXELFORMAT_UNCOMPRESSED_R32) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16)) TRACELOG(RL_LOG_WARNING, "TEXTURES: Cubemap requested format not supported");
-                    else glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, NULL);
-                }
-                else TRACELOG(RL_LOG_WARNING, "TEXTURES: Empty cubemap creation does not support compressed format");
-            }
-            else
-            {
-                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, (unsigned char *)dataPtr + face*dataSize);
-                else glCompressedTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, dataSize, (unsigned char *)dataPtr + face*dataSize);
-            }
-
-#if defined(GRAPHICS_API_OPENGL_33)
-            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
-            {
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
-                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
-            {
-#if defined(GRAPHICS_API_OPENGL_21)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
-#elif defined(GRAPHICS_API_OPENGL_33)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
-#endif
-                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-#endif
-            if (face == 5)
-            {
-                mipSize /= 2;
-                if (data != NULL) dataPtr += dataSize*6; // Increment data pointer to next mipmap
-
-                // Security check for NPOT textures
-                if (mipSize < 1) mipSize = 1;
-
-                dataSize = rlGetPixelDataSize(mipSize, mipSize, format);
-            }
-        }
-    }
-
-    // Set cubemap texture sampling parameters
-    if (mipmapCount > 1) glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    else glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-#if defined(GRAPHICS_API_OPENGL_33)
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);  // Flag not supported on OpenGL ES 2.0
-#endif
-
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-
-    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Cubemap texture loaded successfully (%ix%i)", id, size, size);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load cubemap texture");
-
-    return id;
-}
-
-// Update already loaded texture in GPU with new data
-// NOTE: We don't know safely if internal texture format is the expected one...
-void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data)
-{
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
-    {
-        glTexSubImage2D(GL_TEXTURE_2D, 0, offsetX, offsetY, width, height, glFormat, glType, data);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to update for current texture format (%i)", id, format);
-}
-
-// Get OpenGL internal formats and data type from raylib PixelFormat
-void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType)
-{
-    *glInternalFormat = 0;
-    *glFormat = 0;
-    *glType = 0;
-
-    switch (format)
-    {
-    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_21) || defined(GRAPHICS_API_OPENGL_ES2)
-        // NOTE: on OpenGL ES 2.0 (WebGL), internalFormat must match format and options allowed are: GL_LUMINANCE, GL_RGB, GL_RGBA
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_LUMINANCE_ALPHA; *glFormat = GL_LUMINANCE_ALPHA; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
-        #if !defined(GRAPHICS_API_OPENGL_11)
-        #if defined(GRAPHICS_API_OPENGL_ES3)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F_EXT; *glFormat = GL_RED_EXT; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F_EXT; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F_EXT; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F_EXT; *glFormat = GL_RED_EXT; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F_EXT; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F_EXT; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
-        #else
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_FLOAT; break;            // NOTE: Requires extension OES_texture_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_FLOAT; break;                  // NOTE: Requires extension OES_texture_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;             // NOTE: Requires extension OES_texture_float
-        #if defined(GRAPHICS_API_OPENGL_21)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_ARB; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_ARB; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_ARB; break;
-        #else // defined(GRAPHICS_API_OPENGL_ES2)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_OES; break;   // NOTE: Requires extension OES_texture_half_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_OES; break;         // NOTE: Requires extension OES_texture_half_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_OES; break;    // NOTE: Requires extension OES_texture_half_float
-        #endif
-        #endif
-        #endif
-    #elif defined(GRAPHICS_API_OPENGL_33)
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_R8; *glFormat = GL_RED; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_RG8; *glFormat = GL_RG; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB565; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB8; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGB5_A1; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA4; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA8; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F; *glFormat = GL_RED; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F; *glFormat = GL_RED; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
-    #endif
-    #if !defined(GRAPHICS_API_OPENGL_11)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGB_S3TC_DXT1_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT1_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT3_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT5_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: if (RLGL.ExtSupported.texCompETC1) *glInternalFormat = GL_ETC1_RGB8_OES; break;                      // NOTE: Requires OpenGL ES 2.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGB8_ETC2; break;               // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGBA8_ETC2_EAC; break;     // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG; break;    // NOTE: Requires PowerVR GPU
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG; break;  // NOTE: Requires PowerVR GPU
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_4x4_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_8x8_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
-    #endif
-        default: TRACELOG(RL_LOG_WARNING, "TEXTURE: Current format not supported (%i)", format); break;
-    }
-}
-
-// Unload texture from GPU memory
-void rlUnloadTexture(unsigned int id)
-{
-    glDeleteTextures(1, &id);
-}
-
-// Generate mipmap data for selected texture
-// NOTE: Only supports GPU mipmap generation
-void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    // Check if texture is power-of-two (POT)
-    bool texIsPOT = false;
-
-    if (((width > 0) && ((width & (width - 1)) == 0)) &&
-        ((height > 0) && ((height & (height - 1)) == 0))) texIsPOT = true;
-
-    if ((texIsPOT) || (RLGL.ExtSupported.texNPOT))
-    {
-        //glHint(GL_GENERATE_MIPMAP_HINT, GL_DONT_CARE);   // Hint for mipmaps generation algorithm: GL_FASTEST, GL_NICEST, GL_DONT_CARE
-        glGenerateMipmap(GL_TEXTURE_2D);    // Generate mipmaps automatically
-
-        #define MIN(a,b) (((a)<(b))? (a):(b))
-        #define MAX(a,b) (((a)>(b))? (a):(b))
-
-        *mipmaps = 1 + (int)floor(log(MAX(width, height))/log(2));
-        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Mipmaps generated automatically, total: %i", id, *mipmaps);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to generate mipmaps", id);
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-#else
-    TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] GPU mipmap generation not supported", id);
-#endif
-}
-
-// Read texture pixel data
-void *rlReadTexturePixels(unsigned int id, int width, int height, int format)
-{
-    void *pixels = NULL;
-
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    // NOTE: Using texture id, we can retrieve some texture info (but not on OpenGL ES 2.0)
-    // Possible texture info: GL_TEXTURE_RED_SIZE, GL_TEXTURE_GREEN_SIZE, GL_TEXTURE_BLUE_SIZE, GL_TEXTURE_ALPHA_SIZE
-    //int width, height, format;
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_WIDTH, &width);
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_HEIGHT, &height);
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_INTERNAL_FORMAT, &format);
-
-    // NOTE: Each row written to or read from by OpenGL pixel operations like glGetTexImage are aligned to a 4 byte boundary by default, which may add some padding
-    // Use glPixelStorei to modify padding with the GL_[UN]PACK_ALIGNMENT setting
-    // GL_PACK_ALIGNMENT affects operations that read from OpenGL memory (glReadPixels, glGetTexImage, etc.)
-    // GL_UNPACK_ALIGNMENT affects operations that write to OpenGL memory (glTexImage, etc.)
-    glPixelStorei(GL_PACK_ALIGNMENT, 1);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-    unsigned int size = rlGetPixelDataSize(width, height, format);
-
-    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
-    {
-        pixels = RL_MALLOC(size);
-        glGetTexImage(GL_TEXTURE_2D, 0, glFormat, glType, pixels);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Data retrieval not suported for pixel format (%i)", id, format);
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    // glGetTexImage() is not available on OpenGL ES 2.0
-    // Texture width and height are required on OpenGL ES 2.0, there is no way to get it from texture id
-    // Two possible Options:
-    // 1 - Bind texture to color fbo attachment and glReadPixels()
-    // 2 - Create an fbo, activate it, render quad with texture, glReadPixels()
-    // We are using Option 1, just need to care for texture format on retrieval
-    // NOTE: This behaviour could be conditioned by graphic driver...
-    unsigned int fboId = rlLoadFramebuffer();
-
-    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
-    glBindTexture(GL_TEXTURE_2D, 0);
-
-    // Attach our texture to FBO
-    glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, id, 0);
-
-    // We read data as RGBA because FBO texture is configured as RGBA, despite binding another texture format
-    pixels = (unsigned char *)RL_MALLOC(rlGetPixelDataSize(width, height, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8));
-    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
-    // Clean up temporal fbo
-    rlUnloadFramebuffer(fboId);
-#endif
-
-    return pixels;
-}
-
-// Read screen pixel data (color buffer)
-unsigned char *rlReadScreenPixels(int width, int height)
-{
-    unsigned char *screenData = (unsigned char *)RL_CALLOC(width*height*4, sizeof(unsigned char));
-
-    // NOTE 1: glReadPixels returns image flipped vertically -> (0,0) is the bottom left corner of the framebuffer
-    // NOTE 2: We are getting alpha channel! Be careful, it can be transparent if not cleared properly!
-    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, screenData);
-
-    // Flip image vertically!
-    unsigned char *imgData = (unsigned char *)RL_MALLOC(width*height*4*sizeof(unsigned char));
-
-    for (int y = height - 1; y >= 0; y--)
-    {
-        for (int x = 0; x < (width*4); x++)
-        {
-            imgData[((height - 1) - y)*width*4 + x] = screenData[(y*width*4) + x];  // Flip line
-
-            // Set alpha component value to 255 (no trasparent image retrieval)
-            // NOTE: Alpha value has already been applied to RGB in framebuffer, we don't need it!
-            if (((x + 1)%4) == 0) imgData[((height - 1) - y)*width*4 + x] = 255;
-        }
-    }
-
-    RL_FREE(screenData);
-
-    return imgData;     // NOTE: image data should be freed
-}
-
-// Framebuffer management (fbo)
-//-----------------------------------------------------------------------------------------
-// Load a framebuffer to be used for rendering
-// NOTE: No textures attached
-unsigned int rlLoadFramebuffer(void)
-{
-    unsigned int fboId = 0;
-
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glGenFramebuffers(1, &fboId);       // Create the framebuffer object
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);   // Unbind any framebuffer
-#endif
-
-    return fboId;
-}
-
-// Attach color buffer texture to an fbo (unloads previous attachment)
-// NOTE: Attach type: 0-Color, 1-Depth renderbuffer, 2-Depth texture
-void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
-
-    switch (attachType)
-    {
-        case RL_ATTACHMENT_COLOR_CHANNEL0:
-        case RL_ATTACHMENT_COLOR_CHANNEL1:
-        case RL_ATTACHMENT_COLOR_CHANNEL2:
-        case RL_ATTACHMENT_COLOR_CHANNEL3:
-        case RL_ATTACHMENT_COLOR_CHANNEL4:
-        case RL_ATTACHMENT_COLOR_CHANNEL5:
-        case RL_ATTACHMENT_COLOR_CHANNEL6:
-        case RL_ATTACHMENT_COLOR_CHANNEL7:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER) glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_RENDERBUFFER, texId);
-            else if (texType >= RL_ATTACHMENT_CUBEMAP_POSITIVE_X) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_CUBE_MAP_POSITIVE_X + texType, texId, mipLevel);
-
-        } break;
-        case RL_ATTACHMENT_DEPTH:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, texId);
-
-        } break;
-        case RL_ATTACHMENT_STENCIL:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_RENDERBUFFER, texId);
-
-        } break;
-        default: break;
-    }
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-#endif
-}
-
-// Verify render texture is complete
-bool rlFramebufferComplete(unsigned int id)
-{
-    bool result = false;
-
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, id);
-
-    GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-
-    if (status != GL_FRAMEBUFFER_COMPLETE)
-    {
-        switch (status)
-        {
-            case GL_FRAMEBUFFER_UNSUPPORTED: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer is unsupported", id); break;
-            case GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete attachment", id); break;
-#if defined(GRAPHICS_API_OPENGL_ES2)
-            case GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete dimensions", id); break;
-#endif
-            case GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has a missing attachment", id); break;
-            default: break;
-        }
-    }
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
-    result = (status == GL_FRAMEBUFFER_COMPLETE);
-#endif
-
-    return result;
-}
-
-// Unload framebuffer from GPU memory
-// NOTE: All attached textures/cubemaps/renderbuffers are also deleted
-void rlUnloadFramebuffer(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    // Query depth attachment to automatically delete texture/renderbuffer
-    int depthType = 0, depthId = 0;
-    glBindFramebuffer(GL_FRAMEBUFFER, id);   // Bind framebuffer to query depth texture type
-    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE, &depthType);
-
-    // TODO: Review warning retrieving object name in WebGL
-    // WARNING: WebGL: INVALID_ENUM: getFramebufferAttachmentParameter: invalid parameter name
-    // https://registry.khronos.org/webgl/specs/latest/1.0/
-    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME, &depthId);
-
-    unsigned int depthIdU = (unsigned int)depthId;
-    if (depthType == GL_RENDERBUFFER) glDeleteRenderbuffers(1, &depthIdU);
-    else if (depthType == GL_TEXTURE) glDeleteTextures(1, &depthIdU);
-
-    // NOTE: If a texture object is deleted while its image is attached to the *currently bound* framebuffer,
-    // the texture image is automatically detached from the currently bound framebuffer
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-    glDeleteFramebuffers(1, &id);
-
-    TRACELOG(RL_LOG_INFO, "FBO: [ID %i] Unloaded framebuffer from VRAM (GPU)", id);
-#endif
-}
-
-// Vertex data management
-//-----------------------------------------------------------------------------------------
-// Load a new attributes buffer
-unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glGenBuffers(1, &id);
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-    glBufferData(GL_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
-#endif
-
-    return id;
-}
-
-// Load a new attributes element buffer
-unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glGenBuffers(1, &id);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-    glBufferData(GL_ELEMENT_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
-#endif
-
-    return id;
-}
-
-// Enable vertex buffer (VBO)
-void rlEnableVertexBuffer(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-#endif
-}
-
-// Disable vertex buffer (VBO)
-void rlDisableVertexBuffer(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-#endif
-}
-
-// Enable vertex buffer element (VBO element)
-void rlEnableVertexBufferElement(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-#endif
-}
-
-// Disable vertex buffer element (VBO element)
-void rlDisableVertexBufferElement(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-#endif
-}
-
-// Update vertex buffer with new data
-// NOTE: dataSize and offset must be provided in bytes
-void rlUpdateVertexBuffer(unsigned int id, const void *data, int dataSize, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-    glBufferSubData(GL_ARRAY_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Update vertex buffer elements with new data
-// NOTE: dataSize and offset must be provided in bytes
-void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-    glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Enable vertex array object (VAO)
-bool rlEnableVertexArray(unsigned int vaoId)
-{
-    bool result = false;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glBindVertexArray(vaoId);
-        result = true;
-    }
-#endif
-    return result;
-}
-
-// Disable vertex array object (VAO)
-void rlDisableVertexArray(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-#endif
-}
-
-// Enable vertex attribute index
-void rlEnableVertexAttribute(unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glEnableVertexAttribArray(index);
-#endif
-}
-
-// Disable vertex attribute index
-void rlDisableVertexAttribute(unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDisableVertexAttribArray(index);
-#endif
-}
-
-// Draw vertex array
-void rlDrawVertexArray(int offset, int count)
-{
-    glDrawArrays(GL_TRIANGLES, offset, count);
-}
-
-// Draw vertex array elements
-void rlDrawVertexArrayElements(int offset, int count, const void *buffer)
-{
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned short *bufferPtr = (unsigned short *)buffer;
-    if (offset > 0) bufferPtr += offset;
-
-    glDrawElements(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr);
-}
-
-// Draw vertex array instanced
-void rlDrawVertexArrayInstanced(int offset, int count, int instances)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDrawArraysInstanced(GL_TRIANGLES, 0, count, instances);
-#endif
-}
-
-// Draw vertex array elements instanced
-void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned short *bufferPtr = (unsigned short *)buffer;
-    if (offset > 0) bufferPtr += offset;
-
-    glDrawElementsInstanced(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr, instances);
-#endif
-}
-
-#if defined(GRAPHICS_API_OPENGL_11)
-// Enable vertex state pointer
-void rlEnableStatePointer(int vertexAttribType, void *buffer)
-{
-    if (buffer != NULL) glEnableClientState(vertexAttribType);
-    switch (vertexAttribType)
-    {
-        case GL_VERTEX_ARRAY: glVertexPointer(3, GL_FLOAT, 0, buffer); break;
-        case GL_TEXTURE_COORD_ARRAY: glTexCoordPointer(2, GL_FLOAT, 0, buffer); break;
-        case GL_NORMAL_ARRAY: if (buffer != NULL) glNormalPointer(GL_FLOAT, 0, buffer); break;
-        case GL_COLOR_ARRAY: if (buffer != NULL) glColorPointer(4, GL_UNSIGNED_BYTE, 0, buffer); break;
-        //case GL_INDEX_ARRAY: if (buffer != NULL) glIndexPointer(GL_SHORT, 0, buffer); break; // Indexed colors
-        default: break;
-    }
-}
-
-// Disable vertex state pointer
-void rlDisableStatePointer(int vertexAttribType)
-{
-    glDisableClientState(vertexAttribType);
-}
-#endif
-
-// Load vertex array object (VAO)
-unsigned int rlLoadVertexArray(void)
-{
-    unsigned int vaoId = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glGenVertexArrays(1, &vaoId);
-    }
-#endif
-    return vaoId;
-}
-
-// Set vertex attribute
-void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Data type could be: GL_BYTE, GL_UNSIGNED_BYTE, GL_SHORT, GL_UNSIGNED_SHORT, GL_INT, GL_UNSIGNED_INT
-    // Additional types (depends on OpenGL version or extensions):
-    //  - GL_HALF_FLOAT, GL_FLOAT, GL_DOUBLE, GL_FIXED,
-    //  - GL_INT_2_10_10_10_REV, GL_UNSIGNED_INT_2_10_10_10_REV, GL_UNSIGNED_INT_10F_11F_11F_REV
-
-    size_t offsetNative = offset;
-    glVertexAttribPointer(index, compSize, type, normalized, stride, (void *)offsetNative);
-#endif
-}
-
-// Set vertex attribute divisor
-void rlSetVertexAttributeDivisor(unsigned int index, int divisor)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glVertexAttribDivisor(index, divisor);
-#endif
-}
-
-// Unload vertex array object (VAO)
-void rlUnloadVertexArray(unsigned int vaoId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glBindVertexArray(0);
-        glDeleteVertexArrays(1, &vaoId);
-        TRACELOG(RL_LOG_INFO, "VAO: [ID %i] Unloaded vertex array data from VRAM (GPU)", vaoId);
-    }
-#endif
-}
-
-// Unload vertex buffer (VBO)
-void rlUnloadVertexBuffer(unsigned int vboId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDeleteBuffers(1, &vboId);
-    //TRACELOG(RL_LOG_INFO, "VBO: Unloaded vertex data from VRAM (GPU)");
-#endif
-}
-
-// Shaders management
-//-----------------------------------------------------------------------------------------------
-// Load shader from code strings
-// NOTE: If shader string is NULL, using default vertex/fragment shaders
-unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int vertexShaderId = 0;
-    unsigned int fragmentShaderId = 0;
-
-    // Compile vertex shader (if provided)
-    // NOTE: If not vertex shader is provided, use default one
-    if (vsCode != NULL) vertexShaderId = rlCompileShader(vsCode, GL_VERTEX_SHADER);
-    else vertexShaderId = RLGL.State.defaultVShaderId;
-
-    // Compile fragment shader (if provided)
-    // NOTE: If not vertex shader is provided, use default one
-    if (fsCode != NULL) fragmentShaderId = rlCompileShader(fsCode, GL_FRAGMENT_SHADER);
-    else fragmentShaderId = RLGL.State.defaultFShaderId;
-
-    // In case vertex and fragment shader are the default ones, no need to recompile, we can just assign the default shader program id
-    if ((vertexShaderId == RLGL.State.defaultVShaderId) && (fragmentShaderId == RLGL.State.defaultFShaderId)) id = RLGL.State.defaultShaderId;
-    else if ((vertexShaderId > 0) && (fragmentShaderId > 0))
-    {
-        // One of or both shader are new, we need to compile a new shader program
-        id = rlLoadShaderProgram(vertexShaderId, fragmentShaderId);
-
-        // We can detach and delete vertex/fragment shaders (if not default ones)
-        // NOTE: We detach shader before deletion to make sure memory is freed
-        if (vertexShaderId != RLGL.State.defaultVShaderId)
-        {
-            // WARNING: Shader program linkage could fail and returned id is 0
-            if (id > 0) glDetachShader(id, vertexShaderId);
-            glDeleteShader(vertexShaderId);
-        }
-        if (fragmentShaderId != RLGL.State.defaultFShaderId)
-        {
-            // WARNING: Shader program linkage could fail and returned id is 0
-            if (id > 0) glDetachShader(id, fragmentShaderId);
-            glDeleteShader(fragmentShaderId);
-        }
-
-        // In case shader program loading failed, we assign default shader
-        if (id == 0)
-        {
-            // In case shader loading fails, we return the default shader
-            TRACELOG(RL_LOG_WARNING, "SHADER: Failed to load custom shader code, using default shader");
-            id = RLGL.State.defaultShaderId;
-        }
-        /*
-        else
-        {
-            // Get available shader uniforms
-            // NOTE: This information is useful for debug...
-            int uniformCount = -1;
-            glGetProgramiv(id, GL_ACTIVE_UNIFORMS, &uniformCount);
-
-            for (int i = 0; i < uniformCount; i++)
-            {
-                int namelen = -1;
-                int num = -1;
-                char name[256] = { 0 };     // Assume no variable names longer than 256
-                GLenum type = GL_ZERO;
-
-                // Get the name of the uniforms
-                glGetActiveUniform(id, i, sizeof(name) - 1, &namelen, &num, &type, name);
-
-                name[namelen] = 0;
-                TRACELOGD("SHADER: [ID %i] Active uniform (%s) set at location: %i", id, name, glGetUniformLocation(id, name));
-            }
-        }
-        */
-    }
-#endif
-
-    return id;
-}
-
-// Compile custom shader and return shader id
-unsigned int rlCompileShader(const char *shaderCode, int type)
-{
-    unsigned int shader = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    shader = glCreateShader(type);
-    glShaderSource(shader, 1, &shaderCode, NULL);
-
-    GLint success = 0;
-    glCompileShader(shader);
-    glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        switch (type)
-        {
-            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile vertex shader code", shader); break;
-            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile fragment shader code", shader); break;
-            //case GL_GEOMETRY_SHADER:
-        #if defined(GRAPHICS_API_OPENGL_43)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile compute shader code", shader); break;
-        #elif defined(GRAPHICS_API_OPENGL_33)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
-        #endif
-            default: break;
-        }
-
-        int maxLength = 0;
-        glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetShaderInfoLog(shader, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Compile error: %s", shader, log);
-            RL_FREE(log);
-        }
-
-        shader = 0;
-    }
-    else
-    {
-        switch (type)
-        {
-            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Vertex shader compiled successfully", shader); break;
-            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Fragment shader compiled successfully", shader); break;
-            //case GL_GEOMETRY_SHADER:
-        #if defined(GRAPHICS_API_OPENGL_43)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader compiled successfully", shader); break;
-        #elif defined(GRAPHICS_API_OPENGL_33)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
-        #endif
-            default: break;
-        }
-    }
-#endif
-
-    return shader;
-}
-
-// Load custom shader strings and return program id
-unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId)
-{
-    unsigned int program = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    GLint success = 0;
-    program = glCreateProgram();
-
-    glAttachShader(program, vShaderId);
-    glAttachShader(program, fShaderId);
-
-    // NOTE: Default attribute shader locations must be Bound before linking
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT, RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2);
-
-#ifdef RL_SUPPORT_MESH_GPU_SKINNING
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS);
-#endif
-
-    // NOTE: If some attrib name is no found on the shader, it locations becomes -1
-
-    glLinkProgram(program);
-
-    // NOTE: All uniform variables are intitialised to 0 when a program links
-
-    glGetProgramiv(program, GL_LINK_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link shader program", program);
-
-        int maxLength = 0;
-        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetProgramInfoLog(program, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
-            RL_FREE(log);
-        }
-
-        glDeleteProgram(program);
-
-        program = 0;
-    }
-    else
-    {
-        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
-        //GLint binarySize = 0;
-        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
-
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Program shader loaded successfully", program);
-    }
-#endif
-    return program;
-}
-
-// Unload shader program
-void rlUnloadShaderProgram(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDeleteProgram(id);
-
-    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Unloaded shader program data from VRAM (GPU)", id);
-#endif
-}
-
-// Get shader location uniform
-int rlGetLocationUniform(unsigned int shaderId, const char *uniformName)
-{
-    int location = -1;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    location = glGetUniformLocation(shaderId, uniformName);
-
-    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader uniform: %s", shaderId, uniformName);
-    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader uniform (%s) set at location: %i", shaderId, uniformName, location);
-#endif
-    return location;
-}
-
-// Get shader location attribute
-int rlGetLocationAttrib(unsigned int shaderId, const char *attribName)
-{
-    int location = -1;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    location = glGetAttribLocation(shaderId, attribName);
-
-    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader attribute: %s", shaderId, attribName);
-    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader attribute (%s) set at location: %i", shaderId, attribName, location);
-#endif
-    return location;
-}
-
-// Set shader value uniform
-void rlSetUniform(int locIndex, const void *value, int uniformType, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    switch (uniformType)
-    {
-        case RL_SHADER_UNIFORM_FLOAT: glUniform1fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC2: glUniform2fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC3: glUniform3fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC4: glUniform4fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_INT: glUniform1iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC2: glUniform2iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC3: glUniform3iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC4: glUniform4iv(locIndex, count, (int *)value); break;
-    #if !defined(GRAPHICS_API_OPENGL_ES2)
-        case RL_SHADER_UNIFORM_UINT: glUniform1uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC2: glUniform2uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC3: glUniform3uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC4: glUniform4uiv(locIndex, count, (unsigned int *)value); break;
-    #endif
-        case RL_SHADER_UNIFORM_SAMPLER2D: glUniform1iv(locIndex, count, (int *)value); break;
-        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set uniform value, data type not recognized");
-
-        // TODO: Support glUniform1uiv(), glUniform2uiv(), glUniform3uiv(), glUniform4uiv()
-    }
-#endif
-}
-
-// Set shader value attribute
-void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    switch (attribType)
-    {
-        case RL_SHADER_ATTRIB_FLOAT: if (count == 1) glVertexAttrib1fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC2: if (count == 2) glVertexAttrib2fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC3: if (count == 3) glVertexAttrib3fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC4: if (count == 4) glVertexAttrib4fv(locIndex, (float *)value); break;
-        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set attrib default value, data type not recognized");
-    }
-#endif
-}
-
-// Set shader value uniform matrix
-void rlSetUniformMatrix(int locIndex, Matrix mat)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    float matfloat[16] = {
-        mat.m0, mat.m1, mat.m2, mat.m3,
-        mat.m4, mat.m5, mat.m6, mat.m7,
-        mat.m8, mat.m9, mat.m10, mat.m11,
-        mat.m12, mat.m13, mat.m14, mat.m15
-    };
-    glUniformMatrix4fv(locIndex, 1, false, matfloat);
-#endif
-}
-
-// Set shader value uniform matrix
-void rlSetUniformMatrices(int locIndex, const Matrix *matrices, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33)
-    glUniformMatrix4fv(locIndex, count, true, (const float *)matrices);
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    // WARNING: WebGL does not support Matrix transpose ("true" parameter)
-    // REF: https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/uniformMatrix
-    glUniformMatrix4fv(locIndex, count, false, (const float *)matrices);
-#endif
-}
-
-// Set shader value uniform sampler
-void rlSetUniformSampler(int locIndex, unsigned int textureId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Check if texture is already active
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-    {
-        if (RLGL.State.activeTextureId[i] == textureId)
-        {
-            glUniform1i(locIndex, 1 + i);
-            return;
-        }
-    }
-
-    // Register a new active texture for the internal batch system
-    // NOTE: Default texture is always activated as GL_TEXTURE0
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-    {
-        if (RLGL.State.activeTextureId[i] == 0)
-        {
-            glUniform1i(locIndex, 1 + i);              // Activate new texture unit
-            RLGL.State.activeTextureId[i] = textureId; // Save texture id for binding on drawing
-            break;
-        }
-    }
-#endif
-}
-
-// Set shader currently active (id and locations)
-void rlSetShader(unsigned int id, int *locs)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.State.currentShaderId != id)
-    {
-        rlDrawRenderBatch(RLGL.currentBatch);
-        RLGL.State.currentShaderId = id;
-        RLGL.State.currentShaderLocs = locs;
-    }
-#endif
-}
-
-// Load compute shader program
-unsigned int rlLoadComputeShaderProgram(unsigned int shaderId)
-{
-    unsigned int program = 0;
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    GLint success = 0;
-    program = glCreateProgram();
-    glAttachShader(program, shaderId);
-    glLinkProgram(program);
-
-    // NOTE: All uniform variables are intitialised to 0 when a program links
-
-    glGetProgramiv(program, GL_LINK_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link compute shader program", program);
-
-        int maxLength = 0;
-        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetProgramInfoLog(program, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
-            RL_FREE(log);
-        }
-
-        glDeleteProgram(program);
-
-        program = 0;
-    }
-    else
-    {
-        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
-        //GLint binarySize = 0;
-        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
-
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader program loaded successfully", program);
-    }
-#else
-    TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-    return program;
-}
-
-// Dispatch compute shader (equivalent to *draw* for graphics pilepine)
-void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glDispatchCompute(groupX, groupY, groupZ);
-#endif
-}
-
-// Load shader storage buffer object (SSBO)
-unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint)
-{
-    unsigned int ssbo = 0;
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    glGenBuffers(1, &ssbo);
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, ssbo);
-    glBufferData(GL_SHADER_STORAGE_BUFFER, size, data, usageHint? usageHint : RL_STREAM_COPY);
-    if (data == NULL) glClearBufferData(GL_SHADER_STORAGE_BUFFER, GL_R8UI, GL_RED_INTEGER, GL_UNSIGNED_BYTE, NULL);    // Clear buffer data to 0
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, 0);
-#else
-    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-    return ssbo;
-}
-
-// Unload shader storage buffer object (SSBO)
-void rlUnloadShaderBuffer(unsigned int ssboId)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glDeleteBuffers(1, &ssboId);
-#else
-    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-}
-
-// Update SSBO buffer data
-void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Get SSBO buffer size
-unsigned int rlGetShaderBufferSize(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    GLint64 size = 0;
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glGetBufferParameteri64v(GL_SHADER_STORAGE_BUFFER, GL_BUFFER_SIZE, &size);
-    return (size > 0)? (unsigned int)size : 0;
-#else
-    return 0;
-#endif
-}
-
-// Read SSBO buffer data (GPU->CPU)
-void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glGetBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, count, dest);
-#endif
-}
-
-// Bind SSBO buffer
-void rlBindShaderBuffer(unsigned int id, unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBufferBase(GL_SHADER_STORAGE_BUFFER, index, id);
-#endif
-}
-
-// Copy SSBO buffer data
-void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_COPY_READ_BUFFER, srcId);
-    glBindBuffer(GL_COPY_WRITE_BUFFER, destId);
-    glCopyBufferSubData(GL_COPY_READ_BUFFER, GL_COPY_WRITE_BUFFER, srcOffset, destOffset, count);
-#endif
-}
-
-// Bind image texture
-void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    unsigned int glInternalFormat = 0, glFormat = 0, glType = 0;
-
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-    glBindImageTexture(index, id, 0, 0, 0, readonly? GL_READ_ONLY : GL_READ_WRITE, glInternalFormat);
-#else
-    TRACELOG(RL_LOG_WARNING, "TEXTURE: Image texture binding not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-}
-
-// Matrix state management
-//-----------------------------------------------------------------------------------------
-// Get internal modelview matrix
-Matrix rlGetMatrixModelview(void)
-{
-    Matrix matrix = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_11)
-    float mat[16];
-    glGetFloatv(GL_MODELVIEW_MATRIX, mat);
-    matrix.m0 = mat[0];
-    matrix.m1 = mat[1];
-    matrix.m2 = mat[2];
-    matrix.m3 = mat[3];
-    matrix.m4 = mat[4];
-    matrix.m5 = mat[5];
-    matrix.m6 = mat[6];
-    matrix.m7 = mat[7];
-    matrix.m8 = mat[8];
-    matrix.m9 = mat[9];
-    matrix.m10 = mat[10];
-    matrix.m11 = mat[11];
-    matrix.m12 = mat[12];
-    matrix.m13 = mat[13];
-    matrix.m14 = mat[14];
-    matrix.m15 = mat[15];
-#else
-    matrix = RLGL.State.modelview;
-#endif
-    return matrix;
-}
-
-// Get internal projection matrix
-Matrix rlGetMatrixProjection(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    float mat[16];
-    glGetFloatv(GL_PROJECTION_MATRIX,mat);
-    Matrix m;
-    m.m0 = mat[0];
-    m.m1 = mat[1];
-    m.m2 = mat[2];
-    m.m3 = mat[3];
-    m.m4 = mat[4];
-    m.m5 = mat[5];
-    m.m6 = mat[6];
-    m.m7 = mat[7];
-    m.m8 = mat[8];
-    m.m9 = mat[9];
-    m.m10 = mat[10];
-    m.m11 = mat[11];
-    m.m12 = mat[12];
-    m.m13 = mat[13];
-    m.m14 = mat[14];
-    m.m15 = mat[15];
-    return m;
-#else
-    return RLGL.State.projection;
-#endif
-}
-
-// Get internal accumulated transform matrix
-Matrix rlGetMatrixTransform(void)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // TODO: Consider possible transform matrices in the RLGL.State.stack
-    // Is this the right order? or should we start with the first stored matrix instead of the last one?
-    //Matrix matStackTransform = rlMatrixIdentity();
-    //for (int i = RLGL.State.stackCounter; i > 0; i--) matStackTransform = rlMatrixMultiply(RLGL.State.stack[i], matStackTransform);
-    mat = RLGL.State.transform;
-#endif
-    return mat;
-}
-
-// Get internal projection matrix for stereo render (selected eye)
-Matrix rlGetMatrixProjectionStereo(int eye)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    mat = RLGL.State.projectionStereo[eye];
-#endif
-    return mat;
-}
-
-// Get internal view offset matrix for stereo render (selected eye)
-Matrix rlGetMatrixViewOffsetStereo(int eye)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    mat = RLGL.State.viewOffsetStereo[eye];
-#endif
-    return mat;
-}
-
-// Set a custom modelview matrix (replaces internal modelview matrix)
-void rlSetMatrixModelview(Matrix view)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.modelview = view;
-#endif
-}
-
-// Set a custom projection matrix (replaces internal projection matrix)
-void rlSetMatrixProjection(Matrix projection)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.projection = projection;
-#endif
-}
-
-// Set eyes projection matrices for stereo rendering
-void rlSetMatrixProjectionStereo(Matrix right, Matrix left)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.projectionStereo[0] = right;
-    RLGL.State.projectionStereo[1] = left;
-#endif
-}
-
-// Set eyes view offsets matrices for stereo rendering
-void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.viewOffsetStereo[0] = right;
-    RLGL.State.viewOffsetStereo[1] = left;
-#endif
-}
-
-// Load and draw a quad in NDC
-void rlLoadDrawQuad(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int quadVAO = 0;
-    unsigned int quadVBO = 0;
-
-    float vertices[] = {
-         // Positions         Texcoords
-        -1.0f,  1.0f, 0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f, 0.0f,   0.0f, 0.0f,
-         1.0f,  1.0f, 0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, 0.0f,   1.0f, 0.0f,
-    };
-
-    // Gen VAO to contain VBO
-    glGenVertexArrays(1, &quadVAO);
-    glBindVertexArray(quadVAO);
-
-    // Gen and fill vertex buffer (VBO)
-    glGenBuffers(1, &quadVBO);
-    glBindBuffer(GL_ARRAY_BUFFER, quadVBO);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), &vertices, GL_STATIC_DRAW);
-
-    // Bind vertex attributes (position, texcoords)
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)(3*sizeof(float))); // Texcoords
-
-    // Draw quad
-    glBindVertexArray(quadVAO);
-    glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
-    glBindVertexArray(0);
-
-    // Delete buffers (VBO and VAO)
-    glDeleteBuffers(1, &quadVBO);
-    glDeleteVertexArrays(1, &quadVAO);
-#endif
-}
-
-// Load and draw a cube in NDC
-void rlLoadDrawCube(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int cubeVAO = 0;
-    unsigned int cubeVBO = 0;
-
-    float vertices[] = {
-         // Positions          Normals               Texcoords
-        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 0.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
-        -1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 0.0f
-    };
-
-    // Gen VAO to contain VBO
-    glGenVertexArrays(1, &cubeVAO);
-    glBindVertexArray(cubeVAO);
-
-    // Gen and fill vertex buffer (VBO)
-    glGenBuffers(1, &cubeVBO);
-    glBindBuffer(GL_ARRAY_BUFFER, cubeVBO);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
-
-    // Bind vertex attributes (position, normals, texcoords)
-    glBindVertexArray(cubeVAO);
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(3*sizeof(float))); // Normals
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(6*sizeof(float))); // Texcoords
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-    glBindVertexArray(0);
-
-    // Draw cube
-    glBindVertexArray(cubeVAO);
-    glDrawArrays(GL_TRIANGLES, 0, 36);
-    glBindVertexArray(0);
-
-    // Delete VBO and VAO
-    glDeleteBuffers(1, &cubeVBO);
-    glDeleteVertexArrays(1, &cubeVAO);
-#endif
-}
-
-// Get name string for pixel format
-const char *rlGetPixelFormatName(unsigned int format)
-{
-    switch (format)
-    {
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: return "GRAYSCALE"; break;         // 8 bit per pixel (no alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: return "GRAY_ALPHA"; break;       // 8*2 bpp (2 channels)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: return "R5G6B5"; break;               // 16 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: return "R8G8B8"; break;               // 24 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: return "R5G5B5A1"; break;           // 16 bpp (1 bit alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: return "R4G4B4A4"; break;           // 16 bpp (4 bit alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: return "R8G8B8A8"; break;           // 32 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: return "R32"; break;                     // 32 bpp (1 channel - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: return "R32G32B32"; break;         // 32*3 bpp (3 channels - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: return "R32G32B32A32"; break;   // 32*4 bpp (4 channels - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: return "R16"; break;                     // 16 bpp (1 channel - half float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: return "R16G16B16"; break;         // 16*3 bpp (3 channels - half float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: return "R16G16B16A16"; break;   // 16*4 bpp (4 channels - half float)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: return "DXT1_RGB"; break;             // 4 bpp (no alpha)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: return "DXT1_RGBA"; break;           // 4 bpp (1 bit alpha)
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: return "DXT3_RGBA"; break;           // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: return "DXT5_RGBA"; break;           // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: return "ETC1_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: return "ETC2_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: return "ETC2_RGBA"; break;       // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: return "PVRT_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: return "PVRT_RGBA"; break;           // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: return "ASTC_4x4_RGBA"; break;   // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: return "ASTC_8x8_RGBA"; break;   // 2 bpp
-        default: return "UNKNOWN"; break;
-    }
-}
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Definition
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Load default shader (just vertex positioning and texture coloring)
-// NOTE: This shader program is used for internal buffers
-// NOTE: Loaded: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
-static void rlLoadShaderDefault(void)
-{
-    RLGL.State.defaultShaderLocs = (int *)RL_CALLOC(RL_MAX_SHADER_LOCATIONS, sizeof(int));
-
-    // NOTE: All locations must be reseted to -1 (no location)
-    for (int i = 0; i < RL_MAX_SHADER_LOCATIONS; i++) RLGL.State.defaultShaderLocs[i] = -1;
-
-    // Vertex shader directly defined, no external file required
-    const char *defaultVShaderCode =
-#if defined(GRAPHICS_API_OPENGL_21)
-    "#version 120                       \n"
-    "attribute vec3 vertexPosition;     \n"
-    "attribute vec2 vertexTexCoord;     \n"
-    "attribute vec4 vertexColor;        \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-#elif defined(GRAPHICS_API_OPENGL_33)
-    "#version 330                       \n"
-    "in vec3 vertexPosition;            \n"
-    "in vec2 vertexTexCoord;            \n"
-    "in vec4 vertexColor;               \n"
-    "out vec2 fragTexCoord;             \n"
-    "out vec4 fragColor;                \n"
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    "#version 300 es                    \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2) (on some browsers)
-    "in vec3 vertexPosition;            \n"
-    "in vec2 vertexTexCoord;            \n"
-    "in vec4 vertexColor;               \n"
-    "out vec2 fragTexCoord;             \n"
-    "out vec4 fragColor;                \n"
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    "#version 100                       \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL) (on some browsers)
-    "attribute vec3 vertexPosition;     \n"
-    "attribute vec2 vertexTexCoord;     \n"
-    "attribute vec4 vertexColor;        \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-#endif
-
-    "uniform mat4 mvp;                  \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    fragTexCoord = vertexTexCoord; \n"
-    "    fragColor = vertexColor;       \n"
-    "    gl_Position = mvp*vec4(vertexPosition, 1.0); \n"
-    "}                                  \n";
-
-    // Fragment shader directly defined, no external file required
-    const char *defaultFShaderCode =
-#if defined(GRAPHICS_API_OPENGL_21)
-    "#version 120                       \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
-    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
-    "}                                  \n";
-#elif defined(GRAPHICS_API_OPENGL_33)
-    "#version 330       \n"
-    "in vec2 fragTexCoord;              \n"
-    "in vec4 fragColor;                 \n"
-    "out vec4 finalColor;               \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
-    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
-    "}                                  \n";
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    "#version 300 es                    \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2)
-    "in vec2 fragTexCoord;              \n"
-    "in vec4 fragColor;                 \n"
-    "out vec4 finalColor;               \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
-    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
-    "}                                  \n";
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    "#version 100                       \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL)
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
-    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
-    "}                                  \n";
-#endif
-
-    // NOTE: Compiled vertex/fragment shaders are not deleted,
-    // they are kept for re-use as default shaders in case some shader loading fails
-    RLGL.State.defaultVShaderId = rlCompileShader(defaultVShaderCode, GL_VERTEX_SHADER);     // Compile default vertex shader
-    RLGL.State.defaultFShaderId = rlCompileShader(defaultFShaderCode, GL_FRAGMENT_SHADER);   // Compile default fragment shader
-
-    RLGL.State.defaultShaderId = rlLoadShaderProgram(RLGL.State.defaultVShaderId, RLGL.State.defaultFShaderId);
-
-    if (RLGL.State.defaultShaderId > 0)
-    {
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader loaded successfully", RLGL.State.defaultShaderId);
-
-        // Set default shader locations: attributes locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_POSITION] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_COLOR] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
-
-        // Set default shader locations: uniform locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MATRIX_MVP] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_MVP);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0);
-    }
-    else TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to load default shader", RLGL.State.defaultShaderId);
-}
-
-// Unload default shader
-// NOTE: Unloads: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
-static void rlUnloadShaderDefault(void)
-{
-    glUseProgram(0);
-
-    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultVShaderId);
-    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultFShaderId);
-    glDeleteShader(RLGL.State.defaultVShaderId);
-    glDeleteShader(RLGL.State.defaultFShaderId);
-
-    glDeleteProgram(RLGL.State.defaultShaderId);
-
-    RL_FREE(RLGL.State.defaultShaderLocs);
-
-    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader unloaded successfully", RLGL.State.defaultShaderId);
-}
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-// Get compressed format official GL identifier name
-static const char *rlGetCompressedFormatName(int format)
-{
-    switch (format)
-    {
-        // GL_EXT_texture_compression_s3tc
-        case 0x83F0: return "GL_COMPRESSED_RGB_S3TC_DXT1_EXT"; break;
-        case 0x83F1: return "GL_COMPRESSED_RGBA_S3TC_DXT1_EXT"; break;
-        case 0x83F2: return "GL_COMPRESSED_RGBA_S3TC_DXT3_EXT"; break;
-        case 0x83F3: return "GL_COMPRESSED_RGBA_S3TC_DXT5_EXT"; break;
-        // GL_3DFX_texture_compression_FXT1
-        case 0x86B0: return "GL_COMPRESSED_RGB_FXT1_3DFX"; break;
-        case 0x86B1: return "GL_COMPRESSED_RGBA_FXT1_3DFX"; break;
-        // GL_IMG_texture_compression_pvrtc
-        case 0x8C00: return "GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG"; break;
-        case 0x8C01: return "GL_COMPRESSED_RGB_PVRTC_2BPPV1_IMG"; break;
-        case 0x8C02: return "GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG"; break;
-        case 0x8C03: return "GL_COMPRESSED_RGBA_PVRTC_2BPPV1_IMG"; break;
-        // GL_OES_compressed_ETC1_RGB8_texture
-        case 0x8D64: return "GL_ETC1_RGB8_OES"; break;
-        // GL_ARB_texture_compression_rgtc
-        case 0x8DBB: return "GL_COMPRESSED_RED_RGTC1"; break;
-        case 0x8DBC: return "GL_COMPRESSED_SIGNED_RED_RGTC1"; break;
-        case 0x8DBD: return "GL_COMPRESSED_RG_RGTC2"; break;
-        case 0x8DBE: return "GL_COMPRESSED_SIGNED_RG_RGTC2"; break;
-        // GL_ARB_texture_compression_bptc
-        case 0x8E8C: return "GL_COMPRESSED_RGBA_BPTC_UNORM_ARB"; break;
-        case 0x8E8D: return "GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_ARB"; break;
-        case 0x8E8E: return "GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_ARB"; break;
-        case 0x8E8F: return "GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_ARB"; break;
-        // GL_ARB_ES3_compatibility
-        case 0x9274: return "GL_COMPRESSED_RGB8_ETC2"; break;
-        case 0x9275: return "GL_COMPRESSED_SRGB8_ETC2"; break;
-        case 0x9276: return "GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
-        case 0x9277: return "GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
-        case 0x9278: return "GL_COMPRESSED_RGBA8_ETC2_EAC"; break;
-        case 0x9279: return "GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC"; break;
-        case 0x9270: return "GL_COMPRESSED_R11_EAC"; break;
-        case 0x9271: return "GL_COMPRESSED_SIGNED_R11_EAC"; break;
-        case 0x9272: return "GL_COMPRESSED_RG11_EAC"; break;
-        case 0x9273: return "GL_COMPRESSED_SIGNED_RG11_EAC"; break;
-        // GL_KHR_texture_compression_astc_hdr
-        case 0x93B0: return "GL_COMPRESSED_RGBA_ASTC_4x4_KHR"; break;
-        case 0x93B1: return "GL_COMPRESSED_RGBA_ASTC_5x4_KHR"; break;
-        case 0x93B2: return "GL_COMPRESSED_RGBA_ASTC_5x5_KHR"; break;
-        case 0x93B3: return "GL_COMPRESSED_RGBA_ASTC_6x5_KHR"; break;
-        case 0x93B4: return "GL_COMPRESSED_RGBA_ASTC_6x6_KHR"; break;
-        case 0x93B5: return "GL_COMPRESSED_RGBA_ASTC_8x5_KHR"; break;
-        case 0x93B6: return "GL_COMPRESSED_RGBA_ASTC_8x6_KHR"; break;
-        case 0x93B7: return "GL_COMPRESSED_RGBA_ASTC_8x8_KHR"; break;
-        case 0x93B8: return "GL_COMPRESSED_RGBA_ASTC_10x5_KHR"; break;
-        case 0x93B9: return "GL_COMPRESSED_RGBA_ASTC_10x6_KHR"; break;
-        case 0x93BA: return "GL_COMPRESSED_RGBA_ASTC_10x8_KHR"; break;
-        case 0x93BB: return "GL_COMPRESSED_RGBA_ASTC_10x10_KHR"; break;
-        case 0x93BC: return "GL_COMPRESSED_RGBA_ASTC_12x10_KHR"; break;
-        case 0x93BD: return "GL_COMPRESSED_RGBA_ASTC_12x12_KHR"; break;
-        case 0x93D0: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR"; break;
-        case 0x93D1: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR"; break;
-        case 0x93D2: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR"; break;
-        case 0x93D3: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR"; break;
-        case 0x93D4: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR"; break;
-        case 0x93D5: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR"; break;
-        case 0x93D6: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR"; break;
-        case 0x93D7: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR"; break;
-        case 0x93D8: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR"; break;
-        case 0x93D9: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR"; break;
-        case 0x93DA: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR"; break;
-        case 0x93DB: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR"; break;
-        case 0x93DC: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR"; break;
-        case 0x93DD: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR"; break;
-        default: return "GL_COMPRESSED_UNKNOWN"; break;
-    }
-}
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-// Get pixel data size in bytes (image or texture)
-// NOTE: Size depends on pixel format
-static int rlGetPixelDataSize(int width, int height, int format)
-{
-    int dataSize = 0;       // Size in bytes
-    int bpp = 0;            // Bits per pixel
-
-    switch (format)
-    {
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: bpp = 8; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: bpp = 16; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: bpp = 32; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: bpp = 24; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: bpp = 32; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: bpp = 32*3; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: bpp = 32*4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: bpp = 16; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: bpp = 16*3; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: bpp = 16*4; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: bpp = 4; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: bpp = 8; break;
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: bpp = 2; break;
-        default: break;
-    }
-
-    double bytesPerPixel = (double)bpp/8.0;
-    dataSize = (int)(bytesPerPixel*width*height); // Total data size in bytes
-
-    // Most compressed formats works on 4x4 blocks,
-    // if texture is smaller, minimum dataSize is 8 or 16
-    if ((width < 4) && (height < 4))
-    {
-        if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) && (format < RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA)) dataSize = 8;
-        else if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) && (format < RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)) dataSize = 16;
-    }
-
-    return dataSize;
-}
-
-// Auxiliar math functions
-
-// Get float array of matrix data
-static rl_float16 rlMatrixToFloatV(Matrix mat)
-{
-    rl_float16 result = { 0 };
-
-    result.v[0] = mat.m0;
-    result.v[1] = mat.m1;
-    result.v[2] = mat.m2;
-    result.v[3] = mat.m3;
-    result.v[4] = mat.m4;
-    result.v[5] = mat.m5;
-    result.v[6] = mat.m6;
-    result.v[7] = mat.m7;
-    result.v[8] = mat.m8;
-    result.v[9] = mat.m9;
-    result.v[10] = mat.m10;
-    result.v[11] = mat.m11;
-    result.v[12] = mat.m12;
-    result.v[13] = mat.m13;
-    result.v[14] = mat.m14;
-    result.v[15] = mat.m15;
-
-    return result;
-}
-
-// Get identity matrix
-static Matrix rlMatrixIdentity(void)
-{
-    Matrix result = {
-        1.0f, 0.0f, 0.0f, 0.0f,
-        0.0f, 1.0f, 0.0f, 0.0f,
-        0.0f, 0.0f, 1.0f, 0.0f,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    return result;
-}
-
-// Get two matrix multiplication
-// NOTE: When multiplying matrices... the order matters!
-static Matrix rlMatrixMultiply(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
-    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
-    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
-    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
-    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
-    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
-    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
-    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
-    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
-    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
-    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
-    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
-    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
-    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
-    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
-    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
-
-    return result;
-}
-
-// Transposes provided matrix
-static Matrix rlMatrixTranspose(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    result.m0 = mat.m0;
-    result.m1 = mat.m4;
-    result.m2 = mat.m8;
-    result.m3 = mat.m12;
-    result.m4 = mat.m1;
-    result.m5 = mat.m5;
-    result.m6 = mat.m9;
-    result.m7 = mat.m13;
-    result.m8 = mat.m2;
-    result.m9 = mat.m6;
-    result.m10 = mat.m10;
-    result.m11 = mat.m14;
-    result.m12 = mat.m3;
-    result.m13 = mat.m7;
-    result.m14 = mat.m11;
-    result.m15 = mat.m15;
-
-    return result;
-}
-
-// Invert provided matrix
-static Matrix rlMatrixInvert(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
-    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
-    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
-    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
-    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
-    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
-    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
-    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
-    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
-    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
-    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
-    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
-    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
-    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
-    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
-    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
-
-    return result;
-}
-
-#endif  // RLGL_IMPLEMENTATION
diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a
deleted file mode 100644
index fa538e5214..0000000000
--- a/third_party/raylib/larch64/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f760af8b4693cf60e3760341e5275890d78d933da2354c4bad0572ec575b970a
-size 2001860
diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a
deleted file mode 100644
index ea124c1bcf..0000000000
--- a/third_party/raylib/x86_64/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3c928e849b51b04d8e3603cd649184299efed0e9e0fb02201612b967b31efd73
-size 2771092
diff --git a/uv.lock b/uv.lock
index 0635f9ae1a..d89fb55665 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,7 +5,7 @@ requires-python = ">=3.12.3, <3.13"
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@@ -124,30 +124,30 @@ wheels = [
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#60dfda24441c49b686edd8eca32cdaac438a5440" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11#8534be58bee7209e00fba8e485fb9c031cd46511" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv#99d59346dd66b364b1842cc712864c9595081bb8" }
 
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@@ -880,7 +880,7 @@ requires-dist = [
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@@ -904,11 +904,11 @@ provides-extras = ["docs", "testing", "dev", "tools"]
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#7d7442bf49a90ccf2dfd6d8c0890292a85851518" }
 
 [[package]]
 name = "yarl"
@@ -1602,36 +1613,38 @@ wheels = [
 
 [[package]]
 name = "zensical"
-version = "0.0.33"
+version = "0.0.41"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "click" },
     { name = "deepmerge" },
+    { name = "jinja2" },
     { name = "markdown" },
     { name = "pygments" },
     { name = "pymdown-extensions" },
     { name = "pyyaml" },
+    { name = "tomli" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/59/c2/dea4b86dc1ca2a7b55414017f12cfb12b5cfdf3a1ed7c77a04c271eb523b/zensical-0.0.33.tar.gz", hash = "sha256:05209cb4f80185c533e0d37c25d084ddc2050e3d5a4dd1b1812961c2ee0c3380", size = 3892278, upload-time = "2026-04-14T11:08:19.895Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/89/d6/b3e931233e53a2377ef5915cc6e786845c3263306874a469af8fb569ef9c/zensical-0.0.41.tar.gz", hash = "sha256:6c3c90301123749dfc26a210d6c080f0691253c7c765ad308a10b4518369a6fe", size = 3927788, upload-time = "2026-05-09T14:35:29.005Z" }
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-    { url = "https://files.pythonhosted.org/packages/f4/76/e0a1b884eadf6afa7e2d56c90c268eec36836ac27e96ef250c0129e55417/zensical-0.0.33-cp310-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7dff0f4afda7b8586bc4ab2a5684bce5b282232dd4e0cad3be4c73fedd264425", size = 12701944, upload-time = "2026-04-14T11:07:59.928Z" },
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+    { url = "https://files.pythonhosted.org/packages/f2/4a/1730a30377bbb0914ed740e0e289d379b0552673b6cf912aefe7a205440c/zensical-0.0.41-cp310-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a4afe35331cd2394c408cd362458936479cc0ed4fb272478498e4794aafc7414", size = 12942926, upload-time = "2026-05-09T14:34:54.393Z" },
+    { url = "https://files.pythonhosted.org/packages/32/e3/d9a0416ef4edc043ce9f404a66f1934f102bcb645b103abb26b180ba5680/zensical-0.0.41-cp310-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:15a850285050f03aeb3b67ce7d99943093059fe8d32fc7731fa9f27be45c64cc", size = 12912711, upload-time = "2026-05-09T14:34:57.174Z" },
+    { url = "https://files.pythonhosted.org/packages/68/d0/775852783bef835425306a2fcd8236ef14fd19160e1b4261e192bf2d9f54/zensical-0.0.41-cp310-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:35052e9dbefabe3a71c4836cfc4afa6c9469e5eeddc2a3ee750803ae3fe777dc", size = 13275869, upload-time = "2026-05-09T14:34:59.93Z" },
+    { url = "https://files.pythonhosted.org/packages/c3/95/554273cc09a270ced0213d3e0aac8b3fc2b472fc2b26771d56fc8fd55047/zensical-0.0.41-cp310-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a47f459205fb55f64dcb6c65e9f3c2fa00a2b4306c5ef1b71b9a50c45007071d", size = 12980177, upload-time = "2026-05-09T14:35:02.81Z" },
+    { url = "https://files.pythonhosted.org/packages/ec/b5/d74d5040b3121db5c72b0134f0455641b90b1277fb1330a8e5e0029ca8d3/zensical-0.0.41-cp310-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:aa3b3b3a4e6f75f6bb3c1aca1fad7a96cebf54cbd4e31122f6876503b8801666", size = 13119629, upload-time = "2026-05-09T14:35:07.105Z" },
+    { url = "https://files.pythonhosted.org/packages/62/9a/93527acd7750092d7fca2e6c43fe2b8f1e85e1c96a1002baf6a08201c6f7/zensical-0.0.41-cp310-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:565133fd48b2ce939698c174c0c1c6470407a8fb6a90a2bb0eeec97cd4344444", size = 13182183, upload-time = "2026-05-09T14:35:10.105Z" },
+    { url = "https://files.pythonhosted.org/packages/b2/7e/d77e4c809bfcbad40db85a6a7beeda2ee5c964232e0186783c3a837a7d0b/zensical-0.0.41-cp310-abi3-musllinux_1_2_i686.whl", hash = "sha256:cec0a2b05eaaace0c7424bab3f2884da03ade212cac4ba4487c58691ec13ec65", size = 13330444, upload-time = "2026-05-09T14:35:13.245Z" },
+    { url = "https://files.pythonhosted.org/packages/fd/e8/ecbb7e34bff88aa892c676b8b2e2ddf425f94d66cbb84b80016095191b77/zensical-0.0.41-cp310-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:1736f0cb7686628cc6f53952d208423f20b542f0c16b0c2ddd7e702bf6e41fdd", size = 13263093, upload-time = "2026-05-09T14:35:20.826Z" },
+    { url = "https://files.pythonhosted.org/packages/c1/6f/48b2f81ce708d19bb807d94716f2772ec4b74389b6d29024669fc470df08/zensical-0.0.41-cp310-abi3-win32.whl", hash = "sha256:34a78645c68fba152faacb66516c895283166154f8b15b61440a6c21c84f0974", size = 12253644, upload-time = "2026-05-09T14:35:23.598Z" },
+    { url = "https://files.pythonhosted.org/packages/a0/92/5cf943133f61b996965743deeaff467f278135521f58d83ca68d2601ded3/zensical-0.0.41-cp310-abi3-win_amd64.whl", hash = "sha256:00d80cd573152e0efb655143bbdfe8788eb4b33167a802639fdb1b1800b724ac", size = 12483190, upload-time = "2026-05-09T14:35:26.43Z" },
 ]
 
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#173fe8e9a0b8cf666bac5363c3376e866a386568" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#1ae3130cf64f557dc5fc30e469b2aab612389d3e" }
 
 [[package]]
 name = "zstandard"
@@ -1661,4 +1674,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#c4b1fdec74010075965d68e2c743055c6ef18d48" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#fdecf7d8932fdbad96752aa187bac94a74640890" }

From 8583826166a78596a46ebc6df6e3123de5219372 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 17:24:53 -0700
Subject: [PATCH 113/210] Reapply "Use packaged json11 dependency (#37995)"
 (#37996)

This reverts commit 656de3f17b75466274954a2a40a0eac8ae5de909.
---
 SConstruct                         |   6 +-
 common/swaglog.cc                  |   2 +-
 common/tests/test_swaglog.cc       |   2 +-
 third_party/SConscript             |   3 -
 third_party/build.sh               |  53 --
 third_party/json11/json11.cpp      | 785 -----------------------------
 third_party/json11/json11.hpp      | 232 ---------
 tools/jotpluggler/app.cc           |   2 +-
 tools/jotpluggler/custom_series.cc |   2 +-
 tools/jotpluggler/layout_io.cc     |   2 +-
 tools/jotpluggler/map.cc           |   2 +-
 tools/jotpluggler/sketch_layout.cc |   2 +-
 tools/replay/route.cc              |   2 +-
 tools/replay/route.h               |   2 +-
 14 files changed, 10 insertions(+), 1087 deletions(-)
 delete mode 100644 third_party/SConscript
 delete mode 100755 third_party/build.sh
 delete mode 100644 third_party/json11/json11.cpp
 delete mode 100644 third_party/json11/json11.hpp

diff --git a/SConstruct b/SConstruct
index 9d985ab696..6e5f31d921 100644
--- a/SConstruct
+++ b/SConstruct
@@ -37,7 +37,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 acados_include_dirs = [
@@ -112,7 +112,6 @@ env = Environment(
     "#",
     "#msgq",
     "#third_party",
-    "#third_party/json11",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
@@ -242,9 +241,6 @@ SConscript([
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
 
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
 # Build selfdrive
 SConscript([
   'selfdrive/pandad/SConscript',
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 62a405a2b6..df7ce94c14 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -11,7 +11,7 @@
 
 #include <zmq.h>
 #include <stdarg.h>
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 09bc4c3795..8142f8d63e 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -7,7 +7,7 @@
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
diff --git a/third_party/SConscript b/third_party/SConscript
deleted file mode 100644
index 3a7497d162..0000000000
--- a/third_party/SConscript
+++ /dev/null
@@ -1,3 +0,0 @@
-Import('env')
-
-env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
diff --git a/third_party/build.sh b/third_party/build.sh
deleted file mode 100755
index d3a9c6579c..0000000000
--- a/third_party/build.sh
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-# Reproducible builds: pin timestamps to epoch
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-pids=()
-names=()
-logs=()
-
-for script in "$DIR"/*/build.sh; do
-  [ -f "$script" ] || continue
-  name=$(basename "$(dirname "$script")")
-  log=$(mktemp)
-  names+=("$name")
-  logs+=("$log")
-  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
-  pids+=($!)
-done
-
-failed=0
-for i in "${!pids[@]}"; do
-  echo "--- ${names[$i]} ---"
-  if wait "${pids[$i]}"; then
-    echo "OK"
-  else
-    echo "FAILED (exit $?)"
-    failed=1
-  fi
-  cat "${logs[$i]}"
-  rm -f "${logs[$i]}"
-  echo
-done
-
-[ $failed -ne 0 ] && exit $failed
-
-# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
-# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
-while IFS= read -r -d '' lib; do
-  tmpdir=$(mktemp -d)
-  lib=$(realpath "$lib")
-  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
-    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
-  fi
-  rm -rf "$tmpdir"
-done < <(find "$DIR" -name '*.a' \
-  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
-  -print0)
-
-echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
deleted file mode 100644
index 3bd4fde2f2..0000000000
--- a/third_party/json11/json11.cpp
+++ /dev/null
@@ -1,785 +0,0 @@
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "json11.hpp"
-#include <cassert>
-#include <cmath>
-#include <cstdlib>
-#include <cstdio>
-#include <limits>
-#include <cstdint>
-
-namespace json11 {
-
-static const int max_depth = 200;
-
-using std::string;
-using std::vector;
-using std::map;
-using std::make_shared;
-using std::initializer_list;
-using std::move;
-
-/* Helper for representing null - just a do-nothing struct, plus comparison
- * operators so the helpers in JsonValue work. We can't use nullptr_t because
- * it may not be orderable.
- */
-struct NullStruct {
-    bool operator==(NullStruct) const { return true; }
-    bool operator<(NullStruct) const { return false; }
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Serialization
- */
-
-static void dump(NullStruct, string &out) {
-    out += "null";
-}
-
-static void dump(double value, string &out) {
-    if (std::isfinite(value)) {
-        char buf[32];
-        snprintf(buf, sizeof buf, "%.17g", value);
-        out += buf;
-    } else {
-        out += "null";
-    }
-}
-
-static void dump(int value, string &out) {
-    char buf[32];
-    snprintf(buf, sizeof buf, "%d", value);
-    out += buf;
-}
-
-static void dump(bool value, string &out) {
-    out += value ? "true" : "false";
-}
-
-static void dump(const string &value, string &out) {
-    out += '"';
-    for (size_t i = 0; i < value.length(); i++) {
-        const char ch = value[i];
-        if (ch == '\\') {
-            out += "\\\\";
-        } else if (ch == '"') {
-            out += "\\\"";
-        } else if (ch == '\b') {
-            out += "\\b";
-        } else if (ch == '\f') {
-            out += "\\f";
-        } else if (ch == '\n') {
-            out += "\\n";
-        } else if (ch == '\r') {
-            out += "\\r";
-        } else if (ch == '\t') {
-            out += "\\t";
-        } else if (static_cast<uint8_t>(ch) <= 0x1f) {
-            char buf[8];
-            snprintf(buf, sizeof buf, "\\u%04x", ch);
-            out += buf;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa8) {
-            out += "\\u2028";
-            i += 2;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa9) {
-            out += "\\u2029";
-            i += 2;
-        } else {
-            out += ch;
-        }
-    }
-    out += '"';
-}
-
-static void dump(const Json::array &values, string &out) {
-    bool first = true;
-    out += "[";
-    for (const auto &value : values) {
-        if (!first)
-            out += ", ";
-        value.dump(out);
-        first = false;
-    }
-    out += "]";
-}
-
-static void dump(const Json::object &values, string &out) {
-    bool first = true;
-    out += "{";
-    for (const auto &kv : values) {
-        if (!first)
-            out += ", ";
-        dump(kv.first, out);
-        out += ": ";
-        kv.second.dump(out);
-        first = false;
-    }
-    out += "}";
-}
-
-void Json::dump(string &out) const {
-    m_ptr->dump(out);
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Value wrappers
- */
-
-template <Json::Type tag, typename T>
-class Value : public JsonValue {
-protected:
-
-    // Constructors
-    explicit Value(const T &value) : m_value(value) {}
-    explicit Value(T &&value)      : m_value(move(value)) {}
-
-    // Get type tag
-    Json::Type type() const override {
-        return tag;
-    }
-
-    // Comparisons
-    bool equals(const JsonValue * other) const override {
-        return m_value == static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-    bool less(const JsonValue * other) const override {
-        return m_value < static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-
-    const T m_value;
-    void dump(string &out) const override { json11::dump(m_value, out); }
-};
-
-class JsonDouble final : public Value<Json::NUMBER, double> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return static_cast<int>(m_value); }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonDouble(double value) : Value(value) {}
-};
-
-class JsonInt final : public Value<Json::NUMBER, int> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return m_value; }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonInt(int value) : Value(value) {}
-};
-
-class JsonBoolean final : public Value<Json::BOOL, bool> {
-    bool bool_value() const override { return m_value; }
-public:
-    explicit JsonBoolean(bool value) : Value(value) {}
-};
-
-class JsonString final : public Value<Json::STRING, string> {
-    const string &string_value() const override { return m_value; }
-public:
-    explicit JsonString(const string &value) : Value(value) {}
-    explicit JsonString(string &&value)      : Value(move(value)) {}
-};
-
-class JsonArray final : public Value<Json::ARRAY, Json::array> {
-    const Json::array &array_items() const override { return m_value; }
-    const Json & operator[](size_t i) const override;
-public:
-    explicit JsonArray(const Json::array &value) : Value(value) {}
-    explicit JsonArray(Json::array &&value)      : Value(move(value)) {}
-};
-
-class JsonObject final : public Value<Json::OBJECT, Json::object> {
-    const Json::object &object_items() const override { return m_value; }
-    const Json & operator[](const string &key) const override;
-public:
-    explicit JsonObject(const Json::object &value) : Value(value) {}
-    explicit JsonObject(Json::object &&value)      : Value(move(value)) {}
-};
-
-class JsonNull final : public Value<Json::NUL, NullStruct> {
-public:
-    JsonNull() : Value({}) {}
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Static globals - static-init-safe
- */
-struct Statics {
-    const std::shared_ptr<JsonValue> null = make_shared<JsonNull>();
-    const std::shared_ptr<JsonValue> t = make_shared<JsonBoolean>(true);
-    const std::shared_ptr<JsonValue> f = make_shared<JsonBoolean>(false);
-    const string empty_string;
-    const vector<Json> empty_vector;
-    const map<string, Json> empty_map;
-    Statics() {}
-};
-
-static const Statics & statics() {
-    static const Statics s {};
-    return s;
-}
-
-static const Json & static_null() {
-    // This has to be separate, not in Statics, because Json() accesses statics().null.
-    static const Json json_null;
-    return json_null;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Constructors
- */
-
-Json::Json() noexcept                  : m_ptr(statics().null) {}
-Json::Json(std::nullptr_t) noexcept    : m_ptr(statics().null) {}
-Json::Json(double value)               : m_ptr(make_shared<JsonDouble>(value)) {}
-Json::Json(int value)                  : m_ptr(make_shared<JsonInt>(value)) {}
-Json::Json(bool value)                 : m_ptr(value ? statics().t : statics().f) {}
-Json::Json(const string &value)        : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(string &&value)             : m_ptr(make_shared<JsonString>(move(value))) {}
-Json::Json(const char * value)         : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(const Json::array &values)  : m_ptr(make_shared<JsonArray>(values)) {}
-Json::Json(Json::array &&values)       : m_ptr(make_shared<JsonArray>(move(values))) {}
-Json::Json(const Json::object &values) : m_ptr(make_shared<JsonObject>(values)) {}
-Json::Json(Json::object &&values)      : m_ptr(make_shared<JsonObject>(move(values))) {}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Accessors
- */
-
-Json::Type Json::type()                           const { return m_ptr->type();         }
-double Json::number_value()                       const { return m_ptr->number_value(); }
-int Json::int_value()                             const { return m_ptr->int_value();    }
-bool Json::bool_value()                           const { return m_ptr->bool_value();   }
-const string & Json::string_value()               const { return m_ptr->string_value(); }
-const vector<Json> & Json::array_items()          const { return m_ptr->array_items();  }
-const map<string, Json> & Json::object_items()    const { return m_ptr->object_items(); }
-const Json & Json::operator[] (size_t i)          const { return (*m_ptr)[i];           }
-const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key];         }
-
-double                    JsonValue::number_value()              const { return 0; }
-int                       JsonValue::int_value()                 const { return 0; }
-bool                      JsonValue::bool_value()                const { return false; }
-const string &            JsonValue::string_value()              const { return statics().empty_string; }
-const vector<Json> &      JsonValue::array_items()               const { return statics().empty_vector; }
-const map<string, Json> & JsonValue::object_items()              const { return statics().empty_map; }
-const Json &              JsonValue::operator[] (size_t)         const { return static_null(); }
-const Json &              JsonValue::operator[] (const string &) const { return static_null(); }
-
-const Json & JsonObject::operator[] (const string &key) const {
-    auto iter = m_value.find(key);
-    return (iter == m_value.end()) ? static_null() : iter->second;
-}
-const Json & JsonArray::operator[] (size_t i) const {
-    if (i >= m_value.size()) return static_null();
-    else return m_value[i];
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Comparison
- */
-
-bool Json::operator== (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return false;
-
-    return m_ptr->equals(other.m_ptr.get());
-}
-
-bool Json::operator< (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return m_ptr->type() < other.m_ptr->type();
-
-    return m_ptr->less(other.m_ptr.get());
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Parsing
- */
-
-/* esc(c)
- *
- * Format char c suitable for printing in an error message.
- */
-static inline string esc(char c) {
-    char buf[12];
-    if (static_cast<uint8_t>(c) >= 0x20 && static_cast<uint8_t>(c) <= 0x7f) {
-        snprintf(buf, sizeof buf, "'%c' (%d)", c, c);
-    } else {
-        snprintf(buf, sizeof buf, "(%d)", c);
-    }
-    return string(buf);
-}
-
-static inline bool in_range(long x, long lower, long upper) {
-    return (x >= lower && x <= upper);
-}
-
-namespace {
-/* JsonParser
- *
- * Object that tracks all state of an in-progress parse.
- */
-struct JsonParser final {
-
-    /* State
-     */
-    const string &str;
-    size_t i;
-    string &err;
-    bool failed;
-    const JsonParse strategy;
-
-    /* fail(msg, err_ret = Json())
-     *
-     * Mark this parse as failed.
-     */
-    Json fail(string &&msg) {
-        return fail(move(msg), Json());
-    }
-
-    template <typename T>
-    T fail(string &&msg, const T err_ret) {
-        if (!failed)
-            err = std::move(msg);
-        failed = true;
-        return err_ret;
-    }
-
-    /* consume_whitespace()
-     *
-     * Advance until the current character is non-whitespace.
-     */
-    void consume_whitespace() {
-        while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t')
-            i++;
-    }
-
-    /* consume_comment()
-     *
-     * Advance comments (c-style inline and multiline).
-     */
-    bool consume_comment() {
-      bool comment_found = false;
-      if (str[i] == '/') {
-        i++;
-        if (i == str.size())
-          return fail("unexpected end of input after start of comment", false);
-        if (str[i] == '/') { // inline comment
-          i++;
-          // advance until next line, or end of input
-          while (i < str.size() && str[i] != '\n') {
-            i++;
-          }
-          comment_found = true;
-        }
-        else if (str[i] == '*') { // multiline comment
-          i++;
-          if (i > str.size()-2)
-            return fail("unexpected end of input inside multi-line comment", false);
-          // advance until closing tokens
-          while (!(str[i] == '*' && str[i+1] == '/')) {
-            i++;
-            if (i > str.size()-2)
-              return fail(
-                "unexpected end of input inside multi-line comment", false);
-          }
-          i += 2;
-          comment_found = true;
-        }
-        else
-          return fail("malformed comment", false);
-      }
-      return comment_found;
-    }
-
-    /* consume_garbage()
-     *
-     * Advance until the current character is non-whitespace and non-comment.
-     */
-    void consume_garbage() {
-      consume_whitespace();
-      if(strategy == JsonParse::COMMENTS) {
-        bool comment_found = false;
-        do {
-          comment_found = consume_comment();
-          if (failed) return;
-          consume_whitespace();
-        }
-        while(comment_found);
-      }
-    }
-
-    /* get_next_token()
-     *
-     * Return the next non-whitespace character. If the end of the input is reached,
-     * flag an error and return 0.
-     */
-    char get_next_token() {
-        consume_garbage();
-        if (failed) return (char)0;
-        if (i == str.size())
-            return fail("unexpected end of input", (char)0);
-
-        return str[i++];
-    }
-
-    /* encode_utf8(pt, out)
-     *
-     * Encode pt as UTF-8 and add it to out.
-     */
-    void encode_utf8(long pt, string & out) {
-        if (pt < 0)
-            return;
-
-        if (pt < 0x80) {
-            out += static_cast<char>(pt);
-        } else if (pt < 0x800) {
-            out += static_cast<char>((pt >> 6) | 0xC0);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else if (pt < 0x10000) {
-            out += static_cast<char>((pt >> 12) | 0xE0);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else {
-            out += static_cast<char>((pt >> 18) | 0xF0);
-            out += static_cast<char>(((pt >> 12) & 0x3F) | 0x80);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        }
-    }
-
-    /* parse_string()
-     *
-     * Parse a string, starting at the current position.
-     */
-    string parse_string() {
-        string out;
-        long last_escaped_codepoint = -1;
-        while (true) {
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            char ch = str[i++];
-
-            if (ch == '"') {
-                encode_utf8(last_escaped_codepoint, out);
-                return out;
-            }
-
-            if (in_range(ch, 0, 0x1f))
-                return fail("unescaped " + esc(ch) + " in string", "");
-
-            // The usual case: non-escaped characters
-            if (ch != '\\') {
-                encode_utf8(last_escaped_codepoint, out);
-                last_escaped_codepoint = -1;
-                out += ch;
-                continue;
-            }
-
-            // Handle escapes
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            ch = str[i++];
-
-            if (ch == 'u') {
-                // Extract 4-byte escape sequence
-                string esc = str.substr(i, 4);
-                // Explicitly check length of the substring. The following loop
-                // relies on std::string returning the terminating NUL when
-                // accessing str[length]. Checking here reduces brittleness.
-                if (esc.length() < 4) {
-                    return fail("bad \\u escape: " + esc, "");
-                }
-                for (size_t j = 0; j < 4; j++) {
-                    if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F')
-                            && !in_range(esc[j], '0', '9'))
-                        return fail("bad \\u escape: " + esc, "");
-                }
-
-                long codepoint = strtol(esc.data(), nullptr, 16);
-
-                // JSON specifies that characters outside the BMP shall be encoded as a pair
-                // of 4-hex-digit \u escapes encoding their surrogate pair components. Check
-                // whether we're in the middle of such a beast: the previous codepoint was an
-                // escaped lead (high) surrogate, and this is a trail (low) surrogate.
-                if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF)
-                        && in_range(codepoint, 0xDC00, 0xDFFF)) {
-                    // Reassemble the two surrogate pairs into one astral-plane character, per
-                    // the UTF-16 algorithm.
-                    encode_utf8((((last_escaped_codepoint - 0xD800) << 10)
-                                 | (codepoint - 0xDC00)) + 0x10000, out);
-                    last_escaped_codepoint = -1;
-                } else {
-                    encode_utf8(last_escaped_codepoint, out);
-                    last_escaped_codepoint = codepoint;
-                }
-
-                i += 4;
-                continue;
-            }
-
-            encode_utf8(last_escaped_codepoint, out);
-            last_escaped_codepoint = -1;
-
-            if (ch == 'b') {
-                out += '\b';
-            } else if (ch == 'f') {
-                out += '\f';
-            } else if (ch == 'n') {
-                out += '\n';
-            } else if (ch == 'r') {
-                out += '\r';
-            } else if (ch == 't') {
-                out += '\t';
-            } else if (ch == '"' || ch == '\\' || ch == '/') {
-                out += ch;
-            } else {
-                return fail("invalid escape character " + esc(ch), "");
-            }
-        }
-    }
-
-    /* parse_number()
-     *
-     * Parse a double.
-     */
-    Json parse_number() {
-        size_t start_pos = i;
-
-        if (str[i] == '-')
-            i++;
-
-        // Integer part
-        if (str[i] == '0') {
-            i++;
-            if (in_range(str[i], '0', '9'))
-                return fail("leading 0s not permitted in numbers");
-        } else if (in_range(str[i], '1', '9')) {
-            i++;
-            while (in_range(str[i], '0', '9'))
-                i++;
-        } else {
-            return fail("invalid " + esc(str[i]) + " in number");
-        }
-
-        if (str[i] != '.' && str[i] != 'e' && str[i] != 'E'
-                && (i - start_pos) <= static_cast<size_t>(std::numeric_limits<int>::digits10)) {
-            return std::atoi(str.c_str() + start_pos);
-        }
-
-        // Decimal part
-        if (str[i] == '.') {
-            i++;
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in fractional part");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        // Exponent part
-        if (str[i] == 'e' || str[i] == 'E') {
-            i++;
-
-            if (str[i] == '+' || str[i] == '-')
-                i++;
-
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in exponent");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        return std::strtod(str.c_str() + start_pos, nullptr);
-    }
-
-    /* expect(str, res)
-     *
-     * Expect that 'str' starts at the character that was just read. If it does, advance
-     * the input and return res. If not, flag an error.
-     */
-    Json expect(const string &expected, Json res) {
-        assert(i != 0);
-        i--;
-        if (str.compare(i, expected.length(), expected) == 0) {
-            i += expected.length();
-            return res;
-        } else {
-            return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length()));
-        }
-    }
-
-    /* parse_json()
-     *
-     * Parse a JSON object.
-     */
-    Json parse_json(int depth) {
-        if (depth > max_depth) {
-            return fail("exceeded maximum nesting depth");
-        }
-
-        char ch = get_next_token();
-        if (failed)
-            return Json();
-
-        if (ch == '-' || (ch >= '0' && ch <= '9')) {
-            i--;
-            return parse_number();
-        }
-
-        if (ch == 't')
-            return expect("true", true);
-
-        if (ch == 'f')
-            return expect("false", false);
-
-        if (ch == 'n')
-            return expect("null", Json());
-
-        if (ch == '"')
-            return parse_string();
-
-        if (ch == '{') {
-            map<string, Json> data;
-            ch = get_next_token();
-            if (ch == '}')
-                return data;
-
-            while (1) {
-                if (ch != '"')
-                    return fail("expected '\"' in object, got " + esc(ch));
-
-                string key = parse_string();
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch != ':')
-                    return fail("expected ':' in object, got " + esc(ch));
-
-                data[std::move(key)] = parse_json(depth + 1);
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == '}')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in object, got " + esc(ch));
-
-                ch = get_next_token();
-            }
-            return data;
-        }
-
-        if (ch == '[') {
-            vector<Json> data;
-            ch = get_next_token();
-            if (ch == ']')
-                return data;
-
-            while (1) {
-                i--;
-                data.push_back(parse_json(depth + 1));
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == ']')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in list, got " + esc(ch));
-
-                ch = get_next_token();
-                (void)ch;
-            }
-            return data;
-        }
-
-        return fail("expected value, got " + esc(ch));
-    }
-};
-}//namespace {
-
-Json Json::parse(const string &in, string &err, JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    Json result = parser.parse_json(0);
-
-    // Check for any trailing garbage
-    parser.consume_garbage();
-    if (parser.failed)
-        return Json();
-    if (parser.i != in.size())
-        return parser.fail("unexpected trailing " + esc(in[parser.i]));
-
-    return result;
-}
-
-// Documented in json11.hpp
-vector<Json> Json::parse_multi(const string &in,
-                               std::string::size_type &parser_stop_pos,
-                               string &err,
-                               JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    parser_stop_pos = 0;
-    vector<Json> json_vec;
-    while (parser.i != in.size() && !parser.failed) {
-        json_vec.push_back(parser.parse_json(0));
-        if (parser.failed)
-            break;
-
-        // Check for another object
-        parser.consume_garbage();
-        if (parser.failed)
-            break;
-        parser_stop_pos = parser.i;
-    }
-    return json_vec;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Shape-checking
- */
-
-bool Json::has_shape(const shape & types, string & err) const {
-    if (!is_object()) {
-        err = "expected JSON object, got " + dump();
-        return false;
-    }
-
-    for (auto & item : types) {
-        if ((*this)[item.first].type() != item.second) {
-            err = "bad type for " + item.first + " in " + dump();
-            return false;
-        }
-    }
-
-    return true;
-}
-
-} // namespace json11
diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp
deleted file mode 100644
index 5202ef9323..0000000000
--- a/third_party/json11/json11.hpp
+++ /dev/null
@@ -1,232 +0,0 @@
-/* json11
- *
- * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization.
- *
- * The core object provided by the library is json11::Json. A Json object represents any JSON
- * value: null, bool, number (int or double), string (std::string), array (std::vector), or
- * object (std::map).
- *
- * Json objects act like values: they can be assigned, copied, moved, compared for equality or
- * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and
- * Json::parse (static) to parse a std::string as a Json object.
- *
- * Internally, the various types of Json object are represented by the JsonValue class
- * hierarchy.
- *
- * A note on numbers - JSON specifies the syntax of number formatting but not its semantics,
- * so some JSON implementations distinguish between integers and floating-point numbers, while
- * some don't. In json11, we choose the latter. Because some JSON implementations (namely
- * Javascript itself) treat all numbers as the same type, distinguishing the two leads
- * to JSON that will be *silently* changed by a round-trip through those implementations.
- * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also
- * provides integer helpers.
- *
- * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the
- * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64
- * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch
- * will be exact for +/- 275 years.)
- */
-
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-#include <map>
-#include <memory>
-#include <initializer_list>
-
-#ifdef _MSC_VER
-    #if _MSC_VER <= 1800 // VS 2013
-        #ifndef noexcept
-            #define noexcept throw()
-        #endif
-
-        #ifndef snprintf
-            #define snprintf _snprintf_s
-        #endif
-    #endif
-#endif
-
-namespace json11 {
-
-enum JsonParse {
-    STANDARD, COMMENTS
-};
-
-class JsonValue;
-
-class Json final {
-public:
-    // Types
-    enum Type {
-        NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT
-    };
-
-    // Array and object typedefs
-    typedef std::vector<Json> array;
-    typedef std::map<std::string, Json> object;
-
-    // Constructors for the various types of JSON value.
-    Json() noexcept;                // NUL
-    Json(std::nullptr_t) noexcept;  // NUL
-    Json(double value);             // NUMBER
-    Json(int value);                // NUMBER
-    Json(bool value);               // BOOL
-    Json(const std::string &value); // STRING
-    Json(std::string &&value);      // STRING
-    Json(const char * value);       // STRING
-    Json(const array &values);      // ARRAY
-    Json(array &&values);           // ARRAY
-    Json(const object &values);     // OBJECT
-    Json(object &&values);          // OBJECT
-
-    // Implicit constructor: anything with a to_json() function.
-    template <class T, class = decltype(&T::to_json)>
-    Json(const T & t) : Json(t.to_json()) {}
-
-    // Implicit constructor: map-like objects (std::map, std::unordered_map, etc)
-    template <class M, typename std::enable_if<
-        std::is_constructible<std::string, typename M::key_type>::value
-        && std::is_constructible<Json, typename M::mapped_type>::value,
-            int>::type = 0>
-    Json(const M & m) : Json(object(m.begin(), m.end())) {}
-
-    // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc)
-    template <class V, typename std::enable_if<
-        std::is_constructible<Json, typename V::value_type>::value,
-            int>::type = 0>
-    Json(const V & v) : Json(array(v.begin(), v.end())) {}
-
-    // This prevents Json(some_pointer) from accidentally producing a bool. Use
-    // Json(bool(some_pointer)) if that behavior is desired.
-    Json(void *) = delete;
-
-    // Accessors
-    Type type() const;
-
-    bool is_null()   const { return type() == NUL; }
-    bool is_number() const { return type() == NUMBER; }
-    bool is_bool()   const { return type() == BOOL; }
-    bool is_string() const { return type() == STRING; }
-    bool is_array()  const { return type() == ARRAY; }
-    bool is_object() const { return type() == OBJECT; }
-
-    // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not
-    // distinguish between integer and non-integer numbers - number_value() and int_value()
-    // can both be applied to a NUMBER-typed object.
-    double number_value() const;
-    int int_value() const;
-
-    // Return the enclosed value if this is a boolean, false otherwise.
-    bool bool_value() const;
-    // Return the enclosed string if this is a string, "" otherwise.
-    const std::string &string_value() const;
-    // Return the enclosed std::vector if this is an array, or an empty vector otherwise.
-    const array &array_items() const;
-    // Return the enclosed std::map if this is an object, or an empty map otherwise.
-    const object &object_items() const;
-
-    // Return a reference to arr[i] if this is an array, Json() otherwise.
-    const Json & operator[](size_t i) const;
-    // Return a reference to obj[key] if this is an object, Json() otherwise.
-    const Json & operator[](const std::string &key) const;
-
-    // Serialize.
-    void dump(std::string &out) const;
-    std::string dump() const {
-        std::string out;
-        dump(out);
-        return out;
-    }
-
-    // Parse. If parse fails, return Json() and assign an error message to err.
-    static Json parse(const std::string & in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD);
-    static Json parse(const char * in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD) {
-        if (in) {
-            return parse(std::string(in), err, strategy);
-        } else {
-            err = "null input";
-            return nullptr;
-        }
-    }
-    // Parse multiple objects, concatenated or separated by whitespace
-    static std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string::size_type & parser_stop_pos,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD);
-
-    static inline std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD) {
-        std::string::size_type parser_stop_pos;
-        return parse_multi(in, parser_stop_pos, err, strategy);
-    }
-
-    bool operator== (const Json &rhs) const;
-    bool operator<  (const Json &rhs) const;
-    bool operator!= (const Json &rhs) const { return !(*this == rhs); }
-    bool operator<= (const Json &rhs) const { return !(rhs < *this); }
-    bool operator>  (const Json &rhs) const { return  (rhs < *this); }
-    bool operator>= (const Json &rhs) const { return !(*this < rhs); }
-
-    /* has_shape(types, err)
-     *
-     * Return true if this is a JSON object and, for each item in types, has a field of
-     * the given type. If not, return false and set err to a descriptive message.
-     */
-    typedef std::initializer_list<std::pair<std::string, Type>> shape;
-    bool has_shape(const shape & types, std::string & err) const;
-
-private:
-    std::shared_ptr<JsonValue> m_ptr;
-};
-
-// Internal class hierarchy - JsonValue objects are not exposed to users of this API.
-class JsonValue {
-protected:
-    friend class Json;
-    friend class JsonInt;
-    friend class JsonDouble;
-    virtual Json::Type type() const = 0;
-    virtual bool equals(const JsonValue * other) const = 0;
-    virtual bool less(const JsonValue * other) const = 0;
-    virtual void dump(std::string &out) const = 0;
-    virtual double number_value() const;
-    virtual int int_value() const;
-    virtual bool bool_value() const;
-    virtual const std::string &string_value() const;
-    virtual const Json::array &array_items() const;
-    virtual const Json &operator[](size_t i) const;
-    virtual const Json::object &object_items() const;
-    virtual const Json &operator[](const std::string &key) const;
-    virtual ~JsonValue() {}
-};
-
-} // namespace json11
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index efc848494c..22a9f9021c 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -27,7 +27,7 @@
 #include <unordered_set>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
index 568f7e97c3..aabf78a0db 100644
--- a/tools/jotpluggler/custom_series.cc
+++ b/tools/jotpluggler/custom_series.cc
@@ -11,7 +11,7 @@
 #include <stdexcept>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/layout_io.cc b/tools/jotpluggler/layout_io.cc
index f984c0f0e8..5c70f7a42a 100644
--- a/tools/jotpluggler/layout_io.cc
+++ b/tools/jotpluggler/layout_io.cc
@@ -6,7 +6,7 @@
 #include <sstream>
 #include <stdexcept>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/map.cc b/tools/jotpluggler/map.cc
index 8725908ea0..fb4e03c912 100644
--- a/tools/jotpluggler/map.cc
+++ b/tools/jotpluggler/map.cc
@@ -25,7 +25,7 @@ extern "C" {
 #include <vector>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index c44a4e93cd..2091280169 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -23,7 +23,7 @@
 #include <utility>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/logreader.h"
 #include "tools/replay/py_downloader.h"
 
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index e7b8ed6bba..df4fa813cf 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -4,7 +4,7 @@
 #include <filesystem>
 #include <regex>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "system/hardware/hw.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 119a81152e..50f3eba854 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -8,7 +8,7 @@
 #include <thread>
 #include <vector>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"

From f6e2dd280df545ca0a313a7e6c600664470cf1b5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 17:29:04 -0700
Subject: [PATCH 114/210] third_party/ is dead (#37998)

* third_party/ is dead

* lil more
---
 .gitattributes           | 8 --------
 .vscode/settings.json    | 1 -
 SConstruct               | 2 --
 openpilot/third_party    | 1 -
 pyproject.toml           | 5 +----
 release/build_release.sh | 7 -------
 scripts/lint/lint.sh     | 2 +-
 7 files changed, 2 insertions(+), 24 deletions(-)
 delete mode 120000 openpilot/third_party

diff --git a/.gitattributes b/.gitattributes
index 41a7367d84..c908ca8d07 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -13,11 +13,3 @@
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
diff --git a/.vscode/settings.json b/.vscode/settings.json
index f0731c362d..811306f399 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -21,7 +21,6 @@
     "common/**",
     "selfdrive/**",
     "system/**",
-    "third_party/**",
     "tools/**",
   ]
 }
diff --git a/SConstruct b/SConstruct
index 6e5f31d921..cd651bf289 100644
--- a/SConstruct
+++ b/SConstruct
@@ -111,14 +111,12 @@ env = Environment(
   CPPPATH=[
     "#",
     "#msgq",
-    "#third_party",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
     "#common",
     "#msgq_repo",
-    "#third_party",
     "#selfdrive/pandad",
     "#rednose/helpers",
     [x.LIB_DIR for x in pkgs],
diff --git a/openpilot/third_party b/openpilot/third_party
deleted file mode 120000
index d838c05a86..0000000000
--- a/openpilot/third_party
+++ /dev/null
@@ -1 +0,0 @@
-../third_party
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
index d9788925b2..75240aa05c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -151,7 +151,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "../tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
@@ -187,7 +187,6 @@ exclude = [
   "tinygrad_repo",
   "teleoprtc",
   "teleoprtc_repo",
-  "third_party",
   "*.ipynb",
   "generated",
 ]
@@ -197,7 +196,6 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
 "system".msg = "Use openpilot.system"
-"third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
@@ -227,7 +225,6 @@ exclude = [
   "tinygrad_repo/",
   "teleoprtc/",
   "teleoprtc_repo/",
-  "third_party/",
 ]
 
 [tool.ty.rules]
diff --git a/release/build_release.sh b/release/build_release.sh
index 1f7c839056..69b46111c8 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -74,13 +74,6 @@ find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm -f selfdrive/modeld/models/*.onnx
 
-find third_party/ -name '*x86*' -exec rm -r {} +
-find third_party/ -name '*Darwin*' -exec rm -r {} +
-
-
-# Restore third_party
-git checkout third_party/
-
 # Mark as prebuilt release
 touch prebuilt
 
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 5581171e8f..4b6838449f 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -14,7 +14,7 @@ cd $ROOT
 FAILED=0
 
 IGNORED_FILES="uv\.lock|docs\/CARS.md"
-IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
   shopt -s extglob

From da62722d07346a7f9fd39d688af00776769273eb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 18:04:27 -0700
Subject: [PATCH 115/210] tighten pandad timings (#37999)

* tighten can timings

* cleanup

* rm that
---
 selfdrive/pandad/pandad.cc                    | 55 +++++++++++++++----
 .../pandad/tests/test_pandad_loopback.py      | 16 ++++--
 system/hardware/tici/hardware.h               |  9 ++-
 3 files changed, 61 insertions(+), 19 deletions(-)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index f0f13d32e7..7c91fe3611 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -1,6 +1,7 @@
 #include "selfdrive/pandad/pandad.h"
 
 #include <array>
+#include <atomic>
 #include <bitset>
 #include <cassert>
 #include <cerrno>
@@ -23,6 +24,14 @@
 
 ExitHandler do_exit;
 
+struct HwmonState {
+  std::atomic<uint32_t> voltage{0};
+  std::atomic<uint32_t> current{0};
+  std::atomic<bool> initialized{false};
+};
+
+HwmonState hwmon_state;
+
 bool check_connected(Panda *panda) {
   if (!panda->connected()) {
     do_exit = true;
@@ -105,6 +114,26 @@ void can_recv(Panda *panda, PubMaster *pm) {
   }
 }
 
+void hwmon_thread() {
+  util::set_thread_name("pandad_hwmon");
+
+  while (!do_exit) {
+    double read_time = millis_since_boot();
+    uint32_t voltage = Hardware::get_voltage();
+    uint32_t current = Hardware::get_current();
+    read_time = millis_since_boot() - read_time;
+    if (read_time > 50) {
+      LOGW("reading hwmon took %lfms", read_time);
+    }
+
+    hwmon_state.voltage.store(voltage);
+    hwmon_state.current.store(current);
+    hwmon_state.initialized.store(true);
+
+    util::sleep_for(500);
+  }
+}
+
 void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::PandaType hw_type, const health_t &health) {
   ps.setVoltage(health.voltage_pkt);
   ps.setCurrent(health.current_pkt);
@@ -235,6 +264,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
 }
 
 void send_peripheral_state(Panda *panda, PubMaster *pm) {
+  if (!hwmon_state.initialized.load()) {
+    return;
+  }
+
   // build msg
   MessageBuilder msg;
   auto evt = msg.initEvent();
@@ -243,13 +276,8 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   auto ps = evt.initPeripheralState();
   ps.setPandaType(panda->hw_type);
 
-  double read_time = millis_since_boot();
-  ps.setVoltage(Hardware::get_voltage());
-  ps.setCurrent(Hardware::get_current());
-  read_time = millis_since_boot() - read_time;
-  if (read_time > 50) {
-    LOGW("reading hwmon took %lfms", read_time);
-  }
+  ps.setVoltage(hwmon_state.voltage.load());
+  ps.setCurrent(hwmon_state.current.load());
 
   // fall back to panda's voltage and current measurement
   if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
@@ -371,18 +399,18 @@ void pandad_run(Panda *panda) {
   const bool spoofing_started = getenv("STARTED") != nullptr;
   const bool fake_send = getenv("FAKESEND") != nullptr;
 
-  // Start the CAN send thread
+  // Start helper threads for event-driven sendcan and slow non-Panda reads.
   std::thread send_thread(can_send_thread, panda, fake_send);
+  std::thread hardware_thread(hwmon_thread);
 
-  Params params;
   RateKeeper rk("pandad", 100);
-  SubMaster sm({"selfdriveState"});
+  SubMaster sm({"selfdriveState", "deviceState"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
   PandaSafety panda_safety(panda);
   bool engaged = false;
   bool is_onroad = false;
 
-  // Main loop: receive CAN data and process states
+  // Main loop: receive CAN first, then process lower priority panda and peripheral state.
   while (!do_exit && check_connected(panda)) {
     can_recv(panda, &pm);
 
@@ -395,7 +423,9 @@ void pandad_run(Panda *panda) {
     if (rk.frame() % 10 == 0) {
       sm.update(0);
       engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-      is_onroad = params.getBool("IsOnroad");
+      if (sm.updated("deviceState")) {
+        is_onroad = sm["deviceState"].getDeviceState().getStarted();
+      }
       process_panda_state(panda, &pm, engaged, is_onroad, spoofing_started);
       panda_safety.configureSafetyMode(is_onroad);
     }
@@ -427,6 +457,7 @@ void pandad_run(Panda *panda) {
   }
 
   send_thread.join();
+  hardware_thread.join();
 }
 
 void pandad_main_thread(std::string serial) {
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index fd4a99be62..0c0e57b375 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -16,17 +16,24 @@ from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.test.helpers import with_processes
 
 
+def publish_device_state(pm, started):
+  msg = messaging.new_message('deviceState')
+  msg.deviceState.started = started
+  pm.send('deviceState', msg)
+
 @retry(attempts=3)
 def setup_pandad():
   params = Params()
   params.clear_all()
-  params.put_bool("IsOnroad", False)
 
+  pm = messaging.PubMaster(['deviceState'])
   sm = messaging.SubMaster(['pandaStates'])
+  publish_device_state(pm, False)
   with Timeout(90, "pandad didn't start"):
     while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
         any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
-      sm.update(1000)
+      publish_device_state(pm, False)
+      sm.update(100)
 
   # pandad safety setting relies on these params
   cp = car.CarParams.new_message()
@@ -35,14 +42,15 @@ def setup_pandad():
   safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
   cp.safetyConfigs = [safety_config]
 
-  params.put_bool("IsOnroad", True)
   params.put_bool("FirmwareQueryDone", True)
   params.put_bool("ControlsReady", True)
   params.put("CarParams", cp.to_bytes())
 
+  publish_device_state(pm, True)
   with Timeout(90, "pandad didn't set safety mode"):
     while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']):
-      sm.update(1000)
+      publish_device_state(pm, True)
+      sm.update(100)
 
 def send_random_can_messages(sendcan, count):
   sent_msgs = defaultdict(set)
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index d59b45efcb..a06ce43b35 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -13,8 +13,11 @@
 class HardwareTici : public HardwareNone {
 public:
   static std::string get_name() {
-    std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return util::strip(model.substr(std::string("comma ").size()));
+    static const std::string name = []() {
+      std::string model = util::read_file("/sys/firmware/devicetree/base/model");
+      return util::strip(model.substr(std::string("comma ").size()));
+    }();
+    return name;
   }
 
   static cereal::InitData::DeviceType get_device_type() {
@@ -23,7 +26,7 @@ public:
       {"tizi", cereal::InitData::DeviceType::TIZI},
       {"mici", cereal::InitData::DeviceType::MICI}
     };
-    auto it = device_map.find(get_name());
+    static const auto it = device_map.find(get_name());
     assert(it != device_map.end());
     return it->second;
   }

From 2691aa8e391d4a1ade6f13f71038e1f6b7377822 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 18:05:15 -0700
Subject: [PATCH 116/210] qcomgpsd: take AT lock (#38000)

---
 system/qcomgpsd/qcomgpsd.py | 32 ++++++++++++++++++--------------
 1 file changed, 18 insertions(+), 14 deletions(-)

diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index e7a8d55d6c..7e0d304872 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import fcntl
 import os
 import sys
 import signal
@@ -85,23 +86,26 @@ def try_setup_logs(diag, logs):
   return setup_logs(diag, logs)
 
 AT_PORT = "/dev/modem_at0"
+AT_LOCK = "/dev/shm/modem.lock"  # shared with modem.py and LPA
 
 @retry(attempts=5, delay=1.0)
 def at_cmd(cmd: str) -> str:
-  with Serial(AT_PORT, baudrate=115200, timeout=5) as ser:
-    ser.reset_input_buffer()
-    ser.write(f"{cmd}\r".encode())
-    lines = []
-    while True:
-      line = ser.readline()
-      if not line:
-        raise RuntimeError(f"AT command timeout: {cmd}")
-      line = line.decode('utf-8', errors='replace').strip()
-      if line in ("OK", "ERROR") or line.startswith("+CME ERROR"):
-        break
-      if line and line != cmd:
-        lines.append(line)
-  return '\n'.join(lines)
+  with os.fdopen(os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666), "r+") as lock:
+    fcntl.flock(lock.fileno(), fcntl.LOCK_EX)
+    with Serial(AT_PORT, baudrate=115200, timeout=5) as ser:
+      ser.reset_input_buffer()
+      ser.write(f"{cmd}\r".encode())
+      lines = []
+      while True:
+        line = ser.readline()
+        if not line:
+          raise RuntimeError(f"AT command timeout: {cmd}")
+        line = line.decode('utf-8', errors='replace').strip()
+        if line in ("OK", "ERROR") or line.startswith("+CME ERROR"):
+          break
+        if line and line != cmd:
+          lines.append(line)
+    return '\n'.join(lines)
 
 def gps_enabled() -> bool:
   return "QGPS: 1" in at_cmd("AT+QGPS?")

From bbe5b3864337bb5bb3a55e6478992929ec1fa03b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 18:27:36 -0700
Subject: [PATCH 117/210] test_onroad covers this

---
 Jenkinsfile                            |  1 -
 system/qcomgpsd/tests/test_qcomgpsd.py | 51 --------------------------
 2 files changed, 52 deletions(-)
 delete mode 100644 system/qcomgpsd/tests/test_qcomgpsd.py

diff --git a/Jenkinsfile b/Jenkinsfile
index 39175d89e3..f0e6b3dcf5 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -247,7 +247,6 @@ node {
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
 
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
deleted file mode 100644
index f697811ae9..0000000000
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import os
-import pytest
-import time
-
-import cereal.messaging as messaging
-from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
-from openpilot.system.manager.process_config import managed_processes
-
-
-@pytest.mark.tici
-class TestQcomgpsd:
-  @classmethod
-  def setup_class(cls):
-    os.system("sudo systemctl restart ModemManager lte")
-    wait_for_modem()
-
-  @classmethod
-  def teardown_class(cls):
-    managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart ModemManager lte")
-
-  def setup_method(self):
-    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation'])
-
-  def teardown_method(self):
-    managed_processes['qcomgpsd'].stop()
-
-  def _wait_for_output(self, t):
-    dt = 0.1
-    for _ in range(t*int(1/dt)):
-      self.sm.update(0)
-      if self.sm.updated['qcomGnss']:
-        break
-      time.sleep(dt)
-    return self.sm.updated['qcomGnss']
-
-  def test_startup_time(self):
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(30)
-    managed_processes['qcomgpsd'].stop()
-
-  def test_turns_off_gnss(self, subtests):
-    for s in (0.1, 1, 5):
-      with subtests.test(runtime=s):
-        managed_processes['qcomgpsd'].start()
-        time.sleep(s)
-        managed_processes['qcomgpsd'].stop()
-
-        wait_for_modem()
-        resp = at_cmd("AT+QGPS?")
-        assert "+QGPS: 0" in resp

From 2a86d0cea5a2863fb1c8eef3a4ad5158150b712a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 19:55:16 -0700
Subject: [PATCH 118/210] modem.py: nice human readable state file

---
 system/hardware/tici/modem.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index 2f994eca5d..ebefd90c01 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -202,7 +202,7 @@ class Modem:
   def _publish_state(self, **kwargs):
     self.S.update(kwargs)
     with tempfile.NamedTemporaryFile(mode="w", dir="/dev/shm", delete=False) as f:
-      json.dump(self.S, f)
+      json.dump(self.S, f, indent=2)
     os.chmod(f.name, 0o644)
     os.replace(f.name, STATE_PATH)
 

From 294cb687f6c894ff7af051455f929b9094b6dff1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 21:20:35 -0700
Subject: [PATCH 119/210] fix memory leak from pycapnp 2.2+ (#38001)

---
 cereal/messaging/__init__.py        | 16 ++++++++++------
 selfdrive/pandad/pandad_api_impl.py |  4 +++-
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 2c925b4cc4..47d109453a 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -40,12 +40,16 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
 
 
 def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
-  args = {
-    'valid': False,
-    'logMonoTime': int(time.monotonic() * 1e9),
-    **kwargs
-  }
-  dat = log.Event.new_message(**args)
+  valid = kwargs.pop('valid', False)
+  log_mono_time = kwargs.pop('logMonoTime', int(time.monotonic() * 1e9))
+
+  # pycapnp 2.2.x's kwargs/from_dict path creates cyclic garbage here. Realtime processes disable GC.
+  dat = log.Event.new_message()
+  dat.valid = valid
+  dat.logMonoTime = log_mono_time
+  for field, value in kwargs.items():
+    setattr(dat, field, value)
+
   if service is not None:
     if size is None:
       dat.init(service)
diff --git a/selfdrive/pandad/pandad_api_impl.py b/selfdrive/pandad/pandad_api_impl.py
index 75a7ba484e..c5b2750d7d 100644
--- a/selfdrive/pandad/pandad_api_impl.py
+++ b/selfdrive/pandad/pandad_api_impl.py
@@ -39,7 +39,9 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   """
   global _cached_writer_fields
 
-  dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9))
+  dat = log.Event.new_message()
+  dat.valid = valid
+  dat.logMonoTime = int(time.monotonic() * 1e9)
   can_data = dat.init(msgtype, len(can_msgs))
 
   # Cache schema fields on first call

From 534fb19714e37c04e7f881b63978b7985600713d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 10 May 2026 22:17:11 -0700
Subject: [PATCH 120/210] agnos 18.1.3 (#38002)

---
 launch_env.sh                            |  2 +-
 system/hardware/tici/agnos.json          | 20 ++++++++++----------
 system/hardware/tici/all-partitions.json | 20 ++++++++++----------
 3 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index d836bbbb0b..8cc770b357 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.1.2"
+  export AGNOS_VERSION="18.1.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index bb7e0f9bf7..d3ed1c3847 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73.img.xz",
-    "hash": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
-    "hash_raw": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
     "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "51f13aaf26d3716ab6032badeb04d28552c77247912554bd6f1c566fe9150094"
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img.xz",
-    "hash": "dd35538c93330e53ef7bf1216cb0513ccdcea07ce124a2053c8498ebaa944085",
-    "hash_raw": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img.xz",
+    "hash": "ed1536d9c565b1e13cf604c93b1e520148aa1f849f9451595c06000bc09d3036",
+    "hash_raw": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "5d398f3afde808725c13c7e4a01d8ce12d8733c1c38ee2ac0de7366885c329ff",
+    "ondevice_hash": "4a38555fdebea9818c92c6ee2f85368bbc8ce2eca4b71e5d1e4cdee29f10fedf",
     "alt": {
-      "hash": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img",
+      "hash": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 195da35168..cbd2b0b8ad 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -339,28 +339,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73.img.xz",
-    "hash": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
-    "hash_raw": "ed9c8307efd8396c201ba8056d89d5685ce11c2857ac815b92f2e25123342a73",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
     "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "51f13aaf26d3716ab6032badeb04d28552c77247912554bd6f1c566fe9150094"
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img.xz",
-    "hash": "dd35538c93330e53ef7bf1216cb0513ccdcea07ce124a2053c8498ebaa944085",
-    "hash_raw": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img.xz",
+    "hash": "ed1536d9c565b1e13cf604c93b1e520148aa1f849f9451595c06000bc09d3036",
+    "hash_raw": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "5d398f3afde808725c13c7e4a01d8ce12d8733c1c38ee2ac0de7366885c329ff",
+    "ondevice_hash": "4a38555fdebea9818c92c6ee2f85368bbc8ce2eca4b71e5d1e4cdee29f10fedf",
     "alt": {
-      "hash": "3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-3f6d7cf44b097277361f8bb5d5b4ec8365894067349e784221f66f0f141f3683.img",
+      "hash": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img",
       "size": 4718592000
     }
   },

From 38ffb324f8c4903aaafafe1daea1192cbb886771 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 00:25:15 -0700
Subject: [PATCH 121/210] radard: filter lead prob (#37879)

* filter lead prob

* rename

* try correcting model bias

* Revert "try correcting model bias"

This reverts commit b5e9b7147e58f200ca2e02ccea8adf88be99e206.

* fast gain slow lose

* cmt

* deb

* rename

* rename

* end
---
 selfdrive/controls/radard.py | 27 ++++++++++++++++++---------
 1 file changed, 18 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 98fce1cb26..6450ff416a 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -138,7 +138,7 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
     return None
 
 
-def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float):
+def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float, lead_prob: float):
   lead_v_rel_pred = lead_msg.v[0] - model_v_ego
   return {
     "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
@@ -149,7 +149,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "aLeadK": float(lead_msg.a[0]),
     "aLeadTau": 0.3,
     "fcw": False,
-    "modelProb": float(lead_msg.prob),
+    "modelProb": float(lead_prob),
     "status": True,
     "radar": False,
     "radarTrackId": -1,
@@ -157,18 +157,18 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, lead_prob: float, low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
-  if len(tracks) > 0 and ready and lead_msg.prob > .5:
+  if len(tracks) > 0 and ready and lead_prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
   else:
     track = None
 
   lead_dict = {'status': False}
   if track is not None:
-    lead_dict = track.get_RadarState(lead_msg.prob)
-  elif (track is None) and ready and (lead_msg.prob > .5):
-    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
+    lead_dict = track.get_RadarState(lead_prob)
+  elif (track is None) and ready and (lead_prob > .5):
+    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_prob)
 
   if low_speed_override:
     low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
@@ -188,6 +188,7 @@ class RadarD:
 
     self.tracks: dict[int, Track] = {}
     self.kalman_params = KalmanParams(DT_MDL)
+    self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, DT_MDL) for _ in range(2)]
 
     self.v_ego = 0.0
     self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1)
@@ -239,8 +240,16 @@ class RadarD:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
+      for i in range(2):
+        # Asymmetric filter on lead prob to keep lead when uncertain
+        lead_prob = leads_v3[i].prob
+        if lead_prob > self.lead_prob_filters[i].x:
+          self.lead_prob_filters[i].x = lead_prob
+        else:
+          self.lead_prob_filters[i].update(lead_prob)
+
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_prob_filters[0].x, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_prob_filters[1].x, low_speed_override=False)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None

From 98512fc62bb1f6ba6e6d6ae829a55058b9625f11 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 09:29:40 -0700
Subject: [PATCH 122/210] update release notes

---
 RELEASES.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index 1fbf556fc6..aa2b9fa220 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,4 +1,4 @@
-Version 0.11.1 (2026-04-22)
+Version 0.11.1 (2026-05-18)
 ========================
 * New driver monitoring model
 * Improved image processing pipeline for driver camera

From 628e230b63d5d9e7e35493edce23a94cf8a42472 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 11 May 2026 15:26:04 -0700
Subject: [PATCH 123/210] modeld: build single camera (#37990)

* modeld: build single camera

* rm old

* detect release only once

* acados

* rm whitespace change
---
 SConstruct                  |  5 +++--
 selfdrive/modeld/SConscript | 21 +++++++++++++++------
 2 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/SConstruct b/SConstruct
index cd651bf289..5ac0987a8b 100644
--- a/SConstruct
+++ b/SConstruct
@@ -18,10 +18,11 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
+release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          default=not release,
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
@@ -187,7 +188,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados')
+Export('env', 'arch', 'acados', 'release')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 40b30b8c1b..ed8ad8075e 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -9,16 +9,25 @@ from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
+from openpilot.system.hardware import HARDWARE, PC
 
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
+Import('env', 'arch', 'release')
+
+
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return list(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
 MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
                   for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
 DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
-
-Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 

From 15267e40828fcd37f5700b608961865c41b7ce17 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 15:34:05 -0700
Subject: [PATCH 124/210] cabana: gitignore generated file

---
 tools/cabana/.gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index 1ee6c92236..927b05e34a 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -1,5 +1,6 @@
 moc_*
 *.moc
+*.generated.qrc
 
 assets.cc
 

From 02f66e6e84dd8f4b452487dc3f410244ccf2667b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 15:37:29 -0700
Subject: [PATCH 125/210] jp: surface py_downloader errors better

---
 tools/replay/py_downloader.cc | 73 +++++++----------------------------
 1 file changed, 15 insertions(+), 58 deletions(-)

diff --git a/tools/replay/py_downloader.cc b/tools/replay/py_downloader.cc
index 5063d6947c..d27a77e6ee 100644
--- a/tools/replay/py_downloader.cc
+++ b/tools/replay/py_downloader.cc
@@ -5,6 +5,7 @@
 #include <mutex>
 #include <sys/wait.h>
 #include <unistd.h>
+#include <vector>
 
 #include "tools/replay/util.h"
 
@@ -13,9 +14,9 @@ namespace {
 static std::mutex handler_mutex;
 static DownloadProgressHandler progress_handler = nullptr;
 
-// Run a Python command and capture stdout. Optionally parse stderr for PROGRESS lines.
+// Run a Python command and capture stdout. Stderr is left attached to the parent.
 // Returns stdout content. If abort is signaled, kills the child process.
-std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *abort = nullptr, bool parse_progress = false) {
+std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *abort = nullptr) {
   // Build argv for execvp
   std::vector<const char *> argv;
   argv.push_back("python3");
@@ -27,22 +28,15 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
   argv.push_back(nullptr);
 
   int stdout_pipe[2];
-  int stderr_pipe[2];
   if (pipe(stdout_pipe) != 0) {
     rWarning("py_downloader: pipe() failed");
     return {};
   }
-  if (pipe(stderr_pipe) != 0) {
-    rWarning("py_downloader: pipe() failed");
-    close(stdout_pipe[0]); close(stdout_pipe[1]);
-    return {};
-  }
 
   pid_t pid = fork();
   if (pid < 0) {
     rWarning("py_downloader: fork() failed");
     close(stdout_pipe[0]); close(stdout_pipe[1]);
-    close(stderr_pipe[0]); close(stderr_pipe[1]);
     return {};
   }
 
@@ -61,11 +55,8 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
     unsetenv("OPENPILOT_PREFIX");
 
     close(stdout_pipe[0]);
-    close(stderr_pipe[0]);
     dup2(stdout_pipe[1], STDOUT_FILENO);
-    dup2(stderr_pipe[1], STDERR_FILENO);
     close(stdout_pipe[1]);
-    close(stderr_pipe[1]);
 
     execvp("python3", const_cast<char *const *>(argv.data()));
     _exit(127);
@@ -73,32 +64,28 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
 
   // Parent process
   close(stdout_pipe[1]);
-  close(stderr_pipe[1]);
 
   std::string stdout_data;
-  std::string stderr_buf;
   char buf[4096];
 
-  // Use select() to read from both pipes
+  // Use select() so abort can interrupt while waiting for Python output.
   fd_set rfds;
-  int max_fd = std::max(stdout_pipe[0], stderr_pipe[0]);
-  bool stdout_open = true, stderr_open = true;
+  bool stdout_open = true;
 
-  while (stdout_open || stderr_open) {
+  while (stdout_open) {
     if (abort && *abort) {
       kill(pid, SIGTERM);
       break;
     }
 
     FD_ZERO(&rfds);
-    if (stdout_open) FD_SET(stdout_pipe[0], &rfds);
-    if (stderr_open) FD_SET(stderr_pipe[0], &rfds);
+    FD_SET(stdout_pipe[0], &rfds);
 
     struct timeval tv = {0, 100000};  // 100ms timeout
-    int ret = select(max_fd + 1, &rfds, nullptr, nullptr, &tv);
+    int ret = select(stdout_pipe[0] + 1, &rfds, nullptr, nullptr, &tv);
     if (ret < 0) break;
 
-    if (stdout_open && FD_ISSET(stdout_pipe[0], &rfds)) {
+    if (FD_ISSET(stdout_pipe[0], &rfds)) {
       ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
       if (n <= 0) {
         stdout_open = false;
@@ -106,45 +93,15 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
         stdout_data.append(buf, n);
       }
     }
-
-    if (stderr_open && FD_ISSET(stderr_pipe[0], &rfds)) {
-      ssize_t n = read(stderr_pipe[0], buf, sizeof(buf));
-      if (n <= 0) {
-        stderr_open = false;
-      } else {
-        stderr_buf.append(buf, n);
-        // Parse complete lines from stderr
-        size_t pos;
-        while ((pos = stderr_buf.find('\n')) != std::string::npos) {
-          std::string line = stderr_buf.substr(0, pos);
-          stderr_buf.erase(0, pos + 1);
-
-          if (parse_progress && line.rfind("PROGRESS:", 0) == 0) {
-            // Parse "PROGRESS:<cur>:<total>"
-            auto colon1 = line.find(':', 9);
-            if (colon1 != std::string::npos) {
-              try {
-                uint64_t cur = std::stoull(line.c_str() + 9);
-                uint64_t total = std::stoull(line.c_str() + colon1 + 1);
-                std::lock_guard<std::mutex> lk(handler_mutex);
-                if (progress_handler) {
-                  progress_handler(cur, total, true);
-                }
-              } catch (...) {}
-            }
-          } else if (line.rfind("ERROR:", 0) == 0) {
-            rWarning("py_downloader: %s", line.c_str() + 6);
-          }
-        }
-      }
-    }
   }
 
   // Drain remaining pipe data to prevent child from blocking on write
-  for (int fd : {stdout_pipe[0], stderr_pipe[0]}) {
-    while (read(fd, buf, sizeof(buf)) > 0) {}
-    close(fd);
+  while (true) {
+    ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
+    if (n <= 0) break;
+    stdout_data.append(buf, n);
   }
+  close(stdout_pipe[0]);
 
   int status;
   waitpid(pid, &status, 0);
@@ -192,7 +149,7 @@ std::string download(const std::string &url, bool use_cache, std::atomic<bool> *
   if (!use_cache) {
     args.push_back("--no-cache");
   }
-  return runPython(args, abort, true);
+  return runPython(args, abort);
 }
 
 std::string getRouteFiles(const std::string &route) {

From edc3ce89fa6c932bcfbcd3091675f3e96b5d4b77 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 11 May 2026 15:57:18 -0700
Subject: [PATCH 126/210] Revert "modeld: build single camera" (#38007)

Revert "modeld: build single camera (#37990)"

This reverts commit 628e230b63d5d9e7e35493edce23a94cf8a42472.
---
 SConstruct                  |  5 ++---
 selfdrive/modeld/SConscript | 21 ++++++---------------
 2 files changed, 8 insertions(+), 18 deletions(-)

diff --git a/SConstruct b/SConstruct
index 5ac0987a8b..cd651bf289 100644
--- a/SConstruct
+++ b/SConstruct
@@ -18,11 +18,10 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=not release,
+          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
@@ -188,7 +187,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch', 'acados')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index ed8ad8075e..40b30b8c1b 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -9,25 +9,16 @@ from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
-from openpilot.system.hardware import HARDWARE, PC
 
-Import('env', 'arch', 'release')
-
-
-def get_camera_configs():
-  DEVICE_RESOLUTIONS = {
-    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "mici": (_os_fisheye.width, _os_fisheye.height),
-  }
-  if release or PC or 'CI' in os.environ:
-    return list(DEVICE_RESOLUTIONS.values())
-  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
-
-CAMERA_CONFIGS = get_camera_configs()
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
 MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
                   for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
 DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
+
+Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 

From 4b81dda1b53abd901c8b0cb89406ac62577d4f27 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 11 May 2026 16:05:30 -0700
Subject: [PATCH 127/210] modeld: build single camera (#38008)

* Reapply "modeld: build single camera" (#38007)

This reverts commit edc3ce89fa6c932bcfbcd3091675f3e96b5d4b77.

* don't build same cam twice
---
 SConstruct                  |  5 +++--
 selfdrive/modeld/SConscript | 22 ++++++++++++++++------
 2 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/SConstruct b/SConstruct
index cd651bf289..5ac0987a8b 100644
--- a/SConstruct
+++ b/SConstruct
@@ -18,10 +18,11 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
+release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          default=not release,
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
@@ -187,7 +188,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados')
+Export('env', 'arch', 'acados', 'release')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 40b30b8c1b..88e72ea0b9 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -9,16 +9,26 @@ from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
+from openpilot.system.hardware import HARDWARE, PC
+
+Import('env', 'arch', 'release')
+
+
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return set(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
 
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
 MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
                   for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
 DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
-
-Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 

From bdee8731b71f3ab4d70f36f0a1832c28a37c752f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 18:55:18 -0700
Subject: [PATCH 128/210] pytest config cleanup (#38015)

* no randomly

* lil more
---
 conftest.py    | 22 +---------------------
 pyproject.toml |  5 ++++-
 2 files changed, 5 insertions(+), 22 deletions(-)

diff --git a/conftest.py b/conftest.py
index a01ddc2f6b..f2fd482be9 100644
--- a/conftest.py
+++ b/conftest.py
@@ -7,24 +7,16 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 
-# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
-# pending https://github.com/pytest-dev/pytest-cpp/pull/147
+# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
 ]
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
-  "selfdrive/modeld/*.py",
 ]
 
 
-def pytest_sessionstart(session):
-  # TODO: fix tests and enable test order randomization
-  if session.config.pluginmanager.hasplugin('randomly'):
-    session.config.option.randomly_reorganize = False
-
-
 @pytest.hookimpl(hookwrapper=True, trylast=True)
 def pytest_runtest_call(item):
   # ensure we run as a hook after capturemanager's
@@ -96,15 +88,3 @@ def pytest_collection_modifyitems(config, items):
       class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
       class_property_value = getattr(item.cls, class_property_name)
       item.add_marker(pytest.mark.xdist_group(class_property_value))
-
-
-@pytest.hookimpl(trylast=True)
-def pytest_configure(config):
-  config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "nocapture: don't capture test output"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "shared_download_cache: share download cache between tests"
-  config.addinivalue_line("markers", config_line)
diff --git a/pyproject.toml b/pyproject.toml
index 75240aa05c..c7358b0585 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -136,7 +136,10 @@ asyncio_default_fixture_loop_scope = "function"
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
-  "skip_tici_setup: mark test to skip tici setup fixture"
+  "skip_tici_setup: mark test to skip tici setup fixture",
+  "nocapture: don't capture test output",
+  "shared_download_cache: share download cache between tests",
+  "xdist_group_class_property: group tests by a property of the class that contains them",
 ]
 testpaths = [
   "common",

From 11c14a138f038937bfff131bfb1ee0cd0aab949e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 May 2026 19:40:20 -0700
Subject: [PATCH 129/210] speedup test_pandad.py (#38009)

* speedup slowest

* less setup

* rm som reset logging

* simpliy a lil more

* lil more

* down to 36s

* sleeeeeeep

* finishing touches

* oopsie

* ty fix

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 common/params_keys.h                          |   2 -
 selfdrive/pandad/pandad.py                    | 112 +++++-------------
 .../pandad/tests/bootstub.panda_h7_spiv0.bin  | Bin 16860 -> 0 bytes
 selfdrive/pandad/tests/test_pandad.py         |  39 ++----
 system/hardware/tici/hardware.py              |   6 +-
 5 files changed, 46 insertions(+), 113 deletions(-)
 delete mode 100755 selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin

diff --git a/common/params_keys.h b/common/params_keys.h
index b81a373d08..64d7717784 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -103,8 +103,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
     {"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT, BOOL}},
     {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index df2b4f7ee8..fcae0d8b37 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -14,21 +14,11 @@ from openpilot.common.swaglog import cloudlog
 
 
 def get_expected_signature() -> bytes:
-  try:
-    fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
-    return Panda.get_signature_from_firmware(fn)
-  except Exception:
-    cloudlog.exception("Error computing expected signature")
-    return b""
-
-def flash_panda(panda_serial: str) -> Panda:
-  try:
-    panda = Panda(panda_serial)
-  except PandaProtocolMismatch:
-    cloudlog.warning("detected protocol mismatch, reflashing panda")
-    HARDWARE.recover_internal_panda()
-    raise
+  fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
+  return Panda.get_signature_from_firmware(fn)
 
+def flash_panda(panda_serial: str):
+  panda = Panda(panda_serial)
   fw_signature = get_expected_signature()
   internal_panda = panda.is_internal()
 
@@ -58,7 +48,7 @@ def flash_panda(panda_serial: str) -> Panda:
     cloudlog.info("Version mismatch after flashing, exiting")
     raise AssertionError
 
-  return panda
+  panda.close()
 
 
 def main() -> None:
@@ -74,89 +64,51 @@ def main() -> None:
   do_exit = False
   signal.signal(signal.SIGINT, signal_handler)
 
-  count = 0
-  first_run = True
-  params = Params()
-  no_internal_panda_count = 0
+  # check health for lost heartbeat
+  try:
+    for s in Panda.list():
+      with Panda(s) as p:
+        health = p.health()
+        if p.is_internal() and health["heartbeat_lost"]:
+          Params().put_bool("PandaHeartbeatLost", True)
+          cloudlog.event("heartbeat lost", deviceState=health)
+  except Exception:
+    cloudlog.exception("pandad.uncaught_exception")
 
+  count = 0
   while not do_exit:
     try:
-      count += 1
       cloudlog.event("pandad.flash_and_connect", count=count)
-      params.remove("PandaSignatures")
-
-      # Handle missing internal panda
-      if no_internal_panda_count > 0:
-        if no_internal_panda_count == 3:
-          cloudlog.info("No pandas found, putting internal panda into DFU")
-          HARDWARE.recover_internal_panda()
-        else:
-          cloudlog.info("No pandas found, resetting internal panda")
-          HARDWARE.reset_internal_panda()
-        time.sleep(3)  # wait to come back up
+      if (count % 2) == 0:
+        HARDWARE.reset_internal_panda()
+      else:
+        HARDWARE.recover_internal_panda()
+      count += 1
 
       # Flash all Pandas in DFU mode
-      dfu_serials = PandaDFU.list()
-      if len(dfu_serials) > 0:
-        for serial in dfu_serials:
-          cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
-          PandaDFU(serial).recover()
+      for serial in PandaDFU.list():
+        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+        PandaDFU(serial).recover()
         time.sleep(1)
 
       panda_serials = Panda.list()
-      if len(panda_serials) == 0:
-        no_internal_panda_count += 1
-        continue
+      if len(panda_serials):
+        assert len(panda_serials) == 1
+        cloudlog.info(f"{len(panda_serials)} panda found, connecting - {panda_serials}")
+        flash_panda(panda_serials[0])
 
-      cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
-
-      # Flash the first panda
-      panda_serial = panda_serials[0]
-      panda = flash_panda(panda_serial)
-
-      # Ensure internal panda is present if expected
-      if HARDWARE.has_internal_panda() and not panda.is_internal():
-        cloudlog.error("Internal panda is missing, trying again")
-        no_internal_panda_count += 1
-        continue
-      no_internal_panda_count = 0
-
-      # log panda fw version
-      params.put("PandaSignatures", panda.get_signature())
-
-      # check health for lost heartbeat
-      health = panda.health()
-      if health["heartbeat_lost"]:
-        params.put_bool("PandaHeartbeatLost", True)
-        cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
-      if health["som_reset_triggered"]:
-        params.put_bool("PandaSomResetTriggered", True)
-        cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
-
-      if first_run:
-        # reset panda to ensure we're in a good state
-        cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-        panda.reset(reconnect=True)
-
-      panda.close()
+        # run real pandad
+        os.environ['MANAGER_DAEMON'] = 'pandad'
+        process = subprocess.Popen(["./pandad"], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+        process.wait()
     # TODO: wrap all panda exceptions in a base panda exception
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
       # a panda was disconnected while setting everything up. let's try again
       cloudlog.exception("Panda USB exception while setting up")
-      continue
     except PandaProtocolMismatch:
       cloudlog.exception("pandad.protocol_mismatch")
-      continue
     except Exception:
       cloudlog.exception("pandad.uncaught_exception")
-      continue
-
-    first_run = False
-
-    # run pandad with all connected serials as arguments
-    os.environ['MANAGER_DAEMON'] = 'pandad'
-    process = subprocess.Popen(["./pandad", panda_serial], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
-    process.wait()
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin
deleted file mode 100755
index 5cf2fa45196484fdfeb8ca952ca2ab89ff951e22..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 6a5840d487..9dacd3f5a8 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -15,12 +15,6 @@ HERE = os.path.dirname(os.path.realpath(__file__))
 
 @pytest.mark.tici
 class TestPandad:
-
-  def setup_method(self):
-    # ensure panda is up
-    if len(Panda.list()) == 0:
-      self._run_test(60)
-
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -30,7 +24,7 @@ class TestPandad:
 
     managed_processes['pandad'].start()
     while (time.monotonic() - st) < timeout:
-      sm.update(100)
+      sm.update(10)
       if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
         break
     dt = time.monotonic() - st
@@ -45,10 +39,6 @@ class TestPandad:
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
 
-  def _assert_no_panda(self):
-    assert not Panda.wait_for_dfu(None, 3)
-    assert not Panda.wait_for_panda(None, 3)
-
   def _flash_bootstub(self, fn):
     self._go_to_dfu()
     pd = PandaDFU(None)
@@ -56,12 +46,11 @@ class TestPandad:
       fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
     with open(fn, "rb") as f:
       pd.program_bootstub(f.read())
-    pd.reset()
     HARDWARE.reset_internal_panda()
 
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
-    self._run_test(60)
+    self._run_test()
 
   def test_in_bootstub(self):
     with Panda() as p:
@@ -69,30 +58,24 @@ class TestPandad:
       assert p.bootstub
     self._run_test()
 
-  def test_internal_panda_reset(self):
+  def test_in_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_set(GPIO.STM_RST_N, 1)
-    time.sleep(0.5)
-    assert all(not Panda(s).is_internal() for s in Panda.list())
+    assert not Panda.list()
     self._run_test()
 
-    assert any(Panda(s).is_internal() for s in Panda.list())
-
-  def test_old_spi_protocol(self):
-    # flash firmware with old SPI protocol
-    self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
-    self._run_test(45)
-
   def test_release_to_devel_bootstub(self):
+    st = time.monotonic()
     self._flash_bootstub(None)
-    self._run_test(45)
+    print("flash done", time.monotonic() - st)
+    self._run_test()
 
   def test_recover_from_bad_bootstub(self):
     self._go_to_dfu()
     with PandaDFU(None) as pd:
-      pd.program_bootstub(b"\x00"*1024)
-      pd.reset()
+      pd._handle.program(pd.get_mcu_type().config.bootstub_address, b"\x00"*100)
     HARDWARE.reset_internal_panda()
-    self._assert_no_panda()
+    assert not Panda.list()
+    assert not PandaDFU.list()
 
-    self._run_test(60)
+    self._run_test()
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index dcdeb8ac47..120ca77107 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -414,7 +414,7 @@ class Tici(HardwareBase):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 0)
-    time.sleep(1)
+    time.sleep(0.01)
     gpio_set(GPIO.STM_RST_N, 0)
 
   def recover_internal_panda(self):
@@ -423,9 +423,9 @@ class Tici(HardwareBase):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 1)
-    time.sleep(0.5)
+    time.sleep(0.01)
     gpio_set(GPIO.STM_RST_N, 0)
-    time.sleep(0.5)
+    time.sleep(0.01)
     gpio_set(GPIO.STM_BOOT0, 0)
 
   def booted(self):

From 3a764c0ae3246b4fd532d275e795b1e993ec5866 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 20:00:00 -0700
Subject: [PATCH 130/210] Params: rm nonblocking funcs (#38016)

* rm nonblocking funcs

* same behavior

* and put_bool

* missing!

* and nonblocking

* cmt
---
 common/params.py                              |  2 +-
 common/params_pyx.pyx                         | 31 ++++++-------
 common/tests/test_params.py                   | 38 +++++++--------
 selfdrive/car/card.py                         | 16 +++----
 selfdrive/debug/car/ecu_addrs.py              |  4 +-
 selfdrive/debug/car/fw_versions.py            |  4 +-
 selfdrive/debug/set_car_params.py             |  2 +-
 selfdrive/debug/uiview.py                     |  2 +-
 selfdrive/locationd/calibrationd.py           |  2 +-
 selfdrive/locationd/lagd.py                   |  2 +-
 selfdrive/locationd/paramsd.py                |  4 +-
 selfdrive/locationd/test/test_calibrationd.py |  2 +-
 selfdrive/locationd/test/test_lagd.py         |  4 +-
 selfdrive/locationd/test/test_paramsd.py      | 10 ++--
 selfdrive/locationd/torqued.py                |  2 +-
 selfdrive/monitoring/dmonitoringd.py          |  2 +-
 selfdrive/pandad/pandad.py                    |  2 +-
 .../pandad/tests/test_pandad_loopback.py      |  6 +--
 selfdrive/selfdrived/alertmanager.py          |  2 +-
 selfdrive/selfdrived/selfdrived.py            |  4 +-
 selfdrive/test/helpers.py                     |  8 ++--
 .../test/process_replay/process_replay.py     |  6 +--
 selfdrive/test/test_onroad.py                 |  2 +-
 selfdrive/test/test_updated.py                |  2 +-
 selfdrive/ui/layouts/onboarding.py            |  8 ++--
 selfdrive/ui/layouts/settings/common.py       |  2 +-
 selfdrive/ui/layouts/settings/developer.py    | 34 +++++++-------
 selfdrive/ui/layouts/settings/device.py       |  6 +--
 selfdrive/ui/layouts/settings/software.py     |  6 +--
 selfdrive/ui/layouts/settings/toggles.py      | 12 ++---
 selfdrive/ui/lib/prime_state.py               |  2 +-
 selfdrive/ui/mici/layouts/home.py             |  2 +-
 selfdrive/ui/mici/layouts/onboarding.py       | 18 ++++----
 .../ui/mici/layouts/settings/developer.py     | 22 ++++-----
 selfdrive/ui/mici/layouts/settings/device.py  | 12 ++---
 .../ui/mici/layouts/settings/firehose.py      |  2 +-
 .../settings/network/network_layout.py        |  2 +-
 .../ui/mici/onroad/driver_camera_dialog.py    |  4 +-
 selfdrive/ui/mici/widgets/button.py           |  6 +--
 selfdrive/ui/onroad/driver_camera_dialog.py   |  4 +-
 selfdrive/ui/onroad/exp_button.py             |  2 +-
 selfdrive/ui/tests/cycle_offroad_alerts.py    |  6 +--
 selfdrive/ui/tests/diff/replay.py             | 18 ++++----
 selfdrive/ui/tests/diff/replay_script.py      | 18 ++++----
 selfdrive/ui/tests/test_feedbackd.py          |  2 +-
 selfdrive/ui/widgets/offroad_alerts.py        |  2 +-
 selfdrive/ui/widgets/ssh_key.py               |  4 +-
 system/athena/athenad.py                      |  6 +--
 system/athena/registration.py                 |  2 +-
 system/athena/tests/test_athenad.py           |  4 +-
 system/athena/tests/test_registration.py      |  2 +-
 system/camerad/snapshot.py                    |  6 +--
 system/hardware/hardwared.py                  | 16 +++----
 system/hardware/power_monitoring.py           |  2 +-
 .../hardware/tests/test_power_monitoring.py   |  2 +-
 system/hardware/tici/tests/test_power_draw.py |  2 +-
 system/loggerd/tests/loggerd_tests_common.py  |  4 +-
 system/loggerd/tests/test_encoder.py          |  2 +-
 system/loggerd/tests/test_loggerd.py          | 10 ++--
 system/manager/helpers.py                     |  4 +-
 system/manager/manager.py                     | 22 ++++-----
 system/manager/process.py                     |  2 +-
 system/manager/process_config.py              |  2 +-
 system/ui/lib/multilang.py                    |  2 +-
 system/ui/widgets/network.py                  |  6 +--
 system/updated/tests/test_base.py             |  2 +-
 system/updated/tests/test_updated.py          |  2 +-
 system/updated/updated.py                     | 46 +++++++++----------
 tools/bodyteleop/web.py                       |  2 +-
 tools/clip/run.py                             |  2 +-
 tools/joystick/joystick_control.py            |  2 +-
 tools/scripts/setup_ssh_keys.py               |  6 +--
 tools/sim/bridge/common.py                    |  2 +-
 tools/sim/lib/simulated_car.py                |  2 +-
 74 files changed, 255 insertions(+), 260 deletions(-)

diff --git a/common/params.py b/common/params.py
index 494617200f..8af80c04bb 100644
--- a/common/params.py
+++ b/common/params.py
@@ -14,6 +14,6 @@ if __name__ == "__main__":
   if len(sys.argv) == 3:
     val = sys.argv[2]
     print(f"SET: {key} = {val}")
-    params.put(key, val)
+    params.put(key, val, block=True)
   elif len(sys.argv) == 2:
     print(f"GET: {key} = {params.get(key)}")
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 93c550f22a..c919c85f0c 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -141,33 +141,28 @@ cdef class Params:
     cdef ParamKeyType t = self.p.getKeyType(k)
     return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
 
-  def put(self, key, dat):
+  def put(self, key, dat, bool block = False):
     """
-    Warning: This function blocks until the param is written to disk!
+    Warning: block=True blocks until the param is written to disk!
     In very rare cases this can take over a second, and your code will hang.
-    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
-    in general try to avoid writing params as much as possible.
+    Use block=False in time sensitive code, but in general try to avoid
+    writing params as much as possible.
     """
     cdef string k = self.check_key(key)
     cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
-      self.p.put(k, dat_bytes)
+      if block:
+        self.p.put(k, dat_bytes)
+      else:
+        self.p.putNonBlocking(k, dat_bytes)
 
-  def put_bool(self, key, bool val):
+  def put_bool(self, key, bool val, bool block = False):
     cdef string k = self.check_key(key)
     with nogil:
-      self.p.putBool(k, val)
-
-  def put_nonblocking(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
-    with nogil:
-      self.p.putNonBlocking(k, dat_bytes)
-
-  def put_bool_nonblocking(self, key, bool val):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.putBoolNonBlocking(k, val)
+      if block:
+        self.p.putBool(k, val)
+      else:
+        self.p.putBoolNonBlocking(k, val)
 
   def remove(self, key):
     cdef string k = self.check_key(key)
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 592bf2c4b2..fcb8e5a185 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -12,17 +12,17 @@ class TestParams:
     self.params = Params()
 
   def test_params_put_and_get(self):
-    self.params.put("DongleId", "cb38263377b873ee")
+    self.params.put("DongleId", "cb38263377b873ee", block=True)
     assert self.params.get("DongleId") == "cb38263377b873ee"
 
   def test_params_non_ascii(self):
     st = b"\xe1\x90\xff"
-    self.params.put("CarParams", st)
+    self.params.put("CarParams", st, block=True)
     assert self.params.get("CarParams") == st
 
   def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", b"test")
-    self.params.put("DongleId", "cb38263377b873ee")
+    self.params.put("CarParams", b"test", block=True)
+    self.params.put("DongleId", "cb38263377b873ee", block=True)
     assert self.params.get("CarParams") == b"test"
 
     undefined_param = self.params.get_param_path(uuid.uuid4().hex)
@@ -36,15 +36,15 @@ class TestParams:
     assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
-    self.params.put("DongleId", "bob")
-    self.params.put("AthenadPid", 123)
+    self.params.put("DongleId", "bob", block=True)
+    self.params.put("AthenadPid", 123, block=True)
     assert self.params.get("DongleId") == "bob"
     assert self.params.get("AthenadPid") == 123
 
   def test_params_get_block(self):
     def _delayed_writer():
       time.sleep(0.1)
-      self.params.put("CarParams", b"test")
+      self.params.put("CarParams", b"test", block=True)
     threading.Thread(target=_delayed_writer).start()
     assert self.params.get("CarParams") is None
     assert self.params.get("CarParams", block=True) == b"test"
@@ -57,10 +57,10 @@ class TestParams:
       self.params.get_bool("swag")
 
     with pytest.raises(UnknownKeyName):
-      self.params.put("swag", "abc")
+      self.params.put("swag", "abc", block=True)
 
     with pytest.raises(UnknownKeyName):
-      self.params.put_bool("swag", True)
+      self.params.put_bool("swag", True, block=True)
 
   def test_remove_not_there(self):
     assert self.params.get("CarParams") is None
@@ -71,23 +71,23 @@ class TestParams:
     self.params.remove("IsMetric")
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", True)
+    self.params.put_bool("IsMetric", True, block=True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", False)
+    self.params.put_bool("IsMetric", False, block=True)
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", True)
+    self.params.put("IsMetric", True, block=True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", False)
+    self.params.put("IsMetric", False, block=True)
     assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_nonblocking("CarParams", b"test")
+      Params().put("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
@@ -96,7 +96,7 @@ class TestParams:
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_bool_nonblocking("CarParams", True)
+      Params().put_bool("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
@@ -123,19 +123,19 @@ class TestParams:
 
   def test_params_get_type(self):
     # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0})
+    self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)
     assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
 
     # int
-    self.params.put("BootCount", 1441)
+    self.params.put("BootCount", 1441, block=True)
     assert self.params.get("BootCount") == 1441
 
     # bool
-    self.params.put("AdbEnabled", True)
+    self.params.put("AdbEnabled", True, block=True)
     assert self.params.get("AdbEnabled")
     assert isinstance(self.params.get("AdbEnabled"), bool)
 
     # time
     now = datetime.datetime.now(datetime.UTC)
-    self.params.put("InstallDate", now)
+    self.params.put("InstallDate", now, block=True)
     assert self.params.get("InstallDate") == now
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index b64210514a..1660881a9a 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -33,7 +33,7 @@ def obd_callback(params: Params) -> ObdCallback:
     if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
       cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
       params.remove("ObdMultiplexingChanged")
-      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
+      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing, block=True)
       params.get_bool("ObdMultiplexingChanged", block=True)
       cloudlog.warning("OBD multiplexing set successfully")
   return set_obd_multiplexing
@@ -102,7 +102,7 @@ class Car:
       self.CP = self.CI.CP
 
       # continue onto next fingerprinting step in pandad
-      self.params.put_bool("FirmwareQueryDone", True)
+      self.params.put_bool("FirmwareQueryDone", True, block=True)
     else:
       self.CI, self.CP = CI, CI.CP
       self.RI = RI
@@ -122,7 +122,7 @@ class Car:
         with open("/cache/params/SecOCKey") as f:
           user_key = f.readline().strip()
           if len(user_key) == 32:
-            self.params.put("SecOCKey", user_key)
+            self.params.put("SecOCKey", user_key, block=True)
       except Exception:
         pass
 
@@ -140,13 +140,13 @@ class Car:
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
-      self.params.put("CarParamsPrevRoute", prev_cp)
+      self.params.put("CarParamsPrevRoute", prev_cp, block=True)
 
     # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
-    self.params.put("CarParams", cp_bytes)
-    self.params.put_nonblocking("CarParamsCache", cp_bytes)
-    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
+    self.params.put("CarParams", cp_bytes, block=True)
+    self.params.put("CarParamsCache", cp_bytes)
+    self.params.put("CarParamsPersistent", cp_bytes)
 
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -228,7 +228,7 @@ class Car:
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
-      self.params.put_bool_nonblocking("ControlsReady", True)
+      self.params.put_bool("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can
diff --git a/selfdrive/debug/car/ecu_addrs.py b/selfdrive/debug/car/ecu_addrs.py
index 584c930ebf..f3f06406c0 100755
--- a/selfdrive/debug/car/ecu_addrs.py
+++ b/selfdrive/debug/car/ecu_addrs.py
@@ -26,9 +26,9 @@ if __name__ == "__main__":
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
+  params.put_bool("IsOnroad", False, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
+  params.put_bool("IsOnroad", True, block=True)
 
   obd_callback(params)(not args.no_obd)
 
diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py
index 5fb65e6972..b04f9cd2a6 100755
--- a/selfdrive/debug/car/fw_versions.py
+++ b/selfdrive/debug/car/fw_versions.py
@@ -30,9 +30,9 @@ if __name__ == "__main__":
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
+  params.put_bool("IsOnroad", False, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
+  params.put_bool("IsOnroad", True, block=True)
   set_obd_multiplexing = obd_callback(params)
 
   extra: Any = None
diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py
index aec30b4d74..dabb6b7065 100755
--- a/selfdrive/debug/set_car_params.py
+++ b/selfdrive/debug/set_car_params.py
@@ -19,4 +19,4 @@ if __name__ == "__main__":
 
   cp_bytes = CP.to_bytes()
   for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
-    Params().put(p, cp_bytes)
+    Params().put(p, cp_bytes, block=True)
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
index 8e75769a85..e558406b09 100755
--- a/selfdrive/debug/uiview.py
+++ b/selfdrive/debug/uiview.py
@@ -8,7 +8,7 @@ from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
-  Params().put("CarParams", CP.to_bytes())
+  Params().put("CarParams", CP.to_bytes(), block=True)
 
   procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
   for p in procs:
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 036f5822d2..4423f39061 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -167,7 +167,7 @@ class Calibrator:
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
+      self.params.put("CalibrationParams", self.get_msg(True).to_bytes())
 
   def handle_v_ego(self, v_ego: float) -> None:
     self.v_ego = v_ego
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index 6232404c30..e2026908c9 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -411,4 +411,4 @@ def main():
       pm.send('liveDelay', lag_msg_dat)
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
-        params.put_nonblocking("LiveDelay", lag_msg_dat)
+        params.put("LiveDelay", lag_msg_dat)
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 0489ae4174..02d09c506e 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -212,7 +212,7 @@ def migrate_cached_vehicle_params_if_needed(params: Params):
     last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
     last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
     last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
-    params.put("LiveParametersV2", last_parameters_msg.to_bytes())
+    params.put("LiveParametersV2", last_parameters_msg.to_bytes(), block=True)
   except Exception as e:
     cloudlog.error(f"Failed to perform parameter migration: {e}")
     params.remove("LiveParameters")
@@ -290,7 +290,7 @@ def main():
 
       msg_dat = msg.to_bytes()
       if sm.frame % 1200 == 0:  # once a minute
-        params.put_nonblocking("LiveParametersV2", msg_dat)
+        params.put("LiveParametersV2", msg_dat)
 
       pm.send('liveParameters', msg_dat)
 
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index df61b6a7c7..c90ce506ab 100644
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -36,7 +36,7 @@ class TestCalibrationd:
     msg.liveCalibration.validBlocks = random.randint(1, 10)
     msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
     msg.liveCalibration.height = [random.random() for _ in range(1)]
-    Params().put("CalibrationParams", msg.to_bytes())
+    Params().put("CalibrationParams", msg.to_bytes(), block=True)
     c = Calibrator(param_put=True)
 
     np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index 6249e6b04b..746f7ad478 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -53,8 +53,8 @@ class TestLagd:
     msg = messaging.new_message('liveDelay')
     msg.liveDelay.lateralDelayEstimate = random.random()
     msg.liveDelay.validBlocks = random.randint(1, 10)
-    params.put("LiveDelay", msg.to_bytes())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.put("LiveDelay", msg.to_bytes(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
     saved_lag_params = retrieve_initial_lag(params, CP)
     assert saved_lag_params is not None
diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py
index dd496b7675..1a4d348e94 100644
--- a/selfdrive/locationd/test/test_paramsd.py
+++ b/selfdrive/locationd/test/test_paramsd.py
@@ -27,8 +27,8 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParametersV2", msg.to_bytes())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.put("LiveParametersV2", msg.to_bytes(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
     migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
     sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
@@ -46,8 +46,8 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.liveParameters.to_dict())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
     params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
@@ -59,7 +59,7 @@ class TestParamsd:
 
   def test_read_saved_params_corrupted_old_format(self):
     params = Params()
-    params.put("LiveParameters", {})
+    params.put("LiveParameters", {}, block=True)
     params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 9a2b6c17b1..16468f7055 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -268,7 +268,7 @@ def main(demo=False):
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0:
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
-      params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
+      params.put("LiveTorqueParameters", msg.to_bytes())
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 415853513e..c81245a815 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -41,7 +41,7 @@ def dmonitoringd_thread():
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
      DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
      DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
-      params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
+      params.put_bool("IsRhdDetected", DM.wheel_on_right)
 
 def main():
   dmonitoringd_thread()
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index fcae0d8b37..2400f8cd6c 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -70,7 +70,7 @@ def main() -> None:
       with Panda(s) as p:
         health = p.health()
         if p.is_internal() and health["heartbeat_lost"]:
-          Params().put_bool("PandaHeartbeatLost", True)
+          Params().put_bool("PandaHeartbeatLost", True, block=True)
           cloudlog.event("heartbeat lost", deviceState=health)
   except Exception:
     cloudlog.exception("pandad.uncaught_exception")
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index 0c0e57b375..bc90f42a83 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -42,9 +42,9 @@ def setup_pandad():
   safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
   cp.safetyConfigs = [safety_config]
 
-  params.put_bool("FirmwareQueryDone", True)
-  params.put_bool("ControlsReady", True)
-  params.put("CarParams", cp.to_bytes())
+  params.put_bool("FirmwareQueryDone", True, block=True)
+  params.put_bool("ControlsReady", True, block=True)
+  params.put("CarParams", cp.to_bytes(), block=True)
 
   publish_device_state(pm, True)
   with Timeout(90, "pandad didn't set safety mode"):
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index 385c276a94..c166ff591c 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -17,7 +17,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = Non
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''
-    Params().put(alert, a)
+    Params().put(alert, a, block=True)
   else:
     Params().remove(alert)
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 52ddb8397c..37538b6ab2 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -190,7 +190,7 @@ class SelfdriveD:
     if not self.CP.notCar:
       # Block engaging until ignition cycle after max number or time of distractions
       if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
-        self.params.put_bool_nonblocking("DriverTooDistracted", True)
+        self.params.put_bool("DriverTooDistracted", True)
         self.dm_lockout_set = True
       # No entry conditions
       if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
@@ -425,7 +425,7 @@ class SelfdriveD:
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', self.personality)
+        self.params.put('LongitudinalPersonality', self.personality)
         self.events.add(EventName.personalityChanged)
 
   def data_sample(self):
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 5dfc1c3ec8..49a8ec60a3 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -18,15 +18,15 @@ def set_params_enabled():
   os.environ['LOGPRINT'] = "debug"
 
   params = Params()
-  params.put("HasAcceptedTerms", terms_version)
-  params.put("CompletedTrainingVersion", training_version)
-  params.put_bool("OpenpilotEnabledToggle", True)
+  params.put("HasAcceptedTerms", terms_version, block=True)
+  params.put("CompletedTrainingVersion", training_version, block=True)
+  params.put_bool("OpenpilotEnabledToggle", True, block=True)
 
   # valid calib
   msg = messaging.new_message('liveCalibration')
   msg.liveCalibration.validBlocks = 20
   msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
-  params.put("CalibrationParams", msg.to_bytes())
+  params.put("CalibrationParams", msg.to_bytes(), block=True)
 
 def release_only(f):
   @wraps(f)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a74dfcbb43..1edbc3e2d6 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -191,9 +191,9 @@ class ProcessContainer:
     params = Params()
     for k, v in params_config.items():
       if isinstance(v, bool):
-        params.put_bool(k, v)
+        params.put_bool(k, v, block=True)
       else:
-        params.put(k, v)
+        params.put(k, v, block=True)
 
     self.environ_config = environ_config
 
@@ -372,7 +372,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
 
     CP = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP
 
-  params.put("CarParams", CP.to_bytes())
+  params.put("CarParams", CP.to_bytes(), block=True)
 
 
 def card_rcv_callback(msg, cfg, frame):
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index abb6e96069..897d11e310 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -119,7 +119,7 @@ class TestOnroad:
     # setup env
     params = Params()
     params.remove("CurrentRoute")
-    params.put_bool("RecordFront", True)
+    params.put_bool("RecordFront", True, block=True)
     set_params_enabled()
     os.environ['REPLAY'] = '1'
     os.environ['MSGQ_PREALLOC'] = '1'
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index 22fee9bab2..e4cc714b87 100644
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -92,7 +92,7 @@ class TestUpdated:
     return subprocess.Popen(updated_path, env=os.environ)
 
   def _start_updater(self, offroad=True, nosleep=False):
-    self.params.put_bool("IsOffroad", offroad)
+    self.params.put_bool("IsOffroad", offroad, block=True)
     self.updated_proc = self._get_updated_proc()
     if not nosleep:
       time.sleep(1)
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index 37205b0e26..c75abac1a2 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -66,7 +66,7 @@ class TrainingGuide(Widget):
       if self._step == DM_RECORD_STEP:
         yes = rl.check_collision_point_rec(mouse_pos, DM_RECORD_YES_RECT)
         print(f"putting RecordFront to {yes}")
-        ui_state.params.put_bool("RecordFront", yes)
+        ui_state.params.put_bool("RecordFront", yes, block=True)
 
       # Restart training?
       elif self._step == len(self._image_paths) - 1:
@@ -153,7 +153,7 @@ class DeclinePage(Widget):
                                  click_callback=self._on_uninstall_clicked)
 
   def _on_uninstall_clicked(self):
-    ui_state.params.put_bool("DoUninstall", True)
+    ui_state.params.put_bool("DoUninstall", True, block=True)
     gui_app.request_close()
 
   def _render(self, _):
@@ -194,13 +194,13 @@ class OnboardingWindow(Widget):
     self._state = OnboardingState.TERMS
 
   def _on_terms_accepted(self):
-    ui_state.params.put("HasAcceptedTerms", terms_version)
+    ui_state.params.put("HasAcceptedTerms", terms_version, block=True)
     self._state = OnboardingState.ONBOARDING
     if self._training_done:
       gui_app.pop_widget()
 
   def _on_completed_training(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
+    ui_state.params.put("CompletedTrainingVersion", training_version, block=True)
 
   def _render(self, _):
     if self._training_guide is None:
diff --git a/selfdrive/ui/layouts/settings/common.py b/selfdrive/ui/layouts/settings/common.py
index 13d1c743df..bba8606e64 100644
--- a/selfdrive/ui/layouts/settings/common.py
+++ b/selfdrive/ui/layouts/settings/common.py
@@ -2,4 +2,4 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 
 
 def restart_needed_callback(_=None):
-  ui_state.params.put_bool_nonblocking("OnroadCycleRequested", True)
+  ui_state.params.put_bool("OnroadCycleRequested", True)
diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index 782f7c2117..6417909322 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -150,44 +150,44 @@ class DeveloperLayout(Widget):
       item.action_item.set_state(self._params.get_bool(key))
 
   def _on_enable_ui_debug(self, state: bool):
-    self._params.put_bool("ShowDebugInfo", state)
+    self._params.put_bool("ShowDebugInfo", state, block=True)
     gui_app.set_show_touches(state)
     gui_app.set_show_fps(state)
 
   def _on_enable_adb(self, state: bool):
-    self._params.put_bool("AdbEnabled", state)
+    self._params.put_bool("AdbEnabled", state, block=True)
 
   def _on_enable_ssh(self, state: bool):
-    self._params.put_bool("SshEnabled", state)
+    self._params.put_bool("SshEnabled", state, block=True)
 
   def _on_joystick_debug_mode(self, state: bool):
-    self._params.put_bool("JoystickDebugMode", state)
-    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._params.put_bool("JoystickDebugMode", state, block=True)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.action_item.set_state(False)
-    self._params.put_bool("LateralManeuverMode", False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_long_maneuver_mode(self, state: bool):
-    self._params.put_bool("LongitudinalManeuverMode", state)
-    self._params.put_bool("JoystickDebugMode", False)
+    self._params.put_bool("LongitudinalManeuverMode", state, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.action_item.set_state(False)
-    self._params.put_bool("LateralManeuverMode", False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_lat_maneuver_mode(self, state: bool):
-    self._params.put_bool("LateralManeuverMode", state)
-    self._params.put_bool("ExperimentalMode", False)
-    self._params.put_bool("JoystickDebugMode", False)
+    self._params.put_bool("LateralManeuverMode", state, block=True)
+    self._params.put_bool("ExperimentalMode", False, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.action_item.set_state(False)
-    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.action_item.set_state(False)
 
   def _on_alpha_long_enabled(self, state: bool):
     if state:
       def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
-          self._params.put_bool("AlphaLongitudinalEnabled", True)
-          self._params.put_bool("OnroadCycleRequested", True)
+          self._params.put_bool("AlphaLongitudinalEnabled", True, block=True)
+          self._params.put_bool("OnroadCycleRequested", True, block=True)
           self._update_toggles()
         else:
           self._alpha_long_toggle.action_item.set_state(False)
@@ -200,6 +200,6 @@ class DeveloperLayout(Widget):
       gui_app.push_widget(dlg)
 
     else:
-      self._params.put_bool("AlphaLongitudinalEnabled", False)
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("AlphaLongitudinalEnabled", False, block=True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
       self._update_toggles()
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
index 5c3dae869b..845fca3e83 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -105,7 +105,7 @@ class DeviceLayout(Widget):
       self._params.remove("LiveParameters")
       self._params.remove("LiveParametersV2")
       self._params.remove("LiveDelay")
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
       self._update_calib_description()
 
     dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration)
@@ -166,7 +166,7 @@ class DeviceLayout(Widget):
 
     def perform_reboot(result: DialogResult):
       if not ui_state.engaged and result == DialogResult.CONFIRM:
-        self._params.put_bool_nonblocking("DoReboot", True)
+        self._params.put_bool("DoReboot", True)
 
     dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=perform_reboot)
     gui_app.push_widget(dialog)
@@ -178,7 +178,7 @@ class DeviceLayout(Widget):
 
     def perform_power_off(result: DialogResult):
       if not ui_state.engaged and result == DialogResult.CONFIRM:
-        self._params.put_bool_nonblocking("DoShutdown", True)
+        self._params.put_bool("DoShutdown", True)
 
     dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=perform_power_off)
     gui_app.push_widget(dialog)
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index 83a66ef3bd..3bf271052d 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -168,7 +168,7 @@ class SoftwareLayout(Widget):
   def _on_uninstall(self):
     def handle_uninstall_confirmation(result: DialogResult):
       if result == DialogResult.CONFIRM:
-        ui_state.params.put_bool("DoUninstall", True)
+        ui_state.params.put_bool("DoUninstall", True, block=True)
 
     dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"), callback=handle_uninstall_confirmation)
     gui_app.push_widget(dialog)
@@ -176,7 +176,7 @@ class SoftwareLayout(Widget):
   def _on_install_update(self):
     # Trigger reboot to install update
     self._install_btn.action_item.set_enabled(False)
-    ui_state.params.put_bool("DoReboot", True)
+    ui_state.params.put_bool("DoReboot", True, block=True)
 
   def _on_select_branch(self):
     # Get available branches and order
@@ -195,7 +195,7 @@ class SoftwareLayout(Widget):
       # Confirmed selection
       if result == DialogResult.CONFIRM and self._branch_dialog is not None and self._branch_dialog.selection:
         selection = self._branch_dialog.selection
-        ui_state.params.put("UpdaterTargetBranch", selection)
+        ui_state.params.put("UpdaterTargetBranch", selection, block=True)
         self._branch_btn.action_item.set_value(selection)
         os.system("pkill -SIGUSR1 -f system.updated.updated")
       self._branch_dialog = None
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index 711392bdb0..f342175a82 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -217,8 +217,8 @@ class TogglesLayout(Widget):
     if state and not confirmed:
       def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
-          self._params.put_bool("ExperimentalMode", True)
-          self._params.put_bool("ExperimentalModeConfirmed", True)
+          self._params.put_bool("ExperimentalMode", True, block=True)
+          self._params.put_bool("ExperimentalModeConfirmed", True, block=True)
         else:
           self._toggles["ExperimentalMode"].action_item.set_state(False)
         self._update_experimental_mode_icon()
@@ -230,16 +230,16 @@ class TogglesLayout(Widget):
       gui_app.push_widget(dlg)
     else:
       self._update_experimental_mode_icon()
-      self._params.put_bool("ExperimentalMode", state)
+      self._params.put_bool("ExperimentalMode", state, block=True)
 
   def _toggle_callback(self, state: bool, param: str):
     if param == "ExperimentalMode":
       self._handle_experimental_mode_toggle(state)
       return
 
-    self._params.put_bool(param, state)
+    self._params.put_bool(param, state, block=True)
     if self._toggle_defs[param][3]:
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
 
   def _set_longitudinal_personality(self, button_index: int):
-    self._params.put("LongitudinalPersonality", button_index)
+    self._params.put("LongitudinalPersonality", button_index, block=True)
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index 4292962b39..1aed949bee 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -65,7 +65,7 @@ class PrimeState:
     with self._lock:
       if prime_type != self.prime_type:
         self.prime_type = prime_type
-        self._params.put_nonblocking("PrimeType", int(prime_type))
+        self._params.put("PrimeType", int(prime_type))
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index f9a85a8fba..de20b80f4c 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -182,7 +182,7 @@ class MiciHomeLayout(Widget):
         # long gating for experimental mode - only allow toggle if longitudinal control is available
         if ui_state.has_longitudinal_control:
           self._experimental_mode = not self._experimental_mode
-          ui_state.params.put("ExperimentalMode", self._experimental_mode)
+          ui_state.params.put("ExperimentalMode", self._experimental_mode, block=True)
         self._mouse_down_t = None
         self._did_long_press = True
 
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 85731564ea..2d6acf60d6 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -69,7 +69,7 @@ class TrainingGuidePreDMTutorial(NavScroller):
   def show_event(self):
     super().show_event()
     # Get driver monitoring model ready for next step
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+    ui_state.params.put_bool("IsDriverViewEnabled", True)
 
 
 class DMBadFaceDetected(NavScroller):
@@ -109,7 +109,7 @@ class TrainingGuideDMTutorial(NavWidget):
 
     # Disable driver monitoring model when device times out for inactivity
     def inactivity_callback():
-      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+      ui_state.params.put_bool("IsDriverViewEnabled", False)
 
     device.add_interactive_timeout_callback(inactivity_callback)
 
@@ -121,7 +121,7 @@ class TrainingGuideDMTutorial(NavWidget):
   def _update_state(self):
     super()._update_state()
     if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
-      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+      ui_state.params.put_bool("IsDriverViewEnabled", True)
 
     sm = ui_state.sm
     if sm.recv_frame.get("driverMonitoringState", 0) == 0:
@@ -217,11 +217,11 @@ class TrainingGuideRecordFront(NavScroller):
     super().__init__()
 
     def on_accept():
-      ui_state.params.put_bool_nonblocking("RecordFront", True)
+      ui_state.params.put_bool("RecordFront", True)
       continue_callback()
 
     def on_decline():
-      ui_state.params.put_bool_nonblocking("RecordFront", False)
+      ui_state.params.put_bool("RecordFront", False)
       continue_callback()
 
     self._accept_button = BigConfirmationCircleButton("allow data uploading", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
@@ -353,7 +353,7 @@ class OnboardingWindow(Widget):
     self._training_guide.set_enabled(lambda: self.enabled)  # for nav stack
 
   def _on_uninstall(self):
-    ui_state.params.put_bool("DoUninstall", True)
+    ui_state.params.put_bool("DoUninstall", True, block=True)
 
   def show_event(self):
     super().show_event()
@@ -371,15 +371,15 @@ class OnboardingWindow(Widget):
     return self._accepted_terms and self._training_done
 
   def close(self):
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
     self._completed_callback()
 
   def _on_terms_accepted(self):
-    ui_state.params.put("HasAcceptedTerms", terms_version)
+    ui_state.params.put("HasAcceptedTerms", terms_version, block=True)
     gui_app.push_widget(self._training_guide)
 
   def _on_completed_training(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
+    ui_state.params.put("CompletedTrainingVersion", training_version, block=True)
     self.close()
 
   def _render(self, _):
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 6e74473a48..2f0250ff5f 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -162,32 +162,32 @@ class DeveloperLayoutMici(NavScroller):
       item.set_checked(ui_state.params.get_bool(key))
 
   def _on_joystick_debug_mode(self, state: bool):
-    ui_state.params.put_bool("JoystickDebugMode", state)
-    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    ui_state.params.put_bool("JoystickDebugMode", state, block=True)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.set_checked(False)
-    ui_state.params.put_bool("LateralManeuverMode", False)
+    ui_state.params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.set_checked(False)
 
   def _on_long_maneuver_mode(self, state: bool):
-    ui_state.params.put_bool("LongitudinalManeuverMode", state)
-    ui_state.params.put_bool("JoystickDebugMode", False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", state, block=True)
+    ui_state.params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.set_checked(False)
-    ui_state.params.put_bool("LateralManeuverMode", False)
+    ui_state.params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.set_checked(False)
     restart_needed_callback()
 
   def _on_lat_maneuver_mode(self, state: bool):
-    ui_state.params.put_bool("LateralManeuverMode", state)
-    ui_state.params.put_bool("ExperimentalMode", False)
-    ui_state.params.put_bool("JoystickDebugMode", False)
+    ui_state.params.put_bool("LateralManeuverMode", state, block=True)
+    ui_state.params.put_bool("ExperimentalMode", False, block=True)
+    ui_state.params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.set_checked(False)
-    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.set_checked(False)
     restart_needed_callback()
 
   def _on_alpha_long_enabled(self, state: bool):
     def do_toggle(_state: bool):
-      ui_state.params.put_bool("AlphaLongitudinalEnabled", _state)
+      ui_state.params.put_bool("AlphaLongitudinalEnabled", _state, block=True)
       restart_needed_callback()
       self._update_toggles()
 
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 3c165b5bb3..6b8320f488 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -40,7 +40,7 @@ class ReviewTrainingGuide(TrainingGuide):
   def hide_event(self):
     super().hide_event()
     device.set_override_interactive_timeout(None)
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
 
 
 class MiciFccModal(NavRawScrollPanel):
@@ -200,7 +200,7 @@ class UpdateOpenpilotBigButton(BigButton):
       if self.get_value() == "download update":
         os.system("pkill -SIGHUP -f system.updated.updated")
       elif self.get_value() == "update now":
-        ui_state.params.put_bool("DoReboot", True)
+        ui_state.params.put_bool("DoReboot", True, block=True)
       else:
         os.system("pkill -SIGUSR1 -f system.updated.updated")
 
@@ -292,10 +292,10 @@ class DeviceLayoutMici(NavScroller):
     self._fcc_dialog: HtmlModal | None = None
 
     def power_off_callback():
-      ui_state.params.put_bool("DoShutdown", True)
+      ui_state.params.put_bool("DoShutdown", True, block=True)
 
     def reboot_callback():
-      ui_state.params.put_bool("DoReboot", True)
+      ui_state.params.put_bool("DoReboot", True, block=True)
 
     def reset_calibration_callback():
       params = ui_state.params
@@ -304,10 +304,10 @@ class DeviceLayoutMici(NavScroller):
       params.remove("LiveParameters")
       params.remove("LiveParametersV2")
       params.remove("LiveDelay")
-      params.put_bool("OnroadCycleRequested", True)
+      params.put_bool("OnroadCycleRequested", True, block=True)
 
     def uninstall_openpilot_callback():
-      ui_state.params.put_bool("DoUninstall", True)
+      ui_state.params.put_bool("DoUninstall", True, block=True)
 
     reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64),
                                                       reset_calibration_callback)
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 64cd3a29c9..4c27a909f9 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -207,7 +207,7 @@ class FirehoseLayoutBase(Widget):
       if response.status_code == 200:
         data = response.json()
         self._segment_count = data.get("firehose", 0)
-        self._params.put_nonblocking(self.PARAM_KEY, data)
+        self._params.put(self.PARAM_KEY, data)
     except Exception as e:
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
index 58b3d0c77d..cb44a09a2b 100644
--- a/selfdrive/ui/mici/layouts/settings/network/network_layout.py
+++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -117,7 +117,7 @@ class NetworkLayoutMici(NavScroller):
       if apn == "":
         ui_state.params.remove("GsmApn")
       else:
-        ui_state.params.put("GsmApn", apn)
+        ui_state.params.put("GsmApn", apn, block=True)
 
     current_apn = ui_state.params.get("GsmApn") or ""
     dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index ddc084c148..df5afe2e7c 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -41,7 +41,7 @@ class BaseDriverCameraDialog(Widget):
 
   def show_event(self):
     super().show_event()
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+    ui_state.params.put_bool("IsDriverViewEnabled", True)
     self._publish_alert_sound(None)
     device.set_override_interactive_timeout(300)
     ui_state.params.remove("DriverTooDistracted")
@@ -49,7 +49,7 @@ class BaseDriverCameraDialog(Widget):
 
   def hide_event(self):
     super().hide_event()
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
     device.set_override_interactive_timeout(None)
 
   def _handle_mouse_release(self, _):
diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py
index 058c351fb6..1dceb79691 100644
--- a/selfdrive/ui/mici/widgets/button.py
+++ b/selfdrive/ui/mici/widgets/button.py
@@ -387,7 +387,7 @@ class BigMultiParamToggle(BigMultiToggle):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     new_idx = self._options.index(self.value)
-    self._params.put_nonblocking(self._param, new_idx)
+    self._params.put(self._param, new_idx)
 
 
 class BigParamControl(BigToggle):
@@ -399,7 +399,7 @@ class BigParamControl(BigToggle):
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
-    self.params.put_bool(self.param, self._checked)
+    self.params.put_bool(self.param, self._checked, block=True)
 
   def refresh(self):
     self.set_checked(self.params.get_bool(self.param, False))
@@ -416,7 +416,7 @@ class BigCircleParamControl(BigCircleToggle):
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
-    self.params.put_bool(self._param, self._checked)
+    self.params.put_bool(self._param, self._checked, block=True)
 
   def refresh(self):
     self.set_checked(self.params.get_bool(self._param, False))
diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/selfdrive/ui/onroad/driver_camera_dialog.py
index e66e04b824..7e07e44210 100644
--- a/selfdrive/ui/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/onroad/driver_camera_dialog.py
@@ -15,11 +15,11 @@ class DriverCameraDialog(CameraView):
     self.driver_state_renderer = DriverStateRenderer()
     # TODO: this can grow unbounded, should be given some thought
     device.add_interactive_timeout_callback(gui_app.pop_widget)
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
+    ui_state.params.put_bool("IsDriverViewEnabled", True, block=True)
 
   def hide_event(self):
     super().hide_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False, block=True)
     self.close()
 
   def _handle_mouse_release(self, _):
diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py
index ff0bad7479..9a92ebc3c3 100644
--- a/selfdrive/ui/onroad/exp_button.py
+++ b/selfdrive/ui/onroad/exp_button.py
@@ -36,7 +36,7 @@ class ExpButton(Widget):
     super()._handle_mouse_release(_)
     if self._is_toggle_allowed():
       new_mode = not self._experimental_mode
-      self._params.put_bool_nonblocking("ExperimentalMode", new_mode)
+      self._params.put_bool("ExperimentalMode", new_mode)
 
       # Hold new state temporarily
       self._held_mode = new_mode
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py
index b577b74b00..fcb4a72c77 100755
--- a/selfdrive/ui/tests/cycle_offroad_alerts.py
+++ b/selfdrive/ui/tests/cycle_offroad_alerts.py
@@ -18,11 +18,11 @@ if __name__ == "__main__":
   t = 10 if len(sys.argv) < 2 else int(sys.argv[1])
   while True:
     print("setting alert update")
-    params.put_bool("UpdateAvailable", True)
-    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
+    params.put_bool("UpdateAvailable", True, block=True)
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR), block=True)
 
     time.sleep(t)
-    params.put_bool("UpdateAvailable", False)
+    params.put_bool("UpdateAvailable", False, block=True)
 
     # cycle through normal alerts
     for a in offroad_alerts:
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
index b38026048d..25920b67fb 100755
--- a/selfdrive/ui/tests/diff/replay.py
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -24,17 +24,17 @@ HEADLESS = os.getenv("WINDOWED", "0") != "1"
 
 def setup_state():
   params = Params()
-  params.put("HasAcceptedTerms", terms_version)
-  params.put("CompletedTrainingVersion", training_version)
-  params.put("DongleId", "test123456789")
+  params.put("HasAcceptedTerms", terms_version, block=True)
+  params.put("CompletedTrainingVersion", training_version, block=True)
+  params.put("DongleId", "test123456789", block=True)
   # Combined description for layouts that still use it (BIG home, settings/software)
-  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
-  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30", block=True)
+  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR), block=True)
   # Params for mici home
-  params.put("Version", "0.10.1")
-  params.put("GitBranch", "test-branch")
-  params.put("GitCommit", "abc12340ff9131237ba23a1d0fbd8edf9c80e87")
-  params.put("GitCommitDate", "'1732924800 2024-11-30 00:00:00 +0000'")
+  params.put("Version", "0.10.1", block=True)
+  params.put("GitBranch", "test-branch", block=True)
+  params.put("GitCommit", "abc12340ff9131237ba23a1d0fbd8edf9c80e87", block=True)
+  params.put("GitCommitDate", "'1732924800 2024-11-30 00:00:00 +0000'", block=True)
 
   # Patch Api.get_token to return a static token so the pairing QR code is deterministic across runs
   Api.get_token = lambda self, payload_extra=None, expiry_hours=0: "test_token"
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
index c53d2f116b..dce1c12dc4 100644
--- a/selfdrive/ui/tests/diff/replay_script.py
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -126,12 +126,12 @@ def setup_offroad_alerts() -> None:
 
 def setup_update_available(available: bool = True) -> None:
   params = Params()
-  params.put_bool("UpdateAvailable", available)
-  params.put("UpdaterAvailableBranches", ",".join(["test-branch", "test-branch-2", BRANCH_NAME]))
+  params.put_bool("UpdateAvailable", available, block=True)
+  params.put("UpdaterAvailableBranches", ",".join(["test-branch", "test-branch-2", BRANCH_NAME]), block=True)
   if available:
-    params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01")
-    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
-    params.put("UpdaterTargetBranch", BRANCH_NAME)
+    params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01", block=True)
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR), block=True)
+    params.put("UpdaterTargetBranch", BRANCH_NAME, block=True)
   else:
     params.remove("UpdaterNewDescription")
     params.remove("UpdaterNewReleaseNotes")
@@ -144,22 +144,22 @@ def setup_calibration_params() -> None:
   calib = messaging.new_message('liveCalibration')
   calib.liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
   calib.liveCalibration.rpyCalib = [0.0, math.radians(2.5), math.radians(-1.2)]
-  params.put("CalibrationParams", calib.to_bytes())
+  params.put("CalibrationParams", calib.to_bytes(), block=True)
   # live delay
   delay = messaging.new_message('liveDelay')
   delay.liveDelay.calPerc = 75
-  params.put("LiveDelay", delay.to_bytes())
+  params.put("LiveDelay", delay.to_bytes(), block=True)
   # live torque parameters
   torque = messaging.new_message('liveTorqueParameters')
   torque.liveTorqueParameters.useParams = True
   torque.liveTorqueParameters.calPerc = 60
-  params.put("LiveTorqueParameters", torque.to_bytes())
+  params.put("LiveTorqueParameters", torque.to_bytes(), block=True)
 
 
 def setup_developer_params() -> None:
   CP = car.CarParams()
   CP.alphaLongitudinalAvailable = True
-  Params().put("CarParamsPersistent", CP.to_bytes())
+  Params().put("CarParamsPersistent", CP.to_bytes(), block=True)
 
 
 # --- Send functions ---
diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py
index 6b7ec44863..0f7148de04 100644
--- a/selfdrive/ui/tests/test_feedbackd.py
+++ b/selfdrive/ui/tests/test_feedbackd.py
@@ -27,7 +27,7 @@ class TestFeedbackd:
 
   @pytest.mark.parametrize("record_feedback", [False, True])
   def test_audio_feedback(self, record_feedback):
-    Params().put_bool("RecordAudioFeedback", record_feedback)
+    Params().put_bool("RecordAudioFeedback", record_feedback, block=True)
 
     managed_processes["feedbackd"].start()
     assert self.pm.wait_for_readers_to_update('carState', timeout=5)
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py
index 110ca714a9..b86e827664 100644
--- a/selfdrive/ui/widgets/offroad_alerts.py
+++ b/selfdrive/ui/widgets/offroad_alerts.py
@@ -92,7 +92,7 @@ class AbstractAlert(Widget, ABC):
     self.dismiss_callback: Callable | None = None
 
     def snooze_callback():
-      self.params.put_bool("SnoozeUpdate", True)
+      self.params.put_bool("SnoozeUpdate", True, block=True)
       if self.dismiss_callback:
         self.dismiss_callback()
 
diff --git a/selfdrive/ui/widgets/ssh_key.py b/selfdrive/ui/widgets/ssh_key.py
index b3ff5c1711..aa7cb91b1f 100644
--- a/selfdrive/ui/widgets/ssh_key.py
+++ b/selfdrive/ui/widgets/ssh_key.py
@@ -59,8 +59,8 @@ class SshKeyFetcher:
       if not keys:
         raise requests.exceptions.HTTPError("No SSH keys found")
 
-      self._params.put("GithubUsername", username)
-      self._params.put("GithubSshKeys", keys)
+      self._params.put("GithubUsername", username, block=True)
+      self._params.put("GithubSshKeys", keys, block=True)
     except requests.exceptions.Timeout:
       self._error = tr("Request timed out")
     except Exception:
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index b52ef21ba6..de09c2da76 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -161,7 +161,7 @@ class UploadQueueCache:
     try:
       queue: list[UploadItem | None] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      Params().put("AthenadUploadQueue", items)
+      Params().put("AthenadUploadQueue", items, block=True)
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -477,7 +477,7 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
   # remove duplicates
   routes = list(dict.fromkeys(routes))
 
-  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]))
+  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]), block=True)
   return {"success": 1}
 
 
@@ -745,7 +745,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
         recv_queue.put_nowait(data)
       elif opcode == ABNF.OPCODE_PING:
         last_ping = int(time.monotonic() * 1e9)
-        Params().put("LastAthenaPingTime", last_ping)
+        Params().put("LastAthenaPingTime", last_ping, block=True)
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
diff --git a/system/athena/registration.py b/system/athena/registration.py
index 405b2423f2..ecc102edf9 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -95,7 +95,7 @@ def register(show_spinner=False) -> str | None:
       spinner.close()
 
   if dongle_id:
-    params.put("DongleId", dongle_id)
+    params.put("DongleId", dongle_id, block=True)
     set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 5b3e0b41f4..b0c20a26a9 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -73,8 +73,8 @@ class TestAthenadMethods:
 
     self.params = Params()
     for k, v in self.default_params.items():
-      self.params.put(k, v)
-    self.params.put_bool("GsmMetered", True)
+      self.params.put(k, v, block=True)
+    self.params.put_bool("GsmMetered", True, block=True)
 
     athenad.upload_queue = queue.PriorityQueue()
     athenad.cur_upload_items.clear()
diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
index c20722659a..f5d900d4db 100644
--- a/system/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -37,7 +37,7 @@ class TestRegistration:
     dongle = "DONGLE_ID_123"
     m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     for persist, params in [(True, True), (True, False), (False, True)]:
-      self.params.put("DongleId", dongle if params else "")
+      self.params.put("DongleId", dongle if params else "", block=True)
       with open(self.dongle_id, "w") as f:
         f.write(dongle if persist else "")
       assert register() == dongle
diff --git a/system/camerad/snapshot.py b/system/camerad/snapshot.py
index 035a4acdcf..ec6cbc8ad3 100755
--- a/system/camerad/snapshot.py
+++ b/system/camerad/snapshot.py
@@ -87,7 +87,7 @@ def snapshot():
     return None, None
 
   front_camera_allowed = params.get_bool("RecordFront")
-  params.put_bool("IsTakingSnapshot", True)
+  params.put_bool("IsTakingSnapshot", True, block=True)
   set_offroad_alert("Offroad_IsTakingSnapshot", True)
   time.sleep(2.0)  # Give hardwared time to read the param, or if just started give camerad time to start
 
@@ -95,7 +95,7 @@ def snapshot():
   try:
     subprocess.check_call(["pgrep", "camerad"])
     print("Camerad already running")
-    params.put_bool("IsTakingSnapshot", False)
+    params.put_bool("IsTakingSnapshot", False, block=True)
     params.remove("Offroad_IsTakingSnapshot")
     return None, None
   except subprocess.CalledProcessError:
@@ -111,7 +111,7 @@ def snapshot():
     rear, front = get_snapshots(frame, front_frame)
   finally:
     managed_processes['camerad'].stop()
-    params.put_bool("IsTakingSnapshot", False)
+    params.put_bool("IsTakingSnapshot", False, block=True)
     set_offroad_alert("Offroad_IsTakingSnapshot", False)
 
   if not front_camera_allowed:
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index bcf9f2ec0b..5db73403e1 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -206,7 +206,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # handle requests to cycle system started state
     if params.get_bool("OnroadCycleRequested"):
-      params.put_bool("OnroadCycleRequested", False)
+      params.put_bool("OnroadCycleRequested", False, block=True)
       offroad_cycle_count = sm.frame
     onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency
 
@@ -324,13 +324,13 @@ def hardware_thread(end_event, hw_queue) -> None:
       should_start = should_start and all(startup_conditions.values())
 
     if should_start != should_start_prev or (count == 0):
-      params.put_bool("IsEngaged", False)
+      params.put_bool("IsEngaged", False, block=True)
       engaged_prev = False
 
     if sm.updated['selfdriveState']:
       engaged = sm['selfdriveState'].enabled
       if engaged != engaged_prev:
-        params.put_bool("IsEngaged", engaged)
+        params.put_bool("IsEngaged", engaged, block=True)
         engaged_prev = engaged
 
       try:
@@ -380,7 +380,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     # Check if we need to shut down
     if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
       cloudlog.warning(f"shutting device down, offroad since {off_ts}")
-      params.put_bool("DoShutdown", True)
+      params.put_bool("DoShutdown", True, block=True)
 
     msg.deviceState.started = started_ts is not None
     msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))
@@ -426,11 +426,11 @@ def hardware_thread(end_event, hw_queue) -> None:
       # save last one before going onroad
       if rising_edge_started:
         try:
-          params.put("LastOffroadStatusPacket", dat)
+          params.put("LastOffroadStatusPacket", dat, block=True)
         except Exception:
           cloudlog.exception("failed to save offroad status")
 
-    params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered)
+    params.put_bool("NetworkMetered", msg.deviceState.networkMetered)
 
     now_ts = time.monotonic()
     if off_ts:
@@ -440,8 +440,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     last_uptime_ts = now_ts
 
     if (count % int(60. / DT_HW)) == 0:
-      params.put("UptimeOffroad", uptime_offroad)
-      params.put("UptimeOnroad", uptime_onroad)
+      params.put("UptimeOffroad", uptime_offroad, block=True)
+      params.put("UptimeOnroad", uptime_onroad, block=True)
 
     count += 1
     should_start_prev = should_start
diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py
index f8b0e8b629..161b5d23ef 100644
--- a/system/hardware/power_monitoring.py
+++ b/system/hardware/power_monitoring.py
@@ -56,7 +56,7 @@ class PowerMonitoring:
       self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
       self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh)
       if now - self.last_save_time >= 10:
-        self.params.put_nonblocking("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
+        self.params.put("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
         self.last_save_time = now
 
       # First measurement, set integration time
diff --git a/system/hardware/tests/test_power_monitoring.py b/system/hardware/tests/test_power_monitoring.py
index 1dff6c6c5f..5e1b751a0f 100644
--- a/system/hardware/tests/test_power_monitoring.py
+++ b/system/hardware/tests/test_power_monitoring.py
@@ -139,7 +139,7 @@ class TestPowerMonitoring:
   def test_disable_power_down(self, mocker):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 100
-    self.params.put_bool("DisablePowerDown", True)
+    self.params.put_bool("DisablePowerDown", True, block=True)
     pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
     pm = PowerMonitoring()
     pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index c4401c9583..6656addf73 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -42,7 +42,7 @@ PROCS = [
 class TestPowerDraw:
 
   def setup_method(self):
-    Params().put("CarParams", get_demo_car_params().to_bytes())
+    Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
 
     # wait a bit for power save to disable
     time.sleep(5)
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 8bf609ae8d..fd071486df 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -76,8 +76,8 @@ class UploaderTestCase:
     self.seg_dir = self.seg_format.format(self.seg_num)
 
     self.params = Params()
-    self.params.put("IsOffroad", True)
-    self.params.put("DongleId", "0000000000000000")
+    self.params.put("IsOffroad", True, block=True)
+    self.params.put("DongleId", "0000000000000000", block=True)
 
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
                           upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index a9de0690aa..2b74fe2276 100644
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -53,7 +53,7 @@ class TestEncoder:
   # TODO: this should run faster than real time
   @parameterized.expand([(True, ), (False, )])
   def test_log_rotation(self, record_front):
-    Params().put_bool("RecordFront", record_front)
+    Params().put_bool("RecordFront", record_front, block=True)
 
     managed_processes['sensord'].start()
     managed_processes['loggerd'].start()
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 9703ac2f5f..3a0da849de 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -161,8 +161,8 @@ class TestLoggerd:
     ]
     params = Params()
     for k, _, v in fake_params:
-      params.put(k, v)
-    params.put("AccessToken", "abc")
+      params.put(k, v, block=True)
+    params.put("AccessToken", "abc", block=True)
 
     lr = list(LogReader(str(self._gen_bootlog())))
     initData = lr[0].initData
@@ -188,7 +188,7 @@ class TestLoggerd:
 
   @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
   def test_rotation(self):
-    Params().put("RecordFront", True)
+    Params().put("RecordFront", True, block=True)
 
     expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
 
@@ -309,7 +309,7 @@ class TestLoggerd:
   @pytest.mark.parametrize("record_front", [True, False])
   def test_record_front(self, record_front):
     params = Params()
-    params.put_bool("RecordFront", record_front)
+    params.put_bool("RecordFront", record_front, block=True)
 
     self._publish_camera_and_audio_messages()
 
@@ -320,7 +320,7 @@ class TestLoggerd:
   @pytest.mark.parametrize("record_audio", [True, False])
   def test_record_audio(self, record_audio):
     params = Params()
-    params.put_bool("RecordAudio", record_audio)
+    params.put_bool("RecordAudio", record_audio, block=True)
 
     self._publish_camera_and_audio_messages()
 
diff --git a/system/manager/helpers.py b/system/manager/helpers.py
index 047d0ac2d6..6af4a799e4 100644
--- a/system/manager/helpers.py
+++ b/system/manager/helpers.py
@@ -46,8 +46,8 @@ def unblock_stdout() -> None:
 
 
 def write_onroad_params(started, params):
-  params.put_bool("IsOnroad", started)
-  params.put_bool("IsOffroad", not started)
+  params.put_bool("IsOnroad", started, block=True)
+  params.put_bool("IsOffroad", not started, block=True)
 
 
 def save_bootlog():
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 2d80c78ff5..d8f9a3d8fa 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -36,13 +36,13 @@ def manager_init() -> None:
     params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
 
   if params.get_bool("RecordFrontLock"):
-    params.put_bool("RecordFront", True)
+    params.put_bool("RecordFront", True, block=True)
 
   # set unset params to their default value
   for k in params.all_keys():
     default_value = params.get_default_value(k)
     if default_value is not None and params.get(k) is None:
-      params.put(k, default_value)
+      params.put(k, default_value, block=True)
 
   # Create folders needed for msgq
   try:
@@ -54,14 +54,14 @@ def manager_init() -> None:
 
   # set params
   serial = HARDWARE.get_serial()
-  params.put("Version", build_metadata.openpilot.version)
-  params.put("GitCommit", build_metadata.openpilot.git_commit)
-  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
-  params.put("GitBranch", build_metadata.channel)
-  params.put("GitRemote", build_metadata.openpilot.git_origin)
-  params.put_bool("IsTestedBranch", build_metadata.tested_channel)
-  params.put_bool("IsReleaseBranch", build_metadata.release_channel)
-  params.put("HardwareSerial", serial)
+  params.put("Version", build_metadata.openpilot.version, block=True)
+  params.put("GitCommit", build_metadata.openpilot.git_commit, block=True)
+  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date, block=True)
+  params.put("GitBranch", build_metadata.channel, block=True)
+  params.put("GitRemote", build_metadata.openpilot.git_origin, block=True)
+  params.put_bool("IsTestedBranch", build_metadata.tested_channel, block=True)
+  params.put_bool("IsReleaseBranch", build_metadata.release_channel, block=True)
+  params.put("HardwareSerial", serial, block=True)
 
   # set dongle id
   reg_res = register(show_spinner=True)
@@ -173,7 +173,7 @@ def manager_thread() -> None:
     for param in ("DoUninstall", "DoShutdown", "DoReboot"):
       if params.get_bool(param):
         shutdown = True
-        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
+        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}", block=True)
         cloudlog.warning(f"Shutting down manager - {param} set")
 
     if shutdown:
diff --git a/system/manager/process.py b/system/manager/process.py
index 36e1ba77b2..d328d4d441 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -240,7 +240,7 @@ class DaemonProcess(ManagerProcess):
                                stderr=open('/dev/null', 'w'),
                                preexec_fn=os.setpgrp)
 
-    self.params.put(self.param_name, proc.pid)
+    self.params.put(self.param_name, proc.pid, block=True)
 
   def stop(self, retry=True, block=True, sig=None) -> None:
     pass
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index f5a6c51072..7ed4a2dacb 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -28,7 +28,7 @@ def ublox_available() -> bool:
 def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
   use_ublox = ublox_available()
   if use_ublox != params.get_bool("UbloxAvailable"):
-    params.put_bool("UbloxAvailable", use_ublox)
+    params.put_bool("UbloxAvailable", use_ublox, block=True)
   return started and use_ublox
 
 def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py
index 3c6a6b8564..06c54f6e9f 100644
--- a/system/ui/lib/multilang.py
+++ b/system/ui/lib/multilang.py
@@ -176,7 +176,7 @@ class Multilang:
       self._plurals = {}
 
   def change_language(self, language_code: str) -> None:
-    self._params.put("LanguageSetting", language_code)
+    self._params.put("LanguageSetting", language_code, block=True)
     self._language = language_code
     self.setup()
 
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index f7bc553dca..f104ba6add 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -175,7 +175,7 @@ class AdvancedNetworkSettings(Widget):
     self._wifi_manager.set_tethering_active(checked)
 
   def _toggle_roaming(self):
-    self._params.put_bool("GsmRoaming", self._roaming_action.get_state())
+    self._params.put_bool("GsmRoaming", self._roaming_action.get_state(), block=True)
 
   def _edit_apn(self):
     def update_apn(result: DialogResult):
@@ -186,7 +186,7 @@ class AdvancedNetworkSettings(Widget):
       if apn == "":
         self._params.remove("GsmApn")
       else:
-        self._params.put("GsmApn", apn)
+        self._params.put("GsmApn", apn, block=True)
 
     current_apn = self._params.get("GsmApn") or ""
     self._keyboard.reset(min_text_size=0)
@@ -196,7 +196,7 @@ class AdvancedNetworkSettings(Widget):
     gui_app.push_widget(self._keyboard)
 
   def _toggle_cellular_metered(self):
-    self._params.put_bool("GsmMetered", self._cellular_metered_action.get_state())
+    self._params.put_bool("GsmMetered", self._cellular_metered_action.get_state(), block=True)
 
   def _toggle_wifi_metered(self, metered):
     metered_type = {0: MeteredType.UNKNOWN, 1: MeteredType.YES, 2: MeteredType.NO}.get(metered, MeteredType.UNKNOWN)
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index c4894f2711..db38bfa840 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -86,7 +86,7 @@ class TestBaseUpdate:
     mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir)
 
   def set_target_branch(self, branch):
-    self.params.put("UpdaterTargetBranch", branch)
+    self.params.put("UpdaterTargetBranch", branch, block=True)
 
   def setup_basedir_release(self, release):
     self.params = Params()
diff --git a/system/updated/tests/test_updated.py b/system/updated/tests/test_updated.py
index d36d4dd4e1..18ee0e706a 100644
--- a/system/updated/tests/test_updated.py
+++ b/system/updated/tests/test_updated.py
@@ -28,7 +28,7 @@ def test_target_branch_migration_from_current_branch(mocker, device_type, branch
 ])
 def test_target_branch_migration_from_param(mocker, device_type, branch, expected):
   params = Params()
-  params.put("UpdaterTargetBranch", branch)
+  params.put("UpdaterTargetBranch", branch, block=True)
 
   mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
 
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 693a31c9f4..25821e3732 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -66,7 +66,7 @@ class WaitTimeHelper:
 
 def write_time_to_param(params, param) -> None:
   t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-  params.put(param, t)
+  params.put(param, t, block=True)
 
 def run(cmd: list[str], cwd: str | None = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
@@ -139,7 +139,7 @@ def init_overlay() -> None:
   cloudlog.info("preparing new safe staging area")
 
   params = Params()
-  params.put_bool("UpdateAvailable", False)
+  params.put_bool("UpdateAvailable", False, block=True)
   set_consistent_flag(False)
   dismount_overlay()
   run(["sudo", "rm", "-rf", STAGING_ROOT])
@@ -170,7 +170,7 @@ def init_overlay() -> None:
   run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")])
 
   git_diff = run(["git", "diff", "--submodule=diff"], OVERLAY_MERGED)
-  params.put("GitDiff", git_diff)
+  params.put("GitDiff", git_diff, block=True)
   cloudlog.info(f"git diff output:\n{git_diff}")
 
 
@@ -275,19 +275,19 @@ class Updater:
     return run(["git", "rev-parse", "HEAD"], path).rstrip()
 
   def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None:
-    self.params.put("UpdateFailedCount", failed_count)
-    self.params.put("UpdaterTargetBranch", self.target_branch)
+    self.params.put("UpdateFailedCount", failed_count, block=True)
+    self.params.put("UpdaterTargetBranch", self.target_branch, block=True)
 
-    self.params.put_bool("UpdaterFetchAvailable", self.update_available)
+    self.params.put_bool("UpdaterFetchAvailable", self.update_available, block=True)
     if len(self.branches):
-      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
+      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()), block=True)
 
     last_uptime_onroad = self.params.get("UptimeOnroad", return_default=True)
     last_route_count = self.params.get("RouteCount", return_default=True)
     if update_success:
-      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None))
-      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
-      self.params.put("LastUpdateRouteCount", last_route_count)
+      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None), block=True)
+      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad, block=True)
+      self.params.put("LastUpdateRouteCount", last_route_count, block=True)
     else:
       last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
       last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)
@@ -295,7 +295,7 @@ class Updater:
     if exception is None:
       self.params.remove("LastUpdateException")
     else:
-      self.params.put("LastUpdateException", exception)
+      self.params.put("LastUpdateException", exception, block=True)
 
     # Write out current and new version info
     def get_description(basedir: str) -> str:
@@ -318,11 +318,11 @@ class Updater:
       except Exception:
         cloudlog.exception("updater.get_description")
       return f"{version} / {branch} / {commit} / {commit_date}"
-    self.params.put("UpdaterCurrentDescription", get_description(BASEDIR))
-    self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
-    self.params.put("UpdaterNewDescription", get_description(FINALIZED))
-    self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED))
-    self.params.put_bool("UpdateAvailable", self.update_ready)
+    self.params.put("UpdaterCurrentDescription", get_description(BASEDIR), block=True)
+    self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR), block=True)
+    self.params.put("UpdaterNewDescription", get_description(FINALIZED), block=True)
+    self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED), block=True)
+    self.params.put_bool("UpdateAvailable", self.update_ready, block=True)
 
     # Handle user prompt
     for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"):
@@ -377,11 +377,11 @@ class Updater:
   def fetch_update(self) -> None:
     cloudlog.info("attempting git fetch inside staging overlay")
 
-    self.params.put("UpdaterState", "downloading...")
+    self.params.put("UpdaterState", "downloading...", block=True)
 
     # TODO: cleanly interrupt this and invalidate old update
     set_consistent_flag(False)
-    self.params.put_bool("UpdateAvailable", False)
+    self.params.put_bool("UpdateAvailable", False, block=True)
 
     setup_git_options(OVERLAY_MERGED)
 
@@ -409,7 +409,7 @@ class Updater:
       handle_agnos_update()
 
     # Create the finalized, ready-to-swap update
-    self.params.put("UpdaterState", "finalizing update...")
+    self.params.put("UpdaterState", "finalizing update...", block=True)
     finalize_update()
     cloudlog.info("finalize success!")
 
@@ -438,7 +438,7 @@ def main() -> None:
 
     if not params.get("InstallDate"):
       t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-      params.put("InstallDate", t)
+      params.put("InstallDate", t, block=True)
 
     updater = Updater()
     update_failed_count = 0 # TODO: Load from param?
@@ -448,7 +448,7 @@ def main() -> None:
     set_consistent_flag(False)
 
     # set initial state
-    params.put("UpdaterState", "idle")
+    params.put("UpdaterState", "idle", block=True)
 
     # Run the update loop
     first_run = True
@@ -472,7 +472,7 @@ def main() -> None:
         update_failed_count += 1
 
         # check for update
-        params.put("UpdaterState", "checking...")
+        params.put("UpdaterState", "checking...", block=True)
         updater.check_for_update()
 
         # download update
@@ -502,7 +502,7 @@ def main() -> None:
         OVERLAY_INIT.unlink(missing_ok=True)
 
       try:
-        params.put("UpdaterState", "idle")
+        params.put("UpdaterState", "idle", block=True)
         update_successful = (update_failed_count == 0)
         updater.set_params(update_successful, update_failed_count, exception)
       except Exception:
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index f91d6a1441..29d23184bd 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -69,7 +69,7 @@ async def offer(request: 'web.Request'):
 
 def main():
   # Enable joystick debug mode
-  Params().put_bool("JoystickDebugMode", True)
+  Params().put_bool("JoystickDebugMode", True, block=True)
 
   # App needs to be HTTPS for WebRTC to work on the browser
   ssl_context = create_ssl_context()
diff --git a/tools/clip/run.py b/tools/clip/run.py
index 172410dc1a..d3a0496b1e 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -219,7 +219,7 @@ def load_route_metadata(route):
   params = Params()
   for entry in init_data.params.entries:
     try:
-      params.put(entry.key, params.cpp2python(entry.key, entry.value))
+      params.put(entry.key, params.cpp2python(entry.key, entry.value), block=True)
     except UnknownKeyName:
       pass
 
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index 11d17e587e..b1f14043b7 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -110,7 +110,7 @@ def send_thread(joystick):
 
 
 def joystick_control_thread(joystick):
-  Params().put_bool('JoystickDebugMode', True)
+  Params().put_bool('JoystickDebugMode', True, block=True)
   threading.Thread(target=send_thread, args=(joystick,), daemon=True).start()
   while True:
     joystick.update()
diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
index 45dc0aa977..e599dd3c5d 100755
--- a/tools/scripts/setup_ssh_keys.py
+++ b/tools/scripts/setup_ssh_keys.py
@@ -15,9 +15,9 @@ if __name__ == "__main__":
 
   if keys.status_code == 200:
     params = Params()
-    params.put_bool("SshEnabled", True)
-    params.put("GithubSshKeys", keys.text)
-    params.put("GithubUsername", username)
+    params.put_bool("SshEnabled", True, block=True)
+    params.put("GithubSshKeys", keys.text, block=True)
+    params.put("GithubUsername", username, block=True)
     print("Set up ssh keys successfully")
   else:
     print("Error getting public keys from github")
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 69dec173ca..499420ec4b 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -40,7 +40,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
-    self.params.put_bool("AlphaLongitudinalEnabled", True)
+    self.params.put_bool("AlphaLongitudinalEnabled", True, block=True)
 
     self.rk = Ratekeeper(100, None)
 
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 68ff3050db..03da594769 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -84,7 +84,7 @@ class SimulatedCar:
 
     if self.params.get_bool("ObdMultiplexingEnabled") != self.obd_multiplexing:
       self.obd_multiplexing = not self.obd_multiplexing
-      self.params.put_bool("ObdMultiplexingChanged", True)
+      self.params.put_bool("ObdMultiplexingChanged", True, block=True)
 
     dat = messaging.new_message('pandaStates', 1)
     dat.valid = True

From dff6a80fafe755f18b29a63b7e558f1d16ffba71 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 20:16:54 -0700
Subject: [PATCH 131/210] Remove some blocking params

---
 selfdrive/ui/mici/layouts/settings/network/network_layout.py | 2 +-
 selfdrive/ui/widgets/offroad_alerts.py                       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
index cb44a09a2b..58b3d0c77d 100644
--- a/selfdrive/ui/mici/layouts/settings/network/network_layout.py
+++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -117,7 +117,7 @@ class NetworkLayoutMici(NavScroller):
       if apn == "":
         ui_state.params.remove("GsmApn")
       else:
-        ui_state.params.put("GsmApn", apn, block=True)
+        ui_state.params.put("GsmApn", apn)
 
     current_apn = ui_state.params.get("GsmApn") or ""
     dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py
index b86e827664..110ca714a9 100644
--- a/selfdrive/ui/widgets/offroad_alerts.py
+++ b/selfdrive/ui/widgets/offroad_alerts.py
@@ -92,7 +92,7 @@ class AbstractAlert(Widget, ABC):
     self.dismiss_callback: Callable | None = None
 
     def snooze_callback():
-      self.params.put_bool("SnoozeUpdate", True, block=True)
+      self.params.put_bool("SnoozeUpdate", True)
       if self.dismiss_callback:
         self.dismiss_callback()
 

From ecb661fe8548fb22bd9e941bcccd39d967bc8d99 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 20:39:46 -0700
Subject: [PATCH 132/210] ui: get version info once (#38018)

* these are written by manager

* rm
---
 selfdrive/ui/mici/layouts/home.py | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index de20b80f4c..f37cbf4798 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -137,7 +137,7 @@ class MiciHomeLayout(Widget):
     self._did_long_press = False
     self._is_pressed_prev = False
 
-    self._version_text = None
+    self._version_text = self._get_version_text()
     self._experimental_mode = False
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
@@ -163,7 +163,6 @@ class MiciHomeLayout(Widget):
 
   def show_event(self):
     super().show_event()
-    self._version_text = self._get_version_text()
     self._update_params()
 
   def _update_params(self):
@@ -187,8 +186,6 @@ class MiciHomeLayout(Widget):
         self._did_long_press = True
 
     if rl.get_time() - self._last_refresh > 5.0:
-      # Update version text
-      self._version_text = self._get_version_text()
       self._last_refresh = rl.get_time()
       self._update_params()
 

From af92603d1733dfee1cfc06e65ec4f46bd1e3d45d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 21:06:23 -0700
Subject: [PATCH 133/210] Move experimental mode param to ui_state.py (#38017)

* re-do

* rm more

* and that
---
 selfdrive/ui/mici/layouts/home.py | 19 +++----------------
 selfdrive/ui/ui_state.py          |  3 +++
 2 files changed, 6 insertions(+), 16 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index f37cbf4798..60c5fcf1d4 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -132,13 +132,11 @@ class MiciHomeLayout(Widget):
     self._on_alerts_click: Callable | None = None
     self._alert_count_callback: Callable[[], int] | None = None
 
-    self._last_refresh = 0
     self._mouse_down_t: None | float = None
     self._did_long_press = False
     self._is_pressed_prev = False
 
     self._version_text = self._get_version_text()
-    self._experimental_mode = False
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
@@ -161,13 +159,6 @@ class MiciHomeLayout(Widget):
     self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
     self._version_commit_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
 
-  def show_event(self):
-    super().show_event()
-    self._update_params()
-
-  def _update_params(self):
-    self._experimental_mode = ui_state.params.get_bool("ExperimentalMode")
-
   def _update_state(self):
     if self.is_pressed and not self._is_pressed_prev:
       self._mouse_down_t = time.monotonic()
@@ -180,15 +171,11 @@ class MiciHomeLayout(Widget):
       if time.monotonic() - self._mouse_down_t > 0.5:
         # long gating for experimental mode - only allow toggle if longitudinal control is available
         if ui_state.has_longitudinal_control:
-          self._experimental_mode = not self._experimental_mode
-          ui_state.params.put("ExperimentalMode", self._experimental_mode, block=True)
+          ui_state.experimental_mode = not ui_state.experimental_mode
+          ui_state.params.put("ExperimentalMode", ui_state.experimental_mode, block=True)
         self._mouse_down_t = None
         self._did_long_press = True
 
-    if rl.get_time() - self._last_refresh > 5.0:
-      self._last_refresh = rl.get_time()
-      self._update_params()
-
   def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
                     alert_count_callback: Callable[[], int] | None = None,
                     max_severity_callback: Callable[[], int | None] | None = None):
@@ -256,7 +243,7 @@ class MiciHomeLayout(Widget):
         self._version_commit_label.render()
 
     # ***** Center-aligned bottom section icons *****
-    self._experimental_icon.set_visible(self._experimental_mode)
+    self._experimental_icon.set_visible(ui_state.experimental_mode)
     self._mic_icon.set_visible(ui_state.recording_audio)
     self._body_icon.set_visible(ui_state.is_body)
 
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 52426f510b..3bcdfa10c8 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -73,6 +73,7 @@ class UIState:
     self.is_metric: bool = self.params.get_bool("IsMetric")
     self.is_release = self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
+    self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
@@ -191,6 +192,8 @@ class UIState:
         for callback in self._on_body_changed_callbacks:
           callback()
 
+    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+
     self._param_update_time = time.monotonic()
 
 

From 492ed73127427aa5db85fe967f9779ac9c60b23e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 May 2026 22:53:29 -0700
Subject: [PATCH 134/210] device sync: serverless code sync (#38020)

* serverless code sync

* rm stuff

* we have ls-files for this

* rm

* no debounce

fix

* fix

* no del

* no init

* clean up

* clean up

* smol

* fixup

* rm

* clean up

* any change

* rm arg

* rm

* rm
---
 tools/scripts/devsync.py | 93 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 93 insertions(+)
 create mode 100755 tools/scripts/devsync.py

diff --git a/tools/scripts/devsync.py b/tools/scripts/devsync.py
new file mode 100755
index 0000000000..98312dd545
--- /dev/null
+++ b/tools/scripts/devsync.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import argparse
+import shlex
+import subprocess
+import threading
+import time
+
+from watchdog.events import FileSystemEventHandler
+from watchdog.observers import Observer
+
+from openpilot.common.basedir import BASEDIR
+
+
+def build_rsync_cmd(args) -> list[str]:
+  ssh = [
+    "ssh",
+    "-o", "ControlMaster=auto",
+    "-o", f"ControlPath=/tmp/devsync-{args.ip}.ctl",
+    "-o", "ControlPersist=10m",
+    "-o", "StrictHostKeyChecking=accept-new",
+  ]
+  if args.identity:
+    ssh += ["-i", args.identity]
+
+  return [
+    "rsync", "-az",
+    "--files-from=-", "--from0",
+    "-e", " ".join(shlex.quote(p) for p in ssh),
+    "--out-format=%n",
+    BASEDIR + "/", f"comma@{args.ip}:{args.remote}/",
+  ]
+
+
+def git_tracked_files() -> bytes:
+  return subprocess.check_output(
+    ["git", "-C", BASEDIR, "ls-files", "--recurse-submodules", "-z"]
+  )
+
+
+class Handler(FileSystemEventHandler):
+  def __init__(self, sync_fn):
+    self.dirty = threading.Event()
+    self.sync_fn = sync_fn
+
+  def on_any_event(self, event):
+    if not event.is_directory:
+      self.dirty.set()
+
+  def run(self):
+    while True:
+      time.sleep(1)
+      if self.dirty.is_set():
+        self.dirty.clear()
+        self.sync_fn()
+
+
+def main():
+  p = argparse.ArgumentParser()
+  p.add_argument("ip", help="device IP / hostname")
+  p.add_argument("--remote", default="/data/openpilot", help="remote path on device")
+  p.add_argument("-i", "--identity", default=None, help="ssh identity file")
+  args = p.parse_args()
+
+  print(f"[devsync] watching {BASEDIR}")
+  print(f"[devsync] target   comma@{args.ip}:{args.remote}")
+
+  def run_sync():
+    file_list = git_tracked_files()
+    cmd = build_rsync_cmd(args)
+    t0 = time.monotonic()
+    r = subprocess.run(cmd, input=file_list, capture_output=True)
+    dt = time.monotonic() - t0
+    if r.returncode:
+      print(f"[devsync] ERR rc={r.returncode} in {dt:.2f}s")
+      return
+    files = [ln for ln in r.stdout.decode().splitlines() if ln.strip()]
+    msg = f"{len(files)} files: {', '.join(files)}" if files else "no changes"
+    print(f"[devsync] {dt:.2f}s · {msg}")
+
+  run_sync()
+
+  handler = Handler(run_sync)
+  obs = Observer()
+  obs.schedule(handler, BASEDIR, recursive=True)
+  obs.start()
+  handler.run()
+
+
+if __name__ == "__main__":
+  try:
+    main()
+  except KeyboardInterrupt:
+    print("\n[devsync] stopping")

From 9574eee0e3df2094de408be7c968cc648af8b1a1 Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Tue, 12 May 2026 19:42:22 +0300
Subject: [PATCH 135/210] modem.py: normalize padded ICCIDs (#38021)

modem: normalize padded ICCIDs
---
 system/hardware/tici/modem.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index ebefd90c01..cb25d501d1 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -308,7 +308,7 @@ class Modem:
     if not (imei.isdigit() and 14 <= len(imei) <= 17):  # 3GPP TS 23.003
       imei = ""
 
-    iccid = self._atv("AT+QCCID", "+QCCID:") or ""
+    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
     if not iccid.isdigit():
       iccid = ""
 
@@ -387,7 +387,7 @@ class Modem:
   def _check_iccid(self, state):
     if state in (State.INITIALIZING, State.DISCONNECTING) or not self.S["iccid"]:
       return
-    iccid = self._atv("AT+QCCID", "+QCCID:")
+    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
     if iccid and iccid != self.S["iccid"]:
       logging.warning(f"iccid changed: {self.S['iccid']} -> {iccid}")
       self._sim_change = True

From 69d3066d824fcdd20c6e641dd0918e85f4022fce Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 May 2026 09:59:46 -0700
Subject: [PATCH 136/210] minimal build by default on device (#38023)

* minimal build by default on device

* and
---
 SConstruct | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index 5ac0987a8b..550e5f0ee3 100644
--- a/SConstruct
+++ b/SConstruct
@@ -10,6 +10,8 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes
 
+TICI = os.path.isfile('/TICI')
+
 SCons.Warnings.warningAsException(True)
 
 Decider('MD5-timestamp')
@@ -22,14 +24,14 @@ release = not os.path.exists(File('#.gitattributes').abspath) # file absent on r
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=not release,
+          default=(not TICI and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and os.path.isfile('/TICI'):
+elif arch == "aarch64" and TICI:
   arch = "larch64"
 assert arch in [
   "larch64",  # linux tici arm64

From e8a03f7f321a2c79ebd268447374bc4b01641c38 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 May 2026 10:12:50 -0700
Subject: [PATCH 137/210] fix build warnings (#38025)

---
 system/manager/build.py | 45 +++++++++++++++++++++--------------------
 1 file changed, 23 insertions(+), 22 deletions(-)

diff --git a/system/manager/build.py b/system/manager/build.py
index af66782273..470cfccdaa 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -11,7 +11,6 @@ from openpilot.system.hardware import HARDWARE, AGNOS
 def build() -> None:
   spinner = Spinner()
   spinner.update_progress(0, 100)
-  env = os.environ.copy()
 
   HARDWARE.set_power_save(False)
   if AGNOS:
@@ -21,35 +20,37 @@ def build() -> None:
   compile_output: list[bytes] = []
   for parallelism in ([], ["-j4"], ["-j1"]):
     compile_output.clear()
-    scons: subprocess.Popen = subprocess.Popen(["scons", *parallelism], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
-    assert scons.stderr is not None
+    with subprocess.Popen(["scons", *parallelism], cwd=BASEDIR, env={**os.environ, "PWD": BASEDIR}, stderr=subprocess.PIPE) as scons:
+      assert scons.stderr is not None
 
-    # Read progress from stderr and update spinner
-    while scons.poll() is None:
-      try:
-        line = scons.stderr.readline()
-        if line is None:
-          continue
+      # Read progress from stderr and update spinner
+      while scons.poll() is None:
+        try:
+          line = scons.stderr.readline()
+          if line is None:
+            continue
+          line = line.rstrip()
+
+          prefix = b'progress: '
+          if line.startswith(prefix):
+            progress = float(line[len(prefix):])
+            spinner.update_progress(100 * min(1., progress / 100.), 100.)
+          elif len(line):
+            compile_output.append(line)
+            print(line.decode('utf8', 'replace'))
+        except Exception:
+          pass
+
+      # Drain and close the pipe before retrying or returning.
+      for line in scons.stderr.read().split(b'\n'):
         line = line.rstrip()
-
-        prefix = b'progress: '
-        if line.startswith(prefix):
-          progress = float(line[len(prefix):])
-          spinner.update_progress(100 * min(1., progress / 100.), 100.)
-        elif len(line):
+        if len(line):
           compile_output.append(line)
-          print(line.decode('utf8', 'replace'))
-      except Exception:
-        pass
 
     if scons.returncode == 0:
       break
 
   if scons.returncode != 0:
-    # Read remaining output
-    if scons.stderr is not None:
-      compile_output += scons.stderr.read().split(b'\n')
-
     # Build failed log errors
     error_s = b"\n".join(compile_output).decode('utf8', 'replace')
 

From 4b945a1b7969c9d844d3549b373c06b6fe733da7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 May 2026 10:30:22 -0700
Subject: [PATCH 138/210] test_onroad: remove MPC timing check (#38026)

* test_onroad: cleanup timings checks

* just mpc:
---
 selfdrive/test/test_onroad.py | 17 -----------------
 1 file changed, 17 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 897d11e310..40b8174d72 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -371,23 +371,6 @@ class TestOnroad:
           assert enc_sof == cam_sof, f"SOF mismatch: frameId={fid}, enc_sof={enc_sof}, cam_sof={cam_sof}"
           assert enc_eof == cam_eof, f"EOF mismatch: frameId={fid}, enc_eof={enc_eof}, cam_eof={cam_eof}"
 
-  def test_mpc_execution_timings(self):
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "-----------------  MPC Timing ------------------\n"
-    result += "------------------------------------------------\n"
-
-    cfgs = [("longitudinalPlan", 0.05, 0.05),]
-    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).solverExecutionTime for m in self.msgs[s]]
-      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
-      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
-      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
-      result += f"'{s}' execution time: max  {max(ts):.5f}s\n"
-      result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
-    result += "------------------------------------------------\n"
-    print(result)
-
   def test_model_execution_timings(self, subtests):
     result = "\n"
     result += "------------------------------------------------\n"

From 4ecbdb0d7adfe2b69f5dff34639cf5565fd5756d Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 12 May 2026 14:57:59 -0700
Subject: [PATCH 139/210] DM: reduce _DCAM_UNCERTAIN_RESET_COUNT to 2 sec
 (#38027)

---
 selfdrive/monitoring/policy.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/monitoring/policy.py b/selfdrive/monitoring/policy.py
index 2315fc04d3..cf784818ee 100644
--- a/selfdrive/monitoring/policy.py
+++ b/selfdrive/monitoring/policy.py
@@ -65,7 +65,7 @@ class DRIVER_MONITOR_SETTINGS:
 
     self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
     self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / DT_DMON)
-    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / DT_DMON)
+    self._DCAM_UNCERTAIN_RESET_COUNT = int(2  / DT_DMON)
     self._HI_STD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz

From 8ebc51a8aae016591d04419110bf946b91674f7a Mon Sep 17 00:00:00 2001
From: Christopher Milan <chrismilan@ucla.edu>
Date: Tue, 12 May 2026 15:29:11 -0700
Subject: [PATCH 140/210] bump tinygrad (#38010)

* bump tinygrad

* bump

* debug

* Revert "debug"

This reverts commit 808f4668c67e995a93236c6e763923cc39394862.
---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 5b4f62519d..039d84ff02 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 5b4f62519d628d1f238a5025b153aaedeee141cc
+Subproject commit 039d84ff021bd5ee7ef8902bb60ea09c7b54f513

From 57c44831da77f4072730d09ed9b83fefbbb399eb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 May 2026 19:33:36 -0700
Subject: [PATCH 141/210] test_onroad: skip model timing warmup (#38028)

---
 selfdrive/test/test_onroad.py | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 40b8174d72..8161dca130 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -385,9 +385,7 @@ class TestOnroad:
       ("driverStateV2", 0.3, 0.05),
     ]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
-      # TODO some init can happen in first iteration
-      ts = ts[1:]
+      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s] if (m.logMonoTime*1e-9 - self.ts[s]['t'][0]) > LOG_OFFSET]
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
       result += f"'{s}' execution time: max {max(ts):.5f}s\n"
       result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"

From b3ed39525dcaca1bb6d05284b696151abf80bcf9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 May 2026 20:37:57 -0700
Subject: [PATCH 142/210] ui: bg brightness write thread (#38030)

* bg brightness thread

* rn

* later

* better

* rn
---
 selfdrive/ui/ui_state.py | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 3bcdfa10c8..644e6e8436 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -210,6 +210,8 @@ class Device:
     self._last_brightness: int = 0
     self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
     self._brightness_thread: threading.Thread | None = None
+    self._brightness_event = threading.Event()
+    self._brightness_target: int = 0
 
   @property
   def awake(self) -> bool:
@@ -235,6 +237,8 @@ class Device:
     self._interactive_timeout_callbacks.append(callback)
 
   def update(self):
+    self._start_brightness_thread()  # start thread after manager forks ui
+
     # do initial reset
     if self._interaction_time <= 0:
       self._reset_interactive_timeout()
@@ -242,6 +246,17 @@ class Device:
     self._update_brightness()
     self._update_wakefulness()
 
+  def _start_brightness_thread(self):
+    if self._brightness_thread is None or not self._brightness_thread.is_alive():
+      self._brightness_thread = threading.Thread(target=self._brightness_worker, daemon=True)
+      self._brightness_thread.start()
+
+  def _brightness_worker(self):
+    while True:
+      self._brightness_event.wait()
+      self._brightness_event.clear()
+      HARDWARE.set_screen_brightness(self._brightness_target)
+
   def set_offroad_brightness(self, brightness: int | None):
     if brightness is None:
       brightness = BACKLIGHT_OFFROAD
@@ -266,10 +281,9 @@ class Device:
       brightness = 0
 
     if brightness != self._last_brightness:
-      if self._brightness_thread is None or not self._brightness_thread.is_alive():
-        self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
-        self._brightness_thread.start()
-        self._last_brightness = brightness
+      self._brightness_target = brightness
+      self._brightness_event.set()
+      self._last_brightness = brightness
 
   def _update_wakefulness(self):
     # Handle interactive timeout

From a06f31b4727373d5b390bdf4da0c31e8b139d0fa Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 May 2026 21:24:12 -0700
Subject: [PATCH 143/210] ui: param thread (#38029)

* ui param thread

* 5hz

* later

* rename

* temp

* clean up

* no ui mutate from thread

* cmt
---
 selfdrive/ui/ui_state.py | 36 ++++++++++++++++++++----------------
 1 file changed, 20 insertions(+), 16 deletions(-)

diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 644e6e8436..18a647f8e3 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -13,7 +13,7 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.hardware import HARDWARE, PC
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
-PARAM_UPDATE_TIME = 5.0
+PARAM_UPDATE_TIME = 1 / 5.0
 
 
 class UIStatus(Enum):
@@ -83,7 +83,8 @@ class UIState:
     self.is_body: bool | None = None
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
-    self._param_update_time: float = -PARAM_UPDATE_TIME
+
+    self._params_thread: threading.Thread | None = None
 
     # Callbacks
     self._offroad_transition_callbacks: list[Callable[[], None]] = []
@@ -111,13 +112,20 @@ class UIState:
 
   def update(self) -> None:
     self.prime_state.start()  # start thread after manager forks ui
+    if self._params_thread is None:
+      self._params_thread = threading.Thread(target=self._params_refresh_worker, daemon=True)
+      self._params_thread.start()
+
     self.sm.update(0)
     self._update_state()
     self._update_status()
-    if time.monotonic() - self._param_update_time >= PARAM_UPDATE_TIME:
-      self.update_params()
     device.update()
 
+  def _params_refresh_worker(self):
+    while True:
+      self.update_params()
+      time.sleep(PARAM_UPDATE_TIME)
+
   def _update_state(self) -> None:
     # Handle panda states updates
     if self.sm.updated["pandaStates"]:
@@ -142,11 +150,11 @@ class UIState:
     # Update started state
     self.started = self.sm["deviceState"].started and self.ignition
 
-    # Update recording audio state
-    self.recording_audio = self.params.get_bool("RecordAudio") and self.started
-
-    self.is_metric = self.params.get_bool("IsMetric")
-    self.always_on_dm = self.params.get_bool("AlwaysOnDM")
+    # Update body state
+    if self.CP is not None and self.is_body != self.CP.notCar:
+      self.is_body = self.CP.notCar
+      for callback in self._on_body_changed_callbacks:
+        callback()
 
   def _update_status(self) -> None:
     if self.started and self.sm.updated["selfdriveState"]:
@@ -187,15 +195,11 @@ class UIState:
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
 
-      if self.is_body != self.CP.notCar:
-        self.is_body = self.CP.notCar
-        for callback in self._on_body_changed_callbacks:
-          callback()
-
+    self.recording_audio = self.params.get_bool("RecordAudio") and self.started
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.always_on_dm = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
 
-    self._param_update_time = time.monotonic()
-
 
 class Device:
   def __init__(self):

From aa26dded8b931dc46f593dab5554afd645ccbc0b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 May 2026 21:33:40 -0700
Subject: [PATCH 144/210] ui: lower priority background threads (#38031)

* drop realtime so preempt can happen during swap

* prime state and firehose

* and params

* above
---
 common/realtime.py                             | 5 +++++
 selfdrive/ui/lib/prime_state.py                | 2 ++
 selfdrive/ui/mici/layouts/settings/firehose.py | 2 ++
 selfdrive/ui/ui_state.py                       | 3 +++
 4 files changed, 12 insertions(+)

diff --git a/common/realtime.py b/common/realtime.py
index 0b14681021..91d2e165e9 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -28,6 +28,11 @@ class Priority:
   CTRL_HIGH = 53
 
 
+def drop_realtime() -> None:
+  if sys.platform == 'linux' and not PC:
+    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
+
+
 def set_core_affinity(cores: list[int]) -> None:
   if sys.platform == 'linux' and not PC:
     os.sched_setaffinity(0, cores)
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index 1aed949bee..b57380ac57 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -6,6 +6,7 @@ import time
 
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
@@ -69,6 +70,7 @@ class PrimeState:
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
+    drop_realtime()
     from openpilot.selfdrive.ui.ui_state import ui_state, device
     while self._running:
       if not ui_state.started and device._awake:
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 4c27a909f9..66393de679 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -5,6 +5,7 @@ import pyray as rl
 
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -212,6 +213,7 @@ class FirehoseLayoutBase(Widget):
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
   def _update_loop(self):
+    drop_realtime()
     while self._running:
       if not ui_state.started and device._awake:
         self._fetch_firehose_stats()
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 18a647f8e3..fd1a5228df 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -7,6 +7,7 @@ from enum import Enum
 from cereal import messaging, car, log
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
@@ -122,6 +123,7 @@ class UIState:
     device.update()
 
   def _params_refresh_worker(self):
+    drop_realtime()
     while True:
       self.update_params()
       time.sleep(PARAM_UPDATE_TIME)
@@ -256,6 +258,7 @@ class Device:
       self._brightness_thread.start()
 
   def _brightness_worker(self):
+    drop_realtime()
     while True:
       self._brightness_event.wait()
       self._brightness_event.clear()

From b88adeb4ad31f40c523ae720653ccf554ae807ef Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 13 May 2026 15:12:18 -0700
Subject: [PATCH 145/210] pyproject cleanup (#38035)

* pyproject cleanup

* one more
---
 pyproject.toml | 40 ++++++++++++----------------------------
 uv.lock        | 15 ---------------
 2 files changed, 12 insertions(+), 43 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index c7358b0585..0602eca33b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -96,7 +96,6 @@ testing = [
   "pytest-subtests",
   # https://github.com/pytest-dev/pytest-xdist/pull/1229
   "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
-  "pytest-asyncio",
   "pytest-mock",
   "ruff",
   "codespell",
@@ -109,7 +108,7 @@ dev = [
 ]
 
 tools = [
-  "imgui  @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
+  "imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
   "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]
 
@@ -128,11 +127,10 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
-asyncio_default_fixture_loop_scope = "function"
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
@@ -179,9 +177,7 @@ lint.ignore = [
   "UP045", "UP007",  # these don't play nice with raylib atm
 ]
 line-length = 160
-target-version ="py311"
 exclude = [
-  "body",
   "cereal",
   "panda",
   "opendbc",
@@ -216,7 +212,6 @@ quote-style = "preserve"
 
 [tool.ty.src]
 exclude = [
-  "cereal/",
   "msgq/",
   "msgq_repo/",
   "opendbc/",
@@ -231,27 +226,16 @@ exclude = [
 ]
 
 [tool.ty.rules]
-# Ignore unresolved imports for Cython-compiled modules (.pyx)
-unresolved-import = "ignore"
-# Ignore unresolved attributes - many from capnp and Cython modules
-unresolved-attribute = "ignore"
-# Ignore invalid method overrides - signature variance issues
-invalid-method-override = "ignore"
-# Ignore possibly-missing-attribute - too many false positives
-possibly-missing-attribute = "ignore"
-# Ignore invalid assignment - often intentional monkey-patching
-invalid-assignment = "ignore"
-# Ignore no-matching-overload - numpy/ctypes overload matching issues
-no-matching-overload = "ignore"
-# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
-invalid-argument-type = "ignore"
-# Ignore call-non-callable - false positives from dynamic types
-call-non-callable = "ignore"
-# Ignore unsupported-operator - false positives from dynamic types
-unsupported-operator = "ignore"
-# Ignore not-subscriptable - false positives from dynamic types
-not-subscriptable = "ignore"
-# not-iterable errors are now fixed
+unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
+unresolved-attribute = "ignore"  # many from capnp and Cython modules
+invalid-method-override = "ignore"  # signature variance issues
+possibly-missing-attribute = "ignore"  # too many false positives
+invalid-assignment = "ignore"  # often intentional monkey-patching
+no-matching-overload = "ignore"  # numpy/ctypes overload matching issues
+invalid-argument-type = "ignore"  # many false positives from raylib, ctypes, numpy
+call-non-callable = "ignore"  # false positives from dynamic types
+unsupported-operator = "ignore" # false positives from dynamic types
+not-subscriptable = "ignore" # false positives from dynamic types
 
 [tool.uv]
 python-preference = "only-managed"
diff --git a/uv.lock b/uv.lock
index d89fb55665..48761b75cf 100644
--- a/uv.lock
+++ b/uv.lock
@@ -817,7 +817,6 @@ testing = [
     { name = "hypothesis" },
     { name = "pre-commit-hooks" },
     { name = "pytest" },
-    { name = "pytest-asyncio" },
     { name = "pytest-cpp" },
     { name = "pytest-mock" },
     { name = "pytest-subtests" },
@@ -873,7 +872,6 @@ requires-dist = [
     { name = "pyjwt" },
     { name = "pyserial" },
     { name = "pytest", marker = "extra == 'testing'" },
-    { name = "pytest-asyncio", marker = "extra == 'testing'" },
     { name = "pytest-cpp", marker = "extra == 'testing'" },
     { name = "pytest-mock", marker = "extra == 'testing'" },
     { name = "pytest-subtests", marker = "extra == 'testing'" },
@@ -1194,19 +1192,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d4/24/a372aaf5c9b7208e7112038812994107bc65a84cd00e0354a88c2c77a617/pytest-9.0.3-py3-none-any.whl", hash = "sha256:2c5efc453d45394fdd706ade797c0a81091eccd1d6e4bccfcd476e2b8e0ab5d9", size = 375249, upload-time = "2026-04-07T17:16:16.13Z" },
 ]
 
-[[package]]
-name = "pytest-asyncio"
-version = "1.3.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pytest" },
-    { name = "typing-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/90/2c/8af215c0f776415f3590cac4f9086ccefd6fd463befeae41cd4d3f193e5a/pytest_asyncio-1.3.0.tar.gz", hash = "sha256:d7f52f36d231b80ee124cd216ffb19369aa168fc10095013c6b014a34d3ee9e5", size = 50087, upload-time = "2025-11-10T16:07:47.256Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e5/35/f8b19922b6a25bc0880171a2f1a003eaeb93657475193ab516fd87cac9da/pytest_asyncio-1.3.0-py3-none-any.whl", hash = "sha256:611e26147c7f77640e6d0a92a38ed17c3e9848063698d5c93d5aa7aa11cebff5", size = 15075, upload-time = "2025-11-10T16:07:45.537Z" },
-]
-
 [[package]]
 name = "pytest-cpp"
 version = "2.6.0"

From f24ad7e27aaf90fd7a6dedc56a21648b191dc3fe Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 13 May 2026 16:52:08 -0700
Subject: [PATCH 146/210] modeld: use const border mode for dm warp (#37986)

---
 selfdrive/modeld/compile_dm_warp.py |  2 +-
 selfdrive/modeld/compile_modeld.py  | 16 ++++++++++++----
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
index 2713cccf41..b035566535 100755
--- a/selfdrive/modeld/compile_dm_warp.py
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -17,7 +17,7 @@ def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
   def warp_dm(input_frame, M_inv):
     M_inv = M_inv.to(Device.DEFAULT).realize()
     return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
-                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
+                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=0).reshape(-1, dm_h * dm_w)
   return warp_dm
 
 
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 61de986d56..2f97d8890c 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -19,7 +19,7 @@ UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
 
 
-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
 
@@ -34,11 +34,19 @@ def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad)
   src_x = src_x / src_w
   src_y = src_y / src_w
 
-  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
-  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
+  x_round = Tensor.round(src_x)
+  y_round = Tensor.round(src_y)
+  x_nn_clipped = x_round.clip(0, w_src - 1).cast('int')
+  y_nn_clipped = y_round.clip(0, h_src - 1).cast('int')
   idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
+  sampled = src_flat[idx]
 
-  return src_flat[idx]
+  if border_fill_val is None:
+    return sampled
+
+  in_bounds = ((x_round >= 0) & (x_round <= w_src - 1) &
+               (y_round >= 0) & (y_round <= h_src - 1)).cast(sampled.dtype)
+  return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds)
 
 
 def frames_to_tensor(frames):

From ef94b134c3abe53bb330ddb00e5631eaa031cdea Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Thu, 14 May 2026 05:36:47 +0300
Subject: [PATCH 147/210] common: avoid shell in sudo_read (#38022)

---
 common/utils.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/utils.py b/common/utils.py
index 28b9274d82..183363f39d 100644
--- a/common/utils.py
+++ b/common/utils.py
@@ -48,7 +48,7 @@ def sudo_write(val: str, path: str) -> None:
 
 def sudo_read(path: str) -> str:
   try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+    return subprocess.check_output(["sudo", "cat", "--", path], encoding='utf8').strip()
   except Exception:
     return ""
 

From a432afd173f9c7c6b71ac4c72c709e31c6733e54 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 14 May 2026 09:24:22 -0700
Subject: [PATCH 148/210] Revert "bump tinygrad (#38010)" (#38039)

This reverts commit 8ebc51a8aae016591d04419110bf946b91674f7a.
---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 039d84ff02..5b4f62519d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 039d84ff021bd5ee7ef8902bb60ea09c7b54f513
+Subproject commit 5b4f62519d628d1f238a5025b153aaedeee141cc

From c9d77fb3fbb7983e5ec236de2c9fcebec64a818d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 14 May 2026 10:38:09 -0700
Subject: [PATCH 149/210] process_replay/migration: doesnt need to import
 acados (#38040)

process_replay/migration: drop transitive dep on long_mpc/acados

migrate_longitudinalPlan only needs get_accel_from_plan + CONTROL_N_T_IDX,
both available from drive_helpers + ModelConstants directly. Importing
from longitudinal_planner instead pulled in long_mpc -> libacados.so as
an eager side-effect, which downstream log-migration consumers (e.g.
commaai/xx pipeline) shouldn't pay for.
---
 selfdrive/test/process_replay/migration.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 578dd44628..bc6399aa94 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -14,7 +14,7 @@ from opendbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 
@@ -126,7 +126,7 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
+    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, ModelConstants.T_IDXS[:CONTROL_N])
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
     ops.append((index, as_reader(new_msg)))
   return ops, [], []

From 2d4ac33ed72e756ef5a52edea64a8dac09bdbb4e Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 14 May 2026 16:42:55 -0700
Subject: [PATCH 150/210] modeld: DEV=AMD dedupe weights across camera
 resolutions (#38041)

* modeld: dedupe weight accross resolutions

* cleanup

* rm compileconfig

* depends on camera targets

* dedupe doesn't work on qcom as is
---
 selfdrive/modeld/SConscript           | 42 ++++++++---------
 selfdrive/modeld/compile_dm_warp.py   | 10 +++--
 selfdrive/modeld/compile_modeld.py    | 65 ++++++++++++++-------------
 selfdrive/modeld/dmonitoringmodeld.py |  4 +-
 selfdrive/modeld/helpers.py           | 19 --------
 selfdrive/modeld/modeld.py            |  7 +--
 6 files changed, 65 insertions(+), 82 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 88e72ea0b9..29ac9a47c9 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,13 +1,11 @@
 import glob
 import json
 import os
-from itertools import product
 from SCons.Script import Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_paths
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.helpers import CompileConfig
 from tinygrad import Device
 from openpilot.system.hardware import HARDWARE, PC
 
@@ -26,9 +24,6 @@ def get_camera_configs():
 
 CAMERA_CONFIGS = get_camera_configs()
 
-MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
-                  for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
-DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 
@@ -80,27 +75,28 @@ driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['dri
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-for cfg in MODELD_CONFIGS:
-  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
-         f'--model-size {model_w}x{model_h} '
-         f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
-         f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
-         f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
-         f'--output {cfg.pkl_path} --frame-skip {frame_skip}'
-         + (' --prepare-only' if cfg.prepare_only else ''))
-  node = lenv.Command(cfg.pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], cmd)
-  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  chunk_targets = get_chunk_paths(cfg.pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
-  def do_chunk(target, source, env, pkl=cfg.pkl_path, chunks=chunk_targets):
-    chunk_file(pkl, chunks)
-  lenv.Command(chunk_targets, node, do_chunk)
+pkl_path = File("models/driving_tinygrad.pkl").abspath
+camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
+       f'--model-size {model_w}x{model_h} '
+       f'--camera-resolutions {camera_res_args} '
+       f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
+       f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
+       f'--output {pkl_path} --frame-skip {frame_skip}')
+node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [Value(camera_res_args), chunker_file, compiled_flags_node], cmd)
+onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
+chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
+def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
+  chunk_file(pkl, chunks)
+lenv.Command(chunk_targets, node, do_chunk)
 
 dm_w, dm_h = DM_INPUT_SIZE
-for cfg in DM_WARP_CONFIGS:
+for cam_w, cam_h in CAMERA_CONFIGS:
+  dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
   cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
-         f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
-         f'--output {cfg.pkl_path}')
-  lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
+         f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
+         f'--output {dm_pkl_path}')
+  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
index b035566535..548990ee15 100755
--- a/selfdrive/modeld/compile_dm_warp.py
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -7,7 +7,8 @@ from tinygrad.tensor import Tensor
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
-from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size, _parse_nv12
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size
 
 
 def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
@@ -44,11 +45,12 @@ def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
 
 if __name__ == "__main__":
   p = argparse.ArgumentParser()
-  p.add_argument('--nv12', type=_parse_nv12, required=True,
-                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--camera-resolution', type=_parse_size, required=True, help='camera resolution WxH')
   p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
   p.add_argument('--output', required=True)
   args = p.parse_args()
 
+  cam_w, cam_h = args.camera_resolution
+  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
   dm_w, dm_h = args.warp_to
-  compile_dm_warp(args.nv12, dm_w, dm_h, args.output)
+  compile_dm_warp(nv12, dm_w, dm_h, args.output)
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 2f97d8890c..f6ad398924 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import argparse
+import os
 import pickle
 import time
 from functools import partial
@@ -10,7 +11,6 @@ from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
-from tinygrad.nn.onnx import OnnxRunner
 
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
@@ -158,21 +158,10 @@ def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, mode
 
 
 def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                   vision_onnx, policy_onnx, pkl_path):
-  from get_model_metadata import metadata_path_for
-
+                   vision_runner, policy_runner, vision_features_slice,
+                   vision_input_shapes, policy_input_shapes):
   print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
 
-  vision_runner = OnnxRunner(vision_onnx)
-  policy_runner = OnnxRunner(policy_onnx)
-
-  with open(metadata_path_for(vision_onnx), 'rb') as f:
-    vision_metadata = pickle.load(f)
-    vision_features_slice = vision_metadata['output_slices']['hidden_state']
-    vision_input_shapes = vision_metadata['input_shapes']
-  with open(metadata_path_for(policy_onnx), 'rb') as f:
-    policy_input_shapes = pickle.load(f)['input_shapes']
-
   _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
                          vision_features_slice, frame_skip, prepare_only)
   run_policy_jit = TinyJit(_run, prune=True)
@@ -216,13 +205,10 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
   run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
 
   print('pickle round trip')
-  with open(pkl_path, "wb") as f:
-    pickle.dump(run_policy_jit, f)
-    print(f"  Saved to {pkl_path}")
-  with open(pkl_path, "rb") as f:
-    run_policy_jit = pickle.load(f)
+  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
   random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
   random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return run_policy_jit
 
 
 def _parse_size(s):
@@ -230,25 +216,42 @@ def _parse_size(s):
   return int(w), int(h)
 
 
-def _parse_nv12(s):
-  parts = s.split(',')
-  assert len(parts) == len(NV12Frame._fields), \
-    f"--nv12 expects {','.join(NV12Frame._fields)} (got {s!r})"
-  return NV12Frame(*(int(x) for x in parts))
-
-
 if __name__ == "__main__":
+  from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
   p = argparse.ArgumentParser()
   p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
-  p.add_argument('--nv12', type=_parse_nv12, required=True,
-                 help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
+  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
+                 help='camera resolutions WxH (one or more)')
   p.add_argument('--vision-onnx', required=True)
   p.add_argument('--policy-onnx', required=True)
   p.add_argument('--output', required=True)
-  p.add_argument('--prepare-only', action='store_true')
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
   model_w, model_h = args.model_size
-  compile_modeld(args.nv12, model_w, model_h, args.prepare_only, args.frame_skip,
-                 args.vision_onnx, args.policy_onnx, args.output)
+
+  # init runners once so weights are shared
+  from get_model_metadata import metadata_path_for
+  vision_runner = OnnxRunner(args.vision_onnx)
+  policy_runner = OnnxRunner(args.policy_onnx)
+  with open(metadata_path_for(args.vision_onnx), 'rb') as f:
+    vision_metadata = pickle.load(f)
+    vision_features_slice = vision_metadata['output_slices']['hidden_state']
+    vision_input_shapes = vision_metadata['input_shapes']
+  with open(metadata_path_for(args.policy_onnx), 'rb') as f:
+    policy_input_shapes = pickle.load(f)['input_shapes']
+
+  out = {}
+  for cam_w, cam_h in args.camera_resolutions:
+    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    out[(cam_w,cam_h)] = {
+      name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
+                           vision_runner, policy_runner, vision_features_slice,
+                           vision_input_shapes, policy_input_shapes)
+      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+    }
+
+  with open(args.output, "wb") as f:
+    pickle.dump(out, f)
+  print(f"Saved combined JIT to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 7b073a5f50..618d39ca67 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 from tinygrad.tensor import Tensor
@@ -44,7 +44,7 @@ class ModelState:
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self._blob_cache : dict[int, Tensor] = {}
     self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
-    with open(CompileConfig(cam_w, cam_h, prefix='dm_', prepare_only=True).pkl_path, "rb") as f:
+    with open(MODELS_DIR / f'dm_warp_{cam_w}x{cam_h}_tinygrad.pkl', "rb") as f:
       self.image_warp = pickle.load(f)
 
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
index e5d731f34b..9c1a0d4689 100644
--- a/selfdrive/modeld/helpers.py
+++ b/selfdrive/modeld/helpers.py
@@ -1,10 +1,7 @@
 import json
 import os
-from dataclasses import dataclass
 from pathlib import Path
 
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
 COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
 
@@ -13,19 +10,3 @@ def set_tinygrad_backend_from_compiled_flags() -> None:
   if os.path.isfile(COMPILED_FLAGS_PATH):
     with open(COMPILED_FLAGS_PATH) as f:
       os.environ['DEV'] = str(json.load(f)['DEV'])
-
-
-@dataclass
-class CompileConfig:
-  cam_w: int
-  cam_h: int
-  prepare_only: bool
-  prefix: str
-
-  @property
-  def pkl_path(self):
-    return str(MODELS_DIR / f'{self.prefix}{"warp_" if self.prepare_only else ""}{self.cam_w}x{self.cam_h}_tinygrad.pkl')
-
-  @property
-  def nv12(self):
-    return (self.cam_w, self.cam_h, *get_nv12_info(self.cam_w, self.cam_h))
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 73ed19ec94..5784099a38 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, CompileConfig, set_tinygrad_backend_from_compiled_flags
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
 set_tinygrad_backend_from_compiled_flags()
 
 USBGPU = "USBGPU" in os.environ
@@ -100,8 +100,9 @@ class ModelState:
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    self.run_policy = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=False).pkl_path))
-    self.warp_enqueue = pickle.loads(read_file_chunked(CompileConfig(cam_w, cam_h, prefix='driving_', prepare_only=True).pkl_path))
+    jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))[(cam_w,cam_h)]
+    self.run_policy = jits['run_policy']
+    self.warp_enqueue = jits['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
       frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),

From 74554a523f57c5da17cd40bf98d42d62a2dcfcef Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 14 May 2026 21:17:08 -0700
Subject: [PATCH 151/210] modeld: fold metadata into jit pkl (#38042)

* modeld: fold metadata into jit pkl

* modeld

* no more metadata deps
---
 selfdrive/modeld/SConscript            | 19 +++++++++---------
 selfdrive/modeld/compile_modeld.py     | 27 ++++++++++++--------------
 selfdrive/modeld/get_model_metadata.py | 18 +++++++----------
 selfdrive/modeld/modeld.py             | 25 ++++++++++--------------
 4 files changed, 38 insertions(+), 51 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 29ac9a47c9..73dcb4a6f4 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -60,18 +60,9 @@ compiled_flags_node = lenv.Command(
 # tinygrad calls brew which needs a $HOME in the env
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
-# Get model metadata
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
-
 modeld_dir = Dir("#selfdrive/modeld").abspath
 compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
-compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
 driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
-driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
@@ -83,14 +74,21 @@ cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
        f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
        f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
        f'--output {pkl_path} --frame-skip {frame_skip}')
-node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [Value(camera_res_args), chunker_file, compiled_flags_node], cmd)
+node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, compiled_flags_node], cmd)
 onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
 chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
 def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
   chunk_file(pkl, chunks)
 lenv.Command(chunk_targets, node, do_chunk)
 
+# get model metadata
+fn = File(f"models/dmonitoring_model").abspath
+script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
+cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
+
 dm_w, dm_h = DM_INPUT_SIZE
+compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
 for cam_w, cam_h in CAMERA_CONFIGS:
   dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
   cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
@@ -98,6 +96,7 @@ for cam_w, cam_h in CAMERA_CONFIGS:
          f'--output {dm_pkl_path}')
   lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
 
+driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
   fn = File(f"models/{model_name}").abspath
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f6ad398924..f5d92edce9 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -4,7 +4,7 @@ import os
 import pickle
 import time
 from functools import partial
-from collections import namedtuple
+from collections import namedtuple, defaultdict
 
 import numpy as np
 from tinygrad.tensor import Tensor
@@ -158,10 +158,13 @@ def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, mode
 
 
 def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                   vision_runner, policy_runner, vision_features_slice,
-                   vision_input_shapes, policy_input_shapes):
+                   vision_runner, policy_runner, vision_metadata, policy_metadata):
   print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
 
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+
   _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
                          vision_features_slice, frame_skip, prepare_only)
   run_policy_jit = TinyJit(_run, prune=True)
@@ -229,26 +232,20 @@ if __name__ == "__main__":
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  model_w, model_h = args.model_size
-
+  out = defaultdict(dict)
   # init runners once so weights are shared
-  from get_model_metadata import metadata_path_for
+  from get_model_metadata import make_metadata_dict
   vision_runner = OnnxRunner(args.vision_onnx)
   policy_runner = OnnxRunner(args.policy_onnx)
-  with open(metadata_path_for(args.vision_onnx), 'rb') as f:
-    vision_metadata = pickle.load(f)
-    vision_features_slice = vision_metadata['output_slices']['hidden_state']
-    vision_input_shapes = vision_metadata['input_shapes']
-  with open(metadata_path_for(args.policy_onnx), 'rb') as f:
-    policy_input_shapes = pickle.load(f)['input_shapes']
+  out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
+  out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
 
-  out = {}
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    model_w, model_h = args.model_size
     out[(cam_w,cam_h)] = {
       name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
-                           vision_runner, policy_runner, vision_features_slice,
-                           vision_input_shapes, policy_input_shapes)
+                           vision_runner, policy_runner, out['metadata']['vision'], out['metadata']['policy'])
       for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
     }
 
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
index ee08e9fb14..e4c173957a 100755
--- a/selfdrive/modeld/get_model_metadata.py
+++ b/selfdrive/modeld/get_model_metadata.py
@@ -7,10 +7,6 @@ from typing import Any
 
 from tinygrad.nn.onnx import OnnxPBParser
 
-def metadata_path_for(onnx_path) -> pathlib.Path:
-  p = pathlib.Path(onnx_path)
-  return p.parent / (p.stem + '_metadata.pkl')
-
 
 class MetadataOnnxPBParser(OnnxPBParser):
   def _parse_ModelProto(self) -> dict:
@@ -39,21 +35,21 @@ def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
   return None
 
 
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
+def make_metadata_dict(model_path):
   model = MetadataOnnxPBParser(model_path).parse()
   output_slices = get_metadata_value_by_name(model, 'output_slices')
   assert output_slices is not None, 'output_slices not found in metadata'
-
-  metadata = {
+  return {
     'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
     'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
     'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
     'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
   }
 
-  metadata_path = metadata_path_for(model_path)
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
 
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  with open(metadata_path, 'wb') as f:
+    pickle.dump(make_metadata_dict(model_path), f)
   print(f'saved metadata to {metadata_path}')
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 5784099a38..527cc5d7af 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -35,9 +35,6 @@ from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
-POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
-
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
@@ -81,16 +78,15 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, cam_w: int, cam_h: int):
-    with open(VISION_METADATA_PATH, 'rb') as f:
-      vision_metadata = pickle.load(f)
-      self.vision_input_shapes =  vision_metadata['input_shapes']
-      self.vision_input_names = list(self.vision_input_shapes.keys())
-      self.vision_output_slices = vision_metadata['output_slices']
+    jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))
+    vision_metadata = jits['metadata']['vision']
+    self.vision_input_shapes =  vision_metadata['input_shapes']
+    self.vision_input_names = list(self.vision_input_shapes.keys())
+    self.vision_output_slices = vision_metadata['output_slices']
 
-    with open(POLICY_METADATA_PATH, 'rb') as f:
-      policy_metadata = pickle.load(f)
-      self.policy_input_shapes =  policy_metadata['input_shapes']
-      self.policy_output_slices = policy_metadata['output_slices']
+    policy_metadata = jits['metadata']['policy']
+    self.policy_input_shapes =  policy_metadata['input_shapes']
+    self.policy_output_slices = policy_metadata['output_slices']
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
@@ -100,9 +96,8 @@ class ModelState:
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))[(cam_w,cam_h)]
-    self.run_policy = jits['run_policy']
-    self.warp_enqueue = jits['warp_enqueue']
+    self.run_policy = jits[(cam_w,cam_h)]['run_policy']
+    self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
       frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),

From e9cf5d67cf0ab96f6c7ba3e37c1f78119aba1838 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 14 May 2026 22:45:04 -0700
Subject: [PATCH 152/210] ui: offroad alerts params thread (#38043)

* offroad alerts in thread

* stashh

* better

* revert

* revert

* revert

* clean up

* rename

* hack
---
 selfdrive/ui/mici/layouts/offroad_alerts.py | 38 ++++++++++++---------
 selfdrive/ui/tests/diff/replay_script.py    |  5 ++-
 2 files changed, 26 insertions(+), 17 deletions(-)

diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index a46002c289..de631f686c 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -1,9 +1,11 @@
 import pyray as rl
 import re
+import threading
 import time
 from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
@@ -195,7 +197,6 @@ class MiciOffroadAlerts(Scroller):
     self.params = Params()
     self.sorted_alerts: list[AlertData] = []
     self.alert_items: list[AlertItem] = []
-    self._last_refresh = 0.0
 
     # Create empty state label
     self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
@@ -205,6 +206,11 @@ class MiciOffroadAlerts(Scroller):
     # Build initial alert list
     self._build_alerts()
 
+    # Start param thread
+    self._pending_params: dict | None = None
+    self._params_thread = threading.Thread(target=self._params_worker, daemon=True)
+    self._params_thread.start()
+
   def active_alerts(self) -> int:
     return sum(alert.visible for alert in self.sorted_alerts)
 
@@ -237,12 +243,19 @@ class MiciOffroadAlerts(Scroller):
       self.alert_items.append(alert_item)
       self._scroller.add_widget(alert_item)
 
-  def refresh(self) -> int:
+  def _params_worker(self):
+    drop_realtime()
+    while True:
+      self._pending_params = ({"UpdaterNewDescription": self.params.get("UpdaterNewDescription")} |
+                              {alert_data.key: self.params.get(alert_data.key) for alert_data in self.sorted_alerts})
+      time.sleep(REFRESH_INTERVAL)
+
+  def _refresh(self) -> int:
     """Refresh alerts from params and return active count."""
     active_count = 0
 
     # Handle UpdateAvailable alert specially
-    update_available = self.params.get_bool("UpdateAvailable")
+    update_available = self._pending_params["UpdateAvailable"]
     update_alert_data = next((alert_data for alert_data in self.sorted_alerts if alert_data.key == "UpdateAvailable"), None)
 
     if update_alert_data:
@@ -250,7 +263,7 @@ class MiciOffroadAlerts(Scroller):
         version_string = ""
 
         # Get new version description and parse version and date
-        new_desc = self.params.get("UpdaterNewDescription") or ""
+        new_desc = self._pending_params["UpdaterNewDescription"] or ""
         if new_desc:
           # format: "version / branch / commit / date"
           parts = new_desc.split(" / ")
@@ -271,7 +284,7 @@ class MiciOffroadAlerts(Scroller):
         continue  # Skip, already handled above
 
       text = ""
-      alert_json = self.params.get(alert_data.key)
+      alert_json = self._pending_params[alert_data.key]
 
       if alert_json:
         text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
@@ -295,19 +308,12 @@ class MiciOffroadAlerts(Scroller):
 
     return active_count
 
-  def show_event(self):
-    """Reset scroll position when shown and refresh alerts."""
-    super().show_event()
-    self._last_refresh = time.monotonic()
-    self.refresh()
-
   def _update_state(self):
     """Periodically refresh alerts."""
-    # Refresh alerts periodically, not every frame
-    current_time = time.monotonic()
-    if current_time - self._last_refresh >= REFRESH_INTERVAL:
-      self.refresh()
-      self._last_refresh = current_time
+    # Refresh alerts when thread updates params
+    if self._pending_params is not None:
+      self._refresh()
+      self._pending_params = None
 
   def _render(self, rect: rl.Rectangle):
     """Render the alerts scroller or empty state."""
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
index dce1c12dc4..ad7e8952d6 100644
--- a/selfdrive/ui/tests/diff/replay_script.py
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -354,7 +354,10 @@ def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
   def setup_offroad_alerts_and_refresh() -> None:
     """Setup function to trigger offroad alerts and force a refresh on the alerts layout."""
     setup_offroad_alerts()
-    main_layout._alerts_layout.refresh()
+    params = Params()
+    main_layout._alerts_layout._pending_params = ({"UpdaterNewDescription": params.get("UpdaterNewDescription")} |
+                                                  {alert_data.key: params.get(alert_data.key) for alert_data in main_layout._alerts_layout.sorted_alerts})
+    main_layout._alerts_layout._refresh()
 
   swipe_right(width, wait_after=WAIT_SHORT)  # open alerts
   script.setup(setup_offroad_alerts_and_refresh)  # show alerts

From 4cfd7748556cee51d008e7ce9dac4502fec632b3 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 14 May 2026 23:09:50 -0700
Subject: [PATCH 153/210] modeld/dmonitoringmodeld: explicitly set input
 devices (#38044)

* modeld/dmonitoringmodeld: explicitly set input devices

* lint

* ignore metadata json file
---
 .gitignore                            |  2 +-
 selfdrive/modeld/SConscript           | 26 ++++++++++++++++----------
 selfdrive/modeld/compile_modeld.py    | 12 ++++++------
 selfdrive/modeld/dmonitoringmodeld.py |  7 +++----
 selfdrive/modeld/helpers.py           | 10 ++++------
 selfdrive/modeld/modeld.py            | 18 +++++++-----------
 6 files changed, 37 insertions(+), 38 deletions(-)

diff --git a/.gitignore b/.gitignore
index 689d1d6c29..8f4442e522 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,7 +44,7 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_compiled_flags.json
+selfdrive/modeld/models/tg_input_devices.json
 
 # build artifacts
 docs_site/
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 73dcb4a6f4..18e806a6ab 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -8,6 +8,7 @@ from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from tinygrad import Device
 from openpilot.system.hardware import HARDWARE, PC
+from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH
 
 Import('env', 'arch', 'release')
 
@@ -46,15 +47,20 @@ else:
   tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
   tg_flags = f'DEV={tg_backend}'
 
-def write_tg_compiled_flags(target, source, env):
+tg_devices = { # which device to put jit inputs to at runtime
+  'selfdrive.modeld.modeld': tg_backend,
+  'selfdrive.modeld.dmonitoringmodeld': tg_backend,
+}
+
+def write_tg_devices(target, source, env):
   with open(str(target[0]), "w") as f:
-    json.dump({"DEV": tg_backend}, f)
+    json.dump(tg_devices, f)
     f.write("\n")
 
-compiled_flags_node = lenv.Command(
-  File("models/tg_compiled_flags.json").abspath,
-  tinygrad_files + [Value(tg_backend)],
-  write_tg_compiled_flags,
+tg_devices_node = lenv.Command(
+  str(TG_INPUT_DEVICES_PATH),
+  [Value(json.dumps(tg_devices, sort_keys=True))],
+  write_tg_devices,
 )
 
 # tinygrad calls brew which needs a $HOME in the env
@@ -74,7 +80,7 @@ cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
        f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
        f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
        f'--output {pkl_path} --frame-skip {frame_skip}')
-node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, compiled_flags_node], cmd)
+node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, tg_devices_node], cmd)
 onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
 chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
 def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
@@ -85,7 +91,7 @@ lenv.Command(chunk_targets, node, do_chunk)
 fn = File(f"models/dmonitoring_model").abspath
 script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
 cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [tg_devices_node], cmd)
 
 dm_w, dm_h = DM_INPUT_SIZE
 compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
@@ -94,7 +100,7 @@ for cam_w, cam_h in CAMERA_CONFIGS:
   cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
          f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
          f'--output {dm_pkl_path}')
-  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
+  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)
 
 driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 def tg_compile(flags, model_name):
@@ -105,7 +111,7 @@ def tg_compile(flags, model_name):
   chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
   compile_node = lenv.Command(
     pkl,
-    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
+    [onnx_path] + tinygrad_files + [chunker_file, tg_devices_node],
     f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
   )
   def do_chunk(target, source, env):
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f5d92edce9..031f13be3a 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -87,7 +87,7 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
   return frame_prepare_tinygrad
 
 
-def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip):
+def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
   img = vision_input_shapes['img']  # (1, 12, 128, 256)
   n_frames = img[1] // 6
   img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
@@ -103,10 +103,10 @@ def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip):
     'big_tfm': np.zeros((3, 3), dtype=np.float32),
   }
   input_queues = {
-    'img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
-    'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8').contiguous().realize(),
-    'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]).contiguous().realize(),
-    'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2]).contiguous().realize(),
+    'img_q': Tensor.zeros(img_buf_shape, dtype='uint8', device=device).contiguous().realize(),
+    'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8', device=device).contiguous().realize(),
+    'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2], device=device).contiguous().realize(),
+    'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2], device=device).contiguous().realize(),
     **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
   }
   return input_queues, npy
@@ -172,7 +172,7 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
   SEED = 42
 
   def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip)
+    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
 
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 618d39ca67..7b0a26f4ac 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
-set_tinygrad_backend_from_compiled_flags()
-
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
 from tinygrad.tensor import Tensor
 import time
 import pickle
@@ -29,6 +27,7 @@ class ModelState:
   output: np.ndarray
 
   def __init__(self, cam_w: int, cam_h: int):
+    self.DEV = get_tg_input_devices(PROCESS_NAME)
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']
@@ -55,7 +54,7 @@ class ModelState:
     ptr = buf.data.ctypes.data
     # There is a ringbuffer of imgs, just cache tensors pointing to all of them
     if ptr not in self._blob_cache:
-      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')
+      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8', device=self.DEV)
 
     self.warp_inputs_np['transform'][:] = transform[:]
     self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform'])
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
index 9c1a0d4689..f4b3968421 100644
--- a/selfdrive/modeld/helpers.py
+++ b/selfdrive/modeld/helpers.py
@@ -1,12 +1,10 @@
 import json
-import os
 from pathlib import Path
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
-COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
+TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
 
 
-def set_tinygrad_backend_from_compiled_flags() -> None:
-  if os.path.isfile(COMPILED_FLAGS_PATH):
-    with open(COMPILED_FLAGS_PATH) as f:
-      os.environ['DEV'] = str(json.load(f)['DEV'])
+def get_tg_input_devices(process_name: str) -> dict[str, str]:
+  with open(TG_INPUT_DEVICES_PATH) as f:
+    return json.load(f)[process_name]
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 527cc5d7af..6aa94be495 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,12 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
-set_tinygrad_backend_from_compiled_flags()
-
-USBGPU = "USBGPU" in os.environ
-if USBGPU:
-  os.environ['DEV'] = 'AMD'
-  os.environ['AMD_IFACE'] = 'USB'
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
 from tinygrad.tensor import Tensor
 import time
 import pickle
@@ -78,6 +72,7 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, cam_w: int, cam_h: int):
+    self.DEV = get_tg_input_devices(PROCESS_NAME)
     jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))
     vision_metadata = jits['metadata']['vision']
     self.vision_input_shapes =  vision_metadata['input_shapes']
@@ -91,7 +86,7 @@ class ModelState:
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip)
+    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.DEV)
     self.full_frames : dict[str, Tensor] = {}
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
@@ -100,8 +95,8 @@ class ModelState:
     self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
-      frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8').contiguous().realize(),
-      big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8').contiguous().realize())
+      frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8', device=self.DEV).contiguous().realize(),
+      big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8', device=self.DEV).contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -115,7 +110,7 @@ class ModelState:
       # There is a ringbuffer of imgs, just cache tensors pointing to all of them
       cache_key = (key, ptr)
       if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
       self.full_frames[key] = self._blob_cache[cache_key]
 
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
@@ -148,6 +143,7 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
+  USBGPU = False
   if not USBGPU:
     # USB GPU currently saturates a core so can't do this yet,
     # also need to move the aux USB interrupts for good timings

From dd58eb68f007d918df624373c045c5bfd1f10853 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Thu, 14 May 2026 23:29:26 -0700
Subject: [PATCH 154/210] bump tg (#38045)

* partial tg bump

* nvm can bump all the way
---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 5b4f62519d..409bb0c9ad 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 5b4f62519d628d1f238a5025b153aaedeee141cc
+Subproject commit 409bb0c9ada39dd00effaaee1887db828c9bfcf0

From d4a83deb7dd4430f58b89ef11482d542a83b995a Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 15 May 2026 13:26:18 -0700
Subject: [PATCH 155/210] modeld/SConscript: rm unused line (#38047)

rm unused line
---
 selfdrive/modeld/SConscript | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 18e806a6ab..fe86b7347c 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -102,7 +102,6 @@ for cam_w, cam_h in CAMERA_CONFIGS:
          f'--output {dm_pkl_path}')
   lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)
 
-driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_policy']]
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
   fn = File(f"models/{model_name}").abspath

From 65405bafa6cfaebb94bc088a8ecb39fcbdead062 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Sat, 16 May 2026 11:09:03 -0700
Subject: [PATCH 156/210] acados: copy c generated code (#38050)

---
 selfdrive/controls/lib/lateral_mpc_lib/SConscript     | 11 +++++++++--
 .../controls/lib/longitudinal_mpc_lib/SConscript      | 11 +++++++++--
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 80649444ae..5ff526ae83 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -55,8 +55,14 @@ source_list = ['lat_mpc.py',
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
-lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
+copied_acados_libs = []
+if arch != "Darwin":
+  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
+    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
+  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
+else:
+  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
+  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 
 generated_lat = lenv.Command(generated_files,
@@ -94,4 +100,5 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_lat'])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(lib_cython, copied_acados_libs)
 lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 3946624521..a3218e9f34 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -61,8 +61,14 @@ source_list = ['long_mpc.py',
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
-lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
+copied_acados_libs = []
+if arch != "Darwin":
+  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
+    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
+  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
+else:
+  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
+  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
@@ -99,4 +105,5 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_long'])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(lib_cython, copied_acados_libs)
 lenv2.Depends(libacados_ocp_solver_c, np_version)

From 2ed88a1dff26c96076f1226ff1fa364ea68a7134 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Sun, 17 May 2026 19:27:51 -0700
Subject: [PATCH 157/210] DM: add sleep prob logging (#38049)

* add parsing - 0963efe6-96e5-4408-8233-0fa565fc7510

* 8a4d3664-e618-4051-8e72-4e9522e40af0
---
 cereal/log.capnp                               | 1 +
 selfdrive/modeld/dmonitoringmodeld.py          | 3 ++-
 selfdrive/modeld/models/dmonitoring_model.onnx | 4 ++--
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 73a34a2ea8..d12cd6cdc8 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2063,6 +2063,7 @@ struct DriverStateV2 {
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
+    sleepProb @14 :Float32;
 
     deprecated :group {
       notReadyProb @12 :List(Float32);
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 7b0a26f4ac..3da75d1eaf 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -74,7 +74,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob', 'sleep_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -90,6 +90,7 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
   msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
+  msg.sleepProb = model_output[f'sleep_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
   msg = messaging.new_message('driverStateV2', valid=True)
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index dc621bed03..bd3f2c85a6 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
-size 7307246
+oid sha256:3e7b31dfbc0a5234f1baf196513b77fc6af12204b8a8ffe8ee0417e48352f316
+size 7494962

From 46e3c907f6e85bde779283e0a7d7a6872c153934 Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Tue, 19 May 2026 00:48:36 +0800
Subject: [PATCH 158/210] hardware: tolerate missing modem state in setup
 (#38058)

* hardware: tolerate missing modem state in setup

* get_network_type: read modem state after wifi/ethernet checks
---
 system/hardware/tici/hardware.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 120ca77107..e4c8cf0b5c 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -69,9 +69,11 @@ class Tici(HardwareBase):
     return Amplifier()
 
   def get_modem_state(self) -> dict:
-    """Read modem.py state file. Raises if modem.py hasn't published state yet."""
-    with open(MODEM_STATE_PATH) as f:
-      return json.load(f)
+    try:
+      with open(MODEM_STATE_PATH) as f:
+        return json.load(f)
+    except (FileNotFoundError, json.JSONDecodeError):
+      return {}
 
   def get_os_version(self):
     with open("/VERSION") as f:
@@ -112,7 +114,6 @@ class Tici(HardwareBase):
       f.write(f"{value}\n")
 
   def get_network_type(self):
-    ms = self.get_modem_state()
     try:
       primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
       primary_connection = self.bus.get_object(NM, primary_connection)
@@ -124,6 +125,7 @@ class Tici(HardwareBase):
     except Exception:
       pass
 
+    ms = self.get_modem_state()
     if ms.get('connected'):
       nt = ms.get('network_type', '')
       if nt == 'nr':

From 2920503f94b99705c44566785d8d4e02240202a2 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 18 May 2026 15:54:18 -0700
Subject: [PATCH 159/210] modeld: no runtime compile (#38060)

---
 selfdrive/modeld/compile_modeld.py | 8 ++++----
 selfdrive/modeld/modeld.py         | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 031f13be3a..633f1f03b0 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -103,10 +103,10 @@ def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, devi
     'big_tfm': np.zeros((3, 3), dtype=np.float32),
   }
   input_queues = {
-    'img_q': Tensor.zeros(img_buf_shape, dtype='uint8', device=device).contiguous().realize(),
-    'big_img_q': Tensor.zeros(img_buf_shape, dtype='uint8', device=device).contiguous().realize(),
-    'feat_q': Tensor.zeros(frame_skip * (fb[1] - 1) + 1, fb[0], fb[2], device=device).contiguous().realize(),
-    'desire_q': Tensor.zeros(frame_skip * dp[1], dp[0], dp[2], device=device).contiguous().realize(),
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
     **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
   }
   return input_queues, npy
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 6aa94be495..93de1ee82c 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -95,8 +95,8 @@ class ModelState:
     self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
-      frame=Tensor.zeros(self.frame_buf_params['img'][3], dtype='uint8', device=self.DEV).contiguous().realize(),
-      big_frame=Tensor.zeros(self.frame_buf_params['big_img'][3], dtype='uint8', device=self.DEV).contiguous().realize())
+      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.DEV).contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}

From 24ff455bc0b750954cd9c2a5c017cd6e2cf37bdd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 May 2026 15:55:33 -0700
Subject: [PATCH 160/210] Add Acura MDX

---
 RELEASES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/RELEASES.md b/RELEASES.md
index aa2b9fa220..9d8eb72eeb 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -3,6 +3,7 @@ Version 0.11.1 (2026-05-18)
 * New driver monitoring model
 * Improved image processing pipeline for driver camera
 * Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
 * Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 Version 0.11.0 (2026-03-17)

From 77017a913a6fd686dabe5268d76d45fb367783ac Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 May 2026 18:17:21 -0700
Subject: [PATCH 161/210] modem.py: roaming is always allowed for prime
 (#38064)

---
 system/hardware/tici/modem.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index cb25d501d1..b68b37ce28 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -40,6 +40,7 @@ NETWORK_TYPE = {0: "gsm", 1: "gsm", 3: "gsm", 8: "gsm",
                 11: "nr", 12: "nr", 13: "nr"}
 
 DIAL_CID = 1
+WEBBING_ICCID_PREFIX = "8985235"
 
 PPPD_CMD = [
   "sudo", "pppd", PPP_PORT, "460800", "noauth", "nodetach", "noipdefault", "usepeerdns",
@@ -197,6 +198,8 @@ class Modem:
     return os.path.isfile("/lib/systemd/system/ModemManager.service")
 
   def _is_roaming_allowed(self) -> bool:
+    if self.S["iccid"].startswith(WEBBING_ICCID_PREFIX):
+      return True
     return self._read_param("GsmRoaming") == "1"
 
   def _publish_state(self, **kwargs):
@@ -289,6 +292,7 @@ class Modem:
 
     self._configure_modem(identity["modem_version"])
 
+    self.S.update(identity)
     self._apn = self._read_param("GsmApn")
     self._roaming_allowed = self._is_roaming_allowed()
     # blank APN lets the carrier supply one via PCO

From 43d61f043cba570f5480a10cc2d428dbb597e4a9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 May 2026 18:20:53 -0700
Subject: [PATCH 162/210] modem.py: roaming is always allowed for prime
 (#38065)

* modem.py: roaming is always allowed for prime

* modem.py: add timestamp
---
 system/hardware/tici/modem.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index b68b37ce28..39266be122 100755
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -52,6 +52,7 @@ PPPD_CMD = [
   "user", '""', "password", '""',
 ]
 INITIAL_STATE = {
+  "seconds_since_boot": 0,
   "state": "INITIALIZING",
   "connected": False, "ip_address": "",
   "iccid": "", "mcc_mnc": "", "imei": "", "modem_version": "",
@@ -204,6 +205,7 @@ class Modem:
 
   def _publish_state(self, **kwargs):
     self.S.update(kwargs)
+    self.S["seconds_since_boot"] = time.monotonic()
     with tempfile.NamedTemporaryFile(mode="w", dir="/dev/shm", delete=False) as f:
       json.dump(self.S, f, indent=2)
     os.chmod(f.name, 0o644)

From 27e37f9d954936a68e0d3331091661588114b109 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 May 2026 19:52:06 -0700
Subject: [PATCH 163/210] agnos 18.3 (#38063)

---
 launch_env.sh                            |  2 +-
 system/hardware/tici/agnos.json          | 12 ++++++------
 system/hardware/tici/all-partitions.json | 12 ++++++------
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 8cc770b357..d0d7da5764 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.1.3"
+  export AGNOS_VERSION="18.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index d3ed1c3847..b3f7b0903a 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -67,17 +67,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img.xz",
-    "hash": "ed1536d9c565b1e13cf604c93b1e520148aa1f849f9451595c06000bc09d3036",
-    "hash_raw": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img.xz",
+    "hash": "7be4361a422b05a029f6841cee6949c479cc24bbad3e0f447713c1e92f770c79",
+    "hash_raw": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "4a38555fdebea9818c92c6ee2f85368bbc8ce2eca4b71e5d1e4cdee29f10fedf",
+    "ondevice_hash": "b80ca9a902fa96d78c640574a33b8848dcec18b1f0e761170c19d8432456d1cb",
     "alt": {
-      "hash": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img",
+      "hash": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index cbd2b0b8ad..875d81f747 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -350,17 +350,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img.xz",
-    "hash": "ed1536d9c565b1e13cf604c93b1e520148aa1f849f9451595c06000bc09d3036",
-    "hash_raw": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img.xz",
+    "hash": "7be4361a422b05a029f6841cee6949c479cc24bbad3e0f447713c1e92f770c79",
+    "hash_raw": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "4a38555fdebea9818c92c6ee2f85368bbc8ce2eca4b71e5d1e4cdee29f10fedf",
+    "ondevice_hash": "b80ca9a902fa96d78c640574a33b8848dcec18b1f0e761170c19d8432456d1cb",
     "alt": {
-      "hash": "51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-51c002023e1698c044116f3f50bc97af41b1058436ab5286236df6fdb2f6752b.img",
+      "hash": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img",
       "size": 4718592000
     }
   },

From 6941a913a39ebff27489063a1bd6bde66f208459 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Mon, 18 May 2026 21:23:24 -0700
Subject: [PATCH 164/210] modeld/SConscript: fix pkl chunking (#38067)

---
 selfdrive/modeld/SConscript | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index fe86b7347c..5ca9d14824 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -80,12 +80,15 @@ cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
        f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
        f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
        f'--output {pkl_path} --frame-skip {frame_skip}')
-node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, tg_devices_node], cmd)
 onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
 chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
 def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
   chunk_file(pkl, chunks)
-lenv.Command(chunk_targets, node, do_chunk)
+lenv.Command(
+  chunk_targets,
+  tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, tg_devices_node],
+  [cmd, do_chunk],
+)
 
 # get model metadata
 fn = File(f"models/dmonitoring_model").abspath
@@ -108,17 +111,12 @@ def tg_compile(flags, model_name):
   pkl = fn + "_tinygrad.pkl"
   onnx_path = fn + ".onnx"
   chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
-  compile_node = lenv.Command(
-    pkl,
-    [onnx_path] + tinygrad_files + [chunker_file, tg_devices_node],
-    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
-  )
   def do_chunk(target, source, env):
     chunk_file(pkl, chunk_targets)
   return lenv.Command(
     chunk_targets,
-    compile_node,
-    do_chunk,
+    [onnx_path] + tinygrad_files + [chunker_file, tg_devices_node],
+    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}', do_chunk],
   )
 
 tg_compile(tg_flags, 'dmonitoring_model')

From 12aaacdffc2ebe7aa71c1a974304f34b94f3eba9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 19 May 2026 11:22:13 -0700
Subject: [PATCH 165/210] loggerd: fix flaky test case (#38068)

---
 system/loggerd/tests/test_loggerd.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 3a0da849de..9fd1b2d434 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -82,7 +82,7 @@ class TestLoggerd:
       assert pm.wait_for_readers_to_update(s, timeout=5)
 
     sent_msgs = defaultdict(list)
-    for _ in range(random.randint(2, 10) * 100):
+    for i in range(random.randint(2, 10) * 100):
       for s in services:
         try:
           m = messaging.new_message(s)
@@ -91,6 +91,12 @@ class TestLoggerd:
         pm.send(s, m)
         sent_msgs[s].append(m)
 
+      # Keep msgq's finite per-service queues from wrapping; this test asserts
+      # that loggerd logged every message we sent.
+      if (i + 1) % 100 == 0:
+        for s in services:
+          assert pm.wait_for_readers_to_update(s, timeout=5)
+
     for s in services:
       assert pm.wait_for_readers_to_update(s, timeout=5)
     managed_processes["loggerd"].stop()

From 82338fd8c52ccf6d3c2cba38c8c700f244422969 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 19 May 2026 19:40:48 -0700
Subject: [PATCH 166/210] bump to 0.11.2

---
 RELEASES.md      | 4 ++++
 common/version.h | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index 9d8eb72eeb..7946fce019 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,7 @@
+Version 0.11.2 (2026-06-15)
+========================
+
+
 Version 0.11.1 (2026-05-18)
 ========================
 * New driver monitoring model
diff --git a/common/version.h b/common/version.h
index 41440556c5..5a09588e22 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.11.1"
+#define COMMA_VERSION "0.11.2"

From 52e182611d3f150ec620a7b9d08ddcb4322ab17b Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Tue, 19 May 2026 22:41:57 -0700
Subject: [PATCH 167/210] initial usbgpu support (#37906)

* zero ll patched big model

* probe in a subprocess so usbgpu lock gets released

* compiles

* runs

* num_jobs gets overwritten, use side effect

* poll tg devices

* make sure build crashes on missing gpu

* fine not to rely on Device.default

* seperate tg env for each model runner

* comment

* Revert "seperate tg env for each model runner"

This reverts commit f6470cc4258eaeb3e8e37907ef370871c9af5aa4.

* env is shared, gate on flag

* no fallback warp dev must be set

* build for current device only, unless pc/release

* comment

* list

* listen for plug in

* add icon to status bar, read params on every frame (?)

* log available devices

* try copy out when loading?

* Revert "log available devices"

This reverts commit e8c52a5d59456d4820ecb13b99a6c46ea1386a20.

* Revert "try copy out when loading?"

This reverts commit 518f403aa03faeda1950fe3dbce0d9e4c1584455.

* don't trigger device probe/caching on modeld prepare

* re-export with ll and road edges

* dont cache devices in manager process

* get USBGPU from params

* no usbgpu env

* missed one

* sconscript don't poll

* unconditional env

* always explicitely set devices on input tensors

* set DEV so amd uses right compiler and iface??

* fix flag

* bump tg

* rm xdg_cache_home

* tg don't bump all the way

* missing gmmu=0 at compile time

* dm set dev

* tg backend

* update gitignore

* missing import

* unused imports

* rely on Device.DEFAULT at compile time (already the case bc onnxrunner)

* comments

* dm warp needs DEV set too

* build both smol and big

* misc typos

* set dev at compile time

* don't need

* DEV=CPU when getting metadata, ensure we don't grab gpu lock

* this would also grab lock

* put bool

* warp compile always prepare only

* missed one

* poll ui

* missing here

* don't force usbgpu at build time

* tmp patch fetch_fw

* catch all, follow hardwared patterns

* simpler

* compile make input queues

* revert this

* group this more readable

* rm empty line

* make dummy frame using numpy

* revert compile make input queues

* no compiler at runtime

* cleanup

* fine to rebuild all on change to device node for now

* fix usbgpu_present

* fix sconscript

* no size in header stream decompress

* DEBUG=2

* minimal viable feedback

* egpu gray

* oops

* gotta do this actually

* modeld build only depends on modeld devices

* don't ship onnx to release? or chunk

* don't need

* can only set compiler on dev=

* none device works, will use default

* make linter happy

* chunk agnostic onnx input to compile_modeld

* chunk big onnx

* +x chunker

* fix #!

* and don't ship chunked onnx to release

* firmware now in correct location

* better err on missing onnx/chunk

* SConscript also need to accept chunked onnx

* metadata also need to load maybe chunked

* dedupe cmd

* this needs to be on cpu

* devices are set in the tgflags, we already depend on them

* rebuilding on changed order is fine

* read file chunked can already load either chunked or not

* chunk all big onnx

* less confusing

* unused import

* python device to load onnx bytes

* default device for runners, python for metadata

* why not

* chunked to shm
---
 common/file_chunker.py                        | 22 ++++-
 common/params_keys.h                          |  2 +
 release/build_release.sh                      |  2 +-
 release/build_stripped.sh                     |  2 +
 selfdrive/assets/icons_mici/egpu.png          |  3 +
 selfdrive/assets/icons_mici/egpu_gray.png     |  3 +
 selfdrive/modeld/SConscript                   | 81 ++++++++++++-------
 selfdrive/modeld/compile_modeld.py            | 60 +++++++++++---
 selfdrive/modeld/dmonitoringmodeld.py         |  2 +-
 selfdrive/modeld/helpers.py                   | 20 ++++-
 selfdrive/modeld/modeld.py                    | 30 ++++---
 .../modeld/models/big_driving_policy.onnx     |  4 +-
 .../modeld/models/big_driving_vision.onnx     |  4 +-
 selfdrive/ui/mici/layouts/home.py             |  6 ++
 selfdrive/ui/ui_state.py                      |  4 +
 15 files changed, 184 insertions(+), 61 deletions(-)
 mode change 100644 => 100755 common/file_chunker.py
 create mode 100644 selfdrive/assets/icons_mici/egpu.png
 create mode 100644 selfdrive/assets/icons_mici/egpu_gray.png
 mode change 120000 => 100644 selfdrive/modeld/models/big_driving_policy.onnx
 mode change 120000 => 100644 selfdrive/modeld/models/big_driving_vision.onnx

diff --git a/common/file_chunker.py b/common/file_chunker.py
old mode 100644
new mode 100755
index ac9ddbb384..57dfc35531
--- a/common/file_chunker.py
+++ b/common/file_chunker.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+import sys
 import math
 import os
 from pathlib import Path
@@ -10,10 +12,13 @@ def get_chunk_name(name, idx, num_chunks):
 def get_manifest_path(name):
   return f"{name}.chunkmanifest"
 
-def get_chunk_paths(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+def _chunk_paths(path, num_chunks):
   return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
 
+def get_chunk_targets(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return _chunk_paths(path, num_chunks)
+
 def chunk_file(path, targets):
   manifest_path, *chunk_paths = targets
   with open(path, 'rb') as f:
@@ -26,6 +31,13 @@ def chunk_file(path, targets):
   Path(manifest_path).write_text(str(len(chunk_paths)))
   os.remove(path)
 
+def get_existing_chunks(path):
+  if os.path.isfile(path):
+    return [path]
+  if os.path.isfile(manifest := get_manifest_path(path)):
+    num_chunks = int(Path(manifest).read_text().strip())
+    return _chunk_paths(path, num_chunks)
+  raise FileNotFoundError(path)
 
 def read_file_chunked(path):
   manifest_path = get_manifest_path(path)
@@ -35,3 +47,9 @@ def read_file_chunked(path):
   if os.path.isfile(path):
     return Path(path).read_bytes()
   raise FileNotFoundError(path)
+
+
+if __name__ == "__main__":
+  path = sys.argv[1]
+  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
+  chunk_file(path, chunk_paths)
diff --git a/common/params_keys.h b/common/params_keys.h
index 64d7717784..d0ee114bc9 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -127,5 +127,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 };
diff --git a/release/build_release.sh b/release/build_release.sh
index 69b46111c8..d137edab91 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -72,7 +72,7 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm -f selfdrive/modeld/models/*.onnx
+rm -f selfdrive/modeld/models/*.onnx*
 
 # Mark as prebuilt release
 touch prebuilt
diff --git a/release/build_stripped.sh b/release/build_stripped.sh
index 6f1a568c25..91c94b44a0 100755
--- a/release/build_stripped.sh
+++ b/release/build_stripped.sh
@@ -45,6 +45,8 @@ cd $TARGET_DIR
 rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
+find selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./common/file_chunker.py {} \;
+
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
diff --git a/selfdrive/assets/icons_mici/egpu.png b/selfdrive/assets/icons_mici/egpu.png
new file mode 100644
index 0000000000..dc2bc8e276
--- /dev/null
+++ b/selfdrive/assets/icons_mici/egpu.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3dcf64cbc34251d8423cb8b3b31d743e93d14002dec43c389a857cb7e8eb17
+size 10875
diff --git a/selfdrive/assets/icons_mici/egpu_gray.png b/selfdrive/assets/icons_mici/egpu_gray.png
new file mode 100644
index 0000000000..a6aeb84689
--- /dev/null
+++ b/selfdrive/assets/icons_mici/egpu_gray.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7409c53d7c72681c24982fd83b56ce70f80797c9c0f936d9296a5c18557ac472
+size 7279
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 5ca9d14824..eba9516116 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,14 +1,14 @@
 import glob
 import json
 import os
+import sys, subprocess
 from SCons.Script import Value
-from openpilot.common.file_chunker import chunk_file, get_chunk_paths
+from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from tinygrad import Device
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH
+from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
 
 Import('env', 'arch', 'release')
 
@@ -36,7 +36,13 @@ def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
 # get fastest TG config
-available = set(Device.get_available_devices())
+# probe in subprocess so usbgpu locks gets released on process exit
+def probe_devices():
+  return set(subprocess.run(
+    [sys.executable, '-c', 'from tinygrad import Device\nprint("\\n".join(Device.get_available_devices()))'],
+    capture_output=True, text=True, check=True).stdout.strip().splitlines())
+
+available = probe_devices()
 if 'CUDA' in available:
   tg_backend = 'CUDA'
   tg_flags = f'DEV={tg_backend}'
@@ -44,14 +50,25 @@ elif 'QCOM' in available:
   tg_backend = 'QCOM'
   tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
-  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
-  tg_flags = f'DEV={tg_backend}'
+  tg_backend = 'CPU'
+  tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'
 
 tg_devices = { # which device to put jit inputs to at runtime
-  'selfdrive.modeld.modeld': tg_backend,
-  'selfdrive.modeld.dmonitoringmodeld': tg_backend,
+  'selfdrive.modeld.modeld': {
+    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend}
+  },
+  'selfdrive.modeld.dmonitoringmodeld': {
+    'default': {'DEV': tg_backend}
+  },
 }
 
+USBGPU = usbgpu_present() # or release # TODO always build big model on release
+if USBGPU:
+  tg_devices['selfdrive.modeld.modeld']['usbgpu'] = {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
+  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0'
+  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
+  usbgpu_lock = File("models/.usb_gpu.lock").abspath
+
 def write_tg_devices(target, source, env):
   with open(str(target[0]), "w") as f:
     json.dump(tg_devices, f)
@@ -59,7 +76,7 @@ def write_tg_devices(target, source, env):
 
 tg_devices_node = lenv.Command(
   str(TG_INPUT_DEVICES_PATH),
-  [Value(json.dumps(tg_devices, sort_keys=True))],
+  [Value(tg_devices)],
   write_tg_devices,
 )
 
@@ -68,27 +85,33 @@ mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 modeld_dir = Dir("#selfdrive/modeld").abspath
 compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
-driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_policy']]
-
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-pkl_path = File("models/driving_tinygrad.pkl").abspath
-camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
-cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
-       f'--model-size {model_w}x{model_h} '
-       f'--camera-resolutions {camera_res_args} '
-       f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
-       f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
-       f'--output {pkl_path} --frame-skip {frame_skip}')
-onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
-def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
-  chunk_file(pkl, chunks)
-lenv.Command(
-  chunk_targets,
-  tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file, tg_devices_node],
-  [cmd, do_chunk],
-)
+
+for usbgpu in [False, True] if USBGPU else [False]:
+  target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
+  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
+  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_policy']
+                       for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
+  camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
+        f'--model-size {model_w}x{model_h} '
+        f'--camera-resolutions {camera_res_args} '
+        f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
+        f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
+        f'--output {target_pkl_path} --frame-skip {frame_skip}')
+  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
+  size_multiplier = 1 if usbgpu else 2 # TODO make weight dedupe work on QCOM
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*size_multiplier)
+  def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
+    chunk_file(pkl, chunks)
+  node = lenv.Command(
+    chunk_targets,
+    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file],
+    [cmd, do_chunk],
+  )
+  if usbgpu:
+    lenv.SideEffect(usbgpu_lock, node)
 
 # get model metadata
 fn = File(f"models/dmonitoring_model").abspath
@@ -110,7 +133,7 @@ def tg_compile(flags, model_name):
   fn = File(f"models/{model_name}").abspath
   pkl = fn + "_tinygrad.pkl"
   onnx_path = fn + ".onnx"
-  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  chunk_targets = get_chunk_targets(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
   def do_chunk(target, source, env):
     chunk_file(pkl, chunk_targets)
   return lenv.Command(
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index 633f1f03b0..f919d1da23 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import argparse
+import atexit
 import os
 import pickle
 import time
@@ -7,24 +8,46 @@ from functools import partial
 from collections import namedtuple, defaultdict
 
 import numpy as np
+
+def _patch_tinygrad_fetch_fw():
+  import hashlib
+  import pathlib
+  import zstandard
+  from tinygrad import helpers
+  _orig = helpers.fetch_fw
+  def fetch_fw(path, name, sha256):
+    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
+    if p.is_file():
+      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
+    return _orig(path, name, sha256)
+  helpers.fetch_fw = fetch_fw
+_patch_tinygrad_fetch_fw()
+
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
+from openpilot.common.file_chunker import read_file_chunked
+from openpilot.system.hardware.hw import Paths
+
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
 
+WARP_DEV = os.getenv('WARP_DEV')
+
 
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
 
-  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
-  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
+  x = Tensor.arange(w_dst, device=WARP_DEV).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst, device=WARP_DEV).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
 
   # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
   src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
@@ -68,7 +91,7 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
 
   def frame_prepare_tinygrad(input_frame, M_inv):
     # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
     # deinterleave NV12 UV plane (UVUV... -> separate U, V)
     uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
     with Context(SPLIT_REDUCEOP=0):
@@ -132,14 +155,16 @@ def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, mode
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
   def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
-    tfm = tfm.to(Device.DEFAULT)
-    big_tfm = big_tfm.to(Device.DEFAULT)
+    tfm = tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(WARP_DEV)
     desire = desire.to(Device.DEFAULT)
     traffic_convention = traffic_convention.to(Device.DEFAULT)
     Tensor.realize(tfm, big_tfm, desire, traffic_convention)
 
-    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+    warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
+    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
+    img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
 
     if prepare_only:
       return img, big_img
@@ -180,8 +205,8 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
     n_runs = 1 if testing else 3
 
     for i in range(n_runs):
-      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
@@ -219,6 +244,14 @@ def _parse_size(s):
   return int(w), int(h)
 
 
+def read_file_chunked_to_shm(path):
+  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
+  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
+  with open(shm_path, 'wb') as f:
+    f.write(read_file_chunked(path))
+  return shm_path
+
+
 if __name__ == "__main__":
   from tinygrad.nn.onnx import OnnxRunner
   from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
@@ -235,10 +268,11 @@ if __name__ == "__main__":
   out = defaultdict(dict)
   # init runners once so weights are shared
   from get_model_metadata import make_metadata_dict
-  vision_runner = OnnxRunner(args.vision_onnx)
-  policy_runner = OnnxRunner(args.policy_onnx)
-  out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
-  out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
+  vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
+  vision_runner = OnnxRunner(vision_path)
+  policy_runner = OnnxRunner(policy_path)
+  out['metadata']['vision'] = make_metadata_dict(vision_path)
+  out['metadata']['policy'] = make_metadata_dict(policy_path)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 3da75d1eaf..cf99c432e6 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -27,7 +27,7 @@ class ModelState:
   output: np.ndarray
 
   def __init__(self, cam_w: int, cam_h: int):
-    self.DEV = get_tg_input_devices(PROCESS_NAME)
+    self.DEV = get_tg_input_devices(PROCESS_NAME, usbgpu=False)['DEV']
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
index f4b3968421..64bf28873f 100644
--- a/selfdrive/modeld/helpers.py
+++ b/selfdrive/modeld/helpers.py
@@ -3,8 +3,24 @@ from pathlib import Path
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
 TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
+USBGPU_VID = 0xADD1
+USBGPU_PID = 0x0001
 
 
-def get_tg_input_devices(process_name: str) -> dict[str, str]:
+def get_tg_input_devices(process_name: str, usbgpu: bool):
   with open(TG_INPUT_DEVICES_PATH) as f:
-    return json.load(f)[process_name]
+    return json.load(f)[process_name]['default' if not usbgpu else 'usbgpu']
+
+def modeld_pkl_path(usbgpu: bool):
+  prefix = 'big_' if usbgpu else ''
+  return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
+
+def usbgpu_present() -> bool:
+  for d in Path("/sys/bus/usb/devices").glob("*"):
+    try:
+      if int((d / "idVendor").read_text(), 16) == USBGPU_VID and \
+          int((d / "idProduct").read_text(), 16) == USBGPU_PID:
+        return True
+    except Exception:
+      pass
+  return False
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 93de1ee82c..7e0fa8a037 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
+os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
 from tinygrad.tensor import Tensor
 import time
 import pickle
@@ -22,8 +22,9 @@ from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan,
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import read_file_chunked
+from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -71,9 +72,10 @@ class FrameMeta:
 class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
-  def __init__(self, cam_w: int, cam_h: int):
-    self.DEV = get_tg_input_devices(PROCESS_NAME)
-    jits = pickle.loads(read_file_chunked(MODELS_DIR / 'driving_tinygrad.pkl'))
+  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
+    input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
+    self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
+    jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
     vision_metadata = jits['metadata']['vision']
     self.vision_input_shapes =  vision_metadata['input_shapes']
     self.vision_input_names = list(self.vision_input_shapes.keys())
@@ -86,7 +88,7 @@ class ModelState:
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.DEV)
+    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.QUEUE_DEV)
     self.full_frames : dict[str, Tensor] = {}
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
@@ -95,8 +97,8 @@ class ModelState:
     self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
     self.warp_enqueue(
       **self.input_queues,
-      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.DEV).contiguous().realize())
+      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -110,7 +112,7 @@ class ModelState:
       # There is a ringbuffer of imgs, just cache tensors pointing to all of them
       cache_key = (key, ptr)
       if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
       self.full_frames[key] = self._blob_cache[cache_key]
 
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
@@ -143,7 +145,13 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  USBGPU = False
+  _present = usbgpu_present()
+  _compiled = os.path.isfile(get_manifest_path(modeld_pkl_path(usbgpu=True)))
+  USBGPU = _present and _compiled
+  params = Params()
+  params.put_bool("UsbGpuPresent", _present)
+  params.put_bool("UsbGpuCompiled", _compiled)
+
   if not USBGPU:
     # USB GPU currently saturates a core so can't do this yet,
     # also need to move the aux USB interrupts for good timings
@@ -174,7 +182,7 @@ def main(demo=False):
 
   st = time.monotonic()
   cloudlog.warning("loading model")
-  model = ModelState(vipc_client_main.width, vipc_client_main.height)
+  model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
   cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # messaging
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
deleted file mode 120000
index e1b653a14a..0000000000
--- a/selfdrive/modeld/models/big_driving_policy.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_policy.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
new file mode 100644
index 0000000000..f7b49c018a
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_policy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565e53c38dcd64c50dd3fe4d5ee1530213aeefd66c3f6b67ea6a72a32612a6bf
+size 14061419
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
deleted file mode 120000
index 28ee71dd74..0000000000
--- a/selfdrive/modeld/models/big_driving_vision.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_vision.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
new file mode 100644
index 0000000000..d14f1969e0
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f0cab5033fe9e3bc5e174a2e790fa277f7d9fc44c65822d734064d2f899a9a0
+size 296203378
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 60c5fcf1d4..1cc61c6478 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -139,6 +139,8 @@ class MiciHomeLayout(Widget):
     self._version_text = self._get_version_text()
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
+    self._egpu_icon = IconWidget("icons_mici/egpu.png", (50, 37))
+    self._egpu_icon_gray = IconWidget("icons_mici/egpu_gray.png", (50, 37))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
     self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
 
@@ -148,6 +150,8 @@ class MiciHomeLayout(Widget):
       IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
       NetworkIcon(),
       self._experimental_icon,
+      self._egpu_icon,
+      self._egpu_icon_gray,
       self._body_icon,
       self._mic_icon,
     ], spacing=18)
@@ -244,6 +248,8 @@ class MiciHomeLayout(Widget):
 
     # ***** Center-aligned bottom section icons *****
     self._experimental_icon.set_visible(ui_state.experimental_mode)
+    self._egpu_icon.set_visible(ui_state.usbgpu and ui_state.usbgpu_compiled)
+    self._egpu_icon_gray.set_visible(ui_state.usbgpu and not ui_state.usbgpu_compiled)
     self._mic_icon.set_visible(ui_state.recording_audio)
     self._body_icon.set_visible(ui_state.is_body)
 
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index fd1a5228df..6309642fd2 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -75,6 +75,8 @@ class UIState:
     self.is_release = self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
+    self.usbgpu: bool = self.params.get_bool("UsbGpuPresent")
+    self.usbgpu_compiled: bool = self.params.get_bool("UsbGpuCompiled")
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
@@ -201,6 +203,8 @@ class UIState:
     self.is_metric = self.params.get_bool("IsMetric")
     self.always_on_dm = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.usbgpu = self.params.get_bool("UsbGpuPresent")
+    self.usbgpu_compiled = self.params.get_bool("UsbGpuCompiled")
 
 
 class Device:

From 38faa7c2cb265243b87644ad40aa8b971b220f92 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 21 May 2026 16:29:27 -0700
Subject: [PATCH 168/210] bump msgq (#38057)

* bump msgq

* bump msgq

* fix ui
---
 cereal/messaging/__init__.py           | 10 +++++-----
 msgq_repo                              |  2 +-
 selfdrive/modeld/dmonitoringmodeld.py  |  3 ++-
 selfdrive/modeld/modeld.py             |  2 +-
 selfdrive/ui/mici/onroad/cameraview.py |  4 ++--
 selfdrive/ui/onroad/cameraview.py      |  4 ++--
 6 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 47d109453a..158e3329e7 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -263,11 +263,11 @@ class PubMaster:
     self.sock[s].send(dat)
 
   def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    for _ in range(int(timeout*(1./dt))):
-      if self.sock[s].all_readers_updated():
-        return True
-      time.sleep(dt)
-    return False
+    try:
+      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
+      return True
+    except TimeoutError:
+      return False
 
   def all_readers_updated(self, s: str) -> bool:
     return self.sock[s].all_readers_updated()  # type: ignore
diff --git a/msgq_repo b/msgq_repo
index 6e9dbd5768..9beb84af67 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 6e9dbd57681365e272e5fb3d2af20d0d9af7e76f
+Subproject commit 9beb84af67527f7b6bfee349dcbe3dbb8d4f4789
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index cf99c432e6..eaf423e7be 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -22,6 +22,7 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
 METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
 
+
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
@@ -51,7 +52,7 @@ class ModelState:
 
     t1 = time.perf_counter()
 
-    ptr = buf.data.ctypes.data
+    ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
     # There is a ringbuffer of imgs, just cache tensors pointing to all of them
     if ptr not in self._blob_cache:
       self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8', device=self.DEV)
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 7e0fa8a037..0c13b322df 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -107,7 +107,7 @@ class ModelState:
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     for key in bufs.keys():
-      ptr = bufs[key].data.ctypes.data
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
       # There is a ringbuffer of imgs, just cache tensors pointing to all of them
       cache_key = (key, ptr)
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 57a8a2d5ce..86dd95f466 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -308,8 +308,8 @@ class CameraView(Widget):
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index 5443948465..53c2ff8b0b 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -267,8 +267,8 @@ class CameraView(Widget):
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader

From aff9f9ffae3f80a9d162a6a0b462e621de86a100 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 17:42:19 -0700
Subject: [PATCH 169/210] remote body teleop from connect support (#38011)

* athenad and webrtcd updates

* remove feature stream services from webrtcd split

* remove cors

* clean

* remove unused

* remove extra try except

* add back exception trace

* clean diff

* clean diff

* add testJoystick only on body

* fix camera list

* remove reference to future service
---
 system/athena/athenad.py | 42 ++++++++++++++++++++-
 system/webrtc/webrtcd.py | 81 ++++++++++++++++++++++++++++++----------
 2 files changed, 102 insertions(+), 21 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index de09c2da76..36f1d848c2 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -28,7 +28,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection)
 
 import cereal.messaging as messaging
-from cereal import log
+from cereal import car, log
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
@@ -44,6 +44,7 @@ from openpilot.system.hardware.hw import Paths
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {22, }  # SSH
+WEBRTCD_PORT = 5001
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@@ -536,6 +537,16 @@ def getSshAuthorizedKeys() -> str:
 def getGithubUsername() -> str:
   return cast(str, Params().get("GithubUsername") or "")
 
+
+@dispatcher.add_method
+def getNotCar() -> bool:
+  cp_bytes = Params().get("CarParamsPersistent")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      return CP.notCar
+  return False
+
+
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()
@@ -557,6 +568,35 @@ def getNetworks():
   return HARDWARE.get_networks()
 
 
+@dispatcher.add_method
+def startStream(sdp: str) -> dict:
+  from openpilot.system.webrtc.webrtcd import StreamRequestBody
+  bridge_services_in = []
+
+  # get live car params to avoid stale notCar edge case
+  cp_bytes = Params().get("CarParams")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      if CP.notCar:
+        bridge_services_in.append("testJoystick")
+
+  body = StreamRequestBody(sdp, ["driver"], bridge_services_in, ["carState"])
+  try:
+    resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
+                       json=asdict(body), timeout=10)
+    if not resp.ok:
+      try:
+        error_body = resp.json()
+        raise Exception(error_body.get("message", f"webrtcd returned {resp.status_code}"))
+      except ValueError:
+        resp.raise_for_status()
+    return resp.json()
+  except requests.ConnectTimeout as e:
+    raise Exception("webrtc took too long to respond. is it on?") from e
+  except requests.ConnectionError as e:
+    raise Exception("webrtc is not running. turn on comma body ignition.") from e
+
+
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
   from openpilot.system.camerad.snapshot import jpeg_write, snapshot
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index d2c90cafb5..7a51d45034 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -2,6 +2,7 @@
 
 import argparse
 import asyncio
+import contextlib
 import json
 import uuid
 import logging
@@ -83,11 +84,16 @@ class CerealProxyRunner:
     assert self.task is None
     self.task = asyncio.create_task(self.run())
 
-  def stop(self):
-    if self.task is None or self.task.done():
+  async def stop(self):
+    if self.task is None:
       return
-    self.task.cancel()
+    task = self.task
     self.task = None
+    if task.done():
+      return
+    task.cancel()
+    with contextlib.suppress(asyncio.CancelledError):
+      await task
 
   async def run(self):
     from aiortc.exceptions import InvalidStateError
@@ -145,24 +151,29 @@ class StreamSession:
       self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
     self.run_task: asyncio.Task | None = None
+    self._cleanup_lock = asyncio.Lock()
+    self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info("New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
-                      self.identifier, cameras, incoming_services, outgoing_services)
+    self.logger.info(
+      "New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
+      self.identifier, cameras, incoming_services, outgoing_services,
+    )
 
   def start(self):
     self.run_task = asyncio.create_task(self.run())
 
-  def stop(self):
-    if self.run_task.done():
-      return
-    self.run_task.cancel()
+  async def stop(self):
+    if self.run_task is not None and not self.run_task.done() and self.run_task is not asyncio.current_task():
+      self.run_task.cancel()
+      with contextlib.suppress(asyncio.CancelledError):
+        await self.run_task
     self.run_task = None
-    asyncio.run(self.post_run_cleanup())
+    await self.post_run_cleanup()
 
   async def get_answer(self):
     return await self.stream.start()
 
-  async def message_handler(self, message: bytes):
+  def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
       self.incoming_bridge.send(message)
@@ -183,16 +194,21 @@ class StreamSession:
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
-      await self.post_run_cleanup()
 
       self.logger.info("Stream session (%s) ended", self.identifier)
     except Exception:
       self.logger.exception("Stream session failure")
+    finally:
+      await self.post_run_cleanup()
 
   async def post_run_cleanup(self):
-    await self.stream.stop()
-    if self.outgoing_bridge is not None:
-      self.outgoing_bridge_runner.stop()
+    async with self._cleanup_lock:
+      if self._cleanup_done:
+        return
+      self._cleanup_done = True
+      if self.outgoing_bridge_runner is not None:
+        await self.outgoing_bridge_runner.stop()
+      await self.stream.stop()
 
 
 @dataclass
@@ -208,11 +224,33 @@ async def get_stream(request: 'web.Request'):
   raw_body = await request.json()
   body = StreamRequestBody(**raw_body)
 
-  session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
-  answer = await session.get_answer()
-  session.start()
+  async with request.app['stream_lock']:
+    # Fully disconnect any other active stream before starting the replacement.
+    for sid, s in list(stream_dict.items()):
+      if s.run_task and not s.run_task.done():
+        try:
+          ch = s.stream.get_messaging_channel()
+          ch.send(json.dumps({"type": "connectionReplaced", "data": "Another device has connected, closing this session."}))
+        except Exception:
+          pass
+      await s.stop()
+      del stream_dict[sid]
 
-  stream_dict[session.identifier] = session
+    session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
+    try:
+      answer = await session.get_answer()
+    except ValueError as e:
+      await session.stop()
+      raise web.HTTPBadRequest(
+        text=json.dumps({"error": "invalid_sdp", "message": str(e)}),
+        content_type="application/json",
+      ) from e
+    except Exception:
+      await session.stop()
+      raise
+    session.start()
+
+    stream_dict[session.identifier] = session
 
   return web.json_response({"sdp": answer.sdp, "type": answer.type})
 
@@ -224,6 +262,7 @@ async def get_schema(request: 'web.Request'):
   schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
   return web.json_response(schema_dict)
 
+
 async def post_notify(request: 'web.Request'):
   try:
     payload = await request.json()
@@ -239,9 +278,10 @@ async def post_notify(request: 'web.Request'):
 
   return web.Response(status=200, text="OK")
 
+
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
-    session.stop()
+    await session.stop()
   del app['streams']
 
 
@@ -254,6 +294,7 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app = web.Application()
 
   app['streams'] = dict()
+  app['stream_lock'] = asyncio.Lock()
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)

From a3cc9c7ac3ba7a163fdee7927f333f360431fd80 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 22 May 2026 17:50:26 -0700
Subject: [PATCH 170/210] modeld: split warp (#38079)

* compiles

* runs

* dedupe compiling model

* always build for both res

* fix does not bind loop variable

* rm size multiplier
---
 SConstruct                         |  2 +-
 selfdrive/modeld/SConscript        | 22 ++-----
 selfdrive/modeld/compile_modeld.py | 92 +++++++++++++++---------------
 selfdrive/modeld/modeld.py         | 15 ++---
 4 files changed, 59 insertions(+), 72 deletions(-)

diff --git a/SConstruct b/SConstruct
index 550e5f0ee3..0427d46294 100644
--- a/SConstruct
+++ b/SConstruct
@@ -190,7 +190,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch', 'acados')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index eba9516116..9878050ba3 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -7,24 +7,15 @@ from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_exi
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
 
-Import('env', 'arch', 'release')
 
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
 
-def get_camera_configs():
-  DEVICE_RESOLUTIONS = {
-    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "mici": (_os_fisheye.width, _os_fisheye.height),
-  }
-  if release or PC or 'CI' in os.environ:
-    return set(DEVICE_RESOLUTIONS.values())
-  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
-
-CAMERA_CONFIGS = get_camera_configs()
-
+Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 
@@ -101,8 +92,7 @@ for usbgpu in [False, True] if USBGPU else [False]:
         f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  size_multiplier = 1 if usbgpu else 2 # TODO make weight dedupe work on QCOM
-  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*size_multiplier)
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
   def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
     chunk_file(pkl, chunks)
   node = lenv.Command(
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f919d1da23..ad76b5d8cc 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -30,11 +30,10 @@ from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
-from openpilot.common.file_chunker import read_file_chunked
-from openpilot.system.hardware.hw import Paths
-
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
+WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -42,6 +41,10 @@ UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
 WARP_DEV = os.getenv('WARP_DEV')
 
 
+def make_random_images(keys, shape, device=None):
+  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
+
+
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
@@ -148,55 +151,49 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
-                    vision_features_slice, frame_skip, prepare_only=False):
+def make_warp(nv12, model_w, model_h, frame_skip):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
-  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
+  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
     tfm = tfm.to(WARP_DEV)
     big_tfm = big_tfm.to(WARP_DEV)
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+    Tensor.realize(tfm, big_tfm)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
     img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
     big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
+    return img, big_img
+  return warp_enqueue
 
-    if prepare_only:
-      return img, big_img
 
+def make_run_policy(vision_runner, policy_runner, vision_features_slice, frame_skip):
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+
+  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention):
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(desire, traffic_convention)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
 
     inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
     policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
-
     return vision_out, policy_out
   return run_policy
 
 
-def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                   vision_runner, policy_runner, vision_metadata, policy_metadata):
-  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
-
-  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
   vision_input_shapes = vision_metadata['input_shapes']
   policy_input_shapes = policy_metadata['input_shapes']
 
-  _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
-                         vision_features_slice, frame_skip, prepare_only)
-  run_policy_jit = TinyJit(_run, prune=True)
-
   SEED = 42
-
-  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
@@ -205,13 +202,11 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
     n_runs = 1 if testing else 3
 
     for i in range(n_runs):
-      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
-      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
       st = time.perf_counter()
-      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      outs = fn(**{k: input_queues[k] for k in input_keys}, **make_random_inputs())
       mt = time.perf_counter()
       Device.default.synchronize()
       et = time.perf_counter()
@@ -227,16 +222,15 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
     if test_buffers is not None:
       match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
       assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return fn, val, buffers
+    return val, buffers
 
   print('capture + replay')
-  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
-
+  test_val, test_buffers = random_inputs_run(jit, SEED)
   print('pickle round trip')
-  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
-  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
-  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
-  return run_policy_jit
+  jit = pickle.loads(pickle.dumps(jit))
+  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return jit
 
 
 def _parse_size(s):
@@ -245,6 +239,8 @@ def _parse_size(s):
 
 
 def read_file_chunked_to_shm(path):
+  from openpilot.common.file_chunker import read_file_chunked
+  from openpilot.system.hardware.hw import Paths
   shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
   atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
   with open(shm_path, 'wb') as f:
@@ -255,6 +251,7 @@ def read_file_chunked_to_shm(path):
 if __name__ == "__main__":
   from tinygrad.nn.onnx import OnnxRunner
   from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
   p = argparse.ArgumentParser()
   p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
@@ -266,23 +263,26 @@ if __name__ == "__main__":
   args = p.parse_args()
 
   out = defaultdict(dict)
-  # init runners once so weights are shared
-  from get_model_metadata import make_metadata_dict
   vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
+  model_w, model_h = args.model_size
+
   vision_runner = OnnxRunner(vision_path)
   policy_runner = OnnxRunner(policy_path)
-  out['metadata']['vision'] = make_metadata_dict(vision_path)
-  out['metadata']['policy'] = make_metadata_dict(policy_path)
+  vision_metadata, policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(policy_path)
+
+  run_policy_jit = TinyJit(make_run_policy(vision_runner, policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
+
+  out['metadata']['vision'], out['metadata']['policy'] = vision_metadata, policy_metadata
+
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    model_w, model_h = args.model_size
-    out[(cam_w,cam_h)] = {
-      name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
-                           vision_runner, policy_runner, out['metadata']['vision'], out['metadata']['policy'])
-      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-    }
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
-  print(f"Saved combined JIT to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
+  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 0c13b322df..35063e6d37 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -20,7 +20,7 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -93,12 +93,8 @@ class ModelState:
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    self.run_policy = jits[(cam_w,cam_h)]['run_policy']
-    self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
-    self.warp_enqueue(
-      **self.input_queues,
-      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
+    self.run_policy = jits['run_policy']
+    self.warp_enqueue = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -123,12 +119,13 @@ class ModelState:
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
+    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+
     if prepare_only:
-      self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
       return None
 
     vision_output, policy_output = self.run_policy(
-      **self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
+      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
     )
 
     vision_output = vision_output.numpy().flatten()

From 9844075bb27fee142a8e123a9e03bdf1afd1e008 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 22 May 2026 19:20:22 -0700
Subject: [PATCH 171/210] remote teleop multi-stream on 1 video track (#38013)

* athenad and webrtcd updates

* remove feature stream services from webrtcd split

* stream encoder thread

* reduce diff

* wire webrtc to livestream camera encoder

* request livestream camera switch service

* remove camera list in favour of init camera field

* remove cors

* clean

* remove unused

* remove extra try except

* add back exception trace

* add stream road camera info to stream cameras

* fix

* clean diff

* clean diff

* add testJoystick only on body

* fix camera list

* remove reference to future service

* encode all cameras and swap in video track in webrtc

* clean

* explicitly gate bridge send

* clean leftover

* make local bodyteleop work still
---
 system/athena/athenad.py      |  2 +-
 system/loggerd/loggerd.h      |  4 ++--
 system/webrtc/device/video.py |  8 +++++++-
 system/webrtc/webrtcd.py      | 24 ++++++++++++++----------
 tools/bodyteleop/web.py       |  2 +-
 5 files changed, 25 insertions(+), 15 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 36f1d848c2..6bccaae63e 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -580,7 +580,7 @@ def startStream(sdp: str) -> dict:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
 
-  body = StreamRequestBody(sdp, ["driver"], bridge_services_in, ["carState"])
+  body = StreamRequestBody(sdp, "wideRoad", bridge_services_in, ["carState"])
   try:
     resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
                        json=asdict(body), timeout=10)
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 6aa0c8be40..01bce2c9ea 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -47,8 +47,8 @@ struct EncoderSettings {
   }
 
   static EncoderSettings StreamEncoderSettings() {
-    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'000'000;
-    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 15};
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 4'000'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 5};
   }
 };
 
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 50feab4f4a..b46d022203 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -19,10 +19,16 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
     dt = DT_DMON if camera_type == "driver" else DT_MDL
     super().__init__(camera_type, dt)
 
-    self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+    self._sock = self._make_sock(camera_type)
     self._pts = 0
     self._t0_ns = time.monotonic_ns()
 
+  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
+    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+
+  def switch_camera(self, camera_type: str) -> None:
+    self._sock = self._make_sock(camera_type)
+
   async def recv(self):
     while True:
       msg = messaging.recv_one_or_none(self._sock)
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 7a51d45034..1239a1759c 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -124,18 +124,15 @@ class DynamicPubMaster(messaging.PubMaster):
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
-  def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
+  def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
     from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc import WebRTCAnswerBuilder
-    from teleoprtc.info import parse_info_from_offer
 
-    config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
-    assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
-    for cam in cameras:
-      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
+    self.video_track = LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack()
+    builder.add_video_stream(init_camera, self.video_track)
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -155,8 +152,8 @@ class StreamSession:
     self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
     self.logger.info(
-      "New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
-      self.identifier, cameras, incoming_services, outgoing_services,
+      "New stream session (%s), init camera %s, incoming services %s, outgoing services %s",
+      self.identifier, init_camera, incoming_services, outgoing_services,
     )
 
   def start(self):
@@ -176,6 +173,13 @@ class StreamSession:
   def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
+      msg_json = json.loads(message)
+      if msg_json.get("type") == "livestreamCameraSwitch" and hasattr(self.video_track, "switch_camera"):
+        self.video_track.switch_camera(msg_json["data"]["camera"])
+        return
+
+      if msg_json.get("type") not in self.incoming_bridge_services:
+        return
       self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
@@ -214,7 +218,7 @@ class StreamSession:
 @dataclass
 class StreamRequestBody:
   sdp: str
-  cameras: list[str]
+  initCamera: str
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
 
@@ -236,7 +240,7 @@ async def get_stream(request: 'web.Request'):
       await s.stop()
       del stream_dict[sid]
 
-    session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
+    session = StreamSession(body.sdp, body.initCamera, body.bridge_services_in, body.bridge_services_out, debug_mode)
     try:
       answer = await session.get_answer()
     except ValueError as e:
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index 29d23184bd..d357561b22 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -56,7 +56,7 @@ async def ping(request: 'web.Request'):
 
 async def offer(request: 'web.Request'):
   params = await request.json()
-  body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
+  body = StreamRequestBody(params["sdp"], "driver", ["testJoystick"], ["carState"])
   body_json = json.dumps(dataclasses.asdict(body))
 
   logger.info("Sending offer to webrtcd...")

From 1f227bbe200fe76e83216654f6218977d60ce584 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 22 May 2026 19:30:48 -0700
Subject: [PATCH 172/210] remote teleop frame timing support (#38014)

* athenad and webrtcd updates

* remove feature stream services from webrtcd split

* stream encoder thread

* reduce diff

* wire webrtc to livestream camera encoder

* request livestream camera switch service

* add frame timing headers

* rfctr

* diff

* clean

* remove camera list in favour of init camera field

* remove cors

* clean

* remove unused

* remove extra try except

* remove video_tracks unused

* add back exception trace

* add stream road camera info to stream cameras

* fix

* add back assert

* clean diff

* clean diff

* add testJoystick only on body

* fix camera list

* remove reference to future service

* video_tracks list add back

* encode all cameras and swap in video track in webrtc

* clean

* explicitly gate bridge send

* clean leftover

* rearrange video.py

* fix lint
---
 system/webrtc/device/video.py | 27 ++++++++++++++++++++++++---
 system/webrtc/webrtcd.py      | 29 ++++++++++++++++++++++++-----
 2 files changed, 48 insertions(+), 8 deletions(-)

diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index b46d022203..8a07c5b9be 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -1,4 +1,5 @@
 import asyncio
+import struct
 import time
 
 import av
@@ -7,6 +8,13 @@ from teleoprtc.tracks import TiciVideoStreamTrack
 from cereal import messaging
 from openpilot.common.realtime import DT_MDL, DT_DMON
 
+# arbitrary 16-byte UUID identifying openpilot frame-timing SEI messages
+TIMING_SEI_UUID = bytes([
+  0xa5, 0xe0, 0xc4, 0xa4, 0x5b, 0x6e, 0x4e, 0x1e,
+  0x9c, 0x7e, 0x12, 0x34, 0x56, 0x78, 0x9a, 0xbc,
+])
+_SEI_PREFIX = b'\x00\x00\x00\x01\x06\x05\x30' + TIMING_SEI_UUID
+
 
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   camera_to_sock_mapping = {
@@ -22,6 +30,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
     self._sock = self._make_sock(camera_type)
     self._pts = 0
     self._t0_ns = time.monotonic_ns()
+    self.timing_sei_enabled = False
 
   def _make_sock(self, camera_type: str) -> messaging.SubSocket:
     return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
@@ -29,6 +38,20 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   def switch_camera(self, camera_type: str) -> None:
     self._sock = self._make_sock(camera_type)
 
+  def _build_frame_data(self, msg) -> bytes:
+    encode_data = getattr(msg, msg.which())
+    if not self.timing_sei_enabled:
+      return encode_data.header + encode_data.data
+
+    idx = encode_data.idx
+    sei_nal = _SEI_PREFIX + struct.pack('>4d',
+      (idx.timestampEof - idx.timestampSof) / 1e6,
+      (msg.logMonoTime - idx.timestampEof) / 1e6,
+      (time.monotonic_ns() - msg.logMonoTime) / 1e6,
+      time.time() * 1000,  # noqa: TID251
+    ) + b'\x80'
+    return encode_data.header + sei_nal + encode_data.data
+
   async def recv(self):
     while True:
       msg = messaging.recv_one_or_none(self._sock)
@@ -36,9 +59,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
         break
       await asyncio.sleep(0.005)
 
-    evta = getattr(msg, msg.which())
-
-    packet = av.Packet(evta.header + evta.data)
+    packet = av.Packet(self._build_frame_data(msg))
     packet.time_base = self._time_base
 
     self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 1239a1759c..502e671660 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+import time
 import argparse
 import asyncio
 import contextlib
@@ -173,12 +174,30 @@ class StreamSession:
   def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
-      msg_json = json.loads(message)
-      if msg_json.get("type") == "livestreamCameraSwitch" and hasattr(self.video_track, "switch_camera"):
-        self.video_track.switch_camera(msg_json["data"]["camera"])
-        return
+      payload = json.loads(message) if isinstance(message, (bytes, str)) else None
+      if isinstance(payload, dict):
+        msg_type = payload.get("type")
 
-      if msg_json.get("type") not in self.incoming_bridge_services:
+        if msg_type == "livestreamCameraSwitch":
+          self.video_track.switch_camera(payload["data"]["camera"])
+          return
+
+        if msg_type == "clockSync":
+          data = payload.get("data", {})
+          pong = json.dumps({"type": "clockSync", "data": {
+            "action": "pong", "browserSendTime": data.get("browserSendTime"), "deviceTime": time.time() * 1000, # noqa: TID251
+          }})
+          self.stream.get_messaging_channel().send(pong)
+          return
+
+        if msg_type == "enableTimingSei":
+          enabled = bool(payload.get("data", {}).get("enabled"))
+          for track in self.video_tracks:
+            if hasattr(track, 'timing_sei_enabled'):
+              track.timing_sei_enabled = enabled
+          return
+
+      if payload.get("type") not in self.incoming_bridge_services:
         return
       self.incoming_bridge.send(message)
     except Exception:

From d489dd8909db8e8f82f456234d02018e694e9dde Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Sat, 23 May 2026 00:53:12 -0700
Subject: [PATCH 173/210] Revert "modeld: split warp" (#38085)

Revert "modeld: split warp (#38079)"

This reverts commit a3cc9c7ac3ba7a163fdee7927f333f360431fd80.
---
 SConstruct                         |  2 +-
 selfdrive/modeld/SConscript        | 22 +++++--
 selfdrive/modeld/compile_modeld.py | 92 +++++++++++++++---------------
 selfdrive/modeld/modeld.py         | 15 +++--
 4 files changed, 72 insertions(+), 59 deletions(-)

diff --git a/SConstruct b/SConstruct
index 0427d46294..550e5f0ee3 100644
--- a/SConstruct
+++ b/SConstruct
@@ -190,7 +190,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados')
+Export('env', 'arch', 'acados', 'release')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 9878050ba3..eba9516116 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -7,15 +7,24 @@ from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_exi
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
 
+Import('env', 'arch', 'release')
 
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
 
-Import('env', 'arch')
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return set(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
+
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 
@@ -92,7 +101,8 @@ for usbgpu in [False, True] if USBGPU else [False]:
         f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
+  size_multiplier = 1 if usbgpu else 2 # TODO make weight dedupe work on QCOM
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*size_multiplier)
   def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
     chunk_file(pkl, chunks)
   node = lenv.Command(
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index ad76b5d8cc..f919d1da23 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -30,10 +30,11 @@ from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
+from openpilot.common.file_chunker import read_file_chunked
+from openpilot.system.hardware.hw import Paths
+
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
-WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
-POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -41,10 +42,6 @@ UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
 WARP_DEV = os.getenv('WARP_DEV')
 
 
-def make_random_images(keys, shape, device=None):
-  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
-
-
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
@@ -151,49 +148,55 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_warp(nv12, model_w, model_h, frame_skip):
+def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
+                    vision_features_slice, frame_skip, prepare_only=False):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
-  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
+  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
     tfm = tfm.to(WARP_DEV)
     big_tfm = big_tfm.to(WARP_DEV)
-    Tensor.realize(tfm, big_tfm)
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
     img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
     big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
-    return img, big_img
-  return warp_enqueue
 
+    if prepare_only:
+      return img, big_img
 
-def make_run_policy(vision_runner, policy_runner, vision_features_slice, frame_skip):
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-
-  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention):
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(desire, traffic_convention)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
 
     inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
     policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
+
     return vision_out, policy_out
   return run_policy
 
 
-def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
+def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                   vision_runner, policy_runner, vision_metadata, policy_metadata):
+  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
   vision_input_shapes = vision_metadata['input_shapes']
   policy_input_shapes = policy_metadata['input_shapes']
 
+  _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
+                         vision_features_slice, frame_skip, prepare_only)
+  run_policy_jit = TinyJit(_run, prune=True)
+
   SEED = 42
-  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+
+  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
@@ -202,11 +205,13 @@ def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata
     n_runs = 1 if testing else 3
 
     for i in range(n_runs):
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
       st = time.perf_counter()
-      outs = fn(**{k: input_queues[k] for k in input_keys}, **make_random_inputs())
+      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
       mt = time.perf_counter()
       Device.default.synchronize()
       et = time.perf_counter()
@@ -222,15 +227,16 @@ def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata
     if test_buffers is not None:
       match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
       assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return val, buffers
+    return fn, val, buffers
 
   print('capture + replay')
-  test_val, test_buffers = random_inputs_run(jit, SEED)
+  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
+
   print('pickle round trip')
-  jit = pickle.loads(pickle.dumps(jit))
-  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
-  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
-  return jit
+  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
+  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return run_policy_jit
 
 
 def _parse_size(s):
@@ -239,8 +245,6 @@ def _parse_size(s):
 
 
 def read_file_chunked_to_shm(path):
-  from openpilot.common.file_chunker import read_file_chunked
-  from openpilot.system.hardware.hw import Paths
   shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
   atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
   with open(shm_path, 'wb') as f:
@@ -251,7 +255,6 @@ def read_file_chunked_to_shm(path):
 if __name__ == "__main__":
   from tinygrad.nn.onnx import OnnxRunner
   from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
   p = argparse.ArgumentParser()
   p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
@@ -263,26 +266,23 @@ if __name__ == "__main__":
   args = p.parse_args()
 
   out = defaultdict(dict)
+  # init runners once so weights are shared
+  from get_model_metadata import make_metadata_dict
   vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
-  model_w, model_h = args.model_size
-
   vision_runner = OnnxRunner(vision_path)
   policy_runner = OnnxRunner(policy_path)
-  vision_metadata, policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(policy_path)
-
-  run_policy_jit = TinyJit(make_run_policy(vision_runner, policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
-
-  out['metadata']['vision'], out['metadata']['policy'] = vision_metadata, policy_metadata
-
-  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
-  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
+  out['metadata']['vision'] = make_metadata_dict(vision_path)
+  out['metadata']['policy'] = make_metadata_dict(policy_path)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
-    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
-    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
+    model_w, model_h = args.model_size
+    out[(cam_w,cam_h)] = {
+      name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
+                           vision_runner, policy_runner, out['metadata']['vision'], out['metadata']['policy'])
+      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+    }
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
-  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
+  print(f"Saved combined JIT to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 35063e6d37..0c13b322df 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -20,7 +20,7 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -93,8 +93,12 @@ class ModelState:
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    self.run_policy = jits['run_policy']
-    self.warp_enqueue = jits[(cam_w,cam_h)]
+    self.run_policy = jits[(cam_w,cam_h)]['run_policy']
+    self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
+    self.warp_enqueue(
+      **self.input_queues,
+      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -119,13 +123,12 @@ class ModelState:
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
-    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
-
     if prepare_only:
+      self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
       return None
 
     vision_output, policy_output = self.run_policy(
-      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
+      **self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
     )
 
     vision_output = vision_output.numpy().flatten()

From 95f562c298e894e0f14fffea24d0711eb25e8465 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 23 May 2026 01:56:15 -0700
Subject: [PATCH 174/210] op: autocomplete (#38081)

* op autocomplete

* rm

* indent

* Revert "indent"

This reverts commit 6dd513f3229741864563f81ab8547c24c3557dda.

* clean er
---
 tools/op.sh | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index dccf080829..7ed3d242fd 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -21,8 +21,14 @@ if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
 fi
 function op_install() {
   echo "Installing op system-wide..."
-  CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
-  grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
+  OP_SH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh"
+  CMD=$(cat <<EOF
+alias op='$OP_SH "\$@"'
+_op_completions() { [ "\$COMP_CWORD" -eq 1 ] && COMPREPLY=(\$(compgen -W "\$(awk '/shift 1; op_/{print \$1}' $OP_SH)" -- "\${COMP_WORDS[1]}")); }
+complete -F _op_completions -o default op
+EOF
+)
+  grep -q "alias op=" "$RC_FILE" 2>/dev/null || printf '\n%s\n' "$CMD" >> "$RC_FILE"
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
 }
 

From 9d74412fec6fce57155530388b8a1ae02c87a874 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 23 May 2026 02:02:16 -0700
Subject: [PATCH 175/210] no warning on macos zsh

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index 7ed3d242fd..538d689569 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -25,7 +25,7 @@ function op_install() {
   CMD=$(cat <<EOF
 alias op='$OP_SH "\$@"'
 _op_completions() { [ "\$COMP_CWORD" -eq 1 ] && COMPREPLY=(\$(compgen -W "\$(awk '/shift 1; op_/{print \$1}' $OP_SH)" -- "\${COMP_WORDS[1]}")); }
-complete -F _op_completions -o default op
+[ -n "\$BASH_VERSION" ] && complete -F _op_completions -o default op
 EOF
 )
   grep -q "alias op=" "$RC_FILE" 2>/dev/null || printf '\n%s\n' "$CMD" >> "$RC_FILE"

From d9553eeec7f8006ee72b8113837c58c6554b2d36 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Sat, 23 May 2026 15:55:40 -0700
Subject: [PATCH 176/210] Reapply "modeld: split warp" (#38085) (#38086)

* Reapply "modeld: split warp" (#38085)

This reverts commit d489dd8909db8e8f82f456234d02018e694e9dde.

* don't time make_random_inputs

* depend on chunk targets

* also depend on compile_modeld's dependencies
---
 SConstruct                         |  2 +-
 selfdrive/modeld/SConscript        | 33 +++++------
 selfdrive/modeld/compile_modeld.py | 93 +++++++++++++++---------------
 selfdrive/modeld/modeld.py         | 15 ++---
 4 files changed, 68 insertions(+), 75 deletions(-)

diff --git a/SConstruct b/SConstruct
index 550e5f0ee3..0427d46294 100644
--- a/SConstruct
+++ b/SConstruct
@@ -190,7 +190,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch', 'acados')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index eba9516116..fadd582573 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -7,24 +7,15 @@ from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_exi
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
 
-Import('env', 'arch', 'release')
 
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
 
-def get_camera_configs():
-  DEVICE_RESOLUTIONS = {
-    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "mici": (_os_fisheye.width, _os_fisheye.height),
-  }
-  if release or PC or 'CI' in os.environ:
-    return set(DEVICE_RESOLUTIONS.values())
-  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
-
-CAMERA_CONFIGS = get_camera_configs()
-
+Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
 
@@ -84,7 +75,12 @@ tg_devices_node = lenv.Command(
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 modeld_dir = Dir("#selfdrive/modeld").abspath
-compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
+compile_modeld_script = [
+  File(f"{modeld_dir}/compile_modeld.py"),
+  File(f"{modeld_dir}/get_model_metadata.py"),
+  File("#system/camerad/cameras/nv12_info.py"),
+  File("#system/hardware/hw.py"),
+]
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 
@@ -101,13 +97,12 @@ for usbgpu in [False, True] if USBGPU else [False]:
         f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  size_multiplier = 1 if usbgpu else 2 # TODO make weight dedupe work on QCOM
-  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*size_multiplier)
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
   def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
     chunk_file(pkl, chunks)
   node = lenv.Command(
     chunk_targets,
-    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), chunker_file],
+    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
     [cmd, do_chunk],
   )
   if usbgpu:
@@ -138,7 +133,7 @@ def tg_compile(flags, model_name):
     chunk_file(pkl, chunk_targets)
   return lenv.Command(
     chunk_targets,
-    [onnx_path] + tinygrad_files + [chunker_file, tg_devices_node],
+    [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
     [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}', do_chunk],
   )
 
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f919d1da23..f455e9f6eb 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -30,11 +30,10 @@ from tinygrad.helpers import Context
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
 
-from openpilot.common.file_chunker import read_file_chunked
-from openpilot.system.hardware.hw import Paths
-
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
+WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -42,6 +41,10 @@ UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
 WARP_DEV = os.getenv('WARP_DEV')
 
 
+def make_random_images(keys, shape, device=None):
+  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
+
+
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
   w_dst, h_dst = dst_shape
   h_src, w_src = src_shape
@@ -148,55 +151,49 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_run_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
-                    vision_features_slice, frame_skip, prepare_only=False):
+def make_warp(nv12, model_w, model_h, frame_skip):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
-  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame):
+  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
     tfm = tfm.to(WARP_DEV)
     big_tfm = big_tfm.to(WARP_DEV)
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+    Tensor.realize(tfm, big_tfm)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
     img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
     big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
+    return img, big_img
+  return warp_enqueue
 
-    if prepare_only:
-      return img, big_img
 
+def make_run_policy(vision_runner, policy_runner, vision_features_slice, frame_skip):
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+
+  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention):
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(desire, traffic_convention)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
 
     inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
     policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
-
     return vision_out, policy_out
   return run_policy
 
 
-def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
-                   vision_runner, policy_runner, vision_metadata, policy_metadata):
-  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
-
-  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
   vision_input_shapes = vision_metadata['input_shapes']
   policy_input_shapes = policy_metadata['input_shapes']
 
-  _run = make_run_policy(vision_runner, policy_runner, nv12, model_w, model_h,
-                         vision_features_slice, frame_skip, prepare_only)
-  run_policy_jit = TinyJit(_run, prune=True)
-
   SEED = 42
-
-  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
     input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
@@ -205,13 +202,12 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
     n_runs = 1 if testing else 3
 
     for i in range(n_runs):
-      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
-      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8', device=WARP_DEV).realize()
       for v in npy.values():
         v[:] = np.random.randn(*v.shape).astype(v.dtype)
       Device.default.synchronize()
+      random_inputs = make_random_inputs()
       st = time.perf_counter()
-      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      outs = fn(**{k: input_queues[k] for k in input_keys}, **random_inputs)
       mt = time.perf_counter()
       Device.default.synchronize()
       et = time.perf_counter()
@@ -227,16 +223,15 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
     if test_buffers is not None:
       match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
       assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return fn, val, buffers
+    return val, buffers
 
   print('capture + replay')
-  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
-
+  test_val, test_buffers = random_inputs_run(jit, SEED)
   print('pickle round trip')
-  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
-  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
-  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
-  return run_policy_jit
+  jit = pickle.loads(pickle.dumps(jit))
+  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return jit
 
 
 def _parse_size(s):
@@ -245,6 +240,8 @@ def _parse_size(s):
 
 
 def read_file_chunked_to_shm(path):
+  from openpilot.common.file_chunker import read_file_chunked
+  from openpilot.system.hardware.hw import Paths
   shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
   atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
   with open(shm_path, 'wb') as f:
@@ -255,6 +252,7 @@ def read_file_chunked_to_shm(path):
 if __name__ == "__main__":
   from tinygrad.nn.onnx import OnnxRunner
   from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
   p = argparse.ArgumentParser()
   p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
@@ -266,23 +264,26 @@ if __name__ == "__main__":
   args = p.parse_args()
 
   out = defaultdict(dict)
-  # init runners once so weights are shared
-  from get_model_metadata import make_metadata_dict
   vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
+  model_w, model_h = args.model_size
+
   vision_runner = OnnxRunner(vision_path)
   policy_runner = OnnxRunner(policy_path)
-  out['metadata']['vision'] = make_metadata_dict(vision_path)
-  out['metadata']['policy'] = make_metadata_dict(policy_path)
+  vision_metadata, policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(policy_path)
+
+  run_policy_jit = TinyJit(make_run_policy(vision_runner, policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
+
+  out['metadata']['vision'], out['metadata']['policy'] = vision_metadata, policy_metadata
+
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    model_w, model_h = args.model_size
-    out[(cam_w,cam_h)] = {
-      name: compile_modeld(nv12, model_w, model_h, prepare_only, args.frame_skip,
-                           vision_runner, policy_runner, out['metadata']['vision'], out['metadata']['policy'])
-      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-    }
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
-  print(f"Saved combined JIT to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
+  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 0c13b322df..35063e6d37 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -20,7 +20,7 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -93,12 +93,8 @@ class ModelState:
     self._blob_cache : dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    self.run_policy = jits[(cam_w,cam_h)]['run_policy']
-    self.warp_enqueue = jits[(cam_w,cam_h)]['warp_enqueue']
-    self.warp_enqueue(
-      **self.input_queues,
-      frame=Tensor(np.zeros(self.frame_buf_params['img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(self.frame_buf_params['big_img'][3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
+    self.run_policy = jits['run_policy']
+    self.warp_enqueue = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -123,12 +119,13 @@ class ModelState:
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
+    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+
     if prepare_only:
-      self.warp_enqueue(**self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
       return None
 
     vision_output, policy_output = self.run_policy(
-      **self.input_queues, frame=self.full_frames['img'], big_frame=self.full_frames['big_img']
+      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
     )
 
     vision_output = vision_output.numpy().flatten()

From b93d166ff812562798cd95d2731b897d02670fc2 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 25 May 2026 16:49:41 -0700
Subject: [PATCH 177/210] [bot] Update Python packages (#38003)

* Update Python packages

* unused

* ty happy

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 cereal/messaging/__init__.py              |   2 +-
 docs/CARS.md                              | 224 +++++++--------
 opendbc_repo                              |   2 +-
 panda                                     |   2 +-
 selfdrive/selfdrived/tests/test_alerts.py |   2 +-
 tinygrad_repo                             |   2 +-
 uv.lock                                   | 321 +++++++++++-----------
 7 files changed, 278 insertions(+), 277 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 158e3329e7..18578fb443 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -270,4 +270,4 @@ class PubMaster:
       return False
 
   def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()  # type: ignore
+    return self.sock[s].all_readers_updated()
diff --git a/docs/CARS.md b/docs/CARS.md
index f50ed2a7ef..89d583f363 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,24 +4,24 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 333 Supported Cars
+# 334 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -222,44 +223,44 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -272,8 +273,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -305,60 +306,61 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/opendbc_repo b/opendbc_repo
index f15cc7673a..ed14aa6faa 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f15cc7673a4f1bd87436eb4ce1e6bad3bdb8272d
+Subproject commit ed14aa6faae0c8daabc840d0c090bdc96d6f0bc0
diff --git a/panda b/panda
index b19b66a6f0..7ffc916578 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b19b66a6f0a246729953cb19390dbee1e93610b2
+Subproject commit 7ffc916578af9373a165cf9df5974720d9a258a5
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index c971806999..5d5a1733e7 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -63,7 +63,7 @@ class TestAlerts:
 
     for alert in ALERTS:
       if not isinstance(alert, Alert):
-        alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
+        alert = alert(self.CP, self.CS, self.sm, False, 100, log.LongitudinalPersonality.standard)
 
       # for full size alerts, both text fields wrap the text,
       # so it's unlikely that they  would go past the max width
diff --git a/tinygrad_repo b/tinygrad_repo
index 409bb0c9ad..eecd4706ff 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 409bb0c9ada39dd00effaaee1887db828c9bfcf0
+Subproject commit eecd4706fffe3ad8bdd7350e8db52d86d7214be2
diff --git a/uv.lock b/uv.lock
index 48761b75cf..3b00c77c48 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,18 +5,18 @@ 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#e33e466a477c16576cf30f73d1921dd78d4e1248" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#25933c81c7db5573afe38f012f52befc15cdb804" }
 dependencies = [
     { name = "numpy" },
 ]
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.6.1"
+version = "2.6.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/26/30/f84a107a9c4331c14b2b586036f40965c128aa4fee4dda5d3d51cb14ad54/aiohappyeyeballs-2.6.1.tar.gz", hash = "sha256:c3f9d0113123803ccadfdf3f0faa505bc78e6a72d1cc4806cbd719826e943558", size = 22760, upload-time = "2025-03-12T01:42:48.764Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/33/c6/61a2d7b7572279226bb2e7f61d7a19ca7c90da0329c93fa0d560cbf288d8/aiohappyeyeballs-2.6.2.tar.gz", hash = "sha256:e202810ee718bd01fc6ef49e8ea53d023d5cb6b581076d7925aa499fa55dbe64", size = 22591, upload-time = "2026-05-20T15:12:24.631Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/0f/15/5bf3b99495fb160b63f95972b81750f18f7f4e02ad051373b669d17d44f2/aiohappyeyeballs-2.6.1-py3-none-any.whl", hash = "sha256:f349ba8f4b75cb25c99c5c2d84e997e485204d2902a9597802b0371f09331fb8", size = 15265, upload-time = "2025-03-12T01:42:47.083Z" },
+    { url = "https://files.pythonhosted.org/packages/5f/fc/a7bf5b6e4e617b45f90f2d9d2a68519c249c81dd4fc2658c7a2a61c4f4b7/aiohappyeyeballs-2.6.2-py3-none-any.whl", hash = "sha256:4708045e2d7a6c6bdf8aafa8ed39649eaf926a4543b54560659129e3365953c4", size = 15062, upload-time = "2026-05-20T15:12:23.328Z" },
 ]
 
 [[package]]
@@ -124,30 +124,30 @@ wheels = [
 [[package]]
 name = "bootstrap-icons"
 version = "1.10.5.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#976cd610d1eee61135d33e6fbb0a3ea1098807be" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#d7e41838af9320328dd7102f9288a94f0cf0fa9f" }
 
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#3d53522328d6c0eebc1ae8d07ef9669c8ad7b2f2" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#12916f9f84848239e5a69a8c5a282f3dcb0d86a3" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#847f0ccfef2bc5c57bd8fc0c4776ff760ec1d2b9" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#a75eb83bd98440e890261f82aa8dcfbda0b0a206" }
 
 [[package]]
 name = "catch2"
 version = "2.13.10"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#f354d6cf68504032a0fbdfc552c82c09655899ab" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#7287b4c99d23fdd87e66f9941b0e35ece6b4d91b" }
 
 [[package]]
 name = "certifi"
-version = "2026.4.22"
+version = "2026.5.20"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/25/ee/6caf7a40c36a1220410afe15a1cc64993a1f864871f698c0f93acb72842a/certifi-2026.4.22.tar.gz", hash = "sha256:8d455352a37b71bf76a79caa83a3d6c25afee4a385d632127b6afb3963f1c580", size = 137077, upload-time = "2026-04-22T11:26:11.191Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/f3/ce/ee2ecad540810a79593028e88299baeae54d346cc7a0d94b6199988b89b1/certifi-2026.5.20.tar.gz", hash = "sha256:69dea482ab64caa7b9f6aba1c6bf48bb6a5448d1c0f1b17ab42ad8c763a5344d", size = 135422, upload-time = "2026-05-20T11:46:50.073Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/22/30/7cd8fdcdfbc5b869528b079bfb76dcdf6056b1a2097a662e5e8c04f42965/certifi-2026.4.22-py3-none-any.whl", hash = "sha256:3cb2210c8f88ba2318d29b0388d1023c8492ff72ecdde4ebdaddbb13a31b1c4a", size = 135707, upload-time = "2026-04-22T11:26:09.372Z" },
+    { url = "https://files.pythonhosted.org/packages/59/8c/57e832b7af6d7c5abe66eb3fbe3a3a32f4d11ea23a1aa7131371035be991/certifi-2026.5.20-py3-none-any.whl", hash = "sha256:3c52e209ba0a4ad7aebe60436a4ab349c39e1e602e8c134221e546902ad25897", size = 134134, upload-time = "2026-05-20T11:46:48.578Z" },
 ]
 
 [[package]]
@@ -200,14 +200,14 @@ wheels = [
 
 [[package]]
 name = "click"
-version = "8.3.3"
+version = "8.4.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/bb/63/f9e1ea081ce35720d8b92acde70daaedace594dc93b693c869e0d5910718/click-8.3.3.tar.gz", hash = "sha256:398329ad4837b2ff7cbe1dd166a4c0f8900c3ca3a218de04466f38f6497f18a2", size = 328061, upload-time = "2026-04-22T15:11:27.506Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/9b/98/518d8e5081007684232226f475082b30087d0f585e8457db087298259f49/click-8.4.1.tar.gz", hash = "sha256:918b5633eddf6b41c32d4f454bf0de810065c74e3f7dbf8ee5452f8be88d3e96", size = 353007, upload-time = "2026-05-22T04:08:37.769Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ae/44/c1221527f6a71a01ec6fbad7fa78f1d50dfa02217385cf0fa3eec7087d59/click-8.3.3-py3-none-any.whl", hash = "sha256:a2bf429bb3033c89fa4936ffb35d5cb471e3719e1f3c8a7c3fff0b8314305613", size = 110502, upload-time = "2026-04-22T15:11:25.044Z" },
+    { url = "https://files.pythonhosted.org/packages/c7/0d/67e5b4109ea4a837e80daa87c2c696711955e40449a97e8926672534def2/click-8.4.1-py3-none-any.whl", hash = "sha256:482be17c6991b8c19c5429a1e995d9b0efdbb63172824c41f99965dc0ade8ec2", size = 116639, upload-time = "2026-05-22T04:08:35.26Z" },
 ]
 
 [[package]]
@@ -340,24 +340,24 @@ wheels = [
 
 [[package]]
 name = "cython"
-version = "3.2.4"
+version = "3.2.5"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/91/85/7574c9cd44b69a27210444b6650f6477f56c75fee1b70d7672d3e4166167/cython-3.2.4.tar.gz", hash = "sha256:84226ecd313b233da27dc2eb3601b4f222b8209c3a7216d8733b031da1dc64e6", size = 3280291, upload-time = "2026-01-04T14:14:14.473Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/3f/3b/ebd94c8b85f8e41b5015a9ed94ee3df866024d480d05cd08b774684fb81d/cython-3.2.5.tar.gz", hash = "sha256:3dd42e4cf36ad15f265bdfec2337cc00c688c8eb6d374ffd13bb19437c27bba1", size = 3286381, upload-time = "2026-05-23T19:34:08.439Z" }
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-    { url = "https://files.pythonhosted.org/packages/03/1c/46e34b08bea19a1cdd1e938a4c123e6299241074642db9d81983cef95e9f/cython-3.2.4-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:869487ea41d004f8b92171f42271fbfadb1ec03bede3158705d16cd570d6b891", size = 3226757, upload-time = "2026-01-04T14:15:10.812Z" },
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+    { url = "https://files.pythonhosted.org/packages/be/6b/cd090bd6659d32692487206469988ee84d41aa6de4cdf9e380f847da90e2/zensical-0.0.43-cp310-abi3-musllinux_1_2_i686.whl", hash = "sha256:dd3ff5bfa6e65cf3d2550dc639c3da2a3bfa11087b83d57e06623c4c1607d583", size = 13327086, upload-time = "2026-05-19T09:43:56.8Z" },
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+    { url = "https://files.pythonhosted.org/packages/d0/c6/1688ec6e5be15e3ab367d7804753291bfbdff3109b06e20c19ce30a7129c/zensical-0.0.43-cp310-abi3-win32.whl", hash = "sha256:8a75ddd4bb3cd3c4a8e71d2ebae44c5611fd636c1d355c6124dd96e2f9c52838", size = 12256740, upload-time = "2026-05-19T09:44:02.102Z" },
+    { url = "https://files.pythonhosted.org/packages/ca/a8/d967e70eac810a7e9eb8c5150d6d02848a1f42260f42977c71debed3cb02/zensical-0.0.43-cp310-abi3-win_amd64.whl", hash = "sha256:03a9d1744a6394ad66c355d6f1de04cfd92efa525b0b94bf6dbf6971c5cd2c6b", size = 12496166, upload-time = "2026-05-19T09:44:04.915Z" },
 ]
 
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#1ae3130cf64f557dc5fc30e469b2aab612389d3e" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#40b29e8e88a69802e8afc4f71f5c955bc2d5c74c" }
 
 [[package]]
 name = "zstandard"
@@ -1659,4 +1658,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#fdecf7d8932fdbad96752aa187bac94a74640890" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#13015596466eb68825f109ad0d5aefa6330cc495" }

From bdca89724833af06e85955816463247c82ba46ee Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 May 2026 16:56:57 -0700
Subject: [PATCH 178/210] docs: update DM description (#38089)

---
 docs/SAFETY.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/SAFETY.md b/docs/SAFETY.md
index 25815e3372..0a662ac6cd 100644
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -4,8 +4,8 @@ openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC)
 Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
 driver to be alert and to pay attention at all times.
 
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
+To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
+that alerts when it detects driver distraction.
 
 However, even with an attentive driver, we must make further efforts for the system to be
 safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be

From ccac1e28ded67e9e006cebbc3ebb7f53ca92aa27 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 May 2026 18:01:46 -0700
Subject: [PATCH 179/210] jp: DM debug layout

---
 tools/jotpluggler/layouts/driver-monitoring-debug.json | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 tools/jotpluggler/layouts/driver-monitoring-debug.json

diff --git a/tools/jotpluggler/layouts/driver-monitoring-debug.json b/tools/jotpluggler/layouts/driver-monitoring-debug.json
new file mode 100644
index 0000000000..07a5c2fd6e
--- /dev/null
+++ b/tools/jotpluggler/layouts/driver-monitoring-debug.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"camera_view": "driver", "curves": [], "kind": "camera", "title": "Driver Camera"}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/alertLevel"}], "title": "..."}], "sizes": [0.5, 0.5], "split": "vertical"}, {"children": [{"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/activePolicy"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/faceDetected"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/eye"}, {"color": "#dc5234", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/phone"}, {"color": "#43a047", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/pose"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/awarenessPercent"}], "title": "..."}], "sizes": [0.25, 0.25, 0.25, 0.25], "split": "vertical"}], "sizes": [0.5, 0.5], "split": "horizontal"}}]}

From 5af72796f20f70bcef0df0e2d83ddc036f301864 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Tue, 26 May 2026 10:32:02 -0700
Subject: [PATCH 180/210] fix frame timing feature in webrtcd (#38090)

fix misreference to video_tracks in webrtcd
---
 system/webrtc/webrtcd.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 502e671660..4fd922688e 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -192,9 +192,8 @@ class StreamSession:
 
         if msg_type == "enableTimingSei":
           enabled = bool(payload.get("data", {}).get("enabled"))
-          for track in self.video_tracks:
-            if hasattr(track, 'timing_sei_enabled'):
-              track.timing_sei_enabled = enabled
+          if hasattr(self.video_track, 'timing_sei_enabled'):
+            self.video_track.timing_sei_enabled = enabled
           return
 
       if payload.get("type") not in self.incoming_bridge_services:

From 4585e93066b86ef8afa0788b7d0dd7249c66932d Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 26 May 2026 18:00:10 -0700
Subject: [PATCH 181/210] dmonitoringmodeld: fix YUV padding  (#38091)

---
 selfdrive/modeld/compile_dm_warp.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
index 548990ee15..16e0d39fbb 100755
--- a/selfdrive/modeld/compile_dm_warp.py
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -18,7 +18,7 @@ def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
   def warp_dm(input_frame, M_inv):
     M_inv = M_inv.to(Device.DEFAULT).realize()
     return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
-                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=0).reshape(-1, dm_h * dm_w)
+                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=16).reshape(-1, dm_h * dm_w) # Y
   return warp_dm
 
 

From 4cd93f3eee29987ba7679087c2f33a3f157e43cd Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Wed, 27 May 2026 13:49:46 -0700
Subject: [PATCH 182/210] webrtcd: turn CerealProxyRunner into more general
 AsyncTaskRunner (#38093)

* make cereal proxy runner more general

* missing init()
---
 system/webrtc/webrtcd.py | 91 +++++++++++++++++++++-------------------
 1 file changed, 47 insertions(+), 44 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 4fd922688e..9ff937b673 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+from abc import abstractmethod
 import time
 import argparse
 import asyncio
@@ -24,8 +25,35 @@ from openpilot.system.webrtc.schema import generate_field
 from cereal import messaging, log
 
 
-class CerealOutgoingMessageProxy:
+class AsyncTaskRunner:
+  def __init__(self):
+    self.is_running = False
+    self.task = None
+    self.logger = logging.getLogger("webrtcd")
+
+  def start(self):
+    assert self.task is None
+    self.task = asyncio.create_task(self.run())
+
+  async def stop(self):
+    if self.task is None:
+      return
+    task = self.task
+    self.task = None
+    if task.done():
+      return
+    task.cancel()
+    with contextlib.suppress(asyncio.CancelledError):
+      await task
+
+  @abstractmethod
+  async def run(self):
+    pass
+
+
+class CerealOutgoingMessageProxy(AsyncTaskRunner):
   def __init__(self, sm: messaging.SubMaster):
+    super().__init__()
     self.sm = sm
     self.channels: list[RTCDataChannel] = []
 
@@ -57,6 +85,19 @@ class CerealOutgoingMessageProxy:
       for channel in self.channels:
         channel.send(encoded_msg)
 
+  async def run(self):
+    from aiortc.exceptions import InvalidStateError
+
+    while True:
+      try:
+        self.update()
+      except InvalidStateError:
+        self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
+        break
+      except Exception:
+        self.logger.exception("Cereal outgoing proxy failure")
+      await asyncio.sleep(0.01)
+
 
 class CerealIncomingMessageProxy:
   def __init__(self, pm: messaging.PubMaster):
@@ -74,42 +115,6 @@ class CerealIncomingMessageProxy:
     self.pm.send(msg_type, msg)
 
 
-class CerealProxyRunner:
-  def __init__(self, proxy: CerealOutgoingMessageProxy):
-    self.proxy = proxy
-    self.is_running = False
-    self.task = None
-    self.logger = logging.getLogger("webrtcd")
-
-  def start(self):
-    assert self.task is None
-    self.task = asyncio.create_task(self.run())
-
-  async def stop(self):
-    if self.task is None:
-      return
-    task = self.task
-    self.task = None
-    if task.done():
-      return
-    task.cancel()
-    with contextlib.suppress(asyncio.CancelledError):
-      await task
-
-  async def run(self):
-    from aiortc.exceptions import InvalidStateError
-
-    while True:
-      try:
-        self.proxy.update()
-      except InvalidStateError:
-        self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
-        break
-      except Exception:
-        self.logger.exception("Cereal outgoing proxy failure")
-      await asyncio.sleep(0.01)
-
-
 class DynamicPubMaster(messaging.PubMaster):
   def __init__(self, *args, **kwargs):
     super().__init__(*args, **kwargs)
@@ -141,12 +146,10 @@ class StreamSession:
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
-    self.outgoing_bridge_runner: CerealProxyRunner | None = None
     if len(incoming_services) > 0:
       self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
     if len(outgoing_services) > 0:
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
-      self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
     self.run_task: asyncio.Task | None = None
     self._cleanup_lock = asyncio.Lock()
@@ -209,10 +212,10 @@ class StreamSession:
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
           self.stream.set_message_handler(self.message_handler)
-        if self.outgoing_bridge_runner is not None:
+        if self.outgoing_bridge is not None:
           channel = self.stream.get_messaging_channel()
-          self.outgoing_bridge_runner.proxy.add_channel(channel)
-          self.outgoing_bridge_runner.start()
+          self.outgoing_bridge.add_channel(channel)
+          self.outgoing_bridge.start()
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
@@ -228,8 +231,8 @@ class StreamSession:
       if self._cleanup_done:
         return
       self._cleanup_done = True
-      if self.outgoing_bridge_runner is not None:
-        await self.outgoing_bridge_runner.stop()
+      if self.outgoing_bridge is not None:
+        await self.outgoing_bridge.stop()
       await self.stream.stop()
 
 

From 5408c86b7b3ad76f20b95dfa892894a4192f8cf2 Mon Sep 17 00:00:00 2001
From: Gabe Lynch <gabe3lynch@gmail.com>
Date: Thu, 28 May 2026 14:05:23 -0400
Subject: [PATCH 183/210] Cabana: Fixed internal typos and method casing
 (#38099)

---
 tools/cabana/binaryview.cc     | 4 ++--
 tools/cabana/messageswidget.cc | 6 +++---
 tools/cabana/messageswidget.h  | 2 +-
 tools/cabana/signalview.cc     | 2 +-
 tools/cabana/videowidget.cc    | 2 +-
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 0be28f06b7..c86b3ebdae 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -40,14 +40,14 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   addShortcuts();
   setWhatsThis(R"(
     <b>Binary View</b><br/>
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Shortcuts</span><br />
     Delete Signal:
       <span style="background-color:lightGray;color:gray">&nbsp;x&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;Backspace&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;Delete&nbsp;</span><br />
     Change endianness: <span style="background-color:lightGray;color:gray">&nbsp;e&nbsp; </span><br />
-    Change singedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
+    Change signedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
     Open chart:
       <span style="background-color:lightGray;color:gray">&nbsp;c&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;p&nbsp;</span>,
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index ec8c82dd98..75cdaa7cc3 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -64,7 +64,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
 
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Byte color</span><br />
     <span style="color:gray;">■ </span> constant changing<br />
     <span style="color:blue;">■ </span> increasing<br />
@@ -146,7 +146,7 @@ void MessagesWidget::menuAboutToShow() {
   action->setCheckable(true);
   action->setChecked(settings.multiple_lines_hex);
 
-  action = menu->addAction(tr("Show inactive Messages"), model, &MessageListModel::showInactivemessages);
+  action = menu->addAction(tr("Show inactive messages"), model, &MessageListModel::showInactiveMessages);
   action->setCheckable(true);
   action->setChecked(model->show_inactive_messages);
 }
@@ -216,7 +216,7 @@ void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
   filterAndSort();
 }
 
-void MessageListModel::showInactivemessages(bool show) {
+void MessageListModel::showInactiveMessages(bool show) {
   show_inactive_messages = show;
   filterAndSort();
 }
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 0fc09519a3..9ffb156604 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -36,7 +36,7 @@ public:
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
   void setFilterStrings(const QMap<int, QString> &filters);
-  void showInactivemessages(bool show);
+  void showInactiveMessages(bool show);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   bool filterAndSort();
   void dbcModified();
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 15baabe512..a204512e83 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -495,7 +495,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 
   setWhatsThis(tr(R"(
     <b>Signal view</b><br />
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
   )"));
 }
 
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index f203ec663e..87d3cbec95 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -51,7 +51,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   updatePlayBtnState();
   setWhatsThis(tr(R"(
     <b>Video</b><br />
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Timeline color</span>
     <table>
     <tr><td><span style="color:%1;">■ </span>Disengaged </td>

From a81617d8ee2bd88c4b8304945e38c66a5befbb78 Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Thu, 28 May 2026 12:14:35 -0700
Subject: [PATCH 184/210] adjust fan setpoint (#38100)

* adjust fan setpoint

* comment
---
 system/hardware/fan_controller.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index b2140d33d4..eafde599ad 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -2,6 +2,11 @@
 import numpy as np
 
 from openpilot.common.pid import PIDController
+from openpilot.system.hardware import HARDWARE
+
+# raise fan setpoint on tici/tizi to reduce noise
+# after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling
+OFFSET = 0 if HARDWARE.get_device_type() == "mici" else 5
 
 
 class FanController:
@@ -18,6 +23,6 @@ class FanController:
     self.last_ignition = ignition
 
     return int(self.controller.update(
-                 error=(cur_temp - 75),  # temperature setpoint in C
-                 feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
+                 error=(cur_temp - (75 + OFFSET)),  # temperature setpoint in C
+                 feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
               ))

From a8772eb0af40405da7ed812f56902608eb5361bb Mon Sep 17 00:00:00 2001
From: Daniel Koepping <elkoled@gmail.com>
Date: Thu, 28 May 2026 12:49:56 -0700
Subject: [PATCH 185/210] add retries to process-replay ref push (#38101)

* add one retry to push replay refs

* more retries
---
 .github/workflows/tests.yaml | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index e0dcac53a0..bccc6b5726 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -162,7 +162,7 @@ jobs:
         repository: commaai/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
-    - name: Push refs
+    - name: Prepare refs
       if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
@@ -174,7 +174,13 @@ jobs:
         echo "${{ github.sha }}" > ref_commit
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-        git push origin process-replay --force
+    - name: Push refs
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
     - name: Run regen
       if: false
       timeout-minutes: 4

From 069b912056cfe59dd1012b6b59e196b57cd9cc9a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 29 May 2026 10:48:34 -0700
Subject: [PATCH 186/210] jenkins: fix mici release branch pushing

---
 Jenkinsfile              |  6 +++---
 release/build_release.sh | 14 +++++++++-----
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index f0e6b3dcf5..a7f46ce17a 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -166,8 +166,8 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
+                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +179,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
diff --git a/release/build_release.sh b/release/build_release.sh
index d137edab91..5bc73167b0 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -16,6 +16,8 @@ if [ -z "$RELEASE_BRANCH" ]; then
   exit 1
 fi
 
+BUILD_BRANCH=release-build
+
 
 # set git identity
 source $DIR/identity.sh
@@ -26,7 +28,7 @@ mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
 git remote add origin git@github.com:commaai/openpilot.git
-git checkout --orphan $RELEASE_BRANCH
+git checkout --orphan $BUILD_BRANCH
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -86,9 +88,11 @@ cd $BUILD_DIR
 RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
 #pytest selfdrive/car/tests/test_car_interfaces.py
 
-if [ ! -z "$RELEASE_BRANCH" ]; then
-  echo "[-] pushing release T=$SECONDS"
-  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
-fi
+echo "[-] pushing release T=$SECONDS"
+REFS=()
+for branch in ${RELEASE_BRANCH//,/ }; do
+  REFS+=("$BUILD_BRANCH:$branch")
+done
+git push -f origin "${REFS[@]}"
 
 echo "[-] done T=$SECONDS"

From 4df40d2c1946a57242230186edd073c4073060a6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 29 May 2026 11:48:09 -0700
Subject: [PATCH 187/210] needs to be a real release branch name for the tests

---
 release/build_release.sh          | 2 +-
 selfdrive/test/setup_device_ci.sh | 7 -------
 2 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/release/build_release.sh b/release/build_release.sh
index 5bc73167b0..cec6f4ecdc 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -16,7 +16,7 @@ if [ -z "$RELEASE_BRANCH" ]; then
   exit 1
 fi
 
-BUILD_BRANCH=release-build
+BUILD_BRANCH=release-mici-staging
 
 
 # set git identity
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 2a1442a20c..3fe353e72c 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -48,13 +48,6 @@ while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh
   fi
-
-  #if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
-  #  echo 'starting UI'
-  #  cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
-  #  /data/ciui.py &
-  #fi
-
   sleep 5s
 done
 

From 417efb3c05abf593ac600a73e8232393d78f40a0 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 29 May 2026 14:59:52 -0700
Subject: [PATCH 188/210] migration: fix missing and wrong fields in
 driverMonitoringStateDEPRECATED (#38105)

---
 selfdrive/test/process_replay/migration.py | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index bc6399aa94..5a3403c925 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -499,23 +499,28 @@ def migrate_driverMonitoringState(msgs):
       'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
       'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
       'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
-      'tooDistracted': AlertLevel.three,
     }
     for event in old.events:
       level = event_to_alert_level.get(str(event.name))
       if level is not None:
         dm.alertLevel = level
         break
+    dm.lockout = any(str(event.name) == 'tooDistracted' for event in old.events)
 
     dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
     dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
     dm.visionPolicyState.isDistracted = old.isDistracted
+    dm.visionPolicyState.distractedTypes.pose = bool(old.distractedType & 1)
+    dm.visionPolicyState.distractedTypes.eye = bool(old.distractedType & 2)
+    dm.visionPolicyState.distractedTypes.phone = bool(old.distractedType & 4)
     dm.visionPolicyState.faceDetected = old.faceDetected
     dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
-    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 600 * 100))
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 1200 * 100))
     dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
-    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 600 * 100))
-    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 1200 and old.poseYawValidCount >= 1200
+    dm.visionPolicyState.wheeltouchFallbackPercent = int(min(100, old.hiStdCount / 200 * 100))
+    dm.visionPolicyState.uncertainOffroadAlertPercent = int(min(100, old.uncertainCount / 1200 * 100))
     dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
     dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
     ops.append((index, as_reader(new_msg)))

From 9f59a4a5cacef13e11e3bf80bc04e413536fd732 Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 29 May 2026 16:35:08 -0700
Subject: [PATCH 189/210] manager: remove obsolete tinygrad `MainProcess`
 workaround (#38104)

tinygrad doesn't need to run in 'MainProcess'?
---
 system/manager/process.py | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/system/manager/process.py b/system/manager/process.py
index d328d4d441..cdb316e1a1 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -190,12 +190,8 @@ class PythonProcess(ManagerProcess):
     if self.proc is not None:
       return
 
-    # TODO: this is just a workaround for this tinygrad check:
-    # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
-    name = self.name if "modeld" not in self.name else "MainProcess"
-
     cloudlog.info(f"starting python {self.module}")
-    self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name))
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
     self.shutting_down = False
 

From ad522f8444b39b47acfe4c6e4c376c8dc7fbbe5a Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Fri, 29 May 2026 18:00:47 -0700
Subject: [PATCH 190/210] hw encoder: set_bitrate and apply_bitrate based on
 Param (#38095)

* initial codex

* remove ISP delay from encode ms

* try something simpler

* not allowing increase bug

* decrease bitrate increase rate

* upsample only on consecutive good checks

* rearrange

* clean

* Revert frame timing processing time change

* clean

* remove bitrate option and just do it on --stream

* make set_bitrate a lot more simple

* clean default impl

* further cleaning

* struct for bitrate to pass ci

* refactor a bit

* add comment

* small clean

* add init()

* increase bitrate

* update ffmpeg message

* remove unnecessary include

* modify set_bitrate

* change to Param

* remove getInt helper; add back in diff pr

* reword unclear error message

* move webrtcd change to new branch
---
 common/params_keys.h                     |  1 +
 system/loggerd/encoder/encoder.h         |  1 +
 system/loggerd/encoder/ffmpeg_encoder.cc |  4 ++++
 system/loggerd/encoder/ffmpeg_encoder.h  |  1 +
 system/loggerd/encoder/v4l_encoder.cc    | 21 +++++++++++++++++++++
 system/loggerd/encoder/v4l_encoder.h     |  3 +++
 system/loggerd/encoderd.cc               | 15 +++++++++++++++
 system/loggerd/loggerd.h                 | 12 ++++++++----
 8 files changed, 54 insertions(+), 4 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index d0ee114bc9..7a96da0be7 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -80,6 +80,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveDelay", {PERSISTENT, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
+    {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 97cd10acc9..0a136f769c 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -26,6 +26,7 @@ public:
   virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
   virtual void encoder_open() = 0;
   virtual void encoder_close() = 0;
+  virtual void set_bitrate(int bitrate) = 0;
 
   void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index 275a2e481e..f6399659b4 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -72,6 +72,10 @@ void FfmpegEncoder::encoder_close() {
   is_open = false;
 }
 
+void FfmpegEncoder::set_bitrate(int bitrate) {
+  LOGE("adaptive bitrate is not supported for ffmpeg encoder %s", encoder_info.publish_name);
+}
+
 int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
   assert(buf->width == this->in_width);
   assert(buf->height == this->in_height);
diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h
index cd5ac1e13a..a85e1d3816 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.h
+++ b/system/loggerd/encoder/ffmpeg_encoder.h
@@ -21,6 +21,7 @@ public:
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
   void encoder_close();
+  void set_bitrate(int bitrate);
 
 private:
   int segment_num = -1;
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index c54469f69d..96a565f4ae 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -155,6 +155,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
 
   EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
+  current_bitrate = encoder_settings.bitrate;
+  adaptive_bitrate = encoder_info.adaptive_bitrate;
   bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
 
   struct v4l2_format fmt_out = {
@@ -304,6 +306,25 @@ void V4LEncoder::encoder_close() {
   this->is_open = false;
 }
 
+void V4LEncoder::set_bitrate(int bitrate) {
+  if (!adaptive_bitrate || bitrate == current_bitrate) return;
+  if (bitrate <= 0) {
+    LOGE("invalid livestream encoder bitrate %d", bitrate);
+    return;
+  }
+
+  struct v4l2_control ctrl = {
+    .id = V4L2_CID_MPEG_VIDEO_BITRATE,
+    .value = bitrate,
+  };
+
+  if (util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl) == -1) {
+    LOGE("failed to update %s bitrate to %d", encoder_info.publish_name, bitrate);
+    return;
+  }
+  current_bitrate = bitrate;
+}
+
 V4LEncoder::~V4LEncoder() {
   encoder_close();
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h
index 58011d60e1..2985409605 100644
--- a/system/loggerd/encoder/v4l_encoder.h
+++ b/system/loggerd/encoder/v4l_encoder.h
@@ -13,6 +13,7 @@ public:
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
   void encoder_close();
+  void set_bitrate(int bitrate);
 
 private:
   int fd;
@@ -20,6 +21,8 @@ private:
   bool is_open = false;
   int segment_num = -1;
   int counter = 0;
+  int current_bitrate = -1;
+  bool adaptive_bitrate;
 
   SafeQueue<VisionIpcBufExtra> extras;
 
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 9d4b81a3f9..546990041a 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -44,11 +44,24 @@ bool sync_encoders(EncoderdState *s, VisionStreamType cam_type, uint32_t frame_i
   }
 }
 
+void apply_bitrate(std::vector<std::unique_ptr<Encoder>> &encoders) {
+  static Params params;
+  std::string val = params.get("LivestreamEncoderBitrate");
+  if (val.empty()) return;
+  int bitrate = std::stoi(val);
+  for (auto &e : encoders) {
+    e->set_bitrate(bitrate);
+  }
+}
 
 void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
   util::set_thread_name(cam_info.thread_name);
 
   std::vector<std::unique_ptr<Encoder>> encoders;
+
+  bool has_adaptive = std::any_of(cam_info.encoder_infos.begin(), cam_info.encoder_infos.end(),
+                                  [](const auto &ei) { return ei.adaptive_bitrate; });
+
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
   std::unique_ptr<JpegEncoder> jpeg_encoder;
@@ -108,6 +121,8 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
         ++cur_seg;
       }
 
+      if (has_adaptive) apply_bitrate(encoders);
+
       // encode a frame
       for (int i = 0; i < encoders.size(); ++i) {
         int out_id = encoders[i]->encode_frame(buf, &extra);
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 01bce2c9ea..340e72e6fd 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -47,7 +47,7 @@ struct EncoderSettings {
   }
 
   static EncoderSettings StreamEncoderSettings() {
-    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 4'000'000;
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 5'000'000;
     return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 5};
   }
 };
@@ -59,6 +59,7 @@ public:
   const char *filename = NULL;
   bool record = true;
   bool include_audio = false;
+  bool adaptive_bitrate = false;
   int frame_width = -1;
   int frame_height = -1;
   int fps = MAIN_FPS;
@@ -104,6 +105,7 @@ const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
   //.thumbnail_name = "thumbnail",
   .record = false,
+  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
 };
@@ -111,6 +113,7 @@ const EncoderInfo stream_road_encoder_info = {
 const EncoderInfo stream_wide_road_encoder_info = {
   .publish_name = "livestreamWideRoadEncodeData",
   .record = false,
+  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
@@ -118,6 +121,7 @@ const EncoderInfo stream_wide_road_encoder_info = {
 const EncoderInfo stream_driver_encoder_info = {
   .publish_name = "livestreamDriverEncodeData",
   .record = false,
+  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
 };
@@ -153,19 +157,19 @@ const LogCameraInfo driver_camera_info{
 const LogCameraInfo stream_road_camera_info{
   .thread_name = "road_cam_encoder",
   .stream_type = VISION_STREAM_ROAD,
-  .encoder_infos = {stream_road_encoder_info}
+  .encoder_infos = {stream_road_encoder_info},
 };
 
 const LogCameraInfo stream_wide_road_camera_info{
   .thread_name = "wide_road_cam_encoder",
   .stream_type = VISION_STREAM_WIDE_ROAD,
-  .encoder_infos = {stream_wide_road_encoder_info}
+  .encoder_infos = {stream_wide_road_encoder_info},
 };
 
 const LogCameraInfo stream_driver_camera_info{
   .thread_name = "driver_cam_encoder",
   .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {stream_driver_encoder_info}
+  .encoder_infos = {stream_driver_encoder_info},
 };
 
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};

From 804d9016aed4c8c6257078c89b3add979ed3e44e Mon Sep 17 00:00:00 2001
From: Armand du Parc Locmaria <adpl33@gmail.com>
Date: Fri, 29 May 2026 19:55:06 -0700
Subject: [PATCH 191/210] modeld/SConscript: tg_devices depends on tg_backend
 only (#38108)

---
 selfdrive/modeld/SConscript | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index fadd582573..dc3d23bf5b 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -46,7 +46,8 @@ else:
 
 tg_devices = { # which device to put jit inputs to at runtime
   'selfdrive.modeld.modeld': {
-    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend}
+    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
+    'usbgpu': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
   },
   'selfdrive.modeld.dmonitoringmodeld': {
     'default': {'DEV': tg_backend}
@@ -55,7 +56,6 @@ tg_devices = { # which device to put jit inputs to at runtime
 
 USBGPU = usbgpu_present() # or release # TODO always build big model on release
 if USBGPU:
-  tg_devices['selfdrive.modeld.modeld']['usbgpu'] = {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
   usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0'
   # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
   usbgpu_lock = File("models/.usb_gpu.lock").abspath

From 3452e878a77ec17efd9deb3ae5ec8a4e86d91706 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 29 May 2026 20:51:04 -0700
Subject: [PATCH 192/210] parameterized_class: fix class name (#38109)

* fix class name

* comment
---
 common/parameterized.py | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/common/parameterized.py b/common/parameterized.py
index 7cd21bb9c5..f36d649dad 100644
--- a/common/parameterized.py
+++ b/common/parameterized.py
@@ -1,8 +1,13 @@
+import re
 import sys
 import pytest
 import inspect
 
 
+def _to_safe_name(s):
+  return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
+
+
 class parameterized:
   @staticmethod
   def expand(cases):
@@ -34,7 +39,9 @@ def parameterized_class(attrs, input_list=None):
   def decorator(cls):
     globs = sys._getframe(1).f_globals
     for i, params in enumerate(params_list):
-      name = f"{cls.__name__}_{i}"
+      # append sanitized string param values so pytest -k can filter by them
+      suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
+      name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
       new_cls = type(name, (cls,), dict(params))
       new_cls.__module__ = cls.__module__
       new_cls.__test__ = True  # override inherited False so pytest collects this subclass

From 8499de6afe1b7aa22a8ee753c25b1ac595cc6e8a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 30 May 2026 10:50:17 -0700
Subject: [PATCH 193/210] tici: remove weston fallback (#38111)

---
 .gitattributes                      |  3 +--
 system/hardware/tici/updater        | 20 +++-----------------
 system/hardware/tici/updater_magic  |  3 ---
 system/hardware/tici/updater_weston |  3 ---
 4 files changed, 4 insertions(+), 25 deletions(-)
 delete mode 100755 system/hardware/tici/updater_magic
 delete mode 100755 system/hardware/tici/updater_weston

diff --git a/.gitattributes b/.gitattributes
index c908ca8d07..efbe60f990 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11,5 +11,4 @@
 *.wav filter=lfs diff=lfs merge=lfs -text
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater
index 69ce323a10..44b82d0c54 100755
--- a/system/hardware/tici/updater
+++ b/system/hardware/tici/updater
@@ -1,17 +1,3 @@
-#!/usr/bin/env bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-AGNOS_PY=$1
-MANIFEST=$2
-
-if [[ ! -f "$AGNOS_PY" || ! -f "$MANIFEST" ]]; then
-  echo "invalid args"
-  exit 1
-fi
-
-if systemctl is-active --quiet weston-ready; then
-  $DIR/updater_weston $AGNOS_PY $MANIFEST
-else
-  $DIR/updater_magic $AGNOS_PY $MANIFEST
-fi
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
+size 24709205
diff --git a/system/hardware/tici/updater_magic b/system/hardware/tici/updater_magic
deleted file mode 100755
index 44b82d0c54..0000000000
--- a/system/hardware/tici/updater_magic
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
-size 24709205
diff --git a/system/hardware/tici/updater_weston b/system/hardware/tici/updater_weston
deleted file mode 100755
index 23cdc140f4..0000000000
--- a/system/hardware/tici/updater_weston
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eba5f44e6a763e1f74d1c718993218adcc72cba4caafe99b595fa701151a4c54
-size 10448792

From d937401511cf33b154ca1f2a90d0177179481091 Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Sat, 30 May 2026 21:09:17 +0300
Subject: [PATCH 194/210] hardware.py: remove NM dbus (#38005)

* hardware: read network info without NetworkManager DBus

* hardware: simplify wpa_cli SSID escape decoding

* hardware: restore cellular block in get_network_type to match master

* hardware: factor wpa_cli helper for key=value parsing

* hardware: comment SSID byte conversion for keyfile match

* hardware: comment NM metered enum values

* hardware: use check_output for ip route and wpa_cli helpers

* hardware: read default route iface from /proc/net/route

* hardware: simplify default route iface parsing

* hardware: only check for metered == 1

* hardware: also look for *.nmconnection in /data/etc/NetworkManager/system-connections

* hardware: use nmcli for runtime metered guess on wifi

* socket

* cleanup

* poor

* lil more

* mv that

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 system/hardware/tici/hardware.py | 111 ++++++++++++++++---------------
 1 file changed, 59 insertions(+), 52 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index e4c8cf0b5c..34c426d6e7 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -1,8 +1,9 @@
+import configparser
 import json
 import os
+import socket
 import subprocess
 import time
-from enum import IntEnum
 from functools import cached_property, lru_cache
 from pathlib import Path
 
@@ -15,22 +16,7 @@ from openpilot.system.hardware.tici.lpa import TiciLPA
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
-NM = 'org.freedesktop.NetworkManager'
-NM_CON_ACT = NM + '.Connection.Active'
-NM_DEV = NM + '.Device'
-NM_DEV_WL = NM + '.Device.Wireless'
-NM_AP = NM + '.AccessPoint'
-DBUS_PROPS = 'org.freedesktop.DBus.Properties'
-
-class NMMetered(IntEnum):
-  NM_METERED_UNKNOWN = 0
-  NM_METERED_YES = 1
-  NM_METERED_NO = 2
-  NM_METERED_GUESS_YES = 3
-  NM_METERED_GUESS_NO = 4
-
 MODEM_STATE_PATH = "/dev/shm/modem"
-TIMEOUT = 0.1
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -52,16 +38,27 @@ def get_device_type():
     model = f.read().strip('\x00')
   return model.split('comma ')[-1]
 
+def wpa_supplicant_cmd(cmd: str, timeout: float = 0.2) -> dict[str, str]:
+  with socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM) as sock:
+    sock.settimeout(timeout)
+    sock.bind(f"\0openpilot-wpa-{os.getpid()}-{time.monotonic_ns()}")
+    sock.connect("/run/wpa_supplicant/wlan0")
+    sock.send(cmd.encode())
+
+    while True:
+      out = sock.recv(8192).decode("utf-8", "replace")
+      if out.startswith("<"):
+        continue
+      if out.startswith("FAIL"):
+        return {}
+      return dict(l.split("=", 1) for l in out.splitlines() if "=" in l)
+
+def get_default_route_iface():
+  with open("/proc/net/route") as f:
+    routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
+  return min(routes)[1] if routes else None
+
 class Tici(HardwareBase):
-  @cached_property
-  def bus(self):
-    import dbus
-    return dbus.SystemBus()
-
-  @cached_property
-  def nm(self):
-    return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
-
   @cached_property
   def amplifier(self):
     if self.get_device_type() == "mici":
@@ -115,13 +112,11 @@ class Tici(HardwareBase):
 
   def get_network_type(self):
     try:
-      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      primary_connection = self.bus.get_object(NM, primary_connection)
-      primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      if primary_type == '802-3-ethernet':
-        return NetworkType.ethernet
-      elif primary_type == '802-11-wireless':
-        return NetworkType.wifi
+      if (iface := get_default_route_iface()):
+        if iface.startswith('wlan'):
+          return NetworkType.wifi
+        if iface.startswith('eth'):
+          return NetworkType.ethernet
     except Exception:
       pass
 
@@ -138,10 +133,6 @@ class Tici(HardwareBase):
         return NetworkType.cell2G
     return NetworkType.none
 
-  def get_wlan(self):
-    wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
-    return self.bus.get_object(NM, wlan_path)
-
   def get_sim_info(self):
     ms = self.get_modem_state()
     sim_id = ms.get('iccid', '')
@@ -191,13 +182,14 @@ class Tici(HardwareBase):
     try:
       if network_type == NetworkType.none:
         pass
+      elif network_type == NetworkType.ethernet:
+        network_strength = NetworkStrength.great
       elif network_type == NetworkType.wifi:
-        wlan = self.get_wlan()
-        active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-        if active_ap_path != "/":
-          active_ap = self.bus.get_object(NM, active_ap_path)
-          strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
-          network_strength = self.parse_strength(strength)
+        rssi = wpa_supplicant_cmd("SIGNAL_POLL").get("RSSI")
+        if rssi is not None:
+          dbm = int(rssi)
+          if -100 < dbm <= 0:
+            network_strength = self.parse_strength(120 + max(-100, min(-20, dbm)))
       else:  # Cellular
         network_strength = self.parse_strength(self.get_modem_state().get('signal_quality', 0))
     except Exception:
@@ -210,17 +202,32 @@ class Tici(HardwareBase):
       from openpilot.common.params import Params
       return Params().get_bool("GsmMetered")
     try:
-      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      primary_connection = self.bus.get_object(NM, primary_connection)
-      primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      if network_type == NetworkType.wifi:
+        ssid = wpa_supplicant_cmd("STATUS").get("ssid", "")
+        if ssid:
+          # wpa_supplicant escapes non-printable bytes as \xNN; NM keyfile stores ASCII SSIDs as a literal and others as a byte;byte; list
+          ssid_bytes = ssid.encode().decode('unicode_escape').encode('latin-1')
+          ssid_keyfile_list = ';'.join(str(b) for b in ssid_bytes) + ';'
 
-      for dev in primary_devices:
-        dev_obj = self.bus.get_object(NM, str(dev))
-        metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-        if network_type == NetworkType.wifi:
-          if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
-            return True
+          nm_dirs = ("/run/NetworkManager/system-connections", "/data/etc/NetworkManager/system-connections")
+          for fpath in (p for d in nm_dirs for p in Path(d).glob("*.nmconnection")):
+            raw = sudo_read(str(fpath))
+            if not raw:
+              continue
+            cp = configparser.ConfigParser(interpolation=None)
+            try:
+              cp.read_string(raw)
+              keyfile_ssid = cp.get("wifi", "ssid", fallback="")
+              if keyfile_ssid != ssid and keyfile_ssid != ssid_keyfile_list:
+                continue
+              metered = cp.getint("connection", "metered", fallback=0)
+            except (configparser.Error, ValueError):
+              continue
+            if metered == 1:  # NM_METERED_YES
+              return True
+            if metered == 2:  # NM_METERED_NO
+              return False
+            break
     except Exception:
       pass
 

From 609a5c3cfa2f7b0e7a6cd525ea862bea6ba91827 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 30 May 2026 13:06:45 -0700
Subject: [PATCH 195/210] tools/setup: skip native package managers if we can
 (#38112)

* tools/setup: skip native package managers if we can

* revert that
---
 tools/setup_dependencies.sh | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 3fb7165a50..8d85001d31 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -30,8 +30,19 @@ function install_linux_deps() {
     SUDO="sudo"
   fi
 
+  local missing_linux_deps=0
+  for cmd in gcc g++ make curl curl-config git; do
+    if ! command -v "$cmd" > /dev/null 2>&1; then
+      missing_linux_deps=1
+      break
+    fi
+  done
+
   # normal stuff, this mostly for bare docker images
-  if command -v apt-get > /dev/null 2>&1; then
+  if [[ "$missing_linux_deps" -eq 0 ]]; then
+    # the native package managers are slow, so skip if we canNM_CONNECTIONS_DIRS 
+    echo "[ ] system packages already installed t=$SECONDS"
+  elif command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
     $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
   elif command -v dnf > /dev/null 2>&1; then

From 9f3448f66278fdafb0724710952c9b7e39c744d3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 30 May 2026 13:38:17 -0700
Subject: [PATCH 196/210] fix up comment

---
 tools/setup_dependencies.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 8d85001d31..6cfd75ce17 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -40,7 +40,7 @@ function install_linux_deps() {
 
   # normal stuff, this mostly for bare docker images
   if [[ "$missing_linux_deps" -eq 0 ]]; then
-    # the native package managers are slow, so skip if we canNM_CONNECTIONS_DIRS 
+    # the native package managers are slow, so skip if we can
     echo "[ ] system packages already installed t=$SECONDS"
   elif command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update

From 5063c2055f30e2d091f6c53965ae6e1455c1e659 Mon Sep 17 00:00:00 2001
From: John Belmonte <john@neggie.net>
Date: Sat, 30 May 2026 14:51:59 -0700
Subject: [PATCH 197/210] deprecate `carState.brake` (#37857)

* remove CarState.brake refs

Intending to deprecate this field since it's set incorrectly by
most car implementations, and (essentially) unused in openpilot.
Everything should be using CarState.brakePressed.
See https://github.com/commaai/opendbc/pull/3338.

* fix test_models.py
---
 selfdrive/car/car_specific.py      |  2 +-
 selfdrive/car/tests/test_models.py | 17 +++--------------
 2 files changed, 4 insertions(+), 15 deletions(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 86494afc7a..baa29978e3 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -73,7 +73,7 @@ class CarSpecificEvents:
     elif self.CP.brand == 'gm':
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
+      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brakePressed and
                                                    self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
       if CS.cruiseState.standstill:
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index a7f3d68c14..ea6382d0d1 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -12,7 +12,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
+from opendbc.car.honda.values import HondaFlags
 from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from opendbc.car.values import Platform, PLATFORMS
@@ -342,13 +342,7 @@ class TestCarModelBase(unittest.TestCase):
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
 
       if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        # TODO: remove this exception once this mismatch is resolved
-        brake_pressed = CS.brakePressed
-        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-            brake_pressed = False
-
-        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
+        self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
 
       if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
         self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
@@ -424,12 +418,7 @@ class TestCarModelBase(unittest.TestCase):
         checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
                               v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
 
-      # TODO: remove this exception once this mismatch is resolved
-      brake_pressed = CS.brakePressed
-      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-          brake_pressed = False
-      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
+      checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 

From 517b9a2d5f908026f3ac7e3fca2f23ab910c6b56 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 30 May 2026 14:55:18 -0700
Subject: [PATCH 198/210] bump opendbc (#38113)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index ed14aa6faa..07f46708c1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ed14aa6faae0c8daabc840d0c090bdc96d6f0bc0
+Subproject commit 07f46708c13e7922b1a03be21fc58d1771c488ef

From 5bbcc32b5da43b3711d5f7c3aad211d940712a5e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 31 May 2026 01:19:06 -0700
Subject: [PATCH 199/210] bump opendbc (#38115)

* bump

* fix
---
 cereal/messaging/tests/test_messaging.py | 2 +-
 opendbc_repo                             | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
index afdab8a51f..97388446f4 100644
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -30,7 +30,7 @@ def zmq_sleep(t=1):
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
   msg = messaging.new_message("carState")
   cs = msg.carState
   for f in fields:
diff --git a/opendbc_repo b/opendbc_repo
index 07f46708c1..62cd798e8d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 07f46708c13e7922b1a03be21fc58d1771c488ef
+Subproject commit 62cd798e8d1bc5dac6d249e7c8b1e7da571a20fd

From 965f47efe3de92f37bb491506bf7c060e1bcefce Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 31 May 2026 01:21:35 -0700
Subject: [PATCH 200/210] test models: check angle matches safety (#38110)

* check angle matches safety

* add to fuzzy

* explicit

* fix tesla

* just real data for now, fix toyota

* clean up
---
 selfdrive/car/tests/test_models.py | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ea6382d0d1..6171d02b5e 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -27,6 +27,14 @@ from openpilot.tools.lib.route import SegmentName
 SafetyModel = car.CarParams.SafetyModel
 SteerControlType = structs.CarParams.SteerControlType
 
+# panda safety stores angle_meas in brand-specific CAN units (angle_deg_to_can in opendbc/safety/modes/*.h).
+ANGLE_DEG_TO_CAN = {
+  "tesla": -10,
+  "toyota": 17.452007,
+  "nissan": 100,
+  "psa": 10,
+}
+
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
@@ -418,6 +426,13 @@ class TestCarModelBase(unittest.TestCase):
         checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
                               v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
 
+      # check steering angle for angle control cars (panda stores angle_meas in CAN units)
+      # ford excluded since it tracks curvature, not steering angle
+      if self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar and self.CP.brand != "ford":
+        angle_can = (CS.steeringAngleDeg + CS.steeringAngleOffsetDeg) * ANGLE_DEG_TO_CAN[self.CP.brand]
+        checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
+                                       angle_can < (self.safety.get_angle_meas_min() - 1))
+
       checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()

From bc2b0d8272f47432727f0df7861d12da08ef7afd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 31 May 2026 02:12:36 -0700
Subject: [PATCH 201/210] Nissan: fix steering wheel offset in some cases
 (#38116)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 62cd798e8d..560b75d6bb 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 62cd798e8d1bc5dac6d249e7c8b1e7da571a20fd
+Subproject commit 560b75d6bb5ba14dc594727e5cc7c7bbf0ed0f3c

From ce08f5290b301675f2a1a85734e183901ba2a272 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 31 May 2026 03:14:57 -0700
Subject: [PATCH 202/210] modeld formatting

---
 selfdrive/modeld/modeld.py | 52 ++++++++++++++++++--------------------
 1 file changed, 25 insertions(+), 27 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 35063e6d37..c1111584f3 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -26,7 +26,6 @@ from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
 
-
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -35,29 +34,29 @@ LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
 
-
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
-    plan = model_output['plan'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
-                                                     plan[:,Plan.ACCELERATION][:,0],
-                                                     ModelConstants.T_IDXS,
-                                                     action_t=long_action_t)
-    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+  plan = model_output['plan'][0]
+  desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                                   plan[:,Plan.ACCELERATION][:,0],
+                                                   ModelConstants.T_IDXS,
+                                                   action_t=long_action_t)
+  desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
 
-    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
-                                                plan[:,Plan.ORIENTATION_RATE][:,2],
-                                                ModelConstants.T_IDXS,
-                                                v_ego,
-                                                lat_action_t)
-    if v_ego > MIN_LAT_CONTROL_SPEED:
-      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
-    else:
-      desired_curvature = prev_action.desiredCurvature
+  desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                              plan[:,Plan.ORIENTATION_RATE][:,2],
+                                              ModelConstants.T_IDXS,
+                                              v_ego,
+                                              lat_action_t)
+  if v_ego > MIN_LAT_CONTROL_SPEED:
+    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+  else:
+    desired_curvature = prev_action.desiredCurvature
+
+  return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                desiredAcceleration=float(desired_accel),
+                                shouldStop=bool(should_stop))
 
-    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
-                                  desiredAcceleration=float(desired_accel),
-                                  shouldStop=bool(should_stop))
 
 class FrameMeta:
   frame_id: int = 0
@@ -77,20 +76,20 @@ class ModelState:
     self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
     jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
     vision_metadata = jits['metadata']['vision']
-    self.vision_input_shapes =  vision_metadata['input_shapes']
+    self.vision_input_shapes = vision_metadata['input_shapes']
     self.vision_input_names = list(self.vision_input_shapes.keys())
     self.vision_output_slices = vision_metadata['output_slices']
 
     policy_metadata = jits['metadata']['policy']
-    self.policy_input_shapes =  policy_metadata['input_shapes']
+    self.policy_input_shapes = policy_metadata['input_shapes']
     self.policy_output_slices = policy_metadata['output_slices']
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
     self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.QUEUE_DEV)
-    self.full_frames : dict[str, Tensor] = {}
-    self._blob_cache : dict[int, Tensor] = {}
+    self.full_frames: dict[str, Tensor] = {}
+    self._blob_cache: dict[int, Tensor] = {}
     self.parser = Parser()
     self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
     self.run_policy = jits['run_policy']
@@ -101,7 +100,7 @@ class ModelState:
     return parsed_model_outputs
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+          inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     for key in bufs.keys():
       ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
@@ -202,7 +201,6 @@ def main(demo=False):
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
 
-
   if demo:
     CP = get_demo_car_params()
   else:
@@ -284,7 +282,7 @@ def main(demo=False):
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
-    inputs:dict[str, np.ndarray] = {
+    inputs: dict[str, np.ndarray] = {
       'desire_pulse': vec_desire,
       'traffic_convention': traffic_convention,
     }

From c76f481ddc3eabde3b187765c8d666106c090b28 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Jun 2026 00:11:40 -0700
Subject: [PATCH 203/210] mici ui: recover from updater failed (#37427)

fix
---
 selfdrive/ui/mici/layouts/settings/device.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 6b8320f488..535f75d97f 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -258,6 +258,7 @@ class UpdateOpenpilotBigButton(BigButton):
     elif self._state == UpdaterState.IDLE:
       self.set_rotate_icon(False)
       if failed:
+        self.set_enabled(True)  # allow retry when failure came from updater param
         if self.get_value() != "failed to update":
           self.set_value("failed to update")
 

From bd148abbc46489d2966ea88e1844b9f4c9df8190 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 1 Jun 2026 09:23:37 -0700
Subject: [PATCH 204/210] [bot] Update Python packages (#38122)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 docs/CARS.md  |   4 +-
 tinygrad_repo |   2 +-
 uv.lock       | 156 +++++++++++++++++++++++++-------------------------
 3 files changed, 81 insertions(+), 81 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 89d583f363..1f86abb4f8 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
diff --git a/tinygrad_repo b/tinygrad_repo
index eecd4706ff..556defa0f7 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit eecd4706fffe3ad8bdd7350e8db52d86d7214be2
+Subproject commit 556defa0f78ed10b6ce675a2fa15a1c2521b5e93
diff --git a/uv.lock b/uv.lock
index 3b00c77c48..491dc9a744 100644
--- a/uv.lock
+++ b/uv.lock
@@ -252,26 +252,26 @@ wheels = [
 
 [[package]]
 name = "coverage"
-version = "7.14.0"
+version = "7.14.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/23/7f/d0720730a397a999ffc0fd3f5bebef347338e3a47b727da66fbb228e2ff2/coverage-7.14.0.tar.gz", hash = "sha256:057a6af2f160a85384cde4ab36f0d2777bae1057bae255f95413cdd382aa5c74", size = 919489, upload-time = "2026-05-10T18:02:31.397Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/54/fd/0ab2772530e946e1be1abd0bc09e647ec9b02e88f0867857601fefca8953/coverage-7.14.1.tar.gz", hash = "sha256:30c08f7d90415aa98b3c990385dea2939b0da55f38515e5b369b83655f8523be", size = 920132, upload-time = "2026-05-26T20:41:36.783Z" }
 wheels = [
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From 04e235124620ca3a8b1ab3b38a45c9b0a438ac28 Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Mon, 1 Jun 2026 10:33:29 -0700
Subject: [PATCH 205/210] webrtc: livestream bitrate controller (#38120)

* bitrate controller

* ability to set the quality so a certain level, make message handler a switch case

* distinct bitrate levels and exponential backoff of raising bitrate

* add med level threshold

* fix

* fix

* simplify

* clean
---
 system/webrtc/webrtcd.py | 118 ++++++++++++++++++++++++++++++++-------
 1 file changed, 97 insertions(+), 21 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 9ff937b673..aac020dd06 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 
 from abc import abstractmethod
+import os
 import time
 import argparse
 import asyncio
@@ -22,6 +23,7 @@ if TYPE_CHECKING:
   from aiortc.rtcdatachannel import RTCDataChannel
 
 from openpilot.system.webrtc.schema import generate_field
+from openpilot.common.params import Params
 from cereal import messaging, log
 
 
@@ -127,6 +129,78 @@ class DynamicPubMaster(messaging.PubMaster):
           self.sock[service] = messaging.pub_sock(service)
 
 
+class LivestreamBitrateController(AsyncTaskRunner):
+  bitrates = [500_000, 1_500_000, int(os.environ.get("STREAM_BITRATE", 5_000_000))]
+  label_to_bitrate = { "high": bitrates[2], "med": bitrates[1], "low": bitrates[0]}
+  sample_interval = 0.2
+  high_level = 0.1 # drop immediately
+  med_level = 0.05 # drop after # of samples
+  low_level = 0 # raise after # of samples
+  down_samples = 5 # 1s
+  param_name = "LivestreamEncoderBitrate"
+
+  def __init__(self, peer_connection: Any):
+    super().__init__()
+    self.pc = peer_connection
+    self.params = Params()
+
+    self.level = 0
+    self.prev_lost, self.prev_sent = None, None
+    self.counter = 0
+    self.up_samples = 5 # 1s
+    self._auto = True
+
+  async def run(self):
+    while True:
+      await asyncio.sleep(self.sample_interval)
+      if not self._auto:
+        continue
+
+      loss_rate = await self._sample()
+      if loss_rate is None:
+        continue
+      if loss_rate >= self.med_level and self.level > 0:
+        self.counter += 1
+        if self.counter >= self.down_samples or loss_rate >= self.high_level:
+          self.level -= 1
+          self.up_samples *= 2 # exponential backoff before raising again
+          self.counter = 0
+          self._publish(self.bitrates[self.level])
+      elif loss_rate <= self.low_level and self.level < len(self.bitrates) - 1:
+        self.counter -= 1
+        if -self.counter >= self.up_samples:
+          self.level += 1
+          self.counter = 0
+          self._publish(self.bitrates[self.level])
+
+  async def _sample(self) -> float | None:
+    report = await self.pc.getStats()
+    packets_lost = packets_sent = 0
+    for s in report.values():
+      if s.type == "remote-inbound-rtp":
+        packets_lost += s.packetsLost
+      elif s.type == "outbound-rtp":
+        packets_sent += s.packetsSent
+
+    if self.prev_lost is None:
+      self.prev_lost, self.prev_sent = packets_lost, packets_sent
+      return None
+    lost_delta = max(0, packets_lost - self.prev_lost)
+    sent_delta = max(0, packets_sent - self.prev_sent)
+    self.prev_lost, self.prev_sent = packets_lost, packets_sent
+    return lost_delta / sent_delta if sent_delta else 0.0
+
+  def _publish(self, bitrate: float):
+    self.params.put(self.param_name, bitrate)
+
+  def set_quality(self, quality):
+    if quality in self.label_to_bitrate:
+      self._publish(self.label_to_bitrate[quality])
+      self._auto = False
+    elif quality == "auto":
+      self._auto = True
+
+
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
@@ -146,10 +220,12 @@ class StreamSession:
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
+    self.bitrate_controller: LivestreamBitrateController | None = None
     if len(incoming_services) > 0:
       self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
     if len(outgoing_services) > 0:
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
+    self.bitrate_controller = LivestreamBitrateController(self.stream.peer_connection)
 
     self.run_task: asyncio.Task | None = None
     self._cleanup_lock = asyncio.Lock()
@@ -181,27 +257,23 @@ class StreamSession:
       if isinstance(payload, dict):
         msg_type = payload.get("type")
 
-        if msg_type == "livestreamCameraSwitch":
-          self.video_track.switch_camera(payload["data"]["camera"])
-          return
-
-        if msg_type == "clockSync":
-          data = payload.get("data", {})
-          pong = json.dumps({"type": "clockSync", "data": {
-            "action": "pong", "browserSendTime": data.get("browserSendTime"), "deviceTime": time.time() * 1000, # noqa: TID251
-          }})
-          self.stream.get_messaging_channel().send(pong)
-          return
-
-        if msg_type == "enableTimingSei":
-          enabled = bool(payload.get("data", {}).get("enabled"))
-          if hasattr(self.video_track, 'timing_sei_enabled'):
-            self.video_track.timing_sei_enabled = enabled
-          return
-
-      if payload.get("type") not in self.incoming_bridge_services:
-        return
-      self.incoming_bridge.send(message)
+        match msg_type:
+          case "livestreamCameraSwitch":
+            self.video_track.switch_camera(payload["data"]["camera"])
+          case "livestreamSettings":
+            self.bitrate_controller.set_quality(payload["data"]["quality"])
+          case "clockSync":
+            pong = json.dumps({"type": "clockSync", "data": {
+              "action": "pong", "browserSendTime": payload["data"]["browserSendTime"], "deviceTime": time.time() * 1000, # noqa: TID251
+            }})
+            self.stream.get_messaging_channel().send(pong)
+          case "enableTimingSei":
+            if hasattr(self.video_track, 'timing_sei_enabled'):
+              self.video_track.timing_sei_enabled = bool(payload["data"]["enabled"])
+          case _:
+            if payload.get("type") not in self.incoming_bridge_services:
+              return
+            self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
@@ -216,6 +288,8 @@ class StreamSession:
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge.add_channel(channel)
           self.outgoing_bridge.start()
+      self.bitrate_controller.start()
+
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
@@ -231,6 +305,8 @@ class StreamSession:
       if self._cleanup_done:
         return
       self._cleanup_done = True
+      if self.bitrate_controller is not None:
+        await self.bitrate_controller.stop()
       if self.outgoing_bridge is not None:
         await self.outgoing_bridge.stop()
       await self.stream.stop()

From 0f17a9879364c6f410df7ddf990380ad623a4c92 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Jun 2026 18:35:44 -0700
Subject: [PATCH 206/210] modeld: fix capnp memory leak (#38117)

* modeld leak

* rm
---
 selfdrive/modeld/modeld.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index c1111584f3..8e14455e12 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -53,9 +53,11 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
   else:
     desired_curvature = prev_action.desiredCurvature
 
-  return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
-                                desiredAcceleration=float(desired_accel),
-                                shouldStop=bool(should_stop))
+  action = log.ModelDataV2.Action()
+  action.desiredCurvature = float(desired_curvature)
+  action.desiredAcceleration = float(desired_accel)
+  action.shouldStop = bool(should_stop)
+  return action
 
 
 class FrameMeta:

From 249cafe897deb433944c84fa6c3c6ce568f727e1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 1 Jun 2026 18:43:47 -0700
Subject: [PATCH 207/210] Prereqs deep models (#38125)

* deep pre-req

* modeld changes

* fix parsing

* comment

* fix reporter
---
 scripts/reporter.py                           |  9 +++-
 selfdrive/modeld/SConscript                   | 11 +++--
 selfdrive/modeld/compile_modeld.py            | 42 ++++++++++-------
 selfdrive/modeld/constants.py                 |  1 +
 selfdrive/modeld/modeld.py                    | 46 +++++++++++--------
 ...policy.onnx => big_driving_on_policy.onnx} |  0
 ...ing_policy.onnx => driving_on_policy.onnx} |  0
 selfdrive/modeld/parse_model_outputs.py       |  6 +--
 8 files changed, 68 insertions(+), 47 deletions(-)
 rename selfdrive/modeld/models/{big_driving_policy.onnx => big_driving_on_policy.onnx} (100%)
 rename selfdrive/modeld/models/{driving_policy.onnx => driving_on_policy.onnx} (100%)

diff --git a/scripts/reporter.py b/scripts/reporter.py
index 93b71761a9..9821a47ccf 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -34,6 +34,11 @@ if __name__ == "__main__":
 
   for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
     fn = os.path.basename(f)
-    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
+    master_path = MASTER_PATH + MODEL_PATH + fn
+    if os.path.exists(master_path):
+      master = get_checkpoint(master_path)
+      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
+    else:
+      master_col = "N/A (new model)"
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", f"[{master}](https://reporterv2.comma.life/{master})", "|", f"[{pr}](https://reporterv2.comma.life/{pr})", "|")
+    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index dc3d23bf5b..80a7df4515 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -2,7 +2,7 @@ import glob
 import json
 import os
 import sys, subprocess
-from SCons.Script import Value
+from SCons.Script import Action, Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
@@ -87,14 +87,14 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 for usbgpu in [False, True] if USBGPU else [False]:
   target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
   file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
-  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_policy']
+  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
                        for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
   camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
   cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
         f'--model-size {model_w}x{model_h} '
         f'--camera-resolutions {camera_res_args} '
         f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
-        f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
+        f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
   chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
@@ -103,7 +103,7 @@ for usbgpu in [False, True] if USBGPU else [False]:
   node = lenv.Command(
     chunk_targets,
     tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
-    [cmd, do_chunk],
+    [cmd, Action(do_chunk, "  [CHUNK] $TARGET")],
   )
   if usbgpu:
     lenv.SideEffect(usbgpu_lock, node)
@@ -134,7 +134,8 @@ def tg_compile(flags, model_name):
   return lenv.Command(
     chunk_targets,
     [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
-    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}', do_chunk],
+    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+     Action(do_chunk, "  [CHUNK] $TARGET")],
   )
 
 tg_compile(tg_flags, 'dmonitoring_model')
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
index f455e9f6eb..2f91076ab7 100755
--- a/selfdrive/modeld/compile_modeld.py
+++ b/selfdrive/modeld/compile_modeld.py
@@ -33,7 +33,7 @@ from tinygrad.engine.jit import TinyJit
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
 WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
-POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention', 'action_t']
 
 UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
 UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
@@ -121,12 +121,15 @@ def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, devi
   fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
   dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
   tc = policy_input_shapes['traffic_convention']  # (1, 2)
+  #TODO action_t is hardcoded to match tc for future compatibility
+  at = tc
 
   npy = {
     'desire': np.zeros(dp[2], dtype=np.float32),
     'traffic_convention': np.zeros(tc, dtype=np.float32),
     'tfm': np.zeros((3, 3), dtype=np.float32),
     'big_tfm': np.zeros((3, 3), dtype=np.float32),
+    'action_t': np.zeros(at, dtype=np.float32),
   }
   input_queues = {
     'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
@@ -168,23 +171,31 @@ def make_warp(nv12, model_w, model_h, frame_skip):
   return warp_enqueue
 
 
-def make_run_policy(vision_runner, policy_runner, vision_features_slice, frame_skip):
+def make_run_policy(vision_runner, on_policy_runner, vision_features_slice, frame_skip):
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
 
-  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention):
+  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, action_t):
     desire = desire.to(Device.DEFAULT)
     traffic_convention = traffic_convention.to(Device.DEFAULT)
-    Tensor.realize(desire, traffic_convention)
+    action_t = action_t.to(Device.DEFAULT)
+    Tensor.realize(desire, traffic_convention, action_t)
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
     vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
 
-    inputs = {'features_buffer': feat_buf, 'desire_pulse': desire_buf, 'traffic_convention': traffic_convention}
-    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
-    return vision_out, policy_out
+    inputs = {
+      'features_buffer': feat_buf,
+      'desire_pulse': desire_buf,
+      'traffic_convention': traffic_convention,
+      'action_t': action_t,
+    }
+    on_policy_out = next(iter(on_policy_runner(inputs).values())).cast('float32')
+    #off_policy_out = next(iter(off_policy_runner(inputs).values())).cast('float32')
+    return vision_out, on_policy_out
+
   return run_policy
 
 
@@ -258,31 +269,30 @@ if __name__ == "__main__":
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
                  help='camera resolutions WxH (one or more)')
   p.add_argument('--vision-onnx', required=True)
-  p.add_argument('--policy-onnx', required=True)
+  p.add_argument('--on-policy-onnx', required=True)
   p.add_argument('--output', required=True)
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
   out = defaultdict(dict)
-  vision_path, policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.policy_onnx)
+  vision_path, on_policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.on_policy_onnx)
   model_w, model_h = args.model_size
 
   vision_runner = OnnxRunner(vision_path)
-  policy_runner = OnnxRunner(policy_path)
-  vision_metadata, policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(policy_path)
+  on_policy_runner = OnnxRunner(on_policy_path)
+  vision_metadata, on_policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(on_policy_path)
 
-  run_policy_jit = TinyJit(make_run_policy(vision_runner, policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
-
-  out['metadata']['vision'], out['metadata']['policy'] = vision_metadata, policy_metadata
+  run_policy_jit = TinyJit(make_run_policy(vision_runner, on_policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
+  out['metadata']['vision'], out['metadata']['on_policy'] = vision_metadata, on_policy_metadata
 
   make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
-  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
     make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
     warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
-    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, policy_metadata)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index ff7e1d8600..0fb09262d0 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -38,6 +38,7 @@ class ModelConstants:
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
+  ACTION_WIDTH = 2
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
   DESIRED_CURV_WIDTH = 1
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 8e14455e12..60454bf3ec 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -36,18 +36,22 @@ MIN_LAT_CONTROL_SPEED = 0.3
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
-  plan = model_output['plan'][0]
-  desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
-                                                   plan[:,Plan.ACCELERATION][:,0],
-                                                   ModelConstants.T_IDXS,
-                                                   action_t=long_action_t)
+  if 'action' not in model_output:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                                     plan[:,Plan.ACCELERATION][:,0],
+                                                     ModelConstants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                                plan[:,Plan.ORIENTATION_RATE][:,2],
+                                                ModelConstants.T_IDXS,
+                                                v_ego,
+                                                lat_action_t)
+  else:
+    desired_accel = model_output['action'][0,1]
+    desired_curvature = model_output['action'][0,0] / (max(1.0, v_ego))**2
+    should_stop = (v_ego < 0.3 and desired_accel < 0.1)
   desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
-
-  desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
-                                              plan[:,Plan.ORIENTATION_RATE][:,2],
-                                              ModelConstants.T_IDXS,
-                                              v_ego,
-                                              lat_action_t)
   if v_ego > MIN_LAT_CONTROL_SPEED:
     desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
   else:
@@ -82,7 +86,7 @@ class ModelState:
     self.vision_input_names = list(self.vision_input_shapes.keys())
     self.vision_output_slices = vision_metadata['output_slices']
 
-    policy_metadata = jits['metadata']['policy']
+    policy_metadata = jits['metadata']['on_policy']
     self.policy_input_shapes = policy_metadata['input_shapes']
     self.policy_output_slices = policy_metadata['output_slices']
 
@@ -117,6 +121,7 @@ class ModelState:
     self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
     self.prev_desire[:] = inputs['desire_pulse']
     self.npy['traffic_convention'][:] = inputs['traffic_convention']
+    self.npy['action_t'][:] = inputs['action_t']
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
@@ -125,18 +130,18 @@ class ModelState:
     if prepare_only:
       return None
 
-    vision_output, policy_output = self.run_policy(
+    vision_output, on_policy_output = self.run_policy(
       **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
     )
 
     vision_output = vision_output.numpy().flatten()
-    policy_output = policy_output.numpy().flatten()
+    on_policy_output = on_policy_output.numpy().flatten()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
-    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(policy_output, self.policy_output_slices))
+    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(on_policy_output, self.policy_output_slices))
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
 
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy()])
     return combined_outputs_dict
 
 
@@ -284,9 +289,14 @@ def main(demo=False):
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
+    frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+    action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+    lat_action_t = lat_delay + frame_delay + action_delay
+    long_action_t = long_delay + frame_delay + action_delay
     inputs: dict[str, np.ndarray] = {
       'desire_pulse': vec_desire,
       'traffic_convention': traffic_convention,
+      'action_t': np.array([lat_action_t, long_action_t], dtype=np.float32),
     }
 
     mt1 = time.perf_counter()
@@ -299,9 +309,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
-      action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
-      action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
+      action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_on_policy.onnx
similarity index 100%
rename from selfdrive/modeld/models/big_driving_policy.onnx
rename to selfdrive/modeld/models/big_driving_on_policy.onnx
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx
similarity index 100%
rename from selfdrive/modeld/models/driving_policy.onnx
rename to selfdrive/modeld/models/driving_on_policy.onnx
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index a0b45d2a98..26c138b8ec 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -110,11 +110,7 @@ class Parser:
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
-    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-    if 'planplus' in outs:
-      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('plan', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 

From c87f613659fa6d6f3d25214d05bdb085e14312c0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 1 Jun 2026 20:43:32 -0700
Subject: [PATCH 208/210] agnos 18.4: pin pycapnp to 2.1.0 (#38126)

* Revert "modeld: fix capnp memory leak (#38117)"

This reverts commit 0f17a9879364c6f410df7ddf990380ad623a4c92.

* Revert "fix memory leak from pycapnp 2.2+ (#38001)"

This reverts commit 294cb687f6c894ff7af051455f929b9094b6dff1.

* downgrade

* agnos 18.4
---
 cereal/messaging/__init__.py             | 16 +++++-------
 launch_env.sh                            |  2 +-
 pyproject.toml                           |  2 +-
 selfdrive/modeld/modeld.py               |  8 +++---
 selfdrive/pandad/pandad_api_impl.py      |  4 +--
 system/hardware/tici/agnos.json          | 12 ++++-----
 system/hardware/tici/all-partitions.json | 12 ++++-----
 uv.lock                                  | 32 +++++++++++-------------
 8 files changed, 39 insertions(+), 49 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 18578fb443..ae32bfd4cb 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -40,16 +40,12 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
 
 
 def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
-  valid = kwargs.pop('valid', False)
-  log_mono_time = kwargs.pop('logMonoTime', int(time.monotonic() * 1e9))
-
-  # pycapnp 2.2.x's kwargs/from_dict path creates cyclic garbage here. Realtime processes disable GC.
-  dat = log.Event.new_message()
-  dat.valid = valid
-  dat.logMonoTime = log_mono_time
-  for field, value in kwargs.items():
-    setattr(dat, field, value)
-
+  args = {
+    'valid': False,
+    'logMonoTime': int(time.monotonic() * 1e9),
+    **kwargs
+  }
+  dat = log.Event.new_message(**args)
   if service is not None:
     if size is None:
       dat.init(service)
diff --git a/launch_env.sh b/launch_env.sh
index d0d7da5764..d71a5c2767 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.3"
+  export AGNOS_VERSION="18.4"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/pyproject.toml b/pyproject.toml
index 0602eca33b..1e8ecb0232 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -20,7 +20,7 @@ dependencies = [
   # core
   "cffi",
   "scons",
-  "pycapnp",
+  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
   "Cython",
   "setuptools",
   "numpy >=2.0",
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 60454bf3ec..682633b02f 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -57,11 +57,9 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
   else:
     desired_curvature = prev_action.desiredCurvature
 
-  action = log.ModelDataV2.Action()
-  action.desiredCurvature = float(desired_curvature)
-  action.desiredAcceleration = float(desired_accel)
-  action.shouldStop = bool(should_stop)
-  return action
+  return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                desiredAcceleration=float(desired_accel),
+                                shouldStop=bool(should_stop))
 
 
 class FrameMeta:
diff --git a/selfdrive/pandad/pandad_api_impl.py b/selfdrive/pandad/pandad_api_impl.py
index c5b2750d7d..75a7ba484e 100644
--- a/selfdrive/pandad/pandad_api_impl.py
+++ b/selfdrive/pandad/pandad_api_impl.py
@@ -39,9 +39,7 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   """
   global _cached_writer_fields
 
-  dat = log.Event.new_message()
-  dat.valid = valid
-  dat.logMonoTime = int(time.monotonic() * 1e9)
+  dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9))
   can_data = dat.init(msgtype, len(can_msgs))
 
   # Cache schema fields on first call
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index b3f7b0903a..07e2079ec9 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -67,17 +67,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img.xz",
-    "hash": "7be4361a422b05a029f6841cee6949c479cc24bbad3e0f447713c1e92f770c79",
-    "hash_raw": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "b80ca9a902fa96d78c640574a33b8848dcec18b1f0e761170c19d8432456d1cb",
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
     "alt": {
-      "hash": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img",
+      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 875d81f747..80a0f7702e 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -350,17 +350,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img.xz",
-    "hash": "7be4361a422b05a029f6841cee6949c479cc24bbad3e0f447713c1e92f770c79",
-    "hash_raw": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "b80ca9a902fa96d78c640574a33b8848dcec18b1f0e761170c19d8432456d1cb",
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
     "alt": {
-      "hash": "428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-428c59547ddbfe28ce0aa39f554925c4295b4b23195e7bd3ba98b84562d8e5c2.img",
+      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
       "size": 4718592000
     }
   },
diff --git a/uv.lock b/uv.lock
index 491dc9a744..dc51d2a45e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -867,7 +867,7 @@ requires-dist = [
     { name = "pillow" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "psutil" },
-    { name = "pycapnp" },
+    { name = "pycapnp", specifier = "==2.1.0" },
     { name = "pycryptodome" },
     { name = "pyjwt" },
     { name = "pyserial" },
@@ -1032,24 +1032,22 @@ wheels = [
 
 [[package]]
 name = "pycapnp"
-version = "2.2.3"
+version = "2.1.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/de/ed/b9557772d92ebaab796fe6560308fca81a903bacf9da972808268cdd3e67/pycapnp-2.2.3.tar.gz", hash = "sha256:91b24e94c5ffc016bcbac883d3376f9940d2b25db06e7058b13bbb2ed7cd752d", size = 731751, upload-time = "2026-05-31T00:21:51.074Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/15/86/a57e3c92acd3e1d2fc3dcad683ada191f722e4ac927e1a384b228ec2780a/pycapnp-2.1.0.tar.gz", hash = "sha256:69cc3d861fee1c9b26c73ad2e8a5d51e76ad87e4ff9be33a4fd2fc72f5846aec", size = 689734, upload-time = "2025-09-05T03:50:40.851Z" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/5b/52/7d85212b4fcf127588888f71d3dbf5558ee7dc302eba760b12b1b325f9a3/pycapnp-2.1.0-cp312-cp312-win32.whl", hash = "sha256:c09b28419321dafafc644d60c57ff8ccaf3c3e686801b6060c612a7a3c580944", size = 1038995, upload-time = "2025-09-05T03:49:14.165Z" },
+    { url = "https://files.pythonhosted.org/packages/f2/12/25d283ebf5c28717364647672e7494dc46196ca7a662f5420e4866f45687/pycapnp-2.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:560cb69cc02b0347e85b0629e4c2f0a316240900aa905392f9df6bab0a359989", size = 1176620, upload-time = "2025-09-05T03:49:15.545Z" },
 ]
 
 [[package]]

From 69e2c321e49760e52f7983eaa0a5f77cb95de637 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 1 Jun 2026 22:11:02 -0700
Subject: [PATCH 209/210] Frame drop: only allow 1percent (#38127)

---
 selfdrive/selfdrived/selfdrived.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 37538b6ab2..d2fd0f099e 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -418,7 +418,7 @@ class SelfdriveD:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if self.sm['modelV2'].frameDropPerc > 20:
+      if self.sm['modelV2'].frameDropPerc > 1:
         self.events.add(EventName.modeldLagging)
 
     # Decrement personality on distance button press

From 36a9c02b8f2e7c9f96898e859a5fe219082162f4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 3 Jun 2026 01:46:14 -0400
Subject: [PATCH 210/210] sync: post-merge fixes for tinygrad bump

---
 .../workflows/build-all-tinygrad-models.yaml  |   2 +
 .../build-single-tinygrad-model.yaml          |  12 +-
 .github/workflows/sunnypilot-build-model.yaml |  54 +-
 SConstruct                                    |   2 +-
 release/ci/model_generator.py                 |  96 +++-
 sunnypilot/modeld_v2/SConscript               | 118 +++--
 sunnypilot/modeld_v2/compile_modeld.py        | 480 ++++++++++++++++++
 sunnypilot/modeld_v2/modeld.py                | 254 +++++----
 sunnypilot/modeld_v2/tests/conftest.py        | 204 ++++++++
 .../tests/test_buffer_logic_inspect.py        | 263 ----------
 .../tests/test_combined_pkl_loader.py         | 263 ++++++++++
 .../modeld_v2/tests/test_compile_modeld.py    | 161 ++++++
 sunnypilot/modeld_v2/tests/test_warp.py       |   3 +-
 sunnypilot/modeld_v2/warp.py                  |  53 +-
 sunnypilot/models/fetcher.py                  |   6 +-
 sunnypilot/models/helpers.py                  |  44 +-
 sunnypilot/models/manager.py                  |  99 +++-
 sunnypilot/models/model_name.py               |   2 +-
 sunnypilot/models/tests/model_hash            |   2 +-
 19 files changed, 1638 insertions(+), 480 deletions(-)
 create mode 100755 sunnypilot/modeld_v2/compile_modeld.py
 create mode 100644 sunnypilot/modeld_v2/tests/conftest.py
 delete mode 100644 sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
 create mode 100644 sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
 create mode 100644 sunnypilot/modeld_v2/tests/test_compile_modeld.py

diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index 412676e5fd..1e341cb8ec 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -120,6 +120,7 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
     secrets: inherit
@@ -157,6 +158,7 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
       artifact_suffix: -retry
diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index e7e3b67b51..f10f1b71a3 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -24,6 +24,11 @@ on:
         required: false
         type: string
         default: ''
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
       bypass_push:
         description: 'Bypass pushing to GitLab for build-all'
         required: false
@@ -39,6 +44,11 @@ on:
         description: 'Custom name for the model (no date, only name)'
         required: false
         type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
       recompiled_dir:
         description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
         required: true
@@ -82,7 +92,7 @@ jobs:
     with:
       upstream_branch: ${{ inputs.upstream_branch }}
       custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: true
+      is_20hz: ${{ inputs.is_20hz }}
       artifact_suffix: ${{ inputs.artifact_suffix }}
     secrets: inherit
 
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index ff09489b92..3c5554fcc4 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -164,18 +164,54 @@ jobs:
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
-          # Loop through all .onnx files
+          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+          # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
-
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            echo "Generating metadata: $onnx_file"
+            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
+          # Detect model type and build compile args
+          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
+          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
+          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
+          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
+          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
+
+          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
+          if [ -f "$VISION_ONNX" ]; then
+            ONNX_ARGS="--vision-onnx $VISION_ONNX"
+            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_multi_policy
+              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
+            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_multi_policy
+              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
+            elif [ -f "$POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_policy
+              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+            fi
+          elif [ -f "$SUPERCOMBO_ONNX" ]; then
+            MODEL_TYPE=supercombo
+            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
+          fi
+
+          if [ -n "$MODEL_TYPE" ]; then
+            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
+            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
+              --model-type $MODEL_TYPE \
+              --model-size $MODEL_SIZE \
+              --camera-resolutions $CAMERA_RES \
+              $ONNX_ARGS \
+              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
+
       - name: Validate Model Outputs
         run: |
           source /etc/profile
@@ -194,6 +230,8 @@ jobs:
           rsync -avm \
             --include='*.dlc' \
             --include='*.pkl' \
+            --include='*.chunk*' \
+            --include='*.chunkmanifest' \
             --include='*.onnx' \
             --exclude='*' \
             --delete-excluded \
diff --git a/SConstruct b/SConstruct
index 5eb25ff50c..e714571d81 100644
--- a/SConstruct
+++ b/SConstruct
@@ -190,7 +190,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados')
+Export('env', 'arch', 'acados', 'release')
 
 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
index feeb80095b..afee782beb 100755
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -1,3 +1,10 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
 import os
 import pickle
 import sys
@@ -32,6 +39,9 @@ OPTIONAL_OUTPUT_KEYS = frozenset({
 def validate_model_outputs(metadata_paths: list[Path]) -> None:
   combined_keys: set[str] = set()
   for path in metadata_paths:
+    if path.stat().st_size == 0:
+      print(f"skipping empty metadata: {path}")
+      continue
     with open(path, "rb") as f:
       metadata = pickle.load(f)
     combined_keys.update(metadata.get("output_slices", {}).keys())
@@ -78,38 +88,65 @@ def create_short_name(full_name):
   return result[:8]
 
 
-def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
-  model_path = model_path
-  output_path = output_dir
+def _read_pkl_bytes(pkl_path: Path) -> bytes:
+  manifest = Path(f"{pkl_path}.chunkmanifest")
+  if manifest.exists():
+    num_chunks = int(manifest.read_text().strip())
+    parts = []
+    for i in range(num_chunks):
+      chunk = Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}")
+      parts.append(chunk.read_bytes())
+    return b''.join(parts)
+  return pkl_path.read_bytes()
+
+
+def _find_driving_pkl(output_path: Path) -> Path | None:
+  for pattern in ('driving_tinygrad.pkl', 'driving_*_tinygrad.pkl'):
+    matches = sorted(output_path.glob(pattern))
+    if matches:
+      return matches[0]
+  for pattern in ('driving_tinygrad.pkl.chunkmanifest', 'driving_*_tinygrad.pkl.chunkmanifest'):
+    matches = sorted(output_path.glob(pattern))
+    if matches:
+      return Path(str(matches[0]).removesuffix('.chunkmanifest'))
+  return None
+
+
+def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
+  manifest = Path(f"{old_pkl}.chunkmanifest")
+  if manifest.exists():
+    for f in sorted(old_pkl.parent.glob(f"{old_pkl.name}.chunk*")):
+      f.rename(old_pkl.parent / f.name.replace(old_pkl.name, new_pkl.name, 1))
+    return new_pkl
+  return old_pkl.rename(new_pkl)
+
+
+def generate_metadata(model_path: Path, output_dir: Path, short_name: str, driving_pkl: Path):
   base = model_path.stem
+  metadata_file = output_dir / f"{base}_metadata.pkl"
 
-  # Define output files for tinygrad and metadata
-  tinygrad_file = output_path / f"{base}_tinygrad.pkl"
-  metadata_file = output_path / f"{base}_metadata.pkl"
+  if short_name:
+    renamed_meta = output_dir / f"{base}_{short_name.lower()}_metadata.pkl"
+    if metadata_file.exists() and not renamed_meta.exists():
+      metadata_file = metadata_file.rename(renamed_meta)
+    elif renamed_meta.exists():
+      metadata_file = renamed_meta
 
-  if not tinygrad_file.exists() or not metadata_file.exists():
-    print(f"Error: Missing files for model {base} ({tinygrad_file} or {metadata_file})", file=sys.stderr)
+  if not metadata_file.exists():
+    print(f"Warning: Missing metadata for {base} ({metadata_file}), skipping", file=sys.stderr)
     return
 
-  # Calculate the sha256 hashes
-  with open(tinygrad_file, 'rb') as f:
-    tinygrad_hash = hashlib.sha256(f.read()).hexdigest()
+  tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
 
   with open(metadata_file, 'rb') as f:
     metadata_hash = hashlib.sha256(f.read()).hexdigest()
 
-  # Rename the files if a custom file name is provided
-  if short_name:
-    tinygrad_file = tinygrad_file.rename(output_path / f"{base}_{short_name.lower()}_tinygrad.pkl")
-    metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
-
-  # Build the metadata structure
   model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]
 
-  model_metadata = {
+  return {
     "type": model_type,
     "artifact": {
-      "file_name": tinygrad_file.name,
+      "file_name": driving_pkl.name,
       "download_uri": {
         "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
         "sha256": tinygrad_hash
@@ -124,9 +161,6 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
     }
   }
 
-  # Return model metadata
-  return model_metadata
-
 
 def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
   metadata_json = {
@@ -181,14 +215,28 @@ if __name__ == "__main__":
 
   _output_dir = Path(args.output_dir)
   _output_dir.mkdir(exist_ok=True, parents=True)
+  _short_name = create_short_name(args.custom_name) if args.custom_name else None
+
+  _driving_pkl = _find_driving_pkl(_output_dir)
+  if not _driving_pkl:
+    print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr)
+    sys.exit(1)
+
+  if _short_name:
+    new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl"
+    if not new_pkl.exists():
+      _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
+    else:
+      _driving_pkl = new_pkl
+
   _models = []
 
   for _model_path in model_paths:
-    _model_metadata = generate_metadata(Path(_model_path), _output_dir, create_short_name(args.custom_name))
+    _model_metadata = generate_metadata(Path(_model_path), _output_dir, _short_name, _driving_pkl)
     if _model_metadata:
       _models.append(_model_metadata)
 
   if _models:
-    create_metadata_json(_models, _output_dir, args.custom_name, create_short_name(args.custom_name), args.is_20hz, args.upstream_branch)
+    create_metadata_json(_models, _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch)
   else:
     print("No models processed.", file=sys.stderr)
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 8526fd2729..a5b0bad862 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -1,12 +1,88 @@
 import os
 import glob
 
-Import('env', 'arch')
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
+from openpilot.system.hardware import HARDWARE, PC
+
+Import('env', 'arch', 'release')
 lenv = env.Clone()
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 
-# Get model metadata
-PC = not os.path.isfile('/TICI')
+
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return set(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
+
+tg_flags = {
+  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+  'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}',
+}.get(arch, 'DEV=CPU:LLVM')
+
+image_flag = {
+  'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+
+model_w, model_h = MEDMODEL_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
+compile_modeld_script = File("compile_modeld.py").abspath
+upstream_compile_script = File(Dir("#selfdrive/modeld").File("compile_modeld.py").abspath)
+script_deps = [File("compile_modeld.py"), upstream_compile_script]
+
+def compile_combined(model_type, onnx_args, output_name):
+  output_pkl = File(f"models/{output_name}").abspath
+  cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} '
+         f'--model-type {model_type} '
+         f'--model-size {model_w}x{model_h} '
+         f'--camera-resolutions {camera_res_args} '
+         f'{onnx_args} '
+         f'--frame-skip {frame_skip} '
+         f'--output {output_pkl}')
+  onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')]
+  return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
+
+# Vision + Policy (stock default model)
+vision_onnx = File("models/driving_vision.onnx").abspath
+policy_onnx = File("models/driving_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(policy_onnx):
+  compile_combined('vision_policy',
+                   f'--vision-onnx {vision_onnx} --policy-onnx {policy_onnx}',
+                   'driving_combined_tinygrad.pkl')
+
+# Vision + Off-Policy
+off_policy_onnx = File("models/driving_off_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(off_policy_onnx):
+  policy_arg = f'--policy-onnx {policy_onnx}' if os.path.isfile(policy_onnx) else ''
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} {policy_arg} --off-policy-onnx {off_policy_onnx}',
+                   'driving_combined_multi_tinygrad.pkl')
+
+# Vision + On-Policy + Off-Policy
+on_policy_onnx = File("models/driving_on_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(on_policy_onnx) and os.path.isfile(off_policy_onnx):
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} --off-policy-onnx {off_policy_onnx} --on-policy-onnx {on_policy_onnx}',
+                   'driving_combined_tri_tinygrad.pkl')
+
+# Supercombo
+supercombo_onnx = File("models/supercombo.onnx").abspath
+if os.path.isfile(supercombo_onnx):
+  compile_combined('supercombo',
+                   f'--supercombo-onnx {supercombo_onnx}',
+                   'driving_combined_supercombo_tinygrad.pkl')
+
 if PC:
   inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
   outputs = []
@@ -21,39 +97,3 @@ if PC:
   if outputs:
     lenv.Command(outputs, inputs, cmd)
 
-tg_flags = {
-  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
-  'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}',
-}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
-
-image_flag = {
-  'larch64': 'IMAGE=2',
-}.get(arch, 'IMAGE=0')
-
-def tg_compile(flags, model_name):
-  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-  fn = File(f"models/{model_name}").abspath
-  out = fn + "_tinygrad.pkl"
-
-  return lenv.Command(
-    out,
-    [fn + ".onnx"] + tinygrad_files,
-    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
-  )
-
-# Compile models
-for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
-  if File(f"models/{model_name}.onnx").exists():
-    tg_compile(tg_flags, model_name)
-
-script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
-compile_warp_cmd = f'{pythonpath_string} {tg_flags} python3 -m sunnypilot.modeld_v2.warp'
-
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-warp_targets = []
-for cam in [_ar_ox_fisheye, _os_fisheye]:
-  w, h = cam.width, cam.height
-  for bl in [2, 5]:
-    warp_targets.append(File(f"models/warp_{w}x{h}_b{bl}_tinygrad.pkl").abspath)
-lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
diff --git a/sunnypilot/modeld_v2/compile_modeld.py b/sunnypilot/modeld_v2/compile_modeld.py
new file mode 100755
index 0000000000..387d3378e2
--- /dev/null
+++ b/sunnypilot/modeld_v2/compile_modeld.py
@@ -0,0 +1,480 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import argparse
+import os
+import pickle
+import time
+from functools import partial
+from collections import defaultdict
+
+import numpy as np
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.selfdrive.modeld.compile_modeld import (
+  NV12Frame, make_frame_prepare,
+  shift_and_sample, sample_skip, sample_desire,
+)
+
+MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
+
+
+def _detect_desire_key(policy_input_shapes):
+  for k in policy_input_shapes:
+    if k.startswith('desire'):
+      return k
+  return None
+
+
+def _detect_vision_keys(vision_input_shapes):
+  img_keys = sorted([k for k in vision_input_shapes if 'img' in k])
+  road_key = next((k for k in img_keys if 'big' not in k), None)
+  wide_key = next((k for k in img_keys if 'big' in k), None)
+  if road_key is None or wide_key is None:
+    raise ValueError(f"Cannot determine road/wide image keys from {list(vision_input_shapes.keys())}")
+  return road_key, wide_key
+
+
+def make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
+  road_key, _ = _detect_vision_keys(vision_input_shapes)
+  img = vision_input_shapes[road_key]
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+
+  fb = policy_input_shapes['features_buffer']
+  desire_key = _detect_desire_key(policy_input_shapes)
+  dp = policy_input_shapes[desire_key]
+  tc = policy_input_shapes.get('traffic_convention', (1, 2))
+
+  npy = {
+    'desire': np.zeros(dp[2], dtype=np.float32),
+    'traffic_convention': np.zeros(tc, dtype=np.float32),
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+  }
+
+  handled = {'features_buffer', desire_key, 'traffic_convention'}
+  for key, shape in policy_input_shapes.items():
+    if key in handled:
+      continue
+    npy[key] = np.zeros(shape, dtype=np.float32)
+
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
+
+
+def make_run_split_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
+                          vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                          vision_road_key, vision_wide_key, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
+    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
+                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
+    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
+    Tensor.realize(*npy_tensors, *extra_device.values())
+    tfm, big_tfm, desire, traffic_convention = npy_tensors
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
+
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+
+    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
+    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
+
+    return vision_out, policy_out
+  return run_policy
+
+
+def compile_split_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                         vision_runner, policy_runner, vision_metadata, policy_metadata):
+  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+  desire_key = _detect_desire_key(policy_input_shapes)
+  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
+  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
+
+  _run = make_run_split_policy(vision_runner, policy_runner, nv12, model_w, model_h,
+                               vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                               vision_road_key, vision_wide_key, prepare_only)
+  run_policy_jit = TinyJit(_run, prune=True)
+
+  SEED = 42
+
+  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
+    np.random.seed(seed)
+    Tensor.manual_seed(seed)
+
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
+    for i in range(n_runs):
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      for v in npy.values():
+        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+      Device.default.synchronize()
+      st = time.perf_counter()
+      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      mt = time.perf_counter()
+      Device.default.synchronize()
+      et = time.perf_counter()
+      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+      if i == 0:
+        val = [np.copy(v.numpy()) for v in outs]
+        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+
+    if test_val is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    if test_buffers is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    return fn, val, buffers
+
+  print('capture + replay')
+  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
+
+  print('pickle round trip')
+  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
+  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return run_policy_jit
+
+
+def derive_frame_skip(vision_input_shapes, policy_input_shapes):
+  fb = policy_input_shapes.get('features_buffer')
+  if fb is None:
+    return 1
+  fb_history = fb[1]
+  if fb_history >= 99:
+    return 1
+  return 4
+
+
+def make_supercombo_input_queues(input_shapes, frame_skip, device):
+  img_shape = input_shapes.get('img', input_shapes.get('input_imgs'))
+  if img_shape is None:
+    raise ValueError("No img input found in model shapes")
+
+  n_frames = img_shape[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
+
+  npy_keys = {}
+  queue_keys = {}
+
+  for key, shape in input_shapes.items():
+    if 'img' in key:
+      continue
+    if len(shape) == 3 and shape[1] > 1:
+      if key.startswith('desire'):
+        npy_keys[key] = np.zeros(shape[2], dtype=np.float32)
+        queue_keys[f'{key}_q'] = Tensor(
+          np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
+          device=device).contiguous().realize()
+      elif key == 'features_buffer':
+        queue_keys['feat_q'] = Tensor(
+          np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
+          device=device).contiguous().realize()
+      else:
+        npy_keys[key] = np.zeros(shape, dtype=np.float32)
+    elif len(shape) == 2:
+      npy_keys[key] = np.zeros(shape, dtype=np.float32)
+
+  if 'traffic_convention' not in npy_keys:
+    tc_shape = input_shapes.get('traffic_convention', (1, 2))
+    npy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
+
+  npy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
+  npy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
+
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    **queue_keys,
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy_keys.items()},
+  }
+  return input_queues, npy_keys
+
+
+def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
+                        features_slice, frame_skip, input_shapes, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  desire_key = _detect_desire_key(input_shapes)
+  if desire_key is None:
+    raise ValueError(f"No desire* key found in input_shapes: {list(input_shapes.keys())}")
+  road_img_key, wide_img_key = _detect_vision_keys(input_shapes)
+  extra_policy_keys = [k for k in input_shapes
+                       if k not in (desire_key, 'features_buffer', 'traffic_convention')
+                       and 'img' not in k]
+
+  def run_supercombo(img_q, big_img_q, feat_q, desire_q,
+                     frame, big_frame, **kwargs):
+    desire = kwargs.get(desire_key)
+    traffic_convention = kwargs.get('traffic_convention')
+    tfm = kwargs['tfm']
+    big_tfm = kwargs['big_tfm']
+
+    tfm = tfm.to(Device.DEFAULT)
+    big_tfm = big_tfm.to(Device.DEFAULT)
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+    feat_buf = sample_skip_fn(feat_q)
+
+    inputs = {road_img_key: img, wide_img_key: big_img,
+              desire_key: desire_buf, 'features_buffer': feat_buf,
+              'traffic_convention': traffic_convention}
+    for k in extra_policy_keys:
+      if k in kwargs:
+        inputs[k] = kwargs[k].to(Device.DEFAULT)
+
+    model_out = next(iter(model_runner(inputs).values())).cast('float32')
+
+    new_feat = model_out[:, features_slice].reshape(1, -1).unsqueeze(0)
+    shift_and_sample(feat_q, new_feat, sample_skip_fn)
+
+    return model_out
+
+  return run_supercombo
+
+
+def make_run_vision_multi_policy(vision_runner, policy_runners, nv12: NV12Frame, model_w, model_h,
+                                 vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                                 vision_road_key, vision_wide_key, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  def run_multi_policy(img_q, big_img_q, feat_q, desire_q, desire,
+                       traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
+    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
+                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
+    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
+    Tensor.realize(*npy_tensors, *extra_device.values())
+    tfm, big_tfm, desire, traffic_convention = npy_tensors
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
+
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+
+    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
+
+    policy_outputs = []
+    for runner in policy_runners:
+      policy_out = next(iter(runner(inputs).values())).cast('float32')
+      policy_outputs.append(policy_out)
+
+    return (vision_out, *policy_outputs)
+
+  return run_multi_policy
+
+
+def _warmup_and_serialize(run_jit, input_queues, npy, nv12):
+  for i in range(3):
+    np.random.seed(42 + i)
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    for v in npy.values():
+      v[:] = np.random.randn(*v.shape).astype(v.dtype)
+    Device.default.synchronize()
+    st = time.perf_counter()
+    run_jit(**input_queues, frame=frame, big_frame=big_frame)
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i + 1}/3] enqueue {(mt - st) * 1e3:6.2f} ms -- total {(et - st) * 1e3:6.2f} ms")
+  return pickle.loads(pickle.dumps(run_jit))
+
+
+def compile_supercombo(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                       model_runner, metadata):
+  print(f"Compiling combined supercombo JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  features_slice = metadata['output_slices']['hidden_state']
+  input_shapes = metadata['input_shapes']
+
+  _run = make_run_supercombo(model_runner, nv12, model_w, model_h,
+                             features_slice, frame_skip, input_shapes, prepare_only)
+  run_jit = TinyJit(_run, prune=True)
+
+  input_queues, npy = make_supercombo_input_queues(input_shapes, frame_skip, Device.DEFAULT)
+
+  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
+  return run_jit
+
+
+def compile_multi_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                         vision_runner, policy_runners, vision_metadata, policy_metadata):
+  print(f"Compiling combined multi-policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+  desire_key = _detect_desire_key(policy_input_shapes)
+  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
+  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
+
+  _run = make_run_vision_multi_policy(vision_runner, policy_runners, nv12, model_w, model_h,
+                                      vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                                      vision_road_key, vision_wide_key, prepare_only)
+  run_jit = TinyJit(_run, prune=True)
+
+  input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
+
+  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
+  return run_jit
+
+
+def _parse_size(s):
+  w, h = s.lower().split('x')
+  return int(w), int(h)
+
+
+if __name__ == "__main__":
+  from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+
+  p = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
+  p.add_argument('--model-type', choices=MODEL_TYPES, required=True)
+  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
+  p.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
+  p.add_argument('--output', required=True)
+
+  p.add_argument('--vision-onnx', help='vision ONNX (for split models)')
+  p.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
+  p.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
+  p.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
+  p.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
+
+  args = p.parse_args()
+  out = defaultdict(dict)
+
+  if args.model_type == 'vision_policy':
+    assert args.vision_onnx and args.policy_onnx
+    vision_runner = OnnxRunner(args.vision_onnx)
+    policy_runner = OnnxRunner(args.policy_onnx)
+    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
+    out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
+
+    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
+                                                                                       out['metadata']['policy']['input_shapes'])
+
+    for cam_w, cam_h in args.camera_resolutions:
+      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+      model_w, model_h = args.model_size
+      out[(cam_w, cam_h)] = {
+        name: compile_split_policy(nv12, model_w, model_h, prepare_only, frame_skip,
+                                   vision_runner, policy_runner,
+                                   out['metadata']['vision'], out['metadata']['policy'])
+        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+      }
+
+  elif args.model_type == 'supercombo':
+    assert args.supercombo_onnx
+    model_runner = OnnxRunner(args.supercombo_onnx)
+    out['metadata']['model'] = make_metadata_dict(args.supercombo_onnx)
+
+    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip({}, out['metadata']['model']['input_shapes'])
+
+    for cam_w, cam_h in args.camera_resolutions:
+      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+      model_w, model_h = args.model_size
+      out[(cam_w, cam_h)] = {
+        name: compile_supercombo(nv12, model_w, model_h, prepare_only, frame_skip,
+                                 model_runner, out['metadata']['model'])
+        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+      }
+
+  elif args.model_type == 'vision_multi_policy':
+    assert args.vision_onnx
+    vision_runner = OnnxRunner(args.vision_onnx)
+    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
+
+    policy_runners = []
+    policy_onnxes = []
+    if args.policy_onnx:
+      policy_onnxes.append(('policy', args.policy_onnx))
+    if args.off_policy_onnx:
+      policy_onnxes.append(('off_policy', args.off_policy_onnx))
+    if args.on_policy_onnx:
+      policy_onnxes.append(('on_policy', args.on_policy_onnx))
+
+    for name, onnx_path in policy_onnxes:
+      runner = OnnxRunner(onnx_path)
+      policy_runners.append(runner)
+      out['metadata'][name] = make_metadata_dict(onnx_path)
+
+    first_policy_key = policy_onnxes[0][0]
+    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
+                                                                                       out['metadata'][first_policy_key]['input_shapes'])
+
+    for cam_w, cam_h in args.camera_resolutions:
+      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+      model_w, model_h = args.model_size
+      out[(cam_w, cam_h)] = {
+        name: compile_multi_policy(nv12, model_w, model_h, prepare_only, frame_skip,
+                                   vision_runner, policy_runners,
+                                   out['metadata']['vision'], out['metadata'][first_policy_key])
+        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+      }
+
+  with open(args.output, "wb") as f:
+    pickle.dump(out, f)
+  pkl_size = os.path.getsize(args.output)
+  print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
+
+  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+  chunk_targets = get_chunk_targets(args.output, pkl_size)
+  chunk_file(args.output, chunk_targets)
+  num_chunks = len(chunk_targets) - 1
+  print(f"Chunked into {num_chunks} file(s)")
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index f862286181..dfff2e6c22 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -1,4 +1,11 @@
 #!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
 import os
 from openpilot.system.hardware import TICI
 os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
@@ -6,6 +13,7 @@ USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
   os.environ['AMD_IFACE'] = 'USB'
+import pickle
 import time
 import numpy as np
 import cereal.messaging as messaging
@@ -26,18 +34,40 @@ from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan,
 
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.constants import Plan
-from openpilot.sunnypilot.modeld_v2.warp import Warp
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
 
+def _pkl_exists(path):
+  from openpilot.common.file_chunker import get_manifest_path
+  return os.path.exists(path) or os.path.exists(get_manifest_path(path))
+
+
+def _find_driving_pkl(bundle):
+  if (override := os.environ.get('COMBINED_MODEL_PKL')) and _pkl_exists(override):
+    return override
+  if bundle is None or not bundle.models:
+    return None
+  from openpilot.system.hardware.hw import Paths
+  model_root = Paths.model_root()
+
+  pkl_name = bundle.models[0].artifact.fileName
+  pkl_path = os.path.join(model_root, pkl_name)
+  if _pkl_exists(pkl_path):
+    return pkl_path
+
+  fallback = os.path.join(model_root, 'driving_tinygrad.pkl')
+  if _pkl_exists(fallback):
+    return fallback
+  return None
+
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -49,117 +79,170 @@ class FrameMeta:
 
 
 class ModelState(ModelStateBase):
-  frames: dict[str, Warp]
   inputs: dict[str, np.ndarray]
-  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  temporal_idxs: slice | np.ndarray
+  prev_desire: np.ndarray
 
-  def __init__(self):
+  def __init__(self, cam_w: int, cam_h: int):
     ModelStateBase.__init__(self)
-    try:
-      self.model_runner = get_model_runner()
-      self.constants = self.model_runner.constants
-    except Exception as e:
-      cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
-      raise
 
-    model_bundle = get_active_bundle()
+    env_pkl = os.environ.get('COMBINED_MODEL_PKL')
+    if env_pkl and os.path.exists(env_pkl):
+      model_bundle = None
+    else:
+      model_bundle = get_active_bundle()
     self.generation = model_bundle.generation if model_bundle is not None else None
-    overrides = {override.key: override.value for override in model_bundle.overrides}
+    overrides = {override.key: override.value for override in model_bundle.overrides} if model_bundle else {}
 
     self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
     self.MIN_LAT_CONTROL_SPEED = 0.3
     self.PLANPLUS_CONTROL: float = 1.0
 
-    buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.warp = Warp(buffer_length)
+    pkl_path = _find_driving_pkl(model_bundle)
+    assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
+    self._init_combined(pkl_path, cam_w, cam_h, model_bundle)
+
+  def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
+    from tinygrad.tensor import Tensor
+    from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
+    from tinygrad.device import Device
+
+    from openpilot.common.file_chunker import read_file_chunked
+
+    cloudlog.warning(f"loading combined pkl: {pkl_path}")
+    jits = pickle.loads(read_file_chunked(pkl_path))
+
+    self.DEV = Device.DEFAULT
+
+    metadata = jits['metadata']
+    if 'model' in metadata:
+      model_metadata = metadata['model']
+      self.vision_output_slices = model_metadata['output_slices']
+      self.policy_output_slices = {}
+      self._policy_slices_list = []
+      self._combined_model_type = 'supercombo'
+      self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
+      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
+      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
+      self.input_queues, self.npy = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
+    else:
+      vision_metadata = metadata['vision']
+      policy_keys = [k for k in metadata if k != 'vision']
+      if policy_keys == ['policy']:
+        self._combined_model_type = 'split'
+      else:
+        self._combined_model_type = 'multi_policy'
+      self.vision_output_slices = vision_metadata['output_slices']
+      self._policy_keys = policy_keys
+      self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
+      self.policy_output_slices = self._policy_slices_list[0]
+      self._has_on_policy = any('on' in k.lower() for k in policy_keys)
+      first_policy_metadata = metadata[policy_keys[0]]
+      vision_input_shapes = vision_metadata['input_shapes']
+      policy_input_shapes = first_policy_metadata['input_shapes']
+      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
+      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
+      self.input_queues, self.npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
+
+    from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+    from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+    self.parser = SplitParser() if self._combined_model_type != 'supercombo' else CombinedParser()
+
+    is_20hz = bundle.is20hz if bundle else self._combined_model_type in ('split', 'multi_policy')
+    if is_20hz:
+      from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+      self.constants = SplitModelConstants()
+    else:
+      from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+      self.constants = ModelConstants()
+
     self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
-    self.numpy_inputs = {}
-    self.temporal_buffers = {}
-    self.temporal_idxs_map = {}
+    self.full_frames: dict = {}
+    self._blob_cache: dict = {}
+    nv12_info = get_nv12_info(cam_w, cam_h)
+    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
 
-    for key, shape in self.model_runner.input_shapes.items():
-      if key not in self.model_runner.vision_input_names: # Policy inputs
-        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
+    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
+    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
+    road_name = next(k for k in self._vision_input_names if 'big' not in k)
+    yuv_size = self.frame_buf_params[road_name][3]
+    self._warp_enqueue(
+      **self.input_queues,
+      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize())
 
-        # Temporal input: shape is [batch, history, features]
-        if len(shape) == 3 and shape[1] > 1:
-          buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
-          feature_len = shape[2]
-          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
-          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
-            buffer_history_len = (features_buffer_shape[1] + 1) * 4
-            step = int(-buffer_history_len / shape[1])
-            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
-          elif shape[1] == 25:  # Split
-            skip = buffer_history_len // shape[1]
-            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
-          elif shape[1] >= 99:  # non20hz
-            self.temporal_idxs_map[key] = np.arange(shape[1])
-          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
 
   @property
   def mlsim(self) -> bool:
     return bool(self.generation is not None and self.generation >= 11)
 
+  @property
+  def vision_input_names(self) -> list[str]:
+    return self._vision_input_names
+
   @property
   def desire_key(self) -> str:
-    return next(key for key in self.numpy_inputs if key.startswith('desire'))
+    return next(k for k in self.npy if k.startswith('desire'))
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs[self.desire_key][0] = 0
-    new_desire = np.where(inputs[self.desire_key] - self.prev_desire > .99, inputs[self.desire_key], 0)
-    self.prev_desire[:] = inputs[self.desire_key]
-    self.temporal_buffers[self.desire_key][0,:-1] = self.temporal_buffers[self.desire_key][0,1:]
-    self.temporal_buffers[self.desire_key][0,-1] = new_desire
+    from tinygrad.tensor import Tensor
 
-    # Roll buffer and assign based on desire.shape[1] value
-    if self.temporal_buffers[self.desire_key].shape[1] > self.numpy_inputs[self.desire_key].shape[1]:
-      skip = self.temporal_buffers[self.desire_key].shape[1] // self.numpy_inputs[self.desire_key].shape[1]
-      self.numpy_inputs[self.desire_key][:] = (self.temporal_buffers[self.desire_key][0].reshape(
-                                               self.numpy_inputs[self.desire_key].shape[0], self.numpy_inputs[self.desire_key].shape[1], skip, -1).max(axis=2))
-    else:
-      self.numpy_inputs[self.desire_key][:] = self.temporal_buffers[self.desire_key][0, self.temporal_idxs_map[self.desire_key]]
+    for key in bufs.keys():
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
+      self.full_frames[key] = self._blob_cache[cache_key]
 
-    for key in self.numpy_inputs:
-      if key in inputs and key not in [self.desire_key]:
-        self.numpy_inputs[key][:] = inputs[key]
+    desire_key = self.desire_key
+    inputs[desire_key][0] = 0
+    self.npy[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
+    self.prev_desire[:] = inputs[desire_key]
+    for key in ('traffic_convention', 'lateral_control_params'):
+      if key in self.npy and key in inputs:
+        self.npy[key][:] = inputs[key]
 
-    imgs_tensors = self.warp.process(bufs, transforms)
-    for name, tensor in imgs_tensors.items():
-      self.model_runner.inputs[name] = tensor
-    self.model_runner.prepare_inputs(self.numpy_inputs)
+    road_key = next(n for n in bufs if 'big' not in n)
+    wide_key = next(n for n in bufs if 'big' in n)
+    self.npy['tfm'][:, :] = transforms[road_key].reshape(3, 3)
+    self.npy['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
 
     if prepare_only:
+      self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
       return None
 
-    # Run model inference
-    outputs = self.model_runner.run_model()
+    raw_outputs = self._run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
 
-    # Update features_buffer
-    self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
-    self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]
+    if self._combined_model_type == 'supercombo':
+      model_output = raw_outputs.numpy().flatten()
+      sliced = {k: model_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
+      outputs = self.parser.parse_outputs(sliced)
+    else:
+      vision_output = raw_outputs[0].numpy().flatten()
+      vision_sliced = {k: vision_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
+      outputs = self.parser.parse_vision_outputs(vision_sliced)
 
-    if "desired_curvature" in outputs:
-      input_name_prev = None
-      if "prev_desired_curv" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curv'
-      if input_name_prev and input_name_prev in self.temporal_buffers:
-        self.process_desired_curvature(outputs, input_name_prev)
+      for i, policy_slices in enumerate(self._policy_slices_list):
+        policy_output = raw_outputs[i + 1].numpy().flatten()
+        policy_sliced = {k: policy_output[np.newaxis, v] for k, v in policy_slices.items()}
+        parsed = self.parser.parse_policy_outputs(policy_sliced)
+        if 'off' in self._policy_keys[i] and self._has_on_policy:
+          parsed.pop('plan', None)
+        outputs.update(parsed)
+
+      if 'planplus' in outputs and 'plan' in outputs:
+        outputs['plan'] = outputs['plan'] + outputs['planplus']
+
+    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.npy:
+      buf = self.npy['prev_desired_curv']
+      buf[0, :-1] = buf[0, 1:]
+      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
     return outputs
 
-  def process_desired_curvature(self, outputs, input_name_prev):
-    self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
-    self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
-    self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
-    if self.mlsim:
-      self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
-
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
@@ -186,10 +269,6 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
-  cloudlog.warning("loading model")
-  model = ModelState()
-  cloudlog.warning("models loaded, modeld starting")
-
   # visionipc clients
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -213,6 +292,10 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
+  cloudlog.warning("loading model")
+  model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height)
+  cloudlog.warning("models loaded, modeld starting")
+
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
@@ -246,6 +329,7 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
+  meta_constants = load_meta_constants()
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -318,14 +402,14 @@ def main(demo=False):
     if prepare_only:
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
-    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
-    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
     inputs:dict[str, np.ndarray] = {
       model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
     }
 
-    if "lateral_control_params" in model.numpy_inputs.keys():
+    if 'lateral_control_params' in model.npy:
       inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
@@ -343,7 +427,7 @@ def main(demo=False):
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/sunnypilot/modeld_v2/tests/conftest.py b/sunnypilot/modeld_v2/tests/conftest.py
new file mode 100644
index 0000000000..89e2f2d4cc
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/conftest.py
@@ -0,0 +1,204 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pickle
+import pytest
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+
+
+class DummyOverride:
+  def __init__(self, key, value):
+    self.key = key
+    self.value = value
+
+
+class DummyArtifact:
+  def __init__(self, file_name):
+    self.fileName = file_name
+
+
+class DummyModelType:
+  def __init__(self, raw):
+    self.raw = raw
+
+
+class DummyModel:
+  def __init__(self, type_str, artifact_file):
+    self.type = DummyModelType(type_str)
+    self.artifact = DummyArtifact(artifact_file)
+
+
+class DummyBundle:
+  def __init__(self, is_20hz=False, models=None, generation=10):
+    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
+    self.generation = generation
+    self.is20hz = is_20hz
+    self.models = models or []
+
+
+class Archetype:
+  def __init__(self, name, metadata_structure, model_stubs, is_20hz,
+               expected_model_type, expected_constants_class, expected_parser_module,
+               expected_desire_key):
+    self.name = name
+    self.metadata_structure = metadata_structure
+    self.model_stubs = model_stubs
+    self.is_20hz = is_20hz
+    self.expected_model_type = expected_model_type
+    self.expected_constants_class = expected_constants_class
+    self.expected_parser_module = expected_parser_module
+    self.expected_desire_key = expected_desire_key
+
+
+def _noop_jit(**kwargs):
+  pass
+
+
+def _make_vision_policy_metadata(vision_input_shapes, policy_input_shapes,
+                                 vision_output_slices, policy_output_slices):
+  return {
+    'vision': {'input_shapes': vision_input_shapes, 'output_slices': vision_output_slices},
+    'policy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+  }
+
+
+def _make_multi_policy_metadata(vision_input_shapes, policy_input_shapes,
+                                vision_output_slices, policy_output_slices):
+  return {
+    'vision': {'input_shapes': vision_input_shapes, 'output_slices': vision_output_slices},
+    'offPolicy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+  }
+
+
+def _make_tri_policy_metadata(vision_input_shapes, policy_input_shapes,
+                              vision_output_slices, policy_output_slices):
+  return {
+    'vision': {'input_shapes': vision_input_shapes, 'output_slices': vision_output_slices},
+    'onPolicy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+    'offPolicy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+  }
+
+
+def _make_supercombo_metadata(input_shapes, output_slices):
+  return {'model': {'input_shapes': input_shapes, 'output_slices': output_slices}}
+
+
+SPLIT_VISION_INPUT_SHAPES = {'img': (1, 12, 128, 256), 'big_img': (1, 12, 128, 256)}
+SPLIT_POLICY_INPUT_SHAPES = {'features_buffer': (1, 25, 512), 'desire_pulse': (1, 25, 8), 'traffic_convention': (1, 2)}
+SPLIT_VISION_SLICES = {'hidden_state': slice(0, 512), 'pose': slice(512, 524)}
+SPLIT_POLICY_SLICES = {'plan': slice(0, 495), 'meta': slice(495, 550)}
+
+SUPERCOMBO_INPUT_SHAPES = {
+  'img': (1, 12, 128, 256), 'big_img': (1, 12, 128, 256),
+  'desire': (1, 100, 8), 'features_buffer': (1, 99, 512),
+  'lateral_control_params': (1, 2), 'prev_desired_curv': (1, 100, 1),
+  'traffic_convention': (1, 2),
+}
+SUPERCOMBO_SLICES = {'plan': slice(0, 495), 'hidden_state': slice(495, 1007), 'meta': slice(1007, 1062)}
+
+CAM_W, CAM_H = 1928, 1208
+
+ARCHETYPES = {
+  'vision_policy_split': Archetype(
+    name='vision_policy_split',
+    metadata_structure=_make_vision_policy_metadata(
+      SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES,
+      SPLIT_VISION_SLICES, SPLIT_POLICY_SLICES),
+    model_stubs=[DummyModel('vision', 'driving_test_tinygrad.pkl'),
+                 DummyModel('policy', 'driving_test_tinygrad.pkl')],
+    is_20hz=True,
+    expected_model_type='split',
+    expected_constants_class=SplitModelConstants,
+    expected_parser_module='parse_model_outputs_split',
+    expected_desire_key='desire',
+  ),
+  'vision_multi_policy': Archetype(
+    name='vision_multi_policy',
+    metadata_structure=_make_multi_policy_metadata(
+      SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES,
+      SPLIT_VISION_SLICES, SPLIT_POLICY_SLICES),
+    model_stubs=[DummyModel('vision', 'driving_test_tinygrad.pkl'),
+                 DummyModel('offPolicy', 'driving_test_tinygrad.pkl')],
+    is_20hz=True,
+    expected_model_type='multi_policy',
+    expected_constants_class=SplitModelConstants,
+    expected_parser_module='parse_model_outputs_split',
+    expected_desire_key='desire',
+  ),
+  'tri_policy': Archetype(
+    name='tri_policy',
+    metadata_structure=_make_tri_policy_metadata(
+      SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES,
+      SPLIT_VISION_SLICES, SPLIT_POLICY_SLICES),
+    model_stubs=[DummyModel('vision', 'driving_test_tinygrad.pkl'),
+                 DummyModel('onPolicy', 'driving_test_tinygrad.pkl'),
+                 DummyModel('offPolicy', 'driving_test_tinygrad.pkl')],
+    is_20hz=True,
+    expected_model_type='multi_policy',
+    expected_constants_class=SplitModelConstants,
+    expected_parser_module='parse_model_outputs_split',
+    expected_desire_key='desire',
+  ),
+  'supercombo_non20hz': Archetype(
+    name='supercombo_non20hz',
+    metadata_structure=_make_supercombo_metadata(SUPERCOMBO_INPUT_SHAPES, SUPERCOMBO_SLICES),
+    model_stubs=[DummyModel('supercombo', 'driving_test_tinygrad.pkl')],
+    is_20hz=False,
+    expected_model_type='supercombo',
+    expected_constants_class=ModelConstants,
+    expected_parser_module='parse_model_outputs',
+    expected_desire_key='desire',
+  ),
+}
+
+
+def make_pkl_data(archetype):
+  return {
+    'metadata': archetype.metadata_structure,
+    (CAM_W, CAM_H): {'run_policy': _noop_jit, 'warp_enqueue': _noop_jit},
+  }
+
+
+def write_pkl(tmp_path, archetype):
+  pkl_path = tmp_path / 'driving_test_tinygrad.pkl'
+  with open(pkl_path, 'wb') as f:
+    pickle.dump(make_pkl_data(archetype), f)
+  return pkl_path
+
+
+def make_bundle(archetype):
+  return DummyBundle(
+    models=archetype.model_stubs,
+    is_20hz=archetype.is_20hz,
+  )
+
+
+@pytest.fixture
+def patch_modeld(monkeypatch):
+  def _patch(bundle):
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+
+  return _patch
+
+
+@pytest.fixture
+def model_state_factory(tmp_path, monkeypatch, patch_modeld):
+  from openpilot.system.hardware import hw
+
+  def _create(archetype):
+    write_pkl(tmp_path, archetype)
+    bundle = make_bundle(archetype)
+    patch_modeld(bundle)
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+    return modeld_module.ModelState(cam_w=CAM_W, cam_h=CAM_H)
+
+  return _create
diff --git a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
deleted file mode 100644
index 15009c94d9..0000000000
--- a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
+++ /dev/null
@@ -1,263 +0,0 @@
-import numpy as np
-import pytest
-from typing import Any
-
-import openpilot.sunnypilot.models.helpers as helpers
-import openpilot.sunnypilot.models.runners.helpers as runner_helpers
-import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
-
-ModelState = modeld_module.ModelState
-
-# These are the shapes extracted/loaded from the model onnx
-SHAPE_MODE_PARAMS = [
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "nav_features": (1, 256), "nav_instructions": (1, 150)}, 'non20hz'), # Optimus Prime
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lat_planner_state": (1, 4),}, 'non20hz'), # farmville
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lateral_control_params": (1, 2), "prev_desired_curv": (1, 100, 1)}, 'non20hz'), # wd40
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512)}, '20hz'), # NPR
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # Steam Powered v2
-  ({'desire_pulse': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # desire rename
-]
-
-
-# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
-class DummyOverride:
-  def __init__(self, key: str, value: str) -> None:
-    self.key = key
-    self.value = value
-
-
-class DummyBundle:
-  def __init__(self) -> None:
-    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
-    self.generation = 10  # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
-
-
-class DummyModelRunner:
-  def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
-    self.input_shapes = input_shapes
-    self.constants = constants or type('C', (), {
-      'FULL_HISTORY_BUFFER_LEN': 100,
-      'FEATURE_LEN': 512,
-      'DESIRE_LEN': 8,
-      'PREV_DESIRED_CURV_LEN': 1,
-      'INPUT_HISTORY_BUFFER_LEN': 25,
-      'TEMPORAL_SKIP': 4,
-    })()
-    self.vision_input_names: list[str] = []
-    shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
-    if shape[1] == 25:
-      self.is_20hz = True
-    else:
-      self.is_20hz = False
-
-  # Minimal prepare/run methods so ModelState can be run without actually running the model
-  def prepare_inputs(self, numpy_inputs):
-    return None
-
-  def run_model(self):
-    return {
-      'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
-      'desired_curvature': np.zeros((1, 1), dtype=np.float32),
-    }
-
-
-@pytest.fixture
-def shapes(request):
-  return request.param
-
-
-@pytest.fixture
-def bundle() -> DummyBundle:
-  return DummyBundle()
-
-
-@pytest.fixture
-def runner(shapes) -> DummyModelRunner:
-  return DummyModelRunner(shapes)
-
-
-@pytest.fixture
-def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
-  monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
-  monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
-  monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
-  monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
-
-
-# These are expected shapes and indices based on the time the model was presented
-def get_expected_indices(shape, constants, mode, key=None):
-  if mode == 'split':
-    start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
-    arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
-    idxs = arr[start::constants.TEMPORAL_SKIP]
-    return idxs
-  elif mode == '20hz':
-    num_elements = shape[1]
-    step_size = int(-100 / num_elements)
-    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-    return idxs
-  elif mode == 'non20hz':
-    return np.arange(shape[1])
-  return None
-
-
-@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
-def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
-  state = ModelState()
-  constants = DummyModelRunner(shapes).constants
-  for key in shapes:
-    buf = state.temporal_buffers.get(key, None)
-    idxs = state.temporal_idxs_map.get(key, None)
-    if buf is None:
-      continue    # not all shapes are 3D, and the non-3D ones are not buffered
-    # Buffer shape logic
-    if mode == 'split':
-      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
-    elif mode == '20hz':
-      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
-    elif mode == 'non20hz':
-      expected_shape = (1, shapes[key][1], shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
-
-    assert buf is not None, f"{key}: buffer not found"
-    assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
-    if expected_idxs is not None:
-      assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
-    else:
-      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
-
-
-def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape, prev_desire=None):
-  # This is what we compare the new dynamic logic to, to ensure it does the same thing
-  if mode == 'split':
-    if key == 'desire' or key.startswith('desire'):
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1] = new_val
-      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
-    elif key == 'features_buffer':
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1] = new_val
-      return buf[0, idxs]
-    elif key == 'prev_desired_curv':
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1,:] = new_val
-      return buf[0, idxs]
-  elif mode == '20hz':
-    if key == 'desire':
-      buf[:-1] = buf[1:]
-      buf[-1] = new_val
-      reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
-      reshaped = buf.reshape(reshape_dims).max(axis=2)
-      # Slice to last shape[1] elements to match model input shape
-      input_len = reshaped.shape[1]
-      model_input_len = 25  # For 20hz mode, desire shape[1] is 25
-      if input_len > model_input_len:
-        reshaped = reshaped[:, -model_input_len:, :]
-      return reshaped
-    elif key == 'features_buffer':
-      buffer_history_len = buf.shape[1]
-      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
-      legacy_buf[:] = buf[0]
-      legacy_buf[:-1] = legacy_buf[1:]
-      legacy_buf[-1] = new_val
-      return legacy_buf[idxs]
-    elif key == 'prev_desired_curv':
-      buffer_history_len = buf.shape[1]
-      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
-      legacy_buf[:] = buf[0]
-      legacy_buf[:-1] = legacy_buf[1:]
-      legacy_buf[-1,:] = new_val
-      return legacy_buf[idxs]
-  elif mode == 'non20hz':
-    if key == 'desire':
-      desire_len = constants.DESIRE_LEN
-      if prev_desire is None:
-        prev_desire = np.zeros(desire_len, dtype=np.float32)
-      # Set first element to zero
-      new_val = new_val.copy()
-      new_val[0] = 0
-      # Shift buffer by desire len
-      buf[0][:-desire_len] = buf[0][desire_len:]
-      # Only insert new desire if rising edge
-      buf[0][-desire_len:] = np.where(new_val - prev_desire > 0.99, new_val, 0)
-      prev_desire[:] = new_val
-      return buf[0]
-    elif key == 'features_buffer':
-      buf[0, :-1] = buf[0, 1:]
-      buf[0, -1] = new_val
-      return buf[0, -input_shape[1]:]  # (99, 512)
-    elif key == 'prev_desired_curv':
-      length = new_val.shape[0]
-      buf[0,:-length,0] = buf[0,length:,0]
-      buf[0,-length:,0] = new_val[:length]
-      return buf[0]
-  return None
-
-
-def dynamic_buffer_update(state, key, new_val, mode):
-  if key == 'desire' or key.startswith('desire'):
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != key}
-    inputs[key] = new_val.copy()
-    # ModelState.run expects desire as a pulse, so we zero the first element.
-    inputs[key][0] = 0
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs[key]
-
-  if key == 'features_buffer':
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != 'features_buffer'}
-    def run_model_stub():
-      return {
-        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
-      }
-    state.model_runner.run_model = run_model_stub
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs['features_buffer'][0]
-
-  if key == 'prev_desired_curv':
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != 'prev_desired_curv'}
-    def run_model_stub():
-      return {
-        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
-        'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
-      }
-    state.model_runner.run_model = run_model_stub
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs['prev_desired_curv'][0]
-  return None
-
-
-@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
-@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
-def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
-  state = ModelState()
-  if key == "desire":
-    desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
-    if desire_keys:
-      actual_key = desire_keys[0]  # Use the first (and likely only) desire key
-  else:
-    actual_key = key
-
-  if actual_key not in state.numpy_inputs:
-    pytest.skip()
-
-  constants = DummyModelRunner(shapes).constants
-  buf = state.temporal_buffers.get(actual_key, None)
-  idxs = state.temporal_idxs_map.get(actual_key, None)
-  input_shape = shapes[actual_key]
-  prev_desire = np.zeros(constants.DESIRE_LEN, dtype=np.float32) if key == 'desire' else None
-
-  for step in range(20):    # multiple steps to ensure history is built up
-    new_val = np.full((input_shape[2],), step, dtype=np.float32)
-    expected = legacy_buffer_update(buf, new_val, mode, actual_key, constants, idxs, input_shape, prev_desire)
-    actual = dynamic_buffer_update(state, actual_key, new_val, mode)
-    if expected is not None and actual is not None and expected.shape != actual.shape:
-      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
-        expected = expected[-actual.shape[0]:]
-    assert np.allclose(actual, expected), f"{mode} {actual_key}: dynamic buffer update does not match legacy logic"
diff --git a/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py b/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
new file mode 100644
index 0000000000..d4ef0d476b
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
@@ -0,0 +1,263 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pytest
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+from openpilot.sunnypilot.modeld_v2.modeld import _find_driving_pkl
+from openpilot.sunnypilot.modeld_v2.tests.conftest import DummyModel, DummyBundle, ARCHETYPES, CAM_W, CAM_H, \
+  SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES
+
+ModelState = modeld_module.ModelState
+
+
+# Pkl discovery
+
+class TestFindDrivingPkl:
+  def test_returns_none_when_no_bundle(self):
+    assert _find_driving_pkl(None) is None
+
+  def test_returns_none_when_no_models(self):
+    bundle = DummyBundle(models=[])
+    assert _find_driving_pkl(bundle) is None
+
+  def test_returns_none_when_pkl_not_on_disk(self):
+    bundle = DummyBundle(models=[
+      DummyModel('vision', 'driving_fof_tinygrad.pkl'),
+      DummyModel('policy', 'driving_fof_tinygrad.pkl'),
+    ])
+    assert _find_driving_pkl(bundle) is None
+
+  def test_finds_pkl_by_artifact_name(self, tmp_path, monkeypatch):
+    (tmp_path / 'driving_fof_tinygrad.pkl').write_bytes(b'fake')
+    from openpilot.system.hardware import hw
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    bundle = DummyBundle(models=[
+      DummyModel('vision', 'driving_fof_tinygrad.pkl'),
+      DummyModel('policy', 'driving_fof_tinygrad.pkl'),
+    ])
+    result = _find_driving_pkl(bundle)
+    assert result is not None
+    assert 'driving_fof_tinygrad.pkl' in result
+
+  def test_finds_fallback_driving_tinygrad(self, tmp_path, monkeypatch):
+    (tmp_path / 'driving_tinygrad.pkl').write_bytes(b'fake')
+    from openpilot.system.hardware import hw
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    bundle = DummyBundle(models=[DummyModel('vision', 'nonexistent.pkl')])
+    result = _find_driving_pkl(bundle)
+    assert result is not None
+    assert 'driving_tinygrad.pkl' in result
+
+
+# Init — assertion guard
+
+class TestModelStateCombinedInit:
+  def test_asserts_when_no_pkl(self, monkeypatch):
+    bundle = DummyBundle(models=[], is_20hz=True)
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+    with pytest.raises(AssertionError, match="No driving pkl found"):
+      ModelState(cam_w=CAM_W, cam_h=CAM_H)
+
+
+class TestStockEquivalence:
+
+  def test_split_queue_keys_match_stock(self, model_state_factory):
+    from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
+    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip
+
+    state = model_state_factory(ARCHETYPES['vision_policy_split'])
+
+    frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES)
+    stock_queues, stock_npy = make_input_queues(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES, frame_skip,
+                                                device='NPY')
+
+    # TODO-SP: remove action_t skip once SP adds prerequisite for deep models (action_t input queue)
+    skip_keys = {'action_t'}
+    assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
+      f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
+    assert set(state.npy.keys()) == set(stock_npy.keys()) - skip_keys, \
+      f"Npy keys differ: v2={set(state.npy.keys())}, stock={set(stock_npy.keys())}"
+
+  def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
+    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
+
+    policy_shapes_desire = {'features_buffer': (1, 25, 512), 'desire': (1, 25, 8), 'traffic_convention': (1, 2)}
+    frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, policy_shapes_desire)
+    queues, npy = make_split_input_queues(SPLIT_VISION_INPUT_SHAPES, policy_shapes_desire, frame_skip, device='NPY')
+
+    assert 'desire_q' in queues
+    assert 'desire' in npy
+    assert 'img_q' in queues
+    assert 'feat_q' in queues
+
+  def test_split_vision_input_names_match_stock(self, model_state_factory):
+    state = model_state_factory(ARCHETYPES['vision_policy_split'])
+    assert state.vision_input_names == ['img', 'big_img']
+
+  def test_split_output_slices_preserved(self, model_state_factory):
+    arch = ARCHETYPES['vision_policy_split']
+    state = model_state_factory(arch)
+    assert state.vision_output_slices == arch.metadata_structure['vision']['output_slices']
+    assert state.policy_output_slices == arch.metadata_structure['policy']['output_slices']
+
+
+ARCHETYPE_NAMES = list(ARCHETYPES.keys())
+
+
+class TestModelTypeDetection:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_combined_model_type(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state._combined_model_type == arch.expected_model_type, \
+      f"{arch.name}: got {state._combined_model_type}, expected {arch.expected_model_type}"
+
+
+class TestConstantsSelection:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_constants_class(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert type(state.constants) is arch.expected_constants_class, \
+      f"{arch.name}: got {type(state.constants).__name__}, expected {arch.expected_constants_class.__name__}"
+
+
+class TestParserSelection:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_parser_module(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    parser_module = type(state.parser).__module__
+    assert parser_module.endswith(arch.expected_parser_module), \
+      f"{arch.name}: parser from {parser_module}, expected module ending with {arch.expected_parser_module}"
+
+
+class TestDesireKeyDetection:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_desire_key(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state.desire_key == arch.expected_desire_key, \
+      f"{arch.name}: got {state.desire_key}, expected {arch.expected_desire_key}"
+
+
+class TestVisionInputNames:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_vision_names_contain_img(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert len(state.vision_input_names) >= 1
+    for name in state.vision_input_names:
+      assert 'img' in name, f"{arch.name}: vision input name '{name}' missing 'img'"
+
+
+class TestOutputSlices:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_vision_slices_populated(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert len(state.vision_output_slices) > 0, f"{arch.name}: vision_output_slices empty"
+
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_policy_slices_match_type(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    if arch.expected_model_type == 'supercombo':
+      assert state.policy_output_slices == {}, f"{arch.name}: supercombo should have empty policy slices"
+    else:
+      assert len(state.policy_output_slices) > 0, f"{arch.name}: split/multi should have policy slices"
+
+
+class TestInputQueueCreation:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_queues_not_empty(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert len(state.input_queues) > 0, f"{arch.name}: input_queues empty"
+
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_npy_contains_transforms(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert 'tfm' in state.npy, f"{arch.name}: 'tfm' missing from npy"
+    assert 'big_tfm' in state.npy, f"{arch.name}: 'big_tfm' missing from npy"
+    assert state.npy['tfm'].shape == (3, 3)
+    assert state.npy['big_tfm'].shape == (3, 3)
+
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_npy_contains_desire(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert arch.expected_desire_key in state.npy, \
+      f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
+
+
+class TestFrameBufferParams:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_frame_buf_params_per_vision_input(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    for name in state.vision_input_names:
+      assert name in state.frame_buf_params, f"{arch.name}: frame_buf_params missing '{name}'"
+      nv12_info = state.frame_buf_params[name]
+      assert len(nv12_info) >= 4, f"{arch.name}: nv12_info for '{name}' too short"
+
+
+class TestBundleOverrides:
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_smoothing_params_from_overrides(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state.LAT_SMOOTH_SECONDS == 0.1
+    assert state.LONG_SMOOTH_SECONDS == 0.3
+
+  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  def test_generation_from_bundle(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state.generation == 10
+
+
+class TestMlsimProperty:
+  def test_mlsim_false_for_gen10(self, model_state_factory):
+    state = model_state_factory(ARCHETYPES['supercombo_non20hz'])
+    assert state.mlsim is False
+
+  def test_mlsim_true_for_gen11(self, tmp_path, monkeypatch, patch_modeld):
+    from openpilot.system.hardware import hw
+    from openpilot.sunnypilot.modeld_v2.tests.conftest import write_pkl, ARCHETYPES as A
+
+    arch = A['supercombo_non20hz']
+    write_pkl(tmp_path, arch)
+    bundle = DummyBundle(models=arch.model_stubs, is_20hz=arch.is_20hz, generation=11)
+    patch_modeld(bundle)
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    state = ModelState(cam_w=CAM_W, cam_h=CAM_H)
+    assert state.mlsim is True
+
+
+class TestCrossArchetypeMismatch:
+  def test_wrong_is_20hz_changes_constants(self, tmp_path, monkeypatch, patch_modeld):
+    from openpilot.system.hardware import hw
+    from openpilot.sunnypilot.modeld_v2.tests.conftest import write_pkl
+    from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+    arch = ARCHETYPES['vision_policy_split']
+    write_pkl(tmp_path, arch)
+    bundle = DummyBundle(models=arch.model_stubs, is_20hz=False)
+    patch_modeld(bundle)
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    state = ModelState(cam_w=CAM_W, cam_h=CAM_H)
+    assert type(state.constants) is ModelConstants, \
+      "Wrong is_20hz should produce wrong constants class"
diff --git a/sunnypilot/modeld_v2/tests/test_compile_modeld.py b/sunnypilot/modeld_v2/tests/test_compile_modeld.py
new file mode 100644
index 0000000000..f404678516
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_compile_modeld.py
@@ -0,0 +1,161 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import numpy as np
+import pytest
+
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key
+
+
+class TestDeriveFrameSkip:
+  def test_non20hz_supercombo(self):
+    vision = {}
+    policy = {'features_buffer': (1, 99, 512), 'desire': (1, 100, 8)}
+    assert derive_frame_skip(vision, policy) == 1
+
+  def test_20hz_supercombo(self):
+    vision = {}
+    policy = {'features_buffer': (1, 24, 512), 'desire': (1, 25, 8)}
+    assert derive_frame_skip(vision, policy) == 4
+
+  def test_split_vision_policy(self):
+    vision = {'img': (1, 12, 128, 256)}
+    policy = {'features_buffer': (1, 25, 512), 'desire_pulse': (1, 25, 8)}
+    assert derive_frame_skip(vision, policy) == 4
+
+  def test_no_features_buffer(self):
+    assert derive_frame_skip({}, {}) == 1
+
+
+class TestFrameSkipBufferLengthEquivalence:
+  @pytest.mark.parametrize("frame_skip,expected_buffer_length", [
+    (1, 2),
+    (4, 5),
+  ])
+  def test_img_buffer_size_matches_warp_buffer_length(self, frame_skip, expected_buffer_length):
+    n_frames = 2
+    img_buf_dim0 = frame_skip * (n_frames - 1) + 1
+    assert img_buf_dim0 == expected_buffer_length, \
+      f"frame_skip={frame_skip}: img_buf[0]={img_buf_dim0}, expected {expected_buffer_length}"
+
+  @pytest.mark.parametrize("is_20hz,expected_frame_skip,expected_buffer_length", [
+    (False, 1, 2),
+    (True, 4, 5),
+  ])
+  def test_is_20hz_to_frame_skip_to_buffer_length(self, is_20hz, expected_frame_skip, expected_buffer_length):
+    if is_20hz:
+      policy_shapes = {'features_buffer': (1, 24, 512)}
+    else:
+      policy_shapes = {'features_buffer': (1, 99, 512)}
+    frame_skip = derive_frame_skip({}, policy_shapes)
+    assert frame_skip == expected_frame_skip
+
+    n_frames = 2
+    img_buf_dim0 = frame_skip * (n_frames - 1) + 1
+    assert img_buf_dim0 == expected_buffer_length
+
+
+class TestTemporalSamplingEquivalence:
+  def test_non20hz_desire_sampling_identity(self):
+    buf = np.random.randn(100, 1, 8).astype(np.float32)
+    frame_skip = 1
+    sampled = buf[::frame_skip].reshape(-1, 8)
+    assert sampled.shape == (100, 8)
+    np.testing.assert_array_equal(sampled, buf[:, 0, :])
+
+  def test_20hz_desire_sampling_max(self):
+    buf = np.zeros((100, 1, 8), dtype=np.float32)
+    buf[99, 0, 3] = 1.0
+    frame_skip = 4
+    reshaped = buf.reshape(-1, frame_skip, 1, 8).max(axis=1)
+    sampled = reshaped.reshape(-1, 8)
+    assert sampled.shape == (25, 8)
+    assert sampled[24, 3] == 1.0
+    assert sampled[23, 3] == 0.0
+
+  def test_split_features_buffer_sampling_skip(self):
+    buf = np.arange(100 * 512, dtype=np.float32).reshape(100, 1, 512)
+    frame_skip = 4
+    sampled = buf[::frame_skip].reshape(-1, 512)
+    assert sampled.shape == (25, 512)
+    np.testing.assert_array_equal(sampled[0], buf[0, 0])
+    np.testing.assert_array_equal(sampled[1], buf[4, 0])
+    np.testing.assert_array_equal(sampled[24], buf[96, 0])
+
+  def test_non20hz_features_buffer_sampling_identity(self):
+    buf = np.arange(99 * 512, dtype=np.float32).reshape(99, 1, 512)
+    frame_skip = 1
+    sampled = buf[::frame_skip].reshape(-1, 512)
+    assert sampled.shape == (99, 512)
+    np.testing.assert_array_equal(sampled, buf[:, 0, :])
+
+
+class TestTemporalIdxEquivalence:
+  @pytest.mark.parametrize("mode,desire_shape,fb_shape,frame_skip", [
+    ('non20hz', (1, 100, 8), (1, 99, 512), 1),
+    ('20hz', (1, 25, 8), (1, 24, 512), 4),
+    ('split', (1, 25, 8), (1, 25, 512), 4),
+  ])
+  def test_features_buffer_idx_equivalence(self, mode, desire_shape, fb_shape, frame_skip):
+    history = fb_shape[1]
+
+    if mode == 'non20hz':
+      modelstate_idxs = np.arange(history)
+      buf_len = history
+    elif mode == '20hz':
+      buf_len = (history + 1) * 4
+      step = int(-buf_len / history)
+      modelstate_idxs = np.arange(step, step * (history + 1), step)[::-1]
+    elif mode == 'split':
+      buf_len = history * 4
+      skip = buf_len // history
+      modelstate_idxs = np.arange(buf_len)[-1 - (skip * (history - 1))::skip]
+
+    assert len(modelstate_idxs) == fb_shape[1], \
+      f"{mode}: ModelState idx count {len(modelstate_idxs)} != input shape {fb_shape[1]}"
+
+  @pytest.mark.parametrize("mode,desire_shape,fb_shape,frame_skip", [
+    ('non20hz', (1, 100, 8), (1, 99, 512), 1),
+    ('20hz', (1, 25, 8), (1, 24, 512), 4),
+    ('split', (1, 25, 8), (1, 25, 512), 4),
+  ])
+  def test_desire_idx_equivalence(self, mode, desire_shape, fb_shape, frame_skip):
+    history = desire_shape[1]
+
+    compile_desire_buf_len = frame_skip * history if mode != 'non20hz' else history
+    compile_sampled_count = compile_desire_buf_len // frame_skip if frame_skip > 1 else compile_desire_buf_len
+    assert compile_sampled_count == history, \
+      f"{mode}: compile desire samples {compile_sampled_count} != model input {history}"
+
+
+class TestDetectDesireKey:
+  def test_finds_desire(self):
+    shapes = {'features_buffer': (1, 99, 512), 'desire': (1, 100, 8), 'traffic_convention': (1, 2)}
+    assert _detect_desire_key(shapes) == 'desire'
+
+  def test_finds_desire_pulse(self):
+    shapes = {'features_buffer': (1, 25, 512), 'desire_pulse': (1, 25, 8), 'traffic_convention': (1, 2)}
+    assert _detect_desire_key(shapes) == 'desire_pulse'
+
+  def test_returns_none_when_no_desire(self):
+    shapes = {'features_buffer': (1, 99, 512), 'traffic_convention': (1, 2)}
+    assert _detect_desire_key(shapes) is None
+
+
+class TestOutputSlicePreservation:
+  def test_vision_hidden_state_slice_used_for_features(self):
+    mock_slices = {'hidden_state': slice(0, 512), 'plan': slice(512, 1024)}
+    features_slice = mock_slices['hidden_state']
+    fake_output = np.random.randn(1, 1024).astype(np.float32)
+    features = fake_output[:, features_slice]
+    assert features.shape == (1, 512)
+
+  def test_policy_output_slices_independent(self):
+    vision_slices = {'hidden_state': slice(0, 512)}
+    policy_slices = {'plan': slice(0, 495), 'meta': slice(495, 550)}
+    assert set(vision_slices.keys()) & set(policy_slices.keys()) == set(), \
+      "vision and policy slices should not overlap in keys"
diff --git a/sunnypilot/modeld_v2/tests/test_warp.py b/sunnypilot/modeld_v2/tests/test_warp.py
index daf0dd528c..49dc634a4d 100644
--- a/sunnypilot/modeld_v2/tests/test_warp.py
+++ b/sunnypilot/modeld_v2/tests/test_warp.py
@@ -2,7 +2,8 @@ import os
 os.environ['DEV'] = 'CPU'
 import pytest
 import numpy as np
-from openpilot.selfdrive.modeld.compile_warp import get_nv12_info, CAMERA_CONFIGS
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.sunnypilot.modeld_v2.warp import CAMERA_CONFIGS
 from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
 
 VISION_NAME_PAIRS = [  # needed to account for supercombos input_imgs
diff --git a/sunnypilot/modeld_v2/warp.py b/sunnypilot/modeld_v2/warp.py
index fd8be46837..f91e456c00 100644
--- a/sunnypilot/modeld_v2/warp.py
+++ b/sunnypilot/modeld_v2/warp.py
@@ -7,10 +7,43 @@ from tinygrad.engine.jit import TinyJit
 from tinygrad.device import Device
 
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.selfdrive.modeld.compile_warp import (
-  CAMERA_CONFIGS, MEDMODEL_INPUT_SIZE, make_frame_prepare, make_update_both_imgs,
-  warp_pkl_path,
-)
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare as _make_frame_prepare
+
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+  (_os_fisheye.width, _os_fisheye.height),
+]
+
+
+def make_frame_prepare(cam_w, cam_h, model_w, model_h):
+  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+  return _make_frame_prepare(nv12, model_w, model_h)
+
+
+def warp_pkl_path(w, h):
+  from openpilot.selfdrive.modeld.helpers import MODELS_DIR
+  return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
+
+
+def make_update_img_input(frame_prepare, model_w, model_h):
+  def update_img_input_tinygrad(tensor, frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT)
+    new_img = frame_prepare(frame, M_inv)
+    tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
+    return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+  return update_img_input_tinygrad
+
+
+def make_update_both_imgs(frame_prepare, model_w, model_h):
+  update_img = make_update_img_input(frame_prepare, model_w, model_h)
+  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
+                                calib_big_img_buffer, new_big_img, M_inv_big):
+    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
+    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
+    return calib_img_pair, calib_big_img_pair
+  return update_both_imgs_tinygrad
 
 MODELS_DIR = Path(__file__).parent / 'models'
 MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
@@ -58,7 +91,17 @@ def compile_v2_warp(cam_w, cam_h, buffer_length):
   print(f"  Saved to {pkl_path}")
 
   jit = pickle.load(open(pkl_path, "rb"))
-  jit(*inputs)
+  verify_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  verify_big_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  fresh_inputs = [
+    Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
+    Tensor.from_blob(verify_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+    Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
+    Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
+    Tensor.from_blob(verify_big_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+    Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
+  ]
+  jit(*fresh_inputs)
 
 
 class Warp:
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 0b6853da8a..6484f2b444 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -110,13 +110,13 @@ class ModelCache:
 
   def set(self, data: dict) -> None:
     """Updates the cache with new model data"""
-    self.params.put(self._CACHE_KEY, data)
-    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9))
+    self.params.put(self._CACHE_KEY, data, block=True)
+    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9), block=True)
 
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v16.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v17.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 5627080319..c9344f54ef 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 import hashlib
-import os
 import pickle
 import numpy as np
 
@@ -28,16 +27,12 @@ ModelManager = custom.ModelManagerSP
 
 
 async def verify_file(file_path: str, expected_hash: str) -> bool:
-  """Verifies file hash against expected hash"""
-  if not os.path.exists(file_path):
+  from openpilot.common.file_chunker import read_file_chunked
+  try:
+    data = read_file_chunked(file_path)
+  except FileNotFoundError:
     return False
-
-  sha256_hash = hashlib.sha256()
-  with open(file_path, "rb") as file:
-    for chunk in iter(lambda: file.read(4096), b""):
-      sha256_hash.update(chunk)
-
-  return sha256_hash.hexdigest().lower() == expected_hash.lower()
+  return hashlib.sha256(data).hexdigest().lower() == expected_hash.lower()
 
 
 def is_bundle_version_compatible(bundle: dict) -> bool:
@@ -75,32 +70,13 @@ def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundl
   return None
 
 
-def get_active_model_runner(params: Params = None, force_check=False) -> custom.ModelManagerSP.Runner:
-  """
-  Determines and returns the active model runner type, based on provided parameters.
-  The function utilizes caching to prevent redundant calculations and checks.
-
-  If the cached "ModelRunnerTypeCache" exists in the provided parameters and `force_check`
-  is set to False, the cached value is directly returned. Otherwise, the function determines
-  the runner type based on the active model bundle. If a model bundle containing a drive
-  model exists, the runner type is derived based on the filename of the drive model.
-  Finally, it updates the cache with the determined runner type, if needed.
-
-  :param params: The parameter set used to retrieve caching and runner details. If `None`,
-      a default `Params` instance is created internally.
-  :type params: Params
-  :param force_check: A flag indicating whether to bypass cached results and always
-      re-determine the runner type. Defaults to `False`.
-  :type force_check: bool
-  :return: The determined or cached model runner type.
-  :rtype: custom.ModelManagerSP.Runner
-  """
+def get_active_model_runner(params: Params = None, force_check=False) -> int:
   if params is None:
     params = Params()
 
-  if (cached_runner_type := params.get("ModelRunnerTypeCache")) and not force_check:
-    if isinstance(cached_runner_type, str) and cached_runner_type.isdigit():
-      return int(cached_runner_type)
+  cached_runner_type = params.get("ModelRunnerTypeCache")
+  if cached_runner_type is not None and not force_check:
+    return cached_runner_type
 
   runner_type = custom.ModelManagerSP.Runner.stock
 
@@ -108,7 +84,7 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
     runner_type = active_bundle.runner.raw
 
   if cached_runner_type != runner_type:
-    params.put("ModelRunnerTypeCache", int(runner_type))
+    params.put("ModelRunnerTypeCache", int(runner_type), block=True)
 
   return runner_type
 
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 8fee0798b6..b5ccb736c1 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -33,6 +33,17 @@ class ModelManagerSP:
     self._chunk_size = 128 * 1000  # 128 KB chunks
     self._download_start_times: dict[str, float] = {}  # Track start time per model
 
+  def _sync_artifact_progress(self, source_artifact) -> None:
+    """Mirror download progress to all artifacts sharing the same filename in the selected bundle."""
+    if not self.selected_bundle:
+      return
+    for model in self.selected_bundle.models:
+      for artifact in (model.artifact, model.metadata):
+        if artifact is not source_artifact and artifact.fileName == source_artifact.fileName:
+          artifact.downloadProgress.status = source_artifact.downloadProgress.status
+          artifact.downloadProgress.progress = source_artifact.downloadProgress.progress
+          artifact.downloadProgress.eta = source_artifact.downloadProgress.eta
+
   def _calculate_eta(self, filename: str, progress: float) -> int:
     """Calculate ETA based on elapsed time and current progress"""
     if filename not in self._download_start_times or progress <= 0:
@@ -63,7 +74,7 @@ class ModelManagerSP:
             f.write(chunk)
             bytes_downloaded += len(chunk)
 
-            if not self.params.get("ModelManager_DownloadIndex"):
+            if self.params.get("ModelManager_DownloadIndex") is None:
               raise Exception("Download cancelled")
 
             if total_size > 0:
@@ -71,13 +82,55 @@ class ModelManagerSP:
               model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
               model.downloadProgress.progress = progress
               model.downloadProgress.eta = self._calculate_eta(model.fileName, progress)
+              self._sync_artifact_progress(model)
               self._report_status()
 
         # Clean up start time after download completes
         del self._download_start_times[model.fileName]
 
+  async def _download_chunked(self, base_url: str, base_path: str, artifact) -> None:
+    from openpilot.common.file_chunker import get_manifest_path, get_chunk_name
+    manifest_url = get_manifest_path(base_url)
+    manifest_path = get_manifest_path(base_path)
+
+    async with aiohttp.ClientSession() as session:
+      async with session.get(manifest_url) as resp:
+        if resp.status == 404:
+          raise FileNotFoundError
+        resp.raise_for_status()
+        num_chunks = int((await resp.read()).strip())
+
+    self._download_start_times[artifact.fileName] = time.monotonic()
+
+    for i in range(num_chunks):
+      chunk_url = get_chunk_name(base_url, i, num_chunks)
+      chunk_path = get_chunk_name(base_path, i, num_chunks)
+      chunk_downloaded = 0
+      async with aiohttp.ClientSession() as session:
+        async with session.get(chunk_url) as response:
+          response.raise_for_status()
+          chunk_size = int(response.headers.get("content-length", 0))
+          with open(chunk_path, 'wb') as f:
+            async for data in response.content.iter_chunked(self._chunk_size):
+              f.write(data)
+              chunk_downloaded += len(data)
+              if self.params.get("ModelManager_DownloadIndex") is None:
+                raise Exception("Download cancelled")
+              intra = chunk_downloaded / max(chunk_size, 1)
+              progress = min(99, (i + intra) / num_chunks * 100)
+              artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
+              artifact.downloadProgress.progress = progress
+              artifact.downloadProgress.eta = self._calculate_eta(artifact.fileName, progress)
+              self._sync_artifact_progress(artifact)
+              self._report_status()
+
+    with open(manifest_path, 'w') as f:
+      f.write(str(num_chunks))
+    if os.path.isfile(base_path):
+      os.remove(base_path)
+    del self._download_start_times[artifact.fileName]
+
   async def _process_artifact(self, artifact, destination_path: str) -> None:
-    """Processes a single model download including verification"""
     if not artifact.downloadUri.uri:
       return None
 
@@ -87,32 +140,38 @@ class ModelManagerSP:
     full_path = os.path.join(destination_path, filename)
 
     try:
-      # Check existing file
-      if os.path.exists(full_path) and await verify_file(full_path, expected_hash):
+      if await verify_file(full_path, expected_hash):
         artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
         artifact.downloadProgress.progress = 100
         artifact.downloadProgress.eta = 0
+        self._sync_artifact_progress(artifact)
         self._report_status()
         return
 
-      # Download and verify
-      await self._download_file(url, full_path, artifact)
+      try:
+        await self._download_chunked(url, full_path, artifact)
+      except (FileNotFoundError, aiohttp.ClientResponseError):
+        await self._download_file(url, full_path, artifact)
+
       if not await verify_file(full_path, expected_hash):
         raise ValueError(f"Hash validation failed for {filename}")
 
       artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      artifact.downloadProgress.progress = 100
       artifact.downloadProgress.eta = 0
+      self._sync_artifact_progress(artifact)
       self._report_status()
 
     except Exception as e:
       cloudlog.error(f"Error downloading {filename}: {str(e)}")
-      if os.path.exists(full_path):
-        os.remove(full_path)
+      for f in [full_path] + [p for p in (os.path.join(destination_path, f) for f in os.listdir(destination_path)) if filename in p]:
+        if os.path.isfile(f):
+          os.remove(f)
       artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
       artifact.downloadProgress.eta = 0
+      self._sync_artifact_progress(artifact)
       self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
       self._report_status()
-      # Clean up start time if it exists
       self._download_start_times.pop(artifact.fileName, None)
       raise
 
@@ -144,11 +203,22 @@ class ModelManagerSP:
     os.makedirs(destination_path, exist_ok=True)
 
     try:
-      tasks = [self._process_model(model, destination_path) for model in self.selected_bundle.models]
-      await asyncio.gather(*tasks)
+      seen_artifacts: set[str] = set()
+      for model in self.selected_bundle.models:
+        for artifact in (model.metadata, model.artifact):
+          if not artifact.fileName:
+            continue
+          if artifact.fileName in seen_artifacts:
+            artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+            artifact.downloadProgress.progress = 100
+            artifact.downloadProgress.eta = 0
+          else:
+            seen_artifacts.add(artifact.fileName)
+            await self._process_artifact(artifact, destination_path)
+
       self.active_bundle = self.selected_bundle
       self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_dict())
+      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_dict(), block=True)
       self.selected_bundle = None
 
     except Exception:
@@ -206,11 +276,12 @@ class ModelManagerSP:
         if hasattr(model, 'metadata') and model.metadata.fileName:
           active_files.append(model.metadata.fileName)
 
-    # Remove all files except active ones
+    # Remove all files except active ones (including their chunk files)
     model_dir = Paths.model_root()
     try:
       for filename in os.listdir(model_dir):
-        if filename not in active_files:
+        base = filename.split('.chunk')[0] if '.chunk' in filename else filename
+        if base not in active_files and filename not in active_files:
           file_path = os.path.join(model_dir, filename)
           if os.path.isfile(file_path):
             os.remove(file_path)
diff --git a/sunnypilot/models/model_name.py b/sunnypilot/models/model_name.py
index 2d9c549763..02a6c2bac2 100644
--- a/sunnypilot/models/model_name.py
+++ b/sunnypilot/models/model_name.py
@@ -1 +1 @@
-DEFAULT_MODEL = "POP model"
+DEFAULT_MODEL = "CD210"
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index eaf923358c..f363f8309a 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350
\ No newline at end of file
+32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf
\ No newline at end of file