Merge branch 'master' into mqb-long

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -9,7 +9,7 @@ assignees: ''
 **Checklist**
 
 - [ ] added to README
-- [ ] test route added to [test_routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/test/test_models.py)
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 - [ ] car harness used (if comma doesn't sell it, put N/A):

.github/pull_request_template.md

@@ -22,8 +22,8 @@ Route: [a route with the bug fix]
 <!--- ***** Template: Car port *****
 
 **Checklist**
-- [ ] added to README
-- [ ] test route added to [test_routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/test/test_routes.py)
+- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 

.github/workflows/selfdrive_tests.yaml

@@ -69,62 +69,62 @@ jobs:
                           rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
 
-  build_mac:
-    name: build macos
-    runs-on: macos-latest
-    timeout-minutes: 60
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: true
-    - name: Determine pre-existing Homebrew packages
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: |
-        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
-        ls -1 /usr/local/Cellar >> $GITHUB_ENV
-        echo 'EOF' >> $GITHUB_ENV
-    - name: Cache dependencies
-      id: dependency-cache
-      uses: actions/cache@v2
-      with:
-        path: |
-          ~/.pyenv
-          ~/.local/share/virtualenvs/
-          /usr/local/Cellar
-          ~/github_brew_cache_entries.txt
-          /tmp/scons_cache
-        key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
-        restore-keys: macos-
-    - name: Brew link restored dependencies
-      run: |
-        if [ -f ~/github_brew_cache_entries.txt ]; then
-          while read pkg; do
-            brew link --force "$pkg" # `--force` for keg-only packages
-          done < ~/github_brew_cache_entries.txt
-        else
-          echo "Cache entries not found"
-        fi
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-    - name: Build openpilot
-      run: |
-        source tools/openpilot_env.sh
-        pipenv run selfdrive/manager/build.py
-
-        # cleanup scons cache
-        rm -rf /tmp/scons_cache/
-        pipenv run scons -j$(nproc) --cache-populate
-    - name: Remove pre-existing Homebrew packages for caching
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: |
-        cd /usr/local/Cellar
-        new_cellar=$(ls -1)
-        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
-          if [[ $pkg != "zstd" ]]; then # caching step needs zstd
-            rm -rf "$pkg"
-          fi
-        done
-        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+  #build_mac:
+  #  name: build macos
+  #  runs-on: macos-latest
+  #  timeout-minutes: 60
+  #  steps:
+  #  - uses: actions/checkout@v2
+  #    with:
+  #      submodules: true
+  #  - name: Determine pre-existing Homebrew packages
+  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
+  #    run: |
+  #      echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
+  #      ls -1 /usr/local/Cellar >> $GITHUB_ENV
+  #      echo 'EOF' >> $GITHUB_ENV
+  #  - name: Cache dependencies
+  #    id: dependency-cache
+  #    uses: actions/cache@v2
+  #    with:
+  #      path: |
+  #        ~/.pyenv
+  #        ~/.local/share/virtualenvs/
+  #        /usr/local/Cellar
+  #        ~/github_brew_cache_entries.txt
+  #        /tmp/scons_cache
+  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
+  #      restore-keys: macos-
+  #  - name: Brew link restored dependencies
+  #    run: |
+  #      if [ -f ~/github_brew_cache_entries.txt ]; then
+  #        while read pkg; do
+  #          brew link --force "$pkg" # `--force` for keg-only packages
+  #        done < ~/github_brew_cache_entries.txt
+  #      else
+  #        echo "Cache entries not found"
+  #      fi
+  #  - name: Install dependencies
+  #    run: ./tools/mac_setup.sh
+  #  - name: Build openpilot
+  #    run: |
+  #      source tools/openpilot_env.sh
+  #      pipenv run selfdrive/manager/build.py
+  #
+  #      # cleanup scons cache
+  #      rm -rf /tmp/scons_cache/
+  #      pipenv run scons -j$(nproc) --cache-populate
+  #  - name: Remove pre-existing Homebrew packages for caching
+  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
+  #    run: |
+  #      cd /usr/local/Cellar
+  #      new_cellar=$(ls -1)
+  #      comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
+  #        if [[ $pkg != "zstd" ]]; then # caching step needs zstd
+  #          rm -rf "$pkg"
+  #        fi
+  #      done
+  #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
 
   build_webcam:
     name: build webcam
@@ -244,8 +244,8 @@ jobs:
       run: eval "$BUILD"
     - name: Run unit tests
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) --test && \
-                        coverage run selfdrive/test/test_fingerprints.py && \
+        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
+                        scons -j$(nproc) --test && \
                         $UNIT_TEST common && \
                         $UNIT_TEST opendbc/can && \
                         $UNIT_TEST selfdrive/boardd && \
@@ -384,7 +384,7 @@ jobs:
       uses: actions/cache@v2
       with:
         path: /tmp/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/test/test_models.py', 'selfdrive/test/test_routes.py') }}-${{ matrix.job }}
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
     - name: Cache scons
       id: scons-cache
       # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
@@ -402,7 +402,7 @@ jobs:
     - name: Test car models
       run: |
         ${{ env.RUN }} "scons -j$(nproc) --test && \
-                        FILEREADER_CACHE=1 coverage run -m pytest selfdrive/test/test_models.py && \
+                        FILEREADER_CACHE=1 coverage run -m pytest selfdrive/car/tests/test_models.py && \
                         coverage xml && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:

.pylintrc

@@ -54,7 +54,7 @@ confidence=
 # --enable=similarities". If you want to run only the classes checker, but have
 # no Warning level messages displayed, use"--disable=all --enable=classes
 # --disable=W"
-disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
+disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
 
 
 # Enable the message, report, category or checker with the given id(s). You can

Jenkinsfile

@@ -18,13 +18,6 @@ fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
-if [ -f /EON ]; then
-  echo \$\$ > /dev/cpuset/app/tasks || true
-  echo \$PPID > /dev/cpuset/app/tasks || true
-  mkdir -p /dev/shm
-  chmod 777 /dev/shm
-fi
-
 cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0
@@ -57,29 +50,15 @@ pipeline {
   }
 
   stages {
-    stage('build releases') {
+    stage('build release3') {
+      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
       when {
         branch 'devel-staging'
       }
-
-      parallel {
-        stage('release2') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("eon-build", [
-              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-            ])
-          }
-        }
-
-        stage('release3') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici", [
-              ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-            ])
-          }
-        }
+      steps {
+        phone_steps("tici", [
+          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+        ])
       }
     }
 
@@ -101,41 +80,6 @@ pipeline {
           stages {
             stage('parallel tests') {
               parallel {
-                stage('C2: build') {
-                  steps {
-                    phone_steps("eon-build", [
-                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
-                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
-                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
-                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                    ])
-                  }
-                }
-
-                stage('C2: replay') {
-                  steps {
-                    phone_steps("eon2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-                    ])
-                  }
-                }
-
-                stage('C2: HW + Unit Tests') {
-                  steps {
-                    phone_steps("eon", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
-                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
-                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
-                    ])
-                  }
-                }
-
                 /*
                 stage('Power Consumption Tests') {
                   steps {
@@ -157,7 +101,7 @@ pipeline {
                 }
                 */
 
-                stage('C3: build') {
+                stage('build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                   }
@@ -172,7 +116,7 @@ pipeline {
                   }
                 }
 
-                stage('C3: HW + Unit Tests') {
+                stage('HW + Unit Tests') {
                   steps {
                     phone_steps("tici2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -183,17 +127,7 @@ pipeline {
                   }
                 }
 
-                stage('C2: camerad') {
-                  steps {
-                    phone_steps("eon-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-                stage('C3: camerad') {
+                stage('camerad') {
                   steps {
                     phone_steps("tici-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -203,9 +137,9 @@ pipeline {
                   }
                 }
 
-                stage('C3: replay') {
+                stage('replay') {
                   steps {
-                    phone_steps("tici-party", [
+                    phone_steps("tici3", [
                       ["build", "cd selfdrive/manager && ./build.py"],
                       ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
                     ])
@@ -220,7 +154,7 @@ pipeline {
                 branch 'master'
               }
               steps {
-                phone_steps("eon-build", [
+                phone_steps("tici-build", [
                   ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
                 ])
               }

Pipfile

@@ -16,6 +16,7 @@ markdown-it-py = "*"
 matplotlib = "*"
 mypy = "*"
 myst-parser = "*"
+natsort = "*"
 numpy = "*"
 opencv-python-headless = "*"
 parameterized = "*"
@@ -35,6 +36,7 @@ sphinx-rtd-theme = "*"
 breathe = "*"
 subprocess32 = "*"
 tenacity = "*"
+mpld3 = "*"
 
 [packages]
 atomicwrites = "*"

README.md

@@ -41,8 +41,8 @@ Running in a car
 To use openpilot in a car, you need four things
 * This software. It's free and available right here.
 * One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
-* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
-* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
+* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+* A way to connect to your car. With a comma three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With a PC, you also need a [black panda](https://comma.ai/shop/products/panda).
 
 We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
 

RELEASES.md

@@ -1,14 +1,33 @@
-Version 0.8.13 (2022-XX-XX)
+Version 0.8.14 (2022-0X-XX)
+========================
+ * bigmodel!
+ * comma body support
+ * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
+ * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
+ * Toyota Alphard Hybrid 2021 support
+ * Toyota Avalon Hybrid 2022 support
+
+Version 0.8.13 (2022-02-18)
 ========================
  * Improved driver monitoring
- * Roll compensation
+   * Retuned driver pose learner for relaxed driving positions
+   * Added reliance on driving model to be more scene adaptive
+   * Matched strictness between comma two and comma three
+ * Improved performance in turns by compensating for the road bank angle
  * Improved camera focus on the comma two
+ * AGNOS 4
+   * ADB support
+   * improved cell auto configuration
+ * NEOS 19
+   * package updates
+   * stability improvements
  * Subaru ECU firmware fingerprinting thanks to martinl!
  * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
  * Mazda CX-5 2022 support thanks to Jafaral!
  * Subaru Impreza 2020 support thanks to martinl!
  * Toyota Avalon 2022 support thanks to sshane!
  * Toyota Prius v 2017 support thanks to CT921!
+ * Volkswagen Caravelle 2020 support thanks to jyoung8607!
 
 Version 0.8.12 (2021-12-15)
 ========================

SConstruct

@@ -73,14 +73,9 @@ lenv = {
 
 rpath = lenv["LD_LIBRARY_PATH"].copy()
 
-if arch == "aarch64" or arch == "larch64":
+if arch == "larch64":
   lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
 
-  if arch == "aarch64":
-    # android
-    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
-    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
-
   cpppath = [
     "#third_party/opencl/include",
   ]
@@ -89,57 +84,45 @@ if arch == "aarch64" or arch == "larch64":
     "/usr/local/lib",
     "/usr/lib",
     "/system/vendor/lib64",
-    "/system/comma/usr/lib",
     f"#third_party/acados/{arch}/lib",
   ]
 
-  if arch == "larch64":
-    libpath += [
-      "#third_party/snpe/larch64",
-      "#third_party/libyuv/larch64/lib",
-      "/usr/lib/aarch64-linux-gnu"
-    ]
-    cpppath += [
-      "#selfdrive/camerad/include",
-    ]
-    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    rpath += ["/usr/local/lib"]
-  else:
-    rpath = []
-    libpath += [
-      "#third_party/snpe/aarch64",
-      "#third_party/libyuv/lib",
-      "/system/vendor/lib64"
-    ]
-    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+  libpath += [
+    "#third_party/snpe/larch64",
+    "#third_party/libyuv/larch64/lib",
+    "/usr/lib/aarch64-linux-gnu"
+  ]
+  cpppath += [
+    "#selfdrive/camerad/include",
+  ]
+  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  rpath += ["/usr/local/lib"]
 else:
   cflags = []
   cxxflags = []
   cpppath = []
 
+  # MacOS
   if arch == "Darwin":
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
       f"#third_party/libyuv/{yuv_dir}/lib",
-      "/usr/local/lib",
-      "/opt/homebrew/lib",
-      "/usr/local/Homebrew/Library",
-      "/usr/local/opt/openssl/lib",
-      "/opt/homebrew/opt/openssl/lib",
-      "/usr/local/Cellar",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/Library",
+      f"{brew_prefix}/opt/openssl/lib",
+      f"{brew_prefix}/Cellar",
       f"#third_party/acados/{arch}/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [
-      "/opt/homebrew/include",
-      "/usr/local/include",
-      "/usr/local/opt/openssl/include",
-      "/opt/homebrew/opt/openssl/include"
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl/include",
     ]
+  # Linux 86_64
   else:
     libpath = [
       "#third_party/acados/x86_64/lib",
@@ -173,8 +156,8 @@ if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
 # Enable swaglog include in submodules
-cflags += ["-DSWAGLOG"]
-cxxflags += ["-DSWAGLOG"]
+cflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
+cxxflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
 
 env = Environment(
   ENV=lenv,
@@ -261,6 +244,7 @@ if os.environ.get('SCONS_PROGRESS'):
 
 SHARED = False
 
+# TODO: this can probably be removed
 def abspath(x):
   if arch == 'aarch64':
     pth = os.path.join("/data/pythonpath", x[0].path)
@@ -289,9 +273,7 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
-if arch != "aarch64":
-  qt_modules += ["DBus"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -306,15 +288,6 @@ if arch == "Darwin":
   qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
   qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
   qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-elif arch == "aarch64":
-  qt_env['QTDIR'] = "/system/comma/usr"
-  qt_dirs = [
-    f"/system/comma/usr/include/qt",
-  ]
-  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
 else:
   qt_env['QTDIR'] = "/usr"
   qt_dirs = [
@@ -392,7 +365,7 @@ rednose_config = {
   },
 }
 
-if arch not in ["aarch64", "larch64"]:
+if arch != "larch64":
   rednose_config['to_build'].update({
     'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
     'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),

cereal

@@ -1 +1 @@
-Subproject commit 03860ae0b2b8128cae7768e4301d889e627c9275
+Subproject commit 1b342ce4e00cacc0c87f3339cd7696e2ab0e62fe

common/conversions.py

@@ -0,0 +1,19 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592

common/file_helpers.py

@@ -81,25 +81,12 @@ def _get_fileobject_func(writer, temp_dir):
     return writer.get_fileobject(dir=temp_dir)
   return _get_fileobject
 
-def monkeypatch_os_link():
-  # This is neccesary on EON/C2, where os.link is patched out of python
-  if not hasattr(os, 'link'):
-    from cffi import FFI
-    ffi = FFI()
-    ffi.cdef("int link(const char *oldpath, const char *newpath);")
-    libc = ffi.dlopen(None)
-
-    def link(src, dest):
-      return libc.link(src.encode(), dest.encode())
-    os.link = link
-
 def atomic_write_on_fs_tmp(path, **kwargs):
   """Creates an atomic writer using a temporary file in a temporary directory
      on the same filesystem as path.
   """
   # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
   #                 directory.
-  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
 
@@ -108,6 +95,5 @@ def atomic_write_in_dir(path, **kwargs):
   """Creates an atomic writer using a temporary file in the same directory
      as the destination file.
   """
-  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

common/kalman/tests/test_simple_kalman.py

@@ -36,8 +36,8 @@ class TestSimpleKalman(unittest.TestCase):
     self.assertEqual(self.kf.x, [[1.0], [1.0]])
 
   def update_returns_state(self):
-      x = self.kf.update(100)
-      self.assertEqual(x, self.kf.x)
+    x = self.kf.update(100)
+    self.assertEqual(x, self.kf.x)
 
   def test_old_equal_new(self):
     for _ in range(1000):

common/logging_extra.py

@@ -3,6 +3,7 @@ import os
 import sys
 import copy
 import json
+import time
 import uuid
 import socket
 import logging
@@ -11,6 +12,8 @@ from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
 
+LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
+
 def json_handler(obj):
   # if isinstance(obj, (datetime.date, datetime.time)):
   #   return obj.isoformat()
@@ -163,6 +166,15 @@ class SwagLogger(logging.Logger):
     else:
       self.info(evt)
 
+  def timestamp(self, event_name):
+    if LOG_TIMESTAMPS:
+      t = time.monotonic()
+      tstp = NiceOrderedDict()
+      tstp['timestamp'] = NiceOrderedDict()
+      tstp['timestamp']["event"] = event_name
+      tstp['timestamp']["time"] = t*1e9
+      self.debug(tstp)
+
   def findCaller(self, stack_info=False, stacklevel=1):
     """
     Find the stack frame of the caller so that we can note the source
@@ -172,33 +184,33 @@ class SwagLogger(logging.Logger):
     #On some versions of IronPython, currentframe() returns None if
     #IronPython isn't run with -X:Frames.
     if f is not None:
-        f = f.f_back
+      f = f.f_back
     orig_f = f
     while f and stacklevel > 1:
-        f = f.f_back
-        stacklevel -= 1
+      f = f.f_back
+      stacklevel -= 1
     if not f:
-        f = orig_f
+      f = orig_f
     rv = "(unknown file)", 0, "(unknown function)", None
     while hasattr(f, "f_code"):
-        co = f.f_code
-        filename = os.path.normcase(co.co_filename)
-
-        # TODO: is this pylint exception correct?
-        if filename == _srcfile:  # pylint: disable=comparison-with-callable
-            f = f.f_back
-            continue
-        sinfo = None
-        if stack_info:
-            sio = io.StringIO()
-            sio.write('Stack (most recent call last):\n')
-            traceback.print_stack(f, file=sio)
-            sinfo = sio.getvalue()
-            if sinfo[-1] == '\n':
-                sinfo = sinfo[:-1]
-            sio.close()
-        rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
-        break
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
+
+      # TODO: is this pylint exception correct?
+      if filename == _srcfile:  # pylint: disable=comparison-with-callable
+        f = f.f_back
+        continue
+      sinfo = None
+      if stack_info:
+        sio = io.StringIO()
+        sio.write('Stack (most recent call last):\n')
+        traceback.print_stack(f, file=sio)
+        sinfo = sio.getvalue()
+        if sinfo[-1] == '\n':
+          sinfo = sinfo[:-1]
+        sio.close()
+      rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+      break
     return rv
 
 if __name__ == "__main__":

common/numpy_fast.py

@@ -1,6 +1,3 @@
-def int_rnd(x):
-  return int(round(x))
-
 def clip(x, lo, hi):
   return max(lo, min(hi, x))
 

common/realtime.py

@@ -2,9 +2,10 @@
 import gc
 import os
 import time
-import multiprocessing
 from typing import Optional
 
+from setproctitle import getproctitle  # pylint: disable=no-name-in-module
+
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
 from selfdrive.hardware import PC, TICI
 
@@ -56,7 +57,7 @@ class Ratekeeper:
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._process_name = multiprocessing.current_process().name
+    self._process_name = getproctitle()
 
   @property
   def frame(self) -> int:

common/transformations/model.py

@@ -42,18 +42,6 @@ medmodel_intrinsics = np.array([
   [0.0,  0.0,                                   1.0]])
 
 
-# CAL model
-CALMODEL_INPUT_SIZE = (512, 256)
-CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
-CALMODEL_CY = 47.6
-
-calmodel_fl = 606.7
-calmodel_intrinsics = np.array([
-  [calmodel_fl,  0.0,  0.5 * CALMODEL_INPUT_SIZE[0]],
-  [0.0,  calmodel_fl,                   CALMODEL_CY],
-  [0.0,  0.0,                                   1.0]])
-
-
 # BIG model
 BIGMODEL_INPUT_SIZE = (1024, 512)
 BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)

common/window.py

@@ -11,11 +11,18 @@ class Window():
     self.double = double
     self.halve = halve
     if self.double:
-      self.screen = pygame.display.set_mode((w*2, h*2))
+      self.rw, self.rh = w*2, h*2
     elif self.halve:
-      self.screen = pygame.display.set_mode((w//2, h//2))
+      self.rw, self.rh = w//2, h//2
     else:
-      self.screen = pygame.display.set_mode((w, h))
+      self.rw, self.rh = w, h
+    self.screen = pygame.display.set_mode((self.rw, self.rh))
+    pygame.display.flip()
+
+    # hack for xmonad, it shrinks the window by 6 pixels after the display.flip
+    if self.screen.get_width() != self.rw:
+      self.screen = pygame.display.set_mode((self.rw+(self.rw-self.screen.get_width()), self.rh+(self.rh-self.screen.get_height())))
+      pygame.display.flip()
 
   def draw(self, out):
     pygame.event.pump()

docs/CARS.md

@@ -1,184 +1,227 @@
 # Supported Cars
 
-## comma.ai supported cars
-
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord 2018-21                | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord Hybrid 2018-21         | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
-| Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
-| Honda     | Civic Sedan 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
-| Honda     | Civic Sedan 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | CR-V 2017-21                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | e 2020                        | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Freed 2020                    | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
-| Honda     | Passport 2019-21              | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Pilot 2016-21                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
-| Hyundai   | Sonata 2020-22                | All               | Stock            | 0mph               | 0mph              |
-| Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | NX 2018-2019                  | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | NX Hybrid 2018-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RC 2020                       | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2020-21             | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Alphard 2019-20               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Avalon 2022                   | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry 2021-22                 | All               | openpilot        | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2021-22          | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | C-HR 2017-21                  | All               | Stock            | 0mph               | 0mph              |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Corolla 2020-22               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hatchback 2019-22     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hybrid 2020-22        | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander 2020-22            | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2020-22     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Mirai 2021                    | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2021-22                 | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius v 2017                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius Prime 2021-22           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2019-21           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-
-<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
+A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
+
+Cars are organized into three tiers:
+
+- Gold - The best openpilot experience. Great highway driving and beyond.
+- Silver - A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future.
+- Bronze - A good highway experience, but may have limited performance in traffic and on sharp turns.
+
+How We Rate The Cars
+---
+
+### openpilot Adaptive Cruise Control (ACC)
+- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
+- <a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
+- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
+
+### Stop and Go
+- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
+- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
+
+### Steer to 0
+- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
+- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
+
+### Steering Torque
+- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
+- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
+
+### Actively Maintained
+- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
+- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
+
+**All supported cars can move between the tiers as support changes.**
+
+## Gold Cars
+
+|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|
+|comma|body|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G70 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Palisade 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Electric 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Telluride 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|UX Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard Hybrid 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry Hybrid 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Hatchback 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Mirai 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius Prime 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+
+## Silver Cars
+
+|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|
+|Audi|A3 2014-19|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q2 2018|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q3 2020-21|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|S3 2015-17|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G70 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G80 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Kona 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Kona Electric 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Ceed 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Forte 2018-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|K5 2021-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Optima 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Seltos 2021|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Sorento 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Stinger 2018|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|CT Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2016-18|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2016-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-5 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|SEAT|Ateca 2018|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|SEAT|Leon 2014-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2018-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Forester 2019-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2017-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Karoq 2019|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia RS 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Scala 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Superb 2015-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR 2017-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry Hybrid 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Sienna 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf 2015-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2016-18[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Polo 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Tiguan 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Touran 2017|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+
+## Bronze Cars
+
+|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Acura|RDX 2016-18|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Acura|RDX 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G90 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord Hybrid 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic 2016-18|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V 2015-16|Touring|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|e 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Fit 2018-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Freed 2020|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|HR-V 2019-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Insight 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Inspire 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Odyssey 2018-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Passport 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Pilot 2016-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Ridgeline 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Optima 2017|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|IS 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RC 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-9 2021|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Altima 2019-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Leaf 2018-22|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Rogue 2018-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|X-Trail 2017|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Ascent 2019-20|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2020-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2020-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2016-20|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius Prime 2017-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius v 2017|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+
+
+<a id="footnotes"></a>
+<sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>5</sup>An inaccurate steering wheel angle sensor makes precise control difficult. <br />
+<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
 
-## Community Maintained Cars and Features
-
-| Make      | Model (US Market Reference)     | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| --------------------------------| ------------------| -----------------| -------------------| -------------|
-| Audi      | A3 2014-19                      | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Audi      | A3 Sportback e-tron 2017-18     | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Audi      | Q2 2018                         | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Audi      | Q3 2020-21                      | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Audi      | S3 2015                         | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Cadillac  | Escalade ESV 2016<sup>1</sup>   | ACC + LKAS        | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chrysler  | Pacifica 2017-18                | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica 2020                   | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Chrysler  | Pacifica Hybrid 2017-18         | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-21         | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Genesis   | G70 2018                        | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G70 2020                        | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G80 2018                        | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G90 2018                        | All               | Stock            | 0mph               | 0mph         |
-| GMC       | Acadia 2018<sup>1</sup>         | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Hyundai   | Elantra 2017-19                 | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Elantra 2021                    | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Elantra Hybrid 2021             | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Genesis 2015-16                 | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Ioniq Electric 2019             | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Ioniq Electric 2020             | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Ioniq Hybrid 2017-19            | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Ioniq Hybrid 2020-22            | SCC + LFA         | Stock            | 0mph               | 0mph         |
-| Hyundai   | Ioniq PHEV 2020-21              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona 2020                       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona EV 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona Hybrid 2020                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2019-20                | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2021-22                | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe Hybrid 2022            | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe Plug-in Hybrid 2022    | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2018-2019                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata Hybrid 2021-22           | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Veloster 2019-20                | SCC + LKAS        | Stock            | 5mph               | 0mph         |
-| Jeep      | Grand Cherokee 2016-18          | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019-20          | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Ceed 2019                       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Forte 2018-21                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | K5 2021-22                      | SCC + LFA         | Stock            | 0mph               | 0mph         |
-| Kia       | Niro EV 2019-22                 | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Niro Hybrid 2021                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Niro PHEV 2019                  | SCC + LKAS        | Stock            | 10mph              | 32mph        |
-| Kia       | Optima 2017                     | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Kia       | Optima 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Seltos 2021                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018                    | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Telluride 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Mazda     | CX-5 2022                       | All               | Stock            | 0mph               | 0mph         |
-| Mazda     | CX-9 2021                       | All               | Stock            | 0mph               | 28mph        |
-| Nissan    | Altima 2019-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Leaf 2018-22                    | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2018-20                   | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | X-Trail 2017                    | ProPILOT          | Stock            | 0mph               | 0mph         |
-| SEAT      | Ateca 2018                      | Driver Assistance | Stock            | 0mph               | 0mph         |
-| SEAT      | Leon 2014-2020                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Subaru    | Ascent 2019                     | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019-21                | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2017-19                 | EyeSight          | Stock            | 0mph               | 0mph         |
-| Škoda     | Kamiq 2021<sup>2</sup>          | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Karoq 2019                      | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Kodiaq 2018-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Octavia 2015, 2018-19           | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Octavia RS 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Scala 2020                      | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Superb 2015-18                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Arteon 2018, 2021<sup>4</sup>   | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Atlas 2018-19, 2022<sup>4</sup> | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| California 2021<sup>4</sup>     | Driver Assistance | Stock            | 0mph               | 32mph        |
-| Volkswagen| e-Golf 2014, 2019-20            | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf 2015-20                    | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf Alltrack 2017-18           | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf GTE 2016                   | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf GTI 2018-20                | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf R 2016-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf SportsVan 2016             | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf SportWagen 2015            | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Jetta 2018-20                   | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Jetta GLI 2021                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Passat 2016-18<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Polo 2020                       | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| T-Cross 2021<sup>4</sup>        | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| T-Roc 2021<sup>4</sup>          | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Taos 2022<sup>4</sup>           | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Tiguan 2020                     | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Touran 2017                     | Driver Assistance | Stock            | 0mph               | 0mph         |
-
-<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-<sup>2</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>3</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
-<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
-remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
-in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
-Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
-
-To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
-
+## 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/).

docs/SAFETY.md

@@ -22,7 +22,7 @@ Following Hazard and Risk Analysis and FMEA, at a very high level, we have desig
 ensuring two main safety requirements.
 
 1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on either pedal or by pressing the cancel button.
+   by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
    react. This means that while the system is engaged, the actuators are constrained
    to operate within reasonable limits.

docs/assets/icon-star-empty.svg

@@ -0,0 +1,3 @@
+<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" stroke="#B7B7B7"/>
+</svg>

docs/assets/icon-star-full.svg

@@ -0,0 +1,3 @@
+<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" fill="#F5C543" stroke="#F0A43B"/>
+</svg>

docs/assets/icon-star-half.svg

@@ -0,0 +1,5 @@
+<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M12 2V17.27L5.82 21L7.46 13.97L2 9.24L9.19 8.63L12 2Z" fill="#F5C543"/>
+<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" stroke="#B7B7B7"/>
+<path d="M7.33226 18.9192L11 16.7055L12 16.1V17.27L5.82 21L7.46 13.97L2 9.24L9.19 8.63L12 2V4.6L11 6.92203L9.8754 9.57544L4.44617 10.0361L8.57098 13.6094L7.33226 18.9192Z" fill="#F0A43B"/>
+</svg>

docs/conf.py

@@ -56,7 +56,7 @@ myst_html_meta = {
   "property=og:locale": "en_US",
   "property=og:site_name": "docs.comma.ai",
   "property=og:url": "https://docs.comma.ai",
-  "property=og:title": "openpilot Docuemntation",
+  "property=og:title": "openpilot Documentation",
   "property=og:type": "website",
   "property=og:image:type": "image/jpeg",
   "property=og:image:width": "400",

installer/updater/updater

@@ -1,2 +0,0 @@
-#!/usr/bin/bash
-echo "this is a compatability shim for old updaters"

laika_repo

@@ -1 +1 @@
-Subproject commit dec99a0f77328f7a9f104020d98d7227345d1288
+Subproject commit e47ba47de2ad62f3c31cfdffa5aa381557a45d08

launch_chffrplus.sh

@@ -8,110 +8,13 @@ source "$BASEDIR/launch_env.sh"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
-function two_init {
-
-  # set IO scheduler
-  setprop sys.io.scheduler noop
-  for f in /sys/block/*/queue/scheduler; do
-    echo noop > $f
-  done
-
-  # *** shield cores 2-3 ***
-
-  # TODO: should we enable this?
-  # offline cores 2-3 to force recurring timers onto the other cores
-  #echo 0 > /sys/devices/system/cpu/cpu2/online
-  #echo 0 > /sys/devices/system/cpu/cpu3/online
-  #echo 1 > /sys/devices/system/cpu/cpu2/online
-  #echo 1 > /sys/devices/system/cpu/cpu3/online
-
-  # android gets two cores
-  echo 0-1 > /dev/cpuset/background/cpus
-  echo 0-1 > /dev/cpuset/system-background/cpus
-  echo 0-1 > /dev/cpuset/foreground/cpus
-  echo 0-1 > /dev/cpuset/foreground/boost/cpus
-  echo 0-1 > /dev/cpuset/android/cpus
-
-  # openpilot gets all the cores
-  echo 0-3 > /dev/cpuset/app/cpus
-
-  # mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
-  echo 3 | tee  /sys/class/net/*/queues/*/rps_cpus
-  echo 3 | tee  /sys/class/net/*/queues/*/xps_cpus
-
-  # *** set up governors ***
-
-  # +50mW offroad, +500mW onroad for 30% more RAM bandwidth
-  echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
-  echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
-  echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
-
-  # unclear if these help, but they don't seem to hurt
-  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
-  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
-
-  # GPU
-  echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
-
-  # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
-  # it seems to gain nothing but a wasted 500mW
-
-  # *** set up IRQ affinities ***
-
-  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
-  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
-  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
-  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
-  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
-
-  # USB traffic needs realtime handling on cpu 3
-  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
-
-  # GPU and camera get cpu 2
-  CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
-  for irq in $CAM_IRQS; do
-    echo 2 > /proc/irq/$irq/smp_affinity_list
-  done
-  echo 2 > /proc/irq/193/smp_affinity_list # GPU
-
-  # give GPU threads RT priority
-  for pid in $(pgrep "kgsl"); do
-    chrt -f -p 52 $pid
-  done
-
-  # the flippening!
-  LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
-
-  # disable bluetooth
-  service call bluetooth_manager 8
-
-  # wifi scan
-  wpa_cli IFNAME=wlan0 SCAN
-
-  # Check for NEOS update
-  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
-    echo "Installing NEOS update"
-    NEOS_PY="$DIR/selfdrive/hardware/eon/neos.py"
-    MANIFEST="$DIR/selfdrive/hardware/eon/neos.json"
-    $NEOS_PY --swap-if-ready $MANIFEST
-    $DIR/selfdrive/hardware/eon/updater $NEOS_PY $MANIFEST
-  fi
-}
-
 function tici_init {
   # wait longer for weston to come up
   if [ -f "$BASEDIR/prebuilt" ]; then
     sleep 3
   fi
 
-  # setup governors
-  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
-  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
-
   # TODO: move this to agnos
-  # network manager config
-  nmcli connection modify --temporary lte gsm.auto-config yes
-  nmcli connection modify --temporary lte gsm.home-only yes
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 
   # set success flag for current boot slot
@@ -175,9 +78,7 @@ function launch {
   export PYTHONPATH="$PWD:$PWD/pyextra"
 
   # hardware specific init
-  if [ -f /EON ]; then
-    two_init
-  elif [ -f /TICI ]; then
+  if [ -f /TICI ]; then
     tici_init
   fi
 

launch_env.sh

@@ -6,12 +6,8 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
-if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="19.1"
-fi
-
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="3"
+  export AGNOS_VERSION="4"
 fi
 
 if [ -z "$PASSIVE" ]; then

models/README.md

@@ -9,6 +9,12 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
       * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
       * Channel 4 represents the half-res U channel
       * Channel 5 represents the half-res V channel
+* **wide image stream**
+  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
+    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
+      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
+      * Channel 4 represents the half-res U channel
+      * Channel 5 represents the half-res V channel
 * **desire**
   * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8
 * **traffic convention**

models/dmonitoring_model.current

@@ -1,2 +1,2 @@
-4e19be90-bd5b-485d-b79a-2462f7f1b49e
-08f7ec37b78228cd1cb750b6ddb9c6ba1769e911
+a8236e30-5bee-4689-8ea0-fc102e2770e5
+d508c79bae1c1c451f3af3e2bc231ce33678cb43

models/dmonitoring_model.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:895ee32e2a1c77496e015270db475eef65034b25331f2859bac0ccf702f64298
-size 3294407
+oid sha256:00731ebd06fcff7e5837607b91bc56cad3bed5d7ee89052c911c981e8f665308
+size 3679940

models/dmonitoring_model_q.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6e4ac870984d11cd8e86cda4a63e3321fde837bacf4a055a27b7c8ba34facfe2
-size 916079
+oid sha256:667df5e925570a0f6a33dfb890e186a1f13f101885b46db47ec45305737dffb6
+size 1145921

models/supercombo.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:209e9544e456dbc2a7d60490da65154e129bc84830909d8d931f97b3df93949b
-size 56684955
+oid sha256:ba3fe3e61853cc1434e3e220f40c8e9d1f1b9bab8458196ba3bea6a10b82c6ed
+size 72718099

models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2365bae967cce21ce68707c30bf2981bb7081ee5c3e6a3dff793e660f23ff622
-size 57554657
+oid sha256:bda57c1a66944f5a633ecd739a24d62702c717a234f2fdcc499dfa1d61c3c19e
+size 73147489

pyextra/acados_template/acados_layout.json

@@ -5,6 +5,9 @@
     "acados_include_path": [
         "str"
     ],
+    "cython_include_dirs": [
+        "str"
+    ],
     "model": {
          "name" : [
             "str"
@@ -23,7 +26,15 @@
         ],
         "dyn_disc_fun" : [
             "str"
-        ]
+        ],
+        "gnsf" : {
+            "nontrivial_f_LO": [
+                "int"
+            ],
+            "purely_linear": [
+                "int"
+            ]
+        }
     },
     "parameter_values": [
         "ndarray",
@@ -657,6 +668,9 @@
         "hessian_approx": [
             "str"
         ],
+        "hpipm_mode": [
+            "str"
+        ],
         "regularize_method": [
             "str"
         ],
@@ -693,6 +707,18 @@
         "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",
             [

pyextra/acados_template/acados_model.py

@@ -78,6 +78,13 @@ class AcadosModel():
         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
         self.con_h_expr = None  #: CasADi expression for the constraint :math:`h`; Default: :code:`None`

pyextra/acados_template/acados_ocp.py

@@ -270,28 +270,28 @@ class AcadosOcpDims:
 
     @nx.setter
     def nx(self, nx):
-        if type(nx) == int and nx > 0:
+        if isinstance(nx, int) and nx > 0:
             self.__nx = nx
         else:
             raise Exception('Invalid nx value, expected positive integer. Exiting.')
 
     @nz.setter
     def nz(self, nz):
-        if type(nz) == int and nz > -1:
+        if isinstance(nz, int) and nz > -1:
             self.__nz = nz
         else:
             raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
 
     @nu.setter
     def nu(self, nu):
-        if type(nu) == int and nu > -1:
+        if isinstance(nu, int) and nu > -1:
             self.__nu = nu
         else:
             raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
 
     @np.setter
     def np(self, np):
-        if type(np) == int and np > -1:
+        if isinstance(np, int) and np > -1:
             self.__np = np
         else:
             raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
@@ -312,49 +312,49 @@ class AcadosOcpDims:
 
     @ny_e.setter
     def ny_e(self, ny_e):
-        if type(ny_e) == int and ny_e > -1:
+        if isinstance(ny_e, int) and ny_e > -1:
             self.__ny_e = ny_e
         else:
             raise Exception('Invalid ny_e value, expected nonnegative integer. Exiting.')
 
     @nr.setter
     def nr(self, nr):
-        if type(nr) == int and nr > -1:
+        if isinstance(nr, int) and nr > -1:
             self.__nr = nr
         else:
             raise Exception('Invalid nr value, expected nonnegative integer. Exiting.')
 
     @nr_e.setter
     def nr_e(self, nr_e):
-        if type(nr_e) == int and nr_e > -1:
+        if isinstance(nr_e, int) and nr_e > -1:
             self.__nr_e = nr_e
         else:
             raise Exception('Invalid nr_e value, expected nonnegative integer. Exiting.')
 
     @nh.setter
     def nh(self, nh):
-        if type(nh) == int and nh > -1:
+        if isinstance(nh, int) and nh > -1:
             self.__nh = nh
         else:
             raise Exception('Invalid nh value, expected nonnegative integer. Exiting.')
 
     @nh_e.setter
     def nh_e(self, nh_e):
-        if type(nh_e) == int and nh_e > -1:
+        if isinstance(nh_e, int) and nh_e > -1:
             self.__nh_e = nh_e
         else:
             raise Exception('Invalid nh_e value, expected nonnegative integer. Exiting.')
 
     @nphi.setter
     def nphi(self, nphi):
-        if type(nphi) == int and nphi > -1:
+        if isinstance(nphi, int) and nphi > -1:
             self.__nphi = nphi
         else:
             raise Exception('Invalid nphi value, expected nonnegative integer. Exiting.')
 
     @nphi_e.setter
     def nphi_e(self, nphi_e):
-        if type(nphi_e) == int and nphi_e > -1:
+        if isinstance(nphi_e, int) and nphi_e > -1:
             self.__nphi_e = nphi_e
         else:
             raise Exception('Invalid nphi_e value, expected nonnegative integer. Exiting.')
@@ -375,42 +375,42 @@ class AcadosOcpDims:
 
     @nbx_0.setter
     def nbx_0(self, nbx_0):
-        if type(nbx_0) == int and nbx_0 > -1:
+        if isinstance(nbx_0, int) and nbx_0 > -1:
             self.__nbx_0 = nbx_0
         else:
             raise Exception('Invalid nbx_0 value, expected nonnegative integer. Exiting.')
 
     @nbx_e.setter
     def nbx_e(self, nbx_e):
-        if type(nbx_e) == int and nbx_e > -1:
+        if isinstance(nbx_e, int) and nbx_e > -1:
             self.__nbx_e = nbx_e
         else:
             raise Exception('Invalid nbx_e value, expected nonnegative integer. Exiting.')
 
     @nbu.setter
     def nbu(self, nbu):
-        if type(nbu) == int and nbu > -1:
+        if isinstance(nbu, int) and nbu > -1:
             self.__nbu = nbu
         else:
             raise Exception('Invalid nbu value, expected nonnegative integer. Exiting.')
 
     @nsbx.setter
     def nsbx(self, nsbx):
-        if type(nsbx) == int and nsbx > -1:
+        if isinstance(nsbx, int) and nsbx > -1:
             self.__nsbx = nsbx
         else:
             raise Exception('Invalid nsbx value, expected nonnegative integer. Exiting.')
 
     @nsbx_e.setter
     def nsbx_e(self, nsbx_e):
-        if type(nsbx_e) == int and nsbx_e > -1:
+        if isinstance(nsbx_e, int) and nsbx_e > -1:
             self.__nsbx_e = nsbx_e
         else:
             raise Exception('Invalid nsbx_e value, expected nonnegative integer. Exiting.')
 
     @nsbu.setter
     def nsbu(self, nsbu):
-        if type(nsbu) == int and nsbu > -1:
+        if isinstance(nsbu, int) and nsbu > -1:
             self.__nsbu = nsbu
         else:
             raise Exception('Invalid nsbu value, expected nonnegative integer. Exiting.')
@@ -1592,14 +1592,14 @@ class AcadosOcpConstraints:
     # initial x
     @lbx_0.setter
     def lbx_0(self, lbx_0):
-        if type(lbx_0) == np.ndarray:
+        if isinstance(lbx_0, np.ndarray):
             self.__lbx_0 = lbx_0
         else:
             raise Exception('Invalid lbx_0 value. Exiting.')
 
     @ubx_0.setter
     def ubx_0(self, ubx_0):
-        if type(ubx_0) == np.ndarray:
+        if isinstance(ubx_0, np.ndarray):
             self.__ubx_0 = ubx_0
         else:
             raise Exception('Invalid ubx_0 value. Exiting.')
@@ -1613,7 +1613,7 @@ class AcadosOcpConstraints:
 
     @Jbx_0.setter
     def Jbx_0(self, Jbx_0):
-        if type(Jbx_0) == np.ndarray:
+        if isinstance(Jbx_0, np.ndarray):
             self.__idxbx_0 = J_to_idx(Jbx_0)
         else:
             raise Exception('Invalid Jbx_0 value. Exiting.')
@@ -1639,28 +1639,28 @@ class AcadosOcpConstraints:
     # bounds on x
     @lbx.setter
     def lbx(self, lbx):
-        if type(lbx) == np.ndarray:
+        if isinstance(lbx, np.ndarray):
             self.__lbx = lbx
         else:
             raise Exception('Invalid lbx value. Exiting.')
 
     @ubx.setter
     def ubx(self, ubx):
-        if type(ubx) == np.ndarray:
+        if isinstance(ubx, np.ndarray):
             self.__ubx = ubx
         else:
             raise Exception('Invalid ubx value. Exiting.')
 
     @idxbx.setter
     def idxbx(self, idxbx):
-        if type(idxbx) == np.ndarray:
+        if isinstance(idxbx, np.ndarray):
             self.__idxbx = idxbx
         else:
             raise Exception('Invalid idxbx value. Exiting.')
 
     @Jbx.setter
     def Jbx(self, Jbx):
-        if type(Jbx) == np.ndarray:
+        if isinstance(Jbx, np.ndarray):
             self.__idxbx = J_to_idx(Jbx)
         else:
             raise Exception('Invalid Jbx value. Exiting.')
@@ -1668,28 +1668,28 @@ class AcadosOcpConstraints:
     # bounds on u
     @lbu.setter
     def lbu(self, lbu):
-        if type(lbu) == np.ndarray:
+        if isinstance(lbu, np.ndarray):
             self.__lbu = lbu
         else:
             raise Exception('Invalid lbu value. Exiting.')
 
     @ubu.setter
     def ubu(self, ubu):
-        if type(ubu) == np.ndarray:
+        if isinstance(ubu, np.ndarray):
             self.__ubu = ubu
         else:
             raise Exception('Invalid ubu value. Exiting.')
 
     @idxbu.setter
     def idxbu(self, idxbu):
-        if type(idxbu) == np.ndarray:
+        if isinstance(idxbu, np.ndarray):
             self.__idxbu = idxbu
         else:
             raise Exception('Invalid idxbu value. Exiting.')
 
     @Jbu.setter
     def Jbu(self, Jbu):
-        if type(Jbu) == np.ndarray:
+        if isinstance(Jbu, np.ndarray):
             self.__idxbu = J_to_idx(Jbu)
         else:
             raise Exception('Invalid Jbu value. Exiting.')
@@ -1697,28 +1697,28 @@ class AcadosOcpConstraints:
     # bounds on x at shooting node N
     @lbx_e.setter
     def lbx_e(self, lbx_e):
-        if type(lbx_e) == np.ndarray:
+        if isinstance(lbx_e, np.ndarray):
             self.__lbx_e = lbx_e
         else:
             raise Exception('Invalid lbx_e value. Exiting.')
 
     @ubx_e.setter
     def ubx_e(self, ubx_e):
-        if type(ubx_e) == np.ndarray:
+        if isinstance(ubx_e, np.ndarray):
             self.__ubx_e = ubx_e
         else:
             raise Exception('Invalid ubx_e value. Exiting.')
 
     @idxbx_e.setter
     def idxbx_e(self, idxbx_e):
-        if type(idxbx_e) == np.ndarray:
+        if isinstance(idxbx_e, np.ndarray):
             self.__idxbx_e = idxbx_e
         else:
             raise Exception('Invalid idxbx_e value. Exiting.')
 
     @Jbx_e.setter
     def Jbx_e(self, Jbx_e):
-        if type(Jbx_e) == np.ndarray:
+        if isinstance(Jbx_e, np.ndarray):
             self.__idxbx_e = J_to_idx(Jbx_e)
         else:
             raise Exception('Invalid Jbx_e value. Exiting.')
@@ -1742,14 +1742,14 @@ class AcadosOcpConstraints:
 
     @lg.setter
     def lg(self, lg):
-        if type(lg) == np.ndarray:
+        if isinstance(lg, np.ndarray):
             self.__lg = lg
         else:
             raise Exception('Invalid lg value. Exiting.')
 
     @ug.setter
     def ug(self, ug):
-        if type(ug) == np.ndarray:
+        if isinstance(ug, np.ndarray):
             self.__ug = ug
         else:
             raise Exception('Invalid ug value. Exiting.')
@@ -1765,14 +1765,14 @@ class AcadosOcpConstraints:
 
     @lg_e.setter
     def lg_e(self, lg_e):
-        if type(lg_e) == np.ndarray:
+        if isinstance(lg_e, np.ndarray):
             self.__lg_e = lg_e
         else:
             raise Exception('Invalid lg_e value. Exiting.')
 
     @ug_e.setter
     def ug_e(self, ug_e):
-        if type(ug_e) == np.ndarray:
+        if isinstance(ug_e, np.ndarray):
             self.__ug_e = ug_e
         else:
             raise Exception('Invalid ug_e value. Exiting.')
@@ -1780,14 +1780,14 @@ class AcadosOcpConstraints:
     # nonlinear constraints
     @lh.setter
     def lh(self, lh):
-        if type(lh) == np.ndarray:
+        if isinstance(lh, np.ndarray):
             self.__lh = lh
         else:
             raise Exception('Invalid lh value. Exiting.')
 
     @uh.setter
     def uh(self, uh):
-        if type(uh) == np.ndarray:
+        if isinstance(uh, np.ndarray):
             self.__uh = uh
         else:
             raise Exception('Invalid uh value. Exiting.')
@@ -1795,14 +1795,14 @@ class AcadosOcpConstraints:
     # convex-over-nonlinear constraints
     @lphi.setter
     def lphi(self, lphi):
-        if type(lphi) == np.ndarray:
+        if isinstance(lphi, np.ndarray):
             self.__lphi = lphi
         else:
             raise Exception('Invalid lphi value. Exiting.')
 
     @uphi.setter
     def uphi(self, uphi):
-        if type(uphi) == np.ndarray:
+        if isinstance(uphi, np.ndarray):
             self.__uphi = uphi
         else:
             raise Exception('Invalid uphi value. Exiting.')
@@ -1810,14 +1810,14 @@ class AcadosOcpConstraints:
     # nonlinear constraints at shooting node N
     @lh_e.setter
     def lh_e(self, lh_e):
-        if type(lh_e) == np.ndarray:
+        if isinstance(lh_e, np.ndarray):
             self.__lh_e = lh_e
         else:
             raise Exception('Invalid lh_e value. Exiting.')
 
     @uh_e.setter
     def uh_e(self, uh_e):
-        if type(uh_e) == np.ndarray:
+        if isinstance(uh_e, np.ndarray):
             self.__uh_e = uh_e
         else:
             raise Exception('Invalid uh_e value. Exiting.')
@@ -1825,14 +1825,14 @@ class AcadosOcpConstraints:
     # convex-over-nonlinear constraints at shooting node N
     @lphi_e.setter
     def lphi_e(self, lphi_e):
-        if type(lphi_e) == np.ndarray:
+        if isinstance(lphi_e, np.ndarray):
             self.__lphi_e = lphi_e
         else:
             raise Exception('Invalid lphi_e value. Exiting.')
 
     @uphi_e.setter
     def uphi_e(self, uphi_e):
-        if type(uphi_e) == np.ndarray:
+        if isinstance(uphi_e, np.ndarray):
             self.__uphi_e = uphi_e
         else:
             raise Exception('Invalid uphi_e value. Exiting.')
@@ -1841,21 +1841,21 @@ class AcadosOcpConstraints:
     # soft bounds on x
     @lsbx.setter
     def lsbx(self, lsbx):
-        if type(lsbx) == np.ndarray:
+        if isinstance(lsbx, np.ndarray):
             self.__lsbx = lsbx
         else:
             raise Exception('Invalid lsbx value. Exiting.')
 
     @usbx.setter
     def usbx(self, usbx):
-        if type(usbx) == np.ndarray:
+        if isinstance(usbx, np.ndarray):
             self.__usbx = usbx
         else:
             raise Exception('Invalid usbx value. Exiting.')
 
     @idxsbx.setter
     def idxsbx(self, idxsbx):
-        if type(idxsbx) == np.ndarray:
+        if isinstance(idxsbx, np.ndarray):
             self.__idxsbx = idxsbx
         else:
             raise Exception('Invalid idxsbx value. Exiting.')
@@ -1870,28 +1870,28 @@ class AcadosOcpConstraints:
     # soft bounds on u
     @lsbu.setter
     def lsbu(self, lsbu):
-        if type(lsbu) == np.ndarray:
+        if isinstance(lsbu, np.ndarray):
             self.__lsbu = lsbu
         else:
             raise Exception('Invalid lsbu value. Exiting.')
 
     @usbu.setter
     def usbu(self, usbu):
-        if type(usbu) == np.ndarray:
+        if isinstance(usbu, np.ndarray):
             self.__usbu = usbu
         else:
             raise Exception('Invalid usbu value. Exiting.')
 
     @idxsbu.setter
     def idxsbu(self, idxsbu):
-        if type(idxsbu) == np.ndarray:
+        if isinstance(idxsbu, np.ndarray):
             self.__idxsbu = idxsbu
         else:
             raise Exception('Invalid idxsbu value. Exiting.')
 
     @Jsbu.setter
     def Jsbu(self, Jsbu):
-        if type(Jsbu) == np.ndarray:
+        if isinstance(Jsbu, np.ndarray):
             self.__idxsbu = J_to_idx_slack(Jsbu)
         else:
             raise Exception('Invalid Jsbu value. Exiting.')
@@ -1899,28 +1899,28 @@ class AcadosOcpConstraints:
     # soft bounds on x at shooting node N
     @lsbx_e.setter
     def lsbx_e(self, lsbx_e):
-        if type(lsbx_e) == np.ndarray:
+        if isinstance(lsbx_e, np.ndarray):
             self.__lsbx_e = lsbx_e
         else:
             raise Exception('Invalid lsbx_e value. Exiting.')
 
     @usbx_e.setter
     def usbx_e(self, usbx_e):
-        if type(usbx_e) == np.ndarray:
+        if isinstance(usbx_e, np.ndarray):
             self.__usbx_e = usbx_e
         else:
             raise Exception('Invalid usbx_e value. Exiting.')
 
     @idxsbx_e.setter
     def idxsbx_e(self, idxsbx_e):
-        if type(idxsbx_e) == np.ndarray:
+        if isinstance(idxsbx_e, np.ndarray):
             self.__idxsbx_e = idxsbx_e
         else:
             raise Exception('Invalid idxsbx_e value. Exiting.')
 
     @Jsbx_e.setter
     def Jsbx_e(self, Jsbx_e):
-        if type(Jsbx_e) == np.ndarray:
+        if isinstance(Jsbx_e, np.ndarray):
             self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
         else:
             raise Exception('Invalid Jsbx_e value. Exiting.')
@@ -1959,21 +1959,21 @@ class AcadosOcpConstraints:
     # soft bounds on nonlinear constraints
     @lsh.setter
     def lsh(self, lsh):
-        if type(lsh) == np.ndarray:
+        if isinstance(lsh, np.ndarray):
             self.__lsh = lsh
         else:
             raise Exception('Invalid lsh value. Exiting.')
 
     @ush.setter
     def ush(self, ush):
-        if type(ush) == np.ndarray:
+        if isinstance(ush, np.ndarray):
             self.__ush = ush
         else:
             raise Exception('Invalid ush value. Exiting.')
 
     @idxsh.setter
     def idxsh(self, idxsh):
-        if type(idxsh) == np.ndarray:
+        if isinstance(idxsh, np.ndarray):
             self.__idxsh = idxsh
         else:
             raise Exception('Invalid idxsh value. Exiting.')
@@ -1989,21 +1989,21 @@ class AcadosOcpConstraints:
     # soft bounds on convex-over-nonlinear constraints
     @lsphi.setter
     def lsphi(self, lsphi):
-        if type(lsphi) == np.ndarray:
+        if isinstance(lsphi, np.ndarray):
             self.__lsphi = lsphi
         else:
             raise Exception('Invalid lsphi value. Exiting.')
 
     @usphi.setter
     def usphi(self, usphi):
-        if type(usphi) == np.ndarray:
+        if isinstance(usphi, np.ndarray):
             self.__usphi = usphi
         else:
             raise Exception('Invalid usphi value. Exiting.')
 
     @idxsphi.setter
     def idxsphi(self, idxsphi):
-        if type(idxsphi) == np.ndarray:
+        if isinstance(idxsphi, np.ndarray):
             self.__idxsphi = idxsphi
         else:
             raise Exception('Invalid idxsphi value. Exiting.')
@@ -2151,6 +2151,11 @@ class AcadosOcpOptions:
         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'
 
 
     @property
@@ -2161,6 +2166,21 @@ class AcadosOcpOptions:
         """
         return self.__qp_solver
 
+    @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.
@@ -2367,6 +2387,43 @@ class AcadosOcpOptions:
         """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"""
@@ -2500,6 +2557,15 @@ class AcadosOcpOptions:
             raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
                     + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.')
 
+    @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\nExiting.')
+
     @hessian_approx.setter
     def hessian_approx(self, hessian_approx):
         hessian_approxs = ('GAUSS_NEWTON', 'EXACT')
@@ -2524,12 +2590,23 @@ class AcadosOcpOptions:
 
     @time_steps.setter
     def time_steps(self, time_steps):
-        self.__time_steps = 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):
-        self.__shooting_nodes = 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):
@@ -2537,7 +2614,12 @@ class AcadosOcpOptions:
 
     @globalization.setter
     def globalization(self, globalization):
-        self.__globalization = 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\nExiting.')
 
     @alpha_min.setter
     def alpha_min(self, alpha_min):
@@ -2547,10 +2629,38 @@ class AcadosOcpOptions:
     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. Exiting')
+
     @sim_method_num_stages.setter
     def sim_method_num_stages(self, sim_method_num_stages):
 
-        # if type(sim_method_num_stages) == int:
+        # 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. Exiting.')
@@ -2560,7 +2670,7 @@ class AcadosOcpOptions:
     @sim_method_num_steps.setter
     def sim_method_num_steps(self, sim_method_num_steps):
 
-        # if type(sim_method_num_steps) == int:
+        # 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. Exiting.')
@@ -2570,7 +2680,7 @@ class AcadosOcpOptions:
     @sim_method_newton_iter.setter
     def sim_method_newton_iter(self, sim_method_newton_iter):
 
-        if type(sim_method_newton_iter) == int:
+        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. Exiting.')
@@ -2593,7 +2703,7 @@ class AcadosOcpOptions:
 
     @nlp_solver_step_length.setter
     def nlp_solver_step_length(self, nlp_solver_step_length):
-        if type(nlp_solver_step_length) == float and nlp_solver_step_length > 0:
+        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. Exiting')
@@ -2614,7 +2724,7 @@ class AcadosOcpOptions:
 
     @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:
+        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. Exiting')
@@ -2705,21 +2815,21 @@ class AcadosOcpOptions:
     @nlp_solver_max_iter.setter
     def nlp_solver_max_iter(self, nlp_solver_max_iter):
 
-        if type(nlp_solver_max_iter) == int and nlp_solver_max_iter > 0:
+        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. Exiting')
 
     @print_level.setter
     def print_level(self, print_level):
-        if type(print_level) == int and print_level >= 0:
+        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. Exiting')
 
     @model_external_shared_lib_dir.setter
     def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
-        if type(model_external_shared_lib_dir) == str :
+        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.' \
@@ -2727,7 +2837,7 @@ class AcadosOcpOptions:
 
     @model_external_shared_lib_name.setter
     def model_external_shared_lib_name(self, model_external_shared_lib_name):
-        if type(model_external_shared_lib_name) == str :
+        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\nExiting.')
@@ -2805,10 +2915,13 @@ class AcadosOcp:
         self.solver_options = AcadosOcpOptions()
         """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`"""
 		
-        self.acados_include_path = f'{acados_path}/include'
-        """Path to acados include directory, type: string"""
-        self.acados_lib_path = f'{acados_path}/lib'
-        """Path to where acados library is located, type: string"""
+        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`"""
+
+        import numpy
+        self.cython_include_dirs = numpy.get_include()
 
         self.__parameter_values = np.array([])
         self.__problem_class = 'OCP'

pyextra/acados_template/acados_ocp_solver.py

@@ -37,7 +37,7 @@ import os
 import json
 import numpy as np
 from datetime import datetime
-import ctypes
+import importlib
 from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
 
 from copy import deepcopy
@@ -51,9 +51,10 @@ from .generate_c_code_nls_cost import generate_c_code_nls_cost
 from .generate_c_code_external_cost import generate_c_code_external_cost
 from .acados_ocp import AcadosOcp
 from .acados_model import acados_model_strip_casadi_symbolics
-from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
+from .utils import is_column, is_empty, casadi_length, render_template,\
      format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
-     set_up_imported_gnsf_model, get_acados_path, get_ocp_nlp_layout, get_python_interface_path
+     set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path
+from .builders import CMakeBuilder
 
 
 def make_ocp_dims_consistent(acados_ocp):
@@ -90,7 +91,7 @@ def make_ocp_dims_consistent(acados_ocp):
         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
+    ## 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
@@ -132,6 +133,15 @@ def make_ocp_dims_consistent(acados_ocp):
                             f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n')
         dims.ny_0 = ny_0
 
+    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]
@@ -161,6 +171,15 @@ def make_ocp_dims_consistent(acados_ocp):
                             f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
         dims.ny = ny
 
+    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]
@@ -183,6 +202,14 @@ def make_ocp_dims_consistent(acados_ocp):
             raise Exception('inconsistent dimension: regarding W_e, yref_e.')
         dims.ny_e = ny_e
 
+    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
@@ -434,18 +461,14 @@ def make_ocp_dims_consistent(acados_ocp):
         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
-        # delta_time_steps = time_steps[1:] - time_steps[0:-1]
-        # 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(delta_time_steps)-np.min(delta_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
-        time_steps = np.zeros((dims.N,))
-        for i in range(dims.N):
-            time_steps[i] = opts.shooting_nodes[i+1] - opts.shooting_nodes[i] # TODO use commented code above
+        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
 
@@ -525,8 +548,7 @@ def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_n
 
     # strip shooting_nodes
     ocp_nlp_dict['solver_options'].pop('shooting_nodes', None)
-
-    dims_dict = acados_class2dict(acados_ocp.dims)
+    dims_dict = format_class_dict(acados_ocp.dims.__dict__)
 
     ocp_check_against_layout(ocp_nlp_dict, dims_dict)
 
@@ -627,15 +649,25 @@ def ocp_generate_external_functions(acados_ocp, model):
         generate_c_code_external_cost(model, 'terminal', opts)
 
 
-def ocp_render_templates(acados_ocp, json_file):
+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, json_file, cmake_builder=None):
 
     name = acados_ocp.model.name
 
     # setting up loader and environment
-    json_path = os.path.join(os.getcwd(), json_file)
+    json_path = os.path.abspath(json_file)
 
     if not os.path.exists(json_path):
-        raise Exception('{} not found!'.format(json_path))
+        raise Exception(f'Path "{json_path}" not found!')
 
     code_export_dir = acados_ocp.code_export_directory
     template_dir = code_export_dir
@@ -657,9 +689,14 @@ def ocp_render_templates(acados_ocp, json_file):
     out_file = f'acados_solver.pxd'
     render_template(in_file, out_file, template_dir, json_path)
 
-    in_file = 'Makefile.in'
-    out_file = 'Makefile'
-    render_template(in_file, out_file, template_dir, json_path)
+    if cmake_builder is not None:
+        in_file = 'CMakeLists.in.txt'
+        out_file = 'CMakeLists.txt'
+        render_template(in_file, out_file, template_dir, json_path)
+    else:
+        in_file = 'Makefile.in'
+        out_file = 'Makefile'
+        render_template(in_file, out_file, template_dir, json_path)
 
     in_file = 'acados_solver_sfun.in.c'
     out_file = f'acados_solver_sfunction_{name}.c'
@@ -769,21 +806,33 @@ class AcadosOcpSolver:
     """
     Class to interact with the acados ocp solver C object.
 
-        :param acados_ocp: type AcadosOcp - description of the OCP for acados
+        :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
-        dlclose = ctypes.WinDLL('kernel32', use_last_error=True).FreeLibrary
+        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, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True):
+    def generate(cls, acados_ocp, 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)
 
         if simulink_opts is None:
             simulink_opts = get_simulink_default_opts()
@@ -807,24 +856,106 @@ class AcadosOcpSolver:
         # dump to json
         ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file)
 
-        code_export_dir = acados_ocp.code_export_directory
         # render templates
-        ocp_render_templates(acados_ocp, json_file)
+        ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder)
+        acados_ocp.json_file = json_file
 
-        if build:
-          ## Compile solver
-          cwd=os.getcwd()
-          os.chdir(code_export_dir)
-          os.system('make clean_ocp_shared_lib')
-          os.system('make ocp_shared_lib')
-          os.chdir(cwd)
-
-    def __init__(self, model_name, N, code_export_dir):
-        self.model_name = model_name
-        self.N = N
+
+    @classmethod
+    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None):
+        """
+        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`
+        """
+        code_export_dir = os.path.abspath(code_export_dir)
+        cwd=os.getcwd()
+        os.chdir(code_export_dir)
+        if with_cython:
+            os.system('make clean_ocp_cython')
+            os.system('make ocp_cython')
+        else:
+            if cmake_builder is not None:
+                cmake_builder.exec(code_export_dir)
+            else:
+                os.system('make clean_ocp_shared_lib')
+                os.system('make ocp_shared_lib')
+        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, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None):
 
         self.solver_created = False
-        self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{self.model_name}.so'
+        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)
+
+        # prepare library loading
+        lib_prefix = 'lib'
+        lib_ext = '.so'
+        if os.name == 'nt':
+            lib_prefix = ''
+            lib_ext = ''
+        # ToDo: check for mac
+
+        # 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)
@@ -842,6 +973,8 @@ class AcadosOcpSolver:
         # get pointers solver
         self.__get_pointers_solver()
 
+        self.status = 0
+
 
     def __get_pointers_solver(self):
         """
@@ -864,6 +997,10 @@ class AcadosOcpSolver:
         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)
@@ -872,46 +1009,37 @@ class AcadosOcpSolver:
         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)
 
-        # treat parameters separately
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
-        self._set_param = getattr(self.shared_lib, f"{self.model_name}_acados_update_params")
-
-        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
-
-        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
-
-        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_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_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_set.argtypes = \
-            [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
 
     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
-        status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
-        return status
+        self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
+
+        return self.status
+
+
+    def reset(self):
+        """
+        Sets current iterate to all zeros.
+        """
+        getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p]
+        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)
+
+        return
 
 
     def set_new_time_steps(self, new_time_steps):
         """
-        Set new time steps before solving. Only reload library without code generation but with new time steps.
+        Set new time steps.
+        Recreates the solver if N changes.
 
-            :param new_time_steps: vector of new time steps for the solver
+            :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
+            .. 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.
         """
@@ -921,15 +1049,14 @@ class AcadosOcpSolver:
             raise Exception('Solver was not yet created!')
 
         # check if time steps really changed in value
-        if np.array_equal(self.acados_ocp.solver_options.time_steps, new_time_steps):
+        if np.array_equal(self.solver_options['time_steps'], new_time_steps):
             return
 
         N = new_time_steps.size
-        model = self.acados_ocp.model
         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 self.acados_ocp.solver_options.time_steps.size == N:
+        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
@@ -941,11 +1068,6 @@ class AcadosOcpSolver:
             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)
 
-            # store N and new time steps
-            self.N = self.acados_ocp.dims.N = N
-            self.acados_ocp.solver_options.time_steps = new_time_steps
-            self.acados_ocp.solver_options.Tsim = self.acados_ocp.solver_options.time_steps[0]
-
             # 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
@@ -956,6 +1078,75 @@ class AcadosOcpSolver:
             # 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_):
         """
@@ -978,23 +1169,30 @@ class AcadosOcpSolver:
 
         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_
-        field = field.encode('utf-8')
 
-        if (field_ not in out_fields):
+        if (field_ not in all_fields):
             raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
-                    \n Possible values are {}. Exiting.'.format(field_, out_fields))
+                    \n Possible values are {}. Exiting.'.format(field_, all_fields))
 
         if not isinstance(stage_, int):
             raise Exception('AcadosOcpSolver.get(): stage index must be Integer.')
 
         if stage_ < 0 or stage_ > self.N:
-            raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
+            raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(stage_))
 
         if stage_ == self.N and field_ == 'pi':
             raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
                 .format(field_, 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
@@ -1015,6 +1213,11 @@ class AcadosOcpSolver:
         #         [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
 
@@ -1029,6 +1232,7 @@ class AcadosOcpSolver:
             - 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
@@ -1036,19 +1240,18 @@ class AcadosOcpSolver:
         """
         stat = self.get_stats("statistics")
 
-        if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
-            print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter')
-            if stat.shape[0]>7:
+        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('{:d}\t{:e}\t{:e}\t{:e}\t{:e}\t{:d}\t{:d}'.format( \
-                     int(stat[0][jj]), stat[1][jj], stat[2][jj], \
-                     stat[3][jj], stat[4][jj], int(stat[5][jj]), int(stat[6][jj])))
-                if stat.shape[0]>7:
+                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[7][jj], stat[8][jj], stat[9][jj], stat[10][jj]))
+                        stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj]))
             print('\n')
-        elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
+        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')
@@ -1108,6 +1311,7 @@ class AcadosOcpSolver:
         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]))
@@ -1117,62 +1321,99 @@ class AcadosOcpSolver:
         """
         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']
+            :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
         """
 
-        fields = ['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)
+        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',  # cpu time globalization
-                  '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
+                  'time_glob',
+                  'time_solution_sensitivities',
+                  'time_reg'
+        ]
+        fields = double_fields + [
+                  'sqp_iter',
+                  'qp_iter',
+                  'statistics',
                   'stat_m',
-                  'stat_n',]
+                  'stat_n',
+                  'residuals',
+                  'alpha',
+                ]
+        field = field_.encode('utf-8')
 
-        field = field_
-        field = field.encode('utf-8')
-        if (field_ not in fields):
-            raise Exception('AcadosOcpSolver.get_stats(): {} is not a valid argument.\
-                    \n Possible values are {}. Exiting.'.format(fields, fields))
 
         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.acados_ocp.solver_options.nlp_solver_type == 'SQP':
-                out = full_stats[6, :]
-            elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
-                out = full_stats[2, :]
+            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, :]
 
-        else:
-            out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
-            out_data = cast(out.ctypes.data, POINTER(c_double))
+        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")
 
-        if not field_ == 'qp_iter':
-            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)
+        elif field_ == 'residuals':
+            return self.get_residuals()
 
-        return out
+        else:
+            raise Exception(f'AcadosOcpSolver.get_stats(): {field} is not a valid argument.'
+                    + f'\n Possible values are {fields}.')
 
 
     def get_cost(self):
@@ -1196,12 +1437,12 @@ class AcadosOcpSolver:
         return out[0]
 
 
-    def get_residuals(self):
+    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.acados_ocp.solver_options.nlp_solver_type == 'SQP_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)
 
@@ -1230,14 +1471,12 @@ class AcadosOcpSolver:
 
 
     # 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']
+            :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
@@ -1253,6 +1492,7 @@ class AcadosOcpSolver:
         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)):
@@ -1294,18 +1534,25 @@ class AcadosOcpSolver:
             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(self.nlp_config, \
-            #         self.nlp_solver, 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)
         return
 
 
@@ -1364,9 +1611,8 @@ class AcadosOcpSolver:
                 raise Exception("Unknown api: '{}'".format(api))
 
         if value_shape != tuple(dims):
-            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
-                ' for field "{}" with dimension {} (you have {})'.format( \
-                field_, tuple(dims), value_shape))
+            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)
@@ -1433,8 +1679,8 @@ class AcadosOcpSolver:
                 raise Exception("Unknown api: '{}'".format(api))
 
         if value_shape != tuple(dims):
-            raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
-                ' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
+            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)
@@ -1490,11 +1736,21 @@ class AcadosOcpSolver:
         """
         Set options of the solver.
 
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
-            :param value: of type int, float
+            :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']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
+        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
@@ -1522,10 +1778,10 @@ class AcadosOcpSolver:
 
         if field_ == 'rti_phase':
             if value_ < 0 or value_ > 2:
-                raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
+                raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
                     'take only values 0, 1, 2 for SQP-RTI-type solvers')
-            if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
-                raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
+            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

pyextra/acados_template/acados_ocp_solver_fast.py

@@ -1,402 +0,0 @@
-import sys
-import os
-import json
-import numpy as np
-from datetime import datetime
-
-from ctypes import POINTER, CDLL, c_void_p, c_int, cast, c_double, c_char_p
-
-from copy import deepcopy
-
-from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
-from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
-from .generate_c_code_gnsf import generate_c_code_gnsf
-from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics
-from .generate_c_code_constraint import generate_c_code_constraint
-from .generate_c_code_nls_cost import generate_c_code_nls_cost
-from .generate_c_code_external_cost import generate_c_code_external_cost
-from .acados_ocp import AcadosOcp
-from .acados_model import acados_model_strip_casadi_symbolics
-from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
-     format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
-     set_up_imported_gnsf_model, get_acados_path
-
-
-class AcadosOcpSolverFast:
-    dlclose = CDLL(None).dlclose
-    dlclose.argtypes = [c_void_p]
-
-    def __init__(self, model_name, N, code_export_dir):
-
-        self.solver_created = False
-        self.N = N
-        self.model_name = model_name
-
-        self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{model_name}.so'
-
-        # get shared_lib
-        self.shared_lib = CDLL(self.shared_lib_name)
-
-        # create capsule
-        getattr(self.shared_lib, f"{model_name}_acados_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{model_name}_acados_create_capsule")()
-
-        # create solver
-        getattr(self.shared_lib, f"{model_name}_acados_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_create").restype = c_int
-        assert getattr(self.shared_lib, f"{model_name}_acados_create")(self.capsule)==0
-        self.solver_created = True
-
-        # get pointers solver
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").restype = c_void_p
-        self.nlp_opts = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").restype = c_void_p
-        self.nlp_dims = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").restype = c_void_p
-        self.nlp_config = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").restype = c_void_p
-        self.nlp_out = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").restype = c_void_p
-        self.nlp_in = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").restype = c_void_p
-        self.nlp_solver = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver")(self.capsule)
-
-
-    def solve(self):
-        """
-        Solve the ocp with current input.
-        """
-        model_name = self.model_name
-
-        getattr(self.shared_lib, f"{model_name}_acados_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_solve").restype = c_int
-        status = getattr(self.shared_lib, f"{model_name}_acados_solve")(self.capsule)
-        return status
-
-    def cost_set(self, start_stage_, field_, value_, api='warn'):
-      self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
-      return
-
-    def cost_set_slice(self, start_stage_, end_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'
-            :param value: of appropriate size
-        """
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = np.ascontiguousarray(np.copy(value_), dtype=np.float64)
-        field = field_
-        field = field.encode('utf-8')
-        dim = np.product(value_.shape[1:])
-
-        start_stage = c_int(start_stage_)
-        end_stage = c_int(end_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, start_stage_, field, dims_data)
-
-        value_shape = value_.shape
-        expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
-        if len(value_shape) == 2:
-            value_shape = (value_shape[0], value_shape[1], 0)
-
-        elif len(value_shape) == 3:
-            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"
-                                    "  You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) +
-                                    "  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 != expected_shape:
-            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension',
-                            ' for field "{}" with dimension {} (you have {})'.format(
-                               field_, expected_shape, 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_slice.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
-        self.shared_lib.ocp_nlp_cost_model_set_slice(self.nlp_config,
-            self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
-        return
-
-    def constraints_set(self, start_stage_, field_, value_, api='warn'):
-      self.constraints_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
-      return
-
-    def constraints_set_slice(self, start_stage_, end_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']
-            :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')
-        dim = np.product(value_.shape[1:])
-
-        start_stage = c_int(start_stage_)
-        end_stage = c_int(end_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, start_stage_, field, dims_data)
-
-        value_shape = value_.shape
-        expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
-        if len(value_shape) == 2:
-            value_shape = (value_shape[0], value_shape[1], 0)
-        elif len(value_shape) == 3:
-            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"
-                                    "  You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) +
-                                    "  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("Unknown api: '{}'".format(api))
-        if value_shape != expected_shape:
-            raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
-                ' for field "{}" with dimension {} (you have {})'.format(field_, expected_shape, 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_slice.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
-        self.shared_lib.ocp_nlp_constraints_model_set_slice(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
-        return
-
-    # 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']
-
-            .. 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']
-        mem_fields = ['sl', 'su']
-
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        model_name = self.model_name
-
-        field = field_
-        field = field.encode('utf-8')
-
-        stage = c_int(stage_)
-
-        # treat parameters separately
-        if field_ == 'p':
-            getattr(self.shared_lib, f"{model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
-            getattr(self.shared_lib, f"{model_name}_acados_update_params").restype = c_int
-
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-
-            assert getattr(self.shared_lib, f"{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("AcadosOcpSolver.set(): {} is not a valid argument.\
-                    \nPossible values are {}. Exiting.".format(field, \
-                    constraints_fields + cost_fields + out_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 = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
-                msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
-                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)
-        return
-
-
-    def get_slice(self, start_stage_, end_stage_, field_):
-        """
-        Get the last solution of the solver:
-
-            :param start_stage: integer corresponding to shooting node that indicates start of slice
-            :param end_stage: integer corresponding to shooting node that indicates end of slice
-            :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']
-        mem_fields = ['sl', 'su']
-        field = field_
-        field = field.encode('utf-8')
-
-        if (field_ not in out_fields + mem_fields):
-            raise Exception('AcadosOcpSolver.get_slice(): {} is an invalid argument.\
-                    \n Possible values are {}. Exiting.'.format(field_, out_fields))
-
-        if not isinstance(start_stage_, int):
-            raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
-
-        if not isinstance(end_stage_, int):
-            raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
-
-        if start_stage_ >= end_stage_:
-            raise Exception('AcadosOcpSolver.get_slice(): end stage index must be larger than start stage index')
-
-        if start_stage_ < 0 or end_stage_ > self.N + 1:
-            raise Exception('AcadosOcpSolver.get_slice(): stage index must be in [0, N], got: {}.'.format(self.N))
-        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, start_stage_, field)
-
-        out = np.ascontiguousarray(np.zeros((end_stage_ - start_stage_, 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_slice.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get_slice(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, start_stage_, end_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, start_stage_, end_stage_, field, out_data)
-
-        return out
-
-    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]

pyextra/acados_template/acados_ocp_solver_pyx.pyx

@@ -39,21 +39,19 @@ 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 AcadosOcpSolverFast:
+cdef class AcadosOcpSolverCython:
     """
     Class to interact with the acados ocp solver C object.
-
-        :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
     """
 
     cdef acados_solver.nlp_solver_capsule *capsule
@@ -61,19 +59,26 @@ cdef class AcadosOcpSolverFast:
     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 int status
+    cdef bint solver_created
+
     cdef str model_name
     cdef int N
-    cdef bint solver_created
 
-    def __cinit__(self, str model_name, int N, str code_export_dir):
-        self.model_name = model_name
-        self.N = 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()
 
@@ -81,11 +86,21 @@ cdef class AcadosOcpSolverFast:
         assert acados_solver.acados_create(self.capsule) == 0
         self.solver_created = True
 
+        # get pointers solver
+        self.__get_pointers_solver()
+        self.status = 0
+
+
+    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)
 
@@ -97,17 +112,121 @@ cdef class AcadosOcpSolverFast:
         return acados_solver.acados_solve(self.capsule)
 
 
+    def reset(self):
+        """
+        Sets current iterate to all zeros.
+        """
+        return acados_solver.acados_reset(self.capsule)
+
+
     def set_new_time_steps(self, new_time_steps):
         """
-        Set new time steps before solving. Only reload library without code generation but with new time steps.
+        Set new time steps.
+        Recreates the solver if N changes.
 
-            :param new_time_steps: vector of new time steps for the solver
+            :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()
+
+        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_):
@@ -133,14 +252,14 @@ cdef class AcadosOcpSolverFast:
         field = field_.encode('utf-8')
 
         if field_ not in out_fields:
-            raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
+            raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
                     \n Possible values are {}. Exiting.'.format(field_, out_fields))
 
         if stage < 0 or stage > self.N:
-            raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(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('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
+            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,
@@ -168,7 +287,7 @@ cdef class AcadosOcpSolverFast:
             - 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
         """
-        raise NotImplementedError()
+        acados_solver.acados_print_stats(self.capsule)
 
 
     def store_iterate(self, filename='', overwrite=False):
@@ -178,14 +297,50 @@ cdef class AcadosOcpSolverFast:
             :param filename: if not set, use model_name + timestamp + '.json'
             :param overwrite: if false and filename exists add timestamp to filename
         """
-        raise NotImplementedError()
+        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()
+
+        for i in range(self.N+1):
+            solution['x_'+str(i)] = self.get(i,'x')
+            solution['u_'+str(i)] = self.get(i,'u')
+            solution['z_'+str(i)] = self.get(i,'z')
+            solution['lam_'+str(i)] = self.get(i,'lam')
+            solution['t_'+str(i)] = self.get(i, 't')
+            solution['sl_'+str(i)] = self.get(i, 'sl')
+            solution['su_'+str(i)] = self.get(i, 'su')
+        for i in range(self.N):
+            solution['pi_'+str(i)] = self.get(i,'pi')
+
+        # 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.
         """
-        raise NotImplementedError()
+        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_):
@@ -193,8 +348,97 @@ cdef class AcadosOcpSolverFast:
         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
         """
-        raise NotImplementedError()
+
+        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):
@@ -213,11 +457,35 @@ cdef class AcadosOcpSolverFast:
         return out
 
 
-    def get_residuals(self):
+    def get_residuals(self, recompute=False):
         """
         Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
         """
-        raise NotImplementedError()
+        # 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
@@ -243,18 +511,18 @@ cdef class AcadosOcpSolverFast:
         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 double[::1] value
+        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64)
 
         # treat parameters separately
         if field_ == 'p':
-            value = np.ascontiguousarray(value_, dtype=np.double)
-            assert acados_solver.acados_update_params(self.capsule, stage, <double *> &value[0], value.shape[0]) == 0
+            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("AcadosOcpSolver.set(): {} is not a valid argument.\
+                raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
                     \nPossible values are {}. Exiting.".format(field, \
                     constraints_fields + cost_fields + out_fields + ['p']))
 
@@ -262,20 +530,22 @@ cdef class AcadosOcpSolverFast:
                 self.nlp_dims, self.nlp_out, stage, field)
 
             if value_.shape[0] != dims:
-                msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
+                msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_)
                 msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
                 raise Exception(msg)
 
-            value = np.ascontiguousarray(value_, dtype=np.double)
             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[0])
+                    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[0])
+                    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[0])
+                    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)
 
 
     def cost_set(self, int stage, str field_, value_):
@@ -304,9 +574,8 @@ cdef class AcadosOcpSolverFast:
             value = np.asfortranarray(value_)
 
         if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
-            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
-                ' for field "{}" with dimension {} (you have {})'.format( \
-                field_, tuple(dims), value_shape))
+            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])
@@ -338,8 +607,8 @@ cdef class AcadosOcpSolverFast:
             value = np.asfortranarray(value_)
 
         if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
-            raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
-                ' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
+            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])
@@ -361,7 +630,7 @@ cdef class AcadosOcpSolverFast:
         acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
 
         # create output data
-        out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
+        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)
@@ -373,11 +642,21 @@ cdef class AcadosOcpSolverFast:
         """
         Set options of the solver.
 
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
-            :param value: of type int, float
+            :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']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
+        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
@@ -394,10 +673,10 @@ cdef class AcadosOcpSolverFast:
 
             if field_ == 'rti_phase':
                 if value_ < 0 or value_ > 2:
-                    raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
+                    raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
                         'take only values 0, 1, 2 for SQP-RTI-type solvers')
-                if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
-                    raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
+                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_
@@ -418,7 +697,7 @@ cdef class AcadosOcpSolverFast:
             acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
 
         else:
-            raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
+            raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\
                 '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
 
 

pyextra/acados_template/acados_sim.py

@@ -70,28 +70,28 @@ class AcadosSimDims:
 
     @nx.setter
     def nx(self, nx):
-        if type(nx) == int and nx > 0:
+        if isinstance(nx, int) and nx > 0:
             self.__nx = nx
         else:
             raise Exception('Invalid nx value, expected positive integer. Exiting.')
 
     @nz.setter
     def nz(self, nz):
-        if type(nz) == int and nz > -1:
+        if isinstance(nz, int) and nz > -1:
             self.__nz = nz
         else:
             raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
 
     @nu.setter
     def nu(self, nu):
-        if type(nu) == int and nu > -1:
+        if isinstance(nu, int) and nu > -1:
             self.__nu = nu
         else:
             raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
 
     @np.setter
     def np(self, np):
-        if type(np) == int and np > -1:
+        if isinstance(np, int) and np > -1:
             self.__np = np
         else:
             raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
@@ -294,14 +294,15 @@ class AcadosSim:
         self.solver_options = AcadosSimOpts()
         """Solver Options, type :py:class:`acados_template.acados_sim.AcadosSimOpts`"""
 
-        self.acados_include_path = f'{acados_path}/include'
-        """Path to acados include directors (set automatically), type: `string`"""
-        self.acados_lib_path = f'{acados_path}/lib'
+        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.cython_include_dirs = ''
         self.__parameter_values = np.array([])
 
     @property

pyextra/acados_template/acados_sim_solver.py

@@ -47,6 +47,7 @@ from .acados_ocp import AcadosOcp
 from .acados_model import acados_model_strip_casadi_symbolics
 from .utils import is_column, render_template, format_class_dict, np_array_to_list,\
      make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path
+from .builders import CMakeBuilder
 
 
 def make_sim_dims_consistent(acados_sim):
@@ -111,7 +112,17 @@ def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'):
         json.dump(sim_json, f, default=np_array_to_list, indent=4, sort_keys=True)
 
 
-def sim_render_templates(json_file, model_name, code_export_dir):
+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, code_export_dir, cmake_options: CMakeBuilder = None):
     # setting up loader and environment
     json_path = os.path.join(os.getcwd(), json_file)
 
@@ -129,9 +140,15 @@ def sim_render_templates(json_file, model_name, code_export_dir):
     out_file = f'acados_sim_solver_{model_name}.h'
     render_template(in_file, out_file, template_dir, json_path)
 
-    in_file = 'Makefile.in'
-    out_file = f'Makefile'
-    render_template(in_file, out_file, template_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, template_dir, json_path)
+    else:
+        in_file = 'Makefile.in'
+        out_file = 'Makefile'
+        render_template(in_file, out_file, template_dir, json_path)
 
     in_file = 'main_sim.in.c'
     out_file = f'main_sim_{model_name}.c'
@@ -161,15 +178,19 @@ def sim_generate_casadi_functions(acados_sim):
     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 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`
     """
-    def __init__(self, acados_sim_, json_file='acados_sim.json', build=True):
+    def __init__(self, acados_sim_, json_file='acados_sim.json', build=True, cmake_builder: CMakeBuilder = None):
 
         self.solver_created = False
 
@@ -203,21 +224,50 @@ class AcadosSimSolver:
         code_export_dir = acados_sim.code_export_directory
         if build:
             # render templates
-            sim_render_templates(json_file, model_name, code_export_dir)
+            sim_render_templates(json_file, model_name, code_export_dir, cmake_builder)
 
-            ## Compile solver
+            # Compile solver
             cwd = os.getcwd()
+            code_export_dir = os.path.abspath(code_export_dir)
             os.chdir(code_export_dir)
-            os.system('make sim_shared_lib')
+            if cmake_builder is not None:
+                cmake_builder.exec(code_export_dir)
+            else:
+                os.system('make sim_shared_lib')
             os.chdir(cwd)
 
         self.sim_struct = acados_sim
         model_name = self.sim_struct.model.name
         self.model_name = model_name
 
+        # 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 = 'libacados.so'
+        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.')
+
         # Ctypes
-        shared_lib = f'{code_export_dir}/libacados_sim_solver_{model_name}.so'
-        self.shared_lib = CDLL(shared_lib)
+        lib_prefix = 'lib'
+        lib_ext = '.so'
+        if os.name == 'nt':
+            lib_prefix = ''
+            lib_ext = ''
+        self.shared_lib_name = os.path.join(code_export_dir, f'{lib_prefix}acados_sim_solver_{model_name}{lib_ext}')
+        print(f'self.shared_lib_name = "{self.shared_lib_name}"')
+        
+        self.shared_lib = CDLL(self.shared_lib_name)
 
 
         # create capsule

pyextra/acados_template/acados_solver_common.pxd

@@ -95,6 +95,7 @@ cdef extern from "acados_c/ocp_nlp_interface.h":
 
     # 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

pyextra/acados_template/builders.py

@@ -0,0 +1,116 @@
+# -*- coding: future_fstrings -*-
+#
+# 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 call
+
+
+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):
+        """
+        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)
+            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)
+            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)
+            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)

pyextra/acados_template/c_templates_tera/CMakeLists.in.txt

@@ -0,0 +1,374 @@
+#
+# 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.;
+#
+
+{%- 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" %}
+	{%- else %}
+		{%- set link_libs = "" %}
+	{%- endif %}
+{%- endif %}
+
+cmake_minimum_required(VERSION 3.10)
+
+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 %}
+
+# 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  solver_options.integrator_type == "ERK" %}
+    {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
+    {{ model.name }}_model/{{ model.name }}_expl_vde_forw.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" %}
+	{%- if model.dyn_ext_fun_type == "casadi" %}
+    {{ 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 %}
+	{%- else %}
+    {{ model.name }}_model/{{ model.dyn_source_discrete }}
+	{%- endif %}
+{%- 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 == "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 == "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 == "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  }})
+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 }} CACHE PATH "Define the path which contains the include directory for acados.")
+set(ACADOS_LIB_PATH {{ acados_lib_path }} 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 "
+{%- if qp_solver == "FULL_CONDENSING_QPOASES" -%}
+   -DACADOS_WITH_QPOASES
+{%- endif -%}
+{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%}
+   -DACADOS_WITH_OSQP
+{%- endif -%}
+{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%}
+   -DACADOS_WITH_QPDUNES
+{%- endif -%}
+    -fPIC -std=c99 {{ openmp_flag }}")
+#-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" %}
+   ${ACADOS_INCLUDE_PATH}/qpOASES_e/
+{%- endif %}
+)
+
+# linker flags
+link_directories(${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 %}
+

pyextra/acados_template/c_templates_tera/Makefile.in

@@ -125,134 +125,134 @@
 	{%- endif %}
 {%- endif %}
 
-{# acados flags #}
-ACADOS_FLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-ACADOS_FLAGS += -DACADOS_WITH_QPOASES
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
-ACADOS_FLAGS += -DACADOS_WITH_OSQP
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
-ACADOS_FLAGS += -DACADOS_WITH_QPDUNES
-{%- endif %}
-# # Debugging
-# ACADOS_FLAGS += -g3
+# define sources and use make's implicit rules to generate object files (*.o)
 
-MODEL_OBJ=
+# model
+MODEL_SRC=
 {%- if  solver_options.integrator_type == "ERK" %}
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.o
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.o
-{%- if hessian_approx == "EXACT" %}
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.o
-{%- endif %}
+MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
+MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
+	{%- if hessian_approx == "EXACT" %}
+MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
+	{%- endif %}
 {%- elif solver_options.integrator_type == "IRK" %}
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.o
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.o
-{%- if hessian_approx == "EXACT" %}
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
-{%- endif %}
+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_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.o
-{%- if hessian_approx == "EXACT" %}
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
-{%- endif %}
+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" %}
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.o
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.o
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.o
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.o
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.o
+	{% 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" %}
-{%- if model.dyn_ext_fun_type == "casadi" %}
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.o
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.o
-{%- if hessian_approx == "EXACT" %}
-MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.o
-{%- endif %}
-{%- else %}
-MODEL_OBJ+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
-{%- endif %}
+	{%- if model.dyn_ext_fun_type == "casadi" %}
+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 %}
+	{%- else %}
+MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
+	{%- endif %}
 {%- endif %}
+MODEL_OBJ := $(MODEL_SRC:.c=.o)
 
-
-OCP_OBJ=
+# optimal control problem - mostly CasADi exports
+OCP_SRC=
 {%- if constr_type == "BGP" and dims_nphi > 0 %}
-OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.o
+OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
 {%- endif %}
 {%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.o
+OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
 {%- endif %}
 
 {%- if constr_type == "BGH" and dims_nh > 0 %}
-OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.o
-OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.o
-{%- if hessian_approx == "EXACT" %}
-OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.o
-{%- endif %}
+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_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.o
-OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.o
-{%- if hessian_approx == "EXACT" %}
-OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.o
-{%- endif %}
+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_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
+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 == "EXTERNAL" %}
-{% if cost.cost_ext_fun_type_0 == "casadi" %}
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
-{% else %}
-OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
-{% endif %}
+	{%- 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_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
+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 == "EXTERNAL" %}
-{% if cost.cost_ext_fun_type == "casadi" %}
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
-OCP_OBJ+= {{ 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_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
-{% endif %}
+	{%- 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_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
+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 == "EXTERNAL" %}
-{% if cost.cost_ext_fun_type_e == "casadi" %}
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
-OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
-OCP_OBJ+= {{ 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_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
-{% endif %}
+	{%- 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 %}
-OCP_OBJ+= acados_solver_{{ model.name }}.o
+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)
 
-SIM_OBJ=
-SIM_OBJ+= acados_sim_solver_{{ model.name }}.o
+# for target example
+EX_SRC= main_{{ model.name }}.c
+EX_OBJ := $(EX_SRC:.c=.o)
+EX_EXE := $(EX_SRC:.c=)
 
-EX_OBJ=
-EX_OBJ+= main_{{ model.name }}.o
-
-EX_SIM_OBJ=
-EX_SIM_OBJ+= main_sim_{{ model.name }}.o
+# 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" %}
@@ -271,233 +271,103 @@ EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
 INCLUDE_PATH = {{ acados_include_path }}
 LIB_PATH = {{ acados_lib_path }}
 
-{%- if solver_options.integrator_type == "DISCRETE" %}
-all: clean casadi_fun example
-shared_lib: ocp_shared_lib
-{%- else %}
-all: clean casadi_fun example_sim example
-shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
-{%- endif %}
-
-CASADI_MODEL_SOURCE=
-{%- if solver_options.integrator_type == "ERK" %}
-CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_fun.c
-CASADI_MODEL_SOURCE+= {{ model.name }}_expl_vde_forw.c
-{%- if hessian_approx == "EXACT" %}
-CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_hess.c
-{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
-CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-{%- if hessian_approx == "EXACT" %}
-CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
-{%- endif %}
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
-# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
-{%- if hessian_approx == "EXACT" %}
-CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun.c
-CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun_jac_y.c
-CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_jac_y_uhat.c
-CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
-CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_get_matrices_fun.c
-{%- elif solver_options.integrator_type == "DISCRETE" and model.dyn_ext_fun_type == "casadi" %}
-CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun.c
-CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac.c
-{%- if hessian_approx == "EXACT" %}
-CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac_hess.c
-{%- endif %}
-{%- endif %}
-{%- if constr_type == "BGP" and dims_nphi > 0 %}
-CASADI_CON_PHI_SOURCE=
-CASADI_CON_PHI_SOURCE+= {{ model.name }}_phi_constraint.c
-{%- endif %}
-{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-CASADI_CON_PHI_E_SOURCE=
-CASADI_CON_PHI_E_SOURCE+= {{ model.name }}_phi_e_constraint.c
-{%- endif %}
-{%- if constr_type == "BGH" and dims_nh > 0 %}
-CASADI_CON_H_SOURCE=
-CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt.c
-CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun.c
-{%- if hessian_approx == "EXACT" %}
-CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
-{%- endif %}
-{%- endif %}
-
-{%- if dims_nh_e > 0 %}
-CASADI_CON_H_E_SOURCE=
-CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
-CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun.c
-{%- if hessian_approx == "EXACT" %}
-CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
-{%- endif %}
-{%- endif %}
-
-{%- if cost_type == "NONLINEAR_LS" %}
-CASADI_COST_Y_SOURCE=
-CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun.c
-CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun_jac_ut_xt.c
-CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_hess.c
-{%- endif %}
-{%- if cost_type_e == "NONLINEAR_LS" %}
-CASADI_COST_Y_E_SOURCE=
-CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun.c
-CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_hess.c
+# preprocessor flags for make's implicit rules
+{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
+CPPFLAGS += -DACADOS_WITH_QPOASES
 {%- endif %}
-{%- if cost_type_0 == "NONLINEAR_LS" %}
-CASADI_COST_Y_0_SOURCE=
-CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun.c
-CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_hess.c
+{%- 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 %}
+
+{# c-compiler flags #}
+# define the c-compiler flags for make's implicit rules
+CFLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
+# # Debugging
+# CFLAGS += -g3
 
-casadi_fun:
-	{%- if model.dyn_ext_fun_type == "casadi" %}
-	( cd {{ model.name }}_model {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_MODEL_SOURCE))
-	{%- endif %}
-	{%- if constr_type == "BGP" and dims_nphi > 0 %}
-	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_SOURCE))
-	{%- endif %}
-	{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_E_SOURCE))
-	{%- endif %}
-	{%- if constr_type == "BGH" and dims_nh > 0 %}
-	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_SOURCE))
-	{%- endif %}
-	{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
-	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_E_SOURCE))
-	{%- endif %}
-	{%- if cost_type == "NONLINEAR_LS" %}
-	( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_SOURCE))
-	{%- endif %}
-	{%- if cost_type_e == "NONLINEAR_LS" %}
-	( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_E_SOURCE))
-	{%- endif %}
-	{%- if cost_type_0 == "NONLINEAR_LS" %}
-	( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_0_SOURCE))
-	{%- endif %}
-
-main:
-	gcc $(ACADOS_FLAGS) -c main_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-	-I $(INCLUDE_PATH)/qpOASES_e/
-	{%- endif %}
+# linker flags
+LDFLAGS+= -L$(LIB_PATH)
 
-main_sim:
-	gcc $(ACADOS_FLAGS) -c main_sim_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/
+# link to libraries
+LDLIBS+= -lacados
+LDLIBS+= -lhpipm
+LDLIBS+= -lblasfeo
+LDLIBS+= -lm
+LDLIBS+= {{ link_libs }}
 
-ocp_solver:
-	gcc $(ACADOS_FLAGS) -c acados_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-	-I $(INCLUDE_PATH)/qpOASES_e/
-	{%- endif %}
+# libraries
+LIBACADOS_SOLVER=libacados_solver_{{ model.name }}.so
+LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}.so
+LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
 
-sim_solver:
-	gcc $(ACADOS_FLAGS) -c acados_sim_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-	-I $(INCLUDE_PATH)/qpOASES_e/
-	{%- endif %}
+# virtual targets
+.PHONY : all clean
 
-example: ocp_solver main
-	gcc $(ACADOS_FLAGS) -o main_{{ model.name }} $(EX_OBJ) $(OBJ) -L $(LIB_PATH) \
-	-lacados -lhpipm -lblasfeo \
-	{{ link_libs }} \
-	-lm \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	-I $(INCLUDE_PATH)/acados/ \
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-	-I $(INCLUDE_PATH)/qpOASES_e/
-	{%- endif %}
-
-
-example_sim: sim_solver main_sim
-	gcc $(ACADOS_FLAGS) -o main_sim_{{ model.name }} $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) -L $(LIB_PATH) \
-	-lacados -lhpipm -lblasfeo \
-	{{ link_libs }} \
-	-lm \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/acados/ \
+#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 %}
 
-{%- if solver_options.integrator_type != "DISCRETE" %}
+# some linker targets
+example: $(EX_OBJ) $(OBJ)
+	$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
 
-bundled_shared_lib: casadi_fun ocp_solver sim_solver
-	gcc $(ACADOS_FLAGS) -shared -o libacados_solver_{{ model.name }}.so $(OBJ) \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	-L $(LIB_PATH) \
-	-lacados -lhpipm -lblasfeo \
-	{{ link_libs }} \
-	-lm \
+example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
+	$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
 
-ocp_shared_lib: casadi_fun ocp_solver
-	gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
-	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
-	{{ link_libs }} \
-	-lm \
+{% if solver_options.integrator_type != "DISCRETE" -%}
+bundled_shared_lib: $(OBJ)
+	$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
+{%- endif %}
 
-{%- else %}
+ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
+	$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
+	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
 
-ocp_shared_lib: casadi_fun ocp_solver
-	gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
-	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
-	{{ link_libs }} \
-	-lm \
+sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
+	$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
 
-{%- endif %}
 
+# 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
-	clang $(ACADOS_FLAGS) -c -O2 \
+	$(CC) $(ACADOS_FLAGS) -c -O2 \
+	-fPIC \
 	-o acados_ocp_solver_pyx.o \
 	-I /usr/include/python3.8 \
 	-I $(INCLUDE_PATH)/blasfeo/include/ \
 	-I $(INCLUDE_PATH)/hpipm/include/ \
 	-I $(INCLUDE_PATH) \
+	-I {{ cython_include_dirs }} \
 	acados_ocp_solver_pyx.c \
 
 ocp_cython: ocp_cython_o
-	clang $(ACADOS_FLAGS) -shared \
+	$(CC) $(ACADOS_FLAGS) -shared \
 	-o acados_ocp_solver_pyx.so \
 	-Wl,-rpath=$(LIB_PATH) \
 	acados_ocp_solver_pyx.o \
 	$(abspath .)/libacados_ocp_solver_{{ model.name }}.so \
-	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo -lqpOASES_e \
-	{{ link_libs }} \
-	-lm \
-
-sim_shared_lib: casadi_fun sim_solver
-	gcc $(ACADOS_FLAGS) -shared -o libacados_sim_solver_{{ model.name }}.so $(SIM_OBJ) $(MODEL_OBJ) -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
-	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
-	{{ link_libs }} \
-	-lm \
+	$(LDFLAGS) $(LDLIBS)
 
 {%- if os and os == "pc" %}
 
@@ -510,15 +380,27 @@ clean_ocp_shared_lib:
 	del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
 	del \Q acados_solver_{{ model.name }}.o 2>nul
 
+clean_ocp_cython:
+	del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
+	del \Q acados_solver_{{ model.name }}.o 2>nul
+	del \Q acados_ocp_solver_pyx.so 2>nul
+	del \Q acados_ocp_solver_pyx.o 2>nul
+
 {%- else %}
 
 clean:
-	rm -f *.o
-	rm -f *.so
-	rm -f main_{{ model.name }}
+	$(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 -f libacados_ocp_solver_{{ model.name }}.so
-	rm -f acados_solver_{{ model.name }}.o
+	$(RM) $(LIBACADOS_OCP_SOLVER)
+	$(RM) $(OCP_OBJ)
+
+clean_ocp_cython:
+	$(RM) libacados_ocp_solver_{{ model.name }}.so
+	$(RM) acados_solver_{{ model.name }}.o
+	$(RM) acados_ocp_solver_pyx.so
+	$(RM) acados_ocp_solver_pyx.o
 
 {%- endif %}

pyextra/acados_template/c_templates_tera/acados_mex_create.in.c

@@ -63,7 +63,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     mexPrintf("{{ model.name }}_acados_create() -> success!\n");
 
     // get pointers to nlp solver related objects
-    ocp_nlp_plan *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
+    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);
@@ -238,14 +238,18 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     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" %}

pyextra/acados_template/c_templates_tera/acados_mex_set.in.c

@@ -69,7 +69,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
     // plan
     ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
-    ocp_nlp_plan *plan = (ocp_nlp_plan *) ptr[0];
+    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];
@@ -404,7 +404,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     }
     else if (!strcmp(field, "init_z"))
     {
-        sim_solver_plan sim_plan = plan->sim_solver_plan[0];
+        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
         sim_solver_t type = sim_plan.sim_solver;
         if (type == IRK)
         {
@@ -426,7 +426,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     }
     else if (!strcmp(field, "init_xdot"))
     {
-        sim_solver_plan sim_plan = plan->sim_solver_plan[0];
+        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
         sim_solver_t type = sim_plan.sim_solver;
         if (type == IRK)
         {
@@ -448,7 +448,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     }
     else if (!strcmp(field, "init_gnsf_phi"))
     {
-        sim_solver_plan sim_plan = plan->sim_solver_plan[0];
+        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
         sim_solver_t type = sim_plan.sim_solver;
         if (type == GNSF)
         {

pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c

@@ -164,12 +164,17 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
 {%- endif %}
 
     {% elif solver_options.integrator_type == "GNSF" -%}
+  {% if model.gnsf.purely_linear != 1 %}
     capsule->sim_gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
     capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
     capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+  {% if model.gnsf.nontrivial_f_LO == 1 %}
     capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+  {%- endif %}
+  {%- endif %}
     capsule->sim_gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
 
+  {% 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;
@@ -194,6 +199,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
     external_function_param_casadi_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;
@@ -201,6 +207,8 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     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_casadi_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;
@@ -212,7 +220,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     {% endif %}
 
     // sim plan & config
-    sim_solver_plan plan;
+    sim_solver_plan_t plan;
     plan.sim_solver = {{ solver_options.integrator_type }};
 
     // create correct config based on plan
@@ -307,14 +315,18 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
                 "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 %}
@@ -409,10 +421,14 @@ int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
     external_function_param_casadi_free(capsule->sim_expl_ode_hess);
 {%- endif %}
 {%- elif solver_options.integrator_type == "GNSF" %}
+  {% if model.gnsf.purely_linear != 1 %}
     external_function_param_casadi_free(capsule->sim_gnsf_phi_fun);
     external_function_param_casadi_free(capsule->sim_gnsf_phi_fun_jac_y);
     external_function_param_casadi_free(capsule->sim_gnsf_phi_jac_y_uhat);
+  {% if model.gnsf.nontrivial_f_LO == 1 %}
     external_function_param_casadi_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
+  {%- endif %}
+  {%- endif %}
     external_function_param_casadi_free(capsule->sim_gnsf_get_matrices_fun);
 {% endif %}
 
@@ -445,10 +461,14 @@ int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, doubl
     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 %}
 

pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h

@@ -80,21 +80,21 @@ typedef struct sim_solver_capsule
 } sim_solver_capsule;
 
 
-int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
-int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
-int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
-int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
+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);
 
-sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
-sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
-sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
-void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
-sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
-sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
+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);
 
 
-sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
-int {{ model.name }}_acados_sim_solver_free_capsule(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
 }

pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c

@@ -37,7 +37,7 @@
 #define MDL_START
 
 // acados
-#include "acados/utils/print.h"
+// #include "acados/utils/print.h"
 #include "acados_c/ocp_nlp_interface.h"
 #include "acados_c/external_function_interface.h"
 

pyextra/acados_template/c_templates_tera/acados_solver.in.h

@@ -34,6 +34,8 @@
 #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"
 
@@ -78,9 +80,10 @@ 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 *nlp_solver_plan;
+    ocp_nlp_plan_t *nlp_solver_plan;
     ocp_nlp_config *nlp_config;
     ocp_nlp_dims *nlp_dims;
 
@@ -171,33 +174,41 @@ typedef struct {{ model.name }}_solver_capsule
 
 } {{ model.name }}_solver_capsule;
 
-{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
-int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *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 {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
 /**
  * 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.
  */
-int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
+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.
  */
-int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
-int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
-int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
-int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
-void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
-
-ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
-ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
-ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
-ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
-void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
-ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
-ocp_nlp_plan *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
+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_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 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" */

pyextra/acados_template/c_templates_tera/acados_solver.in.pxd

@@ -1,3 +1,36 @@
+#
+# 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.;
+#
+
 cimport acados_solver_common
 
 cdef extern from "acados_solver_{{ model.name }}.h":
@@ -8,13 +41,20 @@ cdef extern from "acados_solver_{{ model.name }}.h":
     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_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
+    int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule)
     int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
     void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule)
 
     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)

pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c

@@ -37,7 +37,7 @@
 #define MDL_START
 
 // acados
-#include "acados/utils/print.h"
+// #include "acados/utils/print.h"
 #include "acados_c/sim_interface.h"
 #include "acados_c/external_function_interface.h"
 
@@ -126,10 +126,14 @@ static void mdlInitializeSizes (SimStruct *S)
   {%- 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 #}
+  {%- 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 #}
+  {%- 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 -%}
 
@@ -256,7 +260,7 @@ static void mdlInitializeSizes (SimStruct *S)
     ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }});
   {%- endif %}
 
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
+  {%- 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 }});
@@ -268,6 +272,12 @@ static void mdlInitializeSizes (SimStruct *S)
     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
@@ -406,13 +416,13 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     {%- 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 #}
+  {%- 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 #}
+  {%- 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 #}
+  {%- 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 %}
 
@@ -602,7 +612,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
         ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer);
   {%- endif -%}
 
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {# cost_W_0 #}
+  {%- 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 }});
@@ -612,7 +622,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     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 #}
+  {%- 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 }});
@@ -633,6 +643,17 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.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);
+    }
+  {%- endif %}
+
   {%- if simulink_opts.inputs.x_init %}  {#- x_init #}
     // x_init
     {%- set i_input = i_input + 1 %}

pyextra/acados_template/c_templates_tera/main.in.c

@@ -156,11 +156,12 @@ int main()
     for (int ii = 0; ii < NTIMINGS; ii++)
     {
         // initialize solution
-        for (int i = 0; i <= nlp_dims->N; i++)
+        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);

pyextra/acados_template/c_templates_tera/make_sfun.in.m

@@ -46,10 +46,14 @@ SOURCES = { ...
             '{{ 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',...
@@ -260,6 +264,11 @@ input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major forma
 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 ');
+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 ');
 i_in = i_in + 1;

pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m

@@ -47,10 +47,14 @@ SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
             '{{ 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 %}
           ];

pyextra/acados_template/c_templates_tera/mex_solver.in.m

@@ -125,15 +125,15 @@ classdef {{ model.name }}_mex_solver < handle
             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');
-                if size(stat,2)>7
+                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', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
-                    if size(stat,2)>7
-                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,8), stat(jj,9), stat(jj,10), stat(jj,11));
+                    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

pyextra/acados_template/c_templates_tera/model.in.h

@@ -90,14 +90,7 @@ int {{ model.name }}_impl_dae_hess_n_out(void);
 
 {% elif solver_options.integrator_type == "GNSF" %}
 /* GNSF Functions */
-// 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);
-
+	{% 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 *);
@@ -121,7 +114,7 @@ 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 *);
@@ -129,6 +122,15 @@ 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 */

pyextra/acados_template/generate_c_code_discrete_dynamics.py

@@ -32,12 +32,12 @@
 #
 
 import os
-from casadi import *
+import casadi as ca
 from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning
 
 def generate_c_code_discrete_dynamics( model, opts ):
 
-    casadi_version = CasadiMeta.version()
+    casadi_version = ca.CasadiMeta.version()
     casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
 
     if casadi_version not in (ALLOWED_CASADI_VERSIONS):
@@ -49,13 +49,12 @@ def generate_c_code_discrete_dynamics( model, opts ):
     p = model.p
     phi = model.disc_dyn_expr
     model_name = model.name
-    nx = x.size()[0]
+    nx = casadi_length(x)
 
-
-    if isinstance(phi, casadi.MX):
-        symbol = MX.sym
-    elif isinstance(phi, casadi.SX):
-        symbol = SX.sym
+    if isinstance(phi, ca.MX):
+        symbol = ca.MX.sym
+    elif isinstance(phi, ca.SX):
+        symbol = ca.SX.sym
     else:
         Exception("generate_c_code_disc_dyn: disc_dyn_expr must be a CasADi expression, you have type: {}".format(type(phi)))
 
@@ -63,12 +62,12 @@ def generate_c_code_discrete_dynamics( model, opts ):
     lam = symbol('lam', nx, 1)
 
     # generate jacobians
-    ux = vertcat(u,x)
-    jac_ux = jacobian(phi, ux)
+    ux = ca.vertcat(u,x)
+    jac_ux = ca.jacobian(phi, ux)
     # generate adjoint
-    adj_ux = jtimes(phi, ux, lam, True)
+    adj_ux = ca.jtimes(phi, ux, lam, True)
     # generate hessian
-    hess_ux = jacobian(adj_ux, ux)
+    hess_ux = ca.jacobian(adj_ux, ux)
     
     ## change directory
     code_export_dir = opts["code_export_directory"]
@@ -85,15 +84,15 @@ def generate_c_code_discrete_dynamics( model, opts ):
 
     # set up & generate Functions
     fun_name = model_name + '_dyn_disc_phi_fun'
-    phi_fun = Function(fun_name, [x, u, p], [phi])
+    phi_fun = ca.Function(fun_name, [x, u, p], [phi])
     phi_fun.generate(fun_name, casadi_opts)
 
     fun_name = model_name + '_dyn_disc_phi_fun_jac'
-    phi_fun_jac_ut_xt = Function(fun_name, [x, u, p], [phi, jac_ux.T])
+    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_opts)
 
     fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
-    phi_fun_jac_ut_xt_hess = Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
+    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_opts)
     
     os.chdir(cwd)

pyextra/acados_template/simulink_default_opts.json

@@ -32,6 +32,7 @@
         "cost_W_0": 0,
         "cost_W": 0,
         "cost_W_e": 0,
+        "reset_solver": 0,
         "x_init": 0,
         "u_init": 0
     },

pyextra/acados_template/utils.py

@@ -1,3 +1,4 @@
+# -*- coding: future_fstrings -*-
 #
 # Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
 # Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
@@ -49,7 +50,7 @@ def get_acados_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 not avoid this warning.'
+        msg += 'Please export ACADOS_SOURCE_DIR to avoid this warning.'
         print(msg)
     return ACADOS_PATH
 
@@ -74,7 +75,7 @@ def get_tera_exec_path():
 platform2tera = {
     "linux": "linux",
     "darwin": "osx",
-    "win32": "window.exe"
+    "win32": "windows"
 }
 
 
@@ -212,16 +213,14 @@ def render_template(in_file, out_file, template_dir, json_path):
     template_glob = os.path.join(acados_path, 'c_templates_tera', '*')
 
     # call tera as system cmd
-    os_cmd = "{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'".format(
-        tera_path=tera_path,
-        template_glob=template_glob,
-        json_path=json_path,
-        in_file=in_file,
-        out_file=out_file
-    )
+    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('Rendering of {} failed!\n\nAttempted to execute OS command:\n{}\n\nExiting.\n'.format(in_file, os_cmd))
+        raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\nExiting.\n')
 
     os.chdir(cwd)
 
@@ -235,9 +234,7 @@ def np_array_to_list(np_array):
     elif isinstance(np_array, (DM)):
         return np_array.full()
     else:
-        raise(Exception(
-            "Cannot convert to list type {}".format(type(np_array))
-        ))
+        raise(Exception(f"Cannot convert to list type {type(np_array)}"))
 
 
 def format_class_dict(d):
@@ -254,22 +251,6 @@ def format_class_dict(d):
     return out
 
 
-def acados_class2dict(class_instance):
-    """
-    removes the __ artifact from class to dict conversion
-    """
-
-    d = dict(class_instance.__dict__)
-    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():
     python_interface_path = get_python_interface_path()
     abs_path = os.path.join(python_interface_path, 'acados_layout.json')
@@ -433,6 +414,13 @@ def set_up_imported_gnsf_model(acados_formulation):
     acados_formulation.model.phi_jac_y_uhat = phi_jac_y_uhat
     acados_formulation.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_formulation.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
+    acados_formulation.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_formulation.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz

rednose_repo

@@ -1 +1 @@
-Subproject commit 5b526a8e00bdc1c3922be470af1602cf9dc72dde
+Subproject commit 7663289f1e68860f53dc34337ef080dde69a2586

release/build_release.sh

@@ -13,10 +13,6 @@ if [ -f /TICI ]; then
   FILES_SRC="release/files_tici"
   RELEASE_BRANCH=release3-staging
   DASHCAM_BRANCH=dashcam3-staging
-elif [ -f /EON ]; then
-  FILES_SRC="release/files_eon"
-  RELEASE_BRANCH=release2-staging
-  DASHCAM_BRANCH=dashcam-staging
 else
   exit 0
 fi

release/files_common

@@ -17,6 +17,7 @@ site_scons/site_tools/cython.py
 
 common/.gitignore
 common/__init__.py
+common/conversions.py
 common/gpio.py
 common/realtime.py
 common/clock.pyx
@@ -64,17 +65,13 @@ release/*
 
 tools/lib/*
 
-installer/updater/updater
-
 selfdrive/version.py
 
 selfdrive/__init__.py
-selfdrive/config.py
 selfdrive/sentry.py
 selfdrive/swaglog.py
 selfdrive/logmessaged.py
 selfdrive/tombstoned.py
-selfdrive/pandad.py
 selfdrive/updated.py
 selfdrive/rtshield.py
 selfdrive/statsd.py
@@ -98,8 +95,10 @@ selfdrive/boardd/panda.h
 selfdrive/boardd/pigeon.cc
 selfdrive/boardd/pigeon.h
 selfdrive/boardd/set_time.py
+selfdrive/boardd/pandad.py
 
 selfdrive/car/__init__.py
+selfdrive/car/docs_definitions.py
 selfdrive/car/car_helpers.py
 selfdrive/car/fingerprints.py
 selfdrive/car/interfaces.py
@@ -259,14 +258,6 @@ selfdrive/hardware/__init__.py
 selfdrive/hardware/base.h
 selfdrive/hardware/base.py
 selfdrive/hardware/hw.h
-selfdrive/hardware/eon/__init__.py
-selfdrive/hardware/eon/androidd.py
-selfdrive/hardware/eon/shutdownd.py
-selfdrive/hardware/eon/hardware.h
-selfdrive/hardware/eon/hardware.py
-selfdrive/hardware/eon/neos.py
-selfdrive/hardware/eon/neos.json
-selfdrive/hardware/eon/updater
 selfdrive/hardware/tici/__init__.py
 selfdrive/hardware/tici/hardware.py
 selfdrive/hardware/tici/amplifier.py
@@ -298,7 +289,6 @@ selfdrive/locationd/models/live_kf.cc
 selfdrive/locationd/calibrationd.py
 
 selfdrive/logcatd/SConscript
-selfdrive/logcatd/logcatd_android.cc
 selfdrive/logcatd/logcatd_systemd.cc
 
 selfdrive/proclogd/SConscript
@@ -328,7 +318,6 @@ selfdrive/loggerd/xattr_cache.py
 
 selfdrive/sensord/SConscript
 selfdrive/sensord/libdiag.h
-selfdrive/sensord/sensors_qcom.cc
 selfdrive/sensord/sensors_qcom2.cc
 selfdrive/sensord/sensors/*.cc
 selfdrive/sensord/sensors/*.h
@@ -336,11 +325,11 @@ selfdrive/sensord/sensord
 
 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
+selfdrive/thermald/fan_controller.py
 
 selfdrive/test/__init__.py
 selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
-selfdrive/test/test_fingerprints.py
 selfdrive/test/test_onroad.py
 
 selfdrive/ui/.gitignore
@@ -362,8 +351,6 @@ selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
-selfdrive/ui/qt/spinner_aarch64
-selfdrive/ui/qt/text_aarch64
 
 selfdrive/ui/replay/*.cc
 selfdrive/ui/replay/*.h
@@ -375,11 +362,8 @@ selfdrive/camerad/snapshot/*
 selfdrive/camerad/include/*
 selfdrive/camerad/cameras/camera_common.h
 selfdrive/camerad/cameras/camera_common.cc
-selfdrive/camerad/cameras/camera_qcom.cc
-selfdrive/camerad/cameras/camera_qcom.h
 selfdrive/camerad/cameras/camera_replay.cc
 selfdrive/camerad/cameras/camera_replay.h
-selfdrive/camerad/cameras/debayer.cl
 selfdrive/camerad/cameras/sensor_i2c.h
 selfdrive/camerad/cameras/sensor2_i2c.h
 
@@ -423,10 +407,13 @@ selfdrive/modeld/transforms/transform.cc
 selfdrive/modeld/transforms/transform.h
 selfdrive/modeld/transforms/transform.cl
 
+selfdrive/modeld/thneed/*.py
 selfdrive/modeld/thneed/thneed.*
 selfdrive/modeld/thneed/serialize.cc
 selfdrive/modeld/thneed/compile.cc
+selfdrive/modeld/thneed/optimizer.cc
 selfdrive/modeld/thneed/include/*
+selfdrive/modeld/thneed/kernels/*.cl
 
 selfdrive/modeld/runners/snpemodel.cc
 selfdrive/modeld/runners/snpemodel.h
@@ -442,6 +429,7 @@ selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc
 selfdrive/assets/*.png
 selfdrive/assets/*.svg
+selfdrive/assets/body/*
 selfdrive/assets/fonts/*.ttf
 selfdrive/assets/icons/*
 selfdrive/assets/images/*
@@ -451,7 +439,6 @@ selfdrive/assets/training/*
 
 third_party/SConscript
 
-third_party/libgralloc/**
 third_party/linux/**
 third_party/opencl/**
 third_party/zlib/*
@@ -472,19 +459,12 @@ third_party/libyuv/lib/**
 third_party/libyuv/larch64/**
 
 third_party/snpe/include/**
-third_party/snpe/aarch64**
-third_party/snpe/larch64**
 third_party/snpe/dsp**
 
 third_party/acados/x86_64/**
-third_party/acados/aarch64/**
 third_party/acados/larch64/**
 third_party/acados/include/**
 
-third_party/android_frameworks_native/**
-third_party/android_hardware_libhardware/**
-third_party/android_system_core/**
-
 scripts/update_now.sh
 scripts/stop_updater.sh
 
@@ -560,8 +540,8 @@ opendbc/gm_global_a_powertrain_generated.dbc
 opendbc/gm_global_a_object.dbc
 opendbc/gm_global_a_chassis.dbc
 
-opendbc/ford_fusion_2018_pt.dbc
 opendbc/ford_fusion_2018_adas.dbc
+opendbc/ford_lincoln_base_pt.dbc
 
 opendbc/honda_accord_2018_can_generated.dbc
 opendbc/acura_ilx_2016_can_generated.dbc
@@ -569,12 +549,10 @@ opendbc/acura_rdx_2018_can_generated.dbc
 opendbc/acura_rdx_2020_can_generated.dbc
 opendbc/honda_civic_touring_2016_can_generated.dbc
 opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
-opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
 opendbc/honda_crv_touring_2016_can_generated.dbc
 opendbc/honda_crv_ex_2017_can_generated.dbc
 opendbc/honda_crv_ex_2017_body_generated.dbc
 opendbc/honda_crv_executive_2016_can_generated.dbc
-opendbc/honda_crv_hybrid_2019_can_generated.dbc
 opendbc/honda_fit_ex_2018_can_generated.dbc
 opendbc/honda_odyssey_exl_2018_generated.dbc
 opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc

release/files_eon

@@ -1 +0,0 @@
-README.md

release/files_tici

@@ -1,3 +1,5 @@
+third_party/snpe/larch64**
+third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
 
 selfdrive/timezoned.py

scripts/count_cars.py

@@ -1,15 +1,13 @@
 #!/usr/bin/env python3
-import os
 from collections import Counter
 from pprint import pprint
 
-from common.basedir import BASEDIR
+from selfdrive.car.docs import get_tier_car_info
 
-with open(os.path.join(BASEDIR, "docs/CARS.md")) as f:
-  lines = f.readlines()
-  cars = [l for l in lines if l.strip().startswith("|") and l.strip().endswith("|") and
-                              "Make" not in l and any(c.isalpha() for c in l)]
+if __name__ == "__main__":
+  tiers = get_tier_car_info()
+  cars = [car for tier_cars in tiers.values() for car in tier_cars]
 
-  make_count = Counter(l.split('|')[1].split('|')[0].strip() for l in cars)
-  print("\n", "*"*20, len(cars), "total", "*"*20, "\n")
+  make_count = Counter(l.make for l in cars)
+  print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
   pprint(make_count)

scripts/disable-powersave.py

@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+from selfdrive.hardware import HARDWARE
+
+if __name__ == "__main__":
+  HARDWARE.set_power_save(False)

selfdrive/assets/compress-images.sh

@@ -2,3 +2,6 @@
 
 echo "compressing training guide images"
 optipng -o7 -strip all training/* training_wide/*
+
+# This can sometimes provide smaller images
+# mogrify -quality 100 -format jpg training_wide/* training/*