xvfb: probe host DRI paths so GLX is advertised on non-EL distros (#78)

Xvfb's bundled libGLdispatch is hardcoded to look for DRI drivers under
/usr/lib64/dri (the AlmaLinux 8 layout). On Debian/Ubuntu they live in
/usr/lib/x86_64-linux-gnu/dri, so the GL provider fails to load and the
server brings up without the GLX extension — which silently breaks any
GLX client (raylib/GLFW). Set LIBGL_DRIVERS_PATH from the wrapper to a
list of standard distro paths so the host's swrast driver is found.

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

.gitignore

@@ -30,3 +30,9 @@ git-lfs/git_lfs/bin/
 
 # downloaded mdbook
 mdbook/mdbook/bin/
+
+# vendored at build time
+acados/acados/acados_template/
+acados/casadi/
+acados/casadi-venv/
+acados/casadi-wheel/

_shim_setup.py

@@ -25,6 +25,17 @@ DATADIR = _cfg["tool"]["shim"]["datadir"]
 VERSION = _cfg["project"]["version"]
 MODULE = _cfg["project"]["name"].replace("-", "_")
 
+# all top-level packages bundled in this wheel (e.g. acados + casadi).
+# `packages` may be a flat list or a dict with find.include patterns.
+_pkgs = _cfg.get("tool", {}).get("setuptools", {}).get("packages", [f"{MODULE}*"])
+if isinstance(_pkgs, list):
+  _INCLUDE = _pkgs
+elif isinstance(_pkgs, dict):
+  _INCLUDE = _pkgs.get("find", {}).get("include", [f"{MODULE}*"])
+else:
+  _INCLUDE = [f"{MODULE}*"]
+TOP_PACKAGES = sorted({p.rstrip("*").rstrip("/") for p in _INCLUDE if p.rstrip("*").rstrip("/")})
+
 PLATFORM_MAP = {
   ("Linux", "x86_64"): "linux_x86_64",
   ("Linux", "aarch64"): "linux_aarch64",
@@ -43,59 +54,52 @@ class InstallPrebuilt(build_py):
       if plat is None:
         raise RuntimeError(f"unsupported platform: {key}")
 
-      whl_name = f"{MODULE}-{VERSION}-py3-none-{plat}.whl"
+      whl_names = [
-      url = f"{REPO_URL}/releases/download/{TAG}/{whl_name}"
+        f"{MODULE}-{VERSION}-py3-none-{plat}.whl",
+        f"{MODULE}-{VERSION}-py3-none-any.whl",
+      ]
 
-      print(f"Downloading {url} ...")
+      raw = None
-      for attempt in range(3):
+      for whl_name in whl_names:
-        try:
+        url = f"{REPO_URL}/releases/download/{TAG}/{whl_name}"
-          raw = urlopen(url, timeout=60).read()
+        print(f"Downloading {url} ...")
+        for attempt in range(3):
+          try:
+            raw = urlopen(url, timeout=60).read()
+            break
+          except (URLError, OSError) as e:
+            if attempt == 2:
+              if whl_name == whl_names[-1]:
+                raise
+              break
+            wait = 2 ** attempt
+            print(f"Download failed ({e}), retrying in {wait}s ...")
+            time.sleep(wait)
+        if raw is not None:
           break
-        except (URLError, OSError) as e:
-          if attempt == 2:
-            raise
-          wait = 2 ** attempt
-          print(f"Download failed ({e}), retrying in {wait}s ...")
-          time.sleep(wait)
 
-      print(f"Extracting {DATADIR} ...")
+      print("Extracting wheel ...")
       with zipfile.ZipFile(BytesIO(raw)) as zf:
-        prefix = f"{MODULE}/{DATADIR}/"
+        purelib_data = f"{MODULE}-{VERSION}.data/purelib/"
-        alt_prefix = f"{MODULE}-{VERSION}.data/purelib/{MODULE}/{DATADIR}/"
         for info in zf.infolist():
-          for p in (prefix, alt_prefix):
+          if info.is_dir():
-            if info.filename.startswith(p):
-              rel = info.filename[len(p):]
-              if not rel:
-                continue
-              dest = os.path.join(data_dir, rel)
-              if info.is_dir():
-                os.makedirs(dest, exist_ok=True)
-              else:
-                os.makedirs(os.path.dirname(dest), exist_ok=True)
-                with open(dest, "wb") as f:
-                  f.write(zf.read(info))
-                if info.external_attr >> 16 & 0o111:
-                  os.chmod(dest, 0o755)
-              break
-
-        # Also extract compiled extension modules (.so)
-        ext_prefix = f"{MODULE}/"
-        ext_alt_prefix = f"{MODULE}-{VERSION}.data/purelib/{MODULE}/"
-        for info in zf.infolist():
-          if not info.filename.endswith('.so'):
             continue
-          for p in (ext_prefix, ext_alt_prefix):
+          name = info.filename
-            if info.filename.startswith(p):
+          if name.startswith(purelib_data):
-              rel = info.filename[len(p):]
+            rel = name[len(purelib_data):]
-              if rel and '/' not in rel:
+          else:
-                dest = os.path.join(module_dir, rel)
+            rel = name
-                os.makedirs(os.path.dirname(dest), exist_ok=True)
+          if "/" not in rel:
-                with open(dest, "wb") as f:
+            continue
-                  f.write(zf.read(info))
+          top = rel.split("/", 1)[0]
-                if info.external_attr >> 16 & 0o111:
+          if top not in TOP_PACKAGES:
-                  os.chmod(dest, 0o755)
+            continue
-              break
+          dest = os.path.join(_HERE, rel)
+          os.makedirs(os.path.dirname(dest), exist_ok=True)
+          with open(dest, "wb") as f:
+            f.write(zf.read(info))
+          if info.external_attr >> 16 & 0o111:
+            os.chmod(dest, 0o755)
 
     super().run()
 

acados/acados/__init__.py

@@ -0,0 +1,48 @@
+import os
+
+DIR = os.path.join(os.path.dirname(__file__), "install")
+INCLUDE_DIR = os.path.join(DIR, "include")
+LIB_DIR = os.path.join(DIR, "lib")
+BIN_DIR = os.path.join(DIR, "bin")
+TERA_PATH = os.path.join(BIN_DIR, "t_renderer")
+
+TEMPLATE_DIR = os.path.join(os.path.dirname(__file__), "acados_template")
+
+
+def smoketest():
+  import sys
+
+  lib_ext = ".dylib" if sys.platform == "darwin" else ".so"
+  for lib in ("libacados", "libblasfeo", "libhpipm", "libqpOASES_e"):
+    path = os.path.join(LIB_DIR, lib + lib_ext)
+    assert os.path.isfile(path), f"missing lib: {path}"
+
+  assert os.path.isfile(os.path.join(INCLUDE_DIR, "acados_c", "ocp_nlp_interface.h"))
+  assert os.path.isfile(os.path.join(INCLUDE_DIR, "blasfeo", "include", "blasfeo.h"))
+  assert os.path.isfile(os.path.join(INCLUDE_DIR, "hpipm", "include", "hpipm_common.h"))
+
+  assert os.path.isfile(TERA_PATH) and os.access(TERA_PATH, os.X_OK), f"t_renderer missing/not executable: {TERA_PATH}"
+
+  assert os.path.isfile(os.path.join(TEMPLATE_DIR, "__init__.py"))
+  assert os.path.isfile(os.path.join(TEMPLATE_DIR, "acados_layout.json"))
+  assert os.path.isdir(os.path.join(TEMPLATE_DIR, "c_templates_tera"))
+
+  # the vendored slim casadi shipped in this wheel is built against cpython 3.12
+  # and pulls in numpy; only exercise it when both are available (real consumers
+  # like openpilot install via the shim, which declares numpy as a dep).
+  try:
+    import numpy  # noqa: F401
+  except ImportError:
+    return
+  if sys.version_info[:2] != (3, 12):
+    return
+
+  from casadi import SX, MX, DM, Function, CasadiMeta, vertcat, jacobian, sin, cos, n_nodes  # noqa: F401
+
+  x = SX.sym("x")
+  y = SX.sym("y")
+  expr = vertcat(sin(x), cos(y))
+  J = jacobian(expr, vertcat(x, y))
+  assert J.shape == (2, 2)
+  assert n_nodes(J) > 0
+  assert isinstance(CasadiMeta.version(), str)

acados/build.sh

@@ -0,0 +1,139 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR"
+
+# v0.2.2
+VERSION="8af9b0ad180940ef611884574a0b27a43504311d"
+INSTALL_DIR="$DIR/acados/install"
+TEMPLATE_DIR="$DIR/acados/acados_template"
+CASADI_DIR="$DIR/casadi"
+CASADI_VERSION="3.6.7"
+
+NJOBS="$(nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 2)"
+
+# pick BLAS target per host arch
+ARCH="$(uname -m)"
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  # this BLASFEO version doesn't have an Apple Silicon target; Cortex-A57
+  # baseline ARMv8 SIMD compiles and runs fine on M1+.
+  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
+elif [[ "$ARCH" == "aarch64" ]]; then
+  # Cortex-A57 = TICI baseline; safe for any modern aarch64
+  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
+else
+  BLAS_TARGET="X64_AUTOMATIC"
+fi
+
+ACADOS_FLAGS=(
+  -DACADOS_WITH_QPOASES=ON
+  -UBLASFEO_TARGET
+  -DBLASFEO_TARGET="$BLAS_TARGET"
+  -DACADOS_INSTALL_DIR="$INSTALL_DIR"
+  # acados (and several of its submodules) still pin cmake_minimum_required <3.5;
+  # CMake 4 removed that compatibility, so re-enable it here.
+  -DCMAKE_POLICY_VERSION_MINIMUM=3.5
+  # qpOASES + blasfeo both call malloc()/posix_memalign() without including
+  # <stdlib.h>. C99/C2x and modern gcc/clang reject implicit declarations as
+  # errors. qpOASES also has a real Constraints*/Constraints** pointer bug
+  # that gcc 14+ now flags as an error too. Downgrade both so the upstream
+  # (pinned) sources keep compiling.
+  "-DCMAKE_C_FLAGS=-Wno-implicit-function-declaration -Wno-incompatible-pointer-types"
+)
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  ACADOS_FLAGS+=(
+    -DCMAKE_OSX_ARCHITECTURES=arm64
+    -DCMAKE_MACOSX_RPATH=1
+  )
+fi
+
+# clone/update source
+if [ ! -d "acados-src/.git" ]; then
+  rm -rf acados-src
+  git clone https://github.com/acados/acados.git acados-src
+fi
+git -C acados-src fetch --all --tags
+git -C acados-src checkout --force "$VERSION"
+git -C acados-src submodule update --init --recursive --depth=1
+
+# build acados
+mkdir -p build
+cd build
+cmake "${ACADOS_FLAGS[@]}" "$DIR/acados-src"
+make -j"$NJOBS" install
+cd "$DIR"
+
+# we don't ship sample json templates
+rm -f "$INSTALL_DIR"/lib/*.json
+
+# python interface package (acados_template)
+rm -rf "$TEMPLATE_DIR"
+cp -r acados-src/interfaces/acados_template/acados_template "$TEMPLATE_DIR"
+
+# strip future_fstrings (avoids needing the compatibility package on py>=3.6).
+# Cython chokes on the unknown encoding in .pyx/.pxd too, not just .py.
+find "$TEMPLATE_DIR" -type f \( -name '*.py' -o -name '*.pyx' -o -name '*.pxd' \) \
+  -exec sed -i.bak '/future.fstrings/d' {} +
+find "$TEMPLATE_DIR" -name '*.bak' -delete
+
+# acados_template's gnsf/check_reformulation.py uses an absolute `from
+# acados_template.utils import ...` that only worked when acados_template was
+# itself a top-level package on the path. We ship it as `acados.acados_template`,
+# so rewrite to the relative form the rest of gnsf already uses.
+if [ -f "$TEMPLATE_DIR/gnsf/check_reformulation.py" ]; then
+  sed -i.bak 's/^from acados_template\.utils /from ..utils /' "$TEMPLATE_DIR/gnsf/check_reformulation.py"
+  rm -f "$TEMPLATE_DIR/gnsf/check_reformulation.py.bak"
+fi
+
+# build tera renderer (needs cargo)
+if ! command -v cargo >/dev/null 2>&1; then
+  echo "installing rust toolchain (needed for tera_renderer)..."
+  curl -LsSf https://sh.rustup.rs | sh -s -- -y --default-toolchain stable --profile minimal
+  # shellcheck disable=SC1091
+  source "$HOME/.cargo/env"
+fi
+
+mkdir -p "$INSTALL_DIR/bin"
+cd "$DIR/acados-src/interfaces/acados_template/tera_renderer/"
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  cargo build --release --target aarch64-apple-darwin
+  cp target/aarch64-apple-darwin/release/t_renderer "$INSTALL_DIR/bin/t_renderer"
+else
+  cargo build --release
+  cp target/release/t_renderer "$INSTALL_DIR/bin/t_renderer"
+fi
+
+cd "$DIR"
+
+# vendor a slim casadi: install the upstream wheel into a throwaway cp312 venv
+# (uv resolves the right platform wheel automatically), then move the casadi/
+# tree out and slim it.
+echo "vendoring casadi $CASADI_VERSION ..."
+rm -rf "$CASADI_DIR" casadi-venv
+uv venv --python 3.12 --quiet casadi-venv
+uv pip install --python casadi-venv/bin/python --no-deps --quiet "casadi==$CASADI_VERSION"
+mv casadi-venv/lib/python3.12/site-packages/casadi "$CASADI_DIR"
+rm -rf casadi-venv
+
+# drop everything except the bits openpilot actually needs:
+#   - __init__.py, casadi.py, tools/  (Python wrapper)
+#   - _casadi.so                       (CPython extension; same name on linux+darwin)
+#   - libcasadi.{so,dylib}*            (the C++ runtime that _casadi.so links to)
+# openpilot only uses symbolic SX/MX/Function/jacobian etc., which live in
+# libcasadi + _casadi. Solver plugins (conic_*, nlpsol_*, integrator_*, ...)
+# and their third-party backends (ipopt, bonmin, hpipm, fatrop, ...) are
+# loaded lazily via dlopen and never reached.
+cd "$CASADI_DIR"
+shopt -s extglob
+# libc++.*.dylib only exists on darwin and is needed by _casadi.so via @rpath
+rm -rf !(__init__.py|casadi.py|_casadi.so|tools|libcasadi.*|libc++.*)
+shopt -u extglob
+
+cd "$DIR"
+rm -rf casadi-wheel
+
+echo "Installed acados to $INSTALL_DIR"
+du -sh "$INSTALL_DIR"
+echo "Vendored casadi (slim) at $CASADI_DIR"
+du -sh "$CASADI_DIR"

acados/pyproject.toml

@@ -0,0 +1,23 @@
+[build-system]
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "acados"
+version = "0.2.2"
+description = "acados solvers + Python interface, with a slimmed casadi vendored alongside"
+requires-python = ">=3.8"
+dependencies = [
+  # the vendored casadi.py shim imports numpy at module load time
+  "numpy",
+]
+
+# `find` runs at setup() init time, before build.sh creates these dirs, so
+# enumerate packages explicitly. acados.acados_template + casadi.tools are
+# subpackages and ship via package-data.
+[tool.setuptools]
+packages = ["acados", "casadi"]
+
+[tool.setuptools.package-data]
+acados = ["install/**/*", "acados_template/**/*"]
+casadi = ["**/*"]

acados/setup.py

@@ -0,0 +1,68 @@
+import os
+import platform
+import subprocess
+
+from setuptools.command.build_py import build_py
+
+# `casadi/` is generated by build.sh (vendored from the upstream wheel), but
+# setuptools requires every declared package to have a directory + __init__.py
+# *before* any command runs. Drop a stub if it isn't there yet — build.sh
+# replaces it with the real slim casadi during build_py.
+_HERE = os.path.dirname(os.path.abspath(__file__))
+_casadi_init = os.path.join(_HERE, "casadi", "__init__.py")
+if not os.path.exists(_casadi_init):
+  os.makedirs(os.path.dirname(_casadi_init), exist_ok=True)
+  open(_casadi_init, "w").close()
+
+try:
+  from wheel.bdist_wheel import bdist_wheel
+except ImportError:
+  bdist_wheel = None
+
+
+class BuildAcados(build_py):
+  """Run build.sh to compile acados before collecting package data."""
+
+  def run(self):
+    pkg_dir = os.path.dirname(os.path.abspath(__file__))
+    build_script = os.path.join(pkg_dir, "build.sh")
+    subprocess.check_call(["bash", build_script], cwd=pkg_dir)
+
+    super().run()
+
+
+cmdclass = {"build_py": BuildAcados}
+
+if bdist_wheel is not None:
+
+  class PlatformWheel(bdist_wheel):
+    """Produce a platform-specific, Python-version-agnostic wheel."""
+
+    def finalize_options(self):
+      super().finalize_options()
+      self.root_is_pure = False
+
+    def get_tag(self):
+      system = platform.system()
+      machine = platform.machine()
+
+      if system == "Linux":
+        plat = f"linux_{machine}"
+      elif system == "Darwin":
+        plat = "macosx_11_0_arm64"
+      else:
+        plat = f"{system.lower()}_{machine}"
+
+      return "py3", "none", plat
+
+  cmdclass["bdist_wheel"] = PlatformWheel
+
+
+def setup():
+  from setuptools import setup as _setup
+
+  _setup(cmdclass=cmdclass)
+
+
+if __name__ == "__main__":
+  setup()

catch2/build.sh

@@ -0,0 +1,22 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR"
+
+VERSION="v2.13.10"
+INSTALL_DIR="$DIR/catch2/install"
+
+if [ ! -d "catch2-src/.git" ]; then
+  rm -rf catch2-src
+  git clone --depth 1 https://github.com/catchorg/Catch2.git catch2-src
+fi
+git -C catch2-src fetch --depth 1 origin "$VERSION"
+git -C catch2-src checkout --force FETCH_HEAD
+
+rm -rf "$INSTALL_DIR"
+mkdir -p "$INSTALL_DIR/include"
+cp -r catch2-src/single_include/catch2 "$INSTALL_DIR/include/"
+
+echo "Installed catch2 to $INSTALL_DIR"
+du -sh "$INSTALL_DIR"

catch2/catch2/__init__.py

@@ -0,0 +1,9 @@
+import os
+
+DIR = os.path.join(os.path.dirname(__file__), "install")
+INCLUDE_DIR = os.path.join(DIR, "include")
+LIB_DIR = DIR  # header-only; no libraries
+
+
+def smoketest():
+  assert os.path.isfile(os.path.join(INCLUDE_DIR, "catch2", "catch.hpp")), "catch2/catch.hpp not found"

catch2/pyproject.toml

@@ -0,0 +1,16 @@
+[build-system]
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "catch2"
+version = "2.13.10"
+description = "Catch2 C++ test framework headers"
+requires-python = ">=3.8"
+
+[tool.setuptools.packages.find]
+include = ["catch2*"]
+exclude = ["catch2-src*"]
+
+[tool.setuptools.package-data]
+catch2 = ["install/**/*"]

catch2/setup.py

@@ -0,0 +1,28 @@
+import os
+import subprocess
+
+from setuptools.command.build_py import build_py
+
+
+class BuildCatch2(build_py):
+  """Run build.sh to download Catch2 headers before collecting package data."""
+
+  def run(self):
+    pkg_dir = os.path.dirname(os.path.abspath(__file__))
+    build_script = os.path.join(pkg_dir, "build.sh")
+    subprocess.check_call(["bash", build_script], cwd=pkg_dir)
+
+    super().run()
+
+
+cmdclass = {"build_py": BuildCatch2}
+
+
+def setup():
+  from setuptools import setup as _setup
+
+  _setup(cmdclass=cmdclass)
+
+
+if __name__ == "__main__":
+  setup()

mdbook/build.sh

@@ -1,46 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR"
-
-VERSION="0.5.2"
-INSTALL_DIR="$DIR/mdbook/bin"
-VERSION_FILE="$INSTALL_DIR/.version"
-
-# Skip if already at correct version
-if [ -f "$VERSION_FILE" ] && [ "$(cat "$VERSION_FILE")" = "$VERSION" ]; then
-  echo "mdbook $VERSION already present, skipping."
-  exit 0
-fi
-
-OS="$(uname -s)"
-ARCH="$(uname -m)"
-
-case "${OS}-${ARCH}" in
-  Linux-x86_64)   TARGET="x86_64-unknown-linux-musl" ;;
-  Linux-aarch64)  TARGET="aarch64-unknown-linux-musl" ;;
-  Darwin-arm64)   TARGET="aarch64-apple-darwin" ;;
-  *)
-    echo "Unsupported platform: ${OS}-${ARCH}" >&2
-    exit 1
-    ;;
-esac
-
-FILENAME="mdbook-v${VERSION}-${TARGET}.tar.gz"
-URL="https://github.com/rust-lang/mdBook/releases/download/v${VERSION}/${FILENAME}"
-
-echo "Downloading $FILENAME ..."
-curl -fSL -o "$FILENAME" "$URL"
-
-echo "Extracting ..."
-mkdir -p "$INSTALL_DIR"
-tar -xzf "$FILENAME" -C "$INSTALL_DIR" mdbook
-
-chmod +x "$INSTALL_DIR/mdbook"
-
-rm -f "$FILENAME"
-echo "$VERSION" > "$VERSION_FILE"
-
-echo "Installed mdbook to $INSTALL_DIR"
-du -sh "$INSTALL_DIR"

mdbook/mdbook/__init__.py

@@ -1,15 +0,0 @@
-import os
-import sys
-
-BIN_DIR = os.path.join(os.path.dirname(__file__), "bin")
-
-
-def _run():
-  binary = os.path.join(BIN_DIR, "mdbook")
-  os.execvp(binary, [binary] + sys.argv[1:])
-
-
-def smoketest():
-  import subprocess
-  binary = os.path.join(BIN_DIR, "mdbook")
-  subprocess.run([binary, "--version"], check=True)

pyproject.toml

@@ -1,7 +1,9 @@
 [tool.uv.workspace]
 members = [
+  "acados",
   "bzip2",
   "capnproto",
+  "catch2",
   "cppcheck",
   "eigen",
   "ffmpeg",
@@ -13,11 +15,11 @@ members = [
   "libusb",
   "libjpeg",
   "libyuv",
-  "mdbook",
   "nanosvg",
   "ncurses",
   "qt5",
   "raylib",
+  "xvfb",
   "zeromq",
   "zstd",
 ]

release.sh

@@ -65,18 +65,37 @@ for toml in sorted(pathlib.Path(".").glob("*/pyproject.toml")):
   for py_file in src_mod.glob("*.py"):
     shutil.copy2(py_file, mod_dir / py_file.name)
 
-  # copy extra packages (e.g. pyray for raylib)
+  # copy extra packages (e.g. pyray for raylib, slim casadi for acados)
-  pkgs_val = data.get("tool", {}).get("setuptools", {}).get("packages", {})
+  # binaries (.so/.dylib) are fetched from the wheel at install time, so the
-  include_patterns = pkgs_val.get("find", {}).get("include", []) if isinstance(pkgs_val, dict) else []
+  # shim repo only carries Python sources to keep it small
+  def _ignore_binaries(_dir, names):
+    return [n for n in names if n.endswith((".so", ".dylib", ".a")) or ".so." in n or n == "__pycache__"]
+
+  # `packages` is either a flat list (["acados", "casadi"]) or a dict with
+  # `find.include` patterns (["acados*", "casadi*"]) — handle both
+  pkgs_val = data.get("tool", {}).get("setuptools", {}).get("packages", [])
+  if isinstance(pkgs_val, list):
+    include_patterns = list(pkgs_val)
+  elif isinstance(pkgs_val, dict):
+    include_patterns = pkgs_val.get("find", {}).get("include", [])
+  else:
+    include_patterns = []
   extra_packages = []
   for pattern in include_patterns:
     p = pattern.rstrip("*")
     if p and p != module and p != f"{module}/":
       src_extra = pathlib.Path(pkg) / p
+      dst_extra = pkg_dir / p
       if src_extra.is_dir():
-        dst_extra = pkg_dir / p
+        shutil.copytree(src_extra, dst_extra, dirs_exist_ok=True, ignore=_ignore_binaries)
-        shutil.copytree(src_extra, dst_extra, dirs_exist_ok=True)
+      else:
-        extra_packages.append(pattern)
+        # source not in the workspace (typically built lazily by build.sh and
+        # not cached into the publish job). Drop a placeholder __init__.py so
+        # setuptools.packages.find picks it up; the shim's setup.py overwrites
+        # it from the wheel at install time.
+        dst_extra.mkdir(parents=True, exist_ok=True)
+        (dst_extra / "__init__.py").write_text("")
+      extra_packages.append(pattern)
 
   shutil.copy2(shim_setup, pkg_dir / "setup.py")
 
@@ -102,14 +121,28 @@ for toml in sorted(pathlib.Path(".").glob("*/pyproject.toml")):
     for name, target in scripts.items():
       lines.append(f'"{name}" = {json.dumps(target)}')
 
-  find_include = [f"{module}*"] + extra_packages
+  # propagate the workspace's package-data so the shim wheel knows to ship
+  # everything the upstream wheel ships (e.g. acados_template/, casadi/*.so).
+  workspace_pkgdata = data.get("tool", {}).get("setuptools", {}).get("package-data", {})
+
+  # extra_packages may be plain names (["casadi"]) or globs (["casadi*"]).
+  # Normalise to plain package names for both `packages` and `package-data`.
+  extra_pkg_names = [p.rstrip("*").rstrip("/") for p in extra_packages]
+
   lines += [
     "",
-    "[tool.setuptools.packages.find]",
+    "[tool.setuptools]",
-    f"include = {json.dumps(find_include)}",
+    f"packages = {json.dumps([module] + extra_pkg_names)}",
     "",
     "[tool.setuptools.package-data]",
-    f'{module} = ["{datadir}/**/*", "*.so"]',
+  ]
+  module_data = sorted(set(workspace_pkgdata.get(module, [f"{datadir}/**/*"]) + ["*.so"]))
+  lines.append(f"{module} = {json.dumps(module_data)}")
+  for name in extra_pkg_names:
+    extra_data = workspace_pkgdata.get(name, ["**/*"])
+    lines.append(f"{name} = {json.dumps(list(extra_data))}")
+
+  lines += [
     "",
     "[tool.shim]",
     f'repo_url = "{repo_url}"',

xvfb/build.sh

@@ -0,0 +1,133 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR"
+
+INSTALL_DIR="$DIR/xvfb/install"
+
+# macOS: Xvfb is Linux-only. Ship an empty install dir so the wheel still
+# builds; smoketest() is a no-op on Darwin.
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  rm -rf "$INSTALL_DIR"
+  mkdir -p "$INSTALL_DIR"/{bin,lib,share/X11/xkb}
+  echo "xvfb: macOS not supported, shipping empty install dir"
+  exit 0
+fi
+
+# Linux: bundle the Xvfb binary, xkbcomp, xkb keymap data, and the closure
+# of shared libraries it needs (minus libc/libpthread/etc which the host
+# always provides). For CI/manylinux we pull from AlmaLinux 8 so the wheel
+# works on any glibc >= 2.28 distro; on a Debian/Ubuntu dev host we accept
+# whatever the system has (the local wheel just won't be as portable).
+if command -v dnf >/dev/null 2>&1; then
+  dnf install -y -q xorg-x11-server-Xvfb xorg-x11-xkb-utils xkeyboard-config >/dev/null
+elif command -v apt-get >/dev/null 2>&1; then
+  if [[ "$(id -u)" -eq 0 ]]; then SUDO=""
+  elif command -v sudo >/dev/null 2>&1; then SUDO=sudo
+  else echo "xvfb: need sudo or root to apt-get install" >&2; exit 1; fi
+  export DEBIAN_FRONTEND=noninteractive
+  $SUDO apt-get update -qq
+  $SUDO apt-get install -y -qq --no-install-recommends \
+    xvfb x11-xkb-utils xkb-data patchelf
+else
+  echo "xvfb: need dnf or apt-get to fetch upstream Xvfb" >&2
+  exit 1
+fi
+
+if ! command -v patchelf >/dev/null 2>&1; then
+  echo "xvfb: patchelf is required but not found" >&2
+  exit 1
+fi
+
+rm -rf "$INSTALL_DIR"
+mkdir -p "$INSTALL_DIR"/{bin,lib,share/X11/xkb}
+
+# Xvfb may live in /usr/bin (RPM/Debian) — just locate it.
+XVFB_SRC="$(command -v Xvfb || true)"
+XKBCOMP_SRC="$(command -v xkbcomp || true)"
+if [[ -z "$XVFB_SRC" || -z "$XKBCOMP_SRC" ]]; then
+  echo "xvfb: Xvfb or xkbcomp not found after install" >&2
+  exit 1
+fi
+
+cp "$XVFB_SRC"    "$INSTALL_DIR/bin/Xvfb"
+cp "$XKBCOMP_SRC" "$INSTALL_DIR/bin/xkbcomp"
+chmod u+w "$INSTALL_DIR/bin/Xvfb" "$INSTALL_DIR/bin/xkbcomp"
+cp -a /usr/share/X11/xkb/. "$INSTALL_DIR/share/X11/xkb/"
+
+# Two binary patches to make Xvfb relocatable:
+#
+# 1. "/usr/bin"  -> "" (null bytes)
+#    Xvfb's compile-time XkbBinDirectory points at /usr/bin and is used to
+#    build an absolute path to xkbcomp. Blanking it makes the spawned
+#    command just "xkbcomp", which popen() then resolves via PATH. Our
+#    Python wrapper prepends the bundled bin/ to PATH.
+#
+# 2. "-R%s" -> "-I%s" (in the xkbcomp argv format string)
+#    Xvfb passes its XkbBaseDirectory to xkbcomp via -R, expecting xkbcomp
+#    to chdir there *and* add "." to the include path. xkbcomp 1.4.x only
+#    chdirs — the include-path side was added later. Switching to -I makes
+#    1.4.2 actually search the path we hand it via -xkbdir.
+python3 - "$INSTALL_DIR/bin/Xvfb" <<'PY'
+import sys
+path = sys.argv[1]
+with open(path, "r+b") as f:
+    data = bytearray(f.read())
+
+def replace_unique(needle: bytes, replacement: bytes):
+    assert len(needle) == len(replacement)
+    idx = data.find(needle)
+    if idx < 0:
+        sys.exit(f"could not find {needle!r} in Xvfb binary")
+    if data.find(needle, idx + 1) >= 0:
+        sys.exit(f"multiple {needle!r} matches; refusing to patch")
+    data[idx:idx + len(needle)] = replacement
+
+replace_unique(b"/usr/bin\x00", b"\x00" * 9)
+replace_unique(b'"-R%s"\x00', b'"-I%s"\x00')
+
+with open(path, "wb") as f:
+    f.write(data)
+PY
+
+# bundle the shared library closure. Recursively walk ldd output to catch
+# libs-of-libs (e.g. libXfont2 -> libfontenc -> libbz2). Skip core glibc
+# pieces; everything else gets copied alongside the binary.
+declare -A SEEN
+collect_libs() {
+  local target="$1"
+  while IFS= read -r line; do
+    local lib
+    lib=$(echo "$line" | awk '{print $3}')
+    [[ -z "$lib" || "$lib" == "not" ]] && continue
+    [[ ! -e "$lib" ]] && continue
+    local base
+    base=$(basename "$lib")
+    case "$base" in
+      libc.so.*|libpthread.so.*|libm.so.*|librt.so.*|libdl.so.*|libgcc_s.so.*|libresolv.so.*|libutil.so.*|ld-linux-*.so.*|linux-vdso.so.*|linux-gate.so.*)
+        continue ;;
+    esac
+    [[ -n "${SEEN[$base]:-}" ]] && continue
+    SEEN[$base]=1
+    cp -L "$lib" "$INSTALL_DIR/lib/$base"
+    chmod u+w "$INSTALL_DIR/lib/$base"
+    collect_libs "$INSTALL_DIR/lib/$base"
+  done < <(ldd "$target" 2>/dev/null || true)
+}
+collect_libs "$INSTALL_DIR/bin/Xvfb"
+collect_libs "$INSTALL_DIR/bin/xkbcomp"
+
+# point the binaries (and the bundled libs) at our private lib dir so they
+# don't accidentally resolve against an incompatible host copy.
+patchelf --set-rpath '$ORIGIN/../lib' "$INSTALL_DIR/bin/Xvfb"
+patchelf --set-rpath '$ORIGIN/../lib' "$INSTALL_DIR/bin/xkbcomp"
+for so in "$INSTALL_DIR"/lib/*.so*; do
+  patchelf --set-rpath '$ORIGIN' "$so" 2>/dev/null || true
+done
+
+strip --strip-unneeded "$INSTALL_DIR/bin/Xvfb" "$INSTALL_DIR/bin/xkbcomp" 2>/dev/null || true
+find "$INSTALL_DIR/lib" -name '*.so*' -exec strip --strip-unneeded {} + 2>/dev/null || true
+
+echo "Installed xvfb to $INSTALL_DIR"
+du -sh "$INSTALL_DIR"

xvfb/pyproject.toml

@@ -3,16 +3,16 @@ requires = ["setuptools>=64", "wheel"]
 build-backend = "setuptools.build_meta"
 
 [project]
-name = "mdbook"
+name = "xvfb"
-version = "0.5.2"
+version = "1.20.11.post1"
-description = "mdBook command-line tool for creating books from Markdown"
+description = "Xvfb (X virtual framebuffer) headless X server"
 requires-python = ">=3.8"
 
 [project.scripts]
-mdbook = "mdbook:_run"
+Xvfb = "xvfb:_run_xvfb"
 
 [tool.setuptools.packages.find]
-include = ["mdbook*"]
+include = ["xvfb*"]
 
 [tool.setuptools.package-data]
-mdbook = ["bin/**/*"]
+xvfb = ["install/**/*"]

xvfb/setup.py

@@ -10,8 +10,8 @@ except ImportError:
   bdist_wheel = None
 
 
-class BuildMdbook(build_py):
+class BuildXvfb(build_py):
-  """Run build.sh to download mdbook before collecting package data."""
+  """Run build.sh to fetch and bundle Xvfb before collecting package data."""
 
   def run(self):
     pkg_dir = os.path.dirname(os.path.abspath(__file__))
@@ -21,7 +21,7 @@ class BuildMdbook(build_py):
     super().run()
 
 
-cmdclass = {"build_py": BuildMdbook}
+cmdclass = {"build_py": BuildXvfb}
 
 if bdist_wheel is not None:
 

xvfb/xvfb/__init__.py

@@ -0,0 +1,57 @@
+import os
+import sys
+
+DIR = os.path.join(os.path.dirname(__file__), "install")
+BIN_DIR = os.path.join(DIR, "bin")
+LIB_DIR = os.path.join(DIR, "lib")
+XKB_DIR = os.path.join(DIR, "share", "X11", "xkb")
+
+XVFB_BIN = os.path.join(BIN_DIR, "Xvfb")
+XKBCOMP_BIN = os.path.join(BIN_DIR, "xkbcomp")
+
+
+# Common host paths where Mesa DRI drivers (e.g. swrast_dri.so) live. Xvfb
+# was built on AlmaLinux 8 with /usr/lib64/dri baked in; on other distros
+# (Debian/Ubuntu in particular) the drivers are elsewhere, and without them
+# Xvfb fails to bring up a GL provider and silently disables the GLX
+# extension. Probing the standard locations lets the host's drivers be
+# found regardless of distro.
+_DRI_PATHS = (
+  "/usr/lib64/dri",
+  "/usr/lib/x86_64-linux-gnu/dri",
+  "/usr/lib/aarch64-linux-gnu/dri",
+  "/usr/lib/dri",
+)
+
+
+def _run_xvfb():
+  # The bundled Xvfb has its compile-time XkbBinDirectory blanked out so it
+  # invokes xkbcomp via PATH lookup; prepend our bin dir so the bundled
+  # xkbcomp wins. -xkbdir points the server at the bundled keymap data.
+  env = os.environ.copy()
+  env["PATH"] = BIN_DIR + os.pathsep + env.get("PATH", "")
+  if "LIBGL_DRIVERS_PATH" not in env:
+    found = [p for p in _DRI_PATHS if os.path.isdir(p)]
+    if found:
+      env["LIBGL_DRIVERS_PATH"] = os.pathsep.join(found)
+  args = sys.argv[1:]
+  if not any(a == "-xkbdir" for a in args):
+    args = ["-xkbdir", XKB_DIR] + args
+  os.execvpe(XVFB_BIN, [XVFB_BIN] + args, env)
+
+
+def smoketest():
+  if sys.platform == "darwin":
+    return
+  assert os.path.isfile(XVFB_BIN), f"Xvfb not found at {XVFB_BIN}"
+  assert os.path.isfile(XKBCOMP_BIN), f"xkbcomp not found at {XKBCOMP_BIN}"
+  assert os.path.isdir(XKB_DIR), f"xkb data not found at {XKB_DIR}"
+
+  import subprocess
+  # Xvfb prints usage to stderr and exits non-zero on `-help`; the banner
+  # mentions Xvfb-specific flags like -screen and -fbdir. If those appear,
+  # the binary loaded its bundled libs and ran far enough to print help.
+  result = subprocess.run([XVFB_BIN, "-help"], capture_output=True, text=True)
+  output = result.stderr + result.stdout
+  assert "-screen scrn WxHxD" in output, \
+      f"Xvfb -help did not produce expected output: {output}"