control-toolbox · jbcaillau · Jan 17, 2026 · Jan 17, 2026 · Jan 17, 2026 · Jan 17, 2026
diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
@@ -8,7 +8,23 @@ on:
   pull_request:
 
 jobs:
-  call:
+  test-cpu-github:
     uses: control-toolbox/CTActions/.github/workflows/ci.yml@main
     with:
-      runs_on: '["ubuntu-latest", "windows-latest"]'
+      versions: '["1.12"]'
+      runs_on: '["ubuntu-latest", "macos-latest"]'
+      runner_type: 'github'
+      use_ct_registry: true
+    secrets:
+      SSH_KEY: ${{ secrets.SSH_KEY }}
+
+  # Job pour le runner self-hosted kkt (GPU/CUDA)
+  test-gpu-kkt:
+    uses: control-toolbox/CTActions/.github/workflows/ci.yml@main
+    with:
+      versions: '["1"]'
+      runs_on: '[["kkt"]]'
+      runner_type: 'self-hosted'
+      use_ct_registry: true
+    secrets:
+      SSH_KEY: ${{ secrets.SSH_KEY }}
diff --git a/.github/workflows/Coverage.yml b/.github/workflows/Coverage.yml
@@ -8,5 +8,8 @@ on:
 jobs:
   call:
     uses: control-toolbox/CTActions/.github/workflows/coverage.yml@main
+    with:
+      use_ct_registry: true
     secrets:
       codecov-secret: ${{ secrets.CODECOV_TOKEN }}
+      SSH_KEY: ${{ secrets.SSH_KEY }}
diff --git a/.github/workflows/Documentation.yml b/.github/workflows/Documentation.yml
@@ -10,3 +10,7 @@ on:
 jobs:
   call:
     uses: control-toolbox/CTActions/.github/workflows/documentation.yml@main
+    with:
+      use_ct_registry: true
+    secrets:
+      SSH_KEY: ${{ secrets.SSH_KEY }}
diff --git a/.gitignore b/.gitignore
@@ -40,4 +40,8 @@ Manifest.toml
 */.ipynb_checkpoints
 
 #
-docs/tmp/
+.tmp/
+.extras/
+#.save/
+.windsurf/
+.reports/
diff --git a/docs/Project.toml → .save/docs/Project.toml b/docs/Project.toml → .save/docs/Project.toml
@@ -28,11 +28,12 @@ Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb"
 
 [compat]
 ADNLPModels = "0.8"
-CTBase = "0.16"
-CTDirect = "0.17"
+CTBase = "0.18"
+CTDirect = "1"
 CTFlows = "0.8"
-CTModels = "0.6"
-CTParser = "0.7"
+CTModels = "0.8"
+CTParser = "0.8"
+CTSolver = "0.2"
 CommonSolve = "0.2"
 DataFrames = "1"
 DifferentiationInterface = "0.7"

diff --git a/docs/make.jl → .save/docs/make.jl b/docs/make.jl → .save/docs/make.jl
diff --git a/docs/src/api-ctbase.md → .save/docs/src/api-ctbase.md b/docs/src/api-ctbase.md → .save/docs/src/api-ctbase.md
diff --git a/docs/src/api-ctdirect.md → .save/docs/src/api-ctdirect.md b/docs/src/api-ctdirect.md → .save/docs/src/api-ctdirect.md
diff --git a/docs/src/api-ctflows.md → .save/docs/src/api-ctflows.md b/docs/src/api-ctflows.md → .save/docs/src/api-ctflows.md
diff --git a/docs/src/api-ctmodels.md → .save/docs/src/api-ctmodels.md b/docs/src/api-ctmodels.md → .save/docs/src/api-ctmodels.md
diff --git a/docs/src/api-ctparser.md → .save/docs/src/api-ctparser.md b/docs/src/api-ctparser.md → .save/docs/src/api-ctparser.md
diff --git a/docs/src/api-optimalcontrol-dev.md → .save/docs/src/api-optimalcontrol-dev.md b/docs/src/api-optimalcontrol-dev.md → .save/docs/src/api-optimalcontrol-dev.md
diff --git a/docs/src/api-optimalcontrol-user.md → .save/docs/src/api-optimalcontrol-user.md b/docs/src/api-optimalcontrol-user.md → .save/docs/src/api-optimalcontrol-user.md
diff --git a/docs/src/assets/Project.toml → .save/docs/src/assets/Project.toml b/docs/src/assets/Project.toml → .save/docs/src/assets/Project.toml
@@ -48,7 +48,7 @@ LinearAlgebra = "1"
 MINPACK = "1"
 MadNLP = "0.8"
 MadNLPMumps = "0.5"
-NLPModelsIpopt = "0.10"
+NLPModelsIpopt = "0.11"
 NLPModelsKnitro = "0.9"
 NonlinearSolve = "4"
 OrdinaryDiffEq = "6"

diff --git a/docs/src/assets/affil-lux.jpg → .save/docs/src/assets/affil-lux.jpg b/docs/src/assets/affil-lux.jpg → .save/docs/src/assets/affil-lux.jpg
diff --git a/docs/src/assets/affil.jpg → .save/docs/src/assets/affil.jpg b/docs/src/assets/affil.jpg → .save/docs/src/assets/affil.jpg
diff --git a/docs/src/assets/chariot.png → .save/docs/src/assets/chariot.png b/docs/src/assets/chariot.png → .save/docs/src/assets/chariot.png
diff --git a/docs/src/assets/chariot.svg → .save/docs/src/assets/chariot.svg b/docs/src/assets/chariot.svg → .save/docs/src/assets/chariot.svg
diff --git a/docs/src/assets/control-toolbox.jpg → .save/docs/src/assets/control-toolbox.jpg b/docs/src/assets/control-toolbox.jpg → .save/docs/src/assets/control-toolbox.jpg
diff --git a/docs/src/assets/ct-qr-code.svg → .save/docs/src/assets/ct-qr-code.svg b/docs/src/assets/ct-qr-code.svg → .save/docs/src/assets/ct-qr-code.svg
diff --git a/docs/src/assets/custom.css → .save/docs/src/assets/custom.css b/docs/src/assets/custom.css → .save/docs/src/assets/custom.css
diff --git a/docs/src/assets/france-2030.png → .save/docs/src/assets/france-2030.png b/docs/src/assets/france-2030.png → .save/docs/src/assets/france-2030.png
diff --git a/docs/src/assets/goddard-a100.jpg → .save/docs/src/assets/goddard-a100.jpg b/docs/src/assets/goddard-a100.jpg → .save/docs/src/assets/goddard-a100.jpg
diff --git a/docs/src/assets/goddard-h100.jpg → .save/docs/src/assets/goddard-h100.jpg b/docs/src/assets/goddard-h100.jpg → .save/docs/src/assets/goddard-h100.jpg
diff --git a/docs/src/assets/jlesc17.jpg → .save/docs/src/assets/jlesc17.jpg b/docs/src/assets/jlesc17.jpg → .save/docs/src/assets/jlesc17.jpg
diff --git a/docs/src/assets/juliacon-paris-2025.jpg → ...e/docs/src/assets/juliacon-paris-2025.jpg b/docs/src/assets/juliacon-paris-2025.jpg → ...e/docs/src/assets/juliacon-paris-2025.jpg
diff --git a/docs/src/assets/juliacon2024.jpg → .save/docs/src/assets/juliacon2024.jpg b/docs/src/assets/juliacon2024.jpg → .save/docs/src/assets/juliacon2024.jpg
diff --git a/docs/src/assets/juliacon2025.jpg → .save/docs/src/assets/juliacon2025.jpg b/docs/src/assets/juliacon2025.jpg → .save/docs/src/assets/juliacon2025.jpg
diff --git a/docs/src/assets/quadrotor-a100.jpg → .save/docs/src/assets/quadrotor-a100.jpg b/docs/src/assets/quadrotor-a100.jpg → .save/docs/src/assets/quadrotor-a100.jpg
diff --git a/docs/src/assets/quadrotor-h100.jpg → .save/docs/src/assets/quadrotor-h100.jpg b/docs/src/assets/quadrotor-h100.jpg → .save/docs/src/assets/quadrotor-h100.jpg
diff --git a/docs/src/assets/rdnopa-2025.jpg → .save/docs/src/assets/rdnopa-2025.jpg b/docs/src/assets/rdnopa-2025.jpg → .save/docs/src/assets/rdnopa-2025.jpg
diff --git a/docs/src/assets/rocket-def.jpg → .save/docs/src/assets/rocket-def.jpg b/docs/src/assets/rocket-def.jpg → .save/docs/src/assets/rocket-def.jpg
diff --git a/docs/src/assets/rocket-def.pdf → .save/docs/src/assets/rocket-def.pdf b/docs/src/assets/rocket-def.pdf → .save/docs/src/assets/rocket-def.pdf
diff --git a/docs/src/assets/rocket-def.png → .save/docs/src/assets/rocket-def.png b/docs/src/assets/rocket-def.png → .save/docs/src/assets/rocket-def.png
diff --git a/docs/src/assets/rocket-def.svg → .save/docs/src/assets/rocket-def.svg b/docs/src/assets/rocket-def.svg → .save/docs/src/assets/rocket-def.svg
diff --git a/docs/src/assets/standup.jpg → .save/docs/src/assets/standup.jpg b/docs/src/assets/standup.jpg → .save/docs/src/assets/standup.jpg
diff --git a/docs/src/assets/star.jpg → .save/docs/src/assets/star.jpg b/docs/src/assets/star.jpg → .save/docs/src/assets/star.jpg
diff --git a/docs/src/assets/zhejiang-2025.jpg → .save/docs/src/assets/zhejiang-2025.jpg b/docs/src/assets/zhejiang-2025.jpg → .save/docs/src/assets/zhejiang-2025.jpg
diff --git a/docs/src/example-double-integrator-energy.md → ...s/src/example-double-integrator-energy.md b/docs/src/example-double-integrator-energy.md → ...s/src/example-double-integrator-energy.md
diff --git a/docs/src/example-double-integrator-time.md → ...ocs/src/example-double-integrator-time.md b/docs/src/example-double-integrator-time.md → ...ocs/src/example-double-integrator-time.md
diff --git a/docs/src/index.md → .save/docs/src/index.md b/docs/src/index.md → .save/docs/src/index.md
diff --git a/docs/src/jlesc17.md → .save/docs/src/jlesc17.md b/docs/src/jlesc17.md → .save/docs/src/jlesc17.md
diff --git a/docs/src/juliacon-paris-2025.md → .save/docs/src/juliacon-paris-2025.md b/docs/src/juliacon-paris-2025.md → .save/docs/src/juliacon-paris-2025.md
diff --git a/docs/src/juliacon2024.md → .save/docs/src/juliacon2024.md b/docs/src/juliacon2024.md → .save/docs/src/juliacon2024.md
diff --git a/docs/src/manual-abstract.md → .save/docs/src/manual-abstract.md b/docs/src/manual-abstract.md → .save/docs/src/manual-abstract.md
diff --git a/docs/src/manual-ai-llm.md → .save/docs/src/manual-ai-llm.md b/docs/src/manual-ai-llm.md → .save/docs/src/manual-ai-llm.md
diff --git a/docs/src/manual-flow-api.md → .save/docs/src/manual-flow-api.md b/docs/src/manual-flow-api.md → .save/docs/src/manual-flow-api.md
diff --git a/docs/src/manual-flow-ocp.md → .save/docs/src/manual-flow-ocp.md b/docs/src/manual-flow-ocp.md → .save/docs/src/manual-flow-ocp.md
diff --git a/docs/src/manual-flow-others.md → .save/docs/src/manual-flow-others.md b/docs/src/manual-flow-others.md → .save/docs/src/manual-flow-others.md
diff --git a/docs/src/manual-initial-guess.md → .save/docs/src/manual-initial-guess.md b/docs/src/manual-initial-guess.md → .save/docs/src/manual-initial-guess.md
diff --git a/docs/src/manual-model.md → .save/docs/src/manual-model.md b/docs/src/manual-model.md → .save/docs/src/manual-model.md
@@ -123,7 +123,7 @@ definition(ocp)
 
 !!! note
 
-    We refer to [CTModels API](@extref CTModels Types) for more details about this struct and its fields.
+    We refer to the CTModels documentation for more details about this struct and its fields.
 
 ## [Attributes and properties](@id manual-model-attributes)
 

diff --git a/docs/src/manual-plot.md → .save/docs/src/manual-plot.md b/docs/src/manual-plot.md → .save/docs/src/manual-plot.md
diff --git a/docs/src/manual-solution.md → .save/docs/src/manual-solution.md b/docs/src/manual-solution.md → .save/docs/src/manual-solution.md
diff --git a/docs/src/manual-solve-gpu.md → .save/docs/src/manual-solve-gpu.md b/docs/src/manual-solve-gpu.md → .save/docs/src/manual-solve-gpu.md
diff --git a/docs/src/manual-solve.md → .save/docs/src/manual-solve.md b/docs/src/manual-solve.md → .save/docs/src/manual-solve.md
@@ -84,7 +84,7 @@ solve(ocp, :direct, :adnlp, :ipopt)
     - `:exa`: the NLP problem is modeled by a [`ExaModels.ExaModel`](@extref). It provides automatic differentiation and [SIMD](https://en.wikipedia.org/wiki/Single_instruction,_multiple_data) abstraction.
 3. The third symbol specifies the NLP solver. Possible values are:
    - `:ipopt`: calls [`NLPModelsIpopt.ipopt`](@extref) to solve the NLP problem.
-   - `:madnlp`: creates a [MadNLP.MadNLPSolver](@extref) instance from the NLP problem and solve it. [MadNLP.jl](https://madnlp.github.io/MadNLP.jl) is an open-source solver in Julia implementing a filter line-search interior-point algorithm like Ipopt.
+   - `:madnlp`: creates a [MadNLP.MadNLP](@extref) instance from the NLP problem and solve it. [MadNLP.jl](https://madnlp.github.io/MadNLP.jl) is an open-source solver in Julia implementing a filter line-search interior-point algorithm like Ipopt.
    - `:knitro`: uses the [Knitro](https://www.artelys.com/solvers/knitro/) solver (license required).
 
 !!! warning

diff --git a/docs/src/rdnopa-2025.md → .save/docs/src/rdnopa-2025.md b/docs/src/rdnopa-2025.md → .save/docs/src/rdnopa-2025.md
diff --git a/docs/src/zhejiang-2025.md → .save/docs/src/zhejiang-2025.md b/docs/src/zhejiang-2025.md → .save/docs/src/zhejiang-2025.md
diff --git a/src/solve.jl → .save/solve_old.jl b/src/solve.jl → .save/solve_old.jl
diff --git a/.save/src/modelers.jl b/.save/src/modelers.jl
@@ -0,0 +1,84 @@
+# To trigger CTDirectExtADNLP and CTDirectExtExa
+using ADNLPModels: ADNLPModels
+
+import ExaModels:
+    ExaModels #,
+#     ExaModel,
+#     ExaCore,
+#     variable,
+#     constraint,
+#     constraint!,
+#     objective,
+#     solution,
+#     multipliers,
+#     multipliers_L,
+#     multipliers_U,
+#     Constraint
+
+# # Conflicts of functions defined in several packages
+# # ExaModels.variable, CTModels.variable
+# # ExaModels.constraint, CTModels.constraint
+# # ExaModels.constraint!, CTModels.constraint!
+# # ExaModels.objective, CTModels.objective
+# """
+# $(TYPEDSIGNATURES)
+
+# See CTModels.variable.
+# """
+# variable(ocp::Model) = CTModels.variable(ocp)
+
+# """
+# $(TYPEDSIGNATURES)
+
+# Return the variable or `nothing`.
+
+# ```@example
+# julia> v = variable(sol)
+# ```
+# """
+# variable(sol::Solution) = CTModels.variable(sol)
+
+# """
+# $(TYPEDSIGNATURES)
+
+# Get a labelled constraint from the model. Returns a tuple of the form
+# `(type, f, lb, ub)` where `type` is the type of the constraint, `f` is the function, 
+# `lb` is the lower bound and `ub` is the upper bound. 
+
+# The function returns an exception if the label is not found in the model.
+
+# ## Arguments
+
+# - `model`: The model from which to retrieve the constraint.
+# - `label`: The label of the constraint to retrieve.
+
+# ## Returns
+
+# - `Tuple`: A tuple containing the type, function, lower bound, and upper bound of the constraint.
+# """
+# constraint(ocp::Model, label::Symbol) = CTModels.constraint(ocp, label)
+
+# """
+# $(TYPEDSIGNATURES)
+
+# See CTModels.constraint!.
+# """
+# function constraint!(ocp::PreModel, type::Symbol; kwargs...)
+#     CTModels.constraint!(ocp, type; kwargs...)
+# end
+
+# """
+# $(TYPEDSIGNATURES)
+
+# See CTModels.objective.
+# """
+# objective(ocp::Model) = CTModels.objective(ocp)
+
+# """
+# $(TYPEDSIGNATURES)
+
+# Return the objective value.
+# """
+# objective(sol::Solution) = CTModels.objective(sol)
+
+# export variable, constraint, objective