Remove dead code and fix compiler warnings

.github/copilot-instructions.md

@@ -58,7 +58,7 @@ Key data structures are in `include/types.h`: `DAQPProblem` (problem data), `DAQ
 The typical call sequence is:
 1. `setup_daqp(qp, work, ...)` — allocate workspace and factor the Hessian
 2. `daqp_solve(res, work)` — run the solver
-3. Optionally call `setup_daqp_bnb` / `setup_daqp_hiqp` / `setup_daqp_avi` before step 2 for specialized variants
+3. Optionally call `setup_daqp_bnb` / `setup_daqp_hiqp` before step 2 for specialized variants (AVIs are selected by setting `qp->problem_type = 1` before `setup_daqp`)
 
 ## Conventions
 

codegen/codegen.c

@@ -32,7 +32,7 @@ void render_daqp_workspace(DAQPWorkspace* work, const char *fname, const char *d
     strcat(hguard, "_H");
     char *s = hguard;
     while(*s){
-        *s = toupper((unsigned char) *s);
+        *s = (char)toupper((unsigned char) *s);
         s++;
     }
     fprintf(fh, "#ifndef %s\n",   hguard);

include/api.h

@@ -35,7 +35,6 @@ int setup_daqp_main(DAQPProblem *qp, DAQPWorkspace* work, c_float* setup_time, i
 int setup_daqp_ldp(DAQPWorkspace *work, DAQPProblem* qp, const int init_mask);
 void setup_daqp_hiqp(DAQPWorkspace *work, int* break_points, int nh);
 int setup_daqp_bnb(DAQPWorkspace* work, int* sense, int nb, int ns);
-int setup_daqp_avi(DAQPAVI* avi, DAQPProblem* p, DAQPWorkspace* work, c_float* setup_time);
 
 void allocate_daqp_settings(DAQPWorkspace *work);
 void allocate_daqp_workspace(DAQPWorkspace *work, int n, int ns);
@@ -58,7 +57,6 @@ void daqp_extract_result(DAQPResult* res, DAQPWorkspace* work);
 // result of the original problem, and carry its working set over to the
 // original constraints
 void daqp_eq_expand(DAQPResult* res, DAQPWorkspace* work);
-void daqp_extract_active_duals(DAQPResult* res, DAQPWorkspace* work);
 void daqp_default_settings(DAQPSettings *settings);
 void daqp_minrep(int* is_redundant, c_float* A, c_float* b, int n, int m, int ms);
 int  daqp_first_violating(c_float* x, c_float* A, c_float* bu, c_float* bl, int n, int m, int ms, c_float tol);

include/factorization.h

@@ -8,8 +8,6 @@ extern "C" {
 #include "types.h"
 #include "constants.h"
 
-c_float daqp_dot(const c_float* v1, const c_float* v2, const int n);
-
 static inline c_float daqp_dot_inline(const c_float* v1, const c_float* v2, const int n) {
     c_float sum = 0.0;
     for (int i = 0; i < n; i++) sum += v1[i] * v2[i];

src/api.c

@@ -143,7 +143,7 @@ int setup_daqp_main(DAQPProblem* qp, DAQPWorkspace *work, c_float* setup_time, i
     if(qp->nh > 1){
         ns = 0; // Reset
         int start = 0;
-        for(int i = 0; i < qp->nh; i++){
+        for(i = 0; i < qp->nh; i++){
             ns = (ns  > qp->break_points[i]-start) ? ns : qp->break_points[i]-start;
             start = qp->break_points[i];
         }
@@ -559,14 +559,6 @@ void daqp_extract_result(DAQPResult* res, DAQPWorkspace* work){
         res->nodes = work->outer_iter;
 }
 
-void daqp_extract_active_duals(DAQPResult* res, DAQPWorkspace* work){
-    int i;
-    if(res->lam == NULL) return;
-    for(i=0;i<work->m;i++) res->lam[i] = 0;
-    for(i=0;i<work->n_active;i++)
-        res->lam[work->WS[i]] = work->lam_star[i];
-}
-
 void daqp_default_settings(DAQPSettings* settings){
     settings->primal_tol = DAQP_DEFAULT_PRIM_TOL;
     settings->dual_tol = DAQP_DEFAULT_DUAL_TOL;

src/factorization.c

@@ -14,10 +14,6 @@ static c_float dot_row(const c_float* a, const c_float* b, const int n){
     return (s0+s1)+(s2+s3);
 }
 
-c_float daqp_dot(const c_float* v1, const c_float* v2, const int n) {
-    return daqp_dot_inline(v1, v2, n);
-}
-
 void daqp_update_LDL_add(DAQPWorkspace *work, const int add_ind, const c_float rho){
     work->sing_ind = DAQP_EMPTY_IND;
     int i,j,disp,id;

src/utils.c

@@ -1028,7 +1028,6 @@ void daqp_minrep_work(int* is_redundant, DAQPWorkspace* work){
         reset_daqp_workspace(work);
         work->sense[i] = 5;
         daqp_add_constraint(work,i,1.0);
-        //work->dupper[i] += tol_weak; TODO support weaky infeasible constraints
         exitflag = daqp_ldp(work);
         if(exitflag== DAQP_EXIT_INFEASIBLE){
             is_redundant[i] = 1;
@@ -1041,7 +1040,6 @@ void daqp_minrep_work(int* is_redundant, DAQPWorkspace* work){
                 for(j=0; j < work->n_active; j++) // all active constraint must also be nonredundant
                     is_redundant[work->WS[j]] = 0;
         }
-        // work->dupper[i] -= tol_weak; // TODO support weakly infeasible constraints
         daqp_deactivate_constraints(work);
     }
 }
@@ -1092,7 +1090,7 @@ double get_time(DAQPtimer *timer){
     struct timespec diff;
     if ((timer->stop.tv_nsec - timer->start.tv_nsec) < 0) {
         diff.tv_sec  = timer->stop.tv_sec - timer->start.tv_sec - 1;
-        diff.tv_nsec = 1e9 + timer->stop.tv_nsec - timer->start.tv_nsec;
+        diff.tv_nsec = 1000000000L + timer->stop.tv_nsec - timer->start.tv_nsec;
     } else {
         diff.tv_sec  = timer->stop.tv_sec - timer->start.tv_sec;
         diff.tv_nsec = timer->stop.tv_nsec - timer->start.tv_nsec;