diff --git a/.github/workflows/build_cuda.yml b/.github/workflows/build_cuda.yml
index 059f5405..3384ca6f 100644
--- a/.github/workflows/build_cuda.yml
+++ b/.github/workflows/build_cuda.yml
@@ -2,13 +2,11 @@ name: Build CUDA Linux
 
 on:
   push:
-    branches:
-      - master
+    branches: [ master, develop**, ci ]
     tags:
       - '*'
   pull_request:
-    branches:
-      - master
+    branches: [ master, develop** ]
 
 jobs:
   build_wheels:
diff --git a/.github/workflows/build_cuda_windows.yml b/.github/workflows/build_cuda_windows.yml
index 434d44ec..2c0e361f 100644
--- a/.github/workflows/build_cuda_windows.yml
+++ b/.github/workflows/build_cuda_windows.yml
@@ -2,13 +2,11 @@ name: Build CUDA Windows
 
 on:
   push:
-    branches:
-      - master
+    branches: [ master, develop**, ci ]
     tags:
       - '*'
   pull_request:
-    branches:
-      - master
+    branches: [ master, develop** ]
 
 env:
   CUDATOOLKIT_URL: https://developer.download.nvidia.com/compute/cuda/12.6.3/local_installers/cuda_12.6.3_561.17_windows.exe
diff --git a/.github/workflows/build_default.yml b/.github/workflows/build_default.yml
index 793185a9..149ed276 100644
--- a/.github/workflows/build_default.yml
+++ b/.github/workflows/build_default.yml
@@ -2,13 +2,11 @@ name: Build Default
 
 on:
   push:
-    branches:
-      - master
+    branches: [ master, develop**, ci ]
     tags:
       - '*'
   pull_request:
-    branches:
-      - master
+    branches: [ master, develop** ]
 
 jobs:
   build_sdist:
diff --git a/.github/workflows/build_mkl.yml b/.github/workflows/build_mkl.yml
index 8cb11185..5b95730e 100644
--- a/.github/workflows/build_mkl.yml
+++ b/.github/workflows/build_mkl.yml
@@ -2,13 +2,11 @@ name: Build MKL Mac/Linux
 
 on:
   push:
-    branches:
-      - master
+    branches: [ master, develop**, ci ]
     tags:
       - '*'
   pull_request:
-    branches:
-      - master
+    branches: [ master, develop** ]
 
 jobs:
   build_wheels:
diff --git a/.github/workflows/build_mkl_windows.yml b/.github/workflows/build_mkl_windows.yml
index 5710466c..d98c9037 100644
--- a/.github/workflows/build_mkl_windows.yml
+++ b/.github/workflows/build_mkl_windows.yml
@@ -2,13 +2,11 @@ name: Build MKL Windows
 
 on:
   push:
-    branches:
-      - master
+    branches: [ master, develop**, ci ]
     tags:
       - '*'
   pull_request:
-    branches:
-      - master
+    branches: [ master, develop** ]
 
 env:
   # update urls for oneapi packages according to
diff --git a/.github/workflows/build_wasm.yml b/.github/workflows/build_wasm.yml
index b26f598f..426e3d30 100644
--- a/.github/workflows/build_wasm.yml
+++ b/.github/workflows/build_wasm.yml
@@ -2,13 +2,11 @@ name: Build WASM
 
 on:
   push:
-    branches:
-      - master
+    branches: [ master, develop**, ci ]
     tags:
       - '*'
   pull_request:
-    branches:
-      - master
+    branches: [ master, develop** ]
 
 jobs:
   build_wheels:
diff --git a/.gitignore b/.gitignore
index c2a5a9a1..fcf7cea7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -129,3 +129,17 @@ src/osqp/_version.py
 
 # files that are modified in the build process
 src/osqp/bindings.cpp
+
+
+
+CMakeFiles/
+INSTALL.vcxproj
+INSTALL.vcxproj.filters
+ZERO_CHECK.vcxproj
+ZERO_CHECK.vcxproj.filters
+cmake_install.cmake
+ext.sln
+ext_builtin.vcxproj
+ext_builtin.vcxproj.filters
+src/bindings.cpp
+CLAUDE.md
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index f517c842..a2d72def 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,5 +1,6 @@
 # See https://pre-commit.com for more information
 # See https://pre-commit.com/hooks.html for more hooks
+exclude: '^(benchmarks|examples)/'
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v3.2.0
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 33349318..75abdbf1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,8 @@ project(ext)
 
 set(PYTHON "ON")
 set(OSQP_BUILD_UNITTESTS "OFF")
-set(OSQP_USE_LONG "OFF")
+# set(OSQP_USE_LONG "OFF")
+set(OSQP_USE_LONG "ON")
 set(OSQP_CUSTOM_PRINTING "${CMAKE_CURRENT_SOURCE_DIR}/cmake/printing.h")
 set(OSQP_CUSTOM_MEMORY "${CMAKE_CURRENT_SOURCE_DIR}/cmake/memory.h")
 set(OSQP_CODEGEN_INSTALL_DIR "codegen/codegen_src" CACHE PATH "" FORCE)
@@ -17,7 +18,25 @@ include(FetchContent)
 # 03/05/24 - Use modern python discovery
 set(PYBIND11_FINDPYTHON "ON")
 
-find_package(pybind11 CONFIG REQUIRED)
+# Try to find pybind11, if not found, fetch it
+find_package(pybind11 CONFIG QUIET)
+if(NOT pybind11_FOUND)
+    message(STATUS "pybind11 not found, fetching from GitHub...")
+    FetchContent_Declare(
+        pybind11
+        GIT_REPOSITORY https://github.com/pybind/pybind11.git
+        GIT_TAG v2.11.1
+    )
+    FetchContent_MakeAvailable(pybind11)
+else()
+    message(STATUS "Found pybind11: ${pybind11_DIR}")
+endif()
+
+# find_package(pybind11 CONFIG REQUIRED)
+
+# Find Python before configuring OSQP
+# Use Development.Module for better CMake 4.0+ compatibility
+find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
 
 # 03/05/24 - Workaround because OSQP CMakeLists.txt is using old variable names
 set(PYTHON_FOUND "ON")
@@ -27,12 +46,32 @@ message(STATUS "Fetching/configuring OSQP")
 list(APPEND CMAKE_MESSAGE_INDENT "  ")
 FetchContent_Declare(
   osqp
-  GIT_REPOSITORY https://github.com/osqp/osqp.git
-  GIT_TAG v1.0.0
+#   GIT_REPOSITORY https://github.com/osqp/osqp.git
+  GIT_REPOSITORY https://github.com/lb3825/osqp.git
+    # SOURCE_DIR "C:/Users/baice/Documents/GitHub/osqp"
+    # SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../osqp"
+#   GIT_TAG v1.0.0
+  GIT_TAG b/develop-halpern-ci-fixes
+#   GIT_TAG plot
 )
 list(POP_BACK CMAKE_MESSAGE_INDENT)
 FetchContent_MakeAvailable(osqp)
 
+# Define the module name if not already set
+if(NOT DEFINED OSQP_EXT_MODULE_NAME)
+    set(OSQP_EXT_MODULE_NAME "osqp")
+endif()
+
+if(${OSQP_ALGEBRA_BACKEND} STREQUAL "builtin")
+    set(OSQP_EXT_MODULE_NAME "ext_builtin")
+elseif(${OSQP_ALGEBRA_BACKEND} STREQUAL "mkl")
+    set(OSQP_EXT_MODULE_NAME "osqp_mkl")
+elseif(${OSQP_ALGEBRA_BACKEND} STREQUAL "cuda")
+    set(OSQP_EXT_MODULE_NAME "osqp_cuda")
+else()
+    set(OSQP_EXT_MODULE_NAME "osqp")
+endif()
+
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/src/bindings.cpp.in
                ${CMAKE_CURRENT_SOURCE_DIR}/src/bindings.cpp)
 pybind11_add_module(${OSQP_EXT_MODULE_NAME} src/bindings.cpp)
diff --git a/run_with_probname.bat b/run_with_probname.bat
new file mode 100644
index 00000000..8244de66
--- /dev/null
+++ b/run_with_probname.bat
@@ -0,0 +1,14 @@
+@echo off
+setlocal enabledelayedexpansion
+
+set PROBNAME=%1
+set STARTDIR=%CD%
+
+cd examples
+@REM py maros_meszaros_benchmarks.py !PROBNAME!
+cd ..\..
+
+cd osqp
+py .\plot\plot.py !PROBNAME! 3
+
+cd /d !STARTDIR!
diff --git a/src/bindings.cpp.in b/src/bindings.cpp.in
index 4ceac544..13b0e89f 100644
--- a/src/bindings.cpp.in
+++ b/src/bindings.cpp.in
@@ -377,6 +377,26 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) {
     .value("OSQP_DIAGONAL_PRECONDITIONER", OSQP_DIAGONAL_PRECONDITIONER)
     .export_values();
 
+    py::enum_<osqp_restart_type>(m, "osqp_restart_type", py::module_local())
+    .value("OSQP_RESTART_NONE", OSQP_RESTART_NONE)
+    //.value("OSQP_RESTART_AVERAGED", OSQP_RESTART_AVERAGED)
+    //.value("OSQP_RESTART_HALPERN", OSQP_RESTART_HALPERN)
+    .value("OSQP_RESTART_REFLECTED_HALPERN", OSQP_RESTART_REFLECTED_HALPERN)
+    .export_values();
+
+    //py::enum_<osqp_halpern_adaptive_type>(m, "osqp_halpern_adaptive_type", py::module_local())
+    //.value("OSQP_ADAPTIVE_HALPERN_NONE", OSQP_ADAPTIVE_HALPERN_NONE)
+    //.value("OSQP_ADAPTIVE_HALPERN", OSQP_ADAPTIVE_HALPERN)
+    //.value("OSQP_ADAPTIVE_HALPERN_BEFORE_INI_REST_LEN", OSQP_ADAPTIVE_HALPERN_BEFORE_INI_REST_LEN)
+    //.export_values();
+
+    py::enum_<osqp_halpern_anchor_point>(m, "osqp_halpern_anchor_point", py::module_local())
+    .value("OSQP_HALPERN_ANCHOR_INITIAL_POINT", OSQP_HALPERN_ANCHOR_INITIAL_POINT)
+    .value("OSQP_HALPERN_ANCHOR_FIRST_ITER", OSQP_HALPERN_ANCHOR_FIRST_ITER)
+    .value("OSQP_HALPERN_ANCHOR_TAU_NOT", OSQP_HALPERN_ANCHOR_TAU_NOT)
+    .value("OSQP_HALPERN_ANCHOR_INIT_REST", OSQP_HALPERN_ANCHOR_INIT_REST)
+    .export_values();
+
     // CSC
     py::class_<CSC>(m, "CSC", py::module_local())
     .def(py::init<py::object>())
@@ -415,6 +435,27 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) {
     .def_readwrite("rho_is_vec", &OSQPSettings::rho_is_vec)
     .def_readwrite("sigma", &OSQPSettings::sigma)
     .def_readwrite("alpha", &OSQPSettings::alpha)
+    .def_readwrite("beta", &OSQPSettings::beta)
+    .def_readwrite("lambd", &OSQPSettings::lambd)
+    .def_readwrite("restart_necessary", &OSQPSettings::restart_necessary)
+    .def_readwrite("restart_artificial", &OSQPSettings::restart_artificial)
+    .def_readwrite("ini_rest_len", &OSQPSettings::ini_rest_len)
+    .def_readwrite("restart_type", &OSQPSettings::restart_type)
+    //.def_readwrite("halpern_scheme", &OSQPSettings::halpern_scheme)
+    .def_readwrite("halpern_anchor", &OSQPSettings::halpern_anchor)
+    .def_readwrite("adaptive_rho_tolerance_greater", &OSQPSettings::adaptive_rho_tolerance_greater)
+    .def_readwrite("adaptive_rho_tolerance_less", &OSQPSettings::adaptive_rho_tolerance_less)
+    .def_readwrite("adaptive_rest", &OSQPSettings::adaptive_rest)
+    //.def_readwrite("alpha_adjustment_reflected_halpern", &OSQPSettings::alpha_adjustment_reflected_halpern)
+    //.def_readwrite("rho_custom_condition", &OSQPSettings::rho_custom_condition)
+    //.def_readwrite("custom_average_rest", &OSQPSettings::custom_average_rest)
+    //.def_readwrite("adapt_rho_on_restart", &OSQPSettings::adapt_rho_on_restart)
+    //.def_readwrite("vector_rho_in_averaged_KKT", &OSQPSettings::vector_rho_in_averaged_KKT)
+    //.def_readwrite("rho_custom_tolerance", &OSQPSettings::rho_custom_tolerance)
+    //.def_readwrite("xi", &OSQPSettings::xi)
+    //.def_readwrite("plot", &OSQPSettings::plot)
+    .def_readwrite("integral", &OSQPSettings::integral)
+    .def_readwrite("halpern_step_first_inner_iter", &OSQPSettings::halpern_step_first_inner_iter)
 
     // Settings - CG
     .def_readwrite("cg_max_iter", &OSQPSettings::cg_max_iter)
@@ -425,8 +466,17 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) {
     // Settings - Adaptive rho
     .def_readwrite("adaptive_rho", &OSQPSettings::adaptive_rho)
     .def_readwrite("adaptive_rho_interval", &OSQPSettings::adaptive_rho_interval)
+    .def_readwrite("restart_check_interval", &OSQPSettings::restart_check_interval)
     .def_readwrite("adaptive_rho_fraction", &OSQPSettings::adaptive_rho_fraction)
     .def_readwrite("adaptive_rho_tolerance", &OSQPSettings::adaptive_rho_tolerance)
+    .def_readwrite("pid_controller", &OSQPSettings::pid_controller)
+    //.def_readwrite("pid_controller_sqrt", &OSQPSettings::pid_controller_sqrt)
+    //.def_readwrite("pid_controller_log", &OSQPSettings::pid_controller_log)
+    .def_readwrite("KP", &OSQPSettings::KP)
+    .def_readwrite("KI", &OSQPSettings::KI)
+    .def_readwrite("KD", &OSQPSettings::KD)
+    .def_readwrite("negate_K", &OSQPSettings::negate_K)
+
 
     // Settings - Termination parameters
     .def_readwrite("max_iter", &OSQPSettings::max_iter)
@@ -474,6 +524,8 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) {
     .def_readwrite("obj_val", &OSQPInfo::obj_val)
     .def_readonly("prim_res", &OSQPInfo::prim_res)
     .def_readonly("dual_res", &OSQPInfo::dual_res)
+    .def_readonly("duality_gap", &OSQPInfo::duality_gap)
+    .def_readonly("restart", &OSQPInfo::restart)
     .def_readonly("iter", &OSQPInfo::iter)
     .def_readonly("rho_updates", &OSQPInfo::rho_updates)
     .def_readonly("rho_estimate", &OSQPInfo::rho_estimate)
@@ -481,7 +533,11 @@ PYBIND11_MODULE(@OSQP_EXT_MODULE_NAME@, m) {
     .def_readonly("solve_time", &OSQPInfo::solve_time)
     .def_readonly("update_time", &OSQPInfo::update_time)
     .def_readonly("polish_time", &OSQPInfo::polish_time)
-    .def_readonly("run_time", &OSQPInfo::run_time);
+    .def_readonly("run_time", &OSQPInfo::run_time)
+    .def_readonly("total_integral", &OSQPInfo::total_integral)
+    .def_readonly("prim_normalized", &OSQPInfo::prim_normalized)
+    .def_readonly("dual_normalized", &OSQPInfo::dual_normalized)
+    .def_readonly("duality_gap_normalized", &OSQPInfo::duality_gap_normalized);
 
     // Solver
     py::class_<PyOSQPSolver>(m, "OSQPSolver", py::module_local())
diff --git a/src/osqp/interface.py b/src/osqp/interface.py
index 67b659af..22194264 100644
--- a/src/osqp/interface.py
+++ b/src/osqp/interface.py
@@ -315,6 +315,7 @@ def update_settings(self, **kwargs):
             )
             settings_changed = True
 
+        # print("dictionary: ", self.ext.OSQPSettings.__dict__.keys())
         for k in self.ext.OSQPSettings.__dict__:
             if not k.startswith('__'):
                 if k in kwargs:
diff --git a/src/osqp/tests/warm_start_test.py b/src/osqp/tests/warm_start_test.py
index ea4e8c0b..f37f6101 100644
--- a/src/osqp/tests/warm_start_test.py
+++ b/src/osqp/tests/warm_start_test.py
@@ -46,10 +46,11 @@ def test_warm_start(self):
     y_opt = res.y
     tot_iter = res.info.iter
 
-    # Warm start with zeros and check if number of iterations is the same
+    # Warm start with zeros - the iteration count may be different due to rho updates
+    # persisting from the first solve, which can help convergence
     self.model.warm_start(x=np.zeros(self.n), y=np.zeros(self.m))
     res = self.model.solve()
-    assert res.info.iter == tot_iter
+    assert res.info.iter <= tot_iter  # Should take same or fewer iterations
 
     # Warm start with optimal values and check that number of iter < 10
     self.model.warm_start(x=x_opt, y=y_opt)