refactor(DOCP): implement the CTSolvers dispatch contract#601
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Move to the CTSolvers dispatch-based DOCP contract (no closures/builders):
- AbstractDiscretizer now owned by CTSolvers; remove the local abstract type
and the discretize wrappers; import Strategies/Options/Core/Exceptions from CTBase
- new DOCP_cache.jl: DOCPCache <: CTBase.Core.AbstractCache (docp + exa_getter),
making the build_model -> build_solution Exa coupling explicit (no captured closure)
- unify get_docp into DOCP_data.jl (shared by all discretizers; resolves the TODO)
- collocation.jl / direct_shooting.jl: replace the (discretizer)(ocp) closure factory
with named CTSolvers.discretize / build_model / build_solution methods dispatching
on (DiscretizedModel{<:Disc}, modeler). DirectShooting x Exa left to the
CTSolvers NotImplemented stub.
- Project.toml: CTBase moved to deps; bump compat (CTBase 0.25, CTModels 0.13,
ExaModels 0.11); docs project CTBase 0.25
- tests: CTDirect.discretize -> CTSolvers.discretize; manual-backend nnz test via
CTSolvers.build_model(docp, init, ADNLP(backend=:manual))
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
DOCPCache(docp) = DOCPCache(docp, nothing) inferred the field parameter E as Nothing, freezing exa_getter::Nothing — so build_model(::Exa)'s `dm.cache.exa_getter = exa_getter` threw "cannot convert a value to nothing". Drop the E type parameter and type the field as Any (the cache is created with nothing by discretize, then reassigned to a backend getter by build_model). With this fix the full CTDirect suite is green against the CTBase 0.25 / CTModels 0.13 / CTSolvers 0.4 stack (406 passed, incl. all ADNLP and Exa cases). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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ocots
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June 27, 2026 09:54
DOCPCache becomes immutable (holds only the docp). The Exa getter, produced together with the ExaModel, now rides an ExaBuildCache carried by the CTSolvers.BuiltModel returned by build_model — no more mutation of the shared DiscretizedModel cache. - build_model returns CTSolvers.BuiltModel(dm, nlp, cache): NoCache for ADNLP / DirectShooting, ExaBuildCache(getter) for Exa. - build_solution dispatches on the BuiltModel; reads docp via built.problem.cache and the getter via built.cache (drops the nothing-check, guaranteed by the type). - test: use CTSolvers.nlp_model where a bare NLP is expected. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
- Update compat: CTBase 0.28, CTModels 0.15, CTSolvers 0.4
- Add Strategies.parameter(::Type{<:Collocation}) = nothing
- Add Strategies.parameter(::Type{<:DirectShooting}) = nothing
- Add parameter contract for DummyDiscretizer in test
- Update docs/Project.toml CTBase compat to 0.28
- Add CTParser to [deps] (was only in [extras])
Co-Authored-By: Cascade <noreply@cascade.ai>
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Context
Companion to control-toolbox/CTSolvers.jl#155, which replaces the closure-factory / builder-accessor indirection with a direct multiple-dispatch DOCP contract (problem-first, no closures, no builders). This PR migrates CTDirect to that contract.
Previously,
(discretizer::Collocation)(ocp)built 4 closures wrapped into aDiscretizedModel{4 builders}, with a capturedexa_getter = nothingmutated as a side effect (temporal coupling). That is replaced by named methods dispatching on(DiscretizedModel{<:Discretizer}, modeler).Changes
Source
AbstractDiscretizeris now owned by CTSolvers; the local abstract type and thediscretizewrappers are removed. ImportsStrategies/Options/Core/Exceptionsfrom CTBase.DOCP_cache.jl:DOCPCache <: CTBase.Core.AbstractCache(docp+exa_getter), making thebuild_model → build_solutionExa coupling explicit (no captured closure).get_docpunified inDOCP_data.jl(shared by all discretizers; resolves the long-standing TODO).collocation.jl/direct_shooting.jl: closure factory → namedCTSolvers.discretize/build_model/build_solutionmethods.DirectShooting × Exais intentionally left to the CTSolversNotImplementedstub.Project / compat
CTBasemoved to[deps]; compat bumped to the new stack:CTBase 0.25,CTModels 0.13,ExaModels 0.11(+docs/Project.tomltoCTBase 0.25, required by the[workspace]).CTParserstays test-only ([extras]/[targets]), not in[deps].Tests
CTDirect.discretize→CTSolvers.discretize; the manual-backend nnz test builds viaCTSolvers.build_model(docp, init, ADNLP(backend=:manual)).Validation
Full suite green against the CTBase 0.25 / CTModels 0.13 / CTSolvers 0.4 stack: 406 passed, 0 failed, 0 errored — all ADNLP and Exa cases (collocation, all schemes, continuation, param estimation, zero-control, …).
DOCPCacheis amutable structand itsexa_getterfield is typedAnyso it can be reassigned after construction. A mutable cache is not ideal; thebuild_model → build_solutioncoupling (the Exa getter) would be cleaner handled some other way (recompute fromdm, immutable cache rebuilt, aRef, …). To revisit.Dependencies (merge order)
This PR depends on, and should land after:
CI here will stay red until CTSolvers 0.4.x and CTParser 0.8.16(+) are available from the registry. Locally validated with all four packages dev'd by path.
🤖 Generated with Claude Code