Refactored time_extents away in favor of housing extents in param_comp (

#952)

* time_extents removed in favor of keeping t_intial, t_duration, t_initial_val, and t_duration val in param_comp

* Added test to verify that model data for visualization report hasn't changed. Made test for parameter connections more specific to avoid picking up t_initial and t_duration.

* Fixed the tandem phase brachistochrone example in docs to connect from t_duration_val.
Included model_data.dat in the package data for the linkage report test.

* Cleanup per kens review

* Update oldest supported OpenMDAO version to 3.26.0

* unique artifact name per matrix entry

.github/workflows/dymos_tests_workflow.yml

@@ -77,9 +77,9 @@ jobs:
             OPENMPI: '4.0'
             MPI4PY: '3.0'
             PETSc: 3.13
-            PYOPTSPARSE: 'v2.4.0'
+            PYOPTSPARSE: 'v2.6.1'
             SNOPT: 7.2
-            OPENMDAO: 3.19.0
+            OPENMDAO: 3.26.0
             OPTIONAL: '[test]'
 
     steps:
@@ -254,6 +254,7 @@ jobs:
         run: |
           conda info
           conda list
+          conda env export --name test --file ${{ matrix.NAME }}_environment.yml
 
           echo "============================================================="
           echo "Check installed versions of Python, Numpy and Scipy"
@@ -267,6 +268,13 @@ jobs:
           python -c "import scipy; assert str(scipy.__version__).startswith(str(${{ matrix.SCIPY }})), \
                     f'Scipy version {scipy.__version__} is not the requested version (${{ matrix.SCIPY }})'"
 
+      - name: 'Upload environment artifact'
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ matrix.NAME }}_environment
+          path: ${{ matrix.NAME }}_environment.yml
+          retention-days: 5
+
       - name: Run tests
         if: env.RUN_BUILD
         env:

docs/dymos_book/examples/brachistochrone/brachistochrone_tandem_phases.ipynb

@@ -215,7 +215,7 @@
     "#\n",
     "# Connect the two phases\n",
     "#\n",
-    "p.model.connect('phase0.t_duration', 'phase1.t_duration')\n",
+    "p.model.connect('phase0.t_duration_val', 'phase1.t_duration')\n",
     "\n",
     "p.model.connect('phase0.timeseries2.theta', 'phase1.controls:theta')\n",
     "p.model.connect('phase0.timeseries2.v', 'phase1.controls:v')\n",
@@ -357,7 +357,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.11.0"
+   "version": "3.11.4"
   }
  },
  "nbformat": 4,

docs/dymos_book/faq/tandem_phases.ipynb

@@ -241,7 +241,7 @@
     "#\n",
     "# Connect the two phases\n",
     "#\n",
-    "p.model.connect('phase0.t_duration', 'phase1.t_duration')\n",
+    "p.model.connect('phase0.t_duration_val', 'phase1.t_duration')\n",
     "\n",
     "p.model.connect('phase0.timeseries2.theta', 'phase1.controls:theta')\n",
     "p.model.connect('phase0.timeseries2.v', 'phase1.controls:v')\n",
@@ -320,7 +320,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.11.0"
+   "version": "3.11.4"
   }
  },
  "nbformat": 4,

dymos/examples/brachistochrone/doc/test_doc_brachistochrone_tandem_phases.py

@@ -114,7 +114,7 @@ def test_brachistochrone_tandem_phases(self):
         #
         # Connect the two phases
         #
-        p.model.connect('phase0.t_duration', 'phase1.t_duration')
+        p.model.connect('phase0.t_duration_val', 'phase1.t_duration')
 
         p.model.connect('phase0.timeseries2.theta', 'phase1.controls:theta')
         p.model.connect('phase0.timeseries2.v', 'phase1.controls:v')

dymos/examples/brachistochrone/test/test_tandem_phases.py

@@ -137,7 +137,7 @@ def _run_transcription(self, transcription):
         #
         # Connect the two phases
         #
-        p.model.connect('phase0.t_duration', 'phase1.t_duration')
+        p.model.connect('phase0.t_duration_val', 'phase1.t_duration')
 
         p.model.connect('phase0.timeseries2.theta', 'phase1.controls:theta')
         p.model.connect('phase0.timeseries2.v', 'phase1.controls:v')

dymos/phase/test/test_time_targets.py

@@ -1,7 +1,6 @@
 import unittest
 
 import numpy as np
-import matplotlib
 
 import openmdao.api as om
 from openmdao.utils.assert_utils import assert_near_equal
@@ -10,9 +9,6 @@
 import dymos as dm
 
 
-matplotlib.use('Agg')
-
-
 class _BrachistochroneTestODE(om.ExplicitComponent):
 
     def initialize(self):
@@ -138,10 +134,10 @@ def _make_problem(self, transcription, num_seg, transcription_order=3, input_ini
         if input_duration:
             p.model.add_design_var('phase0.t_duration', lower=0, upper=3, scaler=1.0)
 
-        p.setup(check=True)
+        p.setup(check=True, force_alloc_complex=True)
 
         p['phase0.t_initial'] = 1.0
-        p['phase0.t_duration'] = 5.0
+        p['phase0.t_duration'] = 2.0
 
         if transcription == 'explicit-shooting':
             p['phase0.initial_states:x'] = 0
@@ -151,7 +147,7 @@ def _make_problem(self, transcription, num_seg, transcription_order=3, input_ini
             p['phase0.states:x'] = phase.interp('x', [0, 10])
             p['phase0.states:y'] = phase.interp('y', [10, 5])
             p['phase0.states:v'] = phase.interp('v', [0, 9.9])
-        p['phase0.controls:theta'] = phase.interp('theta', [5, 100.5])
+        p['phase0.controls:theta'] = phase.interp('theta', [0.01, 100.5])
 
         return p
 
@@ -287,9 +283,9 @@ def test_explicit_shooting(self):
 
                 assert_near_equal(p['phase0.t_phase'][-1], 1.8016, tolerance=1.0E-3)
 
-                assert_near_equal(p['phase0.t_initial'], p['phase0.t_initial'])
+                assert_near_equal(p['phase0.t_initial'], p['phase0.integrator.t_initial'])
 
-                assert_near_equal(p['phase0.t_duration'], p['phase0.t_duration'])
+                assert_near_equal(p['phase0.t_duration'], p['phase0.integrator.t_duration'])
 
                 assert_near_equal(np.atleast_2d(p['phase0.t_phase']).T, time_phase_all)
 

dymos/trajectory/test/test_trajectory_parameters.py

@@ -440,8 +440,8 @@ def test_parameter_shape_definition(self):
 
                 p.setup()
 
-                p['traj.phase0.t_initial'] = 0.0
-                p['traj.phase0.t_duration'] = 2.0
+                p['traj.t_initial'] = 0.0
+                p['traj.t_duration'] = 2.0
 
                 p['traj.phase0.states:x'] = phase.interp('x', ys=[0, 10])
                 p['traj.phase0.states:y'] = phase.interp('y', ys=[10, 5])

dymos/transcriptions/common/parameter_comp.py

@@ -14,6 +14,8 @@ class ParameterComp(ExplicitComponent):
 
     Parameters
     ----------
+    time_options : TimeOptionsDictionary or None
+        If None, specify time options for the creation of t_initial and t_duration inputs and outputs.
     **kwargs : dict
         Arguments to be passed to the component initialization method.
 
@@ -25,18 +27,38 @@ class ParameterComp(ExplicitComponent):
         Container mapping name of variables to be muxed with associated inputs.
     """
 
-    def __init__(self, **kwargs):
+    def __init__(self, time_options=None, **kwargs):
         """
         Instantiate MuxComp and populate private members.
         """
         super().__init__(**kwargs)
+        self.time_options = time_options
 
         self._no_check_partials = not dymos_options['include_check_partials']
 
+    def setup(self):
+        """
+        Add time-related I/O to the ParameterComp at setup, if provided.
+        """
+        time_options = self.time_options
+
+        if time_options:
+            ti_val = self.time_options['initial_val']
+            td_val = self.time_options['duration_val']
+            units = self.time_options['units']
+
+            self.add_input(name='t_initial', val=ti_val, shape=(1,), units=units)
+            self.add_output(name='t_initial_val', val=ti_val, shape=(1,), units=units)
+            self.declare_partials(of='t_initial_val', wrt='t_initial', val=1.0)
+
+            self.add_input(name=f't_duration', val=td_val, shape=(1,), units=units)
+            self.add_output(name='t_duration_val', val=td_val, shape=(1,), units=units)
+            self.declare_partials(of='t_duration_val', wrt='t_duration', val=1.0)
+
     def add_parameter(self, name, val=1.0, shape=None, output_name=None,
                       units=None, desc='', tags=None, input_tags=None, output_tags=None, input_shape_by_conn=False,
                       input_copy_shape=None, output_shape_by_conn=False, output_copy_shape=None,
-                      distributed=None, res_units=None, lower=None, upper=None, ref=1.0, ref0=0.0, res_ref=1.0, ):
+                      distributed=None, res_units=None, lower=None, upper=None, ref=1.0, ref0=0.0, res_ref=1.0,):
         """
         Add an input/output pair for a variable to this component.
 

dymos/transcriptions/explicit_shooting/explicit_shooting.py

@@ -13,9 +13,10 @@
 from ..._options import options as dymos_options
 from ...utils.misc import get_rate_units, CoerceDesvar
 from ...utils.indexing import get_src_indices_by_row
-from ...utils.introspection import get_promoted_vars, get_source_metadata, get_targets
+from ...utils.introspection import get_promoted_vars, get_source_metadata, get_targets, get_target_metadata
 from ...utils.constants import INF_BOUND
-from ..common import TimeComp, TimeseriesOutputGroup, ControlGroup, PolynomialControlGroup
+from ..common import TimeComp, TimeseriesOutputGroup, ControlGroup, PolynomialControlGroup, \
+    ParameterComp
 
 
 class ExplicitShooting(TranscriptionBase):
@@ -152,7 +153,13 @@ def setup_time(self, phase):
         time_comp = TimeComp(num_nodes=num_nodes, node_ptau=node_ptau,
                              node_dptau_dstau=node_dptau_dstau, units=time_units)
 
-        phase.add_subsystem('time', time_comp, promotes=['*'])
+        phase.add_subsystem('param_comp', subsys=ParameterComp(time_options=time_options),
+                            promotes_inputs=['*'], promotes_outputs=['*'])
+
+        phase.add_subsystem('time', time_comp, promotes_outputs=['*'])
+
+        phase.connect('t_initial_val', ['time.t_initial', 'integrator.t_initial'])
+        phase.connect('t_duration_val', ['time.t_duration', 'integrator.t_duration'])
 
     def configure_time(self, phase):
         """
@@ -175,12 +182,6 @@ def configure_time(self, phase):
         time_comp.configure_io()
 
         ode = phase._get_subsystem('ode')
-        ode_inputs = get_promoted_vars(ode, 'input')
-
-        phase.set_input_defaults('t_initial', val=0.0)
-        phase.set_input_defaults('t_duration', val=1.0)
-
-        phase.promotes('integrator', inputs=['t_initial', 't_duration'])
 
         if not time_options['fix_initial']:
             lb, ub = time_options['initial_bounds']
@@ -219,9 +220,10 @@ def configure_time(self, phase):
         for name, targets in [('t_initial', time_options['t_initial_targets']),
                               ('t_duration', time_options['t_duration_targets'])]:
             for t in targets:
-                shape = ode_inputs[t]['shape']
-
-                if shape == (1,):
+                tgt_shape, _, static_tgt = get_target_metadata(ode, name=name,
+                                                               user_targets=t,
+                                                               user_units=time_options['units'])
+                if tgt_shape == (1,):
                     src_idxs = None
                     flat_src_idxs = None
                     src_shape = None
@@ -230,12 +232,9 @@ def configure_time(self, phase):
                     flat_src_idxs = True
                     src_shape = (1,)
 
-                phase.promotes('ode', inputs=[(t, name)], src_indices=src_idxs,
-                               flat_src_indices=flat_src_idxs, src_shape=src_shape)
-            if targets:
-                phase.set_input_defaults(name=name,
-                                         val=np.ones((1,)),
-                                         units=t_units)
+                phase.connect(f'{name}_val', f'ode.{name}',
+                              src_indices=src_idxs,
+                              flat_src_indices=flat_src_idxs)
 
     def setup_states(self, phase):
         """
@@ -564,6 +563,9 @@ def setup_defects(self, phase):
                                                                control_options=phase.control_options,
                                                                time_units=phase.time_options['units']))
 
+            if rate_cont:
+                phase.connect('t_duration_val', 'continuity_comp.t_duration')
+
     def configure_defects(self, phase):
         """
         Not used in ExplicitShooting.
@@ -604,9 +606,6 @@ def configure_defects(self, phase):
                                                control_rates_to_enforce=control_rates_to_enforce,
                                                control_rates2_to_enforce=control_rates2_to_enforce)
 
-        if any_rate_cnty:
-            phase.promotes('continuity_comp', inputs=['t_duration'])
-
     def setup_timeseries_outputs(self, phase):
         """
         Setup the timeseries for this transcription.

dymos/transcriptions/pseudospectral/pseudospectral_base.py

@@ -409,7 +409,7 @@ def configure_defects(self, phase):
                               src_indices=(flattened_src_idxs,), flat_src_indices=True)
 
         if any_control_rate_cnty:
-            phase.promotes('continuity_comp', inputs=['t_duration'])
+            phase.connect('t_duration_val', 'continuity_comp.t_duration')
 
         for name, options in phase.control_options.items():
             control_src_name = f'control_values:{name}'

dymos/transcriptions/transcription_base.py

@@ -10,7 +10,6 @@
 from ..utils.misc import _unspecified
 from ..utils.introspection import configure_states_introspection, get_promoted_vars, get_target_metadata, \
     configure_states_discovery
-from .._options import options as dymos_options
 
 
 class TranscriptionBase(object):
@@ -84,13 +83,8 @@ def setup_time(self, phase):
         if phase.time_options['t_duration_balance_options']:
             self._implicit_duration = True
 
-        if not time_options['input_initial']:
-            phase.add_subsystem('time_extents', om.IndepVarComp(),
-                                promotes_outputs=['*'])
-        else:
-            if not time_options['input_duration'] and not self._implicit_duration:
-                phase.add_subsystem('time_extents', om.IndepVarComp(),
-                                    promotes_outputs=['*'])
+        phase.add_subsystem('param_comp', subsys=ParameterComp(time_options=time_options),
+                            promotes_inputs=['*'], promotes_outputs=['*'])
 
         for ts_name, ts_options in phase._timeseries.items():
             if t_name not in ts_options['outputs']:
@@ -120,20 +114,6 @@ def configure_time(self, phase):
                                                                user_units=time_options['units'],
                                                                user_shape='')
 
-        time_units = time_options['units']
-        indeps = []
-        default_vals = {'t_initial': phase.time_options['initial_val'],
-                        't_duration': phase.time_options['duration_val']}
-
-        if not time_options['input_initial']:
-            indeps.append('t_initial')
-
-        if not time_options['input_duration'] and not self._implicit_duration:
-            indeps.append('t_duration')
-
-        for var in indeps:
-            phase.time_extents.add_output(var, val=default_vals[var], units=time_units)
-
         if not (time_options['input_initial'] or time_options['fix_initial']):
             lb, ub = time_options['initial_bounds']
             lb = -INF_BOUND if lb is None else lb
@@ -221,7 +201,11 @@ def setup_polynomial_controls(self, phase):
                                          polynomial_control_options=phase.polynomial_control_options,
                                          time_units=phase.time_options['units'])
             phase.add_subsystem('polynomial_control_group', subsys=sys,
-                                promotes_inputs=['*'], promotes_outputs=['*'])
+                                promotes_inputs=['polynomial_controls:*'],
+                                promotes_outputs=['polynomial_control_values:*',
+                                                  'polynomial_control_rates:*'])
+
+            phase.connect('t_duration_val', 'polynomial_control_group.t_duration')
 
             prefix = 'polynomial_controls:' if phase.timeseries_options['use_prefix'] else ''
             rate_prefix = 'polynomial_control_rates:' if phase.timeseries_options['use_prefix'] else ''
@@ -265,10 +249,6 @@ def setup_parameters(self, phase):
         param_prefix = 'parameters:' if phase.timeseries_options['use_prefix'] else ''
         include_params = phase.timeseries_options['include_parameters']
 
-        if phase.parameter_options:
-            param_comp = ParameterComp()
-            phase.add_subsystem('param_comp', subsys=param_comp, promotes_inputs=['*'], promotes_outputs=['*'])
-
         for name, options in phase.parameter_options.items():
             if (options['include_timeseries'] is None and include_params) or options['include_timeseries']:
                 for ts_name, ts_options in phase._timeseries.items():

dymos/visualization/linkage/js/DmLinkageModelData.js

@@ -16,6 +16,8 @@ class DmLinkageModelData extends ModelData {
      * @returns {DmLinkageTreeNode} The newly-created object.
      */
     _newNode(element, attribNames, parent) {
+        console.log(element)
+        console.log(attribNames)
         return new DmLinkageTreeNode(element, attribNames, parent);
     }
 }