Fixed an error when an invalid rate source is provided for a state. (#…

…761)

* Fixed an error raised during configure_states_introspection due to ODE outputs being passed in rather than the ODE itself.

dymos/examples/brachistochrone/test/test_state_rate_introspection.py

@@ -847,3 +847,82 @@ def test_gl(self):
 
     def test_radau(self):
         self._test_transcription(transcription=dm.Radau)
+
+
+@use_tempdirs
+class TestInvalidStateRateSource(unittest.TestCase):
+
+    def test_brach_invalid_state_rate_source(self):
+
+        class _BrachODE(om.ExplicitComponent):
+
+            def initialize(self):
+                self.options.declare('num_nodes', types=int)
+
+            def setup(self):
+                nn = self.options['num_nodes']
+
+                # Inputs
+                self.add_input('v', val=np.zeros(nn), desc='velocity', units='m/s')
+                self.add_input('g', val=9.80665 * np.ones(nn), desc='grav. acceleration', units='m/s/s')
+                self.add_input('theta', val=np.ones(nn), desc='angle of wire', units='rad')
+
+                self.add_output('xdot', val=np.zeros(nn), desc='velocity component in x', units='m/s')
+
+                self.add_output('ydot', val=np.zeros(nn), desc='velocity component in y', units='m/s')
+
+                self.add_output('vdot', val=np.zeros(nn), desc='acceleration magnitude', units='m/s**2')
+
+                self.add_output('check', val=np.zeros(nn), desc='check solution: v/sin(theta) = constant',
+                                units='m/s')
+
+                self.declare_coloring(wrt='*', method='cs')
+
+            def compute(self, inputs, outputs):
+                theta = inputs['theta']
+                cos_theta = np.cos(theta)
+                sin_theta = np.sin(theta)
+                g = inputs['g']
+                v = inputs['v']
+
+                outputs['vdot'] = g * cos_theta
+                outputs['xdot'] = v * sin_theta
+                outputs['ydot'] = -v * cos_theta
+                outputs['check'] = v / sin_theta
+
+        p = om.Problem(model=om.Group())
+
+        p.driver = om.ScipyOptimizeDriver()
+
+        t = dm.Radau(num_segments=10, order=3)
+
+        traj = dm.Trajectory()
+        phase = dm.Phase(ode_class=_BrachODE, transcription=t)
+        p.model.add_subsystem('traj0', traj)
+        traj.add_phase('phase0', phase)
+
+        phase.set_time_options(fix_initial=True, duration_bounds=(.5, 10))
+
+        phase.add_state('x', fix_initial=True, fix_final=False, rate_source='xdot')
+        phase.add_state('y', fix_initial=True, fix_final=False, rate_source='ydot')
+
+        # Intentionally incorrect rate source to trigger an error during configure.
+        phase.add_state('v', fix_initial=True, fix_final=False, rate_source='vel_dot')
+
+        phase.add_control('theta',
+                          continuity=True, rate_continuity=True,
+                          units='deg', lower=0.01, upper=179.9)
+
+        phase.add_parameter('g', units='m/s**2')
+
+        phase.add_boundary_constraint('x', loc='final', equals=10)
+        phase.add_boundary_constraint('y', loc='final', equals=5)
+
+        # Minimize time at the end of the phase
+        phase.add_objective('time_phase', loc='final', scaler=10)
+
+        with self.assertRaises(RuntimeError) as ctx:
+            p.setup()
+
+        expected = 'Error during configure_states_introspection in phase traj0.phases.phase0.'
+        self.assertEqual(str(ctx.exception), expected)

dymos/phase/phase.py

@@ -1549,9 +1549,13 @@ def configure(self):
                 raise ValueError(f'Invalid parameter in phase `{self.pathname}`.\n{str(e)}') from e
 
         self.configure_state_discovery()
-        configure_states_introspection(self.state_options, self.time_options, self.control_options,
-                                       self.parameter_options, self.polynomial_control_options,
-                                       ode)
+
+        try:
+            configure_states_introspection(self.state_options, self.time_options, self.control_options,
+                                           self.parameter_options, self.polynomial_control_options,
+                                           ode)
+        except RuntimeError as val_err:
+            raise RuntimeError(f'Error during configure_states_introspection in phase {self.pathname}.') from val_err
 
         transcription.configure_time(self)
         transcription.configure_controls(self)

dymos/trajectory/test/test_trajectory.py

@@ -1153,7 +1153,7 @@ def test_invalid_linkage_variable(self):
         # Finish Problem Setup
         p.model.linear_solver = om.DirectSolver()
 
-        with self.assertRaises(ValueError) as e:
+        with self.assertRaises(RuntimeError) as e:
             p.setup(check=True)
 
         self.assertEqual(str(e.exception), 'Error in linking bar from burn1 to bar in burn2: '

dymos/trajectory/trajectory.py

@@ -544,9 +544,9 @@ def _update_linkage_options_configure(self, linkage_options):
                     shapes[i], units[i] = get_source_metadata(phases[i]._get_subsystem(rhs_source),
                                                               vars[i], user_units=units[i],
                                                               user_shape=_unspecified)
-                except ValueError:
-                    raise ValueError(f'{info_str}: Unable to find variable \'{vars[i]}\' in '
-                                     f'phase \'{phases[i].pathname}\' or its ODE.')
+                except RuntimeError as e:
+                    raise RuntimeError(f'{info_str}: Unable to find variable \'{vars[i]}\' in '
+                                       f'phase \'{phases[i].pathname}\' or its ODE.')
 
         linkage_options._src_a = sources['a']
         linkage_options._src_b = sources['b']

dymos/utils/introspection.py

@@ -951,7 +951,7 @@ def _get_targets_metadata(ode, name, user_targets=_unspecified, user_units=_unsp
 
 def get_source_metadata(ode, src, user_units, user_shape):
     """
-    Return the targets of a state variable in a given ODE system.
+    Return the units and shape of output src in the given ODE.
 
     If the targets of the state is _unspecified, and the state name is a top level input name
     in the ODE, then the state values are automatically connected to that top-level input.
@@ -989,7 +989,7 @@ def get_source_metadata(ode, src, user_units, user_shape):
     ode_outputs = ode if isinstance(ode, dict) else get_promoted_vars(ode, iotypes='output')
 
     if src not in ode_outputs:
-        raise ValueError(f'Unable to find the source {src} in the ODE at {ode.pathname}.')
+        raise RuntimeError(f'Unable to find the source {src} in the ODE.')
 
     if user_units in {None, _unspecified}:
         units = ode_outputs[src]['units']