Updated parameter introspection and traj parameters (#964)

* Significant updates to introspection.
_get_targets_metadata now returns metadata on a per target basis, and determining the appropriate shape of a control, state, or
parameter is done outside of the function.
brachistochrone and some other tests are working but a lot of work is left to be done.
this should allow us to introspect the appropriate default shape and value for parameters and other variables.

* removal of some unused arguments

* cleaning up some ambiguity in values for tests

* fixed a bug in handling of static parameter targets during refinement

* Cleanup of a final few tests.

* Fixed an error where shape introspection wasn't happening on control rate2 targets

* removed checks for OpenMDAO older than the oldest supported version

* Better error messages with specific tests.  Allow corner case where parameter has no targets since it may be used as a rate source.

* pep8 fixes

* cleanup

* updates per Bret's comments

dymos/examples/brachistochrone/test/test_brachistochrone_static_gravity.py

@@ -75,10 +75,10 @@ def test_conflicting_static_target(self):
 
         expected_msg = "Invalid parameter in phase `traj.phases.phase0`.\n" \
                        "Parameter `g` has invalid target(s).\n" \
-                       "User has specified 'static_target = False' for parameter g,but one or more " \
-                       "targets is tagged with 'dymos.static_target': g"
+                       "User has specified 'static_target = False' for parameter `g`,\nbut one or more " \
+                       "targets is tagged with 'dymos.static_target':\n{'g'}"
 
-        self.assertEqual(str(e.exception), expected_msg)
+        self.assertEqual(expected_msg, str(e.exception))
 
     def test_control_to_static_target_fails_gl(self):
         """ Tests that control cannot be connected to target tagged as 'dymos.static_target'. """

dymos/examples/cannonball/test/test_connect_control_to_parameter.py

@@ -80,8 +80,6 @@ def compute(self, inputs, outputs):
 @use_tempdirs
 class TestConnectControlToParameter(unittest.TestCase):
 
-    @unittest.skipIf(om_version < (3, 4, 1) or (om_version == (3, 4, 1) and om_dev_version),
-                     'test requires OpenMDAO >= 3.4.1')
     @require_pyoptsparse(optimizer='SLSQP')
     def test_connect_control_to_parameter(self):
         """ Test that the final value of a control in one phase can be connected as the value

dymos/examples/cannonball/test/test_traj_param_static_and_dynamic.py

@@ -0,0 +1,220 @@
+import unittest
+
+import numpy as np
+
+import openmdao
+import openmdao.api as om
+
+from openmdao.utils.testing_utils import use_tempdirs, require_pyoptsparse
+
+from dymos.examples.cannonball.cannonball_ode import rho_interp
+
+om_dev_version = openmdao.__version__.endswith('dev')
+om_version = tuple(int(s) for s in openmdao.__version__.split('-')[0].split('.'))
+
+
+GRAVITY = 9.80665  # m/s**2
+
+
+class CannonballODEVectorCD(om.ExplicitComponent):
+    """
+    Cannonball ODE assuming flat earth and accounting for air resistance
+    """
+
+    def initialize(self):
+        self.options.declare('num_nodes', types=int)
+        self.options.declare('static_gravity', types=bool)
+
+    def setup(self):
+        nn = self.options['num_nodes']
+
+        # static parameters
+        self.add_input('m', units='kg')
+        self.add_input('S', units='m**2')
+
+        if self.options['static_gravity']:
+            self.add_input('g', units='m/s**2', val=GRAVITY)
+        else:
+            self.add_input('g', units='m/s**2', val=GRAVITY * np.ones(nn,))
+
+        # This will be used as both a control and a parameter
+        self.add_input('CD', 0.5, shape=nn)
+
+        # time varying inputs
+        self.add_input('h', units='m', shape=nn)
+        self.add_input('v', units='m/s', shape=nn)
+        self.add_input('gam', units='rad', shape=nn)
+
+        # state rates
+        self.add_output('v_dot', shape=nn, units='m/s**2')
+        self.add_output('gam_dot', shape=nn, units='rad/s')
+        self.add_output('h_dot', shape=nn, units='m/s')
+        self.add_output('r_dot', shape=nn, units='m/s')
+        self.add_output('ke', shape=nn, units='J')
+
+        # Ask OpenMDAO to compute the partial derivatives using complex-step
+        # with a partial coloring algorithm for improved performance
+        self.declare_partials('*', '*', method='cs')
+        self.declare_coloring(wrt='*', method='cs')
+
+    def compute(self, inputs, outputs):
+
+        gam = inputs['gam']
+        v = inputs['v']
+        h = inputs['h']
+        m = inputs['m']
+        S = inputs['S']
+        CD = inputs['CD']
+
+        # handle complex-step gracefully from the interpolant
+        if np.iscomplexobj(h):
+            rho = rho_interp(inputs['h'])
+        else:
+            rho = rho_interp(inputs['h']).real
+
+        q = 0.5*rho*inputs['v']**2
+        qS = q * S
+        D = qS * CD
+        cgam = np.cos(gam)
+        sgam = np.sin(gam)
+        outputs['v_dot'] = - D/m-GRAVITY*sgam
+        outputs['gam_dot'] = -(GRAVITY/v)*cgam
+        outputs['h_dot'] = v*sgam
+        outputs['r_dot'] = v*cgam
+        outputs['ke'] = 0.5*m*v**2
+
+
+@use_tempdirs
+class TestTrajParamStaticAndDynamic(unittest.TestCase):
+
+    @require_pyoptsparse(optimizer='SLSQP')
+    def test_traj_param_static_and_dynamic(self):
+        """ Test that the final value of a control in one phase can be connected as the value
+        of a parameter in a subsequent phase. """
+        import openmdao.api as om
+        from openmdao.utils.assert_utils import assert_near_equal
+
+        import dymos as dm
+        from dymos.examples.cannonball.size_comp import CannonballSizeComp
+
+        p = om.Problem(model=om.Group())
+
+        p.driver = om.pyOptSparseDriver()
+        p.driver.options['optimizer'] = 'SLSQP'
+        p.driver.declare_coloring()
+
+        external_params = p.model.add_subsystem('external_params', om.IndepVarComp())
+
+        external_params.add_output('radius', val=0.10, units='m')
+        external_params.add_output('dens', val=7.87, units='g/cm**3')
+
+        external_params.add_design_var('radius', lower=0.01, upper=0.10, ref0=0.01, ref=0.10)
+
+        p.model.add_subsystem('size_comp', CannonballSizeComp())
+
+        traj = p.model.add_subsystem('traj', dm.Trajectory())
+
+        transcription = dm.Radau(num_segments=5, order=3, compressed=True)
+        ascent = dm.Phase(ode_class=CannonballODEVectorCD, transcription=transcription,
+                          ode_init_kwargs={'static_gravity': True})
+
+        ascent = traj.add_phase('ascent', ascent)
+
+        # All initial states except flight path angle are fixed
+        # Final flight path angle is fixed (we will set it to zero so that the phase ends at apogee)
+
+        ascent.set_time_options(fix_initial=True, duration_bounds=(1, 100), duration_ref=100, units='s')
+        ascent.add_state('r', fix_initial=True, fix_final=False, rate_source='r_dot', units='m')
+        ascent.add_state('h', fix_initial=True, fix_final=False, units='m', rate_source='h_dot')
+        ascent.add_state('gam', fix_initial=False, fix_final=True, units='rad', rate_source='gam_dot')
+        ascent.add_state('v', fix_initial=False, fix_final=False, units='m/s', rate_source='v_dot')
+
+        ascent.add_parameter('S', targets=['S'], units='m**2', static_target=True)
+        ascent.add_parameter('mass', targets=['m'], units='kg', static_target=True)
+
+        ascent.add_control('CD', targets=['CD'], opt=False, val=0.05)
+
+        # Limit the muzzle energy
+        ascent.add_boundary_constraint('ke', loc='initial',
+                                       upper=400000, lower=0, ref=100000)
+
+        # Second Phase (descent)
+        transcription = dm.GaussLobatto(num_segments=5, order=3, compressed=True)
+        descent = dm.Phase(ode_class=CannonballODEVectorCD, transcription=transcription,
+                           ode_init_kwargs={'static_gravity': False})
+
+        traj.add_phase('descent', descent)
+
+        # All initial states and time are free (they will be linked to the final states of ascent.
+        # Final altitude is fixed (we will set it to zero so that the phase ends at ground impact)
+        descent.set_time_options(initial_bounds=(.5, 100), duration_bounds=(.5, 100),
+                                 duration_ref=100, units='s')
+        descent.add_state('r', units='m', rate_source='r_dot')
+        descent.add_state('h', units='m', rate_source='h_dot', fix_initial=False, fix_final=True)
+        descent.add_state('gam', units='rad', rate_source='gam_dot', fix_initial=False, fix_final=False)
+        descent.add_state('v', units='m/s', rate_source='v_dot', fix_initial=False, fix_final=False)
+
+        descent.add_parameter('S', targets=['S'], units='m**2', static_target=True)
+        descent.add_parameter('mass', targets=['m'], units='kg', static_target=True)
+        descent.add_parameter('CD', targets=['CD'], val=0.01)
+
+        descent.add_objective('r', loc='final', scaler=-1.0)
+
+        # Add externally-provided design parameters to the trajectory.
+        # In this case, we connect 'm' to pre-existing input parameters named 'mass' in each phase.
+        traj.add_parameter('m', units='kg', val=1.0,
+                           targets={'ascent': 'mass', 'descent': 'mass'}, static_target=True)
+
+        # In this case, by omitting targets, we're connecting these parameters to parameters
+        # with the same name in each phase.
+        traj.add_parameter('S', units='m**2', val=0.005, static_target=True)
+
+        # Link Phases (link time and all state variables)
+        traj.link_phases(phases=['ascent', 'descent'], vars=['*'])
+
+        # Issue Connections
+        p.model.connect('external_params.radius', 'size_comp.radius')
+        p.model.connect('external_params.dens', 'size_comp.dens')
+
+        p.model.connect('size_comp.mass', 'traj.parameters:m')
+        p.model.connect('size_comp.S', 'traj.parameters:S')
+
+        traj.connect('ascent.timeseries.CD', 'descent.parameters:CD', src_indices=[-1], flat_src_indices=True)
+
+        # A linear solver at the top level can improve performance.
+        p.model.linear_solver = om.DirectSolver()
+
+        # Finish Problem Setup
+        p.setup()
+
+        # Set Initial Guesses
+        p.set_val('external_params.radius', 0.05, units='m')
+        p.set_val('external_params.dens', 7.87, units='g/cm**3')
+
+        p.set_val('traj.ascent.controls:CD', 0.5)
+
+        p.set_val('traj.ascent.t_initial', 0.0)
+        p.set_val('traj.ascent.t_duration', 10.0)
+
+        p.set_val('traj.ascent.states:r', ascent.interp('r', [0, 100]))
+        p.set_val('traj.ascent.states:h', ascent.interp('h', [0, 100]))
+        p.set_val('traj.ascent.states:v', ascent.interp('v', [200, 150]))
+        p.set_val('traj.ascent.states:gam', ascent.interp('gam', [25, 0]), units='deg')
+
+        p.set_val('traj.descent.t_initial', 10.0)
+        p.set_val('traj.descent.t_duration', 10.0)
+
+        p.set_val('traj.descent.states:r', descent.interp('r', [100, 200]))
+        p.set_val('traj.descent.states:h', descent.interp('h', [100, 0]))
+        p.set_val('traj.descent.states:v', descent.interp('v', [150, 200]))
+        p.set_val('traj.descent.states:gam', descent.interp('gam', [0, -45]), units='deg')
+
+        dm.run_problem(p, simulate=True, make_plots=True)
+
+        assert_near_equal(p.get_val('traj.descent.states:r')[-1], 3183.25, tolerance=1.0E-2)
+        assert_near_equal(p.get_val('traj.ascent.timeseries.CD')[-1],
+                          p.get_val('traj.descent.parameter_vals:CD')[0])
+
+
+if __name__ == '__main__':  # pragma: no cover
+    unittest.main()

dymos/grid_refinement/grid_refinement_ode_system.py

@@ -3,7 +3,7 @@
 
 from ..phase.options import TimeOptionsDictionary
 from ..utils.misc import get_rate_units
-from ..utils.introspection import get_targets
+from ..utils.introspection import get_targets, _get_targets_metadata
 from ..transcriptions.grid_data import GridData
 
 
@@ -189,16 +189,16 @@ def configure(self):
 
         # Configure the parameters
         for name, options in self.options['parameters'].items():
-            static_target = options['static_target']
+            static_targets = options['static_targets']
             shape = options['shape']
             prom_name = f'parameters:{name}'
-            targets = get_targets(self.ode, name, options['targets'])
-            for tgt in targets:
-                if not static_target:
+            targets = _get_targets_metadata(self.ode, name, options['targets'])
+            for tgt, meta in targets.items():
+                if tgt in static_targets:
+                    self.promotes('ode', inputs=[(tgt, prom_name)])
+                else:
                     self.promotes('ode', inputs=[(tgt, prom_name)],
                                   src_indices=om.slicer[np.zeros(num_nodes, dtype=int), ...])
-                else:
-                    self.promotes('ode', inputs=[(tgt, prom_name)])
             if targets:
                 self.set_input_defaults(name=prom_name,
                                         src_shape=shape,

dymos/grid_refinement/hp_adaptive/hp_adaptive.py

@@ -102,7 +102,6 @@ def refine_first_iter(self, refine_results):
         dict
             A dictionary of phase paths : phases which were refined.
         """
-
         for phase_path, phase_refinement_results in refine_results.items():
             phase = self.phases[phase_path]
             tx = phase.options['transcription']

dymos/phase/options.py

@@ -263,15 +263,25 @@ def __init__(self, read_only=False):
                                  "option 'dynamic' set to False should now use 'static_target' set "
                                  "to True.")
 
-        self.declare(name='static_target', values=[True, False, _unspecified], default=_unspecified,
+        self.declare(name='static_target', default=_unspecified,
                      desc='True if the target of this parameter does NOT have a unique value at '
                           'each node in the ODE.'
-                          'If _unspecified, attempt to determine through introspection.')
+                          'If _unspecified, attempt to determine through introspection.',
+                     deprecation='Use option `static_targets` to specify whether all targets\n'
+                                 'are static (static_targegts=True), none are static (static_targets=False),\n'
+                                 'static_targets are determined via introspection (static_targets=_unspecified),\n'
+                                 'or give an explicit sequence of the static targets.')
+
+        self.declare(name='static_targets', default=_unspecified,
+                     desc='If a boolean, specifies whether all targets are static (True), or no\n'
+                          'targets are static (False). Otherwise, provide a list of the static\n'
+                          'targets within the ODE. If left unspecified, static targets will be\n'
+                          'determined by finding inptus tagged with \'dymos.static_target\'.')
 
         self.declare(name='targets', allow_none=True, default=_unspecified,
                      desc='Targets in the ODE to which the state is connected')
 
-        self.declare(name='val', types=(Iterable, np.ndarray, Number), default=np.zeros(1),
+        self.declare(name='val', types=(Iterable, np.ndarray, Number), default=0.0,
                      desc='The default value of the parameter in the phase.')
 
         self.declare(name='shape', check_valid=check_valid_shape, default=_unspecified,