Merge pull request #727 from control-toolbox/develop

Develop

Author: ocots

CHANGELOG.md

@@ -46,6 +46,30 @@ Versions follow [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
 ---
 
+## [1.3.0-beta] — 2026-03-16
+
+### Added
+
+- **Level 3 signature freezing tests** for reexport API across all CTX packages:
+  - Type hierarchy checks for inheritance relationships (e.g., `Collocation <: AbstractDiscretizer`)
+  - Method signature checks with `hasmethod()` for key functions (e.g., `discretize`, `solve`, `ocp_model`)
+  - Missing symbols `solve` and `plot!` now properly tested
+  - 503 reexport tests passing, up from 497
+
+### Changed
+
+- **Simplified ExaModels documentation**: removed warnings about coordinate-by-coordinate
+  dynamics and scalar nonlinear constraints requirements, improving user experience
+  when using the `:exa` modeler for GPU solving
+- **Removed outdated API documentation**: `docs/src/api/private.md` deleted
+
+### Fixed
+
+- **API breakage detection**: tests now detect when CTX packages modify their APIs,
+  preventing silent breakages in OptimalControl.jl
+
+---
+
 ## [1.2.3-beta] — 2026-03-07
 
 ### Added

Project.toml

@@ -1,6 +1,6 @@
 name = "OptimalControl"
 uuid = "5f98b655-cc9a-415a-b60e-744165666948"
-version = "1.2.4-beta"
+version = "1.3.0-beta"
 authors = ["Olivier Cots <olivier.cots@toulouse-inp.fr>"]
 
 [deps]

docs/Project.toml

@@ -7,6 +7,7 @@ CTModels = "34c4fa32-2049-4079-8329-de33c2a22e2d"
 CTParser = "32681960-a1b1-40db-9bff-a1ca817385d1"
 CTSolvers = "d3e8d392-8e4b-4d9b-8e92-d7d4e3650ef6"
 CommonSolve = "38540f10-b2f7-11e9-35d8-d573e4eb0ff2"
+CUDA = "052768ef-5323-5732-b1bb-66c8b64840ba"
 DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 DocumenterInterLinks = "d12716ef-a0f6-4df4-a9f1-a5a34e75c656"
@@ -16,6 +17,7 @@ JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
 JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 MadNCL = "434a0bcb-5a7c-42b2-a9d3-9e3f760e7af0"
 MadNLP = "2621e9c9-9eb4-46b1-8089-e8c72242dfb6"
+MadNLPGPU = "d72a61cc-809d-412f-99be-fd81f4b8a598"
 MarkdownAST = "d0879d2d-cac2-40c8-9cee-1863dc0c7391"
 NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
 NLPModelsKnitro = "bec4dd0d-7755-52d5-9a02-22f0ffc7efcb"
@@ -32,6 +34,7 @@ CTModels = "0.9"
 CTParser = "0.8"
 CTSolvers = "0.4"
 CommonSolve = "0.2"
+CUDA = "5"
 DataFrames = "1"
 Documenter = "1"
 DocumenterInterLinks = "1"
@@ -41,6 +44,7 @@ JLD2 = "0.6"
 JSON3 = "1"
 MadNCL = "0.2"
 MadNLP = "0.9"
+MadNLPGPU = "0.8"
 MarkdownAST = "0.1"
 NLPModelsIpopt = "0.11"
 NLPModelsKnitro = "0.10"

docs/make.jl

@@ -1,3 +1,8 @@
+# to run the documentation generation:
+# julia --project=. docs/make.jl
+pushfirst!(LOAD_PATH, joinpath(@__DIR__, ".."))
+pushfirst!(LOAD_PATH, @__DIR__)
+
 # control-toolbox packages
 using OptimalControl
 using CTBase
@@ -148,7 +153,7 @@ cp(
 Draft = false
 ```
 =#
-draft = true  # Draft mode: if true, @example blocks in markdown are not executed
+draft = false  # Draft mode: if true, @example blocks in markdown are not executed
 
 # ═══════════════════════════════════════════════════════════════════════════════
 # Load extensions
@@ -208,8 +213,12 @@ with_api_reference(src_dir, ext_dir) do api_pages
                 "Use AI" => "manual-ai-llm.md",
                 "Problem characteristics" => "manual-model.md",
                 "Set an initial guess" => "manual-initial-guess.md",
-                "Solve a problem" => "manual-solve.md",
-                "Solve on GPU" => "manual-solve-gpu.md",
+                "Solve a problem" => [
+                    "Basic usage" => "manual-solve.md",
+                    "Advanced options" => "manual-solve-advanced.md",
+                    "Explicit mode" => "manual-solve-explicit.md",
+                    "GPU solving" => "manual-solve-gpu.md",
+                ],
                 "Solution characteristics" => "manual-solution.md",
                 "Plot a solution" => "manual-plot.md",
                 "Compute flows" => [