Adapt to CTModels v0.7.x

[ocots]

Summary

This PR adapts CTDirect to work with CTModels v0.7.x. / CTSolvers v0.2.x
Since the changes to CTDirect are quite significant, this will be v1.0.0-beta

Related to:

• CTModels migration: Breaking change migration: CTModels 0.6.10-beta → 0.7.0-beta CTModels.jl#247

Changes

Code Adaptation

• Adapted code to work with CTModels v0.7.x / CTSolvers v0.2.x API

Project.toml

• Version bump: 0.17.5-beta → 1.0.0-beta
• CTModels compat widened: "0.6" → "0.6, 0.7"

Testing

• Ipopt solver
• MadNLP solver
• ADNLP modeler
• ExaModels modeler (CPU)
• GPU case: ExaModels + MadNLPGPU
• discretization options: schemes, time grid (size, non uniform)
• basic solver options: tol, maxiter
• basic initial guess options: constant, functional, interpolations
• advanced initial guess: warm start and continuation
• advanced options: manual sparsity patterns for ADNLP

Migration Context

This is Phase 3 of the CTModels breaking change migration:

1. ✅ Phase 1: CTFlows widening (compatible)
2. ✅ Phase 2: CTModels v0.7.0-beta release
3. �� Phase 3: CTDirect adaptation (this PR)
4. ⏳ Phase 3.5: CTSolvers beta release
5. ⏳ Phase 4: OptimalControl adaptation
6. ⏳ Phase 5: Stabilization

Checklist

• All tests passing
• Project.toml updated (version + compat)
• Ready for registration in ct-registry

Next Steps

After merging:

1. Register CTDirect v1.0.0-beta in ct-registry
2. Create tag v1.0.0-beta
3. Verify breakage tests on CTModels.jl#248
4. Proceed to Phase 3.5 (CTSolvers)

[github-actions]

Breakage test results
Date: 2026-01-28 14:42:38

Name	Latest	Stable
OptimalControl	compat: v0.17.5-beta	compat: v0.17.5-beta

[PierreMartinon]

Notes:

• due to the major changes in CTDirect, this will be the start of 1.x versions
• the SolverInfos function is NLP solver dependent and should be moved to CTModels extensions. It is needed in CTDirect when building the solution. For now I have in CTDirect the basic version that works for Ipopt. The former version for MadNLP can be found in https://github.com/control-toolbox/CTDirect.jl/blob/main/ext/CTDirectExtMadNLP.jl

[ocots]

@PierreMartinon I have created a new beta version of CTModels with SolverInfos renamed to CTModels.extract_solver_infos, cf.

https://github.com/control-toolbox/CTModels.jl/blob/b8338cc5212270f4dbc0fa28540622495d690a5c/src/nlp/extract_solver_infos.jl#L47-L57

and

https://github.com/control-toolbox/CTModels.jl/blob/b8338cc5212270f4dbc0fa28540622495d690a5c/ext/CTModelsMadNLP.jl#L49-L68

[PierreMartinon]

@PierreMartinon I have created a new beta version of CTModels with SolverInfos renamed to CTModels.extract_solver_infos, cf.

control-toolbox/CTModels.jl@b8338cc/src/nlp/extract_solver_infos.jl#L47-L57

and

control-toolbox/CTModels.jl@b8338cc/ext/CTModelsMadNLP.jl#L49-L68

Hi Olivier,
Thanks, can you remove the nlp solver passed as second argument ?
Cf version in the current breaking branch

CTDirect.jl/src/solution.jl

Line 31 in 82923ff

function SolverInfos(nlp_solution::SolverCore.AbstractExecutionStats)