From 47765d4048b95e91ba3e60057016c16b161b34f2 Mon Sep 17 00:00:00 2001
From: Olivier Cots <olivier.cots@irit.fr>
Date: Mon, 31 Aug 2026 15:28:57 +0200
Subject: [PATCH] fix(parser): reject constraint bounds that depend on v/x/u/t
 (#343)
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A boundary/path constraint whose bound referenced the optimization
variable (e.g. `x₂(0) == v`) failed with a leaked internal gensym
`UndefVarError: v##NNNN` instead of a clear error, because `lb`/`ub`
are evaluated once at build time and cannot see a function-argument
name.

`p_constraint!` now checks both bounds and returns a `ParsingError`
pointing to the fix (`x₂(0) - v == 0`). Backend-agnostic: covers both
`:fun` and `:exa`.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
---
 CHANGELOG.md             |  6 ++++++
 src/onepass.jl           | 20 ++++++++++++++++++++
 test/test_onepass_exa.jl | 15 +++++++++++++++
 test/test_onepass_fun.jl | 31 +++++++++++++++++++++++++++++++
 4 files changed, 72 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d9e2c91..e97150d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,12 @@ All notable changes to CTParser will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [Unreleased]
+
+### 🐛 Bug Fixes
+
+- **A constraint bound that depends on `v`, the state, the control or the time is now rejected with a clear `ParsingError`** ([#343](https://github.com/control-toolbox/CTParser.jl/issues/343)). Previously `x₂(0) == v` (with `v` the optimization variable) failed with an internal `UndefVarError: v##NNNN` leaked from generated code. Such a relation must be written as a functional constraint by moving the term to the constrained side, e.g. `x₂(0) - v == 0`.
+
 ## [0.9.4-beta] - 2026-08-30
 
 ### ✅ Compatibility
diff --git a/src/onepass.jl b/src/onepass.jl
index 5595744..bd8f134 100644
--- a/src/onepass.jl
+++ b/src/onepass.jl
@@ -641,6 +641,26 @@ function p_constraint!(
     log && println("constraint ($c_type): $e1 ≤ $e2 ≤ $e3,    ($label)")
     label isa Int && (label = Symbol(:eq, label))
     label isa Symbol || return __throw("forbidden label: $label", p.lnum, p.line)
+    # a constraint bound must be "effective": lb/ub are evaluated once at build time,
+    # so they cannot reference v/x/u/t (doing so leaks an internal gensym — see #343)
+    for (b, side) in ((e1, "lower"), (e3, "upper"))
+        isnothing(b) && continue
+        for (sym, what) in (
+            (p.v, "the variable"),
+            (p.x, "the state"),
+            (p.u, "the control"),
+            (p.t, "the time"),
+        )
+            isnothing(sym) && continue
+            has(b, sym) && return __throw(
+                "the $side bound of a constraint must not depend on $what; " *
+                "write a functional constraint instead by moving the term to the " *
+                "constrained side (e.g. `x₂(0) - v == 0` rather than `x₂(0) == v`)",
+                p.lnum,
+                p.line,
+            )
+        end
+    end
     xut = __symgen(:xut)
     ee2 = replace_call(e2, [p.x, p.u], p.t, [xut, xut])
     has(ee2, p.t) && (p.is_autonomous = false)
diff --git a/test/test_onepass_exa.jl b/test/test_onepass_exa.jl
index 60c86a9..d86f06b 100644
--- a/test/test_onepass_exa.jl
+++ b/test/test_onepass_exa.jl
@@ -1081,6 +1081,21 @@ function __test_onepass_exa(
         end
         @test_throws ParsingError o(; backend=backend)
 
+        # a constraint bound must not depend on the variable (#343)
+        o = @def_exa begin
+            v ∈ R, variable
+            t ∈ [0, 1], time
+            x ∈ R⁴, state
+            u ∈ R⁵, control
+            x₂(0) == v
+            ∂(x₁)(t) == x₁(t)
+            ∂(x₂)(t) == x₁(t)
+            ∂(x₃)(t) == x₁(t)
+            ∂(x₄)(t) == x₁(t)
+            x₁(0) + 2cos(x₂(1)) → min
+        end
+        @test_throws ParsingError o(; backend=backend)
+
         o = @def_exa begin
             t ∈ [0, 1], time
             x ∈ R⁴, state
diff --git a/test/test_onepass_fun.jl b/test/test_onepass_fun.jl
index 901f93d..dae17f1 100644
--- a/test/test_onepass_fun.jl
+++ b/test/test_onepass_fun.jl
@@ -2806,6 +2806,37 @@ function test_onepass_fun()
             ẋ(t) == A * x(t) + B * u(t)
             ∫(u(t)^2) / 2 → min # forbidden
         end
+
+        # a constraint bound must be effective: it must not depend on the variable (#343)
+        @test_throws ParsingError @def o begin
+            v ∈ R, variable
+            t ∈ [0, 1], time
+            x ∈ R², state
+            u ∈ R, control
+            x₂(0) == v
+            ẋ(t) == [x₂(t), u(t)]
+        end
+
+        # ... nor on the state (bound side)
+        @test_throws ParsingError @def o begin
+            t ∈ [0, 1], time
+            x ∈ R², state
+            u ∈ R, control
+            x₁(0) ≤ x₂(0)
+            ẋ(t) == [x₂(t), u(t)]
+        end
+
+        # the documented work-around still builds fine
+        o = @def begin
+            v ∈ R, variable
+            t ∈ [0, 1], time
+            x ∈ R², state
+            u ∈ R, control
+            x₂(0) - v == 0
+            ẋ(t) == [x₂(t), u(t)]
+            ∫(0.5u(t)^2) → min
+        end
+        @test o isa Model
     end
 
     # ---------------------------------------------------------------