fix(parser): reject constraint bounds that depend on v/x/u/t (#343)

CHANGELOG.md

@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### 🐛 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`.
 - **Trace mode (`@def name … end true`) no longer prints the parsed model twice** ([#344](https://github.com/control-toolbox/CTParser.jl/issues/344)). When the `:exa` backend is active, `def_fun` parses the definition a second time to build the ExaModels artifact; that second pass was inheriting the `log` flag and re-emitting the whole trace. It now runs with `log=false`.
 
 ## [0.9.4-beta] - 2026-08-30

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)

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

test/test_onepass_fun.jl

@@ -2833,6 +2833,37 @@ 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
 
     # ---------------------------------------------------------------