templates: restore per-iter frames via pinned IpoptOptions.intermediate_callback (#177) - #184
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…te_callback (#177) Re-wires pulse_emit (LivePulsePlotCallback delegate -> iter_*.png + AMICODE_PULSE + STOP poll) in all four templates through the intermediate-callback API that the pinned DirectTrajOpt actually exposes — undoing the #157 removal now that the bundle pin has the hook. API verification (AC3), against the pin rather than docs: - julia/Manifest.toml (repo copy == provisioned ~/.amico/julia copy) pins DirectTrajOpt 0.9.7, git-tree-sha1 c722d301a8d064de5d9ab67e5bc8a1dff893683a, identical to `git rev-parse v0.9.7^{tree}` in DirectTrajOpt.jl. - At that tree, src/solvers/ipopt_solver/options.jl declares `intermediate_callback::Any = nothing` on IpoptOptions; solver.jl's `_ipopt_callback_function` wraps it via Callbacks.callback_intermediate_factory into `(primal, iter) -> Bool` (full NLP primal, restoration phase skipped) and composes it with the raw `callback` — all fire per IPM iteration, solve continues iff all return true. - Runtime check in the provisioned project: pkgversion(DirectTrajOpt) == 0.9.7, hasfield(IpoptOptions, :intermediate_callback) == true. The hasfield guard is the #157 lesson: a cloud bundle still baked with DTO <= 0.9.6 lacks the field (the kwarg MethodError that killed cloud solves), so the template degrades to stats-only (AMICODE_ITER flows, frames dark, @warn) instead of crashing before the solve. Zero run-dir contract drift: PulseEmitCallback, cb_log, PLOT_EVERY, frame names (LivePulsePlotCallback's iter_NNNNN.png) untouched; the HP template's bare `using Piccolissimo` cloud-wrapper marker preserved. Verified locally: bounded mini-solve (max_iter=12) of solve_template.jl under julia --project=$HOME/.amico/julia — iter_00000/00006/00012.png written, 13 AMICODE_PULSE + 13 AMICODE_ITER lines, result.toml + pulse.jld2 + DONE, no MethodError. All four templates parse clean. Staging cloud solve (AC2) deferred to a live run. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This was referenced Sep 2, 2026
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Summary
Closes #177. Restores the per-iteration frame emitter (
pulse_emit) in all four solve templates via the intermediate-callback hook that the pinned DirectTrajOpt 0.9.7 exposes (julia/Manifest.tomlgit-tree-sha1c722d301a8d0…==v0.9.7^{tree}— verified against the package source, not docs).IpoptOptions(intermediate_callback = pulse_emit)→iter_<N>.png+AMICODE_PULSEper IPM iteration + STOP poll, composed with the existingcb_logstats callback.hasfield-guarded (the templates: fix cloud-solve blockers (Ipopt callback + bare using Piccolissimo) #157 lesson): a cloud bundle still baked with DTO ≤ 0.9.6 degrades to stats-only (AMICODE_ITERstill flows, frames dark, one @warn) instead of dying on a kwarg MethodError before the solve.skeleton_free.jl,solve_rydberg_cz.jl,solve_template.jl,solve_template_hp.jl.Verification (live bounded mini-solve, pinned julia env)
iter_00000.png / iter_00006.png / iter_00012.pngproduced;AMICODE_PULSE+AMICODE_ITERemitted every iteration;pulse.jld2+result.tomlwritten; run completedDONE fidelity=0.744with no MethodError.🤖 Generated with Claude Code