From 8d2e149da5a1b39747c3a1ad220929b538f70ed7 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 14 Apr 2025 23:13:05 +0530 Subject: [PATCH 001/167] refactor: remove old `System` function --- src/systems/systems.jl | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/systems/systems.jl b/src/systems/systems.jl index 4e4a7f7ba4..f606b6b63b 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -1,8 +1,3 @@ -function System(eqs::AbstractVector{<:Equation}, iv, args...; name = nothing, - kw...) - ODESystem(eqs, iv, args...; name, kw..., checks = false) -end - const REPEATED_SIMPLIFICATION_MESSAGE = "Structural simplification cannot be applied to a completed system. Double simplification is not allowed." struct RepeatedStructuralSimplificationError <: Exception end From 2c95e03d3603af533a64179bd43213bab2fb3d30 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 12:11:39 +0530 Subject: [PATCH 002/167] refactor: remove `odesystem.jl` --- src/ModelingToolkit.jl | 8 +- src/systems/diffeqs/odesystem.jl | 860 ------------------------------- 2 files changed, 1 insertion(+), 867 deletions(-) delete mode 100644 src/systems/diffeqs/odesystem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index be71759226..a582f52df7 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -168,11 +168,6 @@ include("systems/optimization/optimizationsystem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/nonlinearsystem.jl") -include("systems/discrete_system/discrete_system.jl") -include("systems/discrete_system/implicit_discrete_system.jl") -include("systems/callbacks.jl") - -include("systems/diffeqs/odesystem.jl") include("systems/diffeqs/sdesystem.jl") include("systems/diffeqs/abstractodesystem.jl") include("systems/nonlinear/homotopy_continuation.jl") @@ -263,8 +258,7 @@ export AbstractTimeDependentSystem, AbstractTimeIndependentSystem, AbstractMultivariateSystem -export ODESystem, - ODEFunction, ODEFunctionExpr, ODEProblemExpr, convert_system, +export ODEFunction, ODEFunctionExpr, ODEProblemExpr, convert_system, add_accumulations, System export DAEFunctionExpr, DAEProblemExpr export SDESystem, SDEFunction, SDEFunctionExpr, SDEProblemExpr diff --git a/src/systems/diffeqs/odesystem.jl b/src/systems/diffeqs/odesystem.jl deleted file mode 100644 index e061706416..0000000000 --- a/src/systems/diffeqs/odesystem.jl +++ /dev/null @@ -1,860 +0,0 @@ -""" -$(TYPEDEF) - -A system of ordinary differential equations. - -# Fields -$(FIELDS) - -# Example - -```julia -using ModelingToolkit -using ModelingToolkit: t_nounits as t, D_nounits as D - -@parameters σ ρ β -@variables x(t) y(t) z(t) - -eqs = [D(x) ~ σ*(y-x), - D(y) ~ x*(ρ-z)-y, - D(z) ~ x*y - β*z] - -@named de = ODESystem(eqs,t,[x,y,z],[σ,ρ,β],tspan=(0, 1000.0)) -``` -""" -struct ODESystem <: AbstractODESystem - """ - A tag for the system. If two systems have the same tag, then they are - structurally identical. - """ - tag::UInt - """The ODEs defining the system.""" - eqs::Vector{Equation} - """Independent variable.""" - iv::BasicSymbolic{Real} - """ - Dependent (unknown) variables. Must not contain the independent variable. - - N.B.: If `torn_matching !== nothing`, this includes all variables. Actual - ODE unknowns are determined by the `SelectedState()` entries in `torn_matching`. - """ - unknowns::Vector - """Parameter variables. Must not contain the independent variable.""" - ps::Vector - """Time span.""" - tspan::Union{NTuple{2, Any}, Nothing} - """Array variables.""" - var_to_name::Any - """Control parameters (some subset of `ps`).""" - ctrls::Vector - """Observed equations.""" - observed::Vector{Equation} - """System of constraints that must be satisfied by the solution to the system.""" - constraintsystem::Union{Nothing, ConstraintsSystem} - """A set of expressions defining the costs of the system for optimal control.""" - costs::Vector - """Takes the cost vector and returns a scalar for optimization.""" - consolidate::Union{Nothing, Function} - """ - Time-derivative matrix. Note: this field will not be defined until - [`calculate_tgrad`](@ref) is called on the system. - """ - tgrad::RefValue{Vector{Num}} - """ - Jacobian matrix. Note: this field will not be defined until - [`calculate_jacobian`](@ref) is called on the system. - """ - jac::RefValue{Any} - """ - Control Jacobian matrix. Note: this field will not be defined until - [`calculate_control_jacobian`](@ref) is called on the system. - """ - ctrl_jac::RefValue{Any} - """ - Note: this field will not be defined until - [`generate_factorized_W`](@ref) is called on the system. - """ - Wfact::RefValue{Matrix{Num}} - """ - Note: this field will not be defined until - [`generate_factorized_W`](@ref) is called on the system. - """ - Wfact_t::RefValue{Matrix{Num}} - """ - The name of the system. - """ - name::Symbol - """ - A description of the system. - """ - description::String - """ - The internal systems. These are required to have unique names. - """ - systems::Vector{ODESystem} - """ - The default values to use when initial conditions and/or - parameters are not supplied in `ODEProblem`. - """ - defaults::Dict - """ - The guesses to use as the initial conditions for the - initialization system. - """ - guesses::Dict - """ - Tearing result specifying how to solve the system. - """ - torn_matching::Union{Matching, Nothing} - """ - The system for performing the initialization. - """ - initializesystem::Union{Nothing, NonlinearSystem} - """ - Extra equations to be enforced during the initialization sequence. - """ - initialization_eqs::Vector{Equation} - """ - The schedule for the code generation process. - """ - schedule::Any - """ - Type of the system. - """ - connector_type::Any - """ - Inject assignment statements before the evaluation of the RHS function. - """ - preface::Any - """ - A `Vector{SymbolicContinuousCallback}` that model events. - The integrator will use root finding to guarantee that it steps at each zero crossing. - """ - continuous_events::Vector{SymbolicContinuousCallback} - """ - A `Vector{SymbolicDiscreteCallback}` that models events. Symbolic - analog to `SciMLBase.DiscreteCallback` that executes an affect when a given condition is - true at the end of an integration step. - """ - discrete_events::Vector{SymbolicDiscreteCallback} - """ - Topologically sorted parameter dependency equations, where all symbols are parameters and - the LHS is a single parameter. - """ - parameter_dependencies::Vector{Equation} - """ - Mapping of conditions which should be true throughout the solution process to corresponding error - messages. These will be added to the equations when calling `debug_system`. - """ - assertions::Dict{BasicSymbolic, String} - """ - Metadata for the system, to be used by downstream packages. - """ - metadata::Any - """ - Metadata for MTK GUI. - """ - gui_metadata::Union{Nothing, GUIMetadata} - """ - A boolean indicating if the given `ODESystem` represents a system of DDEs. - """ - is_dde::Bool - """ - A list of points to provide to the solver as tstops. Uses the same syntax as discrete - events. - """ - tstops::Vector{Any} - """ - Cache for intermediate tearing state. - """ - tearing_state::Any - """ - Substitutions generated by tearing. - """ - substitutions::Any - """ - If false, then `sys.x` no longer performs namespacing. - """ - namespacing::Bool - """ - If true, denotes the model will not be modified any further. - """ - complete::Bool - """ - Cached data for fast symbolic indexing. - """ - index_cache::Union{Nothing, IndexCache} - """ - A list of discrete subsystems. - """ - discrete_subsystems::Any - """ - A list of actual unknowns needed to be solved by solvers. - """ - solved_unknowns::Union{Nothing, Vector{Any}} - """ - A vector of vectors of indices for the split parameters. - """ - split_idxs::Union{Nothing, Vector{Vector{Int}}} - """ - The analysis points removed by transformations, representing connections to be - ignored. The first element of the tuple analysis points connecting systems and - the second are ones connecting variables (for the trivial form of `connect`). - """ - ignored_connections::Union{ - Nothing, Tuple{Vector{IgnoredAnalysisPoint}, Vector{IgnoredAnalysisPoint}}} - """ - The hierarchical parent system before simplification. - """ - parent::Any - - function ODESystem( - tag, deqs, iv, dvs, ps, tspan, var_to_name, ctrls, - observed, constraints, costs, consolidate, tgrad, - jac, ctrl_jac, Wfact, Wfact_t, name, description, systems, defaults, guesses, - torn_matching, initializesystem, initialization_eqs, schedule, - connector_type, preface, cevents, - devents, parameter_dependencies, assertions = Dict{BasicSymbolic, String}(), - metadata = nothing, gui_metadata = nothing, is_dde = false, - tstops = [], tearing_state = nothing, substitutions = nothing, - namespacing = true, complete = false, index_cache = nothing, - discrete_subsystems = nothing, solved_unknowns = nothing, - split_idxs = nothing, ignored_connections = nothing, parent = nothing; - checks::Union{Bool, Int} = true) - if checks == true || (checks & CheckComponents) > 0 - check_independent_variables([iv]) - check_variables(dvs, iv) - check_parameters(ps, iv) - check_equations(deqs, iv) - check_equations(equations(cevents), iv) - check_subsystems(systems) - end - if checks == true || (checks & CheckUnits) > 0 - u = __get_unit_type(dvs, ps, iv) - check_units(u, deqs) - end - new(tag, deqs, iv, dvs, ps, tspan, var_to_name, - ctrls, observed, constraints, costs, consolidate, tgrad, jac, - ctrl_jac, Wfact, Wfact_t, name, description, systems, defaults, guesses, torn_matching, - initializesystem, initialization_eqs, schedule, connector_type, preface, - cevents, devents, parameter_dependencies, assertions, metadata, - gui_metadata, is_dde, tstops, tearing_state, substitutions, namespacing, - complete, index_cache, - discrete_subsystems, solved_unknowns, split_idxs, ignored_connections, parent) - end -end - -function ODESystem(deqs::AbstractVector{<:Equation}, iv, dvs, ps; - controls = Num[], - observed = Equation[], - constraints = Any[], - costs = Num[], - consolidate = nothing, - systems = ODESystem[], - tspan = nothing, - name = nothing, - description = "", - default_u0 = Dict(), - default_p = Dict(), - defaults = _merge(Dict(default_u0), Dict(default_p)), - guesses = Dict(), - initializesystem = nothing, - initialization_eqs = Equation[], - schedule = nothing, - connector_type = nothing, - preface = nothing, - continuous_events = nothing, - discrete_events = nothing, - parameter_dependencies = Equation[], - assertions = Dict(), - checks = true, - metadata = nothing, - gui_metadata = nothing, - is_dde = nothing, - tstops = [], - discover_from_metadata = true) - name === nothing && - throw(ArgumentError("The `name` keyword must be provided. Please consider using the `@named` macro")) - @assert all(control -> any(isequal.(control, ps)), controls) "All controls must also be parameters." - - constraintsystem = nothing - if !isempty(constraints) - constraintsystem = process_constraint_system(constraints, dvs, ps, iv) - for p in parameters(constraintsystem) - !in(p, Set(ps)) && push!(ps, p) - end - end - - if !isempty(costs) - coststs, costps = process_costs(costs, dvs, ps, iv) - for p in costps - !in(p, Set(ps)) && push!(ps, p) - end - end - costs = wrap.(costs) - - iv′ = value(iv) - ps′ = value.(ps) - ctrl′ = value.(controls) - dvs′ = value.(dvs) - dvs′ = filter(x -> !isdelay(x, iv), dvs′) - - parameter_dependencies, ps′ = process_parameter_dependencies( - parameter_dependencies, ps′) - if !(isempty(default_u0) && isempty(default_p)) - Base.depwarn( - "`default_u0` and `default_p` are deprecated. Use `defaults` instead.", - :ODESystem, force = true) - end - defaults = Dict{Any, Any}(todict(defaults)) - guesses = Dict{Any, Any}(todict(guesses)) - var_to_name = Dict() - let defaults = discover_from_metadata ? defaults : Dict(), - guesses = discover_from_metadata ? guesses : Dict() - - process_variables!(var_to_name, defaults, guesses, dvs′) - process_variables!(var_to_name, defaults, guesses, ps′) - process_variables!( - var_to_name, defaults, guesses, [eq.lhs for eq in parameter_dependencies]) - process_variables!( - var_to_name, defaults, guesses, [eq.rhs for eq in parameter_dependencies]) - end - defaults = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(defaults) if v !== nothing) - guesses = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(guesses) if v !== nothing) - - isempty(observed) || collect_var_to_name!(var_to_name, (eq.lhs for eq in observed)) - - tgrad = RefValue(EMPTY_TGRAD) - jac = RefValue{Any}(EMPTY_JAC) - ctrl_jac = RefValue{Any}(EMPTY_JAC) - Wfact = RefValue(EMPTY_JAC) - Wfact_t = RefValue(EMPTY_JAC) - sysnames = nameof.(systems) - if length(unique(sysnames)) != length(sysnames) - throw(ArgumentError("System names must be unique.")) - end - - cont_callbacks, disc_callbacks = create_symbolic_events( - continuous_events, discrete_events, deqs, iv) - if is_dde === nothing - is_dde = _check_if_dde(deqs, iv′, systems) - end - - if !isempty(systems) && !isnothing(constraintsystem) - conssystems = ConstraintsSystem[] - for sys in systems - cons = get_constraintsystem(sys) - cons !== nothing && push!(conssystems, cons) - end - @set! constraintsystem.systems = conssystems - end - costs = wrap.(costs) - - if length(costs) > 1 && isnothing(consolidate) - error("Must specify a consolidation function for the costs vector.") - elseif length(costs) == 1 && isnothing(consolidate) - consolidate = u -> u[1] - end - - assertions = Dict{BasicSymbolic, Any}(unwrap(k) => v for (k, v) in assertions) - - ODESystem(Threads.atomic_add!(SYSTEM_COUNT, UInt(1)), - deqs, iv′, dvs′, ps′, tspan, var_to_name, ctrl′, observed, - constraintsystem, costs, consolidate, tgrad, jac, - ctrl_jac, Wfact, Wfact_t, name, description, systems, - defaults, guesses, nothing, initializesystem, - initialization_eqs, schedule, connector_type, preface, cont_callbacks, - disc_callbacks, parameter_dependencies, assertions, - metadata, gui_metadata, is_dde, tstops, checks = checks) -end - -function ODESystem(eqs, iv; kwargs...) - diffvars, allunknowns, ps, eqs = process_equations(eqs, iv) - - for eq in get(kwargs, :parameter_dependencies, Equation[]) - collect_vars!(allunknowns, ps, eq, iv) - end - - for ssys in get(kwargs, :systems, ODESystem[]) - collect_scoped_vars!(allunknowns, ps, ssys, iv) - end - - for v in allunknowns - isdelay(v, iv) || continue - collect_vars!(allunknowns, ps, arguments(v)[1], iv) - end - - new_ps = OrderedSet() - for p in ps - if iscall(p) && operation(p) === getindex - par = arguments(p)[begin] - if Symbolics.shape(Symbolics.unwrap(par)) !== Symbolics.Unknown() && - all(par[i] in ps for i in eachindex(par)) - push!(new_ps, par) - else - push!(new_ps, p) - end - else - push!(new_ps, p) - end - end - algevars = setdiff(allunknowns, diffvars) - - return ODESystem(eqs, iv, collect(Iterators.flatten((diffvars, algevars))), - collect(new_ps); kwargs...) -end - -# NOTE: equality does not check cached Jacobian -function Base.:(==)(sys1::ODESystem, sys2::ODESystem) - sys1 === sys2 && return true - iv1 = get_iv(sys1) - iv2 = get_iv(sys2) - isequal(iv1, iv2) && - isequal(nameof(sys1), nameof(sys2)) && - _eq_unordered(get_eqs(sys1), get_eqs(sys2)) && - _eq_unordered(get_unknowns(sys1), get_unknowns(sys2)) && - _eq_unordered(get_ps(sys1), get_ps(sys2)) && - _eq_unordered(continuous_events(sys1), continuous_events(sys2)) && - _eq_unordered(discrete_events(sys1), discrete_events(sys2)) && - all(s1 == s2 for (s1, s2) in zip(get_systems(sys1), get_systems(sys2))) && - isequal(get_constraintsystem(sys1), get_constraintsystem(sys2)) && - _eq_unordered(get_costs(sys1), get_costs(sys2)) -end - -function flatten(sys::ODESystem, noeqs = false) - systems = get_systems(sys) - if isempty(systems) - return sys - else - return ODESystem(noeqs ? Equation[] : equations(sys), - get_iv(sys), - unknowns(sys), - parameters(sys; initial_parameters = true), - parameter_dependencies = parameter_dependencies(sys), - guesses = guesses(sys), - observed = observed(sys), - continuous_events = continuous_events(sys), - discrete_events = discrete_events(sys), - defaults = defaults(sys), - name = nameof(sys), - description = description(sys), - initialization_eqs = initialization_equations(sys), - assertions = assertions(sys), - is_dde = is_dde(sys), - tstops = symbolic_tstops(sys), - metadata = get_metadata(sys), - checks = false, - # without this, any defaults/guesses obtained from metadata that were - # later removed by the user will be re-added. Right now, we just want to - # retain `defaults(sys)` as-is. - discover_from_metadata = false) - end -end - -ODESystem(eq::Equation, args...; kwargs...) = ODESystem([eq], args...; kwargs...) - -""" - build_explicit_observed_function(sys, ts; kwargs...) -> Function(s) - -Generates a function that computes the observed value(s) `ts` in the system `sys`, while making the assumption that there are no cycles in the equations. - -## Arguments -- `sys`: The system for which to generate the function -- `ts`: The symbolic observed values whose value should be computed - -## Keywords -- `return_inplace = false`: If true and the observed value is a vector, then return both the in place and out of place methods. -- `expression = false`: Generates a Julia `Expr`` computing the observed value if `expression` is true -- `eval_expression = false`: If true and `expression = false`, evaluates the returned function in the module `eval_module` -- `output_type = Array` the type of the array generated by a out-of-place vector-valued function -- `param_only = false` if true, only allow the generated function to access system parameters -- `inputs = Any[]` additional symbolic variables that should be provided to the generated function -- `checkbounds = true` checks bounds if true when destructuring parameters -- `op = Operator` sets the recursion terminator for the walk done by `vars` to identify the variables that appear in `ts`. See the documentation for `vars` for more detail. -- `throw = true` if true, throw an error when generating a function for `ts` that reference variables that do not exist. -- `mkarray`: only used if the output is an array (that is, `!isscalar(ts)` and `ts` is not a tuple, in which case the result will always be a tuple). Called as `mkarray(ts, output_type)` where `ts` are the expressions to put in the array and `output_type` is the argument of the same name passed to build_explicit_observed_function. -- `cse = true`: Whether to use Common Subexpression Elimination (CSE) to generate a more efficient function. - -## Returns - -The return value will be either: -* a single function `f_oop` if the input is a scalar or if the input is a Vector but `return_inplace` is false -* the out of place and in-place functions `(f_ip, f_oop)` if `return_inplace` is true and the input is a `Vector` - -The function(s) `f_oop` (and potentially `f_ip`) will be: -* `RuntimeGeneratedFunction`s by default, -* A Julia `Expr` if `expression` is true, -* A directly evaluated Julia function in the module `eval_module` if `eval_expression` is true and `expression` is false. - -The signatures will be of the form `g(...)` with arguments: - -- `output` for in-place functions -- `unknowns` if `param_only` is `false` -- `inputs` if `inputs` is an array of symbolic inputs that should be available in `ts` -- `p...` unconditionally; note that in the case of `MTKParameters` more than one parameters argument may be present, so it must be splatted -- `t` if the system is time-dependent; for example `NonlinearSystem` will not have `t` - -For example, a function `g(op, unknowns, p..., inputs, t)` will be the in-place function generated if `return_inplace` is true, `ts` is a vector, -an array of inputs `inputs` is given, and `param_only` is false for a time-dependent system. -""" -function build_explicit_observed_function(sys, ts; - inputs = Any[], - disturbance_inputs = Any[], - disturbance_argument = false, - expression = false, - eval_expression = false, - eval_module = @__MODULE__, - output_type = Array, - checkbounds = true, - ps = parameters(sys; initial_parameters = true), - return_inplace = false, - param_only = false, - op = Operator, - throw = true, - cse = true, - mkarray = nothing) - is_tuple = ts isa Tuple - if is_tuple - ts = collect(ts) - output_type = Tuple - end - - allsyms = all_symbols(sys) - if symbolic_type(ts) == NotSymbolic() && ts isa AbstractArray - ts = map(x -> symbol_to_symbolic(sys, x; allsyms), ts) - else - ts = symbol_to_symbolic(sys, ts; allsyms) - end - - vs = ModelingToolkit.vars(ts; op) - namespace_subs = Dict() - ns_map = Dict{Any, Any}(renamespace(sys, obs) => obs for obs in observables(sys)) - for sym in unknowns(sys) - ns_map[renamespace(sys, sym)] = sym - if iscall(sym) && operation(sym) === getindex - ns_map[renamespace(sys, arguments(sym)[1])] = arguments(sym)[1] - end - end - for sym in full_parameters(sys) - ns_map[renamespace(sys, sym)] = sym - if iscall(sym) && operation(sym) === getindex - ns_map[renamespace(sys, arguments(sym)[1])] = arguments(sym)[1] - end - end - allsyms = Set(all_symbols(sys)) - iv = has_iv(sys) ? get_iv(sys) : nothing - for var in vs - var = unwrap(var) - newvar = get(ns_map, var, nothing) - if newvar !== nothing - namespace_subs[var] = newvar - var = newvar - end - if throw && !var_in_varlist(var, allsyms, iv) - Base.throw(ArgumentError("Symbol $var is not present in the system.")) - end - end - ts = fast_substitute(ts, namespace_subs) - - obsfilter = if param_only - if is_split(sys) - let ic = get_index_cache(sys) - eq -> !(ContinuousTimeseries() in ic.observed_syms_to_timeseries[eq.lhs]) - end - else - Returns(false) - end - else - Returns(true) - end - dvs = if param_only - () - else - (unknowns(sys),) - end - if isempty(inputs) - inputs = () - else - ps = setdiff(ps, inputs) # Inputs have been converted to parameters by io_preprocessing, remove those from the parameter list - inputs = (inputs,) - end - if !isempty(disturbance_inputs) - # Disturbance inputs may or may not be included as inputs, depending on disturbance_argument - ps = setdiff(ps, disturbance_inputs) - end - if disturbance_argument - disturbance_inputs = (disturbance_inputs,) - else - disturbance_inputs = () - end - ps = reorder_parameters(sys, ps) - iv = if is_time_dependent(sys) - (get_iv(sys),) - else - () - end - args = (dvs..., inputs..., ps..., iv..., disturbance_inputs...) - p_start = length(dvs) + length(inputs) + 1 - p_end = length(dvs) + length(inputs) + length(ps) - fns = build_function_wrapper( - sys, ts, args...; p_start, p_end, filter_observed = obsfilter, - output_type, mkarray, try_namespaced = true, expression = Val{true}, cse) - if fns isa Tuple - if expression - return return_inplace ? fns : fns[1] - end - oop, iip = eval_or_rgf.(fns; eval_expression, eval_module) - f = GeneratedFunctionWrapper{( - p_start + is_dde(sys), length(args) - length(ps) + 1 + is_dde(sys), is_split(sys))}( - oop, iip) - return return_inplace ? (f, f) : f - else - if expression - return fns - end - f = eval_or_rgf(fns; eval_expression, eval_module) - f = GeneratedFunctionWrapper{( - p_start + is_dde(sys), length(args) - length(ps) + 1 + is_dde(sys), is_split(sys))}( - f, nothing) - return f - end -end - -function populate_delays(delays::Set, obsexprs, histfn, sys, sym) - _vars_util = vars(sym) - for v in _vars_util - v in delays && continue - iscall(v) && issym(operation(v)) && (args = arguments(v); length(args) == 1) && - iscall(only(args)) || continue - - idx = variable_index(sys, operation(v)(get_iv(sys))) - idx === nothing && error("Delay term $v is not an unknown in the system") - push!(delays, v) - push!(obsexprs, v ← histfn(only(args))[idx]) - end -end - -function _eq_unordered(a, b) - # a and b may be multidimensional - # e.g. comparing noiseeqs of SDESystem - a = vec(a) - b = vec(b) - length(a) === length(b) || return false - n = length(a) - idxs = Set(1:n) - for x in a - idx = findfirst(isequal(x), b) - # loop since there might be multiple identical entries in a/b - # and while we might have already matched the first there could - # be a second that is equal to x - while idx !== nothing && !(idx in idxs) - idx = findnext(isequal(x), b, idx + 1) - end - idx === nothing && return false - delete!(idxs, idx) - end - return true -end - -# We have a stand-alone function to convert a `NonlinearSystem` or `ODESystem` -# to an `ODESystem` to connect systems, and we later can reply on -# `structural_simplify` to convert `ODESystem`s to `NonlinearSystem`s. -""" -$(TYPEDSIGNATURES) - -Convert a `NonlinearSystem` to an `ODESystem` or converts an `ODESystem` to a -new `ODESystem` with a different independent variable. -""" -function convert_system(::Type{<:ODESystem}, sys, t; name = nameof(sys)) - isempty(observed(sys)) || - throw(ArgumentError("`convert_system` cannot handle reduced model (i.e. observed(sys) is non-empty).")) - t = value(t) - varmap = Dict() - sts = unknowns(sys) - newsts = similar(sts, Any) - for (i, s) in enumerate(sts) - if iscall(s) - args = arguments(s) - length(args) == 1 || - throw(InvalidSystemException("Illegal unknown: $s. The unknown can have at most one argument like `x(t)`.")) - arg = args[1] - if isequal(arg, t) - newsts[i] = s - continue - end - ns = maketerm(typeof(s), operation(s), Any[t], - SymbolicUtils.metadata(s)) - newsts[i] = ns - varmap[s] = ns - else - ns = variable(getname(s); T = FnType)(t) - newsts[i] = ns - varmap[s] = ns - end - end - sub = Base.Fix2(substitute, varmap) - if sys isa AbstractODESystem - iv = only(independent_variables(sys)) - sub.x[iv] = t # otherwise the Differentials aren't fixed - end - neweqs = map(sub, equations(sys)) - defs = Dict(sub(k) => sub(v) for (k, v) in defaults(sys)) - return ODESystem(neweqs, t, newsts, parameters(sys); defaults = defs, name = name, - checks = false) -end - -""" -$(SIGNATURES) - -Add accumulation variables for `vars`. -""" -function add_accumulations(sys::ODESystem, vars = unknowns(sys)) - avars = [rename(v, Symbol(:accumulation_, getname(v))) for v in vars] - add_accumulations(sys, avars .=> vars) -end - -""" -$(SIGNATURES) - -Add accumulation variables for `vars`. `vars` is a vector of pairs in the form -of - -```julia -[cumulative_var1 => x + y, cumulative_var2 => x^2] -``` -Then, cumulative variables `cumulative_var1` and `cumulative_var2` that computes -the cumulative `x + y` and `x^2` would be added to `sys`. -""" -function add_accumulations(sys::ODESystem, vars::Vector{<:Pair}) - eqs = get_eqs(sys) - avars = map(first, vars) - if (ints = intersect(avars, unknowns(sys)); !isempty(ints)) - error("$ints already exist in the system!") - end - D = Differential(get_iv(sys)) - @set! sys.eqs = [eqs; Equation[D(a) ~ v[2] for (a, v) in zip(avars, vars)]] - @set! sys.unknowns = [get_unknowns(sys); avars] - @set! sys.defaults = merge(get_defaults(sys), Dict(a => 0.0 for a in avars)) -end - -function Base.show(io::IO, mime::MIME"text/plain", sys::ODESystem; hint = true, bold = true) - # Print general AbstractSystem information - invoke(Base.show, Tuple{typeof(io), typeof(mime), AbstractSystem}, - io, mime, sys; hint, bold) - - name = nameof(sys) - - # Print initialization equations (unique to ODESystems) - nini = length(initialization_equations(sys)) - nini > 0 && printstyled(io, "\nInitialization equations ($nini):"; bold) - nini > 0 && hint && print(io, " see initialization_equations($name)") - - return nothing -end - -""" -Build the constraint system for the ODESystem. -""" -function process_constraint_system( - constraints::Vector, sts, ps, iv; consname = :cons) - isempty(constraints) && return nothing - - constraintsts = OrderedSet() - constraintps = OrderedSet() - for cons in constraints - collect_vars!(constraintsts, constraintps, cons, iv) - union!(constraintsts, collect_applied_operators(cons, Differential)) - end - - # Validate the states. - validate_vars_and_find_ps!(constraintsts, constraintps, sts, iv) - - ConstraintsSystem( - constraints, collect(constraintsts), collect(constraintps); name = consname) -end - -""" -Process the costs for the constraint system. -""" -function process_costs(costs::Vector, sts, ps, iv) - coststs = OrderedSet() - costps = OrderedSet() - for cost in costs - collect_vars!(coststs, costps, cost, iv) - end - - validate_vars_and_find_ps!(coststs, costps, sts, iv) - coststs, costps -end - -""" -Validate that all the variables in an auxiliary system of the ODESystem (constraint or costs) are -well-formed states or parameters. - - Callable/delay variables (e.g. of the form x(0.6) should be unknowns of the system (and have one arg, etc.) - - Callable/delay parameters should be parameters of the system - -Return the set of additional parameters found in the system, e.g. in x(p) ~ 3 then p should be added as a -parameter of the system. -""" -function validate_vars_and_find_ps!(auxvars, auxps, sysvars, iv) - sts = Set(sysvars) - - for var in auxvars - if !iscall(var) - var ∈ sts || - throw(ArgumentError("Time-independent variable $var is not an unknown of the system.")) - elseif length(arguments(var)) > 1 - throw(ArgumentError("Too many arguments for variable $var.")) - elseif length(arguments(var)) == 1 - if iscall(var) && operation(var) isa Differential - var = only(arguments(var)) - end - arg = only(arguments(var)) - operation(var)(iv) ∈ sts || - throw(ArgumentError("Variable $var is not a variable of the ODESystem. Called variables must be variables of the ODESystem.")) - - isequal(arg, iv) || isparameter(arg) || arg isa Integer || - arg isa AbstractFloat || - throw(ArgumentError("Invalid argument specified for variable $var. The argument of the variable should be either $iv, a parameter, or a value specifying the time that the constraint holds.")) - - (isparameter(arg) && !isequal(arg, iv)) && push!(auxps, arg) - else - var ∈ sts && - @warn "Variable $var has no argument. It will be interpreted as $var($iv), and the constraint will apply to the entire interval." - end - end -end - -""" -Generate a function that takes a solution object and computes the cost function obtained by coalescing the costs vector. -""" -function generate_cost_function(sys::ODESystem, kwargs...) - costs = get_costs(sys) - consolidate = get_consolidate(sys) - iv = get_iv(sys) - - ps = parameters(sys; initial_parameters = false) - sts = unknowns(sys) - np = length(ps) - ns = length(sts) - stidxmap = Dict([v => i for (i, v) in enumerate(sts)]) - pidxmap = Dict([v => i for (i, v) in enumerate(ps)]) - - @variables sol(..)[1:ns] - for st in vars(costs) - x = operation(st) - t = only(arguments(st)) - idx = stidxmap[x(iv)] - - costs = map(c -> Symbolics.fast_substitute(c, Dict(x(t) => sol(t)[idx])), costs) - end - - _p = reorder_parameters(sys, ps) - fs = build_function_wrapper(sys, costs, sol, _p..., t; output_type = Array, kwargs...) - vc_oop, vc_iip = eval_or_rgf.(fs) - - cost(sol, p, t) = consolidate(vc_oop(sol, p, t)) - return cost -end From ca3e57b1c03d74624af13ace2299764801644bc7 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 14:00:59 +0530 Subject: [PATCH 003/167] refactor: add `_eq_unordered` to `utils.jl` fixmeup --- src/utils.jl | 31 +++++++++++++++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/src/utils.jl b/src/utils.jl index a2034ec58a..8505b798b1 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -1311,3 +1311,34 @@ function var_in_varlist(var, varlist::AbstractSet, iv) # delayed variables (isdelay(var, iv) && var_in_varlist(operation(var)(iv), varlist, iv)) end + +""" + $(TYPEDSIGNATURES) + +Check if `a` and `b` contain identical elements, regardless of order. This is not +equivalent to `issetequal` because the latter does not account for identical elements that +have different multiplicities in `a` and `b`. +""" +function _eq_unordered(a::AbstractArray, b::AbstractArray) + # a and b may be multidimensional + # e.g. comparing noiseeqs of SDESystem + a = vec(a) + b = vec(b) + length(a) === length(b) || return false + n = length(a) + idxs = Set(1:n) + for x in a + idx = findfirst(isequal(x), b) + # loop since there might be multiple identical entries in a/b + # and while we might have already matched the first there could + # be a second that is equal to x + while idx !== nothing && !(idx in idxs) + idx = findnext(isequal(x), b, idx + 1) + end + idx === nothing && return false + delete!(idxs, idx) + end + return true +end + +_eq_unordered(a, b) = isequal(a, b) From b07ed516056d184a036d63c541095eefe383e91b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 12:34:20 +0530 Subject: [PATCH 004/167] refactor: move `flatten_equations` to `utils.jl` --- src/utils.jl | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/src/utils.jl b/src/utils.jl index 8505b798b1..8f5ac311c5 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -1342,3 +1342,31 @@ function _eq_unordered(a::AbstractArray, b::AbstractArray) end _eq_unordered(a, b) = isequal(a, b) + +""" + $(TYPEDSIGNATURES) + +Given a list of equations where some may be array equations, flatten the array equations +without scalarizing occurrences of array variables and return the new list of equations. +""" +function flatten_equations(eqs::Vector{Equation}) + mapreduce(vcat, eqs; init = Equation[]) do eq + islhsarr = eq.lhs isa AbstractArray || Symbolics.isarraysymbolic(eq.lhs) + isrhsarr = eq.rhs isa AbstractArray || Symbolics.isarraysymbolic(eq.rhs) + if islhsarr || isrhsarr + islhsarr && isrhsarr || + error(""" + LHS ($(eq.lhs)) and RHS ($(eq.rhs)) must either both be array expressions \ + or both scalar + """) + size(eq.lhs) == size(eq.rhs) || + error(""" + Size of LHS ($(eq.lhs)) and RHS ($(eq.rhs)) must match: got \ + $(size(eq.lhs)) and $(size(eq.rhs)) + """) + return vec(collect(eq.lhs) .~ collect(eq.rhs)) + else + eq + end + end +end From b953ee2bf97b69b3724cb85f59f1d18aba92ab71 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 15:21:23 +0530 Subject: [PATCH 005/167] refactor: remove `sdesystem.jl` --- src/ModelingToolkit.jl | 3 +- src/systems/diffeqs/sdesystem.jl | 941 ------------------------------- 2 files changed, 1 insertion(+), 943 deletions(-) delete mode 100644 src/systems/diffeqs/sdesystem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index a582f52df7..8ee791f100 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -168,7 +168,6 @@ include("systems/optimization/optimizationsystem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/nonlinearsystem.jl") -include("systems/diffeqs/sdesystem.jl") include("systems/diffeqs/abstractodesystem.jl") include("systems/nonlinear/homotopy_continuation.jl") include("systems/nonlinear/modelingtoolkitize.jl") @@ -261,7 +260,7 @@ export AbstractTimeDependentSystem, export ODEFunction, ODEFunctionExpr, ODEProblemExpr, convert_system, add_accumulations, System export DAEFunctionExpr, DAEProblemExpr -export SDESystem, SDEFunction, SDEFunctionExpr, SDEProblemExpr +export SDEFunction, SDEFunctionExpr, SDEProblemExpr export SystemStructure export DiscreteSystem, DiscreteProblem, DiscreteFunction, DiscreteFunctionExpr export ImplicitDiscreteSystem, ImplicitDiscreteProblem, ImplicitDiscreteFunction, diff --git a/src/systems/diffeqs/sdesystem.jl b/src/systems/diffeqs/sdesystem.jl deleted file mode 100644 index 016154e1cc..0000000000 --- a/src/systems/diffeqs/sdesystem.jl +++ /dev/null @@ -1,941 +0,0 @@ -""" -$(TYPEDEF) - -A system of stochastic differential equations. - -# Fields -$(FIELDS) - -# Example - -```julia -using ModelingToolkit -using ModelingToolkit: t_nounits as t, D_nounits as D - -@parameters σ ρ β -@variables x(t) y(t) z(t) - -eqs = [D(x) ~ σ*(y-x), - D(y) ~ x*(ρ-z)-y, - D(z) ~ x*y - β*z] - -noiseeqs = [0.1*x, - 0.1*y, - 0.1*z] - -@named de = SDESystem(eqs,noiseeqs,t,[x,y,z],[σ,ρ,β]; tspan = (0, 1000.0)) -``` -""" -struct SDESystem <: AbstractODESystem - """ - A tag for the system. If two systems have the same tag, then they are - structurally identical. - """ - tag::UInt - """The expressions defining the drift term.""" - eqs::Vector{Equation} - """The expressions defining the diffusion term.""" - noiseeqs::AbstractArray - """Independent variable.""" - iv::BasicSymbolic{Real} - """Dependent variables. Must not contain the independent variable.""" - unknowns::Vector - """Parameter variables. Must not contain the independent variable.""" - ps::Vector - """Time span.""" - tspan::Union{NTuple{2, Any}, Nothing} - """Array variables.""" - var_to_name::Any - """Control parameters (some subset of `ps`).""" - ctrls::Vector - """Observed equations.""" - observed::Vector{Equation} - """ - Time-derivative matrix. Note: this field will not be defined until - [`calculate_tgrad`](@ref) is called on the system. - """ - tgrad::RefValue - """ - Jacobian matrix. Note: this field will not be defined until - [`calculate_jacobian`](@ref) is called on the system. - """ - jac::RefValue - """ - Control Jacobian matrix. Note: this field will not be defined until - [`calculate_control_jacobian`](@ref) is called on the system. - """ - ctrl_jac::RefValue{Any} - """ - Note: this field will not be defined until - [`generate_factorized_W`](@ref) is called on the system. - """ - Wfact::RefValue - """ - Note: this field will not be defined until - [`generate_factorized_W`](@ref) is called on the system. - """ - Wfact_t::RefValue - """ - The name of the system. - """ - name::Symbol - """ - A description of the system. - """ - description::String - """ - The internal systems. These are required to have unique names. - """ - systems::Vector{SDESystem} - """ - The default values to use when initial conditions and/or - parameters are not supplied in `ODEProblem`. - """ - defaults::Dict - """ - The guesses to use as the initial conditions for the - initialization system. - """ - guesses::Dict - """ - The system for performing the initialization. - """ - initializesystem::Union{Nothing, NonlinearSystem} - """ - Extra equations to be enforced during the initialization sequence. - """ - initialization_eqs::Vector{Equation} - """ - Type of the system. - """ - connector_type::Any - """ - A `Vector{SymbolicContinuousCallback}` that model events. - The integrator will use root finding to guarantee that it steps at each zero crossing. - """ - continuous_events::Vector{SymbolicContinuousCallback} - """ - A `Vector{SymbolicDiscreteCallback}` that models events. Symbolic - analog to `SciMLBase.DiscreteCallback` that executes an affect when a given condition is - true at the end of an integration step. - """ - discrete_events::Vector{SymbolicDiscreteCallback} - """ - Topologically sorted parameter dependency equations, where all symbols are parameters and - the LHS is a single parameter. - """ - parameter_dependencies::Vector{Equation} - """ - Mapping of conditions which should be true throughout the solution process to corresponding error - messages. These will be added to the equations when calling `debug_system`. - """ - assertions::Dict{BasicSymbolic, String} - """ - Metadata for the system, to be used by downstream packages. - """ - metadata::Any - """ - Metadata for MTK GUI. - """ - gui_metadata::Union{Nothing, GUIMetadata} - """ - If false, then `sys.x` no longer performs namespacing. - """ - namespacing::Bool - """ - If true, denotes the model will not be modified any further. - """ - complete::Bool - """ - Cached data for fast symbolic indexing. - """ - index_cache::Union{Nothing, IndexCache} - """ - The hierarchical parent system before simplification. - """ - parent::Any - """ - Signal for whether the noise equations should be treated as a scalar process. This should only - be `true` when `noiseeqs isa Vector`. - """ - is_scalar_noise::Bool - """ - A boolean indicating if the given `ODESystem` represents a system of DDEs. - """ - is_dde::Bool - isscheduled::Bool - tearing_state::Any - - function SDESystem(tag, deqs, neqs, iv, dvs, ps, tspan, var_to_name, ctrls, observed, - tgrad, jac, ctrl_jac, Wfact, Wfact_t, name, description, systems, defaults, - guesses, initializesystem, initialization_eqs, connector_type, - cevents, devents, parameter_dependencies, assertions = Dict{ - BasicSymbolic, Nothing}, - metadata = nothing, gui_metadata = nothing, namespacing = true, - complete = false, index_cache = nothing, parent = nothing, is_scalar_noise = false, - is_dde = false, - isscheduled = false, - tearing_state = nothing; - checks::Union{Bool, Int} = true) - if checks == true || (checks & CheckComponents) > 0 - check_independent_variables([iv]) - check_variables(dvs, iv) - check_parameters(ps, iv) - check_equations(deqs, iv) - check_equations(neqs, dvs) - if size(neqs, 1) != length(deqs) - throw(ArgumentError("Noise equations ill-formed. Number of rows must match number of drift equations. size(neqs,1) = $(size(neqs,1)) != length(deqs) = $(length(deqs))")) - end - check_equations(equations(cevents), iv) - if is_scalar_noise && neqs isa AbstractMatrix - throw(ArgumentError("Noise equations ill-formed. Received a matrix of noise equations of size $(size(neqs)), but `is_scalar_noise` was set to `true`. Scalar noise is only compatible with an `AbstractVector` of noise equations.")) - end - check_subsystems(systems) - end - if checks == true || (checks & CheckUnits) > 0 - u = __get_unit_type(dvs, ps, iv) - check_units(u, deqs, neqs) - end - new(tag, deqs, neqs, iv, dvs, ps, tspan, var_to_name, ctrls, observed, tgrad, jac, - ctrl_jac, Wfact, Wfact_t, name, description, systems, - defaults, guesses, initializesystem, initialization_eqs, connector_type, cevents, - devents, parameter_dependencies, assertions, metadata, gui_metadata, namespacing, - complete, index_cache, parent, is_scalar_noise, is_dde, isscheduled, tearing_state) - end -end - -function SDESystem(deqs::AbstractVector{<:Equation}, neqs::AbstractArray, iv, dvs, ps; - controls = Num[], - observed = Num[], - systems = SDESystem[], - tspan = nothing, - default_u0 = Dict(), - default_p = Dict(), - defaults = _merge(Dict(default_u0), Dict(default_p)), - guesses = Dict(), - initializesystem = nothing, - initialization_eqs = Equation[], - name = nothing, - description = "", - connector_type = nothing, - checks = true, - continuous_events = nothing, - discrete_events = nothing, - parameter_dependencies = Equation[], - assertions = Dict{BasicSymbolic, String}(), - metadata = nothing, - gui_metadata = nothing, - index_cache = nothing, - parent = nothing, - is_scalar_noise = false, - is_dde = nothing) - name === nothing && - throw(ArgumentError("The `name` keyword must be provided. Please consider using the `@named` macro")) - iv′ = value(iv) - dvs′ = value.(dvs) - ps′ = value.(ps) - ctrl′ = value.(controls) - parameter_dependencies, ps′ = process_parameter_dependencies( - parameter_dependencies, ps′) - - sysnames = nameof.(systems) - if length(unique(sysnames)) != length(sysnames) - throw(ArgumentError("System names must be unique.")) - end - if !(isempty(default_u0) && isempty(default_p)) - Base.depwarn( - "`default_u0` and `default_p` are deprecated. Use `defaults` instead.", - :SDESystem, force = true) - end - - defaults = Dict{Any, Any}(todict(defaults)) - guesses = Dict{Any, Any}(todict(guesses)) - var_to_name = Dict() - process_variables!(var_to_name, defaults, guesses, dvs′) - process_variables!(var_to_name, defaults, guesses, ps′) - process_variables!( - var_to_name, defaults, guesses, [eq.lhs for eq in parameter_dependencies]) - process_variables!( - var_to_name, defaults, guesses, [eq.rhs for eq in parameter_dependencies]) - defaults = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(defaults) if v !== nothing) - guesses = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(guesses) if v !== nothing) - - isempty(observed) || collect_var_to_name!(var_to_name, (eq.lhs for eq in observed)) - - tgrad = RefValue(EMPTY_TGRAD) - jac = RefValue{Any}(EMPTY_JAC) - ctrl_jac = RefValue{Any}(EMPTY_JAC) - Wfact = RefValue(EMPTY_JAC) - Wfact_t = RefValue(EMPTY_JAC) - - cont_callbacks, disc_callbacks = create_symbolic_events( - continuous_events, discrete_events, deqs, iv) - - if is_dde === nothing - is_dde = _check_if_dde(deqs, iv′, systems) - end - assertions = Dict{BasicSymbolic, Any}(unwrap(k) => v for (k, v) in assertions) - SDESystem(Threads.atomic_add!(SYSTEM_COUNT, UInt(1)), - deqs, neqs, iv′, dvs′, ps′, tspan, var_to_name, ctrl′, observed, tgrad, jac, - ctrl_jac, Wfact, Wfact_t, name, description, systems, defaults, guesses, - initializesystem, initialization_eqs, connector_type, - cont_callbacks, disc_callbacks, parameter_dependencies, assertions, metadata, gui_metadata, - true, false, index_cache, parent, is_scalar_noise, is_dde; checks = checks) -end - -function SDESystem(sys::ODESystem, neqs; kwargs...) - SDESystem(equations(sys), neqs, get_iv(sys), unknowns(sys), parameters(sys); kwargs...) -end - -function SDESystem(eqs::Vector{Equation}, noiseeqs::AbstractArray, iv; kwargs...) - diffvars, allunknowns, ps, eqs = process_equations(eqs, iv) - - for eq in get(kwargs, :parameter_dependencies, Equation[]) - collect_vars!(allunknowns, ps, eq, iv) - end - - for ssys in get(kwargs, :systems, ODESystem[]) - collect_scoped_vars!(allunknowns, ps, ssys, iv) - end - - for v in allunknowns - isdelay(v, iv) || continue - collect_vars!(allunknowns, ps, arguments(v)[1], iv) - end - - new_ps = OrderedSet() - for p in ps - if iscall(p) && operation(p) === getindex - par = arguments(p)[begin] - if Symbolics.shape(Symbolics.unwrap(par)) !== Symbolics.Unknown() && - all(par[i] in ps for i in eachindex(par)) - push!(new_ps, par) - else - push!(new_ps, p) - end - else - push!(new_ps, p) - end - end - - # validate noise equations - noisedvs = OrderedSet() - noiseps = OrderedSet() - collect_vars!(noisedvs, noiseps, noiseeqs, iv) - for dv in noisedvs - dv ∈ allunknowns || - throw(ArgumentError("Variable $dv in noise equations is not an unknown of the system.")) - end - algevars = setdiff(allunknowns, diffvars) - return SDESystem(eqs, noiseeqs, iv, Iterators.flatten((diffvars, algevars)), - [collect(ps); collect(noiseps)]; kwargs...) -end - -function SDESystem(eq::Equation, noiseeqs::AbstractArray, args...; kwargs...) - SDESystem([eq], noiseeqs, args...; kwargs...) -end -function SDESystem(eq::Equation, noiseeq, args...; kwargs...) - SDESystem([eq], [noiseeq], args...; kwargs...) -end - -function Base.:(==)(sys1::SDESystem, sys2::SDESystem) - sys1 === sys2 && return true - iv1 = get_iv(sys1) - iv2 = get_iv(sys2) - isequal(iv1, iv2) && - isequal(nameof(sys1), nameof(sys2)) && - _eq_unordered(get_eqs(sys1), get_eqs(sys2)) && - _eq_unordered(get_noiseeqs(sys1), get_noiseeqs(sys2)) && - isequal(get_is_scalar_noise(sys1), get_is_scalar_noise(sys2)) && - _eq_unordered(get_unknowns(sys1), get_unknowns(sys2)) && - _eq_unordered(get_ps(sys1), get_ps(sys2)) && - _eq_unordered(continuous_events(sys1), continuous_events(sys2)) && - _eq_unordered(discrete_events(sys1), discrete_events(sys2)) && - all(s1 == s2 for (s1, s2) in zip(get_systems(sys1), get_systems(sys2))) -end - -""" - function ODESystem(sys::SDESystem) - -Convert an `SDESystem` to the equivalent `ODESystem` using `@brownian` variables instead -of noise equations. The returned system will not be `iscomplete` and will not have an -index cache, regardless of `iscomplete(sys)`. -""" -function ODESystem(sys::SDESystem) - neqs = get_noiseeqs(sys) - eqs = equations(sys) - is_scalar_noise = get_is_scalar_noise(sys) - nbrownian = if is_scalar_noise - length(neqs) - else - size(neqs, 2) - end - brownvars = map(1:nbrownian) do i - name = gensym(Symbol(:brown_, i)) - only(@brownian $name) - end - if is_scalar_noise - brownterms = reduce(+, neqs .* brownvars; init = 0) - neweqs = map(eqs) do eq - eq.lhs ~ eq.rhs + brownterms - end - else - if neqs isa AbstractVector - neqs = reshape(neqs, (length(neqs), 1)) - end - brownterms = neqs * brownvars - neweqs = map(eqs, brownterms) do eq, brown - eq.lhs ~ eq.rhs + brown - end - end - newsys = ODESystem(neweqs, get_iv(sys), unknowns(sys), parameters(sys); - parameter_dependencies = parameter_dependencies(sys), defaults = defaults(sys), - continuous_events = continuous_events(sys), discrete_events = discrete_events(sys), - assertions = assertions(sys), - name = nameof(sys), description = description(sys), metadata = get_metadata(sys)) - @set newsys.parent = sys -end - -function __num_isdiag_noise(mat) - for i in axes(mat, 1) - nnz = 0 - for j in axes(mat, 2) - if !isequal(mat[i, j], 0) - nnz += 1 - end - end - if nnz > 1 - return (false) - end - end - true -end -function __get_num_diag_noise(mat) - map(axes(mat, 1)) do i - for j in axes(mat, 2) - mij = mat[i, j] - if !isequal(mij, 0) - return mij - end - end - 0 - end -end - -function generate_diffusion_function(sys::SDESystem, dvs = unknowns(sys), - ps = parameters(sys; initial_parameters = true); isdde = false, kwargs...) - eqs = get_noiseeqs(sys) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, eqs, dvs, p..., get_iv(sys); kwargs...) -end - -""" -$(TYPEDSIGNATURES) - -Choose correction_factor=-1//2 (1//2) to convert Ito -> Stratonovich (Stratonovich->Ito). -""" -function stochastic_integral_transform(sys::SDESystem, correction_factor) - name = nameof(sys) - # use the general interface - if typeof(get_noiseeqs(sys)) <: Vector - eqs = vcat([equations(sys)[i].lhs ~ get_noiseeqs(sys)[i] - for i in eachindex(unknowns(sys))]...) - de = ODESystem(eqs, get_iv(sys), unknowns(sys), parameters(sys), name = name, - checks = false) - - jac = calculate_jacobian(de, sparse = false, simplify = false) - ∇σσ′ = simplify.(jac * get_noiseeqs(sys)) - - deqs = vcat([equations(sys)[i].lhs ~ equations(sys)[i].rhs + - correction_factor * ∇σσ′[i] - for i in eachindex(unknowns(sys))]...) - else - dimunknowns, m = size(get_noiseeqs(sys)) - eqs = vcat([equations(sys)[i].lhs ~ get_noiseeqs(sys)[i] - for i in eachindex(unknowns(sys))]...) - de = ODESystem(eqs, get_iv(sys), unknowns(sys), parameters(sys), name = name, - checks = false) - - jac = calculate_jacobian(de, sparse = false, simplify = false) - ∇σσ′ = simplify.(jac * get_noiseeqs(sys)[:, 1]) - for k in 2:m - eqs = vcat([equations(sys)[i].lhs ~ get_noiseeqs(sys)[Int(i + - (k - 1) * - dimunknowns)] - for i in eachindex(unknowns(sys))]...) - de = ODESystem(eqs, get_iv(sys), unknowns(sys), parameters(sys), name = name, - checks = false) - - jac = calculate_jacobian(de, sparse = false, simplify = false) - ∇σσ′ = ∇σσ′ + simplify.(jac * get_noiseeqs(sys)[:, k]) - end - - deqs = vcat([equations(sys)[i].lhs ~ equations(sys)[i].rhs + - correction_factor * ∇σσ′[i] - for i in eachindex(unknowns(sys))]...) - end - - SDESystem(deqs, get_noiseeqs(sys), get_iv(sys), unknowns(sys), parameters(sys), - name = name, description = description(sys), - parameter_dependencies = parameter_dependencies(sys), checks = false) -end - -""" -$(TYPEDSIGNATURES) - -Measure transformation method that allows for a reduction in the variance of an estimator `Exp(g(X_t))`. -Input: Original SDE system and symbolic function `u(t,x)` with scalar output that - defines the adjustable parameters `d` in the Girsanov transformation. Optional: initial - condition for `θ0`. -Output: Modified SDESystem with additional component `θ_t` and initial value `θ0`, as well as - the weight `θ_t/θ0` as observed equation, such that the estimator `Exp(g(X_t)θ_t/θ0)` - has a smaller variance. - -Reference: -Kloeden, P. E., Platen, E., & Schurz, H. (2012). Numerical solution of SDE through computer -experiments. Springer Science & Business Media. - -# Example - -```julia -using ModelingToolkit -using ModelingToolkit: t_nounits as t, D_nounits as D - -@parameters α β -@variables x(t) y(t) z(t) - -eqs = [D(x) ~ α*x] -noiseeqs = [β*x] - -@named de = SDESystem(eqs,noiseeqs,t,[x],[α,β]) - -# define u (user choice) -u = x -θ0 = 0.1 -g(x) = x[1]^2 -demod = ModelingToolkit.Girsanov_transform(de, u; θ0=0.1) - -u0modmap = [ - x => x0 -] - -parammap = [ - α => 1.5, - β => 1.0 -] - -probmod = SDEProblem(complete(demod),u0modmap,(0.0,1.0),parammap) -ensemble_probmod = EnsembleProblem(probmod; - output_func = (sol,i) -> (g(sol[x,end])*sol[demod.weight,end],false), - ) - -simmod = solve(ensemble_probmod,EM(),dt=dt,trajectories=numtraj) -``` - -""" -function Girsanov_transform(sys::SDESystem, u; θ0 = 1.0) - name = nameof(sys) - - # register new variable θ corresponding to 1D correction process θ(t) - t = get_iv(sys) - D = Differential(t) - @variables θ(t), weight(t) - - # determine the adjustable parameters `d` given `u` - # gradient of u with respect to unknowns - grad = Symbolics.gradient(u, unknowns(sys)) - - noiseeqs = get_noiseeqs(sys) - if noiseeqs isa Vector - d = simplify.(-(noiseeqs .* grad) / u) - drift_correction = noiseeqs .* d - else - d = simplify.(-noiseeqs * grad / u) - drift_correction = noiseeqs * d - end - - # transformation adds additional unknowns θ: newX = (X,θ) - # drift function for unknowns is modified - # θ has zero drift - deqs = vcat([equations(sys)[i].lhs ~ equations(sys)[i].rhs - drift_correction[i] - for i in eachindex(unknowns(sys))]...) - deqsθ = D(θ) ~ 0 - push!(deqs, deqsθ) - - # diffusion matrix is of size d x m (d unknowns, m noise), with diagonal noise represented as a d-dimensional vector - # for diagonal noise processes with m>1, the noise process will become non-diagonal; extra unknown component but no new noise process. - # new diffusion matrix is of size d+1 x M - # diffusion for state is unchanged - - noiseqsθ = θ * d - - if noiseeqs isa Vector - m = size(noiseeqs) - if m == 1 - push!(noiseeqs, noiseqsθ) - else - noiseeqs = [Array(Diagonal(noiseeqs)); noiseqsθ'] - end - else - noiseeqs = [Array(noiseeqs); noiseqsθ'] - end - - unknown_vars = [unknowns(sys); θ] - - # return modified SDE System - SDESystem(deqs, noiseeqs, get_iv(sys), unknown_vars, parameters(sys); - defaults = Dict(θ => θ0), observed = [weight ~ θ / θ0], - name = name, description = description(sys), - parameter_dependencies = parameter_dependencies(sys), - checks = false) -end - -function DiffEqBase.SDEFunction{iip, specialize}(sys::SDESystem, dvs = unknowns(sys), - ps = parameters(sys), - u0 = nothing; - version = nothing, tgrad = false, sparse = false, - jac = false, Wfact = false, eval_expression = false, - sparsity = false, analytic = nothing, - eval_module = @__MODULE__, - checkbounds = false, initialization_data = nothing, - cse = true, kwargs...) where {iip, specialize} - if !iscomplete(sys) - error("A completed `SDESystem` is required. Call `complete` or `structural_simplify` on the system before creating an `SDEFunction`") - end - dvs = scalarize.(dvs) - - f_gen = generate_function(sys, dvs, ps; expression = Val{true}, cse, kwargs...) - f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) - g_gen = generate_diffusion_function(sys, dvs, ps; expression = Val{true}, - cse, kwargs...) - g_oop, g_iip = eval_or_rgf.(g_gen; eval_expression, eval_module) - - f = GeneratedFunctionWrapper{(2, 3, is_split(sys))}(f_oop, f_iip) - g = GeneratedFunctionWrapper{(2, 3, is_split(sys))}(g_oop, g_iip) - - if tgrad - tgrad_gen = generate_tgrad(sys, dvs, ps; expression = Val{true}, cse, - kwargs...) - tgrad_oop, tgrad_iip = eval_or_rgf.(tgrad_gen; eval_expression, eval_module) - _tgrad = GeneratedFunctionWrapper{(2, 3, is_split(sys))}(tgrad_oop, tgrad_iip) - else - _tgrad = nothing - end - - if jac - jac_gen = generate_jacobian(sys, dvs, ps; expression = Val{true}, - sparse = sparse, cse, kwargs...) - jac_oop, jac_iip = eval_or_rgf.(jac_gen; eval_expression, eval_module) - - _jac = GeneratedFunctionWrapper{(2, 3, is_split(sys))}(jac_oop, jac_iip) - else - _jac = nothing - end - - if Wfact - tmp_Wfact, tmp_Wfact_t = generate_factorized_W(sys, dvs, ps, true; - expression = Val{true}, cse, kwargs...) - Wfact_oop, Wfact_iip = eval_or_rgf.(tmp_Wfact; eval_expression, eval_module) - Wfact_oop_t, Wfact_iip_t = eval_or_rgf.(tmp_Wfact_t; eval_expression, eval_module) - - _Wfact = GeneratedFunctionWrapper{(2, 4, is_split(sys))}(Wfact_oop, Wfact_iip) - _Wfact_t = GeneratedFunctionWrapper{(2, 4, is_split(sys))}(Wfact_oop_t, Wfact_iip_t) - else - _Wfact, _Wfact_t = nothing, nothing - end - - M = calculate_massmatrix(sys) - if sparse - uElType = u0 === nothing ? Float64 : eltype(u0) - W_prototype = similar(W_sparsity(sys), uElType) - else - W_prototype = nothing - end - - _M = if sparse && !(u0 === nothing || M === I) - SparseArrays.sparse(M) - elseif u0 === nothing || M === I - M - elseif M isa Diagonal - Diagonal(ArrayInterface.restructure(u0, diag(M))) - else - ArrayInterface.restructure(u0 .* u0', M) - end - - observedfun = ObservedFunctionCache( - sys; eval_expression, eval_module, checkbounds = get(kwargs, :checkbounds, false), cse) - - SDEFunction{iip, specialize}(f, g; - sys = sys, - jac = _jac === nothing ? nothing : _jac, - tgrad = _tgrad === nothing ? nothing : _tgrad, - mass_matrix = _M, - jac_prototype = W_prototype, - observed = observedfun, - sparsity = sparsity ? W_sparsity(sys) : nothing, - analytic = analytic, - Wfact = _Wfact === nothing ? nothing : _Wfact, - Wfact_t = _Wfact_t === nothing ? nothing : _Wfact_t, - initialization_data) -end - -""" -```julia -DiffEqBase.SDEFunction{iip}(sys::SDESystem, dvs = sys.unknowns, ps = sys.ps; - version = nothing, tgrad = false, sparse = false, - jac = false, Wfact = false, kwargs...) where {iip} -``` - -Create an `SDEFunction` from the [`SDESystem`](@ref). The arguments `dvs` and `ps` -are used to set the order of the dependent variable and parameter vectors, -respectively. -""" -function DiffEqBase.SDEFunction(sys::SDESystem, args...; kwargs...) - SDEFunction{true}(sys, args...; kwargs...) -end - -function DiffEqBase.SDEFunction{true}(sys::SDESystem, args...; - kwargs...) - SDEFunction{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) -end - -function DiffEqBase.SDEFunction{false}(sys::SDESystem, args...; - kwargs...) - SDEFunction{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) -end - -""" -```julia -DiffEqBase.SDEFunctionExpr{iip}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys); - version = nothing, tgrad = false, - jac = false, Wfact = false, - skipzeros = true, fillzeros = true, - sparse = false, - kwargs...) where {iip} -``` - -Create a Julia expression for an `SDEFunction` from the [`SDESystem`](@ref). -The arguments `dvs` and `ps` are used to set the order of the dependent -variable and parameter vectors, respectively. -""" -struct SDEFunctionExpr{iip} end - -function SDEFunctionExpr{iip}(sys::SDESystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; - version = nothing, tgrad = false, - jac = false, Wfact = false, - sparse = false, linenumbers = false, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `SDESystem` is required. Call `complete` or `structural_simplify` on the system before creating an `SDEFunctionExpr`") - end - idx = iip ? 2 : 1 - f = generate_function(sys, dvs, ps; expression = Val{true}, kwargs...)[idx] - g = generate_diffusion_function(sys, dvs, ps; expression = Val{true}, kwargs...)[idx] - if tgrad - _tgrad = generate_tgrad(sys, dvs, ps; expression = Val{true}, kwargs...)[idx] - else - _tgrad = :nothing - end - - if jac - _jac = generate_jacobian(sys, dvs, ps; sparse = sparse, expression = Val{true}, - kwargs...)[idx] - else - _jac = :nothing - end - - M = calculate_massmatrix(sys) - _M = (u0 === nothing || M == I) ? M : ArrayInterface.restructure(u0 .* u0', M) - - if sparse - uElType = u0 === nothing ? Float64 : eltype(u0) - W_prototype = similar(W_sparsity(sys), uElType) - else - W_prototype = nothing - end - - if Wfact - tmp_Wfact, tmp_Wfact_t = generate_factorized_W( - sys, dvs, ps; expression = Val{true}, - kwargs...) - _Wfact = tmp_Wfact[idx] - _Wfact_t = tmp_Wfact_t[idx] - else - _Wfact, _Wfact_t = :nothing, :nothing - end - - ex = quote - f = $f - g = $g - tgrad = $_tgrad - jac = $_jac - W_prototype = $W_prototype - Wfact = $_Wfact - Wfact_t = $_Wfact_t - M = $_M - SDEFunction{$iip}(f, g, - jac = jac, - jac_prototype = W_prototype, - tgrad = tgrad, - Wfact = Wfact, - Wfact_t = Wfact_t, - mass_matrix = M) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function SDEFunctionExpr(sys::SDESystem, args...; kwargs...) - SDEFunctionExpr{true}(sys, args...; kwargs...) -end - -function DiffEqBase.SDEProblem{iip, specialize}( - sys::SDESystem, u0map = [], tspan = get_tspan(sys), - parammap = DiffEqBase.NullParameters(); - sparsenoise = nothing, check_length = true, - callback = nothing, kwargs...) where {iip, specialize} - if !iscomplete(sys) - error("A completed `SDESystem` is required. Call `complete` or `structural_simplify` on the system before creating an `SDEProblem`") - end - - f, u0, p = process_SciMLProblem( - SDEFunction{iip, specialize}, sys, u0map, parammap; check_length, - t = tspan === nothing ? nothing : tspan[1], kwargs...) - cbs = process_events(sys; callback, kwargs...) - sparsenoise === nothing && (sparsenoise = get(kwargs, :sparse, false)) - - noiseeqs = get_noiseeqs(sys) - is_scalar_noise = get_is_scalar_noise(sys) - if noiseeqs isa AbstractVector - noise_rate_prototype = nothing - if is_scalar_noise - noise = WienerProcess(0.0, 0.0, 0.0) - else - noise = nothing - end - elseif sparsenoise - I, J, V = findnz(SparseArrays.sparse(noiseeqs)) - noise_rate_prototype = SparseArrays.sparse(I, J, zero(eltype(u0))) - noise = nothing - else - noise_rate_prototype = zeros(eltype(u0), size(noiseeqs)) - noise = nothing - end - - kwargs = filter_kwargs(kwargs) - - # Call `remake` so it runs initialization if it is trivial - return remake(SDEProblem{iip}(f, u0, tspan, p; callback = cbs, noise, - noise_rate_prototype = noise_rate_prototype, kwargs...)) -end - -function DiffEqBase.SDEProblem(sys::ODESystem, args...; kwargs...) - if any(ModelingToolkit.isbrownian, unknowns(sys)) - error("SDESystem constructed by defining Brownian variables with @brownian must be simplified by calling `structural_simplify` before a SDEProblem can be constructed.") - else - error("Cannot construct SDEProblem from a normal ODESystem.") - end -end - -""" -```julia -DiffEqBase.SDEProblem{iip}(sys::SDESystem, u0map, tspan, p = parammap; - version = nothing, tgrad = false, - jac = false, Wfact = false, - checkbounds = false, sparse = false, - sparsenoise = sparse, - skipzeros = true, fillzeros = true, - linenumbers = true, parallel = SerialForm(), - kwargs...) -``` - -Generates an SDEProblem from an SDESystem and allows for automatically -symbolically calculating numerical enhancements. -""" -function DiffEqBase.SDEProblem(sys::SDESystem, args...; kwargs...) - SDEProblem{true}(sys, args...; kwargs...) -end - -function DiffEqBase.SDEProblem(sys::SDESystem, - u0map::StaticArray, - args...; - kwargs...) - SDEProblem{false, SciMLBase.FullSpecialize}(sys, u0map, args...; kwargs...) -end - -function DiffEqBase.SDEProblem{true}(sys::SDESystem, args...; kwargs...) - SDEProblem{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) -end - -function DiffEqBase.SDEProblem{false}(sys::SDESystem, args...; kwargs...) - SDEProblem{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) -end - -""" -```julia -DiffEqBase.SDEProblemExpr{iip}(sys::AbstractODESystem, u0map, tspan, - parammap = DiffEqBase.NullParameters(); - version = nothing, tgrad = false, - jac = false, Wfact = false, - checkbounds = false, sparse = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates a Julia expression for constructing an ODEProblem from an -ODESystem and allows for automatically symbolically calculating -numerical enhancements. -""" -struct SDEProblemExpr{iip} end - -function SDEProblemExpr{iip}(sys::SDESystem, u0map, tspan, - parammap = DiffEqBase.NullParameters(); - sparsenoise = nothing, check_length = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `SDESystem` is required. Call `complete` or `structural_simplify` on the system before creating an `SDEProblemExpr`") - end - f, u0, p = process_SciMLProblem( - SDEFunctionExpr{iip}, sys, u0map, parammap; check_length, - kwargs...) - linenumbers = get(kwargs, :linenumbers, true) - sparsenoise === nothing && (sparsenoise = get(kwargs, :sparse, false)) - - noiseeqs = get_noiseeqs(sys) - is_scalar_noise = get_is_scalar_noise(sys) - if noiseeqs isa AbstractVector - noise_rate_prototype = nothing - if is_scalar_noise - noise = WienerProcess(0.0, 0.0, 0.0) - else - noise = nothing - end - elseif sparsenoise - I, J, V = findnz(SparseArrays.sparse(noiseeqs)) - noise_rate_prototype = SparseArrays.sparse(I, J, zero(eltype(u0))) - noise = nothing - else - T = u0 === nothing ? Float64 : eltype(u0) - noise_rate_prototype = zeros(T, size(get_noiseeqs(sys))) - noise = nothing - end - ex = quote - f = $f - u0 = $u0 - tspan = $tspan - p = $p - noise_rate_prototype = $noise_rate_prototype - noise = $noise - SDEProblem( - f, u0, tspan, p; noise_rate_prototype = noise_rate_prototype, noise = noise, - $(kwargs...)) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function SDEProblemExpr(sys::SDESystem, args...; kwargs...) - SDEProblemExpr{true}(sys, args...; kwargs...) -end From d76d6f839ca701c2a5a5af939a880b741f99a97c Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 20:18:52 +0530 Subject: [PATCH 006/167] refactor: move `__num_isdiag_noise`, `get_num_diag_noise` to location of use --- src/systems/systems.jl | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/src/systems/systems.jl b/src/systems/systems.jl index f606b6b63b..399b263178 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -158,6 +158,33 @@ function __structural_simplify(sys::AbstractSystem; simplify = false, end end +function __num_isdiag_noise(mat) + for i in axes(mat, 1) + nnz = 0 + for j in axes(mat, 2) + if !isequal(mat[i, j], 0) + nnz += 1 + end + end + if nnz > 1 + return (false) + end + end + true +end + +function __get_num_diag_noise(mat) + map(axes(mat, 1)) do i + for j in axes(mat, 2) + mij = mat[i, j] + if !isequal(mij, 0) + return mij + end + end + 0 + end +end + """ $(TYPEDSIGNATURES) From ee1e8dbdd318f81596259bbbdd236beb98935644 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 20:22:55 +0530 Subject: [PATCH 007/167] refactor: remove `discrete_system.jl` --- src/ModelingToolkit.jl | 4 +- .../discrete_system/discrete_system.jl | 442 ------------------ 2 files changed, 3 insertions(+), 443 deletions(-) delete mode 100644 src/systems/discrete_system/discrete_system.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 8ee791f100..e66b6aa0b6 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -176,6 +176,8 @@ include("systems/diffeqs/first_order_transform.jl") include("systems/diffeqs/modelingtoolkitize.jl") include("systems/diffeqs/basic_transformations.jl") +include("systems/discrete_system/implicit_discrete_system.jl") + include("systems/jumps/jumpsystem.jl") include("systems/pde/pdesystem.jl") @@ -262,7 +264,7 @@ export ODEFunction, ODEFunctionExpr, ODEProblemExpr, convert_system, export DAEFunctionExpr, DAEProblemExpr export SDEFunction, SDEFunctionExpr, SDEProblemExpr export SystemStructure -export DiscreteSystem, DiscreteProblem, DiscreteFunction, DiscreteFunctionExpr +export DiscreteProblem, DiscreteFunction, DiscreteFunctionExpr export ImplicitDiscreteSystem, ImplicitDiscreteProblem, ImplicitDiscreteFunction, ImplicitDiscreteFunctionExpr export JumpSystem diff --git a/src/systems/discrete_system/discrete_system.jl b/src/systems/discrete_system/discrete_system.jl deleted file mode 100644 index 8b392e6145..0000000000 --- a/src/systems/discrete_system/discrete_system.jl +++ /dev/null @@ -1,442 +0,0 @@ -""" -$(TYPEDEF) -A system of difference equations. -# Fields -$(FIELDS) -# Example -``` -using ModelingToolkit -using ModelingToolkit: t_nounits as t -@parameters σ=28.0 ρ=10.0 β=8/3 δt=0.1 -@variables x(t)=1.0 y(t)=0.0 z(t)=0.0 -k = ShiftIndex(t) -eqs = [x(k+1) ~ σ*(y-x), - y(k+1) ~ x*(ρ-z)-y, - z(k+1) ~ x*y - β*z] -@named de = DiscreteSystem(eqs,t,[x,y,z],[σ,ρ,β]; tspan = (0, 1000.0)) # or -@named de = DiscreteSystem(eqs) -``` -""" -struct DiscreteSystem <: AbstractDiscreteSystem - """ - A tag for the system. If two systems have the same tag, then they are - structurally identical. - """ - tag::UInt - """The differential equations defining the discrete system.""" - eqs::Vector{Equation} - """Independent variable.""" - iv::BasicSymbolic{Real} - """Dependent (state) variables. Must not contain the independent variable.""" - unknowns::Vector - """Parameter variables. Must not contain the independent variable.""" - ps::Vector - """Time span.""" - tspan::Union{NTuple{2, Any}, Nothing} - """Array variables.""" - var_to_name::Any - """Observed states.""" - observed::Vector{Equation} - """ - The name of the system - """ - name::Symbol - """ - A description of the system. - """ - description::String - """ - The internal systems. These are required to have unique names. - """ - systems::Vector{DiscreteSystem} - """ - The default values to use when initial conditions and/or - parameters are not supplied in `DiscreteProblem`. - """ - defaults::Dict - """ - The guesses to use as the initial conditions for the - initialization system. - """ - guesses::Dict - """ - The system for performing the initialization. - """ - initializesystem::Union{Nothing, NonlinearSystem} - """ - Extra equations to be enforced during the initialization sequence. - """ - initialization_eqs::Vector{Equation} - """ - Inject assignment statements before the evaluation of the RHS function. - """ - preface::Any - """ - Type of the system. - """ - connector_type::Any - """ - Topologically sorted parameter dependency equations, where all symbols are parameters and - the LHS is a single parameter. - """ - parameter_dependencies::Vector{Equation} - """ - Metadata for the system, to be used by downstream packages. - """ - metadata::Any - """ - Metadata for MTK GUI. - """ - gui_metadata::Union{Nothing, GUIMetadata} - """ - Cache for intermediate tearing state. - """ - tearing_state::Any - """ - Substitutions generated by tearing. - """ - substitutions::Any - """ - If false, then `sys.x` no longer performs namespacing. - """ - namespacing::Bool - """ - If true, denotes the model will not be modified any further. - """ - complete::Bool - """ - Cached data for fast symbolic indexing. - """ - index_cache::Union{Nothing, IndexCache} - """ - The hierarchical parent system before simplification. - """ - parent::Any - isscheduled::Bool - - function DiscreteSystem(tag, discreteEqs, iv, dvs, ps, tspan, var_to_name, - observed, name, description, systems, defaults, guesses, initializesystem, - initialization_eqs, preface, connector_type, parameter_dependencies = Equation[], - metadata = nothing, gui_metadata = nothing, - tearing_state = nothing, substitutions = nothing, namespacing = true, - complete = false, index_cache = nothing, parent = nothing, - isscheduled = false; - checks::Union{Bool, Int} = true, kwargs...) - if checks == true || (checks & CheckComponents) > 0 - check_independent_variables([iv]) - check_variables(dvs, iv) - check_parameters(ps, iv) - check_subsystems(systems) - end - if checks == true || (checks & CheckUnits) > 0 - u = __get_unit_type(dvs, ps, iv) - check_units(u, discreteEqs) - end - new(tag, discreteEqs, iv, dvs, ps, tspan, var_to_name, observed, name, description, - systems, defaults, guesses, initializesystem, initialization_eqs, - preface, connector_type, parameter_dependencies, metadata, gui_metadata, - tearing_state, substitutions, namespacing, complete, index_cache, parent, - isscheduled) - end -end - -""" - $(TYPEDSIGNATURES) -Constructs a DiscreteSystem. -""" -function DiscreteSystem(eqs::AbstractVector{<:Equation}, iv, dvs, ps; - observed = Num[], - systems = DiscreteSystem[], - tspan = nothing, - name = nothing, - description = "", - default_u0 = Dict(), - default_p = Dict(), - guesses = Dict(), - initializesystem = nothing, - initialization_eqs = Equation[], - defaults = _merge(Dict(default_u0), Dict(default_p)), - preface = nothing, - connector_type = nothing, - parameter_dependencies = Equation[], - metadata = nothing, - gui_metadata = nothing, - kwargs...) - name === nothing && - throw(ArgumentError("The `name` keyword must be provided. Please consider using the `@named` macro")) - iv′ = value(iv) - dvs′ = value.(dvs) - ps′ = value.(ps) - if any(hasderiv, eqs) || any(hashold, eqs) || any(hassample, eqs) || any(hasdiff, eqs) - error("Equations in a `DiscreteSystem` can only have `Shift` operators.") - end - if !(isempty(default_u0) && isempty(default_p)) - Base.depwarn( - "`default_u0` and `default_p` are deprecated. Use `defaults` instead.", - :DiscreteSystem, force = true) - end - - defaults = Dict{Any, Any}(todict(defaults)) - guesses = Dict{Any, Any}(todict(guesses)) - var_to_name = Dict() - process_variables!(var_to_name, defaults, guesses, dvs′) - process_variables!(var_to_name, defaults, guesses, ps′) - process_variables!( - var_to_name, defaults, guesses, [eq.lhs for eq in parameter_dependencies]) - process_variables!( - var_to_name, defaults, guesses, [eq.rhs for eq in parameter_dependencies]) - defaults = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(defaults) if v !== nothing) - guesses = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(guesses) if v !== nothing) - - isempty(observed) || collect_var_to_name!(var_to_name, (eq.lhs for eq in observed)) - - sysnames = nameof.(systems) - if length(unique(sysnames)) != length(sysnames) - throw(ArgumentError("System names must be unique.")) - end - DiscreteSystem(Threads.atomic_add!(SYSTEM_COUNT, UInt(1)), - eqs, iv′, dvs′, ps′, tspan, var_to_name, observed, name, description, systems, - defaults, guesses, initializesystem, initialization_eqs, preface, connector_type, - parameter_dependencies, metadata, gui_metadata) -end - -function DiscreteSystem(eqs, iv; kwargs...) - eqs = collect(eqs) - diffvars = OrderedSet() - allunknowns = OrderedSet() - ps = OrderedSet() - iv = value(iv) - for eq in eqs - collect_vars!(allunknowns, ps, eq, iv; op = Shift) - if iscall(eq.lhs) && operation(eq.lhs) isa Shift - isequal(iv, operation(eq.lhs).t) || - throw(ArgumentError("A DiscreteSystem can only have one independent variable.")) - eq.lhs in diffvars && - throw(ArgumentError("The shift variable $(eq.lhs) is not unique in the system of equations.")) - push!(diffvars, eq.lhs) - end - end - for eq in get(kwargs, :parameter_dependencies, Equation[]) - if eq isa Pair - collect_vars!(allunknowns, ps, eq, iv) - else - collect_vars!(allunknowns, ps, eq, iv) - end - end - new_ps = OrderedSet() - for p in ps - if iscall(p) && operation(p) === getindex - par = arguments(p)[begin] - if Symbolics.shape(Symbolics.unwrap(par)) !== Symbolics.Unknown() && - all(par[i] in ps for i in eachindex(par)) - push!(new_ps, par) - else - push!(new_ps, p) - end - else - push!(new_ps, p) - end - end - return DiscreteSystem(eqs, iv, - collect(allunknowns), collect(new_ps); kwargs...) -end - -DiscreteSystem(eq::Equation, args...; kwargs...) = DiscreteSystem([eq], args...; kwargs...) - -function flatten(sys::DiscreteSystem, noeqs = false) - systems = get_systems(sys) - if isempty(systems) - return sys - else - return DiscreteSystem(noeqs ? Equation[] : equations(sys), - get_iv(sys), - unknowns(sys), - parameters(sys), - observed = observed(sys), - defaults = defaults(sys), - guesses = guesses(sys), - initialization_eqs = initialization_equations(sys), - name = nameof(sys), - description = description(sys), - metadata = get_metadata(sys), - checks = false) - end -end - -function generate_function( - sys::DiscreteSystem, dvs = unknowns(sys), ps = parameters(sys); wrap_code = identity, kwargs...) - exprs = [eq.rhs for eq in equations(sys)] - generate_custom_function(sys, exprs, dvs, ps; kwargs...) -end - -function shift_u0map_forward(sys::DiscreteSystem, u0map, defs) - iv = get_iv(sys) - updated = AnyDict() - for k in collect(keys(u0map)) - v = u0map[k] - if !((op = operation(k)) isa Shift) - isnothing(getunshifted(k)) && - error("Initial conditions must be for the past state of the unknowns. Instead of providing the condition for $k, provide the condition for $(Shift(iv, -1)(k)).") - - updated[Shift(iv, 1)(k)] = v - elseif op.steps > 0 - error("Initial conditions must be for the past state of the unknowns. Instead of providing the condition for $k, provide the condition for $(Shift(iv, -1)(only(arguments(k)))).") - else - updated[Shift(iv, op.steps + 1)(only(arguments(k)))] = v - end - end - for var in unknowns(sys) - op = operation(var) - root = getunshifted(var) - shift = getshift(var) - isnothing(root) && continue - (haskey(updated, Shift(iv, shift)(root)) || haskey(updated, var)) && continue - haskey(defs, root) || error("Initial condition for $var not provided.") - updated[var] = defs[root] - end - return updated -end - -""" - $(TYPEDSIGNATURES) -Generates an DiscreteProblem from an DiscreteSystem. -""" -function SciMLBase.DiscreteProblem( - sys::DiscreteSystem, u0map = [], tspan = get_tspan(sys), - parammap = SciMLBase.NullParameters(); - eval_module = @__MODULE__, - eval_expression = false, - kwargs... -) - if !iscomplete(sys) - error("A completed `DiscreteSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `DiscreteProblem`") - end - dvs = unknowns(sys) - ps = parameters(sys) - eqs = equations(sys) - iv = get_iv(sys) - - u0map = to_varmap(u0map, dvs) - scalarize_varmap!(u0map) - u0map = shift_u0map_forward(sys, u0map, defaults(sys)) - f, u0, p = process_SciMLProblem( - DiscreteFunction, sys, u0map, parammap; eval_expression, eval_module, build_initializeprob = false) - u0 = f(u0, p, tspan[1]) - DiscreteProblem(f, u0, tspan, p; kwargs...) -end - -function SciMLBase.DiscreteFunction(sys::DiscreteSystem, args...; kwargs...) - DiscreteFunction{true}(sys, args...; kwargs...) -end - -function SciMLBase.DiscreteFunction{true}(sys::DiscreteSystem, args...; kwargs...) - DiscreteFunction{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) -end - -function SciMLBase.DiscreteFunction{false}(sys::DiscreteSystem, args...; kwargs...) - DiscreteFunction{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) -end - -""" -```julia -SciMLBase.DiscreteFunction{iip}(sys::DiscreteSystem, - dvs = unknowns(sys), - ps = parameters(sys); - kwargs...) where {iip} -``` - -Create an `DiscreteFunction` from the [`DiscreteSystem`](@ref). The arguments `dvs` and `ps` -are used to set the order of the dependent variable and parameter vectors, -respectively. -""" -function SciMLBase.DiscreteFunction{iip, specialize}( - sys::DiscreteSystem, - dvs = unknowns(sys), - ps = parameters(sys), - u0 = nothing; - version = nothing, - p = nothing, - t = nothing, - eval_expression = false, - eval_module = @__MODULE__, - analytic = nothing, cse = true, - kwargs...) where {iip, specialize} - if !iscomplete(sys) - error("A completed `DiscreteSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `DiscreteProblem`") - end - f_gen = generate_function(sys, dvs, ps; expression = Val{true}, - expression_module = eval_module, cse, kwargs...) - f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) - f = GeneratedFunctionWrapper{(2, 3, is_split(sys))}(f_oop, f_iip) - - if specialize === SciMLBase.FunctionWrapperSpecialize && iip - if u0 === nothing || p === nothing || t === nothing - error("u0, p, and t must be specified for FunctionWrapperSpecialize on DiscreteFunction.") - end - f = SciMLBase.wrapfun_iip(f, (u0, u0, p, t)) - end - - observedfun = ObservedFunctionCache( - sys; eval_expression, eval_module, checkbounds = get(kwargs, :checkbounds, false), cse) - - DiscreteFunction{iip, specialize}(f; - sys = sys, - observed = observedfun, - analytic = analytic) -end - -""" -```julia -DiscreteFunctionExpr{iip}(sys::DiscreteSystem, dvs = states(sys), - ps = parameters(sys); - version = nothing, - kwargs...) where {iip} -``` - -Create a Julia expression for an `DiscreteFunction` from the [`DiscreteSystem`](@ref). -The arguments `dvs` and `ps` are used to set the order of the dependent -variable and parameter vectors, respectively. -""" -struct DiscreteFunctionExpr{iip} end -struct DiscreteFunctionClosure{O, I} <: Function - f_oop::O - f_iip::I -end -(f::DiscreteFunctionClosure)(u, p, t) = f.f_oop(u, p, t) -(f::DiscreteFunctionClosure)(du, u, p, t) = f.f_iip(du, u, p, t) - -function DiscreteFunctionExpr{iip}(sys::DiscreteSystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; - version = nothing, p = nothing, - linenumbers = false, - simplify = false, - kwargs...) where {iip} - f_oop, f_iip = generate_function(sys, dvs, ps; expression = Val{true}, kwargs...) - - fsym = gensym(:f) - _f = :($fsym = $DiscreteFunctionClosure($f_oop, $f_iip)) - - ex = quote - $_f - DiscreteFunction{$iip}($fsym) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function DiscreteFunctionExpr(sys::DiscreteSystem, args...; kwargs...) - DiscreteFunctionExpr{true}(sys, args...; kwargs...) -end - -function Base.:(==)(sys1::DiscreteSystem, sys2::DiscreteSystem) - sys1 === sys2 && return true - isequal(nameof(sys1), nameof(sys2)) && - isequal(get_iv(sys1), get_iv(sys2)) && - _eq_unordered(get_eqs(sys1), get_eqs(sys2)) && - _eq_unordered(get_unknowns(sys1), get_unknowns(sys2)) && - _eq_unordered(get_ps(sys1), get_ps(sys2)) && - all(s1 == s2 for (s1, s2) in zip(get_systems(sys1), get_systems(sys2))) -end - -supports_initialization(::DiscreteSystem) = false From d84fef3facfb2f5ced581d3d98a76161ffd5acb2 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 21:37:21 +0530 Subject: [PATCH 008/167] refactor: remove `implicit_discrete_system.jl` --- src/ModelingToolkit.jl | 4 +- .../implicit_discrete_system.jl | 459 ------------------ 2 files changed, 1 insertion(+), 462 deletions(-) delete mode 100644 src/systems/discrete_system/implicit_discrete_system.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index e66b6aa0b6..d5074ced60 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -176,8 +176,6 @@ include("systems/diffeqs/first_order_transform.jl") include("systems/diffeqs/modelingtoolkitize.jl") include("systems/diffeqs/basic_transformations.jl") -include("systems/discrete_system/implicit_discrete_system.jl") - include("systems/jumps/jumpsystem.jl") include("systems/pde/pdesystem.jl") @@ -265,7 +263,7 @@ export DAEFunctionExpr, DAEProblemExpr export SDEFunction, SDEFunctionExpr, SDEProblemExpr export SystemStructure export DiscreteProblem, DiscreteFunction, DiscreteFunctionExpr -export ImplicitDiscreteSystem, ImplicitDiscreteProblem, ImplicitDiscreteFunction, +export ImplicitDiscreteProblem, ImplicitDiscreteFunction, ImplicitDiscreteFunctionExpr export JumpSystem export ODEProblem, SDEProblem diff --git a/src/systems/discrete_system/implicit_discrete_system.jl b/src/systems/discrete_system/implicit_discrete_system.jl deleted file mode 100644 index b818ffcc8d..0000000000 --- a/src/systems/discrete_system/implicit_discrete_system.jl +++ /dev/null @@ -1,459 +0,0 @@ -""" -$(TYPEDEF) -An implicit system of difference equations. -# Fields -$(FIELDS) -# Example -``` -using ModelingToolkit -using ModelingToolkit: t_nounits as t -@parameters σ=28.0 ρ=10.0 β=8/3 δt=0.1 -@variables x(t)=1.0 y(t)=0.0 z(t)=0.0 -k = ShiftIndex(t) -eqs = [x ~ σ*(y-x(k-1)), - y ~ x(k-1)*(ρ-z(k-1))-y, - z ~ x(k-1)*y(k-1) - β*z] -@named ide = ImplicitDiscreteSystem(eqs,t,[x,y,z],[σ,ρ,β]; tspan = (0, 1000.0)) -``` -""" -struct ImplicitDiscreteSystem <: AbstractDiscreteSystem - """ - A tag for the system. If two systems have the same tag, then they are - structurally identical. - """ - tag::UInt - """The difference equations defining the discrete system.""" - eqs::Vector{Equation} - """Independent variable.""" - iv::BasicSymbolic{Real} - """Dependent (state) variables. Must not contain the independent variable.""" - unknowns::Vector - """Parameter variables. Must not contain the independent variable.""" - ps::Vector - """Time span.""" - tspan::Union{NTuple{2, Any}, Nothing} - """Array variables.""" - var_to_name::Any - """Observed states.""" - observed::Vector{Equation} - """ - The name of the system - """ - name::Symbol - """ - A description of the system. - """ - description::String - """ - The internal systems. These are required to have unique names. - """ - systems::Vector{ImplicitDiscreteSystem} - """ - The default values to use when initial conditions and/or - parameters are not supplied in `ImplicitDiscreteProblem`. - """ - defaults::Dict - """ - The guesses to use as the initial conditions for the - initialization system. - """ - guesses::Dict - """ - The system for performing the initialization. - """ - initializesystem::Union{Nothing, NonlinearSystem} - """ - Extra equations to be enforced during the initialization sequence. - """ - initialization_eqs::Vector{Equation} - """ - Inject assignment statements before the evaluation of the RHS function. - """ - preface::Any - """ - Type of the system. - """ - connector_type::Any - """ - Topologically sorted parameter dependency equations, where all symbols are parameters and - the LHS is a single parameter. - """ - parameter_dependencies::Vector{Equation} - """ - Metadata for the system, to be used by downstream packages. - """ - metadata::Any - """ - Metadata for MTK GUI. - """ - gui_metadata::Union{Nothing, GUIMetadata} - """ - Cache for intermediate tearing state. - """ - tearing_state::Any - """ - Substitutions generated by tearing. - """ - substitutions::Any - """ - If false, then `sys.x` no longer performs namespacing. - """ - namespacing::Bool - """ - If true, denotes the model will not be modified any further. - """ - complete::Bool - """ - Cached data for fast symbolic indexing. - """ - index_cache::Union{Nothing, IndexCache} - """ - The hierarchical parent system before simplification. - """ - parent::Any - isscheduled::Bool - - function ImplicitDiscreteSystem(tag, discreteEqs, iv, dvs, ps, tspan, var_to_name, - observed, name, description, systems, defaults, guesses, initializesystem, - initialization_eqs, preface, connector_type, parameter_dependencies = Equation[], - metadata = nothing, gui_metadata = nothing, - tearing_state = nothing, substitutions = nothing, namespacing = true, - complete = false, index_cache = nothing, parent = nothing, - isscheduled = false; - checks::Union{Bool, Int} = true) - if checks == true || (checks & CheckComponents) > 0 - check_independent_variables([iv]) - check_variables(dvs, iv) - check_parameters(ps, iv) - check_subsystems(systems) - end - if checks == true || (checks & CheckUnits) > 0 - u = __get_unit_type(dvs, ps, iv) - check_units(u, discreteEqs) - end - new(tag, discreteEqs, iv, dvs, ps, tspan, var_to_name, observed, name, description, - systems, defaults, guesses, initializesystem, initialization_eqs, - preface, connector_type, parameter_dependencies, metadata, gui_metadata, - tearing_state, substitutions, namespacing, complete, index_cache, parent, - isscheduled) - end -end - -""" - $(TYPEDSIGNATURES) - -Constructs a ImplicitDiscreteSystem. -""" -function ImplicitDiscreteSystem(eqs::AbstractVector{<:Equation}, iv, dvs, ps; - observed = Num[], - systems = ImplicitDiscreteSystem[], - tspan = nothing, - name = nothing, - description = "", - default_u0 = Dict(), - default_p = Dict(), - guesses = Dict(), - initializesystem = nothing, - initialization_eqs = Equation[], - defaults = _merge(Dict(default_u0), Dict(default_p)), - preface = nothing, - connector_type = nothing, - parameter_dependencies = Equation[], - metadata = nothing, - gui_metadata = nothing, - kwargs...) - name === nothing && - throw(ArgumentError("The `name` keyword must be provided. Please consider using the `@named` macro")) - iv′ = value(iv) - dvs′ = value.(dvs) - ps′ = value.(ps) - if any(hasderiv, eqs) || any(hashold, eqs) || any(hassample, eqs) || any(hasdiff, eqs) - error("Equations in a `ImplicitDiscreteSystem` can only have `Shift` operators.") - end - if !(isempty(default_u0) && isempty(default_p)) - Base.depwarn( - "`default_u0` and `default_p` are deprecated. Use `defaults` instead.", - :ImplicitDiscreteSystem, force = true) - end - - # Copy equations to canonical form, but do not touch array expressions - eqs = [wrap(eq.lhs) isa Symbolics.Arr ? eq : 0 ~ eq.rhs - eq.lhs for eq in eqs] - defaults = Dict{Any, Any}(todict(defaults)) - guesses = Dict{Any, Any}(todict(guesses)) - var_to_name = Dict() - process_variables!(var_to_name, defaults, guesses, dvs′) - process_variables!(var_to_name, defaults, guesses, ps′) - process_variables!( - var_to_name, defaults, guesses, [eq.lhs for eq in parameter_dependencies]) - process_variables!( - var_to_name, defaults, guesses, [eq.rhs for eq in parameter_dependencies]) - defaults = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(defaults) if v !== nothing) - guesses = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(guesses) if v !== nothing) - - isempty(observed) || collect_var_to_name!(var_to_name, (eq.lhs for eq in observed)) - - sysnames = nameof.(systems) - if length(unique(sysnames)) != length(sysnames) - throw(ArgumentError("System names must be unique.")) - end - ImplicitDiscreteSystem(Threads.atomic_add!(SYSTEM_COUNT, UInt(1)), - eqs, iv′, dvs′, ps′, tspan, var_to_name, observed, name, description, systems, - defaults, guesses, initializesystem, initialization_eqs, preface, connector_type, - parameter_dependencies, metadata, gui_metadata, kwargs...) -end - -function ImplicitDiscreteSystem(eqs, iv; kwargs...) - eqs = collect(eqs) - diffvars = OrderedSet() - allunknowns = OrderedSet() - ps = OrderedSet() - iv = value(iv) - for eq in eqs - collect_vars!(allunknowns, ps, eq, iv; op = Shift) - if iscall(eq.lhs) && operation(eq.lhs) isa Shift - isequal(iv, operation(eq.lhs).t) || - throw(ArgumentError("An ImplicitDiscreteSystem can only have one independent variable.")) - eq.lhs in diffvars && - throw(ArgumentError("The shift variable $(eq.lhs) is not unique in the system of equations.")) - push!(diffvars, eq.lhs) - end - end - for eq in get(kwargs, :parameter_dependencies, Equation[]) - if eq isa Pair - collect_vars!(allunknowns, ps, eq, iv) - else - collect_vars!(allunknowns, ps, eq, iv) - end - end - new_ps = OrderedSet() - for p in ps - if iscall(p) && operation(p) === getindex - par = arguments(p)[begin] - if Symbolics.shape(Symbolics.unwrap(par)) !== Symbolics.Unknown() && - all(par[i] in ps for i in eachindex(par)) - push!(new_ps, par) - else - push!(new_ps, p) - end - else - push!(new_ps, p) - end - end - return ImplicitDiscreteSystem(eqs, iv, - collect(allunknowns), collect(new_ps); kwargs...) -end - -function ImplicitDiscreteSystem(eq::Equation, args...; kwargs...) - ImplicitDiscreteSystem([eq], args...; kwargs...) -end - -function flatten(sys::ImplicitDiscreteSystem, noeqs = false) - systems = get_systems(sys) - if isempty(systems) - return sys - else - return ImplicitDiscreteSystem(noeqs ? Equation[] : equations(sys), - get_iv(sys), - unknowns(sys), - parameters(sys), - observed = observed(sys), - defaults = defaults(sys), - guesses = guesses(sys), - initialization_eqs = initialization_equations(sys), - name = nameof(sys), - description = description(sys), - metadata = get_metadata(sys), - checks = false) - end -end - -function generate_function( - sys::ImplicitDiscreteSystem, dvs = unknowns(sys), ps = parameters(sys); - wrap_code = identity, cachesyms::Tuple = (), kwargs...) - iv = get_iv(sys) - # Algebraic equations get shifted forward 1, to match with differential equations - exprs = map(equations(sys)) do eq - _iszero(eq.lhs) ? distribute_shift(Shift(iv, 1)(eq.rhs)) : (eq.rhs - eq.lhs) - end - - # Handle observables in algebraic equations, since they are shifted - obs = observed(sys) - shifted_obs = Symbolics.Equation[distribute_shift(Shift(iv, 1)(eq)) for eq in obs] - obsidxs = observed_equations_used_by(sys, exprs; obs = shifted_obs) - extra_assignments = [Assignment(shifted_obs[i].lhs, shifted_obs[i].rhs) - for i in obsidxs] - - u_next = map(Shift(iv, 1), dvs) - u = dvs - p = (reorder_parameters(sys, unwrap.(ps))..., cachesyms...) - build_function_wrapper( - sys, exprs, u_next, u, p..., iv; p_start = 3, extra_assignments, kwargs...) -end - -function shift_u0map_forward(sys::ImplicitDiscreteSystem, u0map, defs) - iv = get_iv(sys) - updated = AnyDict() - for k in collect(keys(u0map)) - v = u0map[k] - if !((op = operation(k)) isa Shift) - updated[k] = v - elseif op.steps > 0 - error("Initial conditions must be for the current or past state of the unknowns. Instead of providing the condition for $k, provide the condition for $(Shift(iv, -1)(only(arguments(k)))).") - else - updated[k] = v - end - end - for var in unknowns(sys) - op = operation(var) - root = getunshifted(var) - shift = getshift(var) - isnothing(root) && continue - (haskey(updated, Shift(iv, shift)(root)) || haskey(updated, var)) && continue - haskey(defs, root) || error("Initial condition for $var not provided.") - updated[var] = defs[root] - end - return updated -end - -""" - $(TYPEDSIGNATURES) -Generates an ImplicitDiscreteProblem from an ImplicitDiscreteSystem. -""" -function SciMLBase.ImplicitDiscreteProblem( - sys::ImplicitDiscreteSystem, u0map = [], tspan = get_tspan(sys), - parammap = SciMLBase.NullParameters(); - eval_module = @__MODULE__, - eval_expression = false, - kwargs... -) - if !iscomplete(sys) - error("A completed `ImplicitDiscreteSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `ImplicitDiscreteProblem`.") - end - dvs = unknowns(sys) - ps = parameters(sys) - eqs = equations(sys) - iv = get_iv(sys) - - u0map = to_varmap(u0map, dvs) - u0map = shift_u0map_forward(sys, u0map, defaults(sys)) - f, u0, p = process_SciMLProblem( - ImplicitDiscreteFunction, sys, u0map, parammap; eval_expression, eval_module, kwargs...) - - kwargs = filter_kwargs(kwargs) - ImplicitDiscreteProblem(f, u0, tspan, p; kwargs...) -end - -function SciMLBase.ImplicitDiscreteFunction(sys::ImplicitDiscreteSystem, args...; kwargs...) - ImplicitDiscreteFunction{true}(sys, args...; kwargs...) -end - -function SciMLBase.ImplicitDiscreteFunction{true}( - sys::ImplicitDiscreteSystem, args...; kwargs...) - ImplicitDiscreteFunction{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) -end - -function SciMLBase.ImplicitDiscreteFunction{false}( - sys::ImplicitDiscreteSystem, args...; kwargs...) - ImplicitDiscreteFunction{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) -end -function SciMLBase.ImplicitDiscreteFunction{iip, specialize}( - sys::ImplicitDiscreteSystem, - dvs = unknowns(sys), - ps = parameters(sys), - u0 = nothing; - version = nothing, - p = nothing, - t = nothing, - eval_expression = false, - eval_module = @__MODULE__, - analytic = nothing, cse = true, - kwargs...) where {iip, specialize} - if !iscomplete(sys) - error("A completed `ImplicitDiscreteSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `ImplicitDiscreteProblem`") - end - f_gen = generate_function(sys, dvs, ps; expression = Val{true}, - expression_module = eval_module, cse, kwargs...) - f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) - f(u_next, u, p, t) = f_oop(u_next, u, p, t) - f(resid, u_next, u, p, t) = f_iip(resid, u_next, u, p, t) - - if length(dvs) == length(equations(sys)) - resid_prototype = nothing - else - resid_prototype = calculate_resid_prototype(length(equations(sys)), u0, p) - end - - if specialize === SciMLBase.FunctionWrapperSpecialize && iip - if u0 === nothing || p === nothing || t === nothing - error("u0, p, and t must be specified for FunctionWrapperSpecialize on ImplicitDiscreteFunction.") - end - f = SciMLBase.wrapfun_iip(f, (u0, u0, p, t)) - end - - observedfun = ObservedFunctionCache( - sys; eval_expression, eval_module, checkbounds = get(kwargs, :checkbounds, false), cse) - - ImplicitDiscreteFunction{iip, specialize}(f; - sys = sys, - observed = observedfun, - analytic = analytic, - resid_prototype = resid_prototype, - kwargs...) -end - -""" -```julia -ImplicitDiscreteFunctionExpr{iip}(sys::ImplicitDiscreteSystem, dvs = states(sys), - ps = parameters(sys); - version = nothing, - kwargs...) where {iip} -``` - -Create a Julia expression for an `ImplicitDiscreteFunction` from the [`ImplicitDiscreteSystem`](@ref). -The arguments `dvs` and `ps` are used to set the order of the dependent -variable and parameter vectors, respectively. -""" -struct ImplicitDiscreteFunctionExpr{iip} end -struct ImplicitDiscreteFunctionClosure{O, I} <: Function - f_oop::O - f_iip::I -end -(f::ImplicitDiscreteFunctionClosure)(u_next, u, p, t) = f.f_oop(u_next, u, p, t) -function (f::ImplicitDiscreteFunctionClosure)(resid, u_next, u, p, t) - f.f_iip(resid, u_next, u, p, t) -end - -function ImplicitDiscreteFunctionExpr{iip}( - sys::ImplicitDiscreteSystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; - version = nothing, p = nothing, - linenumbers = false, - simplify = false, - kwargs...) where {iip} - f_oop, f_iip = generate_function(sys, dvs, ps; expression = Val{true}, kwargs...) - - fsym = gensym(:f) - _f = :($fsym = $ImplicitDiscreteFunctionClosure($f_oop, $f_iip)) - - ex = quote - $_f - ImplicitDiscreteFunction{$iip}($fsym) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function ImplicitDiscreteFunctionExpr(sys::ImplicitDiscreteSystem, args...; kwargs...) - ImplicitDiscreteFunctionExpr{true}(sys, args...; kwargs...) -end - -function Base.:(==)(sys1::ImplicitDiscreteSystem, sys2::ImplicitDiscreteSystem) - sys1 === sys2 && return true - isequal(nameof(sys1), nameof(sys2)) && - isequal(get_iv(sys1), get_iv(sys2)) && - _eq_unordered(get_eqs(sys1), get_eqs(sys2)) && - _eq_unordered(get_unknowns(sys1), get_unknowns(sys2)) && - _eq_unordered(get_ps(sys1), get_ps(sys2)) && - all(s1 == s2 for (s1, s2) in zip(get_systems(sys1), get_systems(sys2))) -end From 375eea01624c5ae892f2fe2b5857261a8524588a Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 12:10:25 +0530 Subject: [PATCH 009/167] remove jumpsystem.jl refactor: remove `jumpsystem.jl` --- src/ModelingToolkit.jl | 3 - src/systems/jumps/jumpsystem.jl | 665 -------------------------------- 2 files changed, 668 deletions(-) delete mode 100644 src/systems/jumps/jumpsystem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index d5074ced60..dc5a929726 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -176,8 +176,6 @@ include("systems/diffeqs/first_order_transform.jl") include("systems/diffeqs/modelingtoolkitize.jl") include("systems/diffeqs/basic_transformations.jl") -include("systems/jumps/jumpsystem.jl") - include("systems/pde/pdesystem.jl") include("systems/sparsematrixclil.jl") @@ -265,7 +263,6 @@ export SystemStructure export DiscreteProblem, DiscreteFunction, DiscreteFunctionExpr export ImplicitDiscreteProblem, ImplicitDiscreteFunction, ImplicitDiscreteFunctionExpr -export JumpSystem export ODEProblem, SDEProblem export NonlinearFunction, NonlinearFunctionExpr export NonlinearProblem, NonlinearProblemExpr diff --git a/src/systems/jumps/jumpsystem.jl b/src/systems/jumps/jumpsystem.jl deleted file mode 100644 index 5cfabefe1e..0000000000 --- a/src/systems/jumps/jumpsystem.jl +++ /dev/null @@ -1,665 +0,0 @@ -const JumpType = Union{VariableRateJump, ConstantRateJump, MassActionJump} - -""" -$(TYPEDEF) - -A system of jump processes. - -# Fields -$(FIELDS) - -# Example - -```julia -using ModelingToolkit, JumpProcesses -using ModelingToolkit: t_nounits as t - -@parameters β γ -@variables S(t) I(t) R(t) -rate₁ = β*S*I -affect₁ = [S ~ S - 1, I ~ I + 1] -rate₂ = γ*I -affect₂ = [I ~ I - 1, R ~ R + 1] -j₁ = ConstantRateJump(rate₁,affect₁) -j₂ = ConstantRateJump(rate₂,affect₂) -j₃ = MassActionJump(2*β+γ, [R => 1], [S => 1, R => -1]) -@named js = JumpSystem([j₁,j₂,j₃], t, [S,I,R], [β,γ]) -``` -""" -struct JumpSystem{U <: ArrayPartition} <: AbstractTimeDependentSystem - """ - A tag for the system. If two systems have the same tag, then they are - structurally identical. - """ - tag::UInt - """ - The jumps of the system. Allowable types are `ConstantRateJump`, - `VariableRateJump`, `MassActionJump`. - """ - eqs::U - """The independent variable, usually time.""" - iv::Any - """The dependent variables, representing the state of the system. Must not contain the independent variable.""" - unknowns::Vector - """The parameters of the system. Must not contain the independent variable.""" - ps::Vector - """Array variables.""" - var_to_name::Any - """Observed equations.""" - observed::Vector{Equation} - """The name of the system.""" - name::Symbol - """A description of the system.""" - description::String - """The internal systems. These are required to have unique names.""" - systems::Vector{JumpSystem} - """ - The default values to use when initial conditions and/or - parameters are not supplied in `ODEProblem`. - """ - defaults::Dict - """ - The guesses to use as the initial conditions for the - initialization system. - """ - guesses::Dict - """ - The system for performing the initialization. - """ - initializesystem::Union{Nothing, NonlinearSystem} - """ - Extra equations to be enforced during the initialization sequence. - """ - initialization_eqs::Vector{Equation} - """ - Type of the system. - """ - connector_type::Any - """ - A `Vector{SymbolicContinuousCallback}` that model events. - The integrator will use root finding to guarantee that it steps at each zero crossing. - """ - continuous_events::Vector{SymbolicContinuousCallback} - """ - A `Vector{SymbolicDiscreteCallback}` that models events. Symbolic - analog to `SciMLBase.DiscreteCallback` that executes an affect when a given condition is - true at the end of an integration step. Note, one must make sure to call - `reset_aggregated_jumps!(integrator)` if using a custom affect function that changes any - unknown value or parameter. - """ - discrete_events::Vector{SymbolicDiscreteCallback} - """ - Topologically sorted parameter dependency equations, where all symbols are parameters and - the LHS is a single parameter. - """ - parameter_dependencies::Vector{Equation} - """ - Metadata for the system, to be used by downstream packages. - """ - metadata::Any - """ - Metadata for MTK GUI. - """ - gui_metadata::Union{Nothing, GUIMetadata} - """ - If false, then `sys.x` no longer performs namespacing. - """ - namespacing::Bool - """ - If true, denotes the model will not be modified any further. - """ - complete::Bool - """ - Cached data for fast symbolic indexing. - """ - index_cache::Union{Nothing, IndexCache} - isscheduled::Bool - - function JumpSystem{U}( - tag, ap::U, iv, unknowns, ps, var_to_name, observed, name, description, - systems, defaults, guesses, initializesystem, initialization_eqs, connector_type, - cevents, devents, - parameter_dependencies, metadata = nothing, gui_metadata = nothing, - namespacing = true, complete = false, index_cache = nothing, isscheduled = false; - checks::Union{Bool, Int} = true) where {U <: ArrayPartition} - if checks == true || (checks & CheckComponents) > 0 - check_independent_variables([iv]) - check_variables(unknowns, iv) - check_parameters(ps, iv) - check_subsystems(systems) - end - if checks == true || (checks & CheckUnits) > 0 - u = __get_unit_type(unknowns, ps, iv) - check_units(u, ap, iv) - end - new{U}(tag, ap, iv, unknowns, ps, var_to_name, - observed, name, description, systems, defaults, guesses, initializesystem, - initialization_eqs, - connector_type, cevents, devents, parameter_dependencies, metadata, - gui_metadata, namespacing, complete, index_cache, isscheduled) - end -end -function JumpSystem(tag, ap, iv, states, ps, var_to_name, args...; kwargs...) - JumpSystem{typeof(ap)}(tag, ap, iv, states, ps, var_to_name, args...; kwargs...) -end - -function JumpSystem(eqs, iv, unknowns, ps; - observed = Equation[], - systems = JumpSystem[], - default_u0 = Dict(), - default_p = Dict(), - defaults = _merge(Dict(default_u0), Dict(default_p)), - guesses = Dict(), - initializesystem = nothing, - initialization_eqs = Equation[], - name = nothing, - description = "", - connector_type = nothing, - checks = true, - continuous_events = nothing, - discrete_events = nothing, - parameter_dependencies = Equation[], - metadata = nothing, - gui_metadata = nothing, - kwargs...) - - # variable processing, similar to ODESystem - name === nothing && - throw(ArgumentError("The `name` keyword must be provided. Please consider using the `@named` macro")) - iv′ = value(iv) - us′ = value.(unknowns) - ps′ = value.(ps) - parameter_dependencies, ps′ = process_parameter_dependencies( - parameter_dependencies, ps′) - if !(isempty(default_u0) && isempty(default_p)) - Base.depwarn( - "`default_u0` and `default_p` are deprecated. Use `defaults` instead.", - :JumpSystem, force = true) - end - defaults = Dict{Any, Any}(todict(defaults)) - guesses = Dict{Any, Any}(todict(guesses)) - var_to_name = Dict() - process_variables!(var_to_name, defaults, guesses, us′) - process_variables!(var_to_name, defaults, guesses, ps′) - process_variables!( - var_to_name, defaults, guesses, [eq.lhs for eq in parameter_dependencies]) - process_variables!( - var_to_name, defaults, guesses, [eq.rhs for eq in parameter_dependencies]) - #! format: off - defaults = Dict{Any, Any}(value(k) => value(v) for (k, v) in pairs(defaults) if value(v) !== nothing) - guesses = Dict{Any, Any}(value(k) => value(v) for (k, v) in pairs(guesses) if v !== nothing) - #! format: on - isempty(observed) || collect_var_to_name!(var_to_name, (eq.lhs for eq in observed)) - - sysnames = nameof.(systems) - if length(unique(sysnames)) != length(sysnames) - throw(ArgumentError("System names must be unique.")) - end - - # equation processing - # this and the treatment of continuous events are the only part - # unique to JumpSystems - eqs = scalarize.(eqs) - ap = ArrayPartition( - MassActionJump[], ConstantRateJump[], VariableRateJump[], Equation[]) - for eq in eqs - if eq isa MassActionJump - push!(ap.x[1], eq) - elseif eq isa ConstantRateJump - push!(ap.x[2], eq) - elseif eq isa VariableRateJump - push!(ap.x[3], eq) - elseif eq isa Equation - push!(ap.x[4], eq) - else - error("JumpSystem equations must contain MassActionJumps, ConstantRateJumps, VariableRateJumps, or Equations.") - end - end - - cont_callbacks = to_cb_vector(continuous_events; CB_TYPE = SymbolicContinuousCallback, - iv = iv, warn_no_algebraic = false) - disc_callbacks = to_cb_vector(discrete_events; CB_TYPE = SymbolicDiscreteCallback, - iv = iv, warn_no_algebraic = false) - - JumpSystem{typeof(ap)}(Threads.atomic_add!(SYSTEM_COUNT, UInt(1)), - ap, iv′, us′, ps′, var_to_name, observed, name, description, systems, - defaults, guesses, initializesystem, initialization_eqs, connector_type, - cont_callbacks, disc_callbacks, - parameter_dependencies, metadata, gui_metadata, checks = checks) -end - -##### MTK dispatches for JumpSystems ##### -eqtype_supports_collect_vars(j::MassActionJump) = true -function collect_vars!(unknowns, parameters, j::MassActionJump, iv; depth = 0, - op = Differential) - collect_vars!(unknowns, parameters, j.scaled_rates, iv; depth, op) - for field in (j.reactant_stoch, j.net_stoch) - for el in field - collect_vars!(unknowns, parameters, el, iv; depth, op) - end - end - return nothing -end - -eqtype_supports_collect_vars(j::Union{ConstantRateJump, VariableRateJump}) = true -function collect_vars!(unknowns, parameters, j::Union{ConstantRateJump, VariableRateJump}, - iv; depth = 0, op = Differential) - collect_vars!(unknowns, parameters, j.rate, iv; depth, op) - for eq in j.affect! - (eq isa Equation) && collect_vars!(unknowns, parameters, eq, iv; depth, op) - end - return nothing -end - -########################################## - -has_massactionjumps(js::JumpSystem) = !isempty(equations(js).x[1]) -has_constantratejumps(js::JumpSystem) = !isempty(equations(js).x[2]) -has_variableratejumps(js::JumpSystem) = !isempty(equations(js).x[3]) -has_equations(js::JumpSystem) = !isempty(equations(js).x[4]) - -function generate_rate_function(js::JumpSystem, rate) - consts = collect_constants(rate) - if !isempty(consts) # The SymbolicUtils._build_function method of this case doesn't support postprocess_fbody - csubs = Dict(c => getdefault(c) for c in consts) - rate = substitute(rate, csubs) - end - p = reorder_parameters(js) - build_function_wrapper(js, rate, unknowns(js), p..., - get_iv(js), - expression = Val{true}) -end - -function generate_affect_function(js::JumpSystem, affect) - consts = collect_constants(affect) - if !isempty(consts) # The SymbolicUtils._build_function method of this case doesn't support postprocess_fbody - csubs = Dict(c => getdefault(c) for c in consts) - affect = substitute(affect, csubs) - end - compile_equational_affect(affect, js; expression = Val{true}, checkvars = false) -end - -function assemble_vrj( - js, vrj, unknowntoid; eval_expression = false, eval_module = @__MODULE__) - rate = eval_or_rgf(generate_rate_function(js, vrj.rate); eval_expression, eval_module) - rate = GeneratedFunctionWrapper{(2, 3, is_split(js))}(rate, nothing) - outputvars = (value(affect.lhs) for affect in vrj.affect!) - outputidxs = [unknowntoid[var] for var in outputvars] - affect = generate_affect_function(js, vrj.affect!) - VariableRateJump(rate, affect; save_positions = vrj.save_positions) -end - -function assemble_vrj_expr(js, vrj, unknowntoid) - rate = generate_rate_function(js, vrj.rate) - outputvars = (value(affect.lhs) for affect in vrj.affect!) - outputidxs = ((unknowntoid[var] for var in outputvars)...,) - affect = generate_affect_function(js, vrj.affect!) - quote - rate = $rate - affect = $affect - VariableRateJump(rate, affect) - end -end - -function assemble_crj( - js, crj, unknowntoid; eval_expression = false, eval_module = @__MODULE__) - rate = eval_or_rgf(generate_rate_function(js, crj.rate); eval_expression, eval_module) - rate = GeneratedFunctionWrapper{(2, 3, is_split(js))}(rate, nothing) - outputvars = (value(affect.lhs) for affect in crj.affect!) - outputidxs = [unknowntoid[var] for var in outputvars] - affect = generate_affect_function(js, crj.affect!) - ConstantRateJump(rate, affect) -end - -function assemble_crj_expr(js, crj, unknowntoid) - rate = generate_rate_function(js, crj.rate) - outputvars = (value(affect.lhs) for affect in crj.affect!) - outputidxs = ((unknowntoid[var] for var in outputvars)...,) - affect = generate_affect_function(js, crj.affect!) - quote - rate = $rate - affect = $affect - ConstantRateJump(rate, affect) - end -end - -function numericrstoich(mtrs::Vector{Pair{V, W}}, unknowntoid) where {V, W} - rs = Vector{Pair{Int, W}}() - for (wspec, stoich) in mtrs - spec = value(wspec) - if !iscall(spec) && _iszero(spec) - push!(rs, 0 => stoich) - else - push!(rs, unknowntoid[spec] => stoich) - end - end - sort!(rs) - rs -end - -function numericnstoich(mtrs::Vector{Pair{V, W}}, unknowntoid) where {V, W} - ns = Vector{Pair{Int, W}}() - for (wspec, stoich) in mtrs - spec = value(wspec) - !iscall(spec) && _iszero(spec) && - error("Net stoichiometry can not have a species labelled 0.") - push!(ns, unknowntoid[spec] => stoich) - end - sort!(ns) -end - -# assemble a numeric MassActionJump from a MT symbolics MassActionJumps -function assemble_maj(majv::Vector{U}, unknowntoid, pmapper) where {U <: MassActionJump} - rs = [numericrstoich(maj.reactant_stoch, unknowntoid) for maj in majv] - ns = [numericnstoich(maj.net_stoch, unknowntoid) for maj in majv] - MassActionJump(rs, ns; param_mapper = pmapper, nocopy = true) -end - -""" -```julia -DiffEqBase.DiscreteProblem(sys::JumpSystem, u0map, tspan, - parammap = DiffEqBase.NullParameters; - kwargs...) -``` - -Generates a blank DiscreteProblem for a pure jump JumpSystem to utilize as -its `prob.prob`. This is used in the case where there are no ODEs -and no SDEs associated with the system. - -Continuing the example from the [`JumpSystem`](@ref) definition: - -```julia -using DiffEqBase, JumpProcesses -u₀map = [S => 999, I => 1, R => 0] -parammap = [β => 0.1 / 1000, γ => 0.01] -tspan = (0.0, 250.0) -dprob = DiscreteProblem(complete(js), u₀map, tspan, parammap) -``` -""" -function DiffEqBase.DiscreteProblem(sys::JumpSystem, u0map, tspan::Union{Tuple, Nothing}, - parammap = DiffEqBase.NullParameters(); - eval_expression = false, - eval_module = @__MODULE__, - cse = true, - kwargs...) - if !iscomplete(sys) - error("A completed `JumpSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `DiscreteProblem`") - end - - if has_equations(sys) || (!isempty(continuous_events(sys))) - error("The passed in JumpSystem contains `Equation`s or continuous events, please use a problem type that supports these features, such as ODEProblem.") - end - - _f, u0, p = process_SciMLProblem(EmptySciMLFunction, sys, u0map, parammap; - t = tspan === nothing ? nothing : tspan[1], tofloat = false, check_length = false, build_initializeprob = false, cse) - f = DiffEqBase.DISCRETE_INPLACE_DEFAULT - - observedfun = ObservedFunctionCache( - sys; eval_expression, eval_module, checkbounds = get(kwargs, :checkbounds, false), cse) - - df = DiscreteFunction{true, true}(f; sys = sys, observed = observedfun, - initialization_data = get(_f.kwargs, :initialization_data, nothing)) - DiscreteProblem(df, u0, tspan, p; kwargs...) -end - -""" -```julia -DiffEqBase.DiscreteProblemExpr(sys::JumpSystem, u0map, tspan, - parammap = DiffEqBase.NullParameters; kwargs...) -``` - -Generates a blank DiscreteProblem for a JumpSystem to utilize as its -solving `prob.prob`. This is used in the case where there are no ODEs -and no SDEs associated with the system. - -Continuing the example from the [`JumpSystem`](@ref) definition: - -```julia -using DiffEqBase, JumpProcesses -u₀map = [S => 999, I => 1, R => 0] -parammap = [β => 0.1 / 1000, γ => 0.01] -tspan = (0.0, 250.0) -dprob = DiscreteProblem(complete(js), u₀map, tspan, parammap) -``` -""" -struct DiscreteProblemExpr{iip} end - -function DiscreteProblemExpr{iip}(sys::JumpSystem, u0map, tspan::Union{Tuple, Nothing}, - parammap = DiffEqBase.NullParameters(); - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `JumpSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `DiscreteProblemExpr`") - end - - _, u0, p = process_SciMLProblem(EmptySciMLFunction, sys, u0map, parammap; - t = tspan === nothing ? nothing : tspan[1], tofloat = false, check_length = false) - # identity function to make syms works - quote - f = DiffEqBase.DISCRETE_INPLACE_DEFAULT - u0 = $u0 - p = $p - sys = $sys - tspan = $tspan - df = DiscreteFunction{true, true}(f; sys = sys) - DiscreteProblem(df, u0, tspan, p) - end -end - -""" -```julia -DiffEqBase.ODEProblem(sys::JumpSystem, u0map, tspan, - parammap = DiffEqBase.NullParameters; - kwargs...) -``` - -Generates a blank ODEProblem for a pure jump JumpSystem to utilize as its `prob.prob`. This -is used in the case where there are no ODEs and no SDEs associated with the system but there -are jumps with an explicit time dependency (i.e. `VariableRateJump`s). If no jumps have an -explicit time dependence, i.e. all are `ConstantRateJump`s or `MassActionJump`s then -`DiscreteProblem` should be preferred for performance reasons. - -Continuing the example from the [`JumpSystem`](@ref) definition: - -```julia -using DiffEqBase, JumpProcesses -u₀map = [S => 999, I => 1, R => 0] -parammap = [β => 0.1 / 1000, γ => 0.01] -tspan = (0.0, 250.0) -oprob = ODEProblem(complete(js), u₀map, tspan, parammap) -``` -""" -function DiffEqBase.ODEProblem(sys::JumpSystem, u0map, tspan::Union{Tuple, Nothing}, - parammap = DiffEqBase.NullParameters(); - eval_expression = false, - eval_module = @__MODULE__, cse = true, - kwargs...) - if !iscomplete(sys) - error("A completed `JumpSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `DiscreteProblem`") - end - - # forward everything to be an ODESystem but the jumps and discrete events - if has_equations(sys) - osys = ODESystem(equations(sys).x[4], get_iv(sys), unknowns(sys), parameters(sys); - observed = observed(sys), name = nameof(sys), description = description(sys), - systems = get_systems(sys), defaults = defaults(sys), guesses = guesses(sys), - parameter_dependencies = parameter_dependencies(sys), - metadata = get_metadata(sys), gui_metadata = get_gui_metadata(sys)) - osys = complete(osys; add_initial_parameters = false) - return ODEProblem(osys, u0map, tspan, parammap; check_length = false, - build_initializeprob = false, kwargs...) - else - _, u0, p = process_SciMLProblem(EmptySciMLFunction, sys, u0map, parammap; - t = tspan === nothing ? nothing : tspan[1], tofloat = false, - check_length = false, build_initializeprob = false, cse) - f = (du, u, p, t) -> (du .= 0; nothing) - observedfun = ObservedFunctionCache(sys; eval_expression, eval_module, - checkbounds = get(kwargs, :checkbounds, false), cse) - df = ODEFunction(f; sys, observed = observedfun) - return ODEProblem(df, u0, tspan, p; kwargs...) - end -end - -""" -```julia -DiffEqBase.JumpProblem(js::JumpSystem, prob, aggregator; kwargs...) -``` - -Generates a JumpProblem from a JumpSystem. - -Continuing the example from the [`DiscreteProblem`](@ref) definition: - -```julia -jprob = JumpProblem(complete(js), dprob, Direct()) -sol = solve(jprob, SSAStepper()) -``` -""" -function JumpProcesses.JumpProblem(js::JumpSystem, prob, - aggregator = JumpProcesses.NullAggregator(); callback = nothing, - eval_expression = false, eval_module = @__MODULE__, kwargs...) - if !iscomplete(js) - error("A completed `JumpSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `JumpProblem`") - end - unknowntoid = Dict(value(unknown) => i for (i, unknown) in enumerate(unknowns(js))) - eqs = equations(js) - invttype = prob.tspan[1] === nothing ? Float64 : typeof(1 / prob.tspan[2]) - - # handling parameter substitution and empty param vecs - p = (prob.p isa DiffEqBase.NullParameters || prob.p === nothing) ? Num[] : prob.p - - majpmapper = JumpSysMajParamMapper(js, p; jseqs = eqs, rateconsttype = invttype) - majs = isempty(eqs.x[1]) ? nothing : assemble_maj(eqs.x[1], unknowntoid, majpmapper) - crjs = ConstantRateJump[assemble_crj(js, j, unknowntoid; eval_expression, eval_module) - for j in eqs.x[2]] - vrjs = VariableRateJump[assemble_vrj(js, j, unknowntoid; eval_expression, eval_module) - for j in eqs.x[3]] - if prob isa DiscreteProblem - if (!isempty(vrjs) || has_equations(js) || !isempty(continuous_events(js))) - error("Use continuous problems such as an ODEProblem or a SDEProblem with VariableRateJumps, coupled differential equations, or continuous events.") - end - end - jset = JumpSet(Tuple(vrjs), Tuple(crjs), nothing, majs) - - # dep graphs are only for constant rate jumps - nonvrjs = ArrayPartition(eqs.x[1], eqs.x[2]) - if needs_vartojumps_map(aggregator) || needs_depgraph(aggregator) || - (aggregator isa JumpProcesses.NullAggregator) - jdeps = asgraph(js; eqs = nonvrjs) - vdeps = variable_dependencies(js; eqs = nonvrjs) - vtoj = jdeps.badjlist - jtov = vdeps.badjlist - jtoj = needs_depgraph(aggregator) ? eqeq_dependencies(jdeps, vdeps).fadjlist : - nothing - else - vtoj = nothing - jtov = nothing - jtoj = nothing - end - - # handle events, making sure to reset aggregators in the generated affect functions - cbs = process_events(js; callback, eval_expression, eval_module, reset_jumps = true) - - JumpProblem(prob, aggregator, jset; dep_graph = jtoj, vartojumps_map = vtoj, - jumptovars_map = jtov, scale_rates = false, nocopy = true, - callback = cbs, kwargs...) -end - -### Functions to determine which unknowns a jump depends on -function get_variables!(dep, jump::Union{ConstantRateJump, VariableRateJump}, variables) - jr = value(jump.rate) - (jr isa Symbolic) && get_variables!(dep, jr, variables) - dep -end - -function get_variables!(dep, jump::MassActionJump, variables) - sr = value(jump.scaled_rates) - (sr isa Symbolic) && get_variables!(dep, sr, variables) - for varasop in jump.reactant_stoch - any(isequal(varasop[1]), variables) && push!(dep, varasop[1]) - end - dep -end - -### Functions to determine which unknowns are modified by a given jump -function modified_unknowns!(munknowns, jump::Union{ConstantRateJump, VariableRateJump}, sts) - for eq in jump.affect! - st = eq.lhs - any(isequal(st), sts) && push!(munknowns, st) - end - munknowns -end - -function modified_unknowns!(munknowns, jump::MassActionJump, sts) - for (unknown, stoich) in jump.net_stoch - any(isequal(unknown), sts) && push!(munknowns, unknown) - end - munknowns -end - -###################### parameter mapper ########################### -struct JumpSysMajParamMapper{U, V, W} - paramexprs::U # the parameter expressions to use for each jump rate constant - sympars::V # parameters(sys) from the underlying JumpSystem - subdict::Any # mapping from an element of parameters(sys) to its current numerical value -end - -function JumpSysMajParamMapper(js::JumpSystem, p; jseqs = nothing, rateconsttype = Float64) - eqs = (jseqs === nothing) ? equations(js) : jseqs - paramexprs = [maj.scaled_rates for maj in eqs.x[1]] - psyms = reduce(vcat, reorder_parameters(js); init = []) - paramdict = Dict(value(k) => value(v) for (k, v) in zip(psyms, vcat(p...))) - JumpSysMajParamMapper{typeof(paramexprs), typeof(psyms), rateconsttype}(paramexprs, - psyms, - paramdict) -end - -function updateparams!(ratemap::JumpSysMajParamMapper{U, V, W}, - params) where {U <: AbstractArray, V <: AbstractArray, W} - for (i, p) in enumerate(params) - sympar = ratemap.sympars[i] - ratemap.subdict[sympar] = p - end - nothing -end - -function updateparams!(ratemap::JumpSysMajParamMapper{U, V, W}, - params::MTKParameters) where {U <: AbstractArray, V <: AbstractArray, W} - for (i, p) in enumerate(ArrayPartition(params...)) - sympar = ratemap.sympars[i] - ratemap.subdict[sympar] = p - end - nothing -end - -function updateparams!(::JumpSysMajParamMapper{U, V, W}, - params::Nothing) where {U <: AbstractArray, V <: AbstractArray, W} - nothing -end - -# create the initial parameter vector for use in a MassActionJump -function (ratemap::JumpSysMajParamMapper{ - U, - V, - W -})(params) where {U <: AbstractArray, - V <: AbstractArray, W} - updateparams!(ratemap, params) - [convert(W, value(substitute(paramexpr, ratemap.subdict))) - for paramexpr in ratemap.paramexprs] -end - -# update a maj with parameter vectors -function (ratemap::JumpSysMajParamMapper{U, V, W})(maj::MassActionJump, newparams; - scale_rates, - kwargs...) where {U <: AbstractArray, - V <: AbstractArray, W} - updateparams!(ratemap, newparams) - for i in 1:get_num_majumps(maj) - maj.scaled_rates[i] = convert(W, - value(substitute(ratemap.paramexprs[i], - ratemap.subdict))) - end - scale_rates && JumpProcesses.scalerates!(maj.scaled_rates, maj.reactant_stoch) - nothing -end - -supports_initialization(::JumpSystem) = false From 3bf4d8d65a9daa30506fa444f414175faadb6e18 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 22 Apr 2025 16:54:28 +0530 Subject: [PATCH 010/167] refactor: move `JumpType` definition to `utils.jl` --- src/utils.jl | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/utils.jl b/src/utils.jl index 8f5ac311c5..c3d736f92f 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -1370,3 +1370,5 @@ function flatten_equations(eqs::Vector{Equation}) end end end + +const JumpType = Union{VariableRateJump, ConstantRateJump, MassActionJump} From 429f58df18a4caf062ac11b5018cb13107f69594 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 21:52:37 +0530 Subject: [PATCH 011/167] refactor: remove `nonlinearsystem.jl` --- src/ModelingToolkit.jl | 3 +- src/systems/nonlinear/nonlinearsystem.jl | 1004 ---------------------- 2 files changed, 1 insertion(+), 1006 deletions(-) delete mode 100644 src/systems/nonlinear/nonlinearsystem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index dc5a929726..a970f4166d 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -167,7 +167,6 @@ include("systems/optimization/constraints_system.jl") include("systems/optimization/optimizationsystem.jl") include("systems/optimization/modelingtoolkitize.jl") -include("systems/nonlinear/nonlinearsystem.jl") include("systems/diffeqs/abstractodesystem.jl") include("systems/nonlinear/homotopy_continuation.jl") include("systems/nonlinear/modelingtoolkitize.jl") @@ -271,7 +270,7 @@ export IntervalNonlinearProblem, IntervalNonlinearProblemExpr export OptimizationProblem, OptimizationProblemExpr, constraints export SteadyStateProblem, SteadyStateProblemExpr export JumpProblem -export NonlinearSystem, OptimizationSystem, ConstraintsSystem +export OptimizationSystem, ConstraintsSystem export alias_elimination, flatten export connect, domain_connect, @connector, Connection, AnalysisPoint, Flow, Stream, instream diff --git a/src/systems/nonlinear/nonlinearsystem.jl b/src/systems/nonlinear/nonlinearsystem.jl deleted file mode 100644 index 7146fb6b5e..0000000000 --- a/src/systems/nonlinear/nonlinearsystem.jl +++ /dev/null @@ -1,1004 +0,0 @@ -""" -$(TYPEDEF) - -A nonlinear system of equations. - -# Fields -$(FIELDS) - -# Examples - -```julia -@variables x y z -@parameters σ ρ β - -eqs = [0 ~ σ*(y-x), - 0 ~ x*(ρ-z)-y, - 0 ~ x*y - β*z] -@named ns = NonlinearSystem(eqs, [x,y,z],[σ,ρ,β]) -``` -""" -struct NonlinearSystem <: AbstractTimeIndependentSystem - """ - A tag for the system. If two systems have the same tag, then they are - structurally identical. - """ - tag::UInt - """Vector of equations defining the system.""" - eqs::Vector{Equation} - """Unknown variables.""" - unknowns::Vector - """Parameters.""" - ps::Vector - """Array variables.""" - var_to_name::Any - """Observed equations.""" - observed::Vector{Equation} - """ - Jacobian matrix. Note: this field will not be defined until - [`calculate_jacobian`](@ref) is called on the system. - """ - jac::RefValue{Any} - """ - The name of the system. - """ - name::Symbol - """ - A description of the system. - """ - description::String - """ - The internal systems. These are required to have unique names. - """ - systems::Vector{NonlinearSystem} - """ - The default values to use when initial conditions and/or - parameters are not supplied in `ODEProblem`. - """ - defaults::Dict - """ - The guesses to use as the initial conditions for the - initialization system. - """ - guesses::Dict - """ - The system for performing the initialization. - """ - initializesystem::Union{Nothing, NonlinearSystem} - """ - Extra equations to be enforced during the initialization sequence. - """ - initialization_eqs::Vector{Equation} - """ - Type of the system. - """ - connector_type::Any - """ - Topologically sorted parameter dependency equations, where all symbols are parameters and - the LHS is a single parameter. - """ - parameter_dependencies::Vector{Equation} - """ - Metadata for the system, to be used by downstream packages. - """ - metadata::Any - """ - Metadata for MTK GUI. - """ - gui_metadata::Union{Nothing, GUIMetadata} - """ - Whether this is an initialization system. - """ - is_initializesystem::Bool - """ - Cache for intermediate tearing state. - """ - tearing_state::Any - """ - Substitutions generated by tearing. - """ - substitutions::Any - """ - If false, then `sys.x` no longer performs namespacing. - """ - namespacing::Bool - """ - If true, denotes the model will not be modified any further. - """ - complete::Bool - """ - Cached data for fast symbolic indexing. - """ - index_cache::Union{Nothing, IndexCache} - """ - The hierarchical parent system before simplification. - """ - parent::Any - isscheduled::Bool - - function NonlinearSystem( - tag, eqs, unknowns, ps, var_to_name, observed, jac, name, description, - systems, defaults, guesses, initializesystem, initialization_eqs, connector_type, - parameter_dependencies = Equation[], metadata = nothing, gui_metadata = nothing, - is_initializesystem = false, - tearing_state = nothing, substitutions = nothing, namespacing = true, - complete = false, index_cache = nothing, parent = nothing, - isscheduled = false; checks::Union{Bool, Int} = true) - if checks == true || (checks & CheckUnits) > 0 - u = __get_unit_type(unknowns, ps) - check_units(u, eqs) - check_subsystems(systems) - end - new(tag, eqs, unknowns, ps, var_to_name, observed, jac, name, description, - systems, defaults, guesses, initializesystem, initialization_eqs, - connector_type, parameter_dependencies, metadata, gui_metadata, - is_initializesystem, tearing_state, - substitutions, namespacing, complete, index_cache, parent, isscheduled) - end -end - -function NonlinearSystem(eqs, unknowns, ps; - observed = [], - name = nothing, - description = "", - default_u0 = Dict(), - default_p = Dict(), - defaults = _merge(Dict(default_u0), Dict(default_p)), - guesses = Dict(), - initializesystem = nothing, - initialization_eqs = Equation[], - systems = NonlinearSystem[], - connector_type = nothing, - continuous_events = nothing, # this argument is only required for ODESystems, but is added here for the constructor to accept it without error - discrete_events = nothing, # this argument is only required for ODESystems, but is added here for the constructor to accept it without error - checks = true, - parameter_dependencies = Equation[], - metadata = nothing, - gui_metadata = nothing, - is_initializesystem = false) - continuous_events === nothing || isempty(continuous_events) || - throw(ArgumentError("NonlinearSystem does not accept `continuous_events`, you provided $continuous_events")) - discrete_events === nothing || isempty(discrete_events) || - throw(ArgumentError("NonlinearSystem does not accept `discrete_events`, you provided $discrete_events")) - name === nothing && - throw(ArgumentError("The `name` keyword must be provided. Please consider using the `@named` macro")) - length(unique(nameof.(systems))) == length(systems) || - throw(ArgumentError("System names must be unique.")) - (isempty(default_u0) && isempty(default_p)) || - Base.depwarn( - "`default_u0` and `default_p` are deprecated. Use `defaults` instead.", - :NonlinearSystem, force = true) - - # Accept a single (scalar/vector) equation, but make array for consistent internal handling - if !(eqs isa AbstractArray) - eqs = [eqs] - end - - # Copy equations to canonical form, but do not touch array expressions - eqs = [wrap(eq.lhs) isa Symbolics.Arr ? eq : 0 ~ eq.rhs - eq.lhs for eq in eqs] - - jac = RefValue{Any}(EMPTY_JAC) - - ps′ = value.(ps) - dvs′ = value.(unknowns) - parameter_dependencies, ps′ = process_parameter_dependencies( - parameter_dependencies, ps′) - - defaults = Dict{Any, Any}(todict(defaults)) - guesses = Dict{Any, Any}(todict(guesses)) - var_to_name = Dict() - process_variables!(var_to_name, defaults, guesses, dvs′) - process_variables!(var_to_name, defaults, guesses, ps′) - process_variables!( - var_to_name, defaults, guesses, [eq.lhs for eq in parameter_dependencies]) - process_variables!( - var_to_name, defaults, guesses, [eq.rhs for eq in parameter_dependencies]) - defaults = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(defaults) if v !== nothing) - guesses = Dict{Any, Any}(value(k) => value(v) - for (k, v) in pairs(guesses) if v !== nothing) - - isempty(observed) || collect_var_to_name!(var_to_name, (eq.lhs for eq in observed)) - - NonlinearSystem(Threads.atomic_add!(SYSTEM_COUNT, UInt(1)), - eqs, dvs′, ps′, var_to_name, observed, jac, name, description, systems, defaults, - guesses, initializesystem, initialization_eqs, connector_type, parameter_dependencies, - metadata, gui_metadata, is_initializesystem, checks = checks) -end - -function NonlinearSystem(eqs; kwargs...) - eqs = collect(eqs) - allunknowns = OrderedSet() - ps = OrderedSet() - for eq in eqs - collect_vars!(allunknowns, ps, eq, nothing) - end - for eq in get(kwargs, :parameter_dependencies, Equation[]) - if eq isa Pair - collect_vars!(allunknowns, ps, eq, nothing) - else - collect_vars!(allunknowns, ps, eq, nothing) - end - end - new_ps = OrderedSet() - for p in ps - if iscall(p) && operation(p) === getindex - par = arguments(p)[begin] - if Symbolics.shape(Symbolics.unwrap(par)) !== Symbolics.Unknown() && - all(par[i] in ps for i in eachindex(par)) - push!(new_ps, par) - else - push!(new_ps, p) - end - else - if symbolic_type(p) == ArraySymbolic() && - Symbolics.shape(unwrap(p)) != Symbolics.Unknown() - for i in eachindex(p) - delete!(new_ps, p[i]) - end - end - push!(new_ps, p) - end - end - - return NonlinearSystem(eqs, collect(allunknowns), collect(new_ps); kwargs...) -end - -""" - $(TYPEDSIGNATURES) - -Convert an `ODESystem` to a `NonlinearSystem` solving for its steady state (where derivatives are zero). -Any differential variable `D(x) ~ f(...)` will be turned into `0 ~ f(...)`. The returned system is not -simplified. If the input system is `complete`d, then so will the returned system. -""" -function NonlinearSystem(sys::AbstractODESystem) - eqs = equations(sys) - obs = observed(sys) - subrules = Dict(D(x) => 0.0 for x in unknowns(sys)) - eqs = map(eqs) do eq - fast_substitute(eq, subrules) - end - - nsys = NonlinearSystem(eqs, unknowns(sys), [parameters(sys); get_iv(sys)]; - parameter_dependencies = parameter_dependencies(sys), - defaults = merge(defaults(sys), Dict(get_iv(sys) => Inf)), guesses = guesses(sys), - initialization_eqs = initialization_equations(sys), name = nameof(sys), - observed = obs) - if iscomplete(sys) - nsys = complete(nsys; split = is_split(sys)) - end - return nsys -end - -function calculate_jacobian(sys::NonlinearSystem; sparse = false, simplify = false) - cache = get_jac(sys)[] - if cache isa Tuple && cache[2] == (sparse, simplify) - return cache[1] - end - - # observed equations may depend on unknowns, so substitute them in first - # TODO: rather keep observed derivatives unexpanded, like "Differential(obs)(expr)"? - obs = Dict(eq.lhs => eq.rhs for eq in observed(sys)) - rhs = map(eq -> fixpoint_sub(eq.rhs, obs), equations(sys)) - vals = [dv for dv in unknowns(sys)] - - if sparse - jac = sparsejacobian(rhs, vals, simplify = simplify) - else - jac = jacobian(rhs, vals, simplify = simplify) - end - get_jac(sys)[] = jac, (sparse, simplify) - return jac -end - -function generate_jacobian( - sys::NonlinearSystem, vs = unknowns(sys), ps = parameters( - sys; initial_parameters = true); - sparse = false, simplify = false, kwargs...) - jac = calculate_jacobian(sys, sparse = sparse, simplify = simplify) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, jac, vs, p...; kwargs...) -end - -function calculate_hessian(sys::NonlinearSystem; sparse = false, simplify = false) - obs = Dict(eq.lhs => eq.rhs for eq in observed(sys)) - rhs = map(eq -> fixpoint_sub(eq.rhs, obs), equations(sys)) - vals = [dv for dv in unknowns(sys)] - if sparse - hess = [sparsehessian(rhs[i], vals, simplify = simplify) for i in 1:length(rhs)] - else - hess = [hessian(rhs[i], vals, simplify = simplify) for i in 1:length(rhs)] - end - return hess -end - -function generate_hessian( - sys::NonlinearSystem, vs = unknowns(sys), ps = parameters( - sys; initial_parameters = true); - sparse = false, simplify = false, kwargs...) - hess = calculate_hessian(sys, sparse = sparse, simplify = simplify) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, hess, vs, p...; kwargs...) -end - -function generate_function( - sys::NonlinearSystem, dvs = unknowns(sys), ps = parameters( - sys; initial_parameters = true); - scalar = false, kwargs...) - rhss = [deq.rhs for deq in equations(sys)] - dvs′ = value.(dvs) - if scalar - rhss = only(rhss) - dvs′ = only(dvs) - end - p = reorder_parameters(sys, value.(ps)) - return build_function_wrapper(sys, rhss, dvs′, p...; kwargs...) -end - -function jacobian_sparsity(sys::NonlinearSystem) - jacobian_sparsity([eq.rhs for eq in equations(sys)], - unknowns(sys)) -end - -function hessian_sparsity(sys::NonlinearSystem) - [hessian_sparsity(eq.rhs, - unknowns(sys)) for eq in equations(sys)] -end - -function calculate_resid_prototype(N, u0, p) - u0ElType = u0 === nothing ? Float64 : eltype(u0) - if SciMLStructures.isscimlstructure(p) - u0ElType = promote_type( - eltype(SciMLStructures.canonicalize(SciMLStructures.Tunable(), p)[1]), - u0ElType) - end - return zeros(u0ElType, N) -end - -""" -```julia -SciMLBase.NonlinearFunction{iip}(sys::NonlinearSystem, dvs = unknowns(sys), - ps = parameters(sys); - version = nothing, - jac = false, - sparse = false, - kwargs...) where {iip} -``` - -Create a `NonlinearFunction` from the [`NonlinearSystem`](@ref). The arguments -`dvs` and `ps` are used to set the order of the dependent variable and parameter -vectors, respectively. -""" -function SciMLBase.NonlinearFunction(sys::NonlinearSystem, args...; kwargs...) - NonlinearFunction{true}(sys, args...; kwargs...) -end - -function SciMLBase.NonlinearFunction{iip}(sys::NonlinearSystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; p = nothing, - version = nothing, - jac = false, - eval_expression = false, - eval_module = @__MODULE__, - sparse = false, simplify = false, - initialization_data = nothing, cse = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `NonlinearFunction`") - end - f_gen = generate_function(sys, dvs, ps; expression = Val{true}, cse, kwargs...) - f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) - f = GeneratedFunctionWrapper{(2, 2, is_split(sys))}(f_oop, f_iip) - - if jac - jac_gen = generate_jacobian(sys, dvs, ps; - simplify = simplify, sparse = sparse, - expression = Val{true}, cse, kwargs...) - jac_oop, jac_iip = eval_or_rgf.(jac_gen; eval_expression, eval_module) - _jac = GeneratedFunctionWrapper{(2, 2, is_split(sys))}(jac_oop, jac_iip) - else - _jac = nothing - end - - observedfun = ObservedFunctionCache( - sys; eval_expression, eval_module, checkbounds = get(kwargs, :checkbounds, false), cse) - - if length(dvs) == length(equations(sys)) - resid_prototype = nothing - else - resid_prototype = calculate_resid_prototype(length(equations(sys)), u0, p) - end - - NonlinearFunction{iip}(f; - sys = sys, - jac = _jac === nothing ? nothing : _jac, - resid_prototype = resid_prototype, - jac_prototype = sparse ? - similar(calculate_jacobian(sys, sparse = sparse), - Float64) : nothing, - observed = observedfun, initialization_data) -end - -""" -$(TYPEDSIGNATURES) - -Create an `IntervalNonlinearFunction` from the [`NonlinearSystem`](@ref). The arguments -`dvs` and `ps` are used to set the order of the dependent variable and parameter vectors, -respectively. -""" -function SciMLBase.IntervalNonlinearFunction( - sys::NonlinearSystem, dvs = unknowns(sys), ps = parameters(sys), u0 = nothing; - p = nothing, eval_expression = false, eval_module = @__MODULE__, - initialization_data = nothing, kwargs...) - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `IntervalNonlinearFunction`") - end - if !isone(length(dvs)) || !isone(length(equations(sys))) - error("`IntervalNonlinearFunction` only supports systems with a single equation and a single unknown.") - end - - f_gen = generate_function( - sys, dvs, ps; expression = Val{true}, scalar = true, kwargs...) - f = eval_or_rgf(f_gen; eval_expression, eval_module) - f = GeneratedFunctionWrapper{(2, 2, is_split(sys))}(f, nothing) - - observedfun = ObservedFunctionCache( - sys; eval_expression, eval_module, checkbounds = get(kwargs, :checkbounds, false)) - - IntervalNonlinearFunction{false}( - f; observed = observedfun, sys = sys, initialization_data) -end - -""" -```julia -SciMLBase.NonlinearFunctionExpr{iip}(sys::NonlinearSystem, dvs = unknowns(sys), - ps = parameters(sys); - version = nothing, - jac = false, - sparse = false, - kwargs...) where {iip} -``` - -Create a Julia expression for a `NonlinearFunction` from the [`NonlinearSystem`](@ref). -The arguments `dvs` and `ps` are used to set the order of the dependent -variable and parameter vectors, respectively. -""" -struct NonlinearFunctionExpr{iip} end - -function NonlinearFunctionExpr{iip}(sys::NonlinearSystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; p = nothing, - version = nothing, tgrad = false, - jac = false, - linenumbers = false, - sparse = false, simplify = false, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `NonlinearFunctionExpr`") - end - f_oop, f_iip = generate_function(sys, dvs, ps; expression = Val{true}, kwargs...) - f = :($(GeneratedFunctionWrapper{(2, 2, is_split(sys))})($f_oop, $f_iip)) - - if jac - jac_oop, jac_iip = generate_jacobian(sys, dvs, ps; - sparse = sparse, simplify = simplify, - expression = Val{true}, kwargs...) - _jac = :($(GeneratedFunctionWrapper{(2, 2, is_split(sys))})($jac_oop, $jac_iip)) - else - _jac = :nothing - end - - jp_expr = sparse ? :(similar($(get_jac(sys)[]), Float64)) : :nothing - if length(dvs) == length(equations(sys)) - resid_expr = :nothing - else - u0ElType = u0 === nothing ? Float64 : eltype(u0) - if SciMLStructures.isscimlstructure(p) - u0ElType = promote_type( - eltype(SciMLStructures.canonicalize(SciMLStructures.Tunable(), p)[1]), - u0ElType) - end - - resid_expr = :(zeros($u0ElType, $(length(equations(sys))))) - end - ex = quote - f = $f - jac = $_jac - NonlinearFunction{$iip}(f, - jac = jac, - resid_prototype = resid_expr, - jac_prototype = $jp_expr) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -""" -$(TYPEDSIGNATURES) - -Create a Julia expression for an `IntervalNonlinearFunction` from the -[`NonlinearSystem`](@ref). The arguments `dvs` and `ps` are used to set the order of the -dependent variable and parameter vectors, respectively. -""" -function IntervalNonlinearFunctionExpr( - sys::NonlinearSystem, dvs = unknowns(sys), ps = parameters(sys), - u0 = nothing; p = nothing, linenumbers = false, kwargs...) - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `IntervalNonlinearFunctionExpr`") - end - if !isone(length(dvs)) || !isone(length(equations(sys))) - error("`IntervalNonlinearFunctionExpr` only supports systems with a single equation and a single unknown.") - end - - f = generate_function(sys, dvs, ps; expression = Val{true}, scalar = true, kwargs...) - f = :($(GeneratedFunctionWrapper{2, 2, is_split(sys)})($f, nothing)) - - ex = quote - f = $f - NonlinearFunction{false}(f) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -""" -```julia -DiffEqBase.NonlinearProblem{iip}(sys::NonlinearSystem, u0map, - parammap = DiffEqBase.NullParameters(); - jac = false, sparse = false, - checkbounds = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates an NonlinearProblem from a NonlinearSystem and allows for automatically -symbolically calculating numerical enhancements. -""" -function DiffEqBase.NonlinearProblem(sys::NonlinearSystem, args...; kwargs...) - NonlinearProblem{true}(sys, args...; kwargs...) -end - -function DiffEqBase.NonlinearProblem{iip}(sys::NonlinearSystem, u0map, - parammap = DiffEqBase.NullParameters(); - check_length = true, kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `NonlinearProblem`") - end - f, u0, p = process_SciMLProblem(NonlinearFunction{iip}, sys, u0map, parammap; - check_length, kwargs...) - pt = something(get_metadata(sys), StandardNonlinearProblem()) - # Call `remake` so it runs initialization if it is trivial - return remake(NonlinearProblem{iip}(f, u0, p, pt; filter_kwargs(kwargs)...)) -end - -function DiffEqBase.NonlinearProblem(sys::AbstractODESystem, args...; kwargs...) - NonlinearProblem(NonlinearSystem(sys), args...; kwargs...) -end - -""" -```julia -DiffEqBase.NonlinearLeastSquaresProblem{iip}(sys::NonlinearSystem, u0map, - parammap = DiffEqBase.NullParameters(); - jac = false, sparse = false, - checkbounds = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates an NonlinearProblem from a NonlinearSystem and allows for automatically -symbolically calculating numerical enhancements. -""" -function DiffEqBase.NonlinearLeastSquaresProblem(sys::NonlinearSystem, args...; kwargs...) - NonlinearLeastSquaresProblem{true}(sys, args...; kwargs...) -end - -function DiffEqBase.NonlinearLeastSquaresProblem{iip}(sys::NonlinearSystem, u0map, - parammap = DiffEqBase.NullParameters(); - check_length = false, kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `NonlinearLeastSquaresProblem`") - end - f, u0, p = process_SciMLProblem(NonlinearFunction{iip}, sys, u0map, parammap; - check_length, kwargs...) - pt = something(get_metadata(sys), StandardNonlinearProblem()) - # Call `remake` so it runs initialization if it is trivial - return remake(NonlinearLeastSquaresProblem{iip}(f, u0, p; filter_kwargs(kwargs)...)) -end - -const TypeT = Union{DataType, UnionAll} - -struct CacheWriter{F} - fn::F -end - -function (cw::CacheWriter)(p, sols) - cw.fn(p.caches, sols, p) -end - -function CacheWriter(sys::AbstractSystem, buffer_types::Vector{TypeT}, - exprs::Dict{TypeT, Vector{Any}}, solsyms, obseqs::Vector{Equation}; - eval_expression = false, eval_module = @__MODULE__, cse = true) - ps = parameters(sys; initial_parameters = true) - rps = reorder_parameters(sys, ps) - obs_assigns = [eq.lhs ← eq.rhs for eq in obseqs] - body = map(eachindex(buffer_types), buffer_types) do i, T - Symbol(:tmp, i) ← SetArray(true, :(out[$i]), get(exprs, T, [])) - end - - function argument_name(i::Int) - if i <= length(solsyms) - return :($(generated_argument_name(1))[$i]) - end - return generated_argument_name(i - length(solsyms)) - end - array_assignments = array_variable_assignments(solsyms...; argument_name) - fn = build_function_wrapper( - sys, nothing, :out, - DestructuredArgs(DestructuredArgs.(solsyms), generated_argument_name(1)), - rps...; p_start = 3, p_end = length(rps) + 2, - expression = Val{true}, add_observed = false, cse, - extra_assignments = [array_assignments; obs_assigns; body]) - fn = eval_or_rgf(fn; eval_expression, eval_module) - fn = GeneratedFunctionWrapper{(3, 3, is_split(sys))}(fn, nothing) - return CacheWriter(fn) -end - -struct SCCNonlinearFunction{iip} end - -function SCCNonlinearFunction{iip}( - sys::NonlinearSystem, _eqs, _dvs, _obs, cachesyms; eval_expression = false, - eval_module = @__MODULE__, cse = true, kwargs...) where {iip} - ps = parameters(sys; initial_parameters = true) - rps = reorder_parameters(sys, ps) - - obs_assignments = [eq.lhs ← eq.rhs for eq in _obs] - - rhss = [eq.rhs - eq.lhs for eq in _eqs] - f_gen = build_function_wrapper(sys, - rhss, _dvs, rps..., cachesyms...; p_start = 2, - p_end = length(rps) + length(cachesyms) + 1, add_observed = false, - extra_assignments = obs_assignments, expression = Val{true}, cse) - f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) - f = GeneratedFunctionWrapper{(2, 2, is_split(sys))}(f_oop, f_iip) - - subsys = NonlinearSystem(_eqs, _dvs, ps; observed = _obs, - parameter_dependencies = parameter_dependencies(sys), name = nameof(sys)) - if get_index_cache(sys) !== nothing - @set! subsys.index_cache = subset_unknowns_observed( - get_index_cache(sys), sys, _dvs, getproperty.(_obs, (:lhs,))) - @set! subsys.complete = true - end - - return NonlinearFunction{iip}(f; sys = subsys) -end - -function SciMLBase.SCCNonlinearProblem(sys::NonlinearSystem, args...; kwargs...) - SCCNonlinearProblem{true}(sys, args...; kwargs...) -end - -function SciMLBase.SCCNonlinearProblem{iip}(sys::NonlinearSystem, u0map, - parammap = SciMLBase.NullParameters(); eval_expression = false, eval_module = @__MODULE__, - cse = true, kwargs...) where {iip} - if !iscomplete(sys) || get_tearing_state(sys) === nothing - error("A simplified `NonlinearSystem` is required. Call `structural_simplify` on the system before creating an `SCCNonlinearProblem`.") - end - - if !is_split(sys) - error("The system has been simplified with `split = false`. `SCCNonlinearProblem` is not compatible with this system. Pass `split = true` to `structural_simplify` to use `SCCNonlinearProblem`.") - end - - ts = get_tearing_state(sys) - var_eq_matching, var_sccs = StructuralTransformations.algebraic_variables_scc(ts) - - if length(var_sccs) == 1 - return NonlinearProblem{iip}( - sys, u0map, parammap; eval_expression, eval_module, kwargs...) - end - - condensed_graph = MatchedCondensationGraph( - DiCMOBiGraph{true}(complete(ts.structure.graph), - complete(var_eq_matching)), - var_sccs) - toporder = topological_sort_by_dfs(condensed_graph) - var_sccs = var_sccs[toporder] - eq_sccs = map(Base.Fix1(getindex, var_eq_matching), var_sccs) - - dvs = unknowns(sys) - ps = parameters(sys) - eqs = equations(sys) - obs = observed(sys) - - _, u0, p = process_SciMLProblem( - EmptySciMLFunction, sys, u0map, parammap; eval_expression, eval_module, kwargs...) - - explicitfuns = [] - nlfuns = [] - prevobsidxs = BlockArray(undef_blocks, Vector{Int}, Int[]) - # Cache buffer types and corresponding sizes. Stored as a pair of arrays instead of a - # dict to maintain a consistent order of buffers across SCCs - cachetypes = TypeT[] - cachesizes = Int[] - # explicitfun! related information for each SCC - # We need to compute buffer sizes before doing any codegen - scc_cachevars = Dict{TypeT, Vector{Any}}[] - scc_cacheexprs = Dict{TypeT, Vector{Any}}[] - scc_eqs = Vector{Equation}[] - scc_obs = Vector{Equation}[] - # variables solved in previous SCCs - available_vars = Set() - for (i, (escc, vscc)) in enumerate(zip(eq_sccs, var_sccs)) - # subset unknowns and equations - _dvs = dvs[vscc] - _eqs = eqs[escc] - # get observed equations required by this SCC - union!(available_vars, _dvs) - obsidxs = observed_equations_used_by(sys, _eqs; available_vars) - # the ones used by previous SCCs can be precomputed into the cache - setdiff!(obsidxs, prevobsidxs) - _obs = obs[obsidxs] - union!(available_vars, getproperty.(_obs, (:lhs,))) - - # get all subexpressions in the RHS which we can precompute in the cache - # precomputed subexpressions should not contain `banned_vars` - banned_vars = Set{Any}(vcat(_dvs, getproperty.(_obs, (:lhs,)))) - state = Dict() - for i in eachindex(_obs) - _obs[i] = _obs[i].lhs ~ subexpressions_not_involving_vars!( - _obs[i].rhs, banned_vars, state) - end - for i in eachindex(_eqs) - _eqs[i] = _eqs[i].lhs ~ subexpressions_not_involving_vars!( - _eqs[i].rhs, banned_vars, state) - end - - # map from symtype to cached variables and their expressions - cachevars = Dict{Union{DataType, UnionAll}, Vector{Any}}() - cacheexprs = Dict{Union{DataType, UnionAll}, Vector{Any}}() - # observed of previous SCCs are in the cache - # NOTE: When we get proper CSE, we can substitute these - # and then use `subexpressions_not_involving_vars!` - for i in prevobsidxs - T = symtype(obs[i].lhs) - buf = get!(() -> Any[], cachevars, T) - push!(buf, obs[i].lhs) - - buf = get!(() -> Any[], cacheexprs, T) - push!(buf, obs[i].lhs) - end - - for (k, v) in state - k = unwrap(k) - v = unwrap(v) - T = symtype(k) - buf = get!(() -> Any[], cachevars, T) - push!(buf, v) - buf = get!(() -> Any[], cacheexprs, T) - push!(buf, k) - end - - # update the sizes of cache buffers - for (T, buf) in cachevars - idx = findfirst(isequal(T), cachetypes) - if idx === nothing - push!(cachetypes, T) - push!(cachesizes, 0) - idx = lastindex(cachetypes) - end - cachesizes[idx] = max(cachesizes[idx], length(buf)) - end - - push!(scc_cachevars, cachevars) - push!(scc_cacheexprs, cacheexprs) - push!(scc_eqs, _eqs) - push!(scc_obs, _obs) - blockpush!(prevobsidxs, obsidxs) - end - - for (i, (escc, vscc)) in enumerate(zip(eq_sccs, var_sccs)) - _dvs = dvs[vscc] - _eqs = scc_eqs[i] - _prevobsidxs = reduce(vcat, blocks(prevobsidxs)[1:(i - 1)]; init = Int[]) - _obs = scc_obs[i] - cachevars = scc_cachevars[i] - cacheexprs = scc_cacheexprs[i] - available_vars = [dvs[reduce(vcat, var_sccs[1:(i - 1)]; init = Int[])]; - getproperty.( - reduce(vcat, scc_obs[1:(i - 1)]; init = []), (:lhs,))] - _prevobsidxs = vcat(_prevobsidxs, - observed_equations_used_by( - sys, reduce(vcat, values(cacheexprs); init = []); available_vars)) - if isempty(cachevars) - push!(explicitfuns, Returns(nothing)) - else - solsyms = getindex.((dvs,), view(var_sccs, 1:(i - 1))) - push!(explicitfuns, - CacheWriter(sys, cachetypes, cacheexprs, solsyms, obs[_prevobsidxs]; - eval_expression, eval_module, cse)) - end - - cachebufsyms = Tuple(map(cachetypes) do T - get(cachevars, T, []) - end) - f = SCCNonlinearFunction{iip}( - sys, _eqs, _dvs, _obs, cachebufsyms; eval_expression, eval_module, cse, kwargs...) - push!(nlfuns, f) - end - - if !isempty(cachetypes) - templates = map(cachetypes, cachesizes) do T, n - # Real refers to `eltype(u0)` - if T == Real - T = eltype(u0) - elseif T <: Array && eltype(T) == Real - T = Array{eltype(u0), ndims(T)} - end - BufferTemplate(T, n) - end - p = rebuild_with_caches(p, templates...) - end - - subprobs = [] - for (f, vscc) in zip(nlfuns, var_sccs) - prob = NonlinearProblem(f, u0[vscc], p) - push!(subprobs, prob) - end - - new_dvs = dvs[reduce(vcat, var_sccs)] - new_eqs = eqs[reduce(vcat, eq_sccs)] - @set! sys.unknowns = new_dvs - @set! sys.eqs = new_eqs - @set! sys.index_cache = subset_unknowns_observed( - get_index_cache(sys), sys, new_dvs, getproperty.(obs, (:lhs,))) - return SCCNonlinearProblem(subprobs, explicitfuns, p, true; sys) -end - -""" -$(TYPEDSIGNATURES) - -Generate an `IntervalNonlinearProblem` from a `NonlinearSystem` and allow for automatically -symbolically calculating numerical enhancements. -""" -function DiffEqBase.IntervalNonlinearProblem(sys::NonlinearSystem, uspan::NTuple{2}, - parammap = SciMLBase.NullParameters(); kwargs...) - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `IntervalNonlinearProblem`") - end - if !isone(length(unknowns(sys))) || !isone(length(equations(sys))) - error("`IntervalNonlinearProblem` only supports with a single equation and a single unknown.") - end - f, u0, p = process_SciMLProblem( - IntervalNonlinearFunction, sys, unknowns(sys) .=> uspan[1], parammap; kwargs...) - - return IntervalNonlinearProblem(f, uspan, p; filter_kwargs(kwargs)...) -end - -""" -```julia -DiffEqBase.NonlinearProblemExpr{iip}(sys::NonlinearSystem, u0map, - parammap = DiffEqBase.NullParameters(); - jac = false, sparse = false, - checkbounds = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates a Julia expression for a NonlinearProblem from a -NonlinearSystem and allows for automatically symbolically calculating -numerical enhancements. -""" -struct NonlinearProblemExpr{iip} end - -function NonlinearProblemExpr(sys::NonlinearSystem, args...; kwargs...) - NonlinearProblemExpr{true}(sys, args...; kwargs...) -end - -function NonlinearProblemExpr{iip}(sys::NonlinearSystem, u0map, - parammap = DiffEqBase.NullParameters(); - check_length = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `NonlinearProblemExpr`") - end - f, u0, p = process_SciMLProblem(NonlinearFunctionExpr{iip}, sys, u0map, parammap; - check_length, kwargs...) - linenumbers = get(kwargs, :linenumbers, true) - - ex = quote - f = $f - u0 = $u0 - p = $p - NonlinearProblem(f, u0, p; $(filter_kwargs(kwargs)...)) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -""" -```julia -DiffEqBase.NonlinearLeastSquaresProblemExpr{iip}(sys::NonlinearSystem, u0map, - parammap = DiffEqBase.NullParameters(); - jac = false, sparse = false, - checkbounds = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates a Julia expression for a NonlinearProblem from a -NonlinearSystem and allows for automatically symbolically calculating -numerical enhancements. -""" -struct NonlinearLeastSquaresProblemExpr{iip} end - -function NonlinearLeastSquaresProblemExpr(sys::NonlinearSystem, args...; kwargs...) - NonlinearLeastSquaresProblemExpr{true}(sys, args...; kwargs...) -end - -function NonlinearLeastSquaresProblemExpr{iip}(sys::NonlinearSystem, u0map, - parammap = DiffEqBase.NullParameters(); - check_length = false, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `NonlinearProblemExpr`") - end - f, u0, p = process_SciMLProblem(NonlinearFunctionExpr{iip}, sys, u0map, parammap; - check_length, kwargs...) - linenumbers = get(kwargs, :linenumbers, true) - - ex = quote - f = $f - u0 = $u0 - p = $p - NonlinearLeastSquaresProblem(f, u0, p; $(filter_kwargs(kwargs)...)) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -""" -$(TYPEDSIGNATURES) - -Generates a Julia expression for an IntervalNonlinearProblem from a -NonlinearSystem and allows for automatically symbolically calculating -numerical enhancements. -""" -function IntervalNonlinearProblemExpr(sys::NonlinearSystem, uspan::NTuple{2}, - parammap = SciMLBase.NullParameters(); kwargs...) - if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `IntervalNonlinearProblemExpr`") - end - if !isone(length(unknowns(sys))) || !isone(length(equations(sys))) - error("`IntervalNonlinearProblemExpr` only supports with a single equation and a single unknown.") - end - f, u0, p = process_SciMLProblem( - IntervalNonlinearFunctionExpr, sys, unknowns(sys) .=> uspan[1], parammap; kwargs...) - linenumbers = get(kwargs, :linenumbers, true) - - ex = quote - f = $f - uspan = $uspan - p = $p - IntervalNonlinearProblem(f, uspan, p; $(filter_kwargs(kwargs)...)) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function flatten(sys::NonlinearSystem, noeqs = false) - systems = get_systems(sys) - if isempty(systems) - return sys - else - return NonlinearSystem(noeqs ? Equation[] : equations(sys), - unknowns(sys), - parameters(sys), - observed = observed(sys), - defaults = defaults(sys), - guesses = guesses(sys), - initialization_eqs = initialization_equations(sys), - name = nameof(sys), - description = description(sys), - metadata = get_metadata(sys), - checks = false) - end -end - -function Base.:(==)(sys1::NonlinearSystem, sys2::NonlinearSystem) - isequal(nameof(sys1), nameof(sys2)) && - _eq_unordered(get_eqs(sys1), get_eqs(sys2)) && - _eq_unordered(get_unknowns(sys1), get_unknowns(sys2)) && - _eq_unordered(get_ps(sys1), get_ps(sys2)) && - all(s1 == s2 for (s1, s2) in zip(get_systems(sys1), get_systems(sys2))) -end From 6767d4c5e683cb90e1de264cf500c0d0d28a510b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 10:50:14 +0530 Subject: [PATCH 012/167] refactor: remove `optimizationsystem.jl` --- src/ModelingToolkit.jl | 3 +- .../optimization/optimizationsystem.jl | 760 ------------------ 2 files changed, 1 insertion(+), 762 deletions(-) delete mode 100644 src/systems/optimization/optimizationsystem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index a970f4166d..5f8d61006b 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -164,7 +164,6 @@ include("systems/problem_utils.jl") include("linearization.jl") include("systems/optimization/constraints_system.jl") -include("systems/optimization/optimizationsystem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/diffeqs/abstractodesystem.jl") @@ -270,7 +269,7 @@ export IntervalNonlinearProblem, IntervalNonlinearProblemExpr export OptimizationProblem, OptimizationProblemExpr, constraints export SteadyStateProblem, SteadyStateProblemExpr export JumpProblem -export OptimizationSystem, ConstraintsSystem +export ConstraintsSystem export alias_elimination, flatten export connect, domain_connect, @connector, Connection, AnalysisPoint, Flow, Stream, instream diff --git a/src/systems/optimization/optimizationsystem.jl b/src/systems/optimization/optimizationsystem.jl deleted file mode 100644 index bfe15b62d7..0000000000 --- a/src/systems/optimization/optimizationsystem.jl +++ /dev/null @@ -1,760 +0,0 @@ -""" -$(TYPEDEF) - -A scalar equation for optimization. - -# Fields -$(FIELDS) - -# Examples - -```julia -@variables x y z -@parameters a b c - -obj = a * (y - x) + x * (b - z) - y + x * y - c * z -cons = [x^2 + y^2 ≲ 1] -@named os = OptimizationSystem(obj, [x, y, z], [a, b, c]; constraints = cons) -``` -""" -struct OptimizationSystem <: AbstractOptimizationSystem - """ - A tag for the system. If two systems have the same tag, then they are - structurally identical. - """ - tag::UInt - """Objective function of the system.""" - op::Any - """Unknown variables.""" - unknowns::Array - """Parameters.""" - ps::Vector - """Array variables.""" - var_to_name::Any - """Observed equations.""" - observed::Vector{Equation} - """List of constraint equations of the system.""" - constraints::Vector{Union{Equation, Inequality}} - """The name of the system.""" - name::Symbol - """A description of the system.""" - description::String - """The internal systems. These are required to have unique names.""" - systems::Vector{OptimizationSystem} - """ - The default values to use when initial guess and/or - parameters are not supplied in `OptimizationProblem`. - """ - defaults::Dict - """ - Metadata for the system, to be used by downstream packages. - """ - metadata::Any - """ - Metadata for MTK GUI. - """ - gui_metadata::Union{Nothing, GUIMetadata} - """ - If false, then `sys.x` no longer performs namespacing. - """ - namespacing::Bool - """ - If true, denotes the model will not be modified any further. - """ - complete::Bool - """ - Cached data for fast symbolic indexing. - """ - index_cache::Union{Nothing, IndexCache} - """ - The hierarchical parent system before simplification. - """ - parent::Any - isscheduled::Bool - - function OptimizationSystem(tag, op, unknowns, ps, var_to_name, observed, - constraints, name, description, systems, defaults, metadata = nothing, - gui_metadata = nothing, namespacing = true, complete = false, - index_cache = nothing, parent = nothing, isscheduled = false; - checks::Union{Bool, Int} = true) - if checks == true || (checks & CheckUnits) > 0 - u = __get_unit_type(unknowns, ps) - unwrap(op) isa Symbolic && check_units(u, op) - check_units(u, observed) - check_units(u, constraints) - check_subsystems(systems) - end - new(tag, op, unknowns, ps, var_to_name, observed, - constraints, name, description, systems, defaults, metadata, gui_metadata, - namespacing, complete, index_cache, parent, isscheduled) - end -end - -equations(sys::AbstractOptimizationSystem) = objective(sys) # needed for Base.show - -function OptimizationSystem(op, unknowns, ps; - observed = [], - constraints = [], - default_u0 = Dict(), - default_p = Dict(), - defaults = _merge(Dict(default_u0), Dict(default_p)), - name = nothing, - description = "", - systems = OptimizationSystem[], - checks = true, - metadata = nothing, - gui_metadata = nothing) - name === nothing && - throw(ArgumentError("The `name` keyword must be provided. Please consider using the `@named` macro")) - constraints = value.(reduce(vcat, scalarize(constraints); init = [])) - unknowns′ = value.(reduce(vcat, scalarize(unknowns); init = [])) - ps′ = value.(ps) - op′ = value(scalarize(op)) - - irreducible_subs = Dict() - for i in eachindex(unknowns′) - var = unknowns′[i] - if hasbounds(var) - irreducible_subs[var] = irrvar = setirreducible(var, true) - unknowns′[i] = irrvar - end - end - op′ = fast_substitute(op′, irreducible_subs) - constraints = fast_substitute.(constraints, (irreducible_subs,)) - - if !(isempty(default_u0) && isempty(default_p)) - Base.depwarn( - "`default_u0` and `default_p` are deprecated. Use `defaults` instead.", - :OptimizationSystem, force = true) - end - sysnames = nameof.(systems) - if length(unique(sysnames)) != length(sysnames) - throw(ArgumentError("System names must be unique.")) - end - defaults = todict(defaults) - defaults = Dict(fast_substitute(value(k), irreducible_subs) => fast_substitute( - value(v), irreducible_subs) - for (k, v) in pairs(defaults) if value(v) !== nothing) - - var_to_name = Dict() - process_variables!(var_to_name, defaults, Dict(), unknowns′) - process_variables!(var_to_name, defaults, Dict(), ps′) - isempty(observed) || collect_var_to_name!(var_to_name, (eq.lhs for eq in observed)) - - OptimizationSystem(Threads.atomic_add!(SYSTEM_COUNT, UInt(1)), - op′, unknowns′, ps′, var_to_name, - observed, - constraints, - name, description, systems, defaults, metadata, gui_metadata; - checks = checks) -end - -function OptimizationSystem(objective; constraints = [], kwargs...) - allunknowns = OrderedSet() - ps = OrderedSet() - collect_vars!(allunknowns, ps, objective, nothing) - for cons in constraints - collect_vars!(allunknowns, ps, cons, nothing) - end - for ssys in get(kwargs, :systems, OptimizationSystem[]) - collect_scoped_vars!(allunknowns, ps, ssys, nothing) - end - new_ps = OrderedSet() - for p in ps - if iscall(p) && operation(p) === getindex - par = arguments(p)[begin] - if Symbolics.shape(Symbolics.unwrap(par)) !== Symbolics.Unknown() && - all(par[i] in ps for i in eachindex(par)) - push!(new_ps, par) - else - push!(new_ps, p) - end - else - push!(new_ps, p) - end - end - return OptimizationSystem( - objective, collect(allunknowns), collect(new_ps); constraints, kwargs...) -end - -function flatten(sys::OptimizationSystem) - systems = get_systems(sys) - isempty(systems) && return sys - - return OptimizationSystem( - objective(sys), - unknowns(sys), - parameters(sys); - observed = observed(sys), - constraints = constraints(sys), - defaults = defaults(sys), - name = nameof(sys), - metadata = get_metadata(sys), - checks = false - ) -end - -function calculate_gradient(sys::OptimizationSystem) - expand_derivatives.(gradient(objective(sys), unknowns(sys))) -end - -function generate_gradient(sys::OptimizationSystem, vs = unknowns(sys), - ps = parameters(sys; initial_parameters = true); kwargs...) - grad = calculate_gradient(sys) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, grad, vs, p...; kwargs...) -end - -function calculate_hessian(sys::OptimizationSystem) - expand_derivatives.(hessian(objective(sys), unknowns(sys))) -end - -function generate_hessian( - sys::OptimizationSystem, vs = unknowns(sys), ps = parameters( - sys; initial_parameters = true); - sparse = false, kwargs...) - if sparse - hess = sparsehessian(objective(sys), unknowns(sys)) - else - hess = calculate_hessian(sys) - end - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, hess, vs, p...; kwargs...) -end - -function generate_function(sys::OptimizationSystem, vs = unknowns(sys), - ps = parameters(sys; initial_parameters = true); - kwargs...) - eqs = objective(sys) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, eqs, vs, p...; kwargs...) -end - -function namespace_objective(sys::AbstractSystem) - op = objective(sys) - namespace_expr(op, sys) -end - -function objective(sys) - op = get_op(sys) - systems = get_systems(sys) - if isempty(systems) - op - else - op + reduce(+, map(sys_ -> namespace_objective(sys_), systems)) - end -end - -namespace_constraint(eq::Equation, sys) = namespace_equation(eq, sys) - -namespace_constraint(ineq::Inequality, sys) = namespace_inequality(ineq, sys) - -function namespace_inequality(ineq::Inequality, sys, n = nameof(sys)) - _lhs = namespace_expr(ineq.lhs, sys, n) - _rhs = namespace_expr(ineq.rhs, sys, n) - Inequality(_lhs, - _rhs, - ineq.relational_op) -end - -function namespace_constraints(sys) - cstrs = constraints(sys) - isempty(cstrs) && return Vector{Union{Equation, Inequality}}(undef, 0) - map(cstr -> namespace_constraint(cstr, sys), cstrs) -end - -function constraints(sys) - cs = get_constraints(sys) - systems = get_systems(sys) - isempty(systems) ? cs : [cs; reduce(vcat, namespace_constraints.(systems))] -end - -hessian_sparsity(sys::OptimizationSystem) = hessian_sparsity(get_op(sys), unknowns(sys)) - -""" -```julia -DiffEqBase.OptimizationProblem{iip}(sys::OptimizationSystem, u0map, - parammap = DiffEqBase.NullParameters(); - grad = false, - hess = false, sparse = false, - cons_j = false, cons_h = false, - checkbounds = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates an OptimizationProblem from an OptimizationSystem and allows for automatically -symbolically calculating numerical enhancements. - -Certain solvers require setting `cons_j`, `cons_h` to `true` for constrained-optimization problems. -""" -function DiffEqBase.OptimizationProblem(sys::OptimizationSystem, args...; kwargs...) - DiffEqBase.OptimizationProblem{true}(sys::OptimizationSystem, args...; kwargs...) -end -function DiffEqBase.OptimizationProblem{iip}(sys::OptimizationSystem, u0map, - parammap = DiffEqBase.NullParameters(); - lb = nothing, ub = nothing, - grad = false, - hess = false, sparse = false, - cons_j = false, cons_h = false, - cons_sparse = false, checkbounds = false, - linenumbers = true, parallel = SerialForm(), - eval_expression = false, eval_module = @__MODULE__, - checks = true, cse = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `OptimizationSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `OptimizationProblem`") - end - if haskey(kwargs, :lcons) || haskey(kwargs, :ucons) - Base.depwarn( - "`lcons` and `ucons` are deprecated. Specify constraints directly instead.", - :OptimizationProblem, force = true) - end - - dvs = unknowns(sys) - ps = parameters(sys) - cstr = constraints(sys) - - if isnothing(lb) && isnothing(ub) # use the symbolically specified bounds - lb = first.(getbounds.(dvs)) - ub = last.(getbounds.(dvs)) - isboolean = symtype.(unwrap.(dvs)) .<: Bool - lb[isboolean] .= 0 - ub[isboolean] .= 1 - else # use the user supplied variable bounds - xor(isnothing(lb), isnothing(ub)) && - throw(ArgumentError("Expected both `lb` and `ub` to be supplied")) - !isnothing(lb) && length(lb) != length(dvs) && - throw(ArgumentError("Expected both `lb` to be of the same length as the vector of optimization variables")) - !isnothing(ub) && length(ub) != length(dvs) && - throw(ArgumentError("Expected both `ub` to be of the same length as the vector of optimization variables")) - end - - int = symtype.(unwrap.(dvs)) .<: Integer - - defs = defaults(sys) - defs = mergedefaults(defs, parammap, ps) - defs = mergedefaults(defs, u0map, dvs) - - u0 = varmap_to_vars(u0map, dvs; defaults = defs, tofloat = false) - if parammap isa MTKParameters - p = parammap - elseif has_index_cache(sys) && get_index_cache(sys) !== nothing - p = MTKParameters(sys, parammap, u0map) - else - p = varmap_to_vars(parammap, ps; defaults = defs, tofloat = false) - end - lb = varmap_to_vars(dvs .=> lb, dvs; defaults = defs, tofloat = false) - ub = varmap_to_vars(dvs .=> ub, dvs; defaults = defs, tofloat = false) - - if !isnothing(lb) && all(lb .== -Inf) && !isnothing(ub) && all(ub .== Inf) - lb = nothing - ub = nothing - end - - f = let _f = eval_or_rgf( - generate_function( - sys; checkbounds = checkbounds, linenumbers = linenumbers, - expression = Val{true}, wrap_mtkparameters = false, cse); - eval_expression, - eval_module) - __f(u, p) = _f(u, p) - __f(u, p::MTKParameters) = _f(u, p...) - __f - end - obj_expr = subs_constants(objective(sys)) - - if grad - _grad = let (grad_oop, grad_iip) = eval_or_rgf.( - generate_gradient( - sys; checkbounds = checkbounds, - linenumbers = linenumbers, - parallel = parallel, expression = Val{true}, - wrap_mtkparameters = false, cse); - eval_expression, - eval_module) - _grad(u, p) = grad_oop(u, p) - _grad(J, u, p) = (grad_iip(J, u, p); J) - _grad(u, p::MTKParameters) = grad_oop(u, p...) - _grad(J, u, p::MTKParameters) = (grad_iip(J, u, p...); J) - _grad - end - else - _grad = nothing - end - - if hess - _hess = let (hess_oop, hess_iip) = eval_or_rgf.( - generate_hessian( - sys; checkbounds = checkbounds, - linenumbers = linenumbers, - sparse = sparse, parallel = parallel, - expression = Val{true}, wrap_mtkparameters = false, cse); - eval_expression, - eval_module) - _hess(u, p) = hess_oop(u, p) - _hess(J, u, p) = (hess_iip(J, u, p); J) - _hess(u, p::MTKParameters) = hess_oop(u, p...) - _hess(J, u, p::MTKParameters) = (hess_iip(J, u, p...); J) - _hess - end - else - _hess = nothing - end - - if sparse - hess_prototype = hessian_sparsity(sys) - else - hess_prototype = nothing - end - - observedfun = ObservedFunctionCache(sys; eval_expression, eval_module, checkbounds, cse) - - if length(cstr) > 0 - @named cons_sys = ConstraintsSystem(cstr, dvs, ps; checks) - cons_sys = complete(cons_sys) - cons, lcons_, ucons_ = generate_function(cons_sys; checkbounds = checkbounds, - linenumbers = linenumbers, - expression = Val{true}, wrap_mtkparameters = false, cse) - cons = let (cons_oop, cons_iip) = eval_or_rgf.(cons; eval_expression, eval_module) - _cons(u, p) = cons_oop(u, p) - _cons(resid, u, p) = cons_iip(resid, u, p) - _cons(u, p::MTKParameters) = cons_oop(u, p...) - _cons(resid, u, p::MTKParameters) = cons_iip(resid, u, p...) - end - if cons_j - _cons_j = let (cons_jac_oop, cons_jac_iip) = eval_or_rgf.( - generate_jacobian(cons_sys; - checkbounds = checkbounds, - linenumbers = linenumbers, - parallel = parallel, expression = Val{true}, - sparse = cons_sparse, wrap_mtkparameters = false, cse); - eval_expression, - eval_module) - _cons_j(u, p) = cons_jac_oop(u, p) - _cons_j(J, u, p) = (cons_jac_iip(J, u, p); J) - _cons_j(u, p::MTKParameters) = cons_jac_oop(u, p...) - _cons_j(J, u, p::MTKParameters) = (cons_jac_iip(J, u, p...); J) - _cons_j - end - else - _cons_j = nothing - end - if cons_h - _cons_h = let (cons_hess_oop, cons_hess_iip) = eval_or_rgf.( - generate_hessian( - cons_sys; checkbounds = checkbounds, - linenumbers = linenumbers, - sparse = cons_sparse, parallel = parallel, - expression = Val{true}, wrap_mtkparameters = false, cse); - eval_expression, - eval_module) - _cons_h(u, p) = cons_hess_oop(u, p) - _cons_h(J, u, p) = (cons_hess_iip(J, u, p); J) - _cons_h(u, p::MTKParameters) = cons_hess_oop(u, p...) - _cons_h(J, u, p::MTKParameters) = (cons_hess_iip(J, u, p...); J) - _cons_h - end - else - _cons_h = nothing - end - cons_expr = subs_constants(constraints(cons_sys)) - - if !haskey(kwargs, :lcons) && !haskey(kwargs, :ucons) # use the symbolically specified bounds - lcons = lcons_ - ucons = ucons_ - else # use the user supplied constraints bounds - (haskey(kwargs, :lcons) ⊻ haskey(kwargs, :ucons)) && - throw(ArgumentError("Expected both `ucons` and `lcons` to be supplied")) - haskey(kwargs, :lcons) && length(kwargs[:lcons]) != length(cstr) && - throw(ArgumentError("Expected `lcons` to be of the same length as the vector of constraints")) - haskey(kwargs, :ucons) && length(kwargs[:ucons]) != length(cstr) && - throw(ArgumentError("Expected `ucons` to be of the same length as the vector of constraints")) - lcons = haskey(kwargs, :lcons) - ucons = haskey(kwargs, :ucons) - end - - if cons_sparse - cons_jac_prototype = jacobian_sparsity(cons_sys) - cons_hess_prototype = hessian_sparsity(cons_sys) - else - cons_jac_prototype = nothing - cons_hess_prototype = nothing - end - _f = DiffEqBase.OptimizationFunction{iip}(f, - sys = sys, - SciMLBase.NoAD(); - grad = _grad, - hess = _hess, - hess_prototype = hess_prototype, - cons = cons, - cons_j = _cons_j, - cons_h = _cons_h, - cons_jac_prototype = cons_jac_prototype, - cons_hess_prototype = cons_hess_prototype, - expr = obj_expr, - cons_expr = cons_expr, - observed = observedfun) - OptimizationProblem{iip}(_f, u0, p; lb = lb, ub = ub, int = int, - lcons = lcons, ucons = ucons, kwargs...) - else - _f = DiffEqBase.OptimizationFunction{iip}(f, - sys = sys, - SciMLBase.NoAD(); - grad = _grad, - hess = _hess, - hess_prototype = hess_prototype, - expr = obj_expr, - observed = observedfun) - OptimizationProblem{iip}(_f, u0, p; lb = lb, ub = ub, int = int, - kwargs...) - end -end - -""" -```julia -DiffEqBase.OptimizationProblemExpr{iip}(sys::OptimizationSystem, - parammap = DiffEqBase.NullParameters(); - u0 = nothing, - grad = false, - hes = false, sparse = false, - checkbounds = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates a Julia expression for an OptimizationProblem from an -OptimizationSystem and allows for automatically symbolically -calculating numerical enhancements. -""" -struct OptimizationProblemExpr{iip} end - -function OptimizationProblemExpr(sys::OptimizationSystem, args...; kwargs...) - OptimizationProblemExpr{true}(sys::OptimizationSystem, args...; kwargs...) -end - -function OptimizationProblemExpr{iip}(sys::OptimizationSystem, u0map, - parammap = DiffEqBase.NullParameters(); - lb = nothing, ub = nothing, - grad = false, - hess = false, sparse = false, - cons_j = false, cons_h = false, - checkbounds = false, - linenumbers = false, parallel = SerialForm(), - eval_expression = false, eval_module = @__MODULE__, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed `OptimizationSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `OptimizationProblemExpr`") - end - if haskey(kwargs, :lcons) || haskey(kwargs, :ucons) - Base.depwarn( - "`lcons` and `ucons` are deprecated. Specify constraints directly instead.", - :OptimizationProblem, force = true) - end - - dvs = unknowns(sys) - ps = parameters(sys) - cstr = constraints(sys) - - if isnothing(lb) && isnothing(ub) # use the symbolically specified bounds - lb = first.(getbounds.(dvs)) - ub = last.(getbounds.(dvs)) - isboolean = symtype.(unwrap.(dvs)) .<: Bool - lb[isboolean] .= 0 - ub[isboolean] .= 1 - else # use the user supplied variable bounds - xor(isnothing(lb), isnothing(ub)) && - throw(ArgumentError("Expected both `lb` and `ub` to be supplied")) - !isnothing(lb) && length(lb) != length(dvs) && - throw(ArgumentError("Expected `lb` to be of the same length as the vector of optimization variables")) - !isnothing(ub) && length(ub) != length(dvs) && - throw(ArgumentError("Expected `ub` to be of the same length as the vector of optimization variables")) - end - - int = symtype.(unwrap.(dvs)) .<: Integer - - defs = defaults(sys) - defs = mergedefaults(defs, parammap, ps) - defs = mergedefaults(defs, u0map, dvs) - - u0 = varmap_to_vars(u0map, dvs; defaults = defs, tofloat = false) - if has_index_cache(sys) && get_index_cache(sys) !== nothing - p = MTKParameters(sys, parammap, u0map) - else - p = varmap_to_vars(parammap, ps; defaults = defs, tofloat = false) - end - lb = varmap_to_vars(dvs .=> lb, dvs; defaults = defs, tofloat = false) - ub = varmap_to_vars(dvs .=> ub, dvs; defaults = defs, tofloat = false) - - if !isnothing(lb) && all(lb .== -Inf) && !isnothing(ub) && all(ub .== Inf) - lb = nothing - ub = nothing - end - - idx = iip ? 2 : 1 - f = generate_function(sys, checkbounds = checkbounds, linenumbers = linenumbers, - expression = Val{true}) - if grad - _grad = eval_or_rgf( - generate_gradient( - sys, checkbounds = checkbounds, linenumbers = linenumbers, - parallel = parallel, expression = Val{true})[idx]; - eval_expression, - eval_module) - else - _grad = :nothing - end - - if hess - _hess = eval_or_rgf( - generate_hessian(sys, checkbounds = checkbounds, linenumbers = linenumbers, - sparse = sparse, parallel = parallel, - expression = Val{false})[idx]; - eval_expression, - eval_module) - else - _hess = :nothing - end - - if sparse - hess_prototype = hessian_sparsity(sys) - else - hess_prototype = nothing - end - - obj_expr = toexpr(subs_constants(objective(sys))) - pairs_arr = if p isa SciMLBase.NullParameters - [Symbol(_s) => Expr(:ref, :x, i) for (i, _s) in enumerate(dvs)] - else - vcat([Symbol(_s) => Expr(:ref, :x, i) for (i, _s) in enumerate(dvs)], - [Symbol(_p) => p[i] for (i, _p) in enumerate(ps)]) - end - rep_pars_vals!(obj_expr, pairs_arr) - - if length(cstr) > 0 - @named cons_sys = ConstraintsSystem(cstr, dvs, ps) - cons, lcons_, ucons_ = generate_function(cons_sys, checkbounds = checkbounds, - linenumbers = linenumbers, - expression = Val{true}) - cons = eval_or_rgf(cons; eval_expression, eval_module) - if cons_j - _cons_j = eval_or_rgf( - generate_jacobian(cons_sys; expression = Val{true}, sparse = sparse)[2]; - eval_expression, eval_module) - else - _cons_j = nothing - end - if cons_h - _cons_h = eval_or_rgf( - generate_hessian(cons_sys; expression = Val{true}, sparse = sparse)[2]; - eval_expression, eval_module) - else - _cons_h = nothing - end - - cons_expr = toexpr.(subs_constants(constraints(cons_sys))) - rep_pars_vals!.(cons_expr, Ref(pairs_arr)) - - if !haskey(kwargs, :lcons) && !haskey(kwargs, :ucons) # use the symbolically specified bounds - lcons = lcons_ - ucons = ucons_ - else # use the user supplied constraints bounds - (haskey(kwargs, :lcons) ⊻ haskey(kwargs, :ucons)) && - throw(ArgumentError("Expected both `ucons` and `lcons` to be supplied")) - haskey(kwargs, :lcons) && length(kwargs[:lcons]) != length(cstr) && - throw(ArgumentError("Expected `lcons` to be of the same length as the vector of constraints")) - haskey(kwargs, :ucons) && length(kwargs[:ucons]) != length(cstr) && - throw(ArgumentError("Expected `ucons` to be of the same length as the vector of constraints")) - lcons = haskey(kwargs, :lcons) - ucons = haskey(kwargs, :ucons) - end - - if sparse - cons_jac_prototype = jacobian_sparsity(cons_sys) - cons_hess_prototype = hessian_sparsity(cons_sys) - else - cons_jac_prototype = nothing - cons_hess_prototype = nothing - end - - quote - f = $f - p = $p - u0 = $u0 - grad = $_grad - hess = $_hess - lb = $lb - ub = $ub - int = $int - cons = $cons[1] - lcons = $lcons - ucons = $ucons - cons_j = $_cons_j - cons_h = $_cons_h - _f = OptimizationFunction{iip}(f, SciMLBase.NoAD(); - grad = grad, - hess = hess, - hess_prototype = hess_prototype, - cons = cons, - cons_j = cons_j, - cons_h = cons_h, - cons_jac_prototype = cons_jac_prototype, - cons_hess_prototype = cons_hess_prototype, - expr = obj_expr, - cons_expr = cons_expr) - OptimizationProblem{$iip}( - _f, u0, p; lb = lb, ub = ub, int = int, lcons = lcons, - ucons = ucons, kwargs...) - end - else - quote - f = $f - p = $p - u0 = $u0 - grad = $_grad - hess = $_hess - lb = $lb - ub = $ub - int = $int - _f = OptimizationFunction{iip}(f, SciMLBase.NoAD(); - grad = grad, - hess = hess, - hess_prototype = hess_prototype, - expr = obj_expr) - OptimizationProblem{$iip}(_f, u0, p; lb = lb, ub = ub, int = int, kwargs...) - end - end -end - -function structural_simplify(sys::OptimizationSystem; split = true, kwargs...) - sys = flatten(sys) - cons = constraints(sys) - econs = Equation[] - icons = similar(cons, 0) - for e in cons - if e isa Equation - push!(econs, e) - else - push!(icons, e) - end - end - nlsys = NonlinearSystem(econs, unknowns(sys), parameters(sys); name = :___tmp_nlsystem) - snlsys = structural_simplify(nlsys; fully_determined = false, kwargs...) - obs = observed(snlsys) - subs = Dict(eq.lhs => eq.rhs for eq in observed(snlsys)) - seqs = equations(snlsys) - cons_simplified = similar(cons, length(icons) + length(seqs)) - for (i, eq) in enumerate(Iterators.flatten((seqs, icons))) - cons_simplified[i] = fixpoint_sub(eq, subs) - end - newsts = setdiff(unknowns(sys), keys(subs)) - @set! sys.constraints = cons_simplified - @set! sys.observed = [observed(sys); obs] - neweqs = fixpoint_sub.(equations(sys), (subs,)) - @set! sys.op = length(neweqs) == 1 ? first(neweqs) : neweqs - @set! sys.unknowns = newsts - sys = complete(sys; split) - return sys -end - -supports_initialization(::OptimizationSystem) = false From bde2c294e520f037d27c8289078aabe8cd2e4159 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 10:51:39 +0530 Subject: [PATCH 013/167] refactor: remove `constraints_system.jl` --- src/ModelingToolkit.jl | 2 - .../optimization/constraints_system.jl | 255 ------------------ 2 files changed, 257 deletions(-) delete mode 100644 src/systems/optimization/constraints_system.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 5f8d61006b..22c8c9d64c 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -163,7 +163,6 @@ include("systems/codegen_utils.jl") include("systems/problem_utils.jl") include("linearization.jl") -include("systems/optimization/constraints_system.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/diffeqs/abstractodesystem.jl") @@ -269,7 +268,6 @@ export IntervalNonlinearProblem, IntervalNonlinearProblemExpr export OptimizationProblem, OptimizationProblemExpr, constraints export SteadyStateProblem, SteadyStateProblemExpr export JumpProblem -export ConstraintsSystem export alias_elimination, flatten export connect, domain_connect, @connector, Connection, AnalysisPoint, Flow, Stream, instream diff --git a/src/systems/optimization/constraints_system.jl b/src/systems/optimization/constraints_system.jl deleted file mode 100644 index ae8577662d..0000000000 --- a/src/systems/optimization/constraints_system.jl +++ /dev/null @@ -1,255 +0,0 @@ -""" -$(TYPEDEF) - -A constraint system of equations. - -# Fields -$(FIELDS) - -# Examples - -```julia -@variables x y z -@parameters a b c - -cstr = [0 ~ a*(y-x), - 0 ~ x*(b-z)-y, - 0 ~ x*y - c*z - x^2 + y^2 ≲ 1] -@named ns = ConstraintsSystem(cstr, [x,y,z],[a,b,c]) -``` -""" -struct ConstraintsSystem <: AbstractTimeIndependentSystem - """ - A tag for the system. If two systems have the same tag, then they are - structurally identical. - """ - tag::UInt - """Vector of equations defining the system.""" - constraints::Vector{Union{Equation, Inequality}} - """Unknown variables.""" - unknowns::Vector - """Parameters.""" - ps::Vector - """Array variables.""" - var_to_name::Any - """Observed equations.""" - observed::Vector{Equation} - """ - Jacobian matrix. Note: this field will not be defined until - [`calculate_jacobian`](@ref) is called on the system. - """ - jac::RefValue{Any} - """ - The name of the system. - """ - name::Symbol - """ - A description of the system. - """ - description::String - """ - The internal systems. These are required to have unique names. - """ - systems::Vector{ConstraintsSystem} - """ - The default values to use when initial conditions and/or - parameters are not supplied in `ODEProblem`. - """ - defaults::Dict - """ - Type of the system. - """ - connector_type::Any - """ - Metadata for the system, to be used by downstream packages. - """ - metadata::Any - """ - Cache for intermediate tearing state. - """ - tearing_state::Any - """ - Substitutions generated by tearing. - """ - substitutions::Any - """ - If false, then `sys.x` no longer performs namespacing. - """ - namespacing::Bool - """ - If true, denotes the model will not be modified any further. - """ - complete::Bool - """ - Cached data for fast symbolic indexing. - """ - index_cache::Union{Nothing, IndexCache} - - function ConstraintsSystem(tag, constraints, unknowns, ps, var_to_name, observed, jac, - name, description, - systems, - defaults, connector_type, metadata = nothing, - tearing_state = nothing, substitutions = nothing, namespacing = true, - complete = false, index_cache = nothing; - checks::Union{Bool, Int} = true) - if checks == true || (checks & CheckUnits) > 0 - u = __get_unit_type(unknowns, ps) - check_units(u, constraints) - check_subsystems(systems) - end - new(tag, constraints, unknowns, ps, var_to_name, - observed, jac, name, description, systems, - defaults, connector_type, metadata, tearing_state, substitutions, - namespacing, complete, index_cache) - end -end - -equations(sys::ConstraintsSystem) = constraints(sys) # needed for Base.show - -function ConstraintsSystem(constraints, unknowns, ps; - observed = [], - name = nothing, - description = "", - default_u0 = Dict(), - default_p = Dict(), - defaults = _merge(Dict(default_u0), Dict(default_p)), - systems = ConstraintsSystem[], - connector_type = nothing, - continuous_events = nothing, # this argument is only required for ODESystems, but is added here for the constructor to accept it without error - discrete_events = nothing, # this argument is only required for ODESystems, but is added here for the constructor to accept it without error - checks = true, - metadata = nothing) - continuous_events === nothing || isempty(continuous_events) || - throw(ArgumentError("ConstraintsSystem does not accept `continuous_events`, you provided $continuous_events")) - discrete_events === nothing || isempty(discrete_events) || - throw(ArgumentError("ConstraintsSystem does not accept `discrete_events`, you provided $discrete_events")) - - name === nothing && - throw(ArgumentError("The `name` keyword must be provided. Please consider using the `@named` macro")) - - cstr = value.(Symbolics.canonical_form.(vcat(scalarize(constraints)...))) - unknowns′ = value.(scalarize(unknowns)) - ps′ = value.(ps) - - if !(isempty(default_u0) && isempty(default_p)) - Base.depwarn( - "`default_u0` and `default_p` are deprecated. Use `defaults` instead.", - :ConstraintsSystem, force = true) - end - sysnames = nameof.(systems) - if length(unique(sysnames)) != length(sysnames) - throw(ArgumentError("System names must be unique.")) - end - - jac = RefValue{Any}(EMPTY_JAC) - defaults = todict(defaults) - defaults = Dict(value(k) => value(v) - for (k, v) in pairs(defaults) if value(v) !== nothing) - - var_to_name = Dict() - process_variables!(var_to_name, defaults, Dict(), unknowns′) - process_variables!(var_to_name, defaults, Dict(), ps′) - isempty(observed) || collect_var_to_name!(var_to_name, (eq.lhs for eq in observed)) - - ConstraintsSystem(Threads.atomic_add!(SYSTEM_COUNT, UInt(1)), - cstr, unknowns, ps, var_to_name, observed, jac, name, description, systems, - defaults, - connector_type, metadata, checks = checks) -end - -function calculate_jacobian(sys::ConstraintsSystem; sparse = false, simplify = false) - cache = get_jac(sys)[] - if cache isa Tuple && cache[2] == (sparse, simplify) - return cache[1] - end - - lhss = generate_canonical_form_lhss(sys) - vals = [dv for dv in unknowns(sys)] - if sparse - jac = sparsejacobian(lhss, vals, simplify = simplify) - else - jac = jacobian(lhss, vals, simplify = simplify) - end - get_jac(sys)[] = jac, (sparse, simplify) - return jac -end - -function generate_jacobian( - sys::ConstraintsSystem, vs = unknowns(sys), ps = parameters( - sys; initial_parameters = true); - sparse = false, simplify = false, kwargs...) - jac = calculate_jacobian(sys, sparse = sparse, simplify = simplify) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, jac, vs, p...; kwargs...) -end - -function calculate_hessian(sys::ConstraintsSystem; sparse = false, simplify = false) - lhss = generate_canonical_form_lhss(sys) - vals = [dv for dv in unknowns(sys)] - if sparse - hess = [sparsehessian(lhs, vals, simplify = simplify) for lhs in lhss] - else - hess = [hessian(lhs, vals, simplify = simplify) for lhs in lhss] - end - return hess -end - -function generate_hessian( - sys::ConstraintsSystem, vs = unknowns(sys), ps = parameters( - sys; initial_parameters = true); - sparse = false, simplify = false, kwargs...) - hess = calculate_hessian(sys, sparse = sparse, simplify = simplify) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, hess, vs, p...; kwargs...) -end - -function generate_function(sys::ConstraintsSystem, dvs = unknowns(sys), - ps = parameters(sys; initial_parameters = true); - kwargs...) - lhss = generate_canonical_form_lhss(sys) - p = reorder_parameters(sys, value.(ps)) - func = build_function_wrapper(sys, lhss, value.(dvs), p...; kwargs...) - - cstr = constraints(sys) - lcons = fill(-Inf, length(cstr)) - ucons = zeros(length(cstr)) - lcons[findall(Base.Fix2(isa, Equation), cstr)] .= 0.0 - - return func, lcons, ucons -end - -function jacobian_sparsity(sys::ConstraintsSystem) - lhss = generate_canonical_form_lhss(sys) - jacobian_sparsity(lhss, unknowns(sys)) -end - -function hessian_sparsity(sys::ConstraintsSystem) - lhss = generate_canonical_form_lhss(sys) - [hessian_sparsity(eq, unknowns(sys)) for eq in lhss] -end - -""" -Convert the system of equalities and inequalities into a canonical form: -h(x) = 0 -g(x) <= 0 -""" -function generate_canonical_form_lhss(sys) - lhss = subs_constants([Symbolics.canonical_form(eq).lhs for eq in constraints(sys)]) -end - -function get_cmap(sys::ConstraintsSystem, exprs = nothing) - #Inject substitutions for constants => values - cs = collect_constants([get_constraints(sys); get_observed(sys)]) #ctrls? what else? - if !empty_substitutions(sys) - cs = [cs; collect_constants(get_substitutions(sys).subs)] - end - if exprs !== nothing - cs = [cs; collect_constants(exprs)] - end - # Swap constants for their values - cmap = map(x -> x ~ getdefault(x), cs) - return cmap, cs -end - -supports_initialization(::ConstraintsSystem) = false From 1aef2258c11ffe771defb9f11f8750f0c67e1523 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 12:10:51 +0530 Subject: [PATCH 014/167] remove abstractodesystem.jl refactor: remove `abstractodesystem.jl` refactor: remove `AbstractODESystem` --- src/ModelingToolkit.jl | 2 - src/systems/diffeqs/abstractodesystem.jl | 1559 ---------------------- 2 files changed, 1561 deletions(-) delete mode 100644 src/systems/diffeqs/abstractodesystem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 22c8c9d64c..f2ede744c1 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -128,7 +128,6 @@ TODO abstract type AbstractSystem end abstract type AbstractTimeDependentSystem <: AbstractSystem end abstract type AbstractTimeIndependentSystem <: AbstractSystem end -abstract type AbstractODESystem <: AbstractTimeDependentSystem end abstract type AbstractMultivariateSystem <: AbstractSystem end abstract type AbstractOptimizationSystem <: AbstractTimeIndependentSystem end abstract type AbstractDiscreteSystem <: AbstractTimeDependentSystem end @@ -165,7 +164,6 @@ include("linearization.jl") include("systems/optimization/modelingtoolkitize.jl") -include("systems/diffeqs/abstractodesystem.jl") include("systems/nonlinear/homotopy_continuation.jl") include("systems/nonlinear/modelingtoolkitize.jl") include("systems/nonlinear/initializesystem.jl") diff --git a/src/systems/diffeqs/abstractodesystem.jl b/src/systems/diffeqs/abstractodesystem.jl deleted file mode 100644 index 942e508644..0000000000 --- a/src/systems/diffeqs/abstractodesystem.jl +++ /dev/null @@ -1,1559 +0,0 @@ -struct Schedule - var_eq_matching::Any - dummy_sub::Any -end - -""" - is_dde(sys::AbstractSystem) - -Return a boolean indicating whether a system represents a set of delay -differential equations. -""" -is_dde(sys::AbstractSystem) = has_is_dde(sys) && get_is_dde(sys) - -function _check_if_dde(eqs, iv, subsystems) - is_dde = any(ModelingToolkit.is_dde, subsystems) - if !is_dde - vs = Set() - for eq in eqs - vars!(vs, eq) - is_dde = any(vs) do sym - isdelay(unwrap(sym), iv) - end - is_dde && break - end - end - return is_dde -end - -function filter_kwargs(kwargs) - kwargs = Dict(kwargs) - for key in keys(kwargs) - key in DiffEqBase.allowedkeywords || delete!(kwargs, key) - end - pairs(NamedTuple(kwargs)) -end -function gen_quoted_kwargs(kwargs) - kwargparam = Expr(:parameters) - for kw in kwargs - push!(kwargparam.args, Expr(:kw, kw[1], kw[2])) - end - kwargparam -end - -function calculate_tgrad(sys::AbstractODESystem; - simplify = false) - isempty(get_tgrad(sys)[]) || return get_tgrad(sys)[] # use cached tgrad, if possible - - # We need to remove explicit time dependence on the unknown because when we - # have `u(t) * t` we want to have the tgrad to be `u(t)` instead of `u'(t) * - # t + u(t)`. - rhs = [detime_dvs(eq.rhs) for eq in full_equations(sys)] - iv = get_iv(sys) - xs = unknowns(sys) - rule = Dict(map((x, xt) -> xt => x, detime_dvs.(xs), xs)) - rhs = substitute.(rhs, Ref(rule)) - tgrad = [expand_derivatives(Differential(iv)(r), simplify) for r in rhs] - reverse_rule = Dict(map((x, xt) -> x => xt, detime_dvs.(xs), xs)) - tgrad = Num.(substitute.(tgrad, Ref(reverse_rule))) - get_tgrad(sys)[] = tgrad - return tgrad -end - -function calculate_jacobian(sys::AbstractODESystem; - sparse = false, simplify = false, dvs = unknowns(sys)) - if isequal(dvs, unknowns(sys)) - cache = get_jac(sys)[] - if cache isa Tuple && cache[2] == (sparse, simplify) - return cache[1] - end - end - - rhs = [eq.rhs - eq.lhs for eq in full_equations(sys)] #need du terms on rhs for differentiating wrt du - - if sparse - jac = sparsejacobian(rhs, dvs, simplify = simplify) - W_s = W_sparsity(sys) - (Is, Js, Vs) = findnz(W_s) - # Add nonzeros of W as non-structural zeros of the Jacobian (to ensure equal results for oop and iip Jacobian.) - for (i, j) in zip(Is, Js) - iszero(jac[i, j]) && begin - jac[i, j] = 1 - jac[i, j] = 0 - end - end - else - jac = jacobian(rhs, dvs, simplify = simplify) - end - - if isequal(dvs, unknowns(sys)) - get_jac(sys)[] = jac, (sparse, simplify) # cache Jacobian - end - - return jac -end - -function calculate_control_jacobian(sys::AbstractODESystem; - sparse = false, simplify = false) - cache = get_ctrl_jac(sys)[] - if cache isa Tuple && cache[2] == (sparse, simplify) - return cache[1] - end - - rhs = [eq.rhs for eq in full_equations(sys)] - ctrls = unbound_inputs(sys) - - if sparse - jac = sparsejacobian(rhs, ctrls, simplify = simplify) - else - jac = jacobian(rhs, ctrls, simplify = simplify) - end - - get_ctrl_jac(sys)[] = jac, (sparse, simplify) # cache Jacobian - return jac -end - -function generate_tgrad( - sys::AbstractODESystem, dvs = unknowns(sys), ps = parameters( - sys; initial_parameters = true); - simplify = false, kwargs...) - tgrad = calculate_tgrad(sys, simplify = simplify) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, tgrad, - dvs, - p..., - get_iv(sys); - kwargs...) -end - -function generate_jacobian(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys; initial_parameters = true); - simplify = false, sparse = false, kwargs...) - jac = calculate_jacobian(sys; simplify = simplify, sparse = sparse) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, jac, - dvs, - p..., - get_iv(sys); - wrap_code = sparse ? assert_jac_length_header(sys) : (identity, identity), - kwargs...) -end - -function assert_jac_length_header(sys) - W = W_sparsity(sys) - identity, - function add_header(expr) - Func(expr.args, [], expr.body, - [:(@assert $(SymbolicUtils.Code.toexpr(term(findnz, expr.args[1])))[1:2] == - $(findnz(W)[1:2]))]) - end -end - -function generate_W(sys::AbstractODESystem, γ = 1.0, dvs = unknowns(sys), - ps = parameters(sys; initial_parameters = true); - simplify = false, sparse = false, kwargs...) - @variables ˍ₋gamma - M = calculate_massmatrix(sys; simplify) - sparse && (M = SparseArrays.sparse(M)) - J = calculate_jacobian(sys; simplify, sparse, dvs) - W = ˍ₋gamma * M + J - - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, W, - dvs, - p..., - ˍ₋gamma, - get_iv(sys); - wrap_code = sparse ? assert_jac_length_header(sys) : (identity, identity), - p_end = 1 + length(p), - kwargs...) -end - -function generate_control_jacobian(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys; initial_parameters = true); - simplify = false, sparse = false, kwargs...) - jac = calculate_control_jacobian(sys; simplify = simplify, sparse = sparse) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, jac, dvs, p..., get_iv(sys); kwargs...) -end - -function generate_dae_jacobian(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys; initial_parameters = true); simplify = false, sparse = false, - kwargs...) - jac_u = calculate_jacobian(sys; simplify = simplify, sparse = sparse) - derivatives = Differential(get_iv(sys)).(unknowns(sys)) - jac_du = calculate_jacobian(sys; simplify = simplify, sparse = sparse, - dvs = derivatives) - dvs = unknowns(sys) - @variables ˍ₋gamma - jac = ˍ₋gamma * jac_du + jac_u - pre = get_preprocess_constants(jac) - p = reorder_parameters(sys, ps) - return build_function_wrapper(sys, jac, derivatives, dvs, p..., ˍ₋gamma, get_iv(sys); - p_start = 3, p_end = 2 + length(p), kwargs...) -end - -function generate_function(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys; initial_parameters = true); - implicit_dae = false, - ddvs = implicit_dae ? map(Differential(get_iv(sys)), dvs) : - nothing, - isdde = false, - kwargs...) - eqs = [eq for eq in equations(sys)] - if !implicit_dae - check_operator_variables(eqs, Differential) - check_lhs(eqs, Differential, Set(dvs)) - end - - rhss = implicit_dae ? [_iszero(eq.lhs) ? eq.rhs : eq.rhs - eq.lhs for eq in eqs] : - [eq.rhs for eq in eqs] - - if !isempty(assertions(sys)) - rhss[end] += unwrap(get_assertions_expr(sys)) - end - - # TODO: add an optional check on the ordering of observed equations - u = dvs - p = reorder_parameters(sys, ps) - t = get_iv(sys) - - if implicit_dae - build_function_wrapper(sys, rhss, ddvs, u, p..., t; p_start = 3, kwargs...) - else - build_function_wrapper(sys, rhss, u, p..., t; kwargs...) - end -end - -function isdelay(var, iv) - iv === nothing && return false - isvariable(var) || return false - isparameter(var) && return false - if iscall(var) && !ModelingToolkit.isoperator(var, Symbolics.Operator) - args = arguments(var) - length(args) == 1 || return false - isequal(args[1], iv) || return true - end - return false -end -const DDE_HISTORY_FUN = Sym{Symbolics.FnType{Tuple{Any, <:Real}, Vector{Real}}}(:___history___) -const DEFAULT_PARAMS_ARG = Sym{Any}(:ˍ₋arg3) -function delay_to_function( - sys::AbstractODESystem, eqs = full_equations(sys); history_arg = DEFAULT_PARAMS_ARG) - delay_to_function(eqs, - get_iv(sys), - Dict{Any, Int}(operation(s) => i for (i, s) in enumerate(unknowns(sys))), - parameters(sys), - DDE_HISTORY_FUN; history_arg) -end -function delay_to_function(eqs::Vector, iv, sts, ps, h; history_arg = DEFAULT_PARAMS_ARG) - delay_to_function.(eqs, (iv,), (sts,), (ps,), (h,); history_arg) -end -function delay_to_function(eq::Equation, iv, sts, ps, h; history_arg = DEFAULT_PARAMS_ARG) - delay_to_function(eq.lhs, iv, sts, ps, h; history_arg) ~ delay_to_function( - eq.rhs, iv, sts, ps, h; history_arg) -end -function delay_to_function(expr, iv, sts, ps, h; history_arg = DEFAULT_PARAMS_ARG) - if isdelay(expr, iv) - v = operation(expr) - time = arguments(expr)[1] - idx = sts[v] - return term(getindex, h(history_arg, time), idx, type = Real) # BIG BIG HACK - elseif iscall(expr) - return maketerm(typeof(expr), - operation(expr), - map(x -> delay_to_function(x, iv, sts, ps, h; history_arg), arguments(expr)), - metadata(expr)) - else - return expr - end -end - -function calculate_massmatrix(sys::AbstractODESystem; simplify = false) - eqs = [eq for eq in equations(sys)] - M = zeros(length(eqs), length(eqs)) - for (i, eq) in enumerate(eqs) - if iscall(eq.lhs) && operation(eq.lhs) isa Differential - st = var_from_nested_derivative(eq.lhs)[1] - j = variable_index(sys, st) - M[i, j] = 1 - else - _iszero(eq.lhs) || - error("Only semi-explicit constant mass matrices are currently supported. Faulty equation: $eq.") - end - end - M = simplify ? ModelingToolkit.simplify.(M) : M - # M should only contain concrete numbers - if isdiag(M) - M = Diagonal(M) - end - M == I ? I : M -end - -function jacobian_sparsity(sys::AbstractODESystem) - sparsity = torn_system_jacobian_sparsity(sys) - sparsity === nothing || return sparsity - - jacobian_sparsity([eq.rhs for eq in full_equations(sys)], - [dv for dv in unknowns(sys)]) -end - -function jacobian_dae_sparsity(sys::AbstractODESystem) - J1 = jacobian_sparsity([eq.rhs for eq in full_equations(sys)], - [dv for dv in unknowns(sys)]) - derivatives = Differential(get_iv(sys)).(unknowns(sys)) - J2 = jacobian_sparsity([eq.rhs for eq in full_equations(sys)], - [dv for dv in derivatives]) - J1 + J2 -end - -function W_sparsity(sys::AbstractODESystem) - jac_sparsity = jacobian_sparsity(sys) - (n, n) = size(jac_sparsity) - M = calculate_massmatrix(sys) - M_sparsity = M isa UniformScaling ? sparse(I(n)) : - SparseMatrixCSC{Bool, Int64}((!iszero).(M)) - jac_sparsity .| M_sparsity -end - -function isautonomous(sys::AbstractODESystem) - tgrad = calculate_tgrad(sys; simplify = true) - all(iszero, tgrad) -end - -""" -```julia -DiffEqBase.ODEFunction{iip}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys); - version = nothing, tgrad = false, - jac = false, - sparse = false, - kwargs...) where {iip} -``` - -Create an `ODEFunction` from the [`ODESystem`](@ref). The arguments `dvs` and `ps` -are used to set the order of the dependent variable and parameter vectors, -respectively. -""" -function DiffEqBase.ODEFunction(sys::AbstractODESystem, args...; kwargs...) - ODEFunction{true}(sys, args...; kwargs...) -end - -function DiffEqBase.ODEFunction{true}(sys::AbstractODESystem, args...; - kwargs...) - ODEFunction{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) -end - -function DiffEqBase.ODEFunction{false}(sys::AbstractODESystem, args...; - kwargs...) - ODEFunction{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) -end - -function DiffEqBase.ODEFunction{iip, specialize}(sys::AbstractODESystem, - dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; - version = nothing, tgrad = false, - jac = false, p = nothing, - t = nothing, - eval_expression = false, - sparse = false, simplify = false, - eval_module = @__MODULE__, - steady_state = false, - checkbounds = false, - sparsity = false, - analytic = nothing, - split_idxs = nothing, - initialization_data = nothing, - cse = true, - kwargs...) where {iip, specialize} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating an `ODEFunction`") - end - f_gen = generate_function(sys, dvs, ps; expression = Val{true}, - expression_module = eval_module, checkbounds = checkbounds, cse, - kwargs...) - f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) - f = GeneratedFunctionWrapper{(2, 3, is_split(sys))}(f_oop, f_iip) - - if specialize === SciMLBase.FunctionWrapperSpecialize && iip - if u0 === nothing || p === nothing || t === nothing - error("u0, p, and t must be specified for FunctionWrapperSpecialize on ODEFunction.") - end - f = SciMLBase.wrapfun_iip(f, (u0, u0, p, t)) - end - - if tgrad - tgrad_gen = generate_tgrad(sys, dvs, ps; - simplify = simplify, - expression = Val{true}, - expression_module = eval_module, cse, - checkbounds = checkbounds, kwargs...) - tgrad_oop, tgrad_iip = eval_or_rgf.(tgrad_gen; eval_expression, eval_module) - _tgrad = GeneratedFunctionWrapper{(2, 3, is_split(sys))}(tgrad_oop, tgrad_iip) - else - _tgrad = nothing - end - - if jac - jac_gen = generate_jacobian(sys, dvs, ps; - simplify = simplify, sparse = sparse, - expression = Val{true}, - expression_module = eval_module, cse, - checkbounds = checkbounds, kwargs...) - jac_oop, jac_iip = eval_or_rgf.(jac_gen; eval_expression, eval_module) - - _jac = GeneratedFunctionWrapper{(2, 3, is_split(sys))}(jac_oop, jac_iip) - else - _jac = nothing - end - - M = calculate_massmatrix(sys) - - _M = if sparse && !(u0 === nothing || M === I) - SparseArrays.sparse(M) - elseif u0 === nothing || M === I - M - elseif M isa Diagonal - Diagonal(ArrayInterface.restructure(u0, diag(M))) - else - ArrayInterface.restructure(u0 .* u0', M) - end - - observedfun = ObservedFunctionCache( - sys; steady_state, eval_expression, eval_module, checkbounds, cse) - - if sparse - uElType = u0 === nothing ? Float64 : eltype(u0) - W_prototype = similar(W_sparsity(sys), uElType) - else - W_prototype = nothing - end - - @set! sys.split_idxs = split_idxs - - ODEFunction{iip, specialize}(f; - sys = sys, - jac = _jac === nothing ? nothing : _jac, - tgrad = _tgrad === nothing ? nothing : _tgrad, - mass_matrix = _M, - jac_prototype = W_prototype, - observed = observedfun, - sparsity = sparsity ? W_sparsity(sys) : nothing, - analytic = analytic, - initialization_data) -end - -""" -```julia -DiffEqBase.DAEFunction{iip}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys); - version = nothing, tgrad = false, - jac = false, - sparse = false, - kwargs...) where {iip} -``` - -Create an `DAEFunction` from the [`ODESystem`](@ref). The arguments `dvs` and -`ps` are used to set the order of the dependent variable and parameter vectors, -respectively. -""" -function DiffEqBase.DAEFunction(sys::AbstractODESystem, args...; kwargs...) - DAEFunction{true}(sys, args...; kwargs...) -end - -function DiffEqBase.DAEFunction{iip}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; - ddvs = map(Base.Fix2(diff2term, get_iv(sys)) ∘ Differential(get_iv(sys)), dvs), - version = nothing, p = nothing, - jac = false, - eval_expression = false, - sparse = false, simplify = false, - eval_module = @__MODULE__, - checkbounds = false, - initialization_data = nothing, - cse = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating a `DAEFunction`") - end - f_gen = generate_function(sys, dvs, ps; implicit_dae = true, - expression = Val{true}, cse, - expression_module = eval_module, checkbounds = checkbounds, - kwargs...) - f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) - f = GeneratedFunctionWrapper{(3, 4, is_split(sys))}(f_oop, f_iip) - - if jac - jac_gen = generate_dae_jacobian(sys, dvs, ps; - simplify = simplify, sparse = sparse, - expression = Val{true}, - expression_module = eval_module, cse, - checkbounds = checkbounds, kwargs...) - jac_oop, jac_iip = eval_or_rgf.(jac_gen; eval_expression, eval_module) - - _jac = GeneratedFunctionWrapper{(3, 5, is_split(sys))}(jac_oop, jac_iip) - else - _jac = nothing - end - - observedfun = ObservedFunctionCache( - sys; eval_expression, eval_module, checkbounds = get(kwargs, :checkbounds, false), cse) - - jac_prototype = if sparse - uElType = u0 === nothing ? Float64 : eltype(u0) - if jac - J1 = calculate_jacobian(sys, sparse = sparse) - derivatives = Differential(get_iv(sys)).(unknowns(sys)) - J2 = calculate_jacobian(sys; sparse = sparse, dvs = derivatives) - similar(J1 + J2, uElType) - else - similar(jacobian_dae_sparsity(sys), uElType) - end - else - nothing - end - - DAEFunction{iip}(f; - sys = sys, - jac = _jac === nothing ? nothing : _jac, - jac_prototype = jac_prototype, - observed = observedfun, - initialization_data) -end - -function DiffEqBase.DDEFunction(sys::AbstractODESystem, args...; kwargs...) - DDEFunction{true}(sys, args...; kwargs...) -end - -function DiffEqBase.DDEFunction{iip}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; - eval_expression = false, - eval_module = @__MODULE__, - checkbounds = false, - initialization_data = nothing, - cse = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating an `DDEFunction`") - end - f_gen = generate_function(sys, dvs, ps; isdde = true, - expression = Val{true}, - expression_module = eval_module, checkbounds = checkbounds, - cse, kwargs...) - f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) - f = GeneratedFunctionWrapper{(3, 4, is_split(sys))}(f_oop, f_iip) - - DDEFunction{iip}(f; sys = sys, initialization_data) -end - -function DiffEqBase.SDDEFunction(sys::AbstractODESystem, args...; kwargs...) - SDDEFunction{true}(sys, args...; kwargs...) -end - -function DiffEqBase.SDDEFunction{iip}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; - eval_expression = false, - eval_module = @__MODULE__, - checkbounds = false, - initialization_data = nothing, - cse = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating an `SDDEFunction`") - end - f_gen = generate_function(sys, dvs, ps; isdde = true, - expression = Val{true}, - expression_module = eval_module, checkbounds = checkbounds, - cse, kwargs...) - f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) - f = GeneratedFunctionWrapper{(3, 4, is_split(sys))}(f_oop, f_iip) - - g_gen = generate_diffusion_function(sys, dvs, ps; expression = Val{true}, - isdde = true, cse, kwargs...) - g_oop, g_iip = eval_or_rgf.(g_gen; eval_expression, eval_module) - g = GeneratedFunctionWrapper{(3, 4, is_split(sys))}(g_oop, g_iip) - - SDDEFunction{iip}(f, g; sys = sys, initialization_data) -end - -""" -```julia -ODEFunctionExpr{iip}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys); - version = nothing, tgrad = false, - jac = false, - sparse = false, - kwargs...) where {iip} -``` - -Create a Julia expression for an `ODEFunction` from the [`ODESystem`](@ref). -The arguments `dvs` and `ps` are used to set the order of the dependent -variable and parameter vectors, respectively. -""" -struct ODEFunctionExpr{iip, specialize} end - -function ODEFunctionExpr{iip, specialize}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; - version = nothing, tgrad = false, - jac = false, p = nothing, - linenumbers = false, - sparse = false, simplify = false, - steady_state = false, - sparsity = false, - observedfun_exp = nothing, - kwargs...) where {iip, specialize} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating an `ODEFunctionExpr`") - end - f_oop, f_iip = generate_function(sys, dvs, ps; expression = Val{true}, kwargs...) - - fsym = gensym(:f) - _f = :($fsym = $(GeneratedFunctionWrapper{(2, 3, is_split(sys))})($f_oop, $f_iip)) - tgradsym = gensym(:tgrad) - if tgrad - tgrad_oop, tgrad_iip = generate_tgrad(sys, dvs, ps; - simplify = simplify, - expression = Val{true}, kwargs...) - _tgrad = :($tgradsym = $(GeneratedFunctionWrapper{(2, 3, is_split(sys))})( - $tgrad_oop, $tgrad_iip)) - else - _tgrad = :($tgradsym = nothing) - end - - jacsym = gensym(:jac) - if jac - jac_oop, jac_iip = generate_jacobian(sys, dvs, ps; - sparse = sparse, simplify = simplify, - expression = Val{true}, kwargs...) - _jac = :($jacsym = $(GeneratedFunctionWrapper{(2, 3, is_split(sys))})( - $jac_oop, $jac_iip)) - else - _jac = :($jacsym = nothing) - end - - Msym = gensym(:M) - M = calculate_massmatrix(sys) - if sparse && !(u0 === nothing || M === I) - _M = :($Msym = $(SparseArrays.sparse(M))) - elseif u0 === nothing || M === I - _M = :($Msym = $M) - else - _M = :($Msym = $(ArrayInterface.restructure(u0 .* u0', M))) - end - - jp_expr = sparse ? :($similar($(get_jac(sys)[]), Float64)) : :nothing - ex = quote - let $_f, $_tgrad, $_jac, $_M - ODEFunction{$iip, $specialize}($fsym, - sys = $sys, - jac = $jacsym, - tgrad = $tgradsym, - mass_matrix = $Msym, - jac_prototype = $jp_expr, - sparsity = $(sparsity ? jacobian_sparsity(sys) : nothing), - observed = $observedfun_exp) - end - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function ODEFunctionExpr(sys::AbstractODESystem, args...; kwargs...) - ODEFunctionExpr{true}(sys, args...; kwargs...) -end - -function ODEFunctionExpr{true}(sys::AbstractODESystem, args...; kwargs...) - return ODEFunctionExpr{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) -end - -function ODEFunctionExpr{false}(sys::AbstractODESystem, args...; kwargs...) - return ODEFunctionExpr{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) -end - -""" -```julia -DAEFunctionExpr{iip}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys); - version = nothing, tgrad = false, - jac = false, - sparse = false, - kwargs...) where {iip} -``` - -Create a Julia expression for an `ODEFunction` from the [`ODESystem`](@ref). -The arguments `dvs` and `ps` are used to set the order of the dependent -variable and parameter vectors, respectively. -""" -struct DAEFunctionExpr{iip} end - -function DAEFunctionExpr{iip}(sys::AbstractODESystem, dvs = unknowns(sys), - ps = parameters(sys), u0 = nothing; - version = nothing, tgrad = false, - jac = false, p = nothing, - linenumbers = false, - sparse = false, simplify = false, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating an `DAEFunctionExpr`") - end - f_oop, f_iip = generate_function(sys, dvs, ps; expression = Val{true}, - implicit_dae = true, kwargs...) - fsym = gensym(:f) - _f = :($fsym = $(GeneratedFunctionWrapper{(3, 4, is_split(sys))})($f_oop, $f_iip)) - ex = quote - $_f - ODEFunction{$iip}($fsym) - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function DAEFunctionExpr(sys::AbstractODESystem, args...; kwargs...) - DAEFunctionExpr{true}(sys, args...; kwargs...) -end - -struct SymbolicTstops{F} - fn::F -end - -function (st::SymbolicTstops)(p, tspan) - unique!(sort!(reduce(vcat, st.fn(p, tspan...)))) -end - -function SymbolicTstops( - sys::AbstractSystem; eval_expression = false, eval_module = @__MODULE__) - tstops = symbolic_tstops(sys) - isempty(tstops) && return nothing - t0 = gensym(:t0) - t1 = gensym(:t1) - tstops = map(tstops) do val - if is_array_of_symbolics(val) || val isa AbstractArray - collect(val) - else - term(:, t0, unwrap(val), t1; type = AbstractArray{Real}) - end - end - rps = reorder_parameters(sys) - tstops, _ = build_function_wrapper(sys, tstops, - rps..., - t0, - t1; - expression = Val{true}, - p_start = 1, p_end = length(rps), add_observed = false, force_SA = true) - tstops = eval_or_rgf(tstops; eval_expression, eval_module) - tstops = GeneratedFunctionWrapper{(1, 3, is_split(sys))}(tstops, nothing) - return SymbolicTstops(tstops) -end - -""" -```julia -DiffEqBase.ODEProblem{iip}(sys::AbstractODESystem, u0map, tspan, - parammap = DiffEqBase.NullParameters(); - allow_cost = false, - version = nothing, tgrad = false, - jac = false, - checkbounds = false, sparse = false, - simplify = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates an ODEProblem from an ODESystem and allows for automatically -symbolically calculating numerical enhancements. -""" -function DiffEqBase.ODEProblem(sys::AbstractODESystem, args...; kwargs...) - ODEProblem{true}(sys, args...; kwargs...) -end - -function DiffEqBase.ODEProblem(sys::AbstractODESystem, - u0map::StaticArray, - args...; - kwargs...) - ODEProblem{false, SciMLBase.FullSpecialize}(sys, u0map, args...; kwargs...) -end - -function DiffEqBase.ODEProblem{true}(sys::AbstractODESystem, args...; kwargs...) - ODEProblem{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) -end - -function DiffEqBase.ODEProblem{false}(sys::AbstractODESystem, args...; kwargs...) - ODEProblem{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) -end - -function DiffEqBase.ODEProblem{iip, specialize}(sys::AbstractODESystem, u0map = [], - tspan = get_tspan(sys), - parammap = DiffEqBase.NullParameters(); - allow_cost = false, - callback = nothing, - check_length = true, - warn_initialize_determined = true, - eval_expression = false, - eval_module = @__MODULE__, - kwargs...) where {iip, specialize} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating an `ODEProblem`") - end - - if !isnothing(get_constraintsystem(sys)) - error("An ODESystem with constraints cannot be used to construct a regular ODEProblem. - Consider a BVProblem instead.") - end - - if !isempty(get_costs(sys)) && !allow_cost - error("ODEProblem will not optimize solutions of ODESystems that have associated cost functions. - Solvers for optimal control problems are forthcoming. In order to bypass this error (e.g. - to check the cost of a regular solution), pass `allow_cost` = true into the constructor.") - end - - f, u0, p = process_SciMLProblem(ODEFunction{iip, specialize}, sys, u0map, parammap; - t = tspan !== nothing ? tspan[1] : tspan, - check_length, warn_initialize_determined, eval_expression, eval_module, kwargs...) - cbs = process_events(sys; callback, eval_expression, eval_module, kwargs...) - - kwargs = filter_kwargs(kwargs) - pt = something(get_metadata(sys), StandardODEProblem()) - - kwargs1 = (;) - if cbs !== nothing - kwargs1 = merge(kwargs1, (callback = cbs,)) - end - - tstops = SymbolicTstops(sys; eval_expression, eval_module) - if tstops !== nothing - kwargs1 = merge(kwargs1, (; tstops)) - end - - # Call `remake` so it runs initialization if it is trivial - return remake(ODEProblem{iip}(f, u0, tspan, p, pt; kwargs1..., kwargs...)) -end -get_callback(prob::ODEProblem) = prob.kwargs[:callback] - -""" -```julia -SciMLBase.BVProblem{iip}(sys::AbstractODESystem, u0map, tspan, - parammap = DiffEqBase.NullParameters(); - constraints = nothing, guesses = nothing, - version = nothing, tgrad = false, - jac = true, sparse = true, - simplify = false, - kwargs...) where {iip} -``` - -Create a boundary value problem from the [`ODESystem`](@ref). - -`u0map` is used to specify fixed initial values for the states. Every variable -must have either an initial guess supplied using `guesses` or a fixed initial -value specified using `u0map`. - -Boundary value conditions are supplied to ODESystems -in the form of a ConstraintsSystem. These equations -should specify values that state variables should -take at specific points, as in `x(0.5) ~ 1`). More general constraints that -should hold over the entire solution, such as `x(t)^2 + y(t)^2`, should be -specified as one of the equations used to build the `ODESystem`. - -If an ODESystem without `constraints` is specified, it will be treated as an initial value problem. - -```julia - @parameters g t_c = 0.5 - @variables x(..) y(t) λ(t) - eqs = [D(D(x(t))) ~ λ * x(t) - D(D(y)) ~ λ * y - g - x(t)^2 + y^2 ~ 1] - cstr = [x(0.5) ~ 1] - @mtkbuild pend = ODESystem(eqs, t; constraints = cstrs) - - tspan = (0.0, 1.5) - u0map = [x(t) => 0.6, y => 0.8] - parammap = [g => 1] - guesses = [λ => 1] - - bvp = SciMLBase.BVProblem{true, SciMLBase.AutoSpecialize}(pend, u0map, tspan, parammap; guesses, check_length = false) -``` - -If the `ODESystem` has algebraic equations, like `x(t)^2 + y(t)^2`, the resulting -`BVProblem` must be solved using BVDAE solvers, such as Ascher. -""" -function SciMLBase.BVProblem(sys::AbstractODESystem, args...; kwargs...) - BVProblem{true}(sys, args...; kwargs...) -end - -function SciMLBase.BVProblem(sys::AbstractODESystem, - u0map::StaticArray, - args...; - kwargs...) - BVProblem{false, SciMLBase.FullSpecialize}(sys, u0map, args...; kwargs...) -end - -function SciMLBase.BVProblem{true}(sys::AbstractODESystem, args...; kwargs...) - BVProblem{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) -end - -function SciMLBase.BVProblem{false}(sys::AbstractODESystem, args...; kwargs...) - BVProblem{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) -end - -function SciMLBase.BVProblem{iip, specialize}(sys::AbstractODESystem, u0map = [], - tspan = get_tspan(sys), - parammap = DiffEqBase.NullParameters(); - guesses = Dict(), - allow_cost = false, - version = nothing, tgrad = false, - callback = nothing, - check_length = true, - warn_initialize_determined = true, - eval_expression = false, - eval_module = @__MODULE__, - cse = true, - kwargs...) where {iip, specialize} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating an `BVProblem`") - end - !isnothing(callback) && error("BVP solvers do not support callbacks.") - - if !isempty(get_costs(sys)) && !allow_cost - error("BVProblem will not optimize solutions of ODESystems that have associated cost functions. - Solvers for optimal control problems are forthcoming. In order to bypass this error (e.g. - to check the cost of a regular solution), pass `allow_cost` = true into the constructor.") - end - - has_alg_eqs(sys) && - error("The BVProblem constructor currently does not support ODESystems with algebraic equations.") # Remove this when the BVDAE solvers get updated, the codegen should work when it does. - - sts = unknowns(sys) - ps = parameters(sys) - constraintsys = get_constraintsystem(sys) - - if !isnothing(constraintsys) - (length(constraints(constraintsys)) + length(u0map) > length(sts)) && - @warn "The BVProblem is overdetermined. The total number of conditions (# constraints + # fixed initial values given by u0map) exceeds the total number of states. The BVP solvers will default to doing a nonlinear least-squares optimization." - end - - # ODESystems without algebraic equations should use both fixed values + guesses - # for initialization. - _u0map = has_alg_eqs(sys) ? u0map : merge(Dict(u0map), Dict(guesses)) - f, u0, p = process_SciMLProblem(ODEFunction{iip, specialize}, sys, _u0map, parammap; - t = tspan !== nothing ? tspan[1] : tspan, guesses, - check_length, warn_initialize_determined, eval_expression, eval_module, cse, kwargs...) - - stidxmap = Dict([v => i for (i, v) in enumerate(sts)]) - u0_idxs = has_alg_eqs(sys) ? collect(1:length(sts)) : [stidxmap[k] for (k, v) in u0map] - - fns = generate_function_bc(sys, u0, u0_idxs, tspan; cse) - bc_oop, bc_iip = eval_or_rgf.(fns; eval_expression, eval_module) - bc(sol, p, t) = bc_oop(sol, p, t) - bc(resid, u, p, t) = bc_iip(resid, u, p, t) - - return BVProblem{iip}(f, bc, u0, tspan, p; kwargs...) -end - -get_callback(prob::BVProblem) = error("BVP solvers do not support callbacks.") - -""" - generate_function_bc(sys::ODESystem, u0, u0_idxs, tspan) - - Given an ODESystem with constraints, generate the boundary condition function to pass to boundary value problem solvers. - Expression uses the constraints and the provided initial conditions. -""" -function generate_function_bc(sys::ODESystem, u0, u0_idxs, tspan; kwargs...) - iv = get_iv(sys) - sts = unknowns(sys) - ps = parameters(sys) - np = length(ps) - ns = length(sts) - stidxmap = Dict([v => i for (i, v) in enumerate(sts)]) - pidxmap = Dict([v => i for (i, v) in enumerate(ps)]) - - @variables sol(..)[1:ns] - - conssys = get_constraintsystem(sys) - cons = Any[] - if !isnothing(conssys) - cons = [con.lhs - con.rhs for con in constraints(conssys)] - - for st in get_unknowns(conssys) - x = operation(st) - t = only(arguments(st)) - idx = stidxmap[x(iv)] - - cons = map(c -> Symbolics.substitute(c, Dict(x(t) => sol(t)[idx])), cons) - end - end - - init_conds = Any[] - for i in u0_idxs - expr = sol(tspan[1])[i] - u0[i] - push!(init_conds, expr) - end - - exprs = vcat(init_conds, cons) - _p = reorder_parameters(sys, ps) - - build_function_wrapper(sys, exprs, sol, _p..., iv; output_type = Array, kwargs...) -end - -""" -```julia -DiffEqBase.DAEProblem{iip}(sys::AbstractODESystem, du0map, u0map, tspan, - parammap = DiffEqBase.NullParameters(); - version = nothing, tgrad = false, - jac = false, - checkbounds = false, sparse = false, - simplify = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates a DAEProblem from an ODESystem and allows for automatically -symbolically calculating numerical enhancements. - -Note: Solvers for DAEProblems like DFBDF, DImplicitEuler, DABDF2 are -generally slower than the ones for ODEProblems. We recommend trying -ODEProblem and its solvers for your problem first. -""" -function DiffEqBase.DAEProblem(sys::AbstractODESystem, args...; kwargs...) - DAEProblem{true}(sys, args...; kwargs...) -end - -function DiffEqBase.DAEProblem{iip}(sys::AbstractODESystem, du0map, u0map, tspan, - parammap = DiffEqBase.NullParameters(); - allow_cost = false, - warn_initialize_determined = true, - check_length = true, eval_expression = false, eval_module = @__MODULE__, kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating a `DAEProblem`.") - end - - if !isempty(get_costs(sys)) && !allow_cost - error("DAEProblem will not optimize solutions of ODESystems that have associated cost functions. - Solvers for optimal control problems are forthcoming. In order to bypass this error (e.g. - to check the cost of a regular solution), pass `allow_cost` = true into the constructor.") - end - - f, du0, u0, p = process_SciMLProblem(DAEFunction{iip}, sys, u0map, parammap; - implicit_dae = true, du0map = du0map, check_length, - t = tspan !== nothing ? tspan[1] : tspan, - warn_initialize_determined, kwargs...) - diffvars = collect_differential_variables(sys) - sts = unknowns(sys) - differential_vars = map(Base.Fix2(in, diffvars), sts) - kwargs = filter_kwargs(kwargs) - - kwargs1 = (;) - - tstops = SymbolicTstops(sys; eval_expression, eval_module) - if tstops !== nothing - kwargs1 = merge(kwargs1, (; tstops)) - end - - # Call `remake` so it runs initialization if it is trivial - return remake(DAEProblem{iip}( - f, du0, u0, tspan, p; differential_vars = differential_vars, - kwargs..., kwargs1...)) -end - -function generate_history(sys::AbstractODESystem, u0; expression = Val{false}, kwargs...) - p = reorder_parameters(sys) - build_function_wrapper( - sys, u0, p..., get_iv(sys); expression, p_start = 1, p_end = length(p), - similarto = typeof(u0), wrap_delays = false, kwargs...) -end - -function DiffEqBase.DDEProblem(sys::AbstractODESystem, args...; kwargs...) - DDEProblem{true}(sys, args...; kwargs...) -end -function DiffEqBase.DDEProblem{iip}(sys::AbstractODESystem, u0map = [], - tspan = get_tspan(sys), - parammap = DiffEqBase.NullParameters(); - callback = nothing, - check_length = true, - eval_expression = false, - eval_module = @__MODULE__, - u0_constructor = identity, - cse = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating a `DDEProblem`") - end - f, u0, p = process_SciMLProblem(DDEFunction{iip}, sys, u0map, parammap; - t = tspan !== nothing ? tspan[1] : tspan, - symbolic_u0 = true, u0_constructor, cse, - check_length, eval_expression, eval_module, kwargs...) - h_gen = generate_history(sys, u0; expression = Val{true}, cse) - h_oop, h_iip = eval_or_rgf.(h_gen; eval_expression, eval_module) - h = h_oop - u0 = float.(h(p, tspan[1])) - if u0 !== nothing - u0 = u0_constructor(u0) - end - - cbs = process_events(sys; callback, eval_expression, eval_module, kwargs...) - kwargs = filter_kwargs(kwargs) - - kwargs1 = (;) - if cbs !== nothing - kwargs1 = merge(kwargs1, (callback = cbs,)) - end - # Call `remake` so it runs initialization if it is trivial - return remake(DDEProblem{iip}(f, u0, h, tspan, p; kwargs1..., kwargs...)) -end - -function DiffEqBase.SDDEProblem(sys::AbstractODESystem, args...; kwargs...) - SDDEProblem{true}(sys, args...; kwargs...) -end -function DiffEqBase.SDDEProblem{iip}(sys::AbstractODESystem, u0map = [], - tspan = get_tspan(sys), - parammap = DiffEqBase.NullParameters(); - callback = nothing, - check_length = true, - sparsenoise = nothing, - eval_expression = false, - eval_module = @__MODULE__, - u0_constructor = identity, - cse = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating a `SDDEProblem`") - end - f, u0, p = process_SciMLProblem(SDDEFunction{iip}, sys, u0map, parammap; - t = tspan !== nothing ? tspan[1] : tspan, - symbolic_u0 = true, eval_expression, eval_module, u0_constructor, - check_length, cse, kwargs...) - h_gen = generate_history(sys, u0; expression = Val{true}, cse) - h_oop, h_iip = eval_or_rgf.(h_gen; eval_expression, eval_module) - h = h_oop - u0 = h(p, tspan[1]) - if u0 !== nothing - u0 = u0_constructor(u0) - end - - cbs = process_events(sys; callback, eval_expression, eval_module, kwargs...) - kwargs = filter_kwargs(kwargs) - - kwargs1 = (;) - if cbs !== nothing - kwargs1 = merge(kwargs1, (callback = cbs,)) - end - - noiseeqs = get_noiseeqs(sys) - sparsenoise === nothing && (sparsenoise = get(kwargs, :sparse, false)) - if noiseeqs isa AbstractVector - noise_rate_prototype = nothing - elseif sparsenoise - I, J, V = findnz(SparseArrays.sparse(noiseeqs)) - noise_rate_prototype = SparseArrays.sparse(I, J, zero(eltype(u0))) - else - noise_rate_prototype = zeros(eltype(u0), size(noiseeqs)) - end - # Call `remake` so it runs initialization if it is trivial - return remake(SDDEProblem{iip}(f, f.g, u0, h, tspan, p; - noise_rate_prototype = - noise_rate_prototype, kwargs1..., kwargs...)) -end - -""" -```julia -ODEProblemExpr{iip}(sys::AbstractODESystem, u0map, tspan, - parammap = DiffEqBase.NullParameters(); - version = nothing, tgrad = false, - jac = false, - checkbounds = false, sparse = false, - linenumbers = true, parallel = SerialForm(), - skipzeros = true, fillzeros = true, - simplify = false, - kwargs...) where {iip} -``` - -Generates a Julia expression for constructing an ODEProblem from an -ODESystem and allows for automatically symbolically calculating -numerical enhancements. -""" -struct ODEProblemExpr{iip} end - -function ODEProblemExpr{iip}(sys::AbstractODESystem, u0map, tspan, - parammap = DiffEqBase.NullParameters(); check_length = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating a `ODEProblemExpr`") - end - f, u0, p = process_SciMLProblem( - ODEFunctionExpr{iip}, sys, u0map, parammap; check_length, - t = tspan !== nothing ? tspan[1] : tspan, - kwargs...) - linenumbers = get(kwargs, :linenumbers, true) - kwargs = filter_kwargs(kwargs) - kwarg_params = gen_quoted_kwargs(kwargs) - odep = Expr(:call, :ODEProblem, kwarg_params, :f, :u0, :tspan, :p) - ex = quote - f = $f - u0 = $u0 - tspan = $tspan - p = $p - $odep - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function ODEProblemExpr(sys::AbstractODESystem, args...; kwargs...) - ODEProblemExpr{true}(sys, args...; kwargs...) -end - -""" -```julia -DAEProblemExpr{iip}(sys::AbstractODESystem, u0map, tspan, - parammap = DiffEqBase.NullParameters(); - version = nothing, tgrad = false, - jac = false, - checkbounds = false, sparse = false, - linenumbers = true, parallel = SerialForm(), - skipzeros = true, fillzeros = true, - simplify = false, - kwargs...) where {iip} -``` - -Generates a Julia expression for constructing a DAEProblem from an -ODESystem and allows for automatically symbolically calculating -numerical enhancements. -""" -struct DAEProblemExpr{iip} end - -function DAEProblemExpr{iip}(sys::AbstractODESystem, du0map, u0map, tspan, - parammap = DiffEqBase.NullParameters(); check_length = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating a `DAEProblemExpr`") - end - f, du0, u0, p = process_SciMLProblem(DAEFunctionExpr{iip}, sys, u0map, parammap; - t = tspan !== nothing ? tspan[1] : tspan, - implicit_dae = true, du0map = du0map, check_length, - kwargs...) - linenumbers = get(kwargs, :linenumbers, true) - diffvars = collect_differential_variables(sys) - sts = unknowns(sys) - differential_vars = map(Base.Fix2(in, diffvars), sts) - kwargs = filter_kwargs(kwargs) - kwarg_params = gen_quoted_kwargs(kwargs) - push!(kwarg_params.args, Expr(:kw, :differential_vars, :differential_vars)) - prob = Expr(:call, :(DAEProblem{$iip}), kwarg_params, :f, :du0, :u0, :tspan, :p) - ex = quote - f = $f - u0 = $u0 - du0 = $du0 - tspan = $tspan - p = $p - differential_vars = $differential_vars - $prob - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function DAEProblemExpr(sys::AbstractODESystem, args...; kwargs...) - DAEProblemExpr{true}(sys, args...; kwargs...) -end - -""" -```julia -SciMLBase.SteadyStateProblem(sys::AbstractODESystem, u0map, - parammap = DiffEqBase.NullParameters(); - version = nothing, tgrad = false, - jac = false, - checkbounds = false, sparse = false, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates an SteadyStateProblem from an ODESystem and allows for automatically -symbolically calculating numerical enhancements. -""" -function SciMLBase.SteadyStateProblem(sys::AbstractODESystem, args...; kwargs...) - SteadyStateProblem{true}(sys, args...; kwargs...) -end - -function DiffEqBase.SteadyStateProblem{iip}(sys::AbstractODESystem, u0map, - parammap = SciMLBase.NullParameters(); - check_length = true, kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating a `SteadyStateProblem`") - end - f, u0, p = process_SciMLProblem(ODEFunction{iip}, sys, u0map, parammap; - steady_state = true, - check_length, force_initialization_time_independent = true, kwargs...) - kwargs = filter_kwargs(kwargs) - SteadyStateProblem{iip}(f, u0, p; kwargs...) -end - -""" -```julia -SciMLBase.SteadyStateProblemExpr(sys::AbstractODESystem, u0map, - parammap = DiffEqBase.NullParameters(); - version = nothing, tgrad = false, - jac = false, - checkbounds = false, sparse = false, - skipzeros = true, fillzeros = true, - linenumbers = true, parallel = SerialForm(), - kwargs...) where {iip} -``` - -Generates a Julia expression for building a SteadyStateProblem from -an ODESystem and allows for automatically symbolically calculating -numerical enhancements. -""" -struct SteadyStateProblemExpr{iip} end - -function SteadyStateProblemExpr{iip}(sys::AbstractODESystem, u0map, - parammap = SciMLBase.NullParameters(); - check_length = true, - kwargs...) where {iip} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating a `SteadyStateProblemExpr`") - end - f, u0, p = process_SciMLProblem(ODEFunctionExpr{iip}, sys, u0map, parammap; - steady_state = true, - check_length, kwargs...) - linenumbers = get(kwargs, :linenumbers, true) - kwargs = filter_kwargs(kwargs) - kwarg_params = gen_quoted_kwargs(kwargs) - prob = Expr(:call, :SteadyStateProblem, kwarg_params, :f, :u0, :p) - ex = quote - f = $f - u0 = $u0 - p = $p - $prob - end - !linenumbers ? Base.remove_linenums!(ex) : ex -end - -function SteadyStateProblemExpr(sys::AbstractODESystem, args...; kwargs...) - SteadyStateProblemExpr{true}(sys, args...; kwargs...) -end - -function _match_eqs(eqs1, eqs2) - eqpairs = Pair[] - for (i, eq) in enumerate(eqs1) - for (j, eq2) in enumerate(eqs2) - if isequal(eq, eq2) - push!(eqpairs, i => j) - break - end - end - end - eqpairs -end - -function isisomorphic(sys1::AbstractODESystem, sys2::AbstractODESystem) - sys1 = flatten(sys1) - sys2 = flatten(sys2) - - iv2 = only(independent_variables(sys2)) - sys1 = convert_system(ODESystem, sys1, iv2) - s1, s2 = unknowns(sys1), unknowns(sys2) - p1, p2 = parameters(sys1), parameters(sys2) - - (length(s1) != length(s2)) || (length(p1) != length(p2)) && return false - - eqs1 = equations(sys1) - eqs2 = equations(sys2) - - pps = permutations(p2) - psts = permutations(s2) - orig = [p1; s1] - perms = ([x; y] for x in pps for y in psts) - - for perm in perms - rules = Dict(orig .=> perm) - neweqs1 = substitute(eqs1, rules) - eqpairs = _match_eqs(neweqs1, eqs2) - if length(eqpairs) == length(eqs1) - return true - end - end - return false -end - -function flatten_equations(eqs) - mapreduce(vcat, eqs; init = Equation[]) do eq - islhsarr = eq.lhs isa AbstractArray || Symbolics.isarraysymbolic(eq.lhs) - isrhsarr = eq.rhs isa AbstractArray || Symbolics.isarraysymbolic(eq.rhs) - if islhsarr || isrhsarr - islhsarr && isrhsarr || - error("LHS ($(eq.lhs)) and RHS ($(eq.rhs)) must either both be array expressions or both scalar") - size(eq.lhs) == size(eq.rhs) || - error("Size of LHS ($(eq.lhs)) and RHS ($(eq.rhs)) must match: got $(size(eq.lhs)) and $(size(eq.rhs))") - return vec(collect(eq.lhs) .~ collect(eq.rhs)) - else - eq - end - end -end - -struct InitializationProblem{iip, specialization} end - -""" -```julia -InitializationProblem{iip}(sys::AbstractODESystem, t, u0map, - parammap = DiffEqBase.NullParameters(); - version = nothing, tgrad = false, - jac = false, - checkbounds = false, sparse = false, - simplify = false, - linenumbers = true, parallel = SerialForm(), - initialization_eqs = [], - fully_determined = false, - kwargs...) where {iip} -``` - -Generates a NonlinearProblem or NonlinearLeastSquaresProblem from an ODESystem -which represents the initialization, i.e. the calculation of the consistent -initial conditions for the given DAE. -""" -function InitializationProblem(sys::AbstractSystem, args...; kwargs...) - InitializationProblem{true}(sys, args...; kwargs...) -end - -function InitializationProblem(sys::AbstractSystem, t, - u0map::StaticArray, - args...; - kwargs...) - InitializationProblem{false, SciMLBase.FullSpecialize}( - sys, t, u0map, args...; kwargs...) -end - -function InitializationProblem{true}(sys::AbstractSystem, args...; kwargs...) - InitializationProblem{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) -end - -function InitializationProblem{false}(sys::AbstractSystem, args...; kwargs...) - InitializationProblem{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) -end - -const INCOMPLETE_INITIALIZATION_MESSAGE = """ - Initialization incomplete. Not all of the state variables of the - DAE system can be determined by the initialization. Missing - variables: - """ - -struct IncompleteInitializationError <: Exception - uninit::Any -end - -function Base.showerror(io::IO, e::IncompleteInitializationError) - println(io, INCOMPLETE_INITIALIZATION_MESSAGE) - println(io, e.uninit) -end - -function InitializationProblem{iip, specialize}(sys::AbstractSystem, - t, u0map = [], - parammap = DiffEqBase.NullParameters(); - guesses = [], - check_length = true, - warn_initialize_determined = true, - initialization_eqs = [], - fully_determined = nothing, - check_units = true, - use_scc = true, - allow_incomplete = false, - force_time_independent = false, - algebraic_only = false, - kwargs...) where {iip, specialize} - if !iscomplete(sys) - error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating an `ODEProblem`") - end - if isempty(u0map) && get_initializesystem(sys) !== nothing - isys = get_initializesystem(sys; initialization_eqs, check_units) - simplify_system = false - elseif isempty(u0map) && get_initializesystem(sys) === nothing - isys = generate_initializesystem( - sys; initialization_eqs, check_units, pmap = parammap, - guesses, algebraic_only) - simplify_system = true - else - isys = generate_initializesystem( - sys; u0map, initialization_eqs, check_units, - pmap = parammap, guesses, algebraic_only) - simplify_system = true - end - - # useful for `SteadyStateProblem` since `f` has to be autonomous and the - # initialization should be too - if force_time_independent - idx = findfirst(isequal(get_iv(sys)), get_ps(isys)) - idx === nothing || deleteat!(get_ps(isys), idx) - end - - if simplify_system - isys = structural_simplify(isys; fully_determined) - end - - ts = get_tearing_state(isys) - unassigned_vars = StructuralTransformations.singular_check(ts) - if warn_initialize_determined && !isempty(unassigned_vars) - errmsg = """ - The initialization system is structurally singular. Guess values may \ - significantly affect the initial values of the ODE. The problematic variables \ - are $unassigned_vars. - - Note that the identification of problematic variables is a best-effort heuristic. - """ - @warn errmsg - end - - uninit = setdiff(unknowns(sys), [unknowns(isys); observables(isys)]) - - # TODO: throw on uninitialized arrays - filter!(x -> !(x isa Symbolics.Arr), uninit) - if is_time_dependent(sys) && !isempty(uninit) - allow_incomplete || throw(IncompleteInitializationError(uninit)) - # for incomplete initialization, we will add the missing variables as parameters. - # they will be updated by `update_initializeprob!` and `initializeprobmap` will - # use them to construct the new `u0`. - newparams = map(toparam, uninit) - append!(get_ps(isys), newparams) - isys = complete(isys) - end - - neqs = length(equations(isys)) - nunknown = length(unknowns(isys)) - - if use_scc - scc_message = "`SCCNonlinearProblem` can only be used for initialization of fully determined systems and hence will not be used here. " - else - scc_message = "" - end - - if warn_initialize_determined && neqs > nunknown - @warn "Initialization system is overdetermined. $neqs equations for $nunknown unknowns. Initialization will default to using least squares. $(scc_message)To suppress this warning pass warn_initialize_determined = false. To make this warning into an error, pass fully_determined = true" - end - if warn_initialize_determined && neqs < nunknown - @warn "Initialization system is underdetermined. $neqs equations for $nunknown unknowns. Initialization will default to using least squares. $(scc_message)To suppress this warning pass warn_initialize_determined = false. To make this warning into an error, pass fully_determined = true" - end - - parammap = recursive_unwrap(anydict(parammap)) - if t !== nothing - parammap[get_iv(sys)] = t - end - filter!(kvp -> kvp[2] !== missing, parammap) - - u0map = to_varmap(u0map, unknowns(sys)) - if isempty(guesses) - guesses = Dict() - end - - filter_missing_values!(u0map) - filter_missing_values!(parammap) - u0map = merge(ModelingToolkit.guesses(sys), todict(guesses), u0map) - - TProb = if neqs == nunknown && isempty(unassigned_vars) - if use_scc && neqs > 0 - if is_split(isys) - SCCNonlinearProblem - else - @warn "`SCCNonlinearProblem` can only be used with `split = true` systems. Simplify your `ODESystem` with `split = true` or pass `use_scc = false` to disable this warning" - NonlinearProblem - end - else - NonlinearProblem - end - else - NonlinearLeastSquaresProblem - end - TProb(isys, u0map, parammap; kwargs..., - build_initializeprob = false, is_initializeprob = true) -end From b803240772d91400de9c3efe997f04e343a94c3d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 13:50:38 +0530 Subject: [PATCH 015/167] refactor: do not rely on `ArrayPartition` when unit-checking jumps --- src/systems/unit_check.jl | 8 ++++++-- src/systems/validation.jl | 9 +++++++-- 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/src/systems/unit_check.jl b/src/systems/unit_check.jl index 83a5ac5483..acf7451065 100644 --- a/src/systems/unit_check.jl +++ b/src/systems/unit_check.jl @@ -267,9 +267,13 @@ function validate(jump::MassActionJump, t::Symbolic; info::String = "") ["scaled_rates", "1/(t*reactants^$n))"]; info) end -function validate(jumps::ArrayPartition{<:Union{Any, Vector{<:JumpType}}}, t::Symbolic) +function validate(jumps::Vector{JumpType}, t::Symbolic) labels = ["in Mass Action Jumps,", "in Constant Rate Jumps,", "in Variable Rate Jumps,"] - all([validate(jumps.x[idx], t, info = labels[idx]) for idx in 1:3]) + majs = filter(x -> x isa MassActionJump, jumps) + crjs = filter(x -> x isa ConstantRateJump, jumps) + vrjs = filter(x -> x isa VariableRateJump, jumps) + splitjumps = [majs, crjs, vrjs] + all([validate(js, t; info) for (js, info) in zip(splitjumps, labels)]) end function validate(eq::Union{Inequality, Equation}; info::String = "") diff --git a/src/systems/validation.jl b/src/systems/validation.jl index 84dd3b07e5..d416a02ea2 100644 --- a/src/systems/validation.jl +++ b/src/systems/validation.jl @@ -5,6 +5,7 @@ using ..ModelingToolkit: ValidationError, ModelingToolkit, Connection, instream, JumpType, VariableUnit, get_systems, Conditional, Comparison +using JumpProcesses: MassActionJump, ConstantRateJump, VariableRateJump using Symbolics: Symbolic, value, issym, isadd, ismul, ispow const MT = ModelingToolkit @@ -231,9 +232,13 @@ function validate(jump::MT.MassActionJump, t::Symbolic; info::String = "") ["scaled_rates", "1/(t*reactants^$n))"]; info) end -function validate(jumps::ArrayPartition{<:Union{Any, Vector{<:JumpType}}}, t::Symbolic) +function validate(jumps::Vector{JumpType}, t::Symbolic) labels = ["in Mass Action Jumps,", "in Constant Rate Jumps,", "in Variable Rate Jumps,"] - all([validate(jumps.x[idx], t, info = labels[idx]) for idx in 1:3]) + majs = filter(x -> x isa MassActionJump, jumps) + crjs = filter(x -> x isa ConstantRateJump, jumps) + vrjs = filter(x -> x isa VariableRateJump, jumps) + splitjumps = [majs, crjs, vrjs] + all([validate(js, t; info) for (js, info) in zip(splitjumps, labels)]) end function validate(eq::MT.Equation; info::String = "") From c2f307047fc20f9a0e1956595b050b5289b0a1d9 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 12:23:23 +0530 Subject: [PATCH 016/167] feat: add unified `System` type feat: add unified `System` type feat: add `is_discrete_system` feat: add `is_dde` to `System` refactor: change defaults of `costs` and `consolidate` feat: implement `is_time_dependent` for `System` feat: add `check_complete` feat: add `flatten(::System)` feat: add `isscheduled` to `System` feat: implement `Base.:(==)` for `System` feat: implement `supports_initialization(::System)` feat: add `schedule` field in `System` refactor: improve `System` constructors fix: fix `==` and `hash` implementations for `System` feat: add utility constructors for `OptimizationSystem` and `JumpSystem` feat: add utility constructor for `SDESystem` fix: fix error message for events in time-independent systems refactor: do not use `process_equations` in `System` constructor fix: fix default `costs` in `System` constructor feat: add `initializesystem` field to `System` fix: fix brownians passed to `System` constructor fix: fix `flatten(::System)` feat: add `System(::Equation, ...)` constructor fix: unwrap costs in `System` constructor fix: fix noise equations unit checking fix: convert `constraints` to appropriate type fix: correctly order unknowns in `System` constructor feat: add `preface` to `System` fix: respect scoping in `System` constructor variable discovery fix: fix `flatten(::System)` feat: add `OptimizationSystem` ctor where cost is an array --- src/ModelingToolkit.jl | 4 +- src/systems/abstractsystem.jl | 17 - src/systems/system.jl | 779 ++++++++++++++++++++++++++++++++++ 3 files changed, 782 insertions(+), 18 deletions(-) create mode 100644 src/systems/system.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index f2ede744c1..0b23cb1d23 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -158,6 +158,8 @@ include("systems/model_parsing.jl") include("systems/connectors.jl") include("systems/analysis_points.jl") include("systems/imperative_affect.jl") +include("systems/callbacks.jl") +include("systems/system.jl") include("systems/codegen_utils.jl") include("systems/problem_utils.jl") include("linearization.jl") @@ -251,7 +253,7 @@ export AbstractTimeDependentSystem, AbstractMultivariateSystem export ODEFunction, ODEFunctionExpr, ODEProblemExpr, convert_system, - add_accumulations, System + System, OptimizationSystem, JumpSystem, SDESystem export DAEFunctionExpr, DAEProblemExpr export SDEFunction, SDEFunctionExpr, SDEProblemExpr export SystemStructure diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 1da2a8ff73..6b5ede1369 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -2579,23 +2579,6 @@ end ### ### Inheritance & composition ### -function Base.hash(sys::AbstractSystem, s::UInt) - s = hash(nameof(sys), s) - s = foldr(hash, get_systems(sys), init = s) - s = foldr(hash, get_unknowns(sys), init = s) - s = foldr(hash, get_ps(sys), init = s) - if sys isa OptimizationSystem - s = hash(get_op(sys), s) - else - s = foldr(hash, get_eqs(sys), init = s) - end - s = foldr(hash, get_observed(sys), init = s) - s = foldr(hash, get_continuous_events(sys), init = s) - s = foldr(hash, get_discrete_events(sys), init = s) - s = hash(independent_variables(sys), s) - return s -end - """ $(TYPEDSIGNATURES) diff --git a/src/systems/system.jl b/src/systems/system.jl new file mode 100644 index 0000000000..d89bdb0f8e --- /dev/null +++ b/src/systems/system.jl @@ -0,0 +1,779 @@ +struct Schedule{V <: BipartiteGraphs.Matching} + """ + Maximal matching of variables to equations calculated during structural simplification. + """ + var_eq_matching::V + """ + Mapping of `Differential`s of variables to corresponding derivative expressions. + """ + dummy_sub::Dict{Any, Any} +end + +struct System <: AbstractSystem + tag::UInt + eqs::Vector{Equation} + # nothing - no noise + # vector - diagonal noise + # matrix - generic form + # column matrix - scalar noise + noise_eqs::Union{Nothing, AbstractVector, AbstractMatrix} + jumps::Vector{JumpType} + constraints::Vector{Union{Equation, Inequality}} + costs::Vector{<:BasicSymbolic} + consolidate::Any + unknowns::Vector + ps::Vector + brownians::Vector + iv::Union{Nothing, BasicSymbolic{Real}} + observed::Vector{Equation} + parameter_dependencies::Vector{Equation} + var_to_name::Dict{Symbol, Any} + name::Symbol + description::String + defaults::Dict + guesses::Dict + systems::Vector{System} + initialization_eqs::Vector{Equation} + continuous_events::Vector{SymbolicContinuousCallback} + discrete_events::Vector{SymbolicDiscreteCallback} + connector_type::Any + assertions::Dict{BasicSymbolic, String} + metadata::Any + gui_metadata::Any # ? + is_dde::Bool + tstops::Vector{Any} + tearing_state::Any + namespacing::Bool + complete::Bool + index_cache::Union{Nothing, IndexCache} + ignored_connections::Union{ + Nothing, Tuple{Vector{IgnoredAnalysisPoint}, Vector{IgnoredAnalysisPoint}}} + preface::Any + parent::Union{Nothing, System} + initializesystem::Union{Nothing, System} + is_initializesystem::Bool + isscheduled::Bool + schedule::Union{Schedule, Nothing} + + function System( + tag, eqs, noise_eqs, jumps, constraints, costs, consolidate, unknowns, ps, + brownians, iv, observed, parameter_dependencies, var_to_name, name, description, + defaults, guesses, systems, initialization_eqs, continuous_events, discrete_events, + connector_type, assertions = Dict{BasicSymbolic, String}(), + metadata = nothing, gui_metadata = nothing, + is_dde = false, tstops = [], tearing_state = nothing, namespacing = true, + complete = false, index_cache = nothing, ignored_connections = nothing, + preface = nothing, parent = nothing, initializesystem = nothing, + is_initializesystem = false, isscheduled = false, schedule = nothing; + checks::Union{Bool, Int} = true) + if is_initializesystem && iv !== nothing + throw(ArgumentError(""" + Expected initialization system to be time-independent. Found independent + variable $iv. + """)) + end + jumps = Vector{JumpType}(jumps) + if (checks == true || (checks & CheckComponents) > 0) && iv !== nothing + check_independent_variables([iv]) + check_variables(unknowns, iv) + check_parameters(ps, iv) + check_equations(eqs, iv) + if noise_eqs !== nothing && size(noise_eqs, 1) != length(eqs) + throw(IllFormedNoiseEquationsError(size(noise_eqs, 1), length(eqs))) + end + check_equations(equations(continuous_events), iv) + check_subsystems(systems) + end + if checks == true || (checks & CheckUnits) > 0 + u = __get_unit_type(unknowns, ps, iv) + if noise_eqs === nothing + check_units(u, eqs) + else + check_units(u, eqs, noise_eqs) + end + if iv !== nothing + check_units(u, jumps, iv) + end + isempty(constraints) || check_units(u, constraints) + end + new(tag, eqs, noise_eqs, jumps, constraints, costs, + consolidate, unknowns, ps, brownians, iv, + observed, parameter_dependencies, var_to_name, name, description, defaults, + guesses, systems, initialization_eqs, continuous_events, discrete_events, + connector_type, assertions, metadata, gui_metadata, is_dde, + tstops, tearing_state, namespacing, complete, index_cache, ignored_connections, + preface, parent, initializesystem, is_initializesystem, isscheduled, schedule) + end +end + +function default_consolidate(costs, subcosts) + return sum(costs; init = 0.0) + sum(subcosts; init = 0.0) +end + +function System(eqs::Vector{Equation}, iv, dvs, ps, brownians = []; + constraints = Union{Equation, Inequality}[], noise_eqs = nothing, jumps = [], + costs = BasicSymbolic[], consolidate = default_consolidate, + observed = Equation[], parameter_dependencies = Equation[], defaults = Dict(), + guesses = Dict(), systems = System[], initialization_eqs = Equation[], + continuous_events = SymbolicContinuousCallback[], discrete_events = SymbolicDiscreteCallback[], + connector_type = nothing, assertions = Dict{BasicSymbolic, String}(), + metadata = nothing, gui_metadata = nothing, is_dde = nothing, tstops = [], + tearing_state = nothing, ignored_connections = nothing, parent = nothing, + description = "", name = nothing, discover_from_metadata = true, + initializesystem = nothing, is_initializesystem = false, preface = [], + checks = true) + name === nothing && throw(NoNameError()) + + iv = unwrap(iv) + ps = unwrap.(ps) + dvs = unwrap.(dvs) + filter!(!Base.Fix2(isdelay, iv), dvs) + brownians = unwrap.(brownians) + + if !(eqs isa AbstractArray) + eqs = [eqs] + end + + if noise_eqs !== nothing + noise_eqs = unwrap.(noise_eqs) + end + + costs = unwrap.(costs) + if isempty(costs) + costs = Union{BasicSymbolic, Real}[] + end + + parameter_dependencies, ps = process_parameter_dependencies(parameter_dependencies, ps) + defaults = anydict(defaults) + guesses = anydict(guesses) + var_to_name = anydict() + + let defaults = discover_from_metadata ? defaults : Dict(), + guesses = discover_from_metadata ? guesses : Dict() + + process_variables!(var_to_name, defaults, guesses, dvs) + process_variables!(var_to_name, defaults, guesses, ps) + process_variables!( + var_to_name, defaults, guesses, [eq.lhs for eq in parameter_dependencies]) + process_variables!( + var_to_name, defaults, guesses, [eq.rhs for eq in parameter_dependencies]) + process_variables!(var_to_name, defaults, guesses, [eq.lhs for eq in observed]) + process_variables!(var_to_name, defaults, guesses, [eq.rhs for eq in observed]) + end + filter!(!(isnothing ∘ last), defaults) + filter!(!(isnothing ∘ last), guesses) + defaults = anydict([unwrap(k) => unwrap(v) for (k, v) in defaults]) + guesses = anydict([unwrap(k) => unwrap(v) for (k, v) in guesses]) + + sysnames = nameof.(systems) + unique_sysnames = Set(sysnames) + if length(unique_sysnames) != length(sysnames) + throw(NonUniqueSubsystemsError(sysnames, unique_sysnames)) + end + continuous_events, discrete_events = create_symbolic_events( + continuous_events, discrete_events, eqs, iv) + + if iv === nothing && (!isempty(continuous_events) || !isempty(discrete_events)) + throw(EventsInTimeIndependentSystemError(continuous_events, discrete_events)) + end + + if is_dde === nothing + is_dde = _check_if_dde(eqs, iv, systems) + end + + assertions = Dict{BasicSymbolic, String}(unwrap(k) => v for (k, v) in assertions) + + System(Threads.atomic_add!(SYSTEM_COUNT, UInt(1)), eqs, noise_eqs, jumps, constraints, + costs, consolidate, dvs, ps, brownians, iv, observed, parameter_dependencies, + var_to_name, name, description, defaults, guesses, systems, initialization_eqs, + continuous_events, discrete_events, connector_type, assertions, metadata, gui_metadata, is_dde, + tstops, tearing_state, true, false, nothing, ignored_connections, preface, parent, + initializesystem, is_initializesystem; checks) +end + +function System(eqs::Vector{Equation}, dvs, ps; kwargs...) + System(eqs, nothing, dvs, ps; kwargs...) +end + +function System(eqs::Vector{Equation}, iv; kwargs...) + iv === nothing && return System(eqs; kwargs...) + + diffvars = OrderedSet() + othervars = OrderedSet() + ps = Set() + diffeqs = Equation[] + othereqs = Equation[] + for eq in eqs + if !(eq.lhs isa Union{Symbolic, Number}) + push!(othereqs, eq) + continue + end + collect_vars!(othervars, ps, eq, iv) + if iscall(eq.lhs) && operation(eq.lhs) isa Differential + var, _ = var_from_nested_derivative(eq.lhs) + if var in diffvars + throw(ArgumentError(""" + The differential variable $var is not unique in the system of \ + equations. + """)) + end + # this check ensures var is correctly scoped, since `collect_vars!` won't pick + # it up if it belongs to an ancestor system. + if var in othervars + push!(diffvars, var) + end + push!(diffeqs, eq) + else + push!(othereqs, eq) + end + end + + allunknowns = union(diffvars, othervars) + eqs = [diffeqs; othereqs] + + brownians = Set() + for x in allunknowns + x = unwrap(x) + if getvariabletype(x) == BROWNIAN + push!(brownians, x) + end + end + setdiff!(allunknowns, brownians) + + for eq in get(kwargs, :parameter_dependencies, Equation[]) + collect_vars!(allunknowns, ps, eq, iv) + end + + cstrs = Vector{Union{Equation, Inequality}}(get(kwargs, :constraints, [])) + cstrunknowns, cstrps = process_constraint_system(cstrs, allunknowns, ps, iv) + union!(allunknowns, cstrunknowns) + union!(ps, cstrps) + + for ssys in get(kwargs, :systems, System[]) + collect_scoped_vars!(allunknowns, ps, ssys, iv) + end + + costs = get(kwargs, :costs, nothing) + if costs !== nothing + costunknowns, costps = process_costs(costs, allunknowns, ps, iv) + union!(allunknowns, costunknowns) + union!(ps, costps) + end + + for v in allunknowns + isdelay(v, iv) || continue + collect_vars!(allunknowns, ps, arguments(v)[1], iv) + end + + new_ps = gather_array_params(ps) + + noiseeqs = get(kwargs, :noise_eqs, nothing) + if noiseeqs !== nothing + # validate noise equations + noisedvs = OrderedSet() + noiseps = OrderedSet() + collect_vars!(noisedvs, noiseps, noiseeqs, iv) + for dv in noisedvs + dv ∈ allunknowns || + throw(ArgumentError("Variable $dv in noise equations is not an unknown of the system.")) + end + end + + return System( + eqs, iv, collect(allunknowns), collect(new_ps), collect(brownians); kwargs...) +end + +function System(eqs::Vector{Equation}; kwargs...) + eqs = collect(eqs) + + allunknowns = OrderedSet() + ps = OrderedSet() + for eq in eqs + collect_vars!(allunknowns, ps, eq, nothing) + end + for eq in get(kwargs, :parameter_dependencies, Equation[]) + collect_vars!(allunknowns, ps, eq, nothing) + end + for ssys in get(kwargs, :systems, System[]) + collect_scoped_vars!(allunknowns, ps, ssys, nothing) + end + costs = get(kwargs, :costs, nothing) + if costs !== nothing + costunknowns, costps = process_costs(costs, allunknowns, ps, nothing) + union!(allunknowns, costunknowns) + union!(ps, costps) + end + cstrs = Vector{Union{Equation, Inequality}}(get(kwargs, :constraints, [])) + for eq in cstrs + collect_vars!(allunknowns, ps, eq, nothing) + end + + new_ps = gather_array_params(ps) + + return System(eqs, nothing, collect(allunknowns), collect(new_ps); kwargs...) +end + +System(eq::Equation, args...; kwargs...) = System([eq], args...; kwargs...) + +function gather_array_params(ps) + new_ps = OrderedSet() + for p in ps + if iscall(p) && operation(p) === getindex + par = arguments(p)[begin] + if Symbolics.shape(Symbolics.unwrap(par)) !== Symbolics.Unknown() && + all(par[i] in ps for i in eachindex(par)) + push!(new_ps, par) + else + push!(new_ps, p) + end + else + if symbolic_type(p) == ArraySymbolic() && + Symbolics.shape(unwrap(p)) != Symbolics.Unknown() + for i in eachindex(p) + delete!(new_ps, p[i]) + end + end + push!(new_ps, p) + end + end + return new_ps +end + +""" +Process variables in constraints of the (ODE) System. +""" +function process_constraint_system( + constraints::Vector{Union{Equation, Inequality}}, sts, ps, iv; validate = true) + isempty(constraints) && return Set(), Set() + + constraintsts = OrderedSet() + constraintps = OrderedSet() + for cons in constraints + collect_vars!(constraintsts, constraintps, cons, iv) + union!(constraintsts, collect_applied_operators(cons, Differential)) + end + + # Validate the states. + if validate + validate_vars_and_find_ps!(constraintsts, constraintps, sts, iv) + end + + return constraintsts, constraintps +end + +""" +Process the costs for the constraint system. +""" +function process_costs(costs::Vector, sts, ps, iv) + coststs = OrderedSet() + costps = OrderedSet() + for cost in costs + collect_vars!(coststs, costps, cost, iv) + end + + validate_vars_and_find_ps!(coststs, costps, sts, iv) + coststs, costps +end + +""" +Validate that all the variables in an auxiliary system of the (ODE) System (constraint or costs) are +well-formed states or parameters. + - Callable/delay variables (e.g. of the form x(0.6) should be unknowns of the system (and have one arg, etc.) + - Callable/delay parameters should be parameters of the system + +Return the set of additional parameters found in the system, e.g. in x(p) ~ 3 then p should be added as a +parameter of the system. +""" +function validate_vars_and_find_ps!(auxvars, auxps, sysvars, iv) + sts = sysvars + + for var in auxvars + if !iscall(var) + occursin(iv, var) && (var ∈ sts || + throw(ArgumentError("Time-dependent variable $var is not an unknown of the system."))) + elseif length(arguments(var)) > 1 + throw(ArgumentError("Too many arguments for variable $var.")) + elseif length(arguments(var)) == 1 + if iscall(var) && operation(var) isa Differential + var = only(arguments(var)) + end + arg = only(arguments(var)) + operation(var)(iv) ∈ sts || + throw(ArgumentError("Variable $var is not a variable of the System. Called variables must be variables of the System.")) + + isequal(arg, iv) || isparameter(arg) || arg isa Integer || + arg isa AbstractFloat || + throw(ArgumentError("Invalid argument specified for variable $var. The argument of the variable should be either $iv, a parameter, or a value specifying the time that the constraint holds.")) + + isparameter(arg) && !isequal(arg, iv) && push!(auxps, arg) + else + var ∈ sts && + @warn "Variable $var has no argument. It will be interpreted as $var($iv), and the constraint will apply to the entire interval." + end + end +end + +""" + $(TYPEDSIGNATURES) + +Check if a system is a (possibly implicit) discrete system. Hybrid systems are turned into +callbacks, so checking if any LHS is shifted is sufficient. If a variable is shifted in +the input equations there _will_ be a `Shift` equation in the simplified system. +""" +function is_discrete_system(sys::System) + any(eq -> isoperator(eq.lhs, Shift), equations(sys)) +end + +SymbolicIndexingInterface.is_time_dependent(sys::System) = get_iv(sys) !== nothing + +""" + is_dde(sys::AbstractSystem) + +Return a boolean indicating whether a system represents a set of delay +differential equations. +""" +is_dde(sys::AbstractSystem) = has_is_dde(sys) && get_is_dde(sys) + +function _check_if_dde(eqs, iv, subsystems) + is_dde = any(ModelingToolkit.is_dde, subsystems) + if !is_dde + vs = Set() + for eq in eqs + vars!(vs, eq) + is_dde = any(vs) do sym + isdelay(unwrap(sym), iv) + end + is_dde && break + end + end + return is_dde +end + +function flatten(sys::System, noeqs = false) + systems = get_systems(sys) + isempty(systems) && return sys + costs = cost(sys) + if _iszero(costs) + costs = Union{Real, BasicSymbolic}[] + else + costs = [costs] + end + # We don't include `ignored_connections` in the flattened system, because + # connection expansion inherently requires the hierarchy structure. If the system + # is being flattened, then we no longer want to expand connections (or have already + # done so) and thus don't care about `ignored_connections`. + return System(noeqs ? Equation[] : equations(sys), get_iv(sys), unknowns(sys), + parameters(sys; initial_parameters = true), brownians(sys); + jumps = jumps(sys), constraints = constraints(sys), costs = costs, + consolidate = default_consolidate, observed = observed(sys), + parameter_dependencies = parameter_dependencies(sys), defaults = defaults(sys), + guesses = guesses(sys), continuous_events = continuous_events(sys), + discrete_events = discrete_events(sys), assertions = assertions(sys), + is_dde = is_dde(sys), tstops = symbolic_tstops(sys), + initialization_eqs = initialization_equations(sys), + # without this, any defaults/guesses obtained from metadata that were + # later removed by the user will be re-added. Right now, we just want to + # retain `defaults(sys)` as-is. + discover_from_metadata = false, metadata = get_metadata(sys), + description = description(sys), name = nameof(sys)) +end + +has_massactionjumps(js::System) = any(x -> x isa MassActionJump, jumps(js)) +has_constantratejumps(js::System) = any(x -> x isa ConstantRateJump, jumps(js)) +has_variableratejumps(js::System) = any(x -> x isa VariableRateJump, jumps(js)) +# TODO: do we need this? it's kind of weird to keep +has_equations(js::System) = !isempty(equations(js)) + +function noise_equations_equal(sys1::System, sys2::System) + neqs1 = get_noise_eqs(sys1) + neqs2 = get_noise_eqs(sys2) + if neqs1 === nothing && neqs2 === nothing + return true + elseif neqs1 === nothing || neqs2 === nothing + return false + end + ndims(neqs1) == ndims(neqs2) || return false + + eqs1 = get_eqs(sys1) + eqs2 = get_eqs(sys2) + + # get the permutation vector of `eqs2` in terms of `eqs1` + # eqs1_used tracks the elements of `eqs1` already used in the permutation + eqs1_used = falses(length(eqs1)) + # the permutation of `eqs1` that gives `eqs2` + eqs2_perm = Int[] + for eq in eqs2 + # find the first unused element of `eqs1` equal to `eq` + idx = findfirst(i -> isequal(eq, eqs1[i]) && !eqs1_used[i], eachindex(eqs1)) + # none found, so noise equations are not equal + idx === nothing && return false + push!(eqs2_perm, idx) + end + + if neqs1 isa Vector + return isequal(@view(neqs1[eqs2_perm]), neqs2) + else + return isequal(@view(neqs1[eqs2_perm, :]), neqs2) + end +end + +function ignored_connections_equal(sys1::System, sys2::System) + ic1 = get_ignored_connections(sys1) + ic2 = get_ignored_connections(sys2) + if ic1 === nothing && ic2 === nothing + return true + elseif ic1 === nothing || ic2 === nothing + return false + end + return _eq_unordered(ic1[1], ic2[1]) && _eq_unordered(ic1[2], ic2[2]) +end + +function Base.:(==)(sys1::System, sys2::System) + sys1 === sys2 && return true + iv1 = get_iv(sys1) + iv2 = get_iv(sys2) + isequal(iv1, iv2) && + isequal(nameof(sys1), nameof(sys2)) && + _eq_unordered(get_eqs(sys1), get_eqs(sys2)) && + noise_equations_equal(sys1, sys2) && + _eq_unordered(get_jumps(sys1), get_jumps(sys2)) && + _eq_unordered(get_constraints(sys1), get_constraints(sys2)) && + _eq_unordered(get_costs(sys1), get_costs(sys2)) && + isequal(get_consolidate(sys1), get_consolidate(sys2)) && + _eq_unordered(get_unknowns(sys1), get_unknowns(sys2)) && + _eq_unordered(get_ps(sys1), get_ps(sys2)) && + _eq_unordered(get_brownians(sys1), get_brownians(sys2)) && + _eq_unordered(get_observed(sys1), get_observed(sys2)) && + _eq_unordered(get_parameter_dependencies(sys1), get_parameter_dependencies(sys2)) && + isequal(get_description(sys1), get_description(sys2)) && + isequal(get_defaults(sys1), get_defaults(sys2)) && + isequal(get_guesses(sys1), get_guesses(sys2)) && + _eq_unordered(get_initialization_eqs(sys1), get_initialization_eqs(sys2)) && + _eq_unordered(get_continuous_events(sys1), get_continuous_events(sys2)) && + _eq_unordered(get_discrete_events(sys1), get_discrete_events(sys2)) && + isequal(get_connector_type(sys1), get_connector_type(sys2)) && + isequal(get_assertions(sys1), get_assertions(sys2)) && + isequal(get_metadata(sys1), get_metadata(sys2)) && + isequal(get_gui_metadata(sys1), get_gui_metadata(sys2)) && + get_is_dde(sys1) == get_is_dde(sys2) && + _eq_unordered(get_tstops(sys1), get_tstops(sys2)) && + # not comparing tearing states because checking if they're equal up to ordering + # is difficult + getfield(sys1, :namespacing) == getfield(sys2, :namespacing) && + getfield(sys1, :complete) == getfield(sys2, :complete) && + ignored_connections_equal(sys1, sys2) && + get_parent(sys1) == get_parent(sys2) && + get_isscheduled(sys1) == get_isscheduled(sys2) && + all(s1 == s2 for (s1, s2) in zip(get_systems(sys1), get_systems(sys2))) +end + +function Base.hash(sys::System, h::UInt) + h = hash(nameof(sys), h) + h = hash(get_iv(sys), h) + # be considerate of things compared using `_eq_unordered` in `==` + eqs = get_eqs(sys) + eq_sortperm = sortperm(eqs; by = string) + h = hash(@view(eqs[eq_sortperm]), h) + neqs = get_noise_eqs(sys) + if neqs === nothing + h = hash(nothing, h) + elseif neqs isa Vector + h = hash(@view(neqs[eq_sortperm]), h) + else + h = hash(@view(neqs[eq_sortperm, :]), h) + end + h = hash(Set(get_jumps(sys)), h) + h = hash(Set(get_constraints(sys)), h) + h = hash(Set(get_costs(sys)), h) + h = hash(get_consolidate(sys), h) + h = hash(Set(get_unknowns(sys)), h) + h = hash(Set(get_ps(sys)), h) + h = hash(Set(get_brownians(sys)), h) + h = hash(Set(get_observed(sys)), h) + h = hash(Set(get_parameter_dependencies(sys)), h) + h = hash(get_description(sys), h) + h = hash(get_defaults(sys), h) + h = hash(get_guesses(sys), h) + h = hash(Set(get_initialization_eqs(sys)), h) + h = hash(Set(get_continuous_events(sys)), h) + h = hash(Set(get_discrete_events(sys)), h) + h = hash(get_connector_type(sys), h) + h = hash(get_assertions(sys), h) + h = hash(get_metadata(sys), h) + h = hash(get_gui_metadata(sys), h) + h = hash(get_is_dde(sys), h) + h = hash(Set(get_tstops(sys)), h) + h = hash(Set(getfield(sys, :namespacing)), h) + h = hash(Set(getfield(sys, :complete)), h) + ics = get_ignored_connections(sys) + if ics === nothing + h = hash(ics, h) + else + h = hash(Set(ics[1]), hash(Set(ics[2]), h), h) + end + h = hash(get_parent(sys), h) + h = hash(get_isscheduled(sys), h) + for s in get_systems(sys) + h = hash(s, h) + end + return h +end + +""" + $(TYPEDSIGNATURES) +""" +function check_complete(sys::System, obj) + iscomplete(sys) || throw(SystemNotCompleteError(obj)) +end + +function NonlinearSystem(sys::System) + if !is_time_dependent(sys) + throw(ArgumentError("`NonlinearSystem` constructor expects a time-dependent `System`")) + end + eqs = equations(sys) + obs = observed(sys) + subrules = Dict([D(x) => 0.0 for x in unknowns(sys)]) + eqs = map(eqs) do eq + fast_substitute(eq, subrules) + end + nsys = System(eqs, unknowns(sys), [parameters(sys); get_iv(sys)]; + parameter_dependencies = parameter_dependencies(sys), + defaults = merge(defaults(sys), Dict(get_iv(sys) => Inf)), guesses = guesses(sys), + initialization_eqs = initialization_equations(sys), name = nameof(sys), + observed = obs) + if iscomplete(sys) + nsys = complete(nsys; split = is_split(sys)) + end + return nsys +end + +######## +# Utility constructors +######## + +function OptimizationSystem(cost; kwargs...) + return System(Equation[]; costs = [cost], kwargs...) +end + +function OptimizationSystem(cost, dvs, ps; kwargs...) + return System(Equation[], nothing, dvs, ps; costs = [cost], kwargs...) +end + +function OptimizationSystem(cost::Array; kwargs...) + return System(Equation[]; costs = vec(cost), kwargs...) +end + +function OptimizationSystem(cost::Array, dvs, ps; kwargs...) + return System(Equation[], nothing, dvs, ps; costs = vec(cost), kwargs...) +end + +function JumpSystem(jumps, iv; kwargs...) + mask = isa.(jumps, Equation) + eqs = Vector{Equation}(jumps[mask]) + jumps = jumps[.!mask] + return System(eqs, iv; jumps, kwargs...) +end + +function JumpSystem(jumps, iv, dvs, ps; kwargs...) + mask = isa.(jumps, Equation) + eqs = Vector{Equation}(jumps[mask]) + jumps = jumps[.!mask] + return System(eqs, iv, dvs, ps; jumps, kwargs...) +end + +function SDESystem(eqs::Vector{Equation}, noise, iv; is_scalar_noise = false, kwargs...) + if is_scalar_noise + if !(noise isa Vector) + throw(ArgumentError("Expected noise to be a vector if `is_scalar_noise`")) + end + noise = repeat(reshape(noise, (1, :)), length(eqs)) + end + return System(eqs, iv; noise_eqs = noise, kwargs...) +end + +function SDESystem( + eqs::Vector{Equation}, noise, iv, dvs, ps; is_scalar_noise = false, kwargs...) + if is_scalar_noise + if !(noise isa Vector) + throw(ArgumentError("Expected noise to be a vector if `is_scalar_noise`")) + end + noise = repeat(reshape(noise, (1, :)), length(eqs)) + end + return System(eqs, iv, dvs, ps; noise_eqs = noise, kwargs...) +end + +function SDESystem(sys::System, noise; kwargs...) + SDESystem(equations(sys), noise, get_iv(sys); kwargs...) +end + +struct SystemNotCompleteError <: Exception + obj::Any +end + +function Base.showerror(io::IO, err::SystemNotCompleteError) + print(io, """ + A completed system is required. Call `complete` or `structural_simplify` on the \ + system before creating a `$(err.obj)`. + """) +end + +struct IllFormedNoiseEquationsError <: Exception + noise_eqs_rows::Int + eqs_length::Int +end + +function Base.showerror(io::IO, err::IllFormedNoiseEquationsError) + print(io, """ + Noise equations are ill-formed. The number of rows much must number of drift \ + equations. `size(neqs, 1) == $(err.noise_eqs_rows) != length(eqs) == \ + $(err.eqs_length)`. + """) +end + +function NoNameError() + ArgumentError(""" + The `name` keyword must be provided. Please consider using the `@named` macro. + """) +end + +struct NonUniqueSubsystemsError <: Exception + names::Vector{Symbol} + uniques::Set{Symbol} +end + +function Base.showerror(io::IO, err::NonUniqueSubsystemsError) + dupes = Set{Symbol}() + for n in err.names + if !(n in err.uniques) + push!(dupes, n) + end + delete!(err.uniques, n) + end + println(io, "System names must be unique. The following system names were duplicated:") + for n in dupes + println(io, " ", n) + end +end + +struct EventsInTimeIndependentSystemError <: Exception + cevents::Vector + devents::Vector +end + +function Base.showerror(io::IO, err::EventsInTimeIndependentSystemError) + println(io, """ + Events are not supported in time-indepent systems. Provide an independent variable to \ + make the system time-dependent or remove the events. + + The following continuous events were provided: + $(err.cevents) + + The following discrete events were provided: + $(err.devents) + """) +end + +function supports_initialization(sys::System) + return isempty(jumps(sys)) && _iszero(cost(sys)) && + isempty(constraints(sys)) +end From 02ec43c80781f1e5dc0c070383f93c9c534a1867 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 14 Apr 2025 23:14:54 +0530 Subject: [PATCH 017/167] feat: add getters for new `System` fields --- src/systems/abstractsystem.jl | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 6b5ede1369..7ed9d97ad0 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -876,11 +876,14 @@ end for prop in [:eqs :tag - :noiseeqs + :noiseeqs # TODO: remove + :noise_eqs :iv :unknowns :ps :tspan + :brownians + :jumps :name :description :var_to_name From d33c220479d4484854ac0761eae722904cfa2f8b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 14 Apr 2025 23:15:20 +0530 Subject: [PATCH 018/167] feat: add hierarchical aggregator functions for jumps, brownians and cost feat: export `jumps` --- src/ModelingToolkit.jl | 2 +- src/systems/abstractsystem.jl | 51 +++++++++++++++++++++++++++++++++++ 2 files changed, 52 insertions(+), 1 deletion(-) diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 0b23cb1d23..5ec805ee2d 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -285,7 +285,7 @@ export Differential, expand_derivatives, @derivatives export Equation, ConstrainedEquation export Term, Sym export SymScope, LocalScope, ParentScope, GlobalScope -export independent_variable, equations, controls, observed, full_equations +export independent_variable, equations, controls, observed, full_equations, jumps export initialization_equations, guesses, defaults, parameter_dependencies, hierarchy export structural_simplify, expand_connections, linearize, linearization_function, LinearizationProblem diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 7ed9d97ad0..243865dda1 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -1301,6 +1301,28 @@ function namespace_equation(eq::Equation, (_lhs ~ _rhs)::Equation end +function namespace_jump(j::ConstantRateJump, sys) + return ConstantRateJump(namespace_expr(j.rate, sys), namespace_expr(j.affect!, sys)) +end + +function namespace_jump(j::VariableRateJump, sys) + return VariableRateJump(namespace_expr(j.rate, sys), namespace_expr(j.affect!, sys)) +end + +function namespace_jump(j::MassActionJump, sys) + return MassActionJump(namespace_expr(j.scaled_rates, sys), + [namespace_expr(k, sys) => namespace_expr(v, sys) for (k, v) in j.reactant_stoch], + [namespace_expr(k, sys) => namespace_expr(v, sys) for (k, v) in j.net_stoch]) +end + +function namespace_jumps(sys::AbstractSystem) + return [namespace_jump(j, sys) for j in get_jumps(sys)] +end + +function namespace_brownians(sys::AbstractSystem) + return [renamespace(sys, b) for b in brownians(sys)] +end + function namespace_assignment(eq::Assignment, sys) _lhs = namespace_expr(eq.lhs, sys) _rhs = namespace_expr(eq.rhs, sys) @@ -1734,6 +1756,35 @@ function equations_toplevel(sys::AbstractSystem) return get_eqs(sys) end +function jumps(sys::AbstractSystem) + js = get_jumps(sys) + systems = get_systems(sys) + if isempty(systems) + return js + end + return [js; reduce(vcat, namespace_jumps.(systems); init = [])] +end + +function brownians(sys::AbstractSystem) + bs = get_brownians(sys) + systems = get_systems(sys) + if isempty(systems) + return bs + end + return [bs; reduce(vcat, namespace_brownians.(systems); init = [])] +end + +function cost(sys::AbstractSystem) + cs = get_costs(sys) + consolidate = get_consolidate(sys) + systems = get_systems(sys) + if isempty(systems) + return consolidate(cs, Float64[]) + end + subcosts = [namespace_expr(cost(subsys), subsys) for subsys in systems] + return consolidate(cs, subcosts) +end + """ $(TYPEDSIGNATURES) From 016f337bff8b811148519df8c802177cd948ae3c Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 10:49:51 +0530 Subject: [PATCH 019/167] refactor: move `constraints` to `abstractsystem.jl` --- src/systems/abstractsystem.jl | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 243865dda1..4bb45738de 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -1785,6 +1785,30 @@ function cost(sys::AbstractSystem) return consolidate(cs, subcosts) end +namespace_constraint(eq::Equation, sys) = namespace_equation(eq, sys) + +namespace_constraint(ineq::Inequality, sys) = namespace_inequality(ineq, sys) + +function namespace_inequality(ineq::Inequality, sys, n = nameof(sys)) + _lhs = namespace_expr(ineq.lhs, sys, n) + _rhs = namespace_expr(ineq.rhs, sys, n) + Inequality(_lhs, + _rhs, + ineq.relational_op) +end + +function namespace_constraints(sys) + cstrs = constraints(sys) + isempty(cstrs) && return Vector{Union{Equation, Inequality}}(undef, 0) + map(cstr -> namespace_constraint(cstr, sys), cstrs) +end + +function constraints(sys) + cs = get_constraints(sys) + systems = get_systems(sys) + isempty(systems) ? cs : [cs; reduce(vcat, namespace_constraints.(systems))] +end + """ $(TYPEDSIGNATURES) From a20655f6e86331e2a8ae89e620caea86ed463e16 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 14 Apr 2025 23:55:02 +0530 Subject: [PATCH 020/167] refactor: don't warn about system supertype for `System` --- src/systems/abstractsystem.jl | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 4bb45738de..a5567f7743 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -244,7 +244,9 @@ Get the independent variable(s) of the system `sys`. See also [`@independent_variables`](@ref) and [`ModelingToolkit.get_iv`](@ref). """ function independent_variables(sys::AbstractSystem) - @warn "Please declare ($(typeof(sys))) as a subtype of `AbstractTimeDependentSystem`, `AbstractTimeIndependentSystem` or `AbstractMultivariateSystem`." + if !(sys isa System) + @warn "Please declare ($(typeof(sys))) as a subtype of `AbstractTimeDependentSystem`, `AbstractTimeIndependentSystem` or `AbstractMultivariateSystem`." + end if isdefined(sys, :iv) return [getfield(sys, :iv)] elseif isdefined(sys, :ivs) From 5246b297cfdd1bce4682eaee63c13171998eb5f0 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 15:22:32 +0530 Subject: [PATCH 021/167] refactor: port `stochastic_integral_transform` and `Girsanov_transform` --- src/systems/diffeqs/basic_transformations.jl | 175 +++++++++++++++++++ 1 file changed, 175 insertions(+) diff --git a/src/systems/diffeqs/basic_transformations.jl b/src/systems/diffeqs/basic_transformations.jl index 37c8d8d021..3c1081fcbe 100644 --- a/src/systems/diffeqs/basic_transformations.jl +++ b/src/systems/diffeqs/basic_transformations.jl @@ -234,3 +234,178 @@ function change_independent_variable( end return transform(sys) end + +""" +$(TYPEDSIGNATURES) + +Choose correction_factor=-1//2 (1//2) to convert Ito -> Stratonovich (Stratonovich->Ito). +""" +function stochastic_integral_transform(sys::System, correction_factor) + if !isempty(get_systems(sys)) + throw(ArgumentError("The system must be flattened.")) + end + if get_noise_eqs(sys) === nothing + throw(ArgumentError(""" + `$stochastic_integral_transform` expects a system with noise_eqs. If your \ + noise is specified using brownian variables, consider calling \ + `structural_simplify`. + """)) + end + name = nameof(sys) + noise_eqs = get_noise_eqs(sys) + eqs = equations(sys) + dvs = unknowns(sys) + ps = parameters(sys) + # use the general interface + if noise_eqs isa Vector + _eqs = reduce(vcat, [eqs[i].lhs ~ noise_eqs[i] for i in eachindex(dvs)]) + de = System(_eqs, get_iv(sys), dvs, ps, name = name, checks = false) + + jac = calculate_jacobian(de, sparse = false, simplify = false) + ∇σσ′ = simplify.(jac * noise_eqs) + else + dimunknowns, m = size(noise_eqs) + _eqs = reduce(vcat, [eqs[i].lhs ~ noise_eqs[i] for i in eachindex(dvs)]) + de = System(_eqs, get_iv(sys), dvs, ps, name = name, checks = false) + + jac = calculate_jacobian(de, sparse = false, simplify = false) + ∇σσ′ = simplify.(jac * noise_eqs[:, 1]) + for k in 2:m + __eqs = reduce(vcat, + [eqs[i].lhs ~ noise_eqs[Int(i + (k - 1) * dimunknowns)] + for i in eachindex(dvs)]) + de = System(__eqs, get_iv(sys), dvs, dvs, name = name, checks = false) + + jac = calculate_jacobian(de, sparse = false, simplify = false) + ∇σσ′ = ∇σσ′ + simplify.(jac * noise_eqs[:, k]) + end + end + deqs = reduce(vcat, + [eqs[i].lhs ~ eqs[i].rhs + correction_factor * ∇σσ′[i] for i in eachindex(dvs)]) + + # reduce(vcat, [1]) == 1 for some reason + if deqs isa Equation + deqs = [deqs] + end + return @set sys.eqs = deqs +end + +""" +$(TYPEDSIGNATURES) + +Measure transformation method that allows for a reduction in the variance of an estimator `Exp(g(X_t))`. +Input: Original SDE system and symbolic function `u(t,x)` with scalar output that + defines the adjustable parameters `d` in the Girsanov transformation. Optional: initial + condition for `θ0`. +Output: Modified SDESystem with additional component `θ_t` and initial value `θ0`, as well as + the weight `θ_t/θ0` as observed equation, such that the estimator `Exp(g(X_t)θ_t/θ0)` + has a smaller variance. + +Reference: +Kloeden, P. E., Platen, E., & Schurz, H. (2012). Numerical solution of SDE through computer +experiments. Springer Science & Business Media. + +# Example + +```julia +using ModelingToolkit +using ModelingToolkit: t_nounits as t, D_nounits as D + +@parameters α β +@variables x(t) y(t) z(t) + +eqs = [D(x) ~ α*x] +noiseeqs = [β*x] + +@named de = SDESystem(eqs,noiseeqs,t,[x],[α,β]) + +# define u (user choice) +u = x +θ0 = 0.1 +g(x) = x[1]^2 +demod = ModelingToolkit.Girsanov_transform(de, u; θ0=0.1) + +u0modmap = [ + x => x0 +] + +parammap = [ + α => 1.5, + β => 1.0 +] + +probmod = SDEProblem(complete(demod),u0modmap,(0.0,1.0),parammap) +ensemble_probmod = EnsembleProblem(probmod; + output_func = (sol,i) -> (g(sol[x,end])*sol[demod.weight,end],false), + ) + +simmod = solve(ensemble_probmod,EM(),dt=dt,trajectories=numtraj) +``` + +""" +function Girsanov_transform(sys::System, u; θ0 = 1.0) + name = nameof(sys) + + # register new variable θ corresponding to 1D correction process θ(t) + t = get_iv(sys) + D = Differential(t) + @variables θ(t), weight(t) + + # determine the adjustable parameters `d` given `u` + # gradient of u with respect to unknowns + grad = Symbolics.gradient(u, unknowns(sys)) + + noiseeqs = copy(get_noise_eqs(sys)) + if noiseeqs isa Vector + d = simplify.(-(noiseeqs .* grad) / u) + drift_correction = noiseeqs .* d + else + d = simplify.(-noiseeqs * grad / u) + drift_correction = noiseeqs * d + end + + eqs = equations(sys) + dvs = unknowns(sys) + # transformation adds additional unknowns θ: newX = (X,θ) + # drift function for unknowns is modified + # θ has zero drift + deqs = reduce( + vcat, [eqs[i].lhs ~ eqs[i].rhs - drift_correction[i] for i in eachindex(dvs)]) + if deqs isa Equation + deqs = [deqs] + end + deqsθ = D(θ) ~ 0 + push!(deqs, deqsθ) + + # diffusion matrix is of size d x m (d unknowns, m noise), with diagonal noise represented as a d-dimensional vector + # for diagonal noise processes with m>1, the noise process will become non-diagonal; extra unknown component but no new noise process. + # new diffusion matrix is of size d+1 x M + # diffusion for state is unchanged + + noiseqsθ = θ * d + + if noiseeqs isa Vector + m = size(noiseeqs) + if m == 1 + push!(noiseeqs, noiseqsθ) + else + noiseeqs = [Array(Diagonal(wrap.(noiseeqs))); noiseqsθ'] + end + else + noiseeqs = [Array(noiseeqs); noiseqsθ'] + end + + unknown_vars = [dvs; θ] + + # return modified SDE System + @set! sys.eqs = deqs + @set! sys.noise_eqs = noiseeqs + @set! sys.unknowns = unknown_vars + get_defaults(sys)[θ] = θ0 + obs = observed(sys) + @set! sys.observed = [weight ~ θ / θ0; obs] + if get_parent(sys) !== nothing + @set! sys.parent.unknowns = [get_unknowns(get_parent(sys)); [θ, weight]] + end + return sys +end From 8b6a8e627d97ad3fa69adce11cb356cdeed6d569 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 23:01:16 +0530 Subject: [PATCH 022/167] refactor: move `eval_or_rgf` to `codegen_utils.jl` --- src/systems/codegen_utils.jl | 21 +++++++++++++++++++++ src/utils.jl | 8 -------- 2 files changed, 21 insertions(+), 8 deletions(-) diff --git a/src/systems/codegen_utils.jl b/src/systems/codegen_utils.jl index bedfdbcc37..5d8982c244 100644 --- a/src/systems/codegen_utils.jl +++ b/src/systems/codegen_utils.jl @@ -1,3 +1,24 @@ +""" + $(TYPEDSIGNATURES) + +Given a function expression `expr`, return a callable version of it. + +# Keyword arguments +- `eval_expression`: Whether to use `eval` to make `expr` callable. If `false`, uses + RuntimeGeneratedFunctions.jl. +- `eval_module`: The module to `eval` the expression `expr` in. If `!eval_expression`, + this is the cache and context module for the `RuntimeGeneratedFunction`. +""" +function eval_or_rgf(expr::Expr; eval_expression = false, eval_module = @__MODULE__) + if eval_expression + return eval_module.eval(expr) + else + return drop_expr(RuntimeGeneratedFunction(eval_module, eval_module, expr)) + end +end + +eval_or_rgf(::Nothing; kws...) = nothing + """ $(TYPEDSIGNATURES) diff --git a/src/utils.jl b/src/utils.jl index c3d736f92f..be28fa3401 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -1011,14 +1011,6 @@ function restrict_array_to_union(arr) return Array{T, ndims(arr)}(arr) end -function eval_or_rgf(expr::Expr; eval_expression = false, eval_module = @__MODULE__) - if eval_expression - return eval_module.eval(expr) - else - return drop_expr(RuntimeGeneratedFunction(eval_module, eval_module, expr)) - end -end - function _with_unit(f, x, t, args...) x = f(x, args...) if hasmetadata(x, VariableUnit) && (t isa Symbolic && hasmetadata(t, VariableUnit)) From 3465f41e2f387f4e0cd3afc7426772430264601e Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 23:01:50 +0530 Subject: [PATCH 023/167] feat: allow `GeneratedFunctionWrapper` to compile functions and build expressions --- src/systems/codegen_utils.jl | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/systems/codegen_utils.jl b/src/systems/codegen_utils.jl index 5d8982c244..0e6a6979fc 100644 --- a/src/systems/codegen_utils.jl +++ b/src/systems/codegen_utils.jl @@ -265,6 +265,14 @@ function GeneratedFunctionWrapper{P}(foop::O, fiip::I) where {P, O, I} GeneratedFunctionWrapper{P, O, I}(foop, fiip) end +function GeneratedFunctionWrapper{P}(::Type{Val{true}}, foop, fiip; kwargs...) where {P} + :($(GeneratedFunctionWrapper{P})($foop, $fiip)) +end + +function GeneratedFunctionWrapper{P}(::Type{Val{false}}, foop, fiip; kws...) where {P} + GeneratedFunctionWrapper{P}(eval_or_rgf(foop; kws...), eval_or_rgf(fiip; kws...)) +end + function (gfw::GeneratedFunctionWrapper)(args...) _generated_call(gfw, args...) end From 59e513a4fd4465fe0e5b6ea22fcf04a6807fcd39 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 28 Apr 2025 12:15:19 +0530 Subject: [PATCH 024/167] feat: add `maybe_compile_function` --- src/systems/codegen_utils.jl | 34 ++++++++++++++++++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/src/systems/codegen_utils.jl b/src/systems/codegen_utils.jl index 0e6a6979fc..6f90af8c16 100644 --- a/src/systems/codegen_utils.jl +++ b/src/systems/codegen_utils.jl @@ -310,3 +310,37 @@ end return :($f($(fargs...))) end end + +""" + $(TYPEDSIGNATURES) + +Optionally compile a method and optionally wrap it in a `GeneratedFunctionWrapper` on the +basis of `expression` `wrap_gfw`, both of type `Union{Type{Val{true}}, Type{Val{false}}}`. +`gfw_args` is the first type parameter of `GeneratedFunctionWrapper`. `f` is a tuple of +function expressions of the form `(oop, iip)` or a single out-of-place function expression. +Keyword arguments are forwarded to `eval_or_rgf`. +""" +function maybe_compile_function(expression, wrap_gfw::Type{Val{true}}, + gfw_args::Tuple{Int, Int, Bool}, f::NTuple{2, Expr}; kwargs...) + GeneratedFunctionWrapper{gfw_args}(expression, f...; kwargs...) +end + +function maybe_compile_function(expression::Type{Val{false}}, wrap_gfw::Type{Val{false}}, + gfw_args::Tuple{Int, Int, Bool}, f::NTuple{2, Expr}; kwargs...) + eval_or_rgf.(f; kwargs...) +end + +function maybe_compile_function(expression::Type{Val{true}}, wrap_gfw::Type{Val{false}}, + gfw_args::Tuple{Int, Int, Bool}, f::Union{Expr, NTuple{2, Expr}}; kwargs...) + return f +end + +function maybe_compile_function(expression, wrap_gfw::Type{Val{true}}, + gfw_args::Tuple{Int, Int, Bool}, f::Expr; kwargs...) + GeneratedFunctionWrapper{gfw_args}(expression, f, nothing; kwargs...) +end + +function maybe_compile_function(expression::Type{Val{false}}, wrap_gfw::Type{Val{false}}, + gfw_args::Tuple{Int, Int, Bool}, f::Expr; kwargs...) + eval_or_rgf(f; kwargs...) +end From 0b389f1fe4cc7467a2065f3d6e753f74d63f6fe0 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 15 Apr 2025 15:39:08 +0530 Subject: [PATCH 025/167] refactor: fix and document `delay_to_function`, implement it for `System` --- src/systems/codegen_utils.jl | 74 ++++++++++++++++++++++++++++++++++-- 1 file changed, 71 insertions(+), 3 deletions(-) diff --git a/src/systems/codegen_utils.jl b/src/systems/codegen_utils.jl index 6f90af8c16..e7ba2659d7 100644 --- a/src/systems/codegen_utils.jl +++ b/src/systems/codegen_utils.jl @@ -107,6 +107,74 @@ function array_variable_assignments(args...; argument_name = generated_argument_ return assignments end +""" + $(TYPEDSIGNATURES) + +Check if the variable `var` is a delayed variable, where `iv` is the independent +variable. +""" +function isdelay(var, iv) + iv === nothing && return false + isvariable(var) || return false + isparameter(var) && return false + if iscall(var) && !ModelingToolkit.isoperator(var, Symbolics.Operator) + args = arguments(var) + length(args) == 1 || return false + isequal(args[1], iv) || return true + end + return false +end + +""" +The argument of generated functions corresponding to the history function. +""" +const DDE_HISTORY_FUN = Sym{Symbolics.FnType{Tuple{Any, <:Real}, Vector{Real}}}(:___history___) + +""" + $(TYPEDSIGNATURES) + +Turn delayed unknowns in `eqs` into calls to `DDE_HISTORY_FUNCTION`. + +# Arguments + +- `sys`: The system of DDEs. +- `eqs`: The equations to convert. + +# Keyword Arguments + +- `param_arg`: The name of the variable containing the parameter object. +""" +function delay_to_function( + sys::AbstractSystem, eqs = full_equations(sys); param_arg = MTKPARAMETERS_ARG) + delay_to_function(eqs, + get_iv(sys), + Dict{Any, Int}(operation(s) => i for (i, s) in enumerate(unknowns(sys))), + parameters(sys), + DDE_HISTORY_FUN; param_arg) +end +function delay_to_function(eqs::Vector, iv, sts, ps, h; param_arg = MTKPARAMETERS_ARG) + delay_to_function.(eqs, (iv,), (sts,), (ps,), (h,); param_arg) +end +function delay_to_function(eq::Equation, iv, sts, ps, h; param_arg = MTKPARAMETERS_ARG) + delay_to_function(eq.lhs, iv, sts, ps, h; param_arg) ~ delay_to_function( + eq.rhs, iv, sts, ps, h; param_arg) +end +function delay_to_function(expr, iv, sts, ps, h; param_arg = MTKPARAMETERS_ARG) + if isdelay(expr, iv) + v = operation(expr) + time = arguments(expr)[1] + idx = sts[v] + return term(getindex, h(param_arg, time), idx, type = Real) + elseif iscall(expr) + return maketerm(typeof(expr), + operation(expr), + map(x -> delay_to_function(x, iv, sts, ps, h; param_arg), arguments(expr)), + metadata(expr)) + else + return expr + end +end + """ $(TYPEDSIGNATURES) @@ -159,11 +227,11 @@ function build_function_wrapper(sys::AbstractSystem, expr, args...; p_start = 2, obs = filter(filter_observed, observed(sys)) # turn delayed unknowns into calls to the history function if wrap_delays - history_arg = is_split(sys) ? MTKPARAMETERS_ARG : generated_argument_name(p_start) + param_arg = is_split(sys) ? MTKPARAMETERS_ARG : generated_argument_name(p_start) obs = map(obs) do eq - delay_to_function(sys, eq; history_arg) + delay_to_function(sys, eq; param_arg) end - expr = delay_to_function(sys, expr; history_arg) + expr = delay_to_function(sys, expr; param_arg) # add extra argument args = (args[1:(p_start - 1)]..., DDE_HISTORY_FUN, args[p_start:end]...) p_start += 1 From e296ef409a43afe202e39b9bdaa90f0ce61063c3 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 13 Apr 2025 16:33:25 +0530 Subject: [PATCH 026/167] feat: add initial codegen for `System` feat: add more codegen implementation refactor: compile functions in `generate_*` fix: fix `calculate_jacobian` fix: respect `return_sparsity` in `generate_cost_hessian` feat: add `generate_control_jacobian` --- src/ModelingToolkit.jl | 1 + src/systems/codegen.jl | 562 +++++++++++++++++++++++++++++++++++++++++ 2 files changed, 563 insertions(+) create mode 100644 src/systems/codegen.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 5ec805ee2d..71ca14d7b9 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -161,6 +161,7 @@ include("systems/imperative_affect.jl") include("systems/callbacks.jl") include("systems/system.jl") include("systems/codegen_utils.jl") +include("systems/codegen.jl") include("systems/problem_utils.jl") include("linearization.jl") diff --git a/src/systems/codegen.jl b/src/systems/codegen.jl new file mode 100644 index 0000000000..00f5a714f8 --- /dev/null +++ b/src/systems/codegen.jl @@ -0,0 +1,562 @@ +""" + $(TYPEDSIGNATURES) + +Generate the RHS function for the `equations` of a `System`. + +# Arguments + +# Keyword Arguments + +""" +function generate_rhs(sys::System, dvs = unknowns(sys), + ps = parameters(sys; initial_parameters = true); implicit_dae = false, + scalar = false, expression = Val{true}, wrap_gfw = Val{false}, + eval_expression = false, eval_module = @__MODULE__, override_discrete = false, + kwargs...) + eqs = equations(sys) + obs = observed(sys) + u = dvs + p = reorder_parameters(sys, ps) + t = get_iv(sys) + ddvs = nothing + extra_assignments = Assignment[] + + # used for DAEProblem and ImplicitDiscreteProblem + if implicit_dae + if override_discrete || is_discrete_system(sys) + # ImplicitDiscrete case + D = Shift(t, 1) + rhss = map(eqs) do eq + # Algebraic equations get shifted forward 1, to match with differential + # equations + _iszero(eq.lhs) ? distribute_shift(D(eq.rhs)) : (eq.rhs - eq.lhs) + end + # Handle observables in algebraic equations, since they are shifted + shifted_obs = Equation[distribute_shift(D(eq)) for eq in obs] + obsidxs = observed_equations_used_by(sys, rhss; obs = shifted_obs) + extra_assignments = [Assignment(shifted_obs[i].lhs, shifted_obs[i].rhs) + for i in obsidxs] + else + D = Differential(t) + rhss = [_iszero(eq.lhs) ? eq.rhs : eq.rhs - eq.lhs for eq in eqs] + end + ddvs = map(D, dvs) + else + if !override_discrete && !is_discrete_system(sys) + check_operator_variables(eqs, Differential) + check_lhs(eqs, Differential, Set(dvs)) + end + rhss = [eq.rhs for eq in eqs] + end + + if !isempty(assertions(sys)) + rhss[end] += unwrap(get_assertions_expr(sys)) + end + + # TODO: add an optional check on the ordering of observed equations + if scalar + rhss = only(rhss) + u = only(u) + end + + args = (u, p...) + p_start = 2 + if t !== nothing + args = (args..., t) + end + if implicit_dae + args = (ddvs, args...) + p_start += 1 + end + + res = build_function_wrapper(sys, rhss, args...; p_start, extra_assignments, + expression = Val{true}, expression_module = eval_module, kwargs...) + nargs = length(args) - length(p) + 1 + if is_dde(sys) + p_start += 1 + nargs += 1 + end + return maybe_compile_function( + expression, wrap_gfw, (p_start, nargs, is_split(sys)), + res; eval_expression, eval_module) +end + +function generate_diffusion_function(sys::System, dvs = unknowns(sys), + ps = parameters(sys; initial_parameters = true); expression = Val{true}, + wrap_gfw = Val{false}, eval_expression = false, + eval_module = @__MODULE__, kwargs...) + eqs = get_noise_eqs(sys) + if ndims(eqs) == 2 && size(eqs, 2) == 1 + # scalar noise + eqs = vec(eqs) + end + p = reorder_parameters(sys, ps) + res = build_function_wrapper(sys, eqs, dvs, p..., get_iv(sys); kwargs...) + if expression == Val{true} + return res + end + f_oop, f_iip = eval_or_rgf.(res; eval_expression, eval_module) + p_start = 2 + nargs = 3 + if is_dde(sys) + p_start += 1 + nargs += 1 + end + return maybe_compile_function( + expression, wrap_gfw, (p_start, nargs, is_split(sys)), res; eval_expression, eval_module) +end + +function calculate_tgrad(sys::System; simplify = false) + # We need to remove explicit time dependence on the unknown because when we + # have `u(t) * t` we want to have the tgrad to be `u(t)` instead of `u'(t) * + # t + u(t)`. + rhs = [detime_dvs(eq.rhs) for eq in full_equations(sys)] + iv = get_iv(sys) + xs = unknowns(sys) + rule = Dict(map((x, xt) -> xt => x, detime_dvs.(xs), xs)) + rhs = substitute.(rhs, Ref(rule)) + tgrad = [expand_derivatives(Differential(iv)(r), simplify) for r in rhs] + reverse_rule = Dict(map((x, xt) -> x => xt, detime_dvs.(xs), xs)) + tgrad = Num.(substitute.(tgrad, Ref(reverse_rule))) + return tgrad +end + +function calculate_jacobian(sys::System; + sparse = false, simplify = false, dvs = unknowns(sys)) + obs = Dict(eq.lhs => eq.rhs for eq in observed(sys)) + rhs = map(eq -> fixpoint_sub(eq.rhs - eq.lhs, obs), equations(sys)) + + if sparse + jac = sparsejacobian(rhs, dvs; simplify) + if get_iv(sys) !== nothing + W_s = W_sparsity(sys) + (Is, Js, Vs) = findnz(W_s) + # Add nonzeros of W as non-structural zeros of the Jacobian (to ensure equal + # results for oop and iip Jacobian) + for (i, j) in zip(Is, Js) + iszero(jac[i, j]) && begin + jac[i, j] = 1 + jac[i, j] = 0 + end + end + end + else + jac = jacobian(rhs, dvs; simplify) + end + + return jac +end + +function generate_jacobian(sys::System; + simplify = false, sparse = false, eval_expression = false, + eval_module = @__MODULE__, expression = Val{true}, wrap_gfw = Val{false}, + kwargs...) + dvs = unknowns(sys) + jac = calculate_jacobian(sys; simplify, sparse, dvs) + p = reorder_parameters(sys) + t = get_iv(sys) + if t === nothing + wrap_code = (identity, identity) + else + wrap_code = sparse ? assert_jac_length_header(sys) : (identity, identity) + end + args = (dvs, p...) + nargs = 2 + if is_time_dependent(sys) + args = (args..., t) + nargs = 3 + end + res = build_function_wrapper(sys, jac, args...; wrap_code, expression = Val{true}, + expression_module = eval_module, kwargs...) + return maybe_compile_function( + expression, wrap_gfw, (2, nargs, is_split(sys)), res; eval_expression, eval_module) +end + +function assert_jac_length_header(sys) + W = W_sparsity(sys) + identity, + function add_header(expr) + Func(expr.args, [], expr.body, + [:(@assert $(SymbolicUtils.Code.toexpr(term(findnz, expr.args[1])))[1:2] == + $(findnz(W)[1:2]))]) + end +end + +function generate_tgrad( + sys::System, dvs = unknowns(sys), ps = parameters( + sys; initial_parameters = true); + simplify = false, eval_expression = false, eval_module = @__MODULE__, + expression = Val{true}, wrap_gfw = Val{false}, kwargs...) + tgrad = calculate_tgrad(sys, simplify = simplify) + p = reorder_parameters(sys, ps) + res = build_function_wrapper(sys, tgrad, + dvs, + p..., + get_iv(sys); + expression = Val{true}, + expression_module = eval_module, + kwargs...) + + return maybe_compile_function( + expression, wrap_gfw, (2, 3, is_split(sys)), res; eval_expression, eval_module) +end + +const W_GAMMA = only(@variables ˍ₋gamma) + +function generate_W(sys::System, γ = 1.0, dvs = unknowns(sys), + ps = parameters(sys; initial_parameters = true); + simplify = false, sparse = false, expression = Val{true}, wrap_gfw = Val{false}, + eval_expression = false, eval_module = @__MODULE__, kwargs...) + M = calculate_massmatrix(sys; simplify) + if sparse + M = SparseArrays.sparse(M) + end + J = calculate_jacobian(sys; simplify, sparse, dvs) + W = W_GAMMA * M + J + t = get_iv(sys) + if t !== nothing + wrap_code = sparse ? assert_jac_length_header(sys) : (identity, identity) + end + + p = reorder_parameters(sys, ps) + res = build_function_wrapper(sys, W, dvs, p..., W_GAMMA, t; wrap_code, + p_end = 1 + length(p), kwargs...) + return maybe_compile_function( + expression, wrap_gfw, (2, 4, is_split(sys)), res; eval_expression, eval_module) +end + +function generate_dae_jacobian(sys::System, dvs = unknowns(sys), + ps = parameters(sys; initial_parameters = true); simplify = false, sparse = false, + expression = Val{true}, wrap_gfw = Val{false}, eval_expression = false, + eval_module = @__MODULE__, kwargs...) + jac_u = calculate_jacobian(sys; simplify = simplify, sparse = sparse) + t = get_iv(sys) + derivatives = Differential(t).(unknowns(sys)) + jac_du = calculate_jacobian(sys; simplify = simplify, sparse = sparse, + dvs = derivatives) + dvs = unknowns(sys) + jac = W_GAMMA * jac_du + jac_u + p = reorder_parameters(sys, ps) + res = build_function_wrapper(sys, jac, derivatives, dvs, p..., W_GAMMA, t; + p_start = 3, p_end = 2 + length(p), kwargs...) + return maybe_compile_function( + expression, wrap_gfw, (3, 5, is_split(sys)), res; eval_expression, eval_module) +end + +function generate_history(sys::System, u0; expression = Val{true}, wrap_gfw = Val{false}, + eval_expression = false, eval_module = @__MODULE__, kwargs...) + p = reorder_parameters(sys) + res = build_function_wrapper(sys, u0, p..., get_iv(sys); expression = Val{true}, + expression_module = eval_module, p_start = 1, p_end = length(p), + similarto = typeof(u0), wrap_delays = false, kwargs...) + return maybe_compile_function( + expression, wrap_gfw, (1, 2, is_split(sys)), res; eval_expression, eval_module) +end + +function calculate_massmatrix(sys::System; simplify = false) + eqs = [eq for eq in equations(sys)] + M = zeros(length(eqs), length(eqs)) + for (i, eq) in enumerate(eqs) + if iscall(eq.lhs) && operation(eq.lhs) isa Differential + st = var_from_nested_derivative(eq.lhs)[1] + j = variable_index(sys, st) + M[i, j] = 1 + else + _iszero(eq.lhs) || + error("Only semi-explicit constant mass matrices are currently supported. Faulty equation: $eq.") + end + end + M = simplify ? simplify.(M) : M + if isdiag(M) + M = Diagonal(M) + end + # M should only contain concrete numbers + M == I ? I : M +end + +function concrete_massmatrix(M; sparse = false, u0 = nothing) + if sparse && !(u0 === nothing || M === I) + SparseArrays.sparse(M) + elseif u0 === nothing || M === I + M + elseif M isa Diagonal + Diagonal(ArrayInterface.restructure(u0, diag(M))) + else + ArrayInterface.restructure(u0 .* u0', M) + end +end + +function jacobian_sparsity(sys::System) + sparsity = torn_system_jacobian_sparsity(sys) + sparsity === nothing || return sparsity + + Symbolics.jacobian_sparsity([eq.rhs for eq in full_equations(sys)], + [dv for dv in unknowns(sys)]) +end + +function jacobian_dae_sparsity(sys::System) + J1 = jacobian_sparsity([eq.rhs for eq in full_equations(sys)], + [dv for dv in unknowns(sys)]) + derivatives = Differential(get_iv(sys)).(unknowns(sys)) + J2 = jacobian_sparsity([eq.rhs for eq in full_equations(sys)], + [dv for dv in derivatives]) + J1 + J2 +end + +function W_sparsity(sys::System) + jac_sparsity = jacobian_sparsity(sys) + (n, n) = size(jac_sparsity) + M = calculate_massmatrix(sys) + M_sparsity = M isa UniformScaling ? sparse(I(n)) : + SparseMatrixCSC{Bool, Int64}((!iszero).(M)) + jac_sparsity .| M_sparsity +end + +function calculate_W_prototype(W_sparsity; u0 = nothing, sparse = false) + sparse || return nothing + uElType = u0 === nothing ? Float64 : eltype(u0) + return similar(W_sparsity, uElType) +end + +function isautonomous(sys::System) + tgrad = calculate_tgrad(sys; simplify = true) + all(iszero, tgrad) +end + +function get_bv_solution_symbol(ns) + only(@variables BV_SOLUTION(..)[1:ns]) +end + +function get_constraint_unknown_subs!(subs::Dict, cons::Vector, stidxmap::Dict, iv, sol) + vs = vars(cons) + for v in vs + iscall(v) || continue + op = operation(v) + args = arguments(v) + issym(op) && length(args) == 1 || continue + newv = op(iv) + haskey(stidxmap, newv) || continue + subs[v] = sol(args[1])[stidxmap[newv]] + end +end + +function generate_boundary_conditions(sys::System, u0, u0_idxs, t0; expression = Val{true}, + wrap_gfw = Val{false}, eval_expression = false, eval_module = @__MODULE__, + kwargs...) + iv = get_iv(sys) + sts = unknowns(sys) + ps = parameters(sys) + np = length(ps) + ns = length(sts) + stidxmap = Dict([v => i for (i, v) in enumerate(sts)]) + pidxmap = Dict([v => i for (i, v) in enumerate(ps)]) + + # sol = get_bv_solution_symbol(ns) + + cons = [con.lhs - con.rhs for con in constraints(sys)] + # conssubs = Dict() + # get_constraint_unknown_subs!(conssubs, cons, stidxmap, iv, sol) + # cons = map(x -> fast_substitute(x, conssubs), cons) + + init_conds = Any[] + for i in u0_idxs + expr = BVP_SOLUTION(t0)[i] - u0[i] + push!(init_conds, expr) + end + + exprs = vcat(init_conds, cons) + _p = reorder_parameters(sys, ps) + + res = build_function_wrapper(sys, exprs, _p..., iv; output_type = Array, + p_start = 1, histfn = (p, t) -> BVP_SOLUTION(t), + histfn_symbolic = BVP_SOLUTION, wrap_delays = true, kwargs...) + return maybe_compile_function( + expression, wrap_gfw, (2, 3, is_split(sys)), res; eval_expression, eval_module) +end + +function generate_cost(sys::System; expression = Val{true}, wrap_gfw = Val{false}, + eval_expression = false, eval_module = @__MODULE__, kwargs...) + obj = cost(sys) + dvs = unknowns(sys) + ps = reorder_parameters(sys) + res = build_function_wrapper(sys, obj, dvs, ps...; expression = Val{true}, kwargs...) + if expression == Val{true} + return res + end + f_oop = eval_or_rgf(res; eval_expression, eval_module) + return maybe_compile_function( + expression, wrap_gfw, (2, 2, is_split(sys)), res; eval_expression, eval_module) +end + +function calculate_cost_gradient(sys::System; simplify = false) + obj = cost(sys) + dvs = unknowns(sys) + return Symbolics.gradient(obj, dvs; simplify) +end + +function generate_cost_gradient( + sys::System; expression = Val{true}, wrap_gfw = Val{false}, + eval_expression = false, eval_module = @__MODULE__, simplify = false, kwargs...) + obj = cost(sys) + dvs = unknowns(sys) + ps = reorder_parameters(sys) + exprs = calculate_cost_gradient(sys; simplify) + res = build_function_wrapper(sys, exprs, dvs, ps...; expression = Val{true}, kwargs...) + return maybe_compile_function( + expression, wrap_gfw, (2, 2, is_split(sys)), res; eval_expression, eval_module) +end + +function calculate_cost_hessian(sys::System; sparse = false, simplify = false) + obj = cost(sys) + dvs = unknowns(sys) + if sparse + exprs = Symbolics.sparsehessian(obj, dvs; simplify)::AbstractSparseArray + sparsity = similar(exprs, Float64) + else + exprs = Symbolics.hessian(obj, dvs; simplify) + end +end + +function cost_hessian_sparsity(sys::System) + return similar(calculate_cost_hessian(sys; sparse = true), Float64) +end + +function generate_cost_hessian( + sys::System; expression = Val{true}, wrap_gfw = Val{false}, + eval_expression = false, eval_module = @__MODULE__, simplify = false, + sparse = false, return_sparsity = false, kwargs...) + obj = cost(sys) + dvs = unknowns(sys) + ps = reorder_parameters(sys) + sparsity = nothing + exprs = calculate_cost_hessian(sys; sparse, simplify) + if sparse + sparsity = similar(exprs, Float64) + end + res = build_function_wrapper(sys, exprs, dvs, ps...; expression = Val{true}, kwargs...) + fn = maybe_compile_function( + expression, wrap_gfw, (2, 2, is_split(sys)), res; eval_expression, eval_module) + + return return_sparsity ? (fn, sparsity) : fn +end + +function canonical_constraints(sys::System) + return map(constraints(sys)) do cstr + Symbolics.canonical_form(cstr).lhs + end +end + +function generate_cons(sys::System; expression = Val{true}, wrap_gfw = Val{false}, + eval_expression = false, eval_module = @__MODULE__, kwargs...) + cons = canonical_constraints(sys) + dvs = unknowns(sys) + ps = reorder_parameters(sys) + res = build_function_wrapper(sys, cons, dvs, ps...; expression = Val{true}, kwargs...) + return maybe_compile_function( + expression, wrap_gfw, (2, 2, is_split(sys)), res; eval_expression, eval_module) +end + +function generate_constraint_jacobian( + sys::System; expression = Val{true}, wrap_gfw = Val{false}, + eval_expression = false, eval_module = @__MODULE__, return_sparsity = false, + simplify = false, sparse = false, kwargs...) + cons = canonical_constraints(sys) + dvs = unknowns(sys) + ps = reorder_parameters(sys) + sparsity = nothing + if sparse + jac = Symbolics.sparsejacobian(cons, dvs; simplify)::AbstractSparseArray + sparsity = similar(jac, Float64) + else + jac = Symbolics.jacobian(cons, dvs; simplify) + end + res = build_function_wrapper(sys, jac, dvs, ps...; expression = Val{true}, kwargs...) + fn = maybe_compile_function( + expression, wrap_gfw, (2, 2, is_split(sys)), res; eval_expression, eval_module) + return return_sparsity ? (fn, sparsity) : fn +end + +function generate_constraint_hessian( + sys::System; expression = Val{true}, wrap_gfw = Val{false}, + eval_expression = false, eval_module = @__MODULE__, return_sparsity = false, + simplify = false, sparse = false, kwargs...) + cons = canonical_constraints(sys) + dvs = unknowns(sys) + ps = reorder_parameters(sys) + sparsity = nothing + if sparse + hess = map(cons) do cstr + Symbolics.sparsehessian(cstr, dvs; simplify)::AbstractSparseArray + end + sparsity = similar.(hess, Float64) + else + hess = [Symbolics.hessian(cstr, dvs; simplify) for cstr in cons] + end + res = build_function_wrapper(sys, hess, dvs, ps...; expression = Val{true}, kwargs...) + fn = maybe_compile_function( + expression, wrap_gfw, (2, 2, is_split(sys)), res; eval_expression, eval_module) + return return_sparsity ? (fn, sparsity) : fn +end + +function calculate_control_jacobian(sys::AbstractSystem; + sparse = false, simplify = false) + rhs = [eq.rhs for eq in full_equations(sys)] + ctrls = unbound_inputs(sys) + + if sparse + jac = sparsejacobian(rhs, ctrls, simplify = simplify) + else + jac = jacobian(rhs, ctrls, simplify = simplify) + end + + return jac +end + +function generate_control_jacobian(sys::AbstractSystem, dvs = unknowns(sys), + ps = parameters(sys; initial_parameters = true); + expression = Val{true}, wrap_gfw = Val{false}, eval_expression = false, + eval_module = @__MODULE__, simplify = false, sparse = false, kwargs...) + jac = calculate_control_jacobian(sys; simplify = simplify, sparse = sparse) + p = reorder_parameters(sys, ps) + res = build_function_wrapper(sys, jac, dvs, p..., get_iv(sys); kwargs...) + return maybe_compile_function( + expression, wrap_gfw, (2, 3, is_split(sys)), res; eval_expression, eval_module) +end + +function generate_rate_function(js::System, rate) + p = reorder_parameters(js) + build_function_wrapper(js, rate, unknowns(js), p..., + get_iv(js), + expression = Val{true}) +end + +function generate_affect_function(js::System, affect; kwargs...) + compile_equational_affect(affect, js; checkvars = false, kwargs...) +end + +function assemble_vrj( + js, vrj, unknowntoid; eval_expression = false, eval_module = @__MODULE__) + rate = eval_or_rgf(generate_rate_function(js, vrj.rate); eval_expression, eval_module) + rate = GeneratedFunctionWrapper{(2, 3, is_split(js))}(rate, nothing) + outputvars = (value(affect.lhs) for affect in vrj.affect!) + outputidxs = [unknowntoid[var] for var in outputvars] + affect = generate_affect_function(js, vrj.affect!; eval_expression, eval_module) + VariableRateJump(rate, affect; save_positions = vrj.save_positions) +end + +function assemble_crj( + js, crj, unknowntoid; eval_expression = false, eval_module = @__MODULE__) + rate = eval_or_rgf(generate_rate_function(js, crj.rate); eval_expression, eval_module) + rate = GeneratedFunctionWrapper{(2, 3, is_split(js))}(rate, nothing) + outputvars = (value(affect.lhs) for affect in crj.affect!) + outputidxs = [unknowntoid[var] for var in outputvars] + affect = generate_affect_function(js, crj.affect!; eval_expression, eval_module) + ConstantRateJump(rate, affect) +end + +# assemble a numeric MassActionJump from a MT symbolics MassActionJumps +function assemble_maj(majv::Vector{U}, unknowntoid, pmapper) where {U <: MassActionJump} + rs = [numericrstoich(maj.reactant_stoch, unknowntoid) for maj in majv] + ns = [numericnstoich(maj.net_stoch, unknowntoid) for maj in majv] + MassActionJump(rs, ns; param_mapper = pmapper, nocopy = true) +end From bbb918c88d25718b1f26dc764736675aaab80548 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 14:01:12 +0530 Subject: [PATCH 027/167] refactor: port `build_explicit_observed_function` to `codegen.jl` --- src/systems/codegen.jl | 168 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 168 insertions(+) diff --git a/src/systems/codegen.jl b/src/systems/codegen.jl index 00f5a714f8..acb319377a 100644 --- a/src/systems/codegen.jl +++ b/src/systems/codegen.jl @@ -560,3 +560,171 @@ function assemble_maj(majv::Vector{U}, unknowntoid, pmapper) where {U <: MassAct ns = [numericnstoich(maj.net_stoch, unknowntoid) for maj in majv] MassActionJump(rs, ns; param_mapper = pmapper, nocopy = true) end + +""" + build_explicit_observed_function(sys, ts; kwargs...) -> Function(s) + +Generates a function that computes the observed value(s) `ts` in the system `sys`, while making the assumption that there are no cycles in the equations. + +## Arguments +- `sys`: The system for which to generate the function +- `ts`: The symbolic observed values whose value should be computed + +## Keywords +- `return_inplace = false`: If true and the observed value is a vector, then return both the in place and out of place methods. +- `expression = false`: Generates a Julia `Expr`` computing the observed value if `expression` is true +- `eval_expression = false`: If true and `expression = false`, evaluates the returned function in the module `eval_module` +- `output_type = Array` the type of the array generated by a out-of-place vector-valued function +- `param_only = false` if true, only allow the generated function to access system parameters +- `inputs = nothing` additinoal symbolic variables that should be provided to the generated function +- `checkbounds = true` checks bounds if true when destructuring parameters +- `op = Operator` sets the recursion terminator for the walk done by `vars` to identify the variables that appear in `ts`. See the documentation for `vars` for more detail. +- `throw = true` if true, throw an error when generating a function for `ts` that reference variables that do not exist. +- `mkarray`: only used if the output is an array (that is, `!isscalar(ts)` and `ts` is not a tuple, in which case the result will always be a tuple). Called as `mkarray(ts, output_type)` where `ts` are the expressions to put in the array and `output_type` is the argument of the same name passed to build_explicit_observed_function. +- `cse = true`: Whether to use Common Subexpression Elimination (CSE) to generate a more efficient function. + +## Returns + +The return value will be either: +* a single function `f_oop` if the input is a scalar or if the input is a Vector but `return_inplace` is false +* the out of place and in-place functions `(f_ip, f_oop)` if `return_inplace` is true and the input is a `Vector` + +The function(s) `f_oop` (and potentially `f_ip`) will be: +* `RuntimeGeneratedFunction`s by default, +* A Julia `Expr` if `expression` is true, +* A directly evaluated Julia function in the module `eval_module` if `eval_expression` is true and `expression` is false. + +The signatures will be of the form `g(...)` with arguments: + +- `output` for in-place functions +- `unknowns` if `param_only` is `false` +- `inputs` if `inputs` is an array of symbolic inputs that should be available in `ts` +- `p...` unconditionally; note that in the case of `MTKParameters` more than one parameters argument may be present, so it must be splatted +- `t` if the system is time-dependent; for example `NonlinearSystem` will not have `t` + +For example, a function `g(op, unknowns, p..., inputs, t)` will be the in-place function generated if `return_inplace` is true, `ts` is a vector, +an array of inputs `inputs` is given, and `param_only` is false for a time-dependent system. +""" +function build_explicit_observed_function(sys, ts; + inputs = nothing, + disturbance_inputs = nothing, + disturbance_argument = false, + expression = false, + eval_expression = false, + eval_module = @__MODULE__, + output_type = Array, + checkbounds = true, + ps = parameters(sys; initial_parameters = true), + return_inplace = false, + param_only = false, + op = Operator, + throw = true, + cse = true, + mkarray = nothing) + # TODO: cleanup + is_tuple = ts isa Tuple + if is_tuple + ts = collect(ts) + output_type = Tuple + end + + allsyms = all_symbols(sys) + if symbolic_type(ts) == NotSymbolic() && ts isa AbstractArray + ts = map(x -> symbol_to_symbolic(sys, x; allsyms), ts) + else + ts = symbol_to_symbolic(sys, ts; allsyms) + end + + vs = ModelingToolkit.vars(ts; op) + namespace_subs = Dict() + ns_map = Dict{Any, Any}(renamespace(sys, eq.lhs) => eq.lhs for eq in observed(sys)) + for sym in unknowns(sys) + ns_map[renamespace(sys, sym)] = sym + if iscall(sym) && operation(sym) === getindex + ns_map[renamespace(sys, arguments(sym)[1])] = arguments(sym)[1] + end + end + for sym in full_parameters(sys) + ns_map[renamespace(sys, sym)] = sym + if iscall(sym) && operation(sym) === getindex + ns_map[renamespace(sys, arguments(sym)[1])] = arguments(sym)[1] + end + end + allsyms = Set(all_symbols(sys)) + iv = has_iv(sys) ? get_iv(sys) : nothing + for var in vs + var = unwrap(var) + newvar = get(ns_map, var, nothing) + if newvar !== nothing + namespace_subs[var] = newvar + var = newvar + end + if throw && !var_in_varlist(var, allsyms, iv) + Base.throw(ArgumentError("Symbol $var is not present in the system.")) + end + end + ts = fast_substitute(ts, namespace_subs) + + obsfilter = if param_only + if is_split(sys) + let ic = get_index_cache(sys) + eq -> !(ContinuousTimeseries() in ic.observed_syms_to_timeseries[eq.lhs]) + end + else + Returns(false) + end + else + Returns(true) + end + dvs = if param_only + () + else + (unknowns(sys),) + end + if inputs === nothing + inputs = () + else + ps = setdiff(ps, inputs) # Inputs have been converted to parameters by io_preprocessing, remove those from the parameter list + inputs = (inputs,) + end + if disturbance_inputs !== nothing + # Disturbance inputs may or may not be included as inputs, depending on disturbance_argument + ps = setdiff(ps, disturbance_inputs) + end + if disturbance_argument + disturbance_inputs = (disturbance_inputs,) + else + disturbance_inputs = () + end + ps = reorder_parameters(sys, ps) + iv = if is_time_dependent(sys) + (get_iv(sys),) + else + () + end + args = (dvs..., inputs..., ps..., iv..., disturbance_inputs...) + p_start = length(dvs) + length(inputs) + 1 + p_end = length(dvs) + length(inputs) + length(ps) + fns = build_function_wrapper( + sys, ts, args...; p_start, p_end, filter_observed = obsfilter, + output_type, mkarray, try_namespaced = true, expression = Val{true}, cse) + if fns isa Tuple + if expression + return return_inplace ? fns : fns[1] + end + oop, iip = eval_or_rgf.(fns; eval_expression, eval_module) + f = GeneratedFunctionWrapper{( + p_start + is_dde(sys), length(args) - length(ps) + 1 + is_dde(sys), is_split(sys))}( + oop, iip) + return return_inplace ? (f, f) : f + else + if expression + return fns + end + f = eval_or_rgf(fns; eval_expression, eval_module) + f = GeneratedFunctionWrapper{( + p_start + is_dde(sys), length(args) - length(ps) + 1 + is_dde(sys), is_split(sys))}( + f, nothing) + return f + end +end From 7228f1ed65e94607233c518a56c93248ffb4d4c1 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 14 Apr 2025 23:16:47 +0530 Subject: [PATCH 028/167] feat: add `@fallback_iip_specialize` fix: fix bugs in `@fallback_iip_specialize`, handle static array problems --- src/systems/problem_utils.jl | 91 ++++++++++++++++++++++++++++++++++++ 1 file changed, 91 insertions(+) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 4525b0e46b..6525420ae7 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -1231,6 +1231,97 @@ function SciMLBase.detect_cycles(sys::AbstractSystem, varmap::Dict{Any, Any}, va return !isempty(cycles) end +""" + $(TYPEDSIGNATURES) + +Macro for writing problem/function constructors. Expects a function definition with type +parameters for `iip` and `specialize`. Generates fallbacks with +`specialize = SciMLBase.FullSpecialize` and `iip = true`. +""" +macro fallback_iip_specialize(ex) + @assert Meta.isexpr(ex, :function) + # fnname is ODEProblem{iip, spec}(args...) where {iip, spec} + # body is function body + fnname, body = ex.args + @assert Meta.isexpr(fnname, :where) + # fnname_call is ODEProblem{iip, spec}(args...) + # where_args are `iip, spec` + fnname_call, where_args... = fnname.args + @assert length(where_args) == 2 + iiparg, specarg = where_args + + @assert Meta.isexpr(fnname_call, :call) + # fnname_curly is ODEProblem{iip, spec} + fnname_curly, args... = fnname_call.args + # the function should have keyword arguments + @assert Meta.isexpr(args[1], :parameters) + + # arguments to call with + call_args = map(args) do arg + # keyword args are in `Expr(:parameters)` so any `Expr(:kw)` here + # are optional positional arguments. Analyze `:(f(a, b = 1; k = 1, l...))` + # to understand + Meta.isexpr(arg, :kw) && return arg.args[1] + return arg + end + call_kwargs = map(call_args[1].args) do arg + Meta.isexpr(arg, :...) && return arg + @assert Meta.isexpr(arg, :kw) + return Expr(:kw, arg.args[1], arg.args[1]) + end + call_args[1] = Expr(:parameters, call_kwargs...) + + @assert Meta.isexpr(fnname_curly, :curly) + # fnname_name is `ODEProblem` + # curly_args is `iip, spec` + fnname_name, curly_args... = fnname_curly.args + @assert curly_args == where_args + + # callexpr_iip is `ODEProblem{iip, FullSpecialize}(call_args...)` + callexpr_iip = Expr( + :call, Expr(:curly, fnname_name, curly_args[1], SciMLBase.FullSpecialize), call_args...) + # `ODEProblem{iip}` + fnname_iip = Expr(:curly, fnname_name, curly_args[1]) + # `ODEProblem{iip}(args...)` + fncall_iip = Expr(:call, fnname_iip, args...) + # ODEProblem{iip}(args...) where {iip} + fnwhere_iip = Expr(:where, fncall_iip, where_args[1]) + fn_iip = Expr(:function, fnwhere_iip, callexpr_iip) + + # `ODEProblem{true}(call_args...)` + callexpr_base = Expr(:call, Expr(:curly, fnname_name, true), call_args...) + # `ODEProblem(args...)` + fncall_base = Expr(:call, fnname_name, args...) + fn_base = Expr(:function, fncall_base, callexpr_base) + + # Handle case when this is a problem constructor and `u0map` is a `StaticArray`, + # where `iip` should default to `false`. + fn_sarr = nothing + if occursin("Problem", string(fnname_name)) + # args should at least contain an argument for the `u0map` + @assert length(args) > 3 + u0_arg = args[3] + # should not have a type-annotation + @assert !Meta.isexpr(u0_arg, :(::)) + if Meta.isexpr(u0_arg, :kw) + argname, default = u0_arg.args + u0_arg = Expr(:kw, Expr(:(::), argname, StaticArray), default) + else + u0_arg = Expr(:(::), u0_arg, StaticArray) + end + + callexpr_sarr = Expr(:call, Expr(:curly, fnname_name, false), call_args...) + fncall_sarr = Expr(:call, fnname_name, args[1], args[2], u0_arg, args[4:end]...) + fn_sarr = Expr(:function, fncall_sarr, callexpr_sarr) + end + return quote + $fn_base + $fn_sarr + $fn_iip + Base.@__doc__ $ex + end |> esc +end + ############## # Legacy functions for backward compatibility ############## From 21eb8a2f10eae37e0acb285548a5ed750cc2e5f1 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 14 Apr 2025 23:16:58 +0530 Subject: [PATCH 029/167] feat: add `check_compatible_system` --- src/ModelingToolkit.jl | 1 + src/problems/compatibility.jl | 171 ++++++++++++++++++++++++++++++++++ 2 files changed, 172 insertions(+) create mode 100644 src/problems/compatibility.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 71ca14d7b9..97c5967112 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -165,6 +165,7 @@ include("systems/codegen.jl") include("systems/problem_utils.jl") include("linearization.jl") +include("problems/compatibility.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/compatibility.jl b/src/problems/compatibility.jl new file mode 100644 index 0000000000..84c2eefc3f --- /dev/null +++ b/src/problems/compatibility.jl @@ -0,0 +1,171 @@ +""" + function check_compatible_system(T::Type, sys::System) + +Check if `sys` can be used to construct a problem/function of type `T`. +""" +function check_compatible_system end + +struct SystemCompatibilityError <: Exception + msg::String +end + +function Base.showerror(io::IO, err::SystemCompatibilityError) + println(io, err.msg) + println(io) + print(io, "To disable this check, pass `check_compatibility = false`.") +end + +function check_time_dependent(sys::System, T) + if !is_time_dependent(sys) + throw(SystemCompatibilityError(""" + `$T` requires a time-dependent system. + """)) + end +end + +function check_time_independent(sys::System, T) + if is_time_dependent(sys) + throw(SystemCompatibilityError(""" + `$T` requires a time-independent system. + """)) + end +end + +function check_is_dde(sys::System) + altT = get_noise_eqs(sys) === nothing ? ODEProblem : SDEProblem + if !is_dde(sys) + throw(SystemCompatibilityError(""" + The system does not have delays. Consider an `$altT` instead. + """)) + end +end + +function check_not_dde(sys::System) + altT = get_noise_eqs(sys) === nothing ? DDEProblem : SDDEProblem + if is_dde(sys) + throw(SystemCompatibilityError(""" + The system has delays. Consider a `$altT` instead. + """)) + end +end + +function check_no_cost(sys::System, T) + cost = ModelingToolkit.cost(sys) + if !_iszero(cost) + throw(SystemCompatibilityError(""" + `$T` will not optimize solutions of systems that have associated cost \ + functions. Solvers for optimal control problems are forthcoming. + """)) + end +end + +function check_has_cost(sys::System, T) + cost = ModelingToolkit.cost(sys) + if _iszero(cost) + throw(SystemCompatibilityError(""" + A system without cost cannot be used to construct a `$T`. + """)) + end +end + +function check_no_constraints(sys::System, T) + if !isempty(constraints(sys)) + throw(SystemCompatibilityError(""" + A system with constraints cannot be used to construct a `$T`. + """)) + end +end + +function check_has_constraints(sys::System, T) + if isempty(constraints(sys)) + throw(SystemCompatibilityError(""" + A system without constraints cannot be used to construct a `$T`. Consider an \ + `ODEProblem` instead. + """)) + end +end + +function check_no_jumps(sys::System, T) + if !isempty(jumps(sys)) + throw(SystemCompatibilityError(""" + A system with jumps cannot be used to construct a `$T`. Consider a \ + `JumpProblem` instead. + """)) + end +end + +function check_has_jumps(sys::System, T) + if isempty(jumps(sys)) + throw(SystemCompatibilityError("`$T` requires a system with jumps.")) + end +end + +function check_no_noise(sys::System, T) + altT = is_dde(sys) ? SDDEProblem : SDEProblem + if get_noise_eqs(sys) !== nothing + throw(SystemCompatibilityError(""" + A system with noise cannot be used to construct a `$T`. Consider an \ + `$altT` instead. + """)) + end +end + +function check_has_noise(sys::System, T) + altT = is_dde(sys) ? DDEProblem : ODEProblem + if get_noise_eqs(sys) === nothing + msg = """ + A system without noise cannot be used to construct a `$T`. Consider an \ + `$altT` instead. + """ + if !isempty(brownians(sys)) + msg = """ + Systems constructed by defining Brownian variables with `@brownian` must be \ + simplified by calling `structural_simplify` before a `$T` can be constructed. + """ + end + throw(SystemCompatibilityError(msg)) + end +end + +function check_is_discrete(sys::System, T) + if !is_discrete_system(sys) + throw(SystemCompatibilityError(""" + `$T` expects a discrete system. Consider an `ODEProblem` instead. If your system \ + is discrete, ensure `structural_simplify` has been run on it. + """)) + end +end + +function check_is_continuous(sys::System, T) + altT = has_alg_equations(sys) ? ImplicitDiscreteProblem : DiscreteProblem + if is_discrete_system(sys) + throw(SystemCompatibilityError(""" + A discrete system cannot be used to construct a `$T`. Consider a `$altT` instead. + """)) + end +end + +function check_is_explicit(sys::System, T, altT) + if has_alg_equations(sys) + throw(SystemCompatibilityError(""" + `$T` expects an explicit system. Consider a `$altT` instead. + """)) + end +end + +function check_is_implicit(sys::System, T, altT) + if !has_alg_equations(sys) + throw(SystemCompatibilityError(""" + `$T` expects an implicit system. Consider a `$altT` instead. + """)) + end +end + +function check_no_equations(sys::System, T) + if !isempty(equations(sys)) + throw(SystemCompatibilityError(""" + A system with equations cannot be used to construct a `$T`. Consider turning the + equations into constraints instead. + """)) + end +end From 31bcf216b2ba914e5b24057915157fdbdb24dd44 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 14 Apr 2025 23:53:12 +0530 Subject: [PATCH 030/167] feat: implement `generate_initializesystem` for `System` --- src/systems/nonlinear/initializesystem.jl | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/systems/nonlinear/initializesystem.jl b/src/systems/nonlinear/initializesystem.jl index c9d0c8f3a5..b515990081 100644 --- a/src/systems/nonlinear/initializesystem.jl +++ b/src/systems/nonlinear/initializesystem.jl @@ -1,9 +1,17 @@ +function generate_initializesystem(sys::AbstractSystem; kwargs...) + if is_time_dependent(sys) + generate_initializesystem_timevarying(sys; kwargs...) + else + generate_initializesystem_timeindependent(sys; kwargs...) + end +end + """ $(TYPEDSIGNATURES) Generate `NonlinearSystem` which initializes a problem from specified initial conditions of an `AbstractTimeDependentSystem`. """ -function generate_initializesystem(sys::AbstractTimeDependentSystem; +function generate_initializesystem_timevarying(sys::AbstractSystem; u0map = Dict(), pmap = Dict(), initialization_eqs = [], @@ -160,7 +168,7 @@ $(TYPEDSIGNATURES) Generate `NonlinearSystem` which initializes a problem from specified initial conditions of an `AbstractTimeDependentSystem`. """ -function generate_initializesystem(sys::AbstractTimeIndependentSystem; +function generate_initializesystem_timeindependent(sys::AbstractSystem; u0map = Dict(), pmap = Dict(), initialization_eqs = [], From da17dbc975bee76c287be6206ec8483eb6cbdbbb Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 16 Apr 2025 17:07:15 +0530 Subject: [PATCH 031/167] refactor: remove `generate_factorized_W` --- src/systems/abstractsystem.jl | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index a5567f7743..a1a576f639 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -113,17 +113,6 @@ the arguments to the internal [`build_function`](@ref) call. """ function generate_jacobian end -""" -```julia -generate_factorized_W(sys::AbstractSystem, dvs = unknowns(sys), ps = parameters(sys), - expression = Val{true}; sparse = false, kwargs...) -``` - -Generates a function for the factorized W matrix of a system. Extra arguments control -the arguments to the internal [`build_function`](@ref) call. -""" -function generate_factorized_W end - """ ```julia generate_hessian(sys::AbstractSystem, dvs = unknowns(sys), ps = parameters(sys), From 21ea3e40e399b783dc85c047baeb86b0660761c7 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 16 Apr 2025 19:58:36 +0530 Subject: [PATCH 032/167] fix: fix `remake` for `IntervalNonlinearProblem` --- src/systems/nonlinear/initializesystem.jl | 1 + 1 file changed, 1 insertion(+) diff --git a/src/systems/nonlinear/initializesystem.jl b/src/systems/nonlinear/initializesystem.jl index b515990081..687b1d6de4 100644 --- a/src/systems/nonlinear/initializesystem.jl +++ b/src/systems/nonlinear/initializesystem.jl @@ -616,6 +616,7 @@ end function SciMLBase.late_binding_update_u0_p( prob, sys::AbstractSystem, u0, p, t0, newu0, newp) supports_initialization(sys) || return newu0, newp + prob isa IntervalNonlinearProblem && return newu0, newp initdata = prob.f.initialization_data meta = initdata === nothing ? nothing : initdata.metadata From 11b369b11f6a6323539ba2e9bf41cb0fde03ded6 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 11:49:57 +0530 Subject: [PATCH 033/167] feat: add `replace` kwarg to `add_toterms!` --- src/systems/problem_utils.jl | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 6525420ae7..76799b508c 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -32,11 +32,14 @@ is_split(sys::AbstractSystem) = has_index_cache(sys) && get_index_cache(sys) !== """ $(TYPEDSIGNATURES) -Given a variable-value mapping, add mappings for the `toterm` of each of the keys. +Given a variable-value mapping, add mappings for the `toterm` of each of the keys. `replace` controls whether +the old value should be removed. """ -function add_toterms!(varmap::AbstractDict; toterm = default_toterm) +function add_toterms!(varmap::AbstractDict; toterm = default_toterm, replace = false) for k in collect(keys(varmap)) - varmap[toterm(k)] = varmap[k] + ttk = toterm(k) + varmap[ttk] = varmap[k] + !isequal(k, ttk) && replace && delete!(varmap, k) end return nothing end @@ -46,9 +49,9 @@ end Out-of-place version of [`add_toterms!`](@ref). """ -function add_toterms(varmap::AbstractDict; toterm = default_toterm) +function add_toterms(varmap::AbstractDict; kwargs...) cp = copy(varmap) - add_toterms!(cp; toterm) + add_toterms!(cp; kwargs...) return cp end From 0d5a377b75ccb13ed0afda08e279766c96ec6639 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 12:08:40 +0530 Subject: [PATCH 034/167] refactor: centralize problem kwargs handling --- src/systems/problem_utils.jl | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 76799b508c..a205ed8d60 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -1234,6 +1234,26 @@ function SciMLBase.detect_cycles(sys::AbstractSystem, varmap::Dict{Any, Any}, va return !isempty(cycles) end +function process_kwargs(sys::System; callback = nothing, eval_expression = false, + eval_module = @__MODULE__, kwargs...) + kwargs = filter_kwargs(kwargs) + kwargs1 = (;) + + if is_time_dependent(sys) + cbs = process_events(sys; callback, eval_expression, eval_module, kwargs...) + if cbs !== nothing + kwargs1 = merge(kwargs1, (callback = cbs,)) + end + + tstops = SymbolicTstops(sys; eval_expression, eval_module) + if tstops !== nothing + kwargs1 = merge(kwargs1, (; tstops)) + end + end + + return merge(kwargs1, kwargs) +end + """ $(TYPEDSIGNATURES) From 87f41f604dbe52b60d6049f79561522a25b22948 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:44:46 +0530 Subject: [PATCH 035/167] refactor: move `filter_kwargs` and `SymbolicTstops` to `problem_utils.jl` --- src/systems/problem_utils.jl | 41 ++++++++++++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index a205ed8d60..3aaca5a4f4 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -1254,6 +1254,47 @@ function process_kwargs(sys::System; callback = nothing, eval_expression = false return merge(kwargs1, kwargs) end +function filter_kwargs(kwargs) + kwargs = Dict(kwargs) + for key in keys(kwargs) + key in DiffEqBase.allowedkeywords || delete!(kwargs, key) + end + pairs(NamedTuple(kwargs)) +end + +struct SymbolicTstops{F} + fn::F +end + +function (st::SymbolicTstops)(p, tspan) + unique!(sort!(reduce(vcat, st.fn(p, tspan...)))) +end + +function SymbolicTstops( + sys::AbstractSystem; eval_expression = false, eval_module = @__MODULE__) + tstops = symbolic_tstops(sys) + isempty(tstops) && return nothing + t0 = gensym(:t0) + t1 = gensym(:t1) + tstops = map(tstops) do val + if is_array_of_symbolics(val) || val isa AbstractArray + collect(val) + else + term(:, t0, unwrap(val), t1; type = AbstractArray{Real}) + end + end + rps = reorder_parameters(sys) + tstops, _ = build_function_wrapper(sys, tstops, + rps..., + t0, + t1; + expression = Val{true}, + p_start = 1, p_end = length(rps), add_observed = false, force_SA = true) + tstops = eval_or_rgf(tstops; eval_expression, eval_module) + tstops = GeneratedFunctionWrapper{(1, 3, is_split(sys))}(tstops, nothing) + return SymbolicTstops(tstops) +end + """ $(TYPEDSIGNATURES) From 4b080c880c39846cc77acc50346286f04a8f7850 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 28 Apr 2025 15:09:15 +0530 Subject: [PATCH 036/167] feat: support returning `Expr` from `SymbolicTstops` and `ObservedFunctionCache` --- src/systems/abstractsystem.jl | 11 ++++++++--- src/systems/problem_utils.jl | 14 ++++++++++---- 2 files changed, 18 insertions(+), 7 deletions(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index a1a576f639..2adc879e94 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -1887,10 +1887,15 @@ struct ObservedFunctionCache{S} end function ObservedFunctionCache( - sys; steady_state = false, eval_expression = false, + sys; expression = Val{false}, steady_state = false, eval_expression = false, eval_module = @__MODULE__, checkbounds = true, cse = true) - return ObservedFunctionCache( - sys, Dict(), steady_state, eval_expression, eval_module, checkbounds, cse) + if expression == Val{true} + :($ObservedFunctionCache($sys, Dict(), $steady_state, $eval_expression, + $eval_module, $checkbounds, $cse)) + else + ObservedFunctionCache( + sys, Dict(), steady_state, eval_expression, eval_module, checkbounds, cse) + end end # This is hit because ensemble problems do a deepcopy diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 3aaca5a4f4..fa31de95cf 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -1271,7 +1271,8 @@ function (st::SymbolicTstops)(p, tspan) end function SymbolicTstops( - sys::AbstractSystem; eval_expression = false, eval_module = @__MODULE__) + sys::AbstractSystem; expression = Val{false}, eval_expression = false, + eval_module = @__MODULE__) tstops = symbolic_tstops(sys) isempty(tstops) && return nothing t0 = gensym(:t0) @@ -1290,9 +1291,14 @@ function SymbolicTstops( t1; expression = Val{true}, p_start = 1, p_end = length(rps), add_observed = false, force_SA = true) - tstops = eval_or_rgf(tstops; eval_expression, eval_module) - tstops = GeneratedFunctionWrapper{(1, 3, is_split(sys))}(tstops, nothing) - return SymbolicTstops(tstops) + tstops = GeneratedFunctionWrapper{(1, 3, is_split(sys))}( + expression, tstops, nothing; eval_expression, eval_module) + + if expression == Val{true} + return :($SymbolicTstops($tstops)) + else + return SymbolicTstops(tstops) + end end """ From d088463a4951f921543909b2934128ac9c2c2db6 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 12:54:51 +0530 Subject: [PATCH 037/167] refactor: pass `u0` and `p` as kwargs in `process_SciMLProblem` feat: handle `expression = Val{true}` in `process_kwargs` --- src/systems/problem_utils.jl | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index fa31de95cf..16977a940b 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -1184,7 +1184,7 @@ function process_SciMLProblem( kwargs = merge(kwargs,) end - f = constructor(sys, dvs, ps, u0; p = p, + f = constructor(sys; u0 = u0, p = p, eval_expression = eval_expression, eval_module = eval_module, kwargs...) @@ -1234,18 +1234,20 @@ function SciMLBase.detect_cycles(sys::AbstractSystem, varmap::Dict{Any, Any}, va return !isempty(cycles) end -function process_kwargs(sys::System; callback = nothing, eval_expression = false, - eval_module = @__MODULE__, kwargs...) +function process_kwargs(sys::System; expression = Val{false}, callback = nothing, + eval_expression = false, eval_module = @__MODULE__, kwargs...) kwargs = filter_kwargs(kwargs) kwargs1 = (;) if is_time_dependent(sys) - cbs = process_events(sys; callback, eval_expression, eval_module, kwargs...) - if cbs !== nothing - kwargs1 = merge(kwargs1, (callback = cbs,)) + if expression == Val{false} + cbs = process_events(sys; callback, eval_expression, eval_module, kwargs...) + if cbs !== nothing + kwargs1 = merge(kwargs1, (callback = cbs,)) + end end - tstops = SymbolicTstops(sys; eval_expression, eval_module) + tstops = SymbolicTstops(sys; expression, eval_expression, eval_module) if tstops !== nothing kwargs1 = merge(kwargs1, (; tstops)) end From d0844c516abe61033ad163a9be6ab1fc63369f08 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 28 Apr 2025 18:43:39 +0530 Subject: [PATCH 038/167] feat: add `maybe_codegen_scimlfn` and `maybe_codegen_scimlproblem` --- src/systems/problem_utils.jl | 94 ++++++++++++++++++++++++++++++++++++ 1 file changed, 94 insertions(+) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 16977a940b..2d13f91005 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -1394,6 +1394,100 @@ macro fallback_iip_specialize(ex) end |> esc end +""" + $(TYPEDSIGNATURES) + +Turn key-value pairs in `kws` into assignments and appent them to `block.args`. `head` is +the head of the `Expr` used to create the assignment. `filter` is a function that takes the +key and returns whether or not to include it in the assignments. +""" +function namedtuple_to_assignments!( + block, kws::NamedTuple; head = :(=), filter = Returns(true)) + for (k, v) in pairs(kws) + filter(k) || continue + push!(block.args, Expr(head, k, v)) + end +end + +""" + $(TYPEDSIGNATURES) + +Build an expression that constructs SciMLFunction `T`. `args` is a `NamedTuple` mapping +names of positional arguments to `T` to their (expression) values. `kwargs` are parsed +as keyword arguments to the constructor. +""" +function build_scimlfn_expr(T, args::NamedTuple; kwargs...) + kwargs = NamedTuple(kwargs) + let_args = Expr(:block) + namedtuple_to_assignments!(let_args, args) + + kwexpr = Expr(:parameters) + # don't include initialization data in the generated expression + filter = !isequal(:initialization_data) + namedtuple_to_assignments!(let_args, kwargs; filter = filter) + namedtuple_to_assignments!(kwexpr, kwargs; head = :kw, filter) + let_body = Expr(:call, T, kwexpr, keys(args)...) + return Expr(:let, let_args, let_body) +end + +""" + $(TYPEDSIGNATURES) + +Build an expression that constructs SciMLProblem `T`. `args` is a `NamedTuple` mapping +names of positional arguments to `T` to their (expression) values. `kwargs` are parsed +as keyword arguments to the constructor. +""" +function build_scimlproblem_expr(T, args::NamedTuple; kwargs...) + kwargs = NamedTuple(kwargs) + let_args = Expr(:block) + namedtuple_to_assignments!(let_args, args) + + kwexpr = Expr(:parameters) + namedtuple_to_assignments!(let_args, kwargs) + namedtuple_to_assignments!(kwexpr, kwargs; head = :kw) + let_body = Expr(:call, remake, Expr(:call, T, kwexpr, keys(args)...)) + return Expr(:let, let_args, let_body) +end + +""" + $(TYPEDSIGNATURES) + +Return an expression constructing SciMLFunction `T` with positional arguments `args` +and keywords `kwargs`. +""" +function maybe_codegen_scimlfn(::Type{Val{true}}, T, args::NamedTuple; kwargs...) + build_scimlfn_expr(T, args; kwargs...) +end + +""" + $(TYPEDSIGNATURES) + +Construct SciMLFunction `T` with positional arguments `args` and keywords `kwargs`. +""" +function maybe_codegen_scimlfn(::Type{Val{false}}, T, args::NamedTuple; kwargs...) + T(args...; kwargs...) +end + +""" + $(TYPEDSIGNATURES) + +Return an expression constructing SciMLProblem `T` with positional arguments `args` +and keywords `kwargs`. +""" +function maybe_codegen_scimlproblem(::Type{Val{true}}, T, args::NamedTuple; kwargs...) + build_scimlproblem_expr(T, args; kwargs...) +end + +""" + $(TYPEDSIGNATURES) + +Construct SciMLProblem `T` with positional arguments `args` and keywords `kwargs`. +""" +function maybe_codegen_scimlproblem(::Type{Val{false}}, T, args::NamedTuple; kwargs...) + # Call `remake` so it runs initialization if it is trivial + remake(T(args...; kwargs...)) +end + ############## # Legacy functions for backward compatibility ############## From bf9fb81312e25fe38d111f99c7ceef80f9532f0e Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 14 Apr 2025 23:17:20 +0530 Subject: [PATCH 039/167] feat: implement `ODEProblem` and `ODEFunction` for `System` refactor: use new compiled `generate_*` functions --- src/ModelingToolkit.jl | 1 + src/problems/odeproblem.jl | 94 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 95 insertions(+) create mode 100644 src/problems/odeproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 97c5967112..05ff3d6c65 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -166,6 +166,7 @@ include("systems/problem_utils.jl") include("linearization.jl") include("problems/compatibility.jl") +include("problems/odeproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/odeproblem.jl b/src/problems/odeproblem.jl new file mode 100644 index 0000000000..42e49a0aea --- /dev/null +++ b/src/problems/odeproblem.jl @@ -0,0 +1,94 @@ +@fallback_iip_specialize function SciMLBase.ODEFunction{iip, spec}( + sys::System; u0 = nothing, p = nothing, tgrad = false, jac = false, + t = nothing, eval_expression = false, eval_module = @__MODULE__, sparse = false, + steady_state = false, checkbounds = false, sparsity = false, analytic = nothing, + simplify = false, cse = true, initialization_data = nothing, expression = Val{false}, + check_compatibility = true, kwargs...) where {iip, spec} + check_complete(sys, ODEFunction) + check_compatibility && check_compatible_system(ODEFunction, sys) + + dvs = unknowns(sys) + ps = parameters(sys) + f = generate_rhs(sys, dvs, ps; expression, wrap_gfw = Val{true}, + eval_expression, eval_module, checkbounds = checkbounds, cse, + kwargs...) + + if spec === SciMLBase.FunctionWrapperSpecialize && iip + if u0 === nothing || p === nothing || t === nothing + error("u0, p, and t must be specified for FunctionWrapperSpecialize on ODEFunction.") + end + if expression == Val{true} + f = :($(SciMLBase.wrapfun_iip)($f, ($u0, $u0, $p, $t))) + else + f = SciMLBase.wrapfun_iip(f, (u0, u0, p, t)) + end + end + + if tgrad + _tgrad = generate_tgrad( + sys, dvs, ps; expression, wrap_gfw = Val{true}, + simplify, cse, eval_expression, eval_module, checkbounds, kwargs...) + else + _tgrad = nothing + end + + if jac + _jac = generate_jacobian( + sys; expression, wrap_gfw = Val{true}, + simplify, sparse, cse, eval_expression, eval_module, checkbounds, kwargs...) + else + _jac = nothing + end + + M = calculate_massmatrix(sys) + _M = concrete_massmatrix(M; sparse, u0) + + observedfun = ObservedFunctionCache( + sys; expression, steady_state, eval_expression, eval_module, checkbounds, cse) + + _W_sparsity = W_sparsity(sys) + W_prototype = calculate_W_prototype(_W_sparsity; u0, sparse) + + args = (; f) + kwargs = (; + sys = sys, + jac = _jac, + tgrad = _tgrad, + mass_matrix = _M, + jac_prototype = W_prototype, + observed = observedfun, + sparsity = sparsity ? _W_sparsity : nothing, + analytic = analytic, + initialization_data) + + maybe_codegen_scimlfn(expression, ODEFunction{iip, spec}, args; kwargs...) +end + +@fallback_iip_specialize function SciMLBase.ODEProblem{iip, spec}( + sys::System, u0map, tspan, parammap = SciMLBase.NullParameters(); + callback = nothing, check_length = true, eval_expression = false, + expression = Val{false}, eval_module = @__MODULE__, check_compatibility = true, + kwargs...) where {iip, spec} + check_complete(sys, ODEProblem) + check_compatibility && check_compatible_system(ODEProblem, sys) + + f, u0, p = process_SciMLProblem(ODEFunction{iip, spec}, sys, u0map, parammap; + t = tspan !== nothing ? tspan[1] : tspan, check_length, eval_expression, + eval_module, expression, check_compatibility, kwargs...) + + kwargs = process_kwargs( + sys; expression, callback, eval_expression, eval_module, kwargs...) + + args = (; f, u0, tspan, p, ptype = StandardODEProblem()) + maybe_codegen_scimlproblem(expression, ODEProblem{iip}, args; kwargs...) +end + +function check_compatible_system(T::Union{Type{ODEFunction}, Type{ODEProblem}}, sys::System) + check_time_dependent(sys, T) + check_not_dde(sys, T) + check_no_cost(sys, T) + check_no_constraints(sys, T) + check_no_jumps(sys, T) + check_no_noise(sys, T) + check_is_continuous(sys, T) +end From 208fd8c13f7a3de207accf56081405bed13fb719 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 11:46:15 +0530 Subject: [PATCH 040/167] feat: implement `DDEFunction`, `DDEProblem` for `System` --- src/ModelingToolkit.jl | 1 + src/problems/ddeproblem.jl | 86 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 87 insertions(+) create mode 100644 src/problems/ddeproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 05ff3d6c65..8a374465a6 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -167,6 +167,7 @@ include("linearization.jl") include("problems/compatibility.jl") include("problems/odeproblem.jl") +include("problems/ddeproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/ddeproblem.jl b/src/problems/ddeproblem.jl new file mode 100644 index 0000000000..dfc660effd --- /dev/null +++ b/src/problems/ddeproblem.jl @@ -0,0 +1,86 @@ +@fallback_iip_specialize function SciMLBase.DDEFunction{iip, spec}( + sys::System; u0 = nothing, p = nothing, eval_expression = false, + eval_module = @__MODULE__, expression = Val{false}, checkbounds = false, + initialization_data = nothing, cse = true, check_compatibility = true, + sparse = false, simplify = false, analytic = nothing, kwargs...) where {iip, spec} + check_complete(sys, DDEFunction) + check_compatibility && check_compatible_system(DDEFunction, sys) + + dvs = unknowns(sys) + ps = parameters(sys) + + f = generate_rhs(sys, dvs, ps; expression, wrap_gfw = Val{true}, + eval_expression, eval_module, checkbounds = checkbounds, cse, + kwargs...) + + if spec === SciMLBase.FunctionWrapperSpecialize && iip + if u0 === nothing || p === nothing || t === nothing + error("u0, p, and t must be specified for FunctionWrapperSpecialize on DDEFunction.") + end + if expression == Val{true} + f = :($(SciMLBase.wrapfun_iip)($f, ($u0, $u0, $p, $t))) + else + f = SciMLBase.wrapfun_iip(f, (u0, u0, p, t)) + end + end + + M = calculate_massmatrix(sys) + _M = concrete_massmatrix(M; sparse, u0) + + observedfun = ObservedFunctionCache( + sys; expression, eval_expression, eval_module, checkbounds, cse) + + kwargs = (; + sys = sys, + mass_matrix = _M, + observed = observedfun, + analytic = analytic, + initialization_data) + args = (; f) + + return maybe_codegen_scimlfn(expression, DDEFunction{iip, spec}, args; kwargs...) +end + +@fallback_iip_specialize function SciMLBase.DDEProblem{iip, spec}( + sys::System, u0map, tspan, parammap = SciMLBase.NullParameters(); + callback = nothing, check_length = true, cse = true, checkbounds = false, + eval_expression = false, eval_module = @__MODULE__, check_compatibility = true, + u0_constructor = identity, expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, DDEProblem) + check_compatibility && check_compatible_system(DDEProblem, sys) + + f, u0, p = process_SciMLProblem(DDEFunction{iip, spec}, sys, u0map, parammap; + t = tspan !== nothing ? tspan[1] : tspan, check_length, cse, checkbounds, + eval_expression, eval_module, check_compatibility, symbolic_u0 = true, + expression, u0_constructor, kwargs...) + + h = generate_history( + sys, u0; expression, wrap_gfw = Val{true}, cse, eval_expression, eval_module, + checkbounds) + + if expression == Val{true} + if u0 !== nothing + u0 = :($u0_constructor($map($float, h(p, tspan[1])))) + end + else + if u0 !== nothing + u0 = u0_constructor(float.(h(p, tspan[1]))) + end + end + + kwargs = process_kwargs( + sys; expression, callback, eval_expression, eval_module, kwargs...) + args = (; f, u0, h, tspan, p) + + return maybe_codegen_scimlproblem(expression, DDEProblem{iip}, args; kwargs...) +end + +function check_compatible_system(T::Union{Type{DDEFunction}, Type{DDEProblem}}, sys::System) + check_time_dependent(sys, T) + check_is_dde(sys) + check_no_cost(sys, T) + check_no_constraints(sys, T) + check_no_jumps(sys, T) + check_no_noise(sys, T) + check_is_continuous(sys, T) +end From 3f60b79a3c4e7bc00ddf2ba9a0ef2cc559cadb42 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 11:47:01 +0530 Subject: [PATCH 041/167] feat: implement `DAEProblem` and `DAEFunction` for `System` --- src/ModelingToolkit.jl | 1 + src/problems/daeproblem.jl | 87 ++++++++++++++++++++++++++++++++++++++ src/problems/odeproblem.jl | 6 ++- 3 files changed, 92 insertions(+), 2 deletions(-) create mode 100644 src/problems/daeproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 8a374465a6..a8b5af6231 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -168,6 +168,7 @@ include("linearization.jl") include("problems/compatibility.jl") include("problems/odeproblem.jl") include("problems/ddeproblem.jl") +include("problems/daeproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/daeproblem.jl b/src/problems/daeproblem.jl new file mode 100644 index 0000000000..d1f8893cd5 --- /dev/null +++ b/src/problems/daeproblem.jl @@ -0,0 +1,87 @@ +@fallback_iip_specialize function SciMLBase.DAEFunction{iip, spec}( + sys::System; u0 = nothing, p = nothing, tgrad = false, jac = false, + t = nothing, eval_expression = false, eval_module = @__MODULE__, sparse = false, + steady_state = false, checkbounds = false, sparsity = false, analytic = nothing, + simplify = false, cse = true, initialization_data = nothing, + expression = Val{false}, check_compatibility = true, kwargs...) where {iip, spec} + check_complete(sys, DAEFunction) + check_compatibility && check_compatible_system(DAEFunction, sys) + + dvs = unknowns(sys) + ps = parameters(sys) + f = generate_rhs(sys, dvs, ps; expression, wrap_gfw = Val{true}, + implicit_dae = true, eval_expression, eval_module, checkbounds = checkbounds, cse, + kwargs...) + + if spec === SciMLBase.FunctionWrapperSpecialize && iip + if u0 === nothing || p === nothing || t === nothing + error("u0, p, and t must be specified for FunctionWrapperSpecialize on ODEFunction.") + end + if expression == Val{true} + f = :($(SciMLBase.wrapfun_iip)($f, ($u0, $u0, $u0, $p, $t))) + else + f = SciMLBase.wrapfun_iip(f, (u0, u0, u0, p, t)) + end + end + + if jac + _jac = generate_dae_jacobian(sys, dvs, ps; expression, + wrap_gfw = Val{true}, simplify, sparse, cse, eval_expression, eval_module, + checkbounds, kwargs...) + else + _jac = nothing + end + + observedfun = ObservedFunctionCache( + sys; expression, steady_state, eval_expression, eval_module, checkbounds, cse) + + jac_prototype = if sparse + uElType = u0 === nothing ? Float64 : eltype(u0) + if jac + J1 = calculate_jacobian(sys, sparse = sparse) + derivatives = Differential(get_iv(sys)).(unknowns(sys)) + J2 = calculate_jacobian(sys; sparse = sparse, dvs = derivatives) + similar(J1 + J2, uElType) + else + similar(jacobian_dae_sparsity(sys), uElType) + end + else + nothing + end + + kwargs = (; + sys = sys, + jac = _jac, + jac_prototype = jac_prototype, + observed = observedfun, + analytic = analytic, + initialization_data) + args = (; f) + + return maybe_codegen_scimlfn(expression, DAEFunction{iip, spec}, args; kwargs...) +end + +@fallback_iip_specialize function SciMLBase.DAEProblem{iip, spec}( + sys::System, du0map, u0map, tspan, parammap = SciMLBase.NullParameters(); + callback = nothing, check_length = true, eval_expression = false, + eval_module = @__MODULE__, check_compatibility = true, + expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, DAEProblem) + check_compatibility && check_compatible_system(DAEProblem, sys) + + f, du0, u0, p = process_SciMLProblem(DAEFunction{iip, spec}, sys, u0map, parammap; + du0map, t = tspan !== nothing ? tspan[1] : tspan, check_length, eval_expression, + eval_module, check_compatibility, implicit_dae = true, expression, kwargs...) + + kwargs = process_kwargs(sys; expression, callback, eval_expression, eval_module, + kwargs...) + + diffvars = collect_differential_variables(sys) + sts = unknowns(sys) + differential_vars = map(Base.Fix2(in, diffvars), sts) + + args = (; f, du0, u0, tspan, p) + kwargs = (; differential_vars, kwargs...) + + return maybe_codegen_scimlproblem(expression, DAEProblem{iip}, args; kwargs...) +end diff --git a/src/problems/odeproblem.jl b/src/problems/odeproblem.jl index 42e49a0aea..0d5a146c48 100644 --- a/src/problems/odeproblem.jl +++ b/src/problems/odeproblem.jl @@ -83,9 +83,11 @@ end maybe_codegen_scimlproblem(expression, ODEProblem{iip}, args; kwargs...) end -function check_compatible_system(T::Union{Type{ODEFunction}, Type{ODEProblem}}, sys::System) +function check_compatible_system( + T::Union{Type{ODEFunction}, Type{ODEProblem}, Type{DAEFunction}, Type{DAEProblem}}, + sys::System) check_time_dependent(sys, T) - check_not_dde(sys, T) + check_not_dde(sys) check_no_cost(sys, T) check_no_constraints(sys, T) check_no_jumps(sys, T) From 37b0f1657f817ccb705a5eea29af2c0d78ddac19 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 11:48:22 +0530 Subject: [PATCH 042/167] feat: implement `SDEProblem` and `SDEFunction` for `System` --- src/ModelingToolkit.jl | 1 + src/problems/sdeproblem.jl | 120 +++++++++++++++++++++++++++++++++++++ 2 files changed, 121 insertions(+) create mode 100644 src/problems/sdeproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index a8b5af6231..e87854e5fb 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -169,6 +169,7 @@ include("problems/compatibility.jl") include("problems/odeproblem.jl") include("problems/ddeproblem.jl") include("problems/daeproblem.jl") +include("problems/sdeproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/sdeproblem.jl b/src/problems/sdeproblem.jl new file mode 100644 index 0000000000..a6270973f2 --- /dev/null +++ b/src/problems/sdeproblem.jl @@ -0,0 +1,120 @@ +@fallback_iip_specialize function SciMLBase.SDEFunction{iip, spec}( + sys::System; u0 = nothing, p = nothing, tgrad = false, jac = false, + t = nothing, eval_expression = false, eval_module = @__MODULE__, sparse = false, + steady_state = false, checkbounds = false, sparsity = false, analytic = nothing, + simplify = false, cse = true, initialization_data = nothing, + check_compatibility = true, expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, SDEFunction) + check_compatibility && check_compatible_system(SDEFunction, sys) + + dvs = unknowns(sys) + ps = parameters(sys) + f = generate_rhs(sys, dvs, ps; expression, wrap_gfw = Val{true}, + eval_expression, eval_module, checkbounds = checkbounds, cse, + kwargs...) + g = generate_diffusion_function(sys, dvs, ps; expression, + wrap_gfw = Val{true}, eval_expression, eval_module, checkbounds, cse, kwargs...) + + if spec === SciMLBase.FunctionWrapperSpecialize && iip + if u0 === nothing || p === nothing || t === nothing + error("u0, p, and t must be specified for FunctionWrapperSpecialize on SDEFunction.") + end + if expression == Val{true} + f = :($(SciMLBase.wrapfun_iip)($f, ($u0, $u0, $p, $t))) + else + f = SciMLBase.wrapfun_iip(f, (u0, u0, p, t)) + end + end + + if tgrad + _tgrad = generate_tgrad(sys, dvs, ps; expression, + wrap_gfw = Val{true}, simplify, cse, eval_expression, eval_module, checkbounds, + kwargs...) + else + _tgrad = nothing + end + + if jac + _jac = generate_jacobian(sys; expression, + wrap_gfw = Val{true}, simplify, sparse, cse, eval_expression, eval_module, + checkbounds, kwargs...) + else + _jac = nothing + end + + M = calculate_massmatrix(sys) + _M = concrete_massmatrix(M; sparse, u0) + + observedfun = ObservedFunctionCache( + sys; expression, steady_state, eval_expression, eval_module, checkbounds, cse) + + _W_sparsity = W_sparsity(sys) + W_prototype = calculate_W_prototype(_W_sparsity; u0, sparse) + + kwargs = (; + sys = sys, + jac = _jac, + tgrad = _tgrad, + mass_matrix = _M, + jac_prototype = W_prototype, + observed = observedfun, + sparsity = sparsity ? _W_sparsity : nothing, + analytic = analytic, + initialization_data) + args = (; f, g) + + return maybe_codegen_scimlfn(expression, SDEFunction{iip, spec}, args; kwargs...) +end + +@fallback_iip_specialize function SciMLBase.SDEProblem{iip, spec}( + sys::System, u0map, tspan, parammap = SciMLBase.NullParameters(); + callback = nothing, check_length = true, eval_expression = false, + eval_module = @__MODULE__, check_compatibility = true, sparse = false, + sparsenoise = sparse, expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, SDEProblem) + check_compatibility && check_compatible_system(SDEProblem, sys) + + f, u0, p = process_SciMLProblem(SDEFunction{iip, spec}, sys, u0map, parammap; + t = tspan !== nothing ? tspan[1] : tspan, check_length, eval_expression, + eval_module, check_compatibility, sparse, expression, kwargs...) + + noise, noise_rate_prototype = calculate_noise_and_rate_prototype(sys, u0; sparsenoise) + kwargs = process_kwargs(sys; expression, callback, eval_expression, eval_module, + kwargs...) + + args = (; f, u0, tspan, p) + kwargs = (; noise, noise_rate_prototype, kwargs...) + + return maybe_codegen_scimlproblem(expression, SDEProblem{iip}, args; kwargs...) +end + +function check_compatible_system(T::Union{Type{SDEFunction}, Type{SDEProblem}}, sys::System) + check_time_dependent(sys, T) + check_not_dde(sys) + check_no_cost(sys, T) + check_no_constraints(sys, T) + check_no_jumps(sys, T) + check_has_noise(sys, T) + check_is_continuous(sys, T) +end + +function calculate_noise_and_rate_prototype(sys::System, u0; sparsenoise = false) + noiseeqs = get_noise_eqs(sys) + if noiseeqs isa AbstractVector + # diagonal noise + noise_rate_prototype = nothing + noise = nothing + elseif size(noiseeqs, 2) == 1 + # scalar noise + noise_rate_prototype = nothing + noise = WienerProcess(0.0, 0.0, 0.0) + elseif sparsenoise + I, J, V = findnz(SparseArrays.sparse(noiseeqs)) + noise_rate_prototype = SparseArrays.sparse(I, J, zero(eltype(u0))) + noise = nothing + else + noise_rate_prototype = zeros(eltype(u0), size(noiseeqs)) + noise = nothing + end + return noise, noise_rate_prototype +end From 9bf8d7654fc22dac1e28c35c7fc866a1abd87196 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 16 Apr 2025 17:38:55 +0530 Subject: [PATCH 043/167] feat: implement `SDDEProblem`, `SDDEFunction` for `System` --- src/ModelingToolkit.jl | 1 + src/problems/sddeproblem.jl | 96 +++++++++++++++++++++++++++++++++++++ 2 files changed, 97 insertions(+) create mode 100644 src/problems/sddeproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index e87854e5fb..722e06a6cf 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -170,6 +170,7 @@ include("problems/odeproblem.jl") include("problems/ddeproblem.jl") include("problems/daeproblem.jl") include("problems/sdeproblem.jl") +include("problems/sddeproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/sddeproblem.jl b/src/problems/sddeproblem.jl new file mode 100644 index 0000000000..3bc20c0412 --- /dev/null +++ b/src/problems/sddeproblem.jl @@ -0,0 +1,96 @@ +@fallback_iip_specialize function SciMLBase.SDDEFunction{iip, spec}( + sys::System; u0 = nothing, p = nothing, expression = Val{false}, + eval_expression = false, eval_module = @__MODULE__, checkbounds = false, + initialization_data = nothing, cse = true, check_compatibility = true, + sparse = false, simplify = false, analytic = nothing, kwargs...) where {iip, spec} + check_complete(sys, SDDEFunction) + check_compatibility && check_compatible_system(SDDEFunction, sys) + + dvs = unknowns(sys) + ps = parameters(sys) + + f = generate_rhs(sys, dvs, ps; expression, wrap_gfw = Val{true}, + eval_expression, eval_module, checkbounds = checkbounds, cse, kwargs...) + g = generate_diffusion_function(sys, dvs, ps; expression, + wrap_gfw = Val{true}, eval_expression, eval_module, checkbounds, cse, kwargs...) + + if spec === SciMLBase.FunctionWrapperSpecialize && iip + if u0 === nothing || p === nothing || t === nothing + error("u0, p, and t must be specified for FunctionWrapperSpecialize on SDDEFunction.") + end + if expression == Val{true} + f = :($(SciMLBase.wrapfun_iip)($f, ($u0, $u0, $p, $t))) + else + f = SciMLBase.wrapfun_iip(f, (u0, u0, p, t)) + end + end + + M = calculate_massmatrix(sys) + _M = concrete_massmatrix(M; sparse, u0) + + observedfun = ObservedFunctionCache( + sys; expression, eval_expression, eval_module, checkbounds, cse) + + kwargs = (; + sys = sys, + mass_matrix = _M, + observed = observedfun, + analytic = analytic, + initialization_data) + args = (; f, g) + + return maybe_codegen_scimlfn(expression, SDDEFunction{iip, spec}, args; kwargs...) +end + +@fallback_iip_specialize function SciMLBase.SDDEProblem{iip, spec}( + sys::System, u0map, tspan, parammap = SciMLBase.NullParameters(); + callback = nothing, check_length = true, cse = true, checkbounds = false, + eval_expression = false, eval_module = @__MODULE__, check_compatibility = true, + u0_constructor = identity, sparse = false, sparsenoise = sparse, + expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, SDDEProblem) + check_compatibility && check_compatible_system(SDDEProblem, sys) + + f, u0, p = process_SciMLProblem(SDDEFunction{iip, spec}, sys, u0map, parammap; + t = tspan !== nothing ? tspan[1] : tspan, check_length, cse, checkbounds, + eval_expression, eval_module, check_compatibility, sparse, symbolic_u0 = true, + expression, u0_constructor, kwargs...) + + h = generate_history( + sys, u0; expression, wrap_gfw = Val{true}, cse, eval_expression, eval_module, + checkbounds) + + if expression == Val{true} + if u0 !== nothing + u0 = :($u0_constructor($map($float, h(p, tspan[1])))) + end + else + if u0 !== nothing + u0 = u0_constructor(float.(h(p, tspan[1]))) + end + end + + noise, noise_rate_prototype = calculate_noise_and_rate_prototype(sys, u0; sparsenoise) + kwargs = process_kwargs(sys; callback, eval_expression, eval_module, kwargs...) + + if expression == Val{true} + g = :(f.g) + else + g = f.g + end + args = (; f, g, u0, h, tspan, p) + kwargs = (; noise, noise_rate_prototype, kwargs...) + + return maybe_codegen_scimlproblem(expression, SDDEProblem{iip}, args; kwargs...) +end + +function check_compatible_system( + T::Union{Type{SDDEFunction}, Type{SDDEProblem}}, sys::System) + check_time_dependent(sys, T) + check_is_dde(sys) + check_no_cost(sys, T) + check_no_constraints(sys, T) + check_no_jumps(sys, T) + check_has_noise(sys, T) + check_is_continuous(sys, T) +end From 1dc90739ff2305160aa29b9ebcb2be0bbf6efbd4 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 11:49:06 +0530 Subject: [PATCH 044/167] feat: implement `NonlinearProblem`, `NonlinearFunction` for `System` --- src/ModelingToolkit.jl | 1 + src/problems/nonlinearproblem.jl | 90 ++++++++++++++++++++++++++++++++ 2 files changed, 91 insertions(+) create mode 100644 src/problems/nonlinearproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 722e06a6cf..903c5601ea 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -171,6 +171,7 @@ include("problems/ddeproblem.jl") include("problems/daeproblem.jl") include("problems/sdeproblem.jl") include("problems/sddeproblem.jl") +include("problems/nonlinearproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/nonlinearproblem.jl b/src/problems/nonlinearproblem.jl new file mode 100644 index 0000000000..26996adf2d --- /dev/null +++ b/src/problems/nonlinearproblem.jl @@ -0,0 +1,90 @@ +@fallback_iip_specialize function SciMLBase.NonlinearFunction{iip, spec}( + sys::System; u0 = nothing, p = nothing, jac = false, + eval_expression = false, eval_module = @__MODULE__, sparse = false, + checkbounds = false, sparsity = false, analytic = nothing, + simplify = false, cse = true, initialization_data = nothing, + check_compatibility = true, expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, NonlinearFunction) + check_compatibility && check_compatible_system(NonlinearFunction, sys) + + dvs = unknowns(sys) + ps = parameters(sys) + f = generate_rhs(sys, dvs, ps; expression, wrap_gfw = Val{true}, + eval_expression, eval_module, checkbounds = checkbounds, cse, + kwargs...) + + if spec === SciMLBase.FunctionWrapperSpecialize && iip + if u0 === nothing || p === nothing + error("u0, and p must be specified for FunctionWrapperSpecialize on NonlinearFunction.") + end + if expression == Val{true} + f = :($(SciMLBase.wrapfun_iip)($f, ($u0, $u0, $p))) + else + f = SciMLBase.wrapfun_iip(f, (u0, u0, p)) + end + end + + if jac + _jac = generate_jacobian(sys; expression, + wrap_gfw = Val{true}, simplify, sparse, cse, eval_expression, eval_module, + checkbounds, kwargs...) + else + _jac = nothing + end + + observedfun = ObservedFunctionCache( + sys; steady_state = false, expression, eval_expression, eval_module, checkbounds, + cse) + + if length(dvs) == length(equations(sys)) + resid_prototype = nothing + else + resid_prototype = calculate_resid_prototype(length(equations(sys)), u0, p) + end + + if sparse + jac_prototype = similar(calculate_jacobian(sys; sparse), eltype(u0)) + else + jac_prototype = nothing + end + + kwargs = (; + sys = sys, + jac = _jac, + observed = observedfun, + analytic = analytic, + jac_prototype, + resid_prototype, + initialization_data) + args = (; f) + + return maybe_codegen_scimlfn(expression, NonlinearFunction{iip, spec}, args; kwargs...) +end + +@fallback_iip_specialize function SciMLBase.NonlinearProblem{iip, spec}( + sys::System, u0map, parammap = SciMLBase.NullParameters(); expression = Val{false}, + check_length = true, check_compatibility = true, kwargs...) where {iip, spec} + check_complete(sys, NonlinearProblem) + if is_time_dependent(sys) + sys = NonlinearSystem(sys) + end + check_compatibility && check_compatible_system(NonlinearProblem, sys) + + f, u0, p = process_SciMLProblem(NonlinearFunction{iip, spec}, sys, u0map, parammap; + check_length, check_compatibility, expression, kwargs...) + + kwargs = process_kwargs(sys; kwargs...) + args = (; f, u0, p, ptype = StandardNonlinearProblem()) + + return maybe_codegen_scimlproblem(expression, NonlinearProblem{iip}, args; kwargs...) +end + +function check_compatible_system( + T::Union{Type{NonlinearFunction}, Type{NonlinearProblem}}, sys::System) + check_time_independent(sys, T) + check_not_dde(sys) + check_no_cost(sys, T) + check_no_constraints(sys, T) + check_no_jumps(sys, T) + check_no_noise(sys, T) +end From 06606761af94dd75ce310dbb3ca6248f5200e9ad Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 16 Apr 2025 19:58:55 +0530 Subject: [PATCH 045/167] feat: implement `IntervalNonlinearProblem`, `IntervalNonlinearFunction` for `System` --- src/ModelingToolkit.jl | 1 + src/problems/intervalnonlinearproblem.jl | 62 ++++++++++++++++++++++++ 2 files changed, 63 insertions(+) create mode 100644 src/problems/intervalnonlinearproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 903c5601ea..c630b183cc 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -172,6 +172,7 @@ include("problems/daeproblem.jl") include("problems/sdeproblem.jl") include("problems/sddeproblem.jl") include("problems/nonlinearproblem.jl") +include("problems/intervalnonlinearproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/intervalnonlinearproblem.jl b/src/problems/intervalnonlinearproblem.jl new file mode 100644 index 0000000000..9c9e5d8688 --- /dev/null +++ b/src/problems/intervalnonlinearproblem.jl @@ -0,0 +1,62 @@ +function SciMLBase.IntervalNonlinearFunction( + sys::System; u0 = nothing, p = nothing, eval_expression = false, + eval_module = @__MODULE__, expression = Val{false}, checkbounds = false, + analytic = nothing, cse = true, initialization_data = nothing, + check_compatibility = true, kwargs...) + check_complete(sys, IntervalNonlinearFunction) + check_compatibility && check_compatible_system(IntervalNonlinearFunction, sys) + + dvs = unknowns(sys) + ps = parameters(sys) + f = generate_rhs(sys, dvs, ps; expression, wrap_gfw = Val{true}, + scalar = true, eval_expression, eval_module, checkbounds, cse, kwargs...) + + observedfun = ObservedFunctionCache( + sys; steady_state = false, expression, eval_expression, eval_module, checkbounds, + cse) + + args = (; f) + kwargs = (; + sys = sys, + observed = observedfun, + analytic = analytic, + initialization_data) + + return maybe_codegen_scimlfn( + expression, IntervalNonlinearFunction{false}, args; kwargs...) +end + +function SciMLBase.IntervalNonlinearProblem( + sys::System, uspan::NTuple{2}, parammap = SciMLBase.NullParameters(); + check_compatibility = true, expression = Val{false}, kwargs...) + check_complete(sys, IntervalNonlinearProblem) + check_compatibility && check_compatible_system(IntervalNonlinearProblem, sys) + + u0map = unknowns(sys) .=> uspan[1] + f, u0, p = process_SciMLProblem(IntervalNonlinearFunction, sys, u0map, parammap; + check_compatibility, expression, kwargs...) + + kwargs = process_kwargs(sys; kwargs...) + args = (; f, uspan, p) + return maybe_codegen_scimlproblem(expression, IntervalNonlinearProblem, args; kwargs...) +end + +function check_compatible_system( + T::Union{Type{IntervalNonlinearFunction}, Type{IntervalNonlinearProblem}}, sys::System) + check_time_independent(sys, T) + if !isone(length(unknowns(sys))) + throw(SystemCompatibilityError(""" + `$T` requires a system with a single unknown. Found `$(unknowns(sys))`. + """)) + end + if !isone(length(equations(sys))) + throw(SystemCompatibilityError(""" + `$T` requires a system with a single equation. Found `$(equations(sys))`. + """)) + end + check_not_dde(sys) + check_no_cost(sys, T) + check_no_constraints(sys, T) + check_no_jumps(sys, T) + check_no_noise(sys, T) +end From 3a96bb1df51b8d8081562ff13deba26bc8c2aabd Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 11:51:24 +0530 Subject: [PATCH 046/167] feat: implement `ImplicitDiscreteProblem` `ImplicitDiscreteFunction` for `System` --- src/ModelingToolkit.jl | 1 + src/problems/implicitdiscreteproblem.jl | 74 +++++++++++++++++++++++++ 2 files changed, 75 insertions(+) create mode 100644 src/problems/implicitdiscreteproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index c630b183cc..05e42e13e7 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -173,6 +173,7 @@ include("problems/sdeproblem.jl") include("problems/sddeproblem.jl") include("problems/nonlinearproblem.jl") include("problems/intervalnonlinearproblem.jl") +include("problems/implicitdiscreteproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/implicitdiscreteproblem.jl b/src/problems/implicitdiscreteproblem.jl new file mode 100644 index 0000000000..476265e049 --- /dev/null +++ b/src/problems/implicitdiscreteproblem.jl @@ -0,0 +1,74 @@ +@fallback_iip_specialize function SciMLBase.ImplicitDiscreteFunction{iip, spec}( + sys::System; u0 = nothing, p = nothing, t = nothing, eval_expression = false, + eval_module = @__MODULE__, expression = Val{false}, + checkbounds = false, analytic = nothing, simplify = false, cse = true, + initialization_data = nothing, check_compatibility = true, kwargs...) where { + iip, spec} + check_complete(sys, ImplicitDiscreteFunction) + check_compatibility && check_compatible_system(ImplicitDiscreteFunction, sys) + + iv = get_iv(sys) + dvs = unknowns(sys) + ps = parameters(sys) + f = generate_rhs(sys, dvs, ps; expression, wrap_gfw = Val{true}, + implicit_dae = true, eval_expression, eval_module, checkbounds = checkbounds, cse, + override_discrete = true, kwargs...) + + if spec === SciMLBase.FunctionWrapperSpecialize && iip + if u0 === nothing || p === nothing || t === nothing + error("u0, p, and t must be specified for FunctionWrapperSpecialize on ImplicitDiscreteFunction.") + end + f = SciMLBase.wrapfun_iip(f, (u0, u0, u0, p, t)) + end + + if length(dvs) == length(equations(sys)) + resid_prototype = nothing + else + resid_prototype = calculate_resid_prototype(length(equations(sys)), u0, p) + end + + observedfun = ObservedFunctionCache( + sys; steady_state = false, expression, eval_expression, eval_module, checkbounds, cse) + + args = (; f) + kwargs = (; + sys = sys, + observed = observedfun, + analytic = analytic, + initialization_data, + resid_prototype) + + return maybe_codegen_scimlfn( + expression, ImplicitDiscreteFunction{iip, spec}, args; kwargs...) +end + +@fallback_iip_specialize function SciMLBase.ImplicitDiscreteProblem{iip, spec}( + sys::System, u0map, tspan, parammap = SciMLBase.NullParameters(); + check_compatibility = true, expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, ImplicitDiscreteProblem) + check_compatibility && check_compatible_system(ImplicitDiscreteProblem, sys) + + dvs = unknowns(sys) + u0map = to_varmap(u0map, dvs) + add_toterms!(u0map; replace = true) + f, u0, p = process_SciMLProblem( + ImplicitDiscreteFunction{iip, spec}, sys, u0map, parammap; + t = tspan !== nothing ? tspan[1] : tspan, check_compatibility, + expression, kwargs...) + + kwargs = process_kwargs(sys; kwargs...) + args = (; f, u0, tspan, p) + return maybe_codegen_scimlproblem( + expression, ImplicitDiscreteProblem{iip}, args; kwargs...) +end + +function check_compatible_system( + T::Union{Type{ImplicitDiscreteFunction}, Type{ImplicitDiscreteProblem}}, sys::System) + check_time_dependent(sys, T) + check_not_dde(sys) + check_no_cost(sys, T) + check_no_constraints(sys, T) + check_no_jumps(sys, T) + check_no_noise(sys, T) + check_is_discrete(sys, T) +end From d119c8bb2e3013e706dda0ed2af425ad4543771b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 11:50:09 +0530 Subject: [PATCH 047/167] feat: implement `DiscreteProblem` and `DiscreteFunction` for `System` refactor: move `shift_u0map_forward` to `discreteproblem.jl` --- src/ModelingToolkit.jl | 1 + src/problems/discreteproblem.jl | 104 ++++++++++++++++++++++++++++++++ 2 files changed, 105 insertions(+) create mode 100644 src/problems/discreteproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 05e42e13e7..9d5d18729a 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -174,6 +174,7 @@ include("problems/sddeproblem.jl") include("problems/nonlinearproblem.jl") include("problems/intervalnonlinearproblem.jl") include("problems/implicitdiscreteproblem.jl") +include("problems/discreteproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/discreteproblem.jl b/src/problems/discreteproblem.jl new file mode 100644 index 0000000000..d77efed225 --- /dev/null +++ b/src/problems/discreteproblem.jl @@ -0,0 +1,104 @@ +@fallback_iip_specialize function SciMLBase.DiscreteFunction{iip, spec}( + sys::System; u0 = nothing, p = nothing, t = nothing, + eval_expression = false, eval_module = @__MODULE__, expression = Val{false}, + checkbounds = false, analytic = nothing, simplify = false, cse = true, + initialization_data = nothing, check_compatibility = true, + kwargs...) where {iip, spec} + check_complete(sys, DiscreteFunction) + check_compatibility && check_compatible_system(DiscreteFunction, sys) + + dvs = unknowns(sys) + ps = parameters(sys) + f = generate_rhs(sys, dvs, ps; expression, wrap_gfw = Val{true}, + eval_expression, eval_module, checkbounds = checkbounds, cse, + kwargs...) + + if spec === SciMLBase.FunctionWrapperSpecialize && iip + if u0 === nothing || p === nothing || t === nothing + error("u0, p, and t must be specified for FunctionWrapperSpecialize on DiscreteFunction.") + end + if expression == Val{true} + f = :($(SciMLBase.wrapfun_iip)($f, ($u0, $u0, $p, $t))) + else + f = SciMLBase.wrapfun_iip(f, (u0, u0, p, t)) + end + end + + observedfun = ObservedFunctionCache( + sys; steady_state = false, expression, eval_expression, eval_module, checkbounds, + cse) + + kwargs = (; + sys = sys, + observed = observedfun, + analytic = analytic, + initialization_data) + args = (; f) + + return maybe_codegen_scimlfn(expression, DiscreteFunction{iip, spec}, args; kwargs...) +end + +@fallback_iip_specialize function SciMLBase.DiscreteProblem{iip, spec}( + sys::System, u0map, tspan, parammap = SciMLBase.NullParameters(); + check_compatibility = true, expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, DiscreteProblem) + check_compatibility && check_compatible_system(DiscreteProblem, sys) + + dvs = unknowns(sys) + u0map = to_varmap(u0map, dvs) + add_toterms!(u0map; replace = true) + f, u0, p = process_SciMLProblem(DiscreteFunction{iip, spec}, sys, u0map, parammap; + t = tspan !== nothing ? tspan[1] : tspan, check_compatibility, expression, + kwargs...) + + if expression == Val{true} + u0 = :(f($u0, p, tspan[1])) + else + u0 = f(u0, p, tspan[1]) + end + + kwargs = process_kwargs(sys; kwargs...) + args = (; f, u0, tspan, p) + + return maybe_codegen_scimlproblem(expression, DiscreteProblem{iip}, args; kwargs...) +end + +function check_compatible_system( + T::Union{Type{DiscreteFunction}, Type{DiscreteProblem}}, sys::System) + check_time_dependent(sys, T) + check_not_dde(sys) + check_no_cost(sys, T) + check_no_constraints(sys, T) + check_no_jumps(sys, T) + check_no_noise(sys, T) + check_is_discrete(sys, T) + check_is_explicit(sys, T, ImplicitDiscreteProblem) +end + +function shift_u0map_forward(sys::System, u0map, defs) + iv = get_iv(sys) + updated = AnyDict() + for k in collect(keys(u0map)) + v = u0map[k] + if !((op = operation(k)) isa Shift) + isnothing(getunshifted(k)) && + error("Initial conditions must be for the past state of the unknowns. Instead of providing the condition for $k, provide the condition for $(Shift(iv, -1)(k)).") + + updated[Shift(iv, 1)(k)] = v + elseif op.steps > 0 + error("Initial conditions must be for the past state of the unknowns. Instead of providing the condition for $k, provide the condition for $(Shift(iv, -1)(only(arguments(k)))).") + else + updated[Shift(iv, op.steps + 1)(only(arguments(k)))] = v + end + end + for var in unknowns(sys) + op = operation(var) + root = getunshifted(var) + shift = getshift(var) + isnothing(root) && continue + (haskey(updated, Shift(iv, shift)(root)) || haskey(updated, var)) && continue + haskey(defs, root) || error("Initial condition for $var not provided.") + updated[var] = defs[root] + end + return updated +end From f1999b15c1c6c5cb332dd5d0264ac86c9f0f89d9 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 17 Apr 2025 19:45:39 +0530 Subject: [PATCH 048/167] feat: allow manually choosing time-independent initialization --- src/systems/nonlinear/initializesystem.jl | 8 +++++--- src/systems/problem_utils.jl | 23 ++++++++++++++++------- 2 files changed, 21 insertions(+), 10 deletions(-) diff --git a/src/systems/nonlinear/initializesystem.jl b/src/systems/nonlinear/initializesystem.jl index 687b1d6de4..ed5c2d4c9b 100644 --- a/src/systems/nonlinear/initializesystem.jl +++ b/src/systems/nonlinear/initializesystem.jl @@ -1,5 +1,6 @@ -function generate_initializesystem(sys::AbstractSystem; kwargs...) - if is_time_dependent(sys) +function generate_initializesystem( + sys::AbstractSystem; time_dependent_init = is_time_dependent(sys), kwargs...) + if time_dependent_init generate_initializesystem_timevarying(sys; kwargs...) else generate_initializesystem_timeindependent(sys; kwargs...) @@ -545,6 +546,7 @@ function SciMLBase.remake_initialization_data( merge!(guesses, meta.guesses) use_scc = meta.use_scc initialization_eqs = meta.additional_initialization_eqs + time_dependent_init = meta.time_dependent_init else # there is no initializeprob, so the original problem construction # had no solvable parameters and had the differential variables @@ -591,7 +593,7 @@ function SciMLBase.remake_initialization_data( u0map, pmap, defs, cmap, dvs, ps) floatT = float_type_from_varmap(op) kws = maybe_build_initialization_problem( - sys, op, u0map, pmap, t0, defs, guesses, missing_unknowns; + sys, op, u0map, pmap, t0, defs, guesses, missing_unknowns; time_dependent_init, use_scc, initialization_eqs, floatT, allow_incomplete = true) return SciMLBase.remake_initialization_data(sys, kws, newu0, t0, newp, newu0, newp) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 2d13f91005..9345d0d89f 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -799,6 +799,10 @@ struct InitializationMetadata{R <: ReconstructInitializeprob, GUU, SIU} """ use_scc::Bool """ + Whether the initialization uses the independent variable. + """ + time_dependent_init::Bool + """ `ReconstructInitializeprob` for this initialization problem. """ oop_reconstruct_u0_p::R @@ -871,7 +875,8 @@ All other keyword arguments are forwarded to `InitializationProblem`. """ function maybe_build_initialization_problem( sys::AbstractSystem, op::AbstractDict, u0map, pmap, t, defs, - guesses, missing_unknowns; implicit_dae = false, u0_constructor = identity, + guesses, missing_unknowns; implicit_dae = false, + time_dependent_init = is_time_dependent(sys), u0_constructor = identity, floatT = Float64, initialization_eqs = [], use_scc = true, kwargs...) guesses = merge(ModelingToolkit.guesses(sys), todict(guesses)) @@ -880,7 +885,8 @@ function maybe_build_initialization_problem( end initializeprob = ModelingToolkit.InitializationProblem{true, SciMLBase.FullSpecialize}( - sys, t, u0map, pmap; guesses, initialization_eqs, use_scc, kwargs...) + sys, t, u0map, pmap; guesses, time_dependent_init, initialization_eqs, use_scc, + kwargs...) if state_values(initializeprob) !== nothing initializeprob = remake(initializeprob; u0 = floatT.(state_values(initializeprob))) end @@ -904,10 +910,13 @@ function maybe_build_initialization_problem( end meta = InitializationMetadata( u0map, pmap, guesses, Vector{Equation}(initialization_eqs), - use_scc, ReconstructInitializeprob(sys, initializeprob.f.sys), + use_scc, time_dependent_init, ReconstructInitializeprob(sys, initializeprob.f.sys), get_initial_unknowns, setp(sys, Initial.(unknowns(sys)))) - if is_time_dependent(sys) + if time_dependent_init === nothing + time_dependent_init = is_time_dependent(sys) + end + if time_dependent_init all_init_syms = Set(all_symbols(initializeprob)) solved_unknowns = filter(var -> var in all_init_syms, unknowns(sys)) initializeprobmap = u0_constructor ∘ getu(initializeprob, solved_unknowns) @@ -948,7 +957,7 @@ function maybe_build_initialization_problem( end end - if is_time_dependent(sys) + if time_dependent_init for v in missing_unknowns op[v] = getu(initializeprob, v)(initializeprob) end @@ -1051,7 +1060,7 @@ function process_SciMLProblem( symbolic_u0 = false, warn_cyclic_dependency = false, circular_dependency_max_cycle_length = length(all_symbols(sys)), circular_dependency_max_cycles = 10, - substitution_limit = 100, use_scc = true, + substitution_limit = 100, use_scc = true, time_dependent_init = is_time_dependent(sys), force_initialization_time_independent = false, algebraic_only = false, allow_incomplete = false, is_initializeprob = false, kwargs...) dvs = unknowns(sys) @@ -1106,7 +1115,7 @@ function process_SciMLProblem( warn_cyclic_dependency, check_units = check_initialization_units, circular_dependency_max_cycle_length, circular_dependency_max_cycles, use_scc, force_time_independent = force_initialization_time_independent, algebraic_only, allow_incomplete, - u0_constructor, floatT) + u0_constructor, floatT, time_dependent_init) kwargs = merge(kwargs, kws) end From 29a829f571c91ae62ccd891ebff944bc3a4198db Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 11:54:53 +0530 Subject: [PATCH 049/167] feat: implement `OptimizationProblem` and `OptimizationFunction` for `System` --- src/ModelingToolkit.jl | 1 + src/problems/optimizationproblem.jl | 149 ++++++++++++++++++++++++++++ 2 files changed, 150 insertions(+) create mode 100644 src/problems/optimizationproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 9d5d18729a..66d2873255 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -175,6 +175,7 @@ include("problems/nonlinearproblem.jl") include("problems/intervalnonlinearproblem.jl") include("problems/implicitdiscreteproblem.jl") include("problems/discreteproblem.jl") +include("problems/optimizationproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/optimizationproblem.jl b/src/problems/optimizationproblem.jl new file mode 100644 index 0000000000..243d453ada --- /dev/null +++ b/src/problems/optimizationproblem.jl @@ -0,0 +1,149 @@ +function SciMLBase.OptimizationFunction(sys::System, args...; kwargs...) + return OptimizationFunction{true}(sys, args...; kwargs...) +end + +function SciMLBase.OptimizationFunction{iip}(sys::System; + u0 = nothing, p = nothing, grad = false, hess = false, + sparse = false, cons_j = false, cons_h = false, cons_sparse = false, + linenumbers = true, eval_expression = false, eval_module = @__MODULE__, + simplify = false, check_compatibility = true, checkbounds = false, cse = true, + expression = Val{false}, kwargs...) where {iip} + check_complete(sys, OptimizationFunction) + check_compatibility && check_compatible_system(OptimizationFunction, sys) + dvs = unknowns(sys) + ps = parameters(sys) + cstr = constraints(sys) + + f = generate_cost(sys; expression, wrap_gfw = Val{true}, eval_expression, + eval_module, checkbounds, cse, kwargs...) + + if grad + _grad = generate_cost_gradient(sys; expression, wrap_gfw = Val{true}, + eval_expression, eval_module, checkbounds, cse, kwargs...) + else + _grad = nothing + end + if hess + _hess, hess_prototype = generate_cost_hessian( + sys; expression, wrap_gfw = Val{true}, eval_expression, + eval_module, checkbounds, cse, sparse, simplify, return_sparsity = true, + kwargs...) + else + _hess = hess_prototype = nothing + if sparse + hess_prototype = cost_hessian_sparsity(sys) + end + end + if isempty(cstr) + cons = _cons_j = cons_jac_prototype = _cons_h = nothing + cons_hess_prototype = cons_expr = nothing + else + cons = generate_cons(sys; expression, wrap_gfw = Val{true}, + eval_expression, eval_module, checkbounds, cse, kwargs...) + if cons_j + _cons_j, cons_jac_prototype = generate_constraint_jacobian( + sys; expression, wrap_gfw = Val{true}, eval_expression, + eval_module, checkbounds, cse, simplify, sparse = cons_sparse, + return_sparsity = true, kwargs...) + else + _cons_j = cons_jac_prototype = nothing + end + if cons_h + _cons_h, cons_hess_prototype = generate_constraint_hessian( + sys; expression, wrap_gfw = Val{true}, eval_expression, + eval_module, checkbounds, cse, simplify, sparse = cons_sparse, + return_sparsity = true, kwargs...) + else + _cons_h = cons_hess_prototype = nothing + end + cons_expr = subs_constants(cstr) + end + + obj_expr = subs_constants(cost(sys)) + + observedfun = ObservedFunctionCache( + sys; expression, eval_expression, eval_module, checkbounds, cse) + + args = (; f, ad = SciMLBase.NoAD()) + kwargs = (; + sys = sys, + grad = _grad, + hess = _hess, + hess_prototype = hess_prototype, + cons = cons, + cons_j = _cons_j, + cons_jac_prototype = cons_jac_prototype, + cons_h = _cons_h, + cons_hess_prototype = cons_hess_prototype, + cons_expr = cons_expr, + expr = obj_expr, + observed = observedfun) + + return maybe_codegen_scimlfn(expression, OptimizationFunction{iip}, args; kwargs...) +end + +function SciMLBase.OptimizationProblem(sys::System, args...; kwargs...) + return OptimizationProblem{true}(sys, args...; kwargs...) +end + +function SciMLBase.OptimizationProblem{iip}( + sys::System, u0map, parammap = SciMLBase.NullParameters(); lb = nothing, + ub = nothing, check_compatibility = true, expression = Val{false}, + kwargs...) where {iip} + check_complete(sys, OptimizationProblem) + check_compatibility && check_compatible_system(OptimizationProblem, sys) + + f, u0, p = process_SciMLProblem(OptimizationFunction{iip}, sys, u0map, parammap; + check_compatibility, tofloat = false, check_length = false, expression, kwargs...) + + dvs = unknowns(sys) + int = symtype.(unwrap.(dvs)) .<: Integer + if lb === nothing && ub === nothing + lb = first.(getbounds.(dvs)) + ub = last.(getbounds.(dvs)) + isboolean = symtype.(unwrap.(dvs)) .<: Bool + lb[isboolean] .= 0 + ub[isboolean] .= 1 + else + xor(isnothing(lb), isnothing(ub)) && + throw(ArgumentError("Expected both `lb` and `ub` to be supplied")) + !isnothing(lb) && length(lb) != length(dvs) && + throw(ArgumentError("Expected both `lb` to be of the same length as the vector of optimization variables")) + !isnothing(ub) && length(ub) != length(dvs) && + throw(ArgumentError("Expected both `ub` to be of the same length as the vector of optimization variables")) + end + + ps = parameters(sys) + defs = merge(defaults(sys), to_varmap(parammap, ps), to_varmap(u0map, dvs)) + lb = varmap_to_vars(dvs .=> lb, dvs; defaults = defs, tofloat = false) + ub = varmap_to_vars(dvs .=> ub, dvs; defaults = defs, tofloat = false) + + if !isnothing(lb) && all(lb .== -Inf) && !isnothing(ub) && all(ub .== Inf) + lb = nothing + ub = nothing + end + + cstr = constraints(sys) + if isempty(cstr) + lcons = ucons = nothing + else + lcons = fill(-Inf, length(cstr)) + ucons = zeros(length(cstr)) + lcons[findall(Base.Fix2(isa, Equation), cstr)] .= 0.0 + end + + kwargs = process_kwargs(sys; kwargs...) + kwargs = (; lb, ub, int, lcons, ucons, kwargs...) + args = (; f, u0, p) + return maybe_codegen_scimlproblem(expression, OptimizationProblem{iip}, args; kwargs...) +end + +function check_compatible_system( + T::Union{Type{OptimizationFunction}, Type{OptimizationProblem}}, sys::System) + check_time_independent(sys, T) + check_not_dde(sys) + check_has_cost(sys, T) + check_no_jumps(sys, T) + check_no_noise(sys, T) + check_no_equations(sys, T) +end From c1c1ada7026b440b26a4717219afa0971d7b4903 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 12:10:33 +0530 Subject: [PATCH 050/167] feat: implement `JumpProblem` for `System` refactor: move jumpsystem functions to generalized locations --- src/ModelingToolkit.jl | 1 + src/problems/jumpproblem.jl | 223 ++++++++++++++++++++++++++++++++++++ src/systems/codegen.jl | 25 ++++ 3 files changed, 249 insertions(+) create mode 100644 src/problems/jumpproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 66d2873255..b66aec15cd 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -176,6 +176,7 @@ include("problems/intervalnonlinearproblem.jl") include("problems/implicitdiscreteproblem.jl") include("problems/discreteproblem.jl") include("problems/optimizationproblem.jl") +include("problems/jumpproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/jumpproblem.jl b/src/problems/jumpproblem.jl new file mode 100644 index 0000000000..45936ebd9e --- /dev/null +++ b/src/problems/jumpproblem.jl @@ -0,0 +1,223 @@ +@fallback_iip_specialize function JumpProcesses.JumpProblem{iip, spec}( + sys::System, u0map, tspan::Union{Tuple, Nothing}, pmap = SciMLBase.NullParameters(); + check_compatibility = true, eval_expression = false, eval_module = @__MODULE__, + checkbounds = false, cse = true, aggregator = JumpProcesses.NullAggregator(), + callback = nothing, rng = nothing, kwargs...) where {iip, spec} + check_complete(sys, JumpProblem) + check_compatibility && check_compatible_system(JumpProblem, sys) + + has_vrjs = any(x -> x isa VariableRateJump, jumps(sys)) + has_eqs = !isempty(equations(sys)) + has_noise = get_noise_eqs(sys) !== nothing + + if (has_vrjs || has_eqs) + if has_eqs && has_noise + prob = SDEProblem{iip, spec}( + sys, u0map, tspan, pmap; check_compatibility = false, + build_initializeprob = false, checkbounds, cse, check_length = false, + kwargs...) + elseif has_eqs + prob = ODEProblem{iip, spec}( + sys, u0map, tspan, pmap; check_compatibility = false, + build_initializeprob = false, checkbounds, cse, check_length = false, + kwargs...) + else + _, u0, p = process_SciMLProblem(EmptySciMLFunction, sys, u0map, pmap; + t = tspan === nothing ? nothing : tspan[1], tofloat = false, + check_length = false, build_initializeprob = false) + observedfun = ObservedFunctionCache(sys; eval_expression, eval_module, + checkbounds, cse) + f = (du, u, p, t) -> (du .= 0; nothing) + df = ODEFunction{true, spec}(f; sys, observed = observedfun) + prob = ODEProblem{true}(df, u0, tspan, p; kwargs...) + end + else + _f, u0, p = process_SciMLProblem(EmptySciMLFunction, sys, u0map, pmap; + t = tspan === nothing ? nothing : tspan[1], tofloat = false, check_length = false, build_initializeprob = false, cse) + f = DiffEqBase.DISCRETE_INPLACE_DEFAULT + + observedfun = ObservedFunctionCache( + sys; eval_expression, eval_module, checkbounds, cse) + + df = DiscreteFunction{true, true}(f; sys = sys, observed = observedfun, + initialization_data = get(_f.kwargs, :initialization_data, nothing)) + prob = DiscreteProblem(df, u0, tspan, p; kwargs...) + end + + dvs = unknowns(sys) + unknowntoid = Dict(value(unknown) => i for (i, unknown) in enumerate(dvs)) + js = jumps(sys) + invttype = prob.tspan[1] === nothing ? Float64 : typeof(1 / prob.tspan[2]) + + # handling parameter substitution and empty param vecs + p = (prob.p isa DiffEqBase.NullParameters || prob.p === nothing) ? Num[] : prob.p + + majpmapper = JumpSysMajParamMapper(sys, p; jseqs = js, rateconsttype = invttype) + _majs = Vector{MassActionJump}(filter(x -> x isa MassActionJump, js)) + _crjs = Vector{ConstantRateJump}(filter(x -> x isa ConstantRateJump, js)) + vrjs = Vector{VariableRateJump}(filter(x -> x isa VariableRateJump, js)) + majs = isempty(_majs) ? nothing : assemble_maj(_majs, unknowntoid, majpmapper) + crjs = ConstantRateJump[assemble_crj(sys, j, unknowntoid; eval_expression, eval_module) + for j in _crjs] + vrjs = VariableRateJump[assemble_vrj(sys, j, unknowntoid; eval_expression, eval_module) + for j in vrjs] + jset = JumpSet(Tuple(vrjs), Tuple(crjs), nothing, majs) + + # dep graphs are only for constant rate jumps + nonvrjs = ArrayPartition(_majs, _crjs) + if needs_vartojumps_map(aggregator) || needs_depgraph(aggregator) || + (aggregator isa JumpProcesses.NullAggregator) + jdeps = asgraph(sys; eqs = nonvrjs) + vdeps = variable_dependencies(sys; eqs = nonvrjs) + vtoj = jdeps.badjlist + jtov = vdeps.badjlist + jtoj = needs_depgraph(aggregator) ? eqeq_dependencies(jdeps, vdeps).fadjlist : + nothing + else + vtoj = nothing + jtov = nothing + jtoj = nothing + end + + # handle events, making sure to reset aggregators in the generated affect functions + cbs = process_events(sys; callback, eval_expression, eval_module, reset_jumps = true) + + if rng !== nothing + kwargs = (; kwargs..., rng) + end + return JumpProblem(prob, aggregator, jset; dep_graph = jtoj, vartojumps_map = vtoj, + jumptovars_map = jtov, scale_rates = false, nocopy = true, + callback = cbs, kwargs...) +end + +function check_compatible_system(T::Union{Type{JumpProblem}}, sys::System) + check_time_dependent(sys, T) + check_not_dde(sys) + check_no_cost(sys, T) + check_no_constraints(sys, T) + check_has_jumps(sys, T) + check_is_continuous(sys, T) +end + +###################### parameter mapper ########################### +struct JumpSysMajParamMapper{U, V, W} + paramexprs::U # the parameter expressions to use for each jump rate constant + sympars::V # parameters(sys) from the underlying JumpSystem + subdict::Any # mapping from an element of parameters(sys) to its current numerical value +end + +function JumpSysMajParamMapper(js::System, p; jseqs = nothing, rateconsttype = Float64) + eqs = (jseqs === nothing) ? jumps(js) : jseqs + majs = MassActionJump[x for x in eqs if x isa MassActionJump] + paramexprs = [maj.scaled_rates for maj in majs] + psyms = reduce(vcat, reorder_parameters(js); init = []) + paramdict = Dict(value(k) => value(v) for (k, v) in zip(psyms, vcat(p...))) + JumpSysMajParamMapper{typeof(paramexprs), typeof(psyms), rateconsttype}(paramexprs, + psyms, + paramdict) +end + +function updateparams!(ratemap::JumpSysMajParamMapper{U, V, W}, + params) where {U <: AbstractArray, V <: AbstractArray, W} + for (i, p) in enumerate(params) + sympar = ratemap.sympars[i] + ratemap.subdict[sympar] = p + end + nothing +end + +function updateparams!(ratemap::JumpSysMajParamMapper{U, V, W}, + params::MTKParameters) where {U <: AbstractArray, V <: AbstractArray, W} + for (i, p) in enumerate(ArrayPartition(params...)) + sympar = ratemap.sympars[i] + ratemap.subdict[sympar] = p + end + nothing +end + +function updateparams!(::JumpSysMajParamMapper{U, V, W}, + params::Nothing) where {U <: AbstractArray, V <: AbstractArray, W} + nothing +end + +# update a maj with parameter vectors +function (ratemap::JumpSysMajParamMapper{U, V, W})(maj::MassActionJump, newparams; + scale_rates, + kwargs...) where {U <: AbstractArray, + V <: AbstractArray, W} + updateparams!(ratemap, newparams) + for i in 1:get_num_majumps(maj) + maj.scaled_rates[i] = convert(W, + value(substitute(ratemap.paramexprs[i], + ratemap.subdict))) + end + scale_rates && JumpProcesses.scalerates!(maj.scaled_rates, maj.reactant_stoch) + nothing +end + +# create the initial parameter vector for use in a MassActionJump +function (ratemap::JumpSysMajParamMapper{ + U, + V, + W +})(params) where {U <: AbstractArray, + V <: AbstractArray, W} + updateparams!(ratemap, params) + [convert(W, value(substitute(paramexpr, ratemap.subdict))) + for paramexpr in ratemap.paramexprs] +end + +##### MTK dispatches for Symbolic jumps ##### +eqtype_supports_collect_vars(j::MassActionJump) = true +function collect_vars!(unknowns, parameters, j::MassActionJump, iv; depth = 0, + op = Differential) + collect_vars!(unknowns, parameters, j.scaled_rates, iv; depth, op) + for field in (j.reactant_stoch, j.net_stoch) + for el in field + collect_vars!(unknowns, parameters, el, iv; depth, op) + end + end + return nothing +end + +eqtype_supports_collect_vars(j::Union{ConstantRateJump, VariableRateJump}) = true +function collect_vars!(unknowns, parameters, j::Union{ConstantRateJump, VariableRateJump}, + iv; depth = 0, op = Differential) + collect_vars!(unknowns, parameters, j.rate, iv; depth, op) + for eq in j.affect! + (eq isa Equation) && collect_vars!(unknowns, parameters, eq, iv; depth, op) + end + return nothing +end + +### Functions to determine which unknowns a jump depends on +function get_variables!(dep, jump::Union{ConstantRateJump, VariableRateJump}, variables) + jr = value(jump.rate) + (jr isa Symbolic) && get_variables!(dep, jr, variables) + dep +end + +function get_variables!(dep, jump::MassActionJump, variables) + sr = value(jump.scaled_rates) + (sr isa Symbolic) && get_variables!(dep, sr, variables) + for varasop in jump.reactant_stoch + any(isequal(varasop[1]), variables) && push!(dep, varasop[1]) + end + dep +end + +### Functions to determine which unknowns are modified by a given jump +function modified_unknowns!(munknowns, jump::Union{ConstantRateJump, VariableRateJump}, sts) + for eq in jump.affect! + st = eq.lhs + any(isequal(st), sts) && push!(munknowns, st) + end + munknowns +end + +function modified_unknowns!(munknowns, jump::MassActionJump, sts) + for (unknown, stoich) in jump.net_stoch + any(isequal(unknown), sts) && push!(munknowns, unknown) + end + munknowns +end diff --git a/src/systems/codegen.jl b/src/systems/codegen.jl index acb319377a..60d3c4dd2d 100644 --- a/src/systems/codegen.jl +++ b/src/systems/codegen.jl @@ -561,6 +561,31 @@ function assemble_maj(majv::Vector{U}, unknowntoid, pmapper) where {U <: MassAct MassActionJump(rs, ns; param_mapper = pmapper, nocopy = true) end +function numericrstoich(mtrs::Vector{Pair{V, W}}, unknowntoid) where {V, W} + rs = Vector{Pair{Int, W}}() + for (wspec, stoich) in mtrs + spec = value(wspec) + if !iscall(spec) && _iszero(spec) + push!(rs, 0 => stoich) + else + push!(rs, unknowntoid[spec] => stoich) + end + end + sort!(rs) + rs +end + +function numericnstoich(mtrs::Vector{Pair{V, W}}, unknowntoid) where {V, W} + ns = Vector{Pair{Int, W}}() + for (wspec, stoich) in mtrs + spec = value(wspec) + !iscall(spec) && _iszero(spec) && + error("Net stoichiometry can not have a species labelled 0.") + push!(ns, unknowntoid[spec] => stoich) + end + sort!(ns) +end + """ build_explicit_observed_function(sys, ts; kwargs...) -> Function(s) From 6ec45616c8819dedbe8142bd3bdc209221b2e68a Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 12:11:23 +0530 Subject: [PATCH 051/167] feat: add `InitializationProblem` --- src/ModelingToolkit.jl | 1 + src/problems/initializationproblem.jl | 155 ++++++++++++++++++++++++++ 2 files changed, 156 insertions(+) create mode 100644 src/problems/initializationproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index b66aec15cd..603edd79f3 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -177,6 +177,7 @@ include("problems/implicitdiscreteproblem.jl") include("problems/discreteproblem.jl") include("problems/optimizationproblem.jl") include("problems/jumpproblem.jl") +include("problems/initializationproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/initializationproblem.jl b/src/problems/initializationproblem.jl new file mode 100644 index 0000000000..e57641eada --- /dev/null +++ b/src/problems/initializationproblem.jl @@ -0,0 +1,155 @@ +struct InitializationProblem{iip, specialization} end + +""" +```julia +InitializationProblem{iip}(sys::AbstractSystem, t, u0map, + parammap = DiffEqBase.NullParameters(); + version = nothing, tgrad = false, + jac = false, + checkbounds = false, sparse = false, + simplify = false, + linenumbers = true, parallel = SerialForm(), + initialization_eqs = [], + fully_determined = false, + kwargs...) where {iip} +``` + +Generates a NonlinearProblem or NonlinearLeastSquaresProblem from a System +which represents the initialization, i.e. the calculation of the consistent +initial conditions for the given DAE. +""" +@fallback_iip_specialize function InitializationProblem{iip, specialize}( + sys::AbstractSystem, + t, u0map = [], + parammap = DiffEqBase.NullParameters(); + guesses = [], + check_length = true, + warn_initialize_determined = true, + initialization_eqs = [], + fully_determined = nothing, + check_units = true, + use_scc = true, + allow_incomplete = false, + force_time_independent = false, + algebraic_only = false, + time_dependent_init = is_time_dependent(sys), + kwargs...) where {iip, specialize} + if !iscomplete(sys) + error("A completed system is required. Call `complete` or `structural_simplify` on the system before creating an `ODEProblem`") + end + if isempty(u0map) && get_initializesystem(sys) !== nothing + isys = get_initializesystem(sys; initialization_eqs, check_units) + simplify_system = false + elseif isempty(u0map) && get_initializesystem(sys) === nothing + isys = generate_initializesystem( + sys; initialization_eqs, check_units, pmap = parammap, + guesses, algebraic_only) + simplify_system = true + else + isys = generate_initializesystem( + sys; u0map, initialization_eqs, check_units, time_dependent_init, + pmap = parammap, guesses, algebraic_only) + simplify_system = true + end + + # useful for `SteadyStateProblem` since `f` has to be autonomous and the + # initialization should be too + if force_time_independent + idx = findfirst(isequal(get_iv(sys)), get_ps(isys)) + idx === nothing || deleteat!(get_ps(isys), idx) + end + + if simplify_system + isys = structural_simplify(isys; fully_determined) + end + + ts = get_tearing_state(isys) + unassigned_vars = StructuralTransformations.singular_check(ts) + if warn_initialize_determined && !isempty(unassigned_vars) + errmsg = """ + The initialization system is structurally singular. Guess values may \ + significantly affect the initial values of the ODE. The problematic variables \ + are $unassigned_vars. + + Note that the identification of problematic variables is a best-effort heuristic. + """ + @warn errmsg + end + + uninit = setdiff(unknowns(sys), [unknowns(isys); observables(isys)]) + + # TODO: throw on uninitialized arrays + filter!(x -> !(x isa Symbolics.Arr), uninit) + if time_dependent_init && !isempty(uninit) + allow_incomplete || throw(IncompleteInitializationError(uninit)) + # for incomplete initialization, we will add the missing variables as parameters. + # they will be updated by `update_initializeprob!` and `initializeprobmap` will + # use them to construct the new `u0`. + newparams = map(toparam, uninit) + append!(get_ps(isys), newparams) + isys = complete(isys) + end + + neqs = length(equations(isys)) + nunknown = length(unknowns(isys)) + + if use_scc + scc_message = "`SCCNonlinearProblem` can only be used for initialization of fully determined systems and hence will not be used here. " + else + scc_message = "" + end + + if warn_initialize_determined && neqs > nunknown + @warn "Initialization system is overdetermined. $neqs equations for $nunknown unknowns. Initialization will default to using least squares. $(scc_message)To suppress this warning pass warn_initialize_determined = false. To make this warning into an error, pass fully_determined = true" + end + if warn_initialize_determined && neqs < nunknown + @warn "Initialization system is underdetermined. $neqs equations for $nunknown unknowns. Initialization will default to using least squares. $(scc_message)To suppress this warning pass warn_initialize_determined = false. To make this warning into an error, pass fully_determined = true" + end + + parammap = recursive_unwrap(anydict(parammap)) + if t !== nothing + parammap[get_iv(sys)] = t + end + filter!(kvp -> kvp[2] !== missing, parammap) + + u0map = to_varmap(u0map, unknowns(sys)) + if isempty(guesses) + guesses = Dict() + end + + filter_missing_values!(u0map) + filter_missing_values!(parammap) + u0map = merge(ModelingToolkit.guesses(sys), todict(guesses), u0map) + + TProb = if neqs == nunknown && isempty(unassigned_vars) + if use_scc && neqs > 0 + if is_split(isys) + SCCNonlinearProblem + else + @warn "`SCCNonlinearProblem` can only be used with `split = true` systems. Simplify your `ODESystem` with `split = true` or pass `use_scc = false` to disable this warning" + NonlinearProblem + end + else + NonlinearProblem + end + else + NonlinearLeastSquaresProblem + end + TProb(isys, u0map, parammap; kwargs..., + build_initializeprob = false, is_initializeprob = true) +end + +const INCOMPLETE_INITIALIZATION_MESSAGE = """ + Initialization incomplete. Not all of the state variables of the + DAE system can be determined by the initialization. Missing + variables: + """ + +struct IncompleteInitializationError <: Exception + uninit::Any +end + +function Base.showerror(io::IO, e::IncompleteInitializationError) + println(io, INCOMPLETE_INITIALIZATION_MESSAGE) + println(io, e.uninit) +end From 490965eefcb5e2672426275ba09b3e54d303cdbb Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 21:50:27 +0530 Subject: [PATCH 052/167] feat: implement `NonlinearLeastSquaresProblem` for `System` --- src/problems/nonlinearproblem.jl | 29 ++++++++++++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/src/problems/nonlinearproblem.jl b/src/problems/nonlinearproblem.jl index 26996adf2d..b51288d569 100644 --- a/src/problems/nonlinearproblem.jl +++ b/src/problems/nonlinearproblem.jl @@ -79,8 +79,25 @@ end return maybe_codegen_scimlproblem(expression, NonlinearProblem{iip}, args; kwargs...) end +@fallback_iip_specialize function SciMLBase.NonlinearLeastSquaresProblem{iip, spec}( + sys::System, u0map, parammap = DiffEqBase.NullParameters(); check_length = false, + check_compatibility = true, expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, NonlinearLeastSquaresProblem) + check_compatibility && check_compatible_system(NonlinearLeastSquaresProblem, sys) + + f, u0, p = process_SciMLProblem(NonlinearFunction{iip}, sys, u0map, parammap; + check_length, expression, kwargs...) + + kwargs = process_kwargs(sys; kwargs...) + args = (; f, u0, p) + + return maybe_codegen_scimlproblem( + expression, NonlinearLeastSquaresProblem{iip}, args; kwargs...) +end + function check_compatible_system( - T::Union{Type{NonlinearFunction}, Type{NonlinearProblem}}, sys::System) + T::Union{Type{NonlinearFunction}, Type{NonlinearProblem}, + Type{NonlinearLeastSquaresProblem}}, sys::System) check_time_independent(sys, T) check_not_dde(sys) check_no_cost(sys, T) @@ -88,3 +105,13 @@ function check_compatible_system( check_no_jumps(sys, T) check_no_noise(sys, T) end + +function calculate_resid_prototype(N, u0, p) + u0ElType = u0 === nothing ? Float64 : eltype(u0) + if SciMLStructures.isscimlstructure(p) + u0ElType = promote_type( + eltype(SciMLStructures.canonicalize(SciMLStructures.Tunable(), p)[1]), + u0ElType) + end + return zeros(u0ElType, N) +end From 92006469c23e76ad3bfcfc2433e2bbc276977e9f Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 20 Apr 2025 21:52:29 +0530 Subject: [PATCH 053/167] refactor: port `SCCNonlinearProblem` to separate file --- src/ModelingToolkit.jl | 1 + src/problems/sccnonlinearproblem.jl | 246 ++++++++++++++++++++++++++++ 2 files changed, 247 insertions(+) create mode 100644 src/problems/sccnonlinearproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 603edd79f3..c21f50ba16 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -178,6 +178,7 @@ include("problems/discreteproblem.jl") include("problems/optimizationproblem.jl") include("problems/jumpproblem.jl") include("problems/initializationproblem.jl") +include("problems/sccnonlinearproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/sccnonlinearproblem.jl b/src/problems/sccnonlinearproblem.jl new file mode 100644 index 0000000000..864dcb71ee --- /dev/null +++ b/src/problems/sccnonlinearproblem.jl @@ -0,0 +1,246 @@ +const TypeT = Union{DataType, UnionAll} + +struct CacheWriter{F} + fn::F +end + +function (cw::CacheWriter)(p, sols) + cw.fn(p.caches, sols, p) +end + +function CacheWriter(sys::AbstractSystem, buffer_types::Vector{TypeT}, + exprs::Dict{TypeT, Vector{Any}}, solsyms, obseqs::Vector{Equation}; + eval_expression = false, eval_module = @__MODULE__, cse = true) + ps = parameters(sys; initial_parameters = true) + rps = reorder_parameters(sys, ps) + obs_assigns = [eq.lhs ← eq.rhs for eq in obseqs] + body = map(eachindex(buffer_types), buffer_types) do i, T + Symbol(:tmp, i) ← SetArray(true, :(out[$i]), get(exprs, T, [])) + end + + function argument_name(i::Int) + if i <= length(solsyms) + return :($(generated_argument_name(1))[$i]) + end + return generated_argument_name(i - length(solsyms)) + end + array_assignments = array_variable_assignments(solsyms...; argument_name) + fn = build_function_wrapper( + sys, nothing, :out, + DestructuredArgs(DestructuredArgs.(solsyms), generated_argument_name(1)), + rps...; p_start = 3, p_end = length(rps) + 2, + expression = Val{true}, add_observed = false, cse, + extra_assignments = [array_assignments; obs_assigns; body]) + fn = eval_or_rgf(fn; eval_expression, eval_module) + fn = GeneratedFunctionWrapper{(3, 3, is_split(sys))}(fn, nothing) + return CacheWriter(fn) +end + +struct SCCNonlinearFunction{iip} end + +function SCCNonlinearFunction{iip}( + sys::System, _eqs, _dvs, _obs, cachesyms; eval_expression = false, + eval_module = @__MODULE__, cse = true, kwargs...) where {iip} + ps = parameters(sys; initial_parameters = true) + rps = reorder_parameters(sys, ps) + + obs_assignments = [eq.lhs ← eq.rhs for eq in _obs] + + rhss = [eq.rhs - eq.lhs for eq in _eqs] + f_gen = build_function_wrapper(sys, + rhss, _dvs, rps..., cachesyms...; p_start = 2, + p_end = length(rps) + length(cachesyms) + 1, add_observed = false, + extra_assignments = obs_assignments, expression = Val{true}, cse) + f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) + f = GeneratedFunctionWrapper{(2, 2, is_split(sys))}(f_oop, f_iip) + + subsys = NonlinearSystem(_eqs, _dvs, ps; observed = _obs, + parameter_dependencies = parameter_dependencies(sys), name = nameof(sys)) + if get_index_cache(sys) !== nothing + @set! subsys.index_cache = subset_unknowns_observed( + get_index_cache(sys), sys, _dvs, getproperty.(_obs, (:lhs,))) + @set! subsys.complete = true + end + + return NonlinearFunction{iip}(f; sys = subsys) +end + +function SciMLBase.SCCNonlinearProblem(sys::NonlinearSystem, args...; kwargs...) + SCCNonlinearProblem{true}(sys, args...; kwargs...) +end + +function SciMLBase.SCCNonlinearProblem{iip}(sys::NonlinearSystem, u0map, + parammap = SciMLBase.NullParameters(); eval_expression = false, eval_module = @__MODULE__, + cse = true, kwargs...) where {iip} + if !iscomplete(sys) || get_tearing_state(sys) === nothing + error("A simplified `NonlinearSystem` is required. Call `structural_simplify` on the system before creating an `SCCNonlinearProblem`.") + end + + if !is_split(sys) + error("The system has been simplified with `split = false`. `SCCNonlinearProblem` is not compatible with this system. Pass `split = true` to `structural_simplify` to use `SCCNonlinearProblem`.") + end + + ts = get_tearing_state(sys) + var_eq_matching, var_sccs = StructuralTransformations.algebraic_variables_scc(ts) + + if length(var_sccs) == 1 + return NonlinearProblem{iip}( + sys, u0map, parammap; eval_expression, eval_module, kwargs...) + end + + condensed_graph = MatchedCondensationGraph( + DiCMOBiGraph{true}(complete(ts.structure.graph), + complete(var_eq_matching)), + var_sccs) + toporder = topological_sort_by_dfs(condensed_graph) + var_sccs = var_sccs[toporder] + eq_sccs = map(Base.Fix1(getindex, var_eq_matching), var_sccs) + + dvs = unknowns(sys) + ps = parameters(sys) + eqs = equations(sys) + obs = observed(sys) + + _, u0, p = process_SciMLProblem( + EmptySciMLFunction, sys, u0map, parammap; eval_expression, eval_module, kwargs...) + + explicitfuns = [] + nlfuns = [] + prevobsidxs = BlockArray(undef_blocks, Vector{Int}, Int[]) + # Cache buffer types and corresponding sizes. Stored as a pair of arrays instead of a + # dict to maintain a consistent order of buffers across SCCs + cachetypes = TypeT[] + cachesizes = Int[] + # explicitfun! related information for each SCC + # We need to compute buffer sizes before doing any codegen + scc_cachevars = Dict{TypeT, Vector{Any}}[] + scc_cacheexprs = Dict{TypeT, Vector{Any}}[] + scc_eqs = Vector{Equation}[] + scc_obs = Vector{Equation}[] + # variables solved in previous SCCs + available_vars = Set() + for (i, (escc, vscc)) in enumerate(zip(eq_sccs, var_sccs)) + # subset unknowns and equations + _dvs = dvs[vscc] + _eqs = eqs[escc] + # get observed equations required by this SCC + union!(available_vars, _dvs) + obsidxs = observed_equations_used_by(sys, _eqs; available_vars) + # the ones used by previous SCCs can be precomputed into the cache + setdiff!(obsidxs, prevobsidxs) + _obs = obs[obsidxs] + union!(available_vars, getproperty.(_obs, (:lhs,))) + + # get all subexpressions in the RHS which we can precompute in the cache + # precomputed subexpressions should not contain `banned_vars` + banned_vars = Set{Any}(vcat(_dvs, getproperty.(_obs, (:lhs,)))) + state = Dict() + for i in eachindex(_obs) + _obs[i] = _obs[i].lhs ~ subexpressions_not_involving_vars!( + _obs[i].rhs, banned_vars, state) + end + for i in eachindex(_eqs) + _eqs[i] = _eqs[i].lhs ~ subexpressions_not_involving_vars!( + _eqs[i].rhs, banned_vars, state) + end + + # map from symtype to cached variables and their expressions + cachevars = Dict{Union{DataType, UnionAll}, Vector{Any}}() + cacheexprs = Dict{Union{DataType, UnionAll}, Vector{Any}}() + # observed of previous SCCs are in the cache + # NOTE: When we get proper CSE, we can substitute these + # and then use `subexpressions_not_involving_vars!` + for i in prevobsidxs + T = symtype(obs[i].lhs) + buf = get!(() -> Any[], cachevars, T) + push!(buf, obs[i].lhs) + + buf = get!(() -> Any[], cacheexprs, T) + push!(buf, obs[i].lhs) + end + + for (k, v) in state + k = unwrap(k) + v = unwrap(v) + T = symtype(k) + buf = get!(() -> Any[], cachevars, T) + push!(buf, v) + buf = get!(() -> Any[], cacheexprs, T) + push!(buf, k) + end + + # update the sizes of cache buffers + for (T, buf) in cachevars + idx = findfirst(isequal(T), cachetypes) + if idx === nothing + push!(cachetypes, T) + push!(cachesizes, 0) + idx = lastindex(cachetypes) + end + cachesizes[idx] = max(cachesizes[idx], length(buf)) + end + + push!(scc_cachevars, cachevars) + push!(scc_cacheexprs, cacheexprs) + push!(scc_eqs, _eqs) + push!(scc_obs, _obs) + blockpush!(prevobsidxs, obsidxs) + end + + for (i, (escc, vscc)) in enumerate(zip(eq_sccs, var_sccs)) + _dvs = dvs[vscc] + _eqs = scc_eqs[i] + _prevobsidxs = reduce(vcat, blocks(prevobsidxs)[1:(i - 1)]; init = Int[]) + _obs = scc_obs[i] + cachevars = scc_cachevars[i] + cacheexprs = scc_cacheexprs[i] + available_vars = [dvs[reduce(vcat, var_sccs[1:(i - 1)]; init = Int[])]; + getproperty.( + reduce(vcat, scc_obs[1:(i - 1)]; init = []), (:lhs,))] + _prevobsidxs = vcat(_prevobsidxs, + observed_equations_used_by( + sys, reduce(vcat, values(cacheexprs); init = []); available_vars)) + if isempty(cachevars) + push!(explicitfuns, Returns(nothing)) + else + solsyms = getindex.((dvs,), view(var_sccs, 1:(i - 1))) + push!(explicitfuns, + CacheWriter(sys, cachetypes, cacheexprs, solsyms, obs[_prevobsidxs]; + eval_expression, eval_module, cse)) + end + + cachebufsyms = Tuple(map(cachetypes) do T + get(cachevars, T, []) + end) + f = SCCNonlinearFunction{iip}( + sys, _eqs, _dvs, _obs, cachebufsyms; eval_expression, eval_module, cse, kwargs...) + push!(nlfuns, f) + end + + if !isempty(cachetypes) + templates = map(cachetypes, cachesizes) do T, n + # Real refers to `eltype(u0)` + if T == Real + T = eltype(u0) + elseif T <: Array && eltype(T) == Real + T = Array{eltype(u0), ndims(T)} + end + BufferTemplate(T, n) + end + p = rebuild_with_caches(p, templates...) + end + + subprobs = [] + for (f, vscc) in zip(nlfuns, var_sccs) + prob = NonlinearProblem(f, u0[vscc], p) + push!(subprobs, prob) + end + + new_dvs = dvs[reduce(vcat, var_sccs)] + new_eqs = eqs[reduce(vcat, eq_sccs)] + @set! sys.unknowns = new_dvs + @set! sys.eqs = new_eqs + @set! sys.index_cache = subset_unknowns_observed( + get_index_cache(sys), sys, new_dvs, getproperty.(obs, (:lhs,))) + return SCCNonlinearProblem(subprobs, explicitfuns, p, true; sys) +end From 43e245585ea055368b470f3e9366d1ab68b5cd64 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 11:52:22 +0530 Subject: [PATCH 054/167] feat: implement `BVProblem` for `System` docs: add docstring for new `BVProblem` constructor refactor: improve `BVProblem` validation --- src/ModelingToolkit.jl | 1 + src/problems/bvproblem.jl | 93 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 94 insertions(+) create mode 100644 src/problems/bvproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index c21f50ba16..424ceeb77f 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -179,6 +179,7 @@ include("problems/optimizationproblem.jl") include("problems/jumpproblem.jl") include("problems/initializationproblem.jl") include("problems/sccnonlinearproblem.jl") +include("problems/bvproblem.jl") include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/problems/bvproblem.jl b/src/problems/bvproblem.jl new file mode 100644 index 0000000000..b0ad28a842 --- /dev/null +++ b/src/problems/bvproblem.jl @@ -0,0 +1,93 @@ +""" +```julia +SciMLBase.BVProblem{iip}(sys::AbstractSystem, u0map, tspan, + parammap = DiffEqBase.NullParameters(); + constraints = nothing, guesses = nothing, + version = nothing, tgrad = false, + jac = true, sparse = true, + simplify = false, + kwargs...) where {iip} +``` + +Create a boundary value problem from the [`System`](@ref). + +`u0map` is used to specify fixed initial values for the states. Every variable +must have either an initial guess supplied using `guesses` or a fixed initial +value specified using `u0map`. + +Boundary value conditions are supplied to Systems in the form of a list of constraints. +These equations should specify values that state variables should take at specific points, +as in `x(0.5) ~ 1`). More general constraints that should hold over the entire solution, +such as `x(t)^2 + y(t)^2`, should be specified as one of the equations used to build the +`System`. + +If a `System` without `constraints` is specified, it will be treated as an initial value problem. + +```julia + @parameters g t_c = 0.5 + @variables x(..) y(t) λ(t) + eqs = [D(D(x(t))) ~ λ * x(t) + D(D(y)) ~ λ * y - g + x(t)^2 + y^2 ~ 1] + cstr = [x(0.5) ~ 1] + @mtkbuild pend = System(eqs, t; constraints = cstrs) + + tspan = (0.0, 1.5) + u0map = [x(t) => 0.6, y => 0.8] + parammap = [g => 1] + guesses = [λ => 1] + + bvp = SciMLBase.BVProblem{true, SciMLBase.AutoSpecialize}(pend, u0map, tspan, parammap; guesses, check_length = false) +``` + +If the `System` has algebraic equations, like `x(t)^2 + y(t)^2`, the resulting +`BVProblem` must be solved using BVDAE solvers, such as Ascher. +""" +@fallback_iip_specialize function SciMLBase.BVProblem{iip, spec}( + sys::System, u0map, tspan, parammap = SciMLBase.NullParameters(); + check_compatibility = true, cse = true, + checkbounds = false, eval_expression = false, eval_module = @__MODULE__, + expression = Val{false}, guesses = Dict(), callback = nothing, + kwargs...) where {iip, spec} + check_complete(sys, BVProblem) + check_compatibility && check_compatible_system(BVProblem, sys) + isnothing(callback) || error("BVP solvers do not support callbacks.") + + # Systems without algebraic equations should use both fixed values + guesses + # for initialization. + _u0map = has_alg_eqs(sys) ? u0map : merge(Dict(u0map), Dict(guesses)) + + fode, u0, p = process_SciMLProblem( + ODEFunction{iip, spec}, sys, _u0map, parammap; guesses, + t = tspan !== nothing ? tspan[1] : tspan, check_compatibility = false, cse, + checkbounds, time_dependent_init = false, expression, kwargs...) + + dvs = unknowns(sys) + stidxmap = Dict([v => i for (i, v) in enumerate(dvs)]) + u0_idxs = has_alg_eqs(sys) ? collect(1:length(dvs)) : [stidxmap[k] for (k, v) in u0map] + fbc = generate_boundary_conditions( + sys, u0, u0_idxs, tspan[1]; expression = Val{false}, + wrap_gfw = Val{true}, cse, checkbounds) + + if (length(constraints(sys)) + length(u0map) > length(dvs)) + @warn "The BVProblem is overdetermined. The total number of conditions (# constraints + # fixed initial values given by u0map) exceeds the total number of states. The BVP solvers will default to doing a nonlinear least-squares optimization." + end + + kwargs = process_kwargs(sys; expression, kwargs...) + args = (; fode, fbc, u0, tspan, p) + + return maybe_codegen_scimlproblem(expression, BVProblem{iip}, args; kwargs...) +end + +function check_compatible_system(T::Type{BVProblem}, sys::System) + check_time_dependent(sys, T) + check_not_dde(sys) + check_no_cost(sys, T) + check_no_jumps(sys, T) + check_no_noise(sys, T) + check_is_continuous(sys, T) + + if !isempty(discrete_events(sys)) || !isempty(continuous_events(sys)) + throw(SystemCompatibilityError("BVP solvers do not support events.")) + end +end From 66bb56bcdc2764b2ae10aa31839c16ef93b1ea18 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:41:46 +0530 Subject: [PATCH 055/167] feat: implement `SteadyStateProblem` for `System` --- src/problems/odeproblem.jl | 33 ++++++++++++++++++++++++++++++++- 1 file changed, 32 insertions(+), 1 deletion(-) diff --git a/src/problems/odeproblem.jl b/src/problems/odeproblem.jl index 0d5a146c48..99cff129e0 100644 --- a/src/problems/odeproblem.jl +++ b/src/problems/odeproblem.jl @@ -83,8 +83,39 @@ end maybe_codegen_scimlproblem(expression, ODEProblem{iip}, args; kwargs...) end +""" +```julia +SciMLBase.SteadyStateProblem(sys::System, u0map, + parammap = DiffEqBase.NullParameters(); + version = nothing, tgrad = false, + jac = false, + checkbounds = false, sparse = false, + linenumbers = true, parallel = SerialForm(), + kwargs...) where {iip} +``` + +Generates an SteadyStateProblem from a `System` of ODEs and allows for automatically +symbolically calculating numerical enhancements. +""" +@fallback_iip_specialize function DiffEqBase.SteadyStateProblem{iip, spec}( + sys::System, u0map, parammap; check_length = true, check_compatibility = true, + expression = Val{false}, kwargs...) where {iip, spec} + check_complete(sys, SteadyStateProblem) + check_compatibility && check_compatible_system(SteadyStateProblem, sys) + + f, u0, p = process_SciMLProblem(ODEFunction{iip}, sys, u0map, parammap; + steady_state = true, check_length, check_compatibility, expression, + force_initialization_time_independent = true, kwargs...) + + kwargs = process_kwargs(sys; expression, kwargs...) + args = (; f, u0, p) + + maybe_codegen_scimlproblem(expression, SteadyStateProblem{iip}, args; kwargs...) +end + function check_compatible_system( - T::Union{Type{ODEFunction}, Type{ODEProblem}, Type{DAEFunction}, Type{DAEProblem}}, + T::Union{Type{ODEFunction}, Type{ODEProblem}, Type{DAEFunction}, + Type{DAEProblem}, Type{SteadyStateProblem}}, sys::System) check_time_dependent(sys, T) check_not_dde(sys) From c184da03abef54ddc60a38de9bf312b8cff02919 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:42:52 +0530 Subject: [PATCH 056/167] fix: fix `toexpr(::AbstractSystem)` --- src/systems/abstractsystem.jl | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 2adc879e94..5d9a80d6d1 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -1990,8 +1990,8 @@ function push_eqs!(stmt, eqs, var2name) return eqs_name end -function push_defaults!(stmt, defs, var2name) - defs_name = gensym(:defs) +function push_defaults!(stmt, defs, var2name; name = :defs) + defs_name = gensym(name) defs_expr = Expr(:call, Dict) defs_blk = Expr(:(=), defs_name, defs_expr) for d in defs @@ -2039,23 +2039,23 @@ function toexpr(sys::AbstractSystem) eqs_name = push_eqs!(stmt, full_equations(sys), var2name) filtered_defs = filter( kvp -> !(iscall(kvp[1]) && operation(kvp[1]) isa Initial), defaults(sys)) + filtered_guesses = filter( + kvp -> !(iscall(kvp[1]) && operation(kvp[1]) isa Initial), guesses(sys)) defs_name = push_defaults!(stmt, filtered_defs, var2name) + guesses_name = push_defaults!(stmt, filtered_guesses, var2name; name = :guesses) obs_name = push_eqs!(stmt, obs, var2name) - if sys isa ODESystem - iv = get_iv(sys) + iv = get_iv(sys) + if iv === nothing + ivname = nothing + else ivname = gensym(:iv) push!(stmt, :($ivname = (@variables $(getname(iv)))[1])) - push!(stmt, - :($ODESystem($eqs_name, $ivname, $stsname, $psname; defaults = $defs_name, - observed = $obs_name, - name = $name, checks = false))) - elseif sys isa NonlinearSystem - push!(stmt, - :($NonlinearSystem($eqs_name, $stsname, $psname; defaults = $defs_name, - observed = $obs_name, - name = $name, checks = false))) end + push!(stmt, + :($System($eqs_name, $ivname, $stsname, $psname; defaults = $defs_name, + guesses = $guesses_name, observed = $obs_name, + name = $name, checks = false))) expr = :(let $expr From 37979be61c64f3713e7fc85c2e04bf3512e35889 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:43:12 +0530 Subject: [PATCH 057/167] fix: fix `extend(::AbstractSystem)` --- src/systems/abstractsystem.jl | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 5d9a80d6d1..f013c786b5 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -2693,11 +2693,9 @@ function extend(sys::AbstractSystem, basesys::AbstractSystem; name = name, description = description, gui_metadata = gui_metadata) # collect fields specific to some system types - if basesys isa ODESystem - ieqs = union(get_initialization_eqs(basesys), get_initialization_eqs(sys)) - guesses = merge(get_guesses(basesys), get_guesses(sys)) # prefer `sys` - kwargs = merge(kwargs, (initialization_eqs = ieqs, guesses = guesses)) - end + ieqs = union(get_initialization_eqs(basesys), get_initialization_eqs(sys)) + guesses = merge(get_guesses(basesys), get_guesses(sys)) # prefer `sys` + kwargs = merge(kwargs, (initialization_eqs = ieqs, guesses = guesses)) if has_assertions(basesys) kwargs = merge( From 6105a2d4dda1f3a4f75d37df87cdb987b8fdc742 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:43:45 +0530 Subject: [PATCH 058/167] fix: fix `substitute(::AbstractSystem, _...)` --- src/systems/abstractsystem.jl | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index f013c786b5..a314e20449 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -2796,7 +2796,7 @@ function Symbolics.substitute(sys::AbstractSystem, rules::Union{Vector{<:Pair}, # post-walk to avoid infinite recursion @set! sys.systems = map(Base.Fix2(substitute, dict), systems) something(get(rules, nameof(sys), nothing), sys) - elseif sys isa ODESystem + elseif sys isa System rules = todict(map(r -> Symbolics.unwrap(r[1]) => Symbolics.unwrap(r[2]), collect(rules))) eqs = fast_substitute(get_eqs(sys), rules) @@ -2805,9 +2805,15 @@ function Symbolics.substitute(sys::AbstractSystem, rules::Union{Vector{<:Pair}, for (k, v) in get_defaults(sys)) guess = Dict(fast_substitute(k, rules) => fast_substitute(v, rules) for (k, v) in get_guesses(sys)) + noise_eqs = fast_substitute(get_noise_eqs(sys), rules) + costs = fast_substitute(get_costs(sys), rules) + observed = fast_substitute(get_observed(sys), rules) + initialization_eqs = fast_substitute(get_initialization_eqs(sys), rules) + cstrs = fast_substitute(get_constraints(sys), rules) subsys = map(s -> substitute(s, rules), get_systems(sys)) - ODESystem(eqs, get_iv(sys); name = nameof(sys), defaults = defs, - guesses = guess, parameter_dependencies = pdeps, systems = subsys) + System(eqs, get_iv(sys); name = nameof(sys), defaults = defs, + guesses = guess, parameter_dependencies = pdeps, systems = subsys, noise_eqs, + observed, initialization_eqs, constraints = cstrs) else error("substituting symbols is not supported for $(typeof(sys))") end From ba3a5de7c4382dcc21787f6f26f170dc7c822029 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:44:12 +0530 Subject: [PATCH 059/167] fix: construct `System` in `@mtkmodel` --- src/systems/model_parsing.jl | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/systems/model_parsing.jl b/src/systems/model_parsing.jl index 2a852813a2..fdb26ba7ec 100644 --- a/src/systems/model_parsing.jl +++ b/src/systems/model_parsing.jl @@ -72,8 +72,7 @@ function _model_macro(mod, fullname::Union{Expr, Symbol}, expr, isconnector) push!(exprs.args, :(variables = [])) push!(exprs.args, :(parameters = [])) - # We build `System` by default; vectors can't be created for `System` as it is - # a function. + # We build `System` by default push!(exprs.args, :(systems = ModelingToolkit.AbstractSystem[])) push!(exprs.args, :(equations = Union{Equation, Vector{Equation}}[])) push!(exprs.args, :(defaults = Dict{Num, Union{Number, Symbol, Function}}())) From c00265c6d17ba507e040d5a4c5508b9e6f3b72c5 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:44:31 +0530 Subject: [PATCH 060/167] docs: fix docstring of `process_SciMLProblem` --- src/systems/problem_utils.jl | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 9345d0d89f..427df1f680 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -1004,12 +1004,11 @@ Initial values provided in terms of other variables will be symbolically evaluat type of the containers (if parameters are not in an `MTKParameters` object). `Dict`s will be turned into `Array`s. -If `sys isa ODESystem`, this will also build the initialization problem and related objects -and pass them to the SciMLFunction as keyword arguments. +This will also build the initialization problem and related objects and pass them to the +SciMLFunction as keyword arguments. Keyword arguments: -- `build_initializeprob`: If `false`, avoids building the initialization problem for an - `ODESystem`. +- `build_initializeprob`: If `false`, avoids building the initialization problem. - `t`: The initial time of the `ODEProblem`. If this is not provided, the initialization problem cannot be built. - `implicit_dae`: Also build a mapping of derivatives of states to values for implicit DAEs, From 6daea8fc2739bf7b08c2beb9d79d82da1a5f375c Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 19:10:09 +0530 Subject: [PATCH 061/167] refactor: allow real values in `costs` --- src/systems/system.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systems/system.jl b/src/systems/system.jl index d89bdb0f8e..a638debfb4 100644 --- a/src/systems/system.jl +++ b/src/systems/system.jl @@ -19,7 +19,7 @@ struct System <: AbstractSystem noise_eqs::Union{Nothing, AbstractVector, AbstractMatrix} jumps::Vector{JumpType} constraints::Vector{Union{Equation, Inequality}} - costs::Vector{<:BasicSymbolic} + costs::Vector{<:Union{BasicSymbolic, Real}} consolidate::Any unknowns::Vector ps::Vector From 6765ffd8c010f710fdf3144398d87729ce4dda6e Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:54:14 +0530 Subject: [PATCH 062/167] refactor: remove old clock handling code, retain error messages --- src/systems/systemstructure.jl | 66 +++++++++++----------------------- 1 file changed, 20 insertions(+), 46 deletions(-) diff --git a/src/systems/systemstructure.jl b/src/systems/systemstructure.jl index 1b561f97b4..c6f023e0e1 100644 --- a/src/systems/systemstructure.jl +++ b/src/systems/systemstructure.jl @@ -662,54 +662,28 @@ function structural_simplify!(state::TearingState; simplify = false, inputs = Any[], outputs = Any[], disturbance_inputs = Any[], kwargs...) - if state.sys isa ODESystem - ci = ModelingToolkit.ClockInference(state) - ci = ModelingToolkit.infer_clocks!(ci) - time_domains = merge(Dict(state.fullvars .=> ci.var_domain), - Dict(default_toterm.(state.fullvars) .=> ci.var_domain)) - tss, clocked_inputs, continuous_id, id_to_clock = ModelingToolkit.split_system(ci) - cont_inputs = [inputs; clocked_inputs[continuous_id]] - sys = _structural_simplify!(tss[continuous_id]; simplify, - check_consistency, fully_determined, - inputs = cont_inputs, outputs, disturbance_inputs, - kwargs...) - if length(tss) > 1 - if continuous_id > 0 - throw(HybridSystemNotSupportedException("Hybrid continuous-discrete systems are currently not supported with the standard MTK compiler. This system requires JuliaSimCompiler.jl, see https://help.juliahub.com/juliasimcompiler/stable/")) - end - # TODO: rename it to something else - discrete_subsystems = Vector{ODESystem}(undef, length(tss)) - # Note that the appended_parameters must agree with - # `generate_discrete_affect`! - appended_parameters = parameters(sys) - for (i, state) in enumerate(tss) - if i == continuous_id - discrete_subsystems[i] = sys - continue - end - disc_inputs = [inputs; clocked_inputs[i]] - ss, = _structural_simplify!(state; simplify, check_consistency, - inputs = disc_inputs, outputs, disturbance_inputs, - fully_determined, kwargs...) - append!(appended_parameters, inputs[i], unknowns(ss)) - discrete_subsystems[i] = ss - end - @set! sys.discrete_subsystems = discrete_subsystems, inputs, continuous_id, - id_to_clock - @set! sys.ps = appended_parameters - @set! sys.defaults = merge(ModelingToolkit.defaults(sys), - Dict(v => 0.0 for v in Iterators.flatten(inputs))) + ci = ModelingToolkit.ClockInference(state) + ci = ModelingToolkit.infer_clocks!(ci) + time_domains = merge(Dict(state.fullvars .=> ci.var_domain), + Dict(default_toterm.(state.fullvars) .=> ci.var_domain)) + tss, clocked_inputs, continuous_id, id_to_clock = ModelingToolkit.split_system(ci) + if length(tss) > 1 + if continuous_id == 0 + throw(HybridSystemNotSupportedException(""" + Discrete systems with multiple clocks are not supported with the standard \ + MTK compiler. + """)) + else + throw(HybridSystemNotSupportedException(""" + Hybrid continuous-discrete systems are currently not supported with \ + the standard MTK compiler. This system requires JuliaSimCompiler.jl, \ + see https://help.juliahub.com/juliasimcompiler/stable/ + """)) end - ps = [sym isa CallWithMetadata ? sym : - setmetadata( - sym, VariableTimeDomain, get(time_domains, sym, ContinuousClock())) - for sym in get_ps(sys)] - @set! sys.ps = ps - else - sys = _structural_simplify!(state; simplify, check_consistency, - inputs, outputs, disturbance_inputs, - fully_determined, kwargs...) end + sys = _structural_simplify!(state; simplify, check_consistency, + inputs, outputs, disturbance_inputs, + fully_determined, kwargs...) return sys end From 063fdf05cf2b701aed6e6bb8af661f4eee0cec1e Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:54:47 +0530 Subject: [PATCH 063/167] fix: allow simplifying systems with noise --- src/systems/systems.jl | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/systems/systems.jl b/src/systems/systems.jl index 399b263178..f6992a2d03 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -67,6 +67,11 @@ function __structural_simplify(sys::AbstractSystem; simplify = false, disturbance_inputs = Any[], sort_eqs = true, kwargs...) + # TODO: convert noise_eqs to brownians for simplification + if has_noise_eqs(sys) && get_noise_eqs(sys) !== nothing + sys = noise_to_brownians(sys; names = :αₘₜₖ) + end + sys = expand_connections(sys) state = TearingState(sys; sort_eqs) From 1cd1bfaadc31e326563fa5273e385a4871c60d60 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:57:44 +0530 Subject: [PATCH 064/167] refactor: remove `schedule(sys)` --- src/systems/abstractsystem.jl | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index a314e20449..ebd314f82a 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -604,17 +604,6 @@ end """ $(TYPEDSIGNATURES) -Mark a system as scheduled. It is only intended in compiler internals. A system -is scheduled after tearing based simplifications where equations are converted -into assignments. -""" -function schedule(sys::AbstractSystem) - has_schedule(sys) ? sys : (@set! sys.isscheduled = true) -end - -""" -$(TYPEDSIGNATURES) - If a system is scheduled, then changing its equations, variables, and parameters is no longer legal. """ From a4ede08465af1df5c3e9f23ef9d3e1c6de7ca1a6 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 12:58:17 +0530 Subject: [PATCH 065/167] feat: set system scheduling information in `structural_simplify` --- src/structural_transformation/symbolics_tearing.jl | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/structural_transformation/symbolics_tearing.jl b/src/structural_transformation/symbolics_tearing.jl index 548c7da519..99eab00685 100644 --- a/src/structural_transformation/symbolics_tearing.jl +++ b/src/structural_transformation/symbolics_tearing.jl @@ -756,11 +756,13 @@ function update_simplified_system!( @set! sys.substitutions = Substitutions(subeqs, deps) # Only makes sense for time-dependent - # TODO: generalize to SDE - if sys isa ODESystem + if ModelingToolkit.has_schedule(sys) @set! sys.schedule = Schedule(var_eq_matching, dummy_sub) end - sys = schedule(sys) + if ModelingToolkit.has_isscheduled(sys) + @set! sys.isscheduled = true + end + return sys end """ From 208002b12c993abca98c3ef5f4438027d5dfa849 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 13:01:03 +0530 Subject: [PATCH 066/167] refactor: remove references to `ODESystem` in source code --- ext/MTKBifurcationKitExt.jl | 10 +++--- ext/MTKFMIExt.jl | 2 +- ext/MTKInfiniteOptExt.jl | 14 ++++---- src/ModelingToolkit.jl | 2 +- src/inputoutput.jl | 12 +++---- src/linearization.jl | 10 +++--- .../StructuralTransformations.jl | 2 +- src/structural_transformation/pantelides.jl | 6 ++-- .../symbolics_tearing.jl | 4 +-- src/systems/abstractsystem.jl | 36 +++++++++---------- src/systems/analysis_points.jl | 6 ++-- src/systems/diffeqs/basic_transformations.jl | 16 ++++----- src/systems/diffeqs/first_order_transform.jl | 6 ++-- src/systems/diffeqs/modelingtoolkitize.jl | 4 +-- src/systems/if_lifting.jl | 5 ++- src/systems/optimal_control_interface.jl | 8 ++--- src/systems/systems.jl | 6 +--- src/systems/systemstructure.jl | 2 +- src/utils.jl | 5 +-- 19 files changed, 78 insertions(+), 78 deletions(-) diff --git a/ext/MTKBifurcationKitExt.jl b/ext/MTKBifurcationKitExt.jl index 0b9f104d9b..bcb3152702 100644 --- a/ext/MTKBifurcationKitExt.jl +++ b/ext/MTKBifurcationKitExt.jl @@ -23,7 +23,7 @@ struct ObservableRecordFromSolution{S, T} # A Vector of pairs (Symbolic => value) with the default values of all system variables and parameters. subs_vals::T - function ObservableRecordFromSolution(nsys::NonlinearSystem, + function ObservableRecordFromSolution(nsys::System, plot_var, bif_idx, u0_vals, @@ -82,7 +82,7 @@ end ### Creates BifurcationProblem Overloads ### # When input is a NonlinearSystem. -function BifurcationKit.BifurcationProblem(nsys::NonlinearSystem, +function BifurcationKit.BifurcationProblem(nsys::System, u0_bif, ps, bif_par, @@ -92,7 +92,7 @@ function BifurcationKit.BifurcationProblem(nsys::NonlinearSystem, jac = true, kwargs...) if !ModelingToolkit.iscomplete(nsys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `BifurcationProblem`") + error("A completed `System` is required. Call `complete` or `structural_simplify` on the system before creating a `BifurcationProblem`") end @set! nsys.index_cache = nothing # force usage of a parameter vector instead of `MTKParameters` # Creates F and J functions. @@ -144,11 +144,11 @@ function BifurcationKit.BifurcationProblem(nsys::NonlinearSystem, end # When input is a ODESystem. -function BifurcationKit.BifurcationProblem(osys::ODESystem, args...; kwargs...) +function BifurcationKit.BifurcationProblem(osys::System, args...; kwargs...) if !ModelingToolkit.iscomplete(osys) error("A completed `ODESystem` is required. Call `complete` or `structural_simplify` on the system before creating a `BifurcationProblem`") end - nsys = NonlinearSystem([0 ~ eq.rhs for eq in full_equations(osys)], + nsys = System([0 ~ eq.rhs for eq in full_equations(osys)], unknowns(osys), parameters(osys); observed = observed(osys), diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index d155544ce9..1c70a385a6 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -289,7 +289,7 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, end eqs = [observed; diffeqs] - return ODESystem(eqs, t, states, params; parameter_dependencies, defaults = defs, + return System(eqs, t, states, params; parameter_dependencies, defaults = defs, discrete_events = [instance_management_callback], name, initialization_eqs) end diff --git a/ext/MTKInfiniteOptExt.jl b/ext/MTKInfiniteOptExt.jl index e36b9c2a3e..dd7da24672 100644 --- a/ext/MTKInfiniteOptExt.jl +++ b/ext/MTKInfiniteOptExt.jl @@ -39,9 +39,9 @@ struct InfiniteOptDynamicOptProblem{uType, tType, isinplace, P, F, K} <: end """ - JuMPDynamicOptProblem(sys::ODESystem, u0, tspan, p; dt) + JuMPDynamicOptProblem(sys::System, u0, tspan, p; dt) -Convert an ODESystem representing an optimal control system into a JuMP model +Convert a System representing an optimal control system into a JuMP model for solving using optimization. Must provide either `dt`, the timestep between collocation points (which, along with the timespan, determines the number of points), or directly provide the number of points as `steps`. @@ -51,10 +51,10 @@ The optimization variables: - a vector-of-vectors V representing the controls as an interpolation array The constraints are: -- The set of user constraints passed to the ODESystem via `constraints` +- The set of user constraints passed to the System via `constraints` - The solver constraints that encode the time-stepping used by the solver """ -function MTK.JuMPDynamicOptProblem(sys::ODESystem, u0map, tspan, pmap; +function MTK.JuMPDynamicOptProblem(sys::System, u0map, tspan, pmap; dt = nothing, steps = nothing, guesses = Dict(), kwargs...) @@ -71,16 +71,16 @@ function MTK.JuMPDynamicOptProblem(sys::ODESystem, u0map, tspan, pmap; end """ - InfiniteOptDynamicOptProblem(sys::ODESystem, u0map, tspan, pmap; dt) + InfiniteOptDynamicOptProblem(sys::System, u0map, tspan, pmap; dt) -Convert an ODESystem representing an optimal control system into a InfiniteOpt model +Convert System representing an optimal control system into a InfiniteOpt model for solving using optimization. Must provide `dt` for determining the length of the interpolation arrays. Related to `JuMPDynamicOptProblem`, but directly adds the differential equations of the system as derivative constraints, rather than using a solver tableau. """ -function MTK.InfiniteOptDynamicOptProblem(sys::ODESystem, u0map, tspan, pmap; +function MTK.InfiniteOptDynamicOptProblem(sys::System, u0map, tspan, pmap; dt = nothing, steps = nothing, guesses = Dict(), kwargs...) diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 424ceeb77f..b145c5502d 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -232,7 +232,7 @@ const D = Differential(t) PrecompileTools.@compile_workload begin using ModelingToolkit @variables x(ModelingToolkit.t_nounits) - @named sys = ODESystem([ModelingToolkit.D_nounits(x) ~ -x], ModelingToolkit.t_nounits) + @named sys = System([ModelingToolkit.D_nounits(x) ~ -x], ModelingToolkit.t_nounits) prob = ODEProblem(structural_simplify(sys), [x => 30.0], (0, 100), [], jac = true) @mtkmodel __testmod__ begin @constants begin diff --git a/src/inputoutput.jl b/src/inputoutput.jl index 283be6ed92..1beb229664 100644 --- a/src/inputoutput.jl +++ b/src/inputoutput.jl @@ -161,7 +161,7 @@ has_var(ex, x) = x ∈ Set(get_variables(ex)) """ (f_oop, f_ip), x_sym, p_sym, io_sys = generate_control_function( - sys::AbstractODESystem, + sys::System, inputs = unbound_inputs(sys), disturbance_inputs = disturbances(sys); implicit_dae = false, @@ -191,7 +191,7 @@ t = 0 f[1](x, inputs, p, t) ``` """ -function generate_control_function(sys::AbstractODESystem, inputs = unbound_inputs(sys), +function generate_control_function(sys::AbstractSystem, inputs = unbound_inputs(sys), disturbance_inputs = disturbances(sys); disturbance_argument = false, implicit_dae = false, @@ -333,7 +333,7 @@ The structure represents a model of a disturbance, along with the input variable # Fields: - `input`: The variable affected by the disturbance. - - `model::M`: A model of the disturbance. This is typically an `ODESystem`, but type that implements [`ModelingToolkit.get_disturbance_system`](@ref)`(dist::DisturbanceModel) -> ::ODESystem` is supported. + - `model::M`: A model of the disturbance. This is typically a `System`, but type that implements [`ModelingToolkit.get_disturbance_system`](@ref)`(dist::DisturbanceModel) -> ::System` is supported. """ struct DisturbanceModel{M} input::Any @@ -343,7 +343,7 @@ end DisturbanceModel(input, model; name) = DisturbanceModel(input, model, name) # Point of overloading for libraries, e.g., to be able to support disturbance models from ControlSystemsBase -function get_disturbance_system(dist::DisturbanceModel{<:ODESystem}) +function get_disturbance_system(dist::DisturbanceModel{System}) dist.model end @@ -384,7 +384,7 @@ c = 10 # Damping coefficient eqs = [connect(torque.flange, inertia1.flange_a) connect(inertia1.flange_b, spring.flange_a, damper.flange_a) connect(inertia2.flange_a, spring.flange_b, damper.flange_b)] -model = ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], +model = System(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name = :model) model = complete(model) model_outputs = [model.inertia1.w, model.inertia2.w, model.inertia1.phi, model.inertia2.phi] @@ -416,7 +416,7 @@ function add_input_disturbance(sys, dist::DisturbanceModel, inputs = Any[]; kwar eqs = [dsys.input.u[1] ~ d dist.input ~ u + dsys.output.u[1]] - augmented_sys = ODESystem(eqs, t, systems = [dsys], name = gensym(:outer)) + augmented_sys = System(eqs, t, systems = [dsys], name = gensym(:outer)) augmented_sys = extend(augmented_sys, sys) ssys = structural_simplify(augmented_sys, inputs = all_inputs, disturbance_inputs = [d]) diff --git a/src/linearization.jl b/src/linearization.jl index 12340435b8..161cd120af 100644 --- a/src/linearization.jl +++ b/src/linearization.jl @@ -19,7 +19,7 @@ The `simplified_sys` has undergone [`structural_simplify`](@ref) and had any occ # Arguments: - - `sys`: An [`ODESystem`](@ref). This function will automatically apply simplification passes on `sys` and return the resulting `simplified_sys`. + - `sys`: A [`System`](@ref) of ODEs. This function will automatically apply simplification passes on `sys` and return the resulting `simplified_sys`. - `inputs`: A vector of variables that indicate the inputs of the linearized input-output model. - `outputs`: A vector of variables that indicate the outputs of the linearized input-output model. - `simplify`: Apply simplification in tearing. @@ -666,7 +666,7 @@ function plant(; name) @variables u(t)=0 y(t)=0 eqs = [D(x) ~ -x + u y ~ x] - ODESystem(eqs, t; name = name) + System(eqs, t; name = name) end function ref_filt(; name) @@ -674,7 +674,7 @@ function ref_filt(; name) @variables u(t)=0 [input = true] eqs = [D(x) ~ -2 * x + u y ~ x] - ODESystem(eqs, t, name = name) + System(eqs, t, name = name) end function controller(kp; name) @@ -683,7 +683,7 @@ function controller(kp; name) eqs = [ u ~ kp * (r - y), ] - ODESystem(eqs, t; name = name) + System(eqs, t; name = name) end @named f = ref_filt() @@ -694,7 +694,7 @@ connections = [f.y ~ c.r # filtered reference to controller reference c.u ~ p.u # controller output to plant input p.y ~ c.y] -@named cl = ODESystem(connections, t, systems = [f, c, p]) +@named cl = System(connections, t, systems = [f, c, p]) lsys0, ssys = linearize(cl, [f.u], [p.x]) desired_order = [f.x, p.x] diff --git a/src/structural_transformation/StructuralTransformations.jl b/src/structural_transformation/StructuralTransformations.jl index 4adc817ef8..16d3a75464 100644 --- a/src/structural_transformation/StructuralTransformations.jl +++ b/src/structural_transformation/StructuralTransformations.jl @@ -11,7 +11,7 @@ using SymbolicUtils.Rewriters using SymbolicUtils: maketerm, iscall using ModelingToolkit -using ModelingToolkit: ODESystem, AbstractSystem, var_from_nested_derivative, Differential, +using ModelingToolkit: System, AbstractSystem, var_from_nested_derivative, Differential, unknowns, equations, vars, Symbolic, diff2term_with_unit, shift2term_with_unit, value, operation, arguments, Sym, Term, simplify, symbolic_linear_solve, diff --git a/src/structural_transformation/pantelides.jl b/src/structural_transformation/pantelides.jl index 585c4a29d1..53c790863f 100644 --- a/src/structural_transformation/pantelides.jl +++ b/src/structural_transformation/pantelides.jl @@ -196,7 +196,7 @@ function pantelides!( eq′ = eq_to_diff[eq′] end # for _ in 1:maxiters pathfound || - error("maxiters=$maxiters reached! File a bug report if your system has a reasonable index (<100), and you are using the default `maxiters`. Try to increase the maxiters by `pantelides(sys::ODESystem; maxiters=1_000_000)` if your system has an incredibly high index and it is truly extremely large.") + error("maxiters=$maxiters reached! File a bug report if your system has a reasonable index (<100), and you are using the default `maxiters`. Try to increase the maxiters by `pantelides(sys::System; maxiters=1_000_000)` if your system has an incredibly high index and it is truly extremely large.") end # for k in 1:neqs′ finalize && for var in 1:ndsts(graph) @@ -207,13 +207,13 @@ function pantelides!( end """ - dae_index_lowering(sys::ODESystem; kwargs...) -> ODESystem + dae_index_lowering(sys::System; kwargs...) -> System Perform the Pantelides algorithm to transform a higher index DAE to an index 1 DAE. `kwargs` are forwarded to [`pantelides!`](@ref). End users are encouraged to call [`structural_simplify`](@ref) instead, which calls this function internally. """ -function dae_index_lowering(sys::ODESystem; kwargs...) +function dae_index_lowering(sys::System; kwargs...) state = TearingState(sys) var_eq_matching = pantelides!(state; finalize = false, kwargs...) return invalidate_cache!(pantelides_reassemble(state, var_eq_matching)) diff --git a/src/structural_transformation/symbolics_tearing.jl b/src/structural_transformation/symbolics_tearing.jl index 99eab00685..5558d27770 100644 --- a/src/structural_transformation/symbolics_tearing.jl +++ b/src/structural_transformation/symbolics_tearing.jl @@ -40,7 +40,7 @@ function var_derivative_graph!(s::SystemStructure, v::Int) return var_diff end -function var_derivative!(ts::TearingState{ODESystem}, v::Int) +function var_derivative!(ts::TearingState, v::Int) s = ts.structure var_diff = var_derivative_graph!(s, v) sys = ts.sys @@ -58,7 +58,7 @@ function eq_derivative_graph!(s::SystemStructure, eq::Int) return eq_diff end -function eq_derivative!(ts::TearingState{ODESystem}, ieq::Int; kwargs...) +function eq_derivative!(ts::TearingState, ieq::Int; kwargs...) s = ts.structure eq_diff = eq_derivative_graph!(s, ieq) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index ebd314f82a..f28b0f1559 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -1673,7 +1673,7 @@ function defaults(sys::AbstractSystem) # `mapfoldr` is really important!!! We should prefer the base model for # defaults, because people write: # - # `compose(ODESystem(...; defaults=defs), ...)` + # `compose(System(...; defaults=defs), ...)` # # Thus, right associativity is required and crucial for correctness. isempty(systems) ? defs : mapfoldr(namespace_defaults, merge, systems; init = defs) @@ -2869,7 +2869,7 @@ using ModelingToolkit: t, D @parameters p = 1.0, [description = "My parameter", tunable = false] q = 2.0, [description = "Other parameter"] @variables x(t) = 3.0 [unit = u"m"] -@named sys = ODESystem(Equation[], t, [x], [p, q]) +@named sys = System(Equation[], t, [x], [p, q]) ModelingToolkit.dump_parameters(sys) ``` @@ -2910,7 +2910,7 @@ using ModelingToolkit: t, D @parameters p = 1.0, [description = "My parameter", tunable = false] q = 2.0, [description = "Other parameter"] @variables x(t) = 3.0 [unit = u"m"] -@named sys = ODESystem(Equation[], t, [x], [p, q]) +@named sys = System(Equation[], t, [x], [p, q]) ModelingToolkit.dump_unknowns(sys) ``` @@ -3088,7 +3088,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables X(t) eq1 = D(X) ~ p - d*X eq2 = 0 ~ p - d*X -@named osys = ODESystem([eq1, eq2], t) +@named osys = System([eq1, eq2], t) alg_equations(osys) # returns `[0 ~ p - d*X(t)]`. """ @@ -3107,7 +3107,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables X(t) eq1 = D(X) ~ p - d*X eq2 = 0 ~ p - d*X -@named osys = ODESystem([eq1, eq2], t) +@named osys = System([eq1, eq2], t) diff_equations(osys) # returns `[Differential(t)(X(t)) ~ p - d*X(t)]`. """ @@ -3127,8 +3127,8 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables X(t) eq1 = D(X) ~ p - d*X eq2 = 0 ~ p - d*X -@named osys1 = ODESystem([eq1], t) -@named osys2 = ODESystem([eq2], t) +@named osys1 = System([eq1], t) +@named osys2 = System([eq2], t) has_alg_equations(osys1) # returns `false`. has_alg_equations(osys2) # returns `true`. @@ -3149,8 +3149,8 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables X(t) eq1 = D(X) ~ p - d*X eq2 = 0 ~ p - d*X -@named osys1 = ODESystem([eq1], t) -@named osys2 = ODESystem([eq2], t) +@named osys1 = System([eq1], t) +@named osys2 = System([eq2], t) has_diff_equations(osys1) # returns `true`. has_diff_equations(osys2) # returns `false`. @@ -3172,9 +3172,9 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables X(t) eq1 = D(X) ~ p - d*X eq2 = 0 ~ p - d*X -@named osys1 = ODESystem([eq1], t) -@named osys2 = ODESystem([eq2], t) -osys12 = compose(osys1, [osys2]) +@named osys1 = ([eq1], t) +@named osys2 = ([eq2], t) +osys12 = compose(sys1, [osys2]) osys21 = compose(osys2, [osys1]) get_alg_eqs(osys12) # returns `Equation[]`. @@ -3197,8 +3197,8 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables X(t) eq1 = D(X) ~ p - d*X eq2 = 0 ~ p - d*X -@named osys1 = ODESystem([eq1], t) -@named osys2 = ODESystem([eq2], t) +@named osys1 = tem([eq1], t) +@named osys2 = tem([eq2], t) osys12 = compose(osys1, [osys2]) osys21 = compose(osys2, [osys1]) @@ -3222,8 +3222,8 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables X(t) eq1 = D(X) ~ p - d*X eq2 = 0 ~ p - d*X -@named osys1 = ODESystem([eq1], t) -@named osys2 = ODESystem([eq2], t) +@named osys1 = System([eq1], t) +@named osys2 = System([eq2], t) osys12 = compose(osys1, [osys2]) osys21 = compose(osys2, [osys1]) @@ -3248,8 +3248,8 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables X(t) eq1 = D(X) ~ p - d*X eq2 = 0 ~ p - d*X -@named osys1 = ODESystem([eq1], t) -@named osys2 = ODESystem([eq2], t) +@named osys1 = tem([eq1], t) +@named osys2 = tem([eq2], t) osys12 = compose(osys1, [osys2]) osys21 = compose(osys2, [osys1]) diff --git a/src/systems/analysis_points.jl b/src/systems/analysis_points.jl index 0d1a2830cf..27a0204cb8 100644 --- a/src/systems/analysis_points.jl +++ b/src/systems/analysis_points.jl @@ -31,7 +31,7 @@ t = ModelingToolkit.get_iv(P) eqs = [connect(P.output, C.input) connect(C.output, :plant_input, P.input)] -sys = ODESystem(eqs, t, systems = [P, C], name = :feedback_system) +sys = System(eqs, t, systems = [P, C], name = :feedback_system) matrices_S, _ = get_sensitivity(sys, :plant_input) # Compute the matrices of a state-space representation of the (input) sensitivity function. matrices_T, _ = get_comp_sensitivity(sys, :plant_input) @@ -1007,12 +1007,12 @@ See also [`get_sensitivity`](@ref), [`get_comp_sensitivity`](@ref), [`open_loop` # """ - generate_control_function(sys::ModelingToolkit.AbstractODESystem, input_ap_name::Union{Symbol, Vector{Symbol}, AnalysisPoint, Vector{AnalysisPoint}}, dist_ap_name::Union{Symbol, Vector{Symbol}, AnalysisPoint, Vector{AnalysisPoint}}; system_modifier = identity, kwargs) + generate_control_function(sys::ModelingToolkit.AbstractSystem, input_ap_name::Union{Symbol, Vector{Symbol}, AnalysisPoint, Vector{AnalysisPoint}}, dist_ap_name::Union{Symbol, Vector{Symbol}, AnalysisPoint, Vector{AnalysisPoint}}; system_modifier = identity, kwargs) When called with analysis points as input arguments, we assume that all analysis points corresponds to connections that should be opened (broken). The use case for this is to get rid of input signal blocks, such as `Step` or `Sine`, since these are useful for simulation but are not needed when using the plant model in a controller or state estimator. """ function generate_control_function( - sys::ModelingToolkit.AbstractODESystem, input_ap_name::Union{ + sys::ModelingToolkit.AbstractSystem, input_ap_name::Union{ Symbol, Vector{Symbol}, AnalysisPoint, Vector{AnalysisPoint}}, dist_ap_name::Union{ Nothing, Symbol, Vector{Symbol}, AnalysisPoint, Vector{AnalysisPoint}} = nothing; diff --git a/src/systems/diffeqs/basic_transformations.jl b/src/systems/diffeqs/basic_transformations.jl index 3c1081fcbe..9fa90681cd 100644 --- a/src/systems/diffeqs/basic_transformations.jl +++ b/src/systems/diffeqs/basic_transformations.jl @@ -21,7 +21,7 @@ using ModelingToolkit, OrdinaryDiffEq @variables x(t) y(t) D = Differential(t) eqs = [D(x) ~ α*x - β*x*y, D(y) ~ -δ*y + γ*x*y] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) sys2 = liouville_transform(sys) sys2 = complete(sys2) @@ -40,14 +40,14 @@ Optimal Transport Approach Abhishek Halder, Kooktae Lee, and Raktim Bhattacharya https://abhishekhalder.bitbucket.io/F16ACC2013Final.pdf """ -function liouville_transform(sys::AbstractODESystem; kwargs...) +function liouville_transform(sys::System; kwargs...) t = get_iv(sys) @variables trJ - D = ModelingToolkit.Differential(t) + D = Differential(t) neweq = D(trJ) ~ trJ * -tr(calculate_jacobian(sys)) neweqs = [equations(sys); neweq] vars = [unknowns(sys); trJ] - ODESystem( + System( neweqs, t, vars, parameters(sys); checks = false, name = nameof(sys), kwargs... ) @@ -55,7 +55,7 @@ end """ change_independent_variable( - sys::AbstractODESystem, iv, eqs = []; + sys::System, iv, eqs = []; add_old_diff = false, simplify = true, fold = false ) @@ -95,7 +95,7 @@ By changing the independent variable, it can be reformulated for vertical positi ```julia julia> @variables x(t) y(t); -julia> @named M = ODESystem([D(D(y)) ~ -9.81, D(D(x)) ~ 0.0], t); +julia> @named M = System([D(D(y)) ~ -9.81, D(D(x)) ~ 0.0], t); julia> M = change_independent_variable(M, x); @@ -109,7 +109,7 @@ julia> unknowns(M) ``` """ function change_independent_variable( - sys::AbstractODESystem, iv, eqs = []; + sys::System, iv, eqs = []; add_old_diff = false, simplify = true, fold = false ) iv2_of_iv1 = unwrap(iv) # e.g. u(t) @@ -201,7 +201,7 @@ function change_independent_variable( end # Use the utility function to transform everything in the system! - function transform(sys::AbstractODESystem) + function transform(sys::System) systems = map(transform, get_systems(sys)) # recurse through subsystems # transform equations and connections systems_map = Dict(get_name(s) => s for s in systems) diff --git a/src/systems/diffeqs/first_order_transform.jl b/src/systems/diffeqs/first_order_transform.jl index 97fd6460d9..d017ea362b 100644 --- a/src/systems/diffeqs/first_order_transform.jl +++ b/src/systems/diffeqs/first_order_transform.jl @@ -1,10 +1,10 @@ """ $(TYPEDSIGNATURES) -Takes a Nth order ODESystem and returns a new ODESystem written in first order +Takes a Nth order System and returns a new System written in first order form by defining new variables which represent the N-1 derivatives. """ -function ode_order_lowering(sys::ODESystem) +function ode_order_lowering(sys::System) iv = get_iv(sys) eqs_lowered, new_vars = ode_order_lowering(equations(sys), iv, unknowns(sys)) @set! sys.eqs = eqs_lowered @@ -12,7 +12,7 @@ function ode_order_lowering(sys::ODESystem) return sys end -function dae_order_lowering(sys::ODESystem) +function dae_order_lowering(sys::System) iv = get_iv(sys) eqs_lowered, new_vars = dae_order_lowering(equations(sys), iv, unknowns(sys)) @set! sys.eqs = eqs_lowered diff --git a/src/systems/diffeqs/modelingtoolkitize.jl b/src/systems/diffeqs/modelingtoolkitize.jl index b2954f81e4..ab13ecca29 100644 --- a/src/systems/diffeqs/modelingtoolkitize.jl +++ b/src/systems/diffeqs/modelingtoolkitize.jl @@ -1,7 +1,7 @@ """ $(TYPEDSIGNATURES) -Generate `ODESystem`, dependent variables, and parameters from an `ODEProblem`. +Generate `System`, dependent variables, and parameters from an `ODEProblem`. """ function modelingtoolkitize( prob::DiffEqBase.ODEProblem; u_names = nothing, p_names = nothing, kwargs...) @@ -95,7 +95,7 @@ function modelingtoolkitize( end filter!(x -> !iscall(x) || !(operation(x) isa Initial), params) filter!(x -> !iscall(x[1]) || !(operation(x[1]) isa Initial), default_p) - de = ODESystem(eqs, t, sts, params, + de = System(eqs, t, sts, params, defaults = merge(default_u0, default_p); name = gensym(:MTKizedODE), tspan = prob.tspan, diff --git a/src/systems/if_lifting.jl b/src/systems/if_lifting.jl index aeb8afc0a8..130a4bdab4 100644 --- a/src/systems/if_lifting.jl +++ b/src/systems/if_lifting.jl @@ -411,7 +411,10 @@ Lifting proceeds through the following process: * rewrite comparisons to be of the form eqn [op] 0; subtract the RHS from the LHS * replace comparisons with generated parameters; for each comparison eqn [op] 0, generate an event (dependent on op) that sets the parameter """ -function IfLifting(sys::ODESystem) +function IfLifting(sys::System) + if !is_time_dependent(sys) + throw(ArgumentError("IfLifting is only supported for time-dependent systems.")) + end cw = CondRewriter(get_iv(sys)) eqs = copy(equations(sys)) diff --git a/src/systems/optimal_control_interface.jl b/src/systems/optimal_control_interface.jl index fa1157dca8..2ee2d0e9ca 100644 --- a/src/systems/optimal_control_interface.jl +++ b/src/systems/optimal_control_interface.jl @@ -51,7 +51,7 @@ is_explicit(tableau) = tableau isa DiffEqBase.ExplicitRKTableau Generate the control function f(x, u, p, t) from the ODESystem. Input variables are automatically inferred but can be manually specified. """ -function SciMLBase.ODEInputFunction{iip, specialize}(sys::ODESystem, +function SciMLBase.ODEInputFunction{iip, specialize}(sys::System, dvs = unknowns(sys), ps = parameters(sys), u0 = nothing, inputs = unbound_inputs(sys), @@ -147,16 +147,16 @@ function SciMLBase.ODEInputFunction{iip, specialize}(sys::ODESystem, initialization_data) end -function SciMLBase.ODEInputFunction(sys::AbstractODESystem, args...; kwargs...) +function SciMLBase.ODEInputFunction(sys::System, args...; kwargs...) ODEInputFunction{true}(sys, args...; kwargs...) end -function SciMLBase.ODEInputFunction{true}(sys::AbstractODESystem, args...; +function SciMLBase.ODEInputFunction{true}(sys::System, args...; kwargs...) ODEInputFunction{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) end -function SciMLBase.ODEInputFunction{false}(sys::AbstractODESystem, args...; +function SciMLBase.ODEInputFunction{false}(sys::System, args...; kwargs...) ODEInputFunction{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) end diff --git a/src/systems/systems.jl b/src/systems/systems.jl index f6992a2d03..29584825fe 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -42,7 +42,7 @@ function structural_simplify( for pass in additional_passes newsys = pass(newsys) end - if newsys isa ODESystem || has_parent(newsys) + if has_parent(newsys) @set! newsys.parent = complete(sys; split = false, flatten = false) end newsys = complete(newsys; split) @@ -58,10 +58,6 @@ function __structural_simplify(sys::JumpSystem, args...; kwargs...) return sys end -function __structural_simplify(sys::SDESystem, args...; kwargs...) - return __structural_simplify(ODESystem(sys), args...; kwargs...) -end - function __structural_simplify(sys::AbstractSystem; simplify = false, inputs = Any[], outputs = Any[], disturbance_inputs = Any[], diff --git a/src/systems/systemstructure.jl b/src/systems/systemstructure.jl index c6f023e0e1..611ff72095 100644 --- a/src/systems/systemstructure.jl +++ b/src/systems/systemstructure.jl @@ -9,7 +9,7 @@ import ..ModelingToolkit: isdiffeq, var_from_nested_derivative, vars!, flatten, independent_variables, SparseMatrixCLIL, AbstractSystem, equations, isirreducible, input_timedomain, TimeDomain, InferredTimeDomain, - VariableType, getvariabletype, has_equations, ODESystem + VariableType, getvariabletype, has_equations, System using ..BipartiteGraphs import ..BipartiteGraphs: invview, complete using Graphs diff --git a/src/utils.jl b/src/utils.jl index be28fa3401..33856c71dc 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -1208,7 +1208,8 @@ end """ $(TYPEDSIGNATURES) -Find all the unknowns and parameters from the equations of a SDESystem or ODESystem. Return re-ordered equations, differential variables, all variables, and parameters. +Find all the unknowns and parameters from the equations of a System. Return re-ordered +equations, differential variables, all variables, and parameters. """ function process_equations(eqs, iv) if eltype(eqs) <: AbstractVector @@ -1244,7 +1245,7 @@ function process_equations(eqs, iv) diffvar, _ = var_from_nested_derivative(eq.lhs) if check_scope_depth(getmetadata(diffvar, SymScope, LocalScope()), 0) isequal(iv, iv_from_nested_derivative(eq.lhs)) || - throw(ArgumentError("An ODESystem can only have one independent variable.")) + throw(ArgumentError("A system of differential equations can only have one independent variable.")) diffvar in diffvars && throw(ArgumentError("The differential variable $diffvar is not unique in the system of equations.")) !has_diffvar_type(diffvar) && From 827d04f803211117482bfa500b3d8ea42d67fd0f Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 13:01:25 +0530 Subject: [PATCH 067/167] refactor: remove `__structural_simplify(::JumpSystem)` --- src/systems/systems.jl | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/systems/systems.jl b/src/systems/systems.jl index 29584825fe..4e70476f94 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -54,10 +54,6 @@ function structural_simplify( end end -function __structural_simplify(sys::JumpSystem, args...; kwargs...) - return sys -end - function __structural_simplify(sys::AbstractSystem; simplify = false, inputs = Any[], outputs = Any[], disturbance_inputs = Any[], From 6adf58e405f0ede8196ad247b5cf3188b84eaf11 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 15:30:21 +0530 Subject: [PATCH 068/167] refactor: remove references to `SDESystem` in source code --- src/systems/diffeqs/basic_transformations.jl | 4 ++-- src/systems/diffeqs/modelingtoolkitize.jl | 4 ++-- src/systems/nonlinear/initializesystem.jl | 1 + src/systems/systems.jl | 4 ++-- src/utils.jl | 2 +- 5 files changed, 8 insertions(+), 7 deletions(-) diff --git a/src/systems/diffeqs/basic_transformations.jl b/src/systems/diffeqs/basic_transformations.jl index 9fa90681cd..21dcc7977a 100644 --- a/src/systems/diffeqs/basic_transformations.jl +++ b/src/systems/diffeqs/basic_transformations.jl @@ -297,7 +297,7 @@ Measure transformation method that allows for a reduction in the variance of an Input: Original SDE system and symbolic function `u(t,x)` with scalar output that defines the adjustable parameters `d` in the Girsanov transformation. Optional: initial condition for `θ0`. -Output: Modified SDESystem with additional component `θ_t` and initial value `θ0`, as well as +Output: Modified SDE System with additional component `θ_t` and initial value `θ0`, as well as the weight `θ_t/θ0` as observed equation, such that the estimator `Exp(g(X_t)θ_t/θ0)` has a smaller variance. @@ -317,7 +317,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D eqs = [D(x) ~ α*x] noiseeqs = [β*x] -@named de = SDESystem(eqs,noiseeqs,t,[x],[α,β]) +@named de = System(eqs,t,[x],[α,β]; noise_eqs = noiseeqs) # define u (user choice) u = x diff --git a/src/systems/diffeqs/modelingtoolkitize.jl b/src/systems/diffeqs/modelingtoolkitize.jl index ab13ecca29..cfa3ac43dd 100644 --- a/src/systems/diffeqs/modelingtoolkitize.jl +++ b/src/systems/diffeqs/modelingtoolkitize.jl @@ -226,7 +226,7 @@ end """ $(TYPEDSIGNATURES) -Generate `SDESystem`, dependent variables, and parameters from an `SDEProblem`. +Generate `System`, dependent variables, and parameters from an `SDEProblem`. """ function modelingtoolkitize(prob::DiffEqBase.SDEProblem; kwargs...) prob.f isa DiffEqBase.AbstractParameterizedFunction && @@ -293,7 +293,7 @@ function modelingtoolkitize(prob::DiffEqBase.SDEProblem; kwargs...) Dict() end - de = SDESystem(deqs, neqs, t, sts, params; + de = System(deqs, t, sts, params; noise_eqs = neqs, name = gensym(:MTKizedSDE), tspan = prob.tspan, defaults = merge(default_u0, default_p), diff --git a/src/systems/nonlinear/initializesystem.jl b/src/systems/nonlinear/initializesystem.jl index ed5c2d4c9b..10b1aa809b 100644 --- a/src/systems/nonlinear/initializesystem.jl +++ b/src/systems/nonlinear/initializesystem.jl @@ -90,6 +90,7 @@ function generate_initializesystem_timevarying(sys::AbstractSystem; end end else + # TODO: Check if this is still necessary # 2) System doesn't have a schedule, so dummy derivatives don't exist/aren't handled (SDESystem) for (k, v) in u0map defs[k] = v diff --git a/src/systems/systems.jl b/src/systems/systems.jl index 4e70476f94..1aaa07eaea 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -145,8 +145,8 @@ function __structural_simplify(sys::AbstractSystem; simplify = false, end noise_eqs = StructuralTransformations.tearing_substitute_expr(ode_sys, noise_eqs) - ssys = SDESystem(Vector{Equation}(full_equations(ode_sys)), noise_eqs, - get_iv(ode_sys), unknowns(ode_sys), parameters(ode_sys); + ssys = System(Vector{Equation}(full_equations(ode_sys)), + get_iv(ode_sys), unknowns(ode_sys), parameters(ode_sys); noise_eqs, name = nameof(ode_sys), is_scalar_noise, observed = observed(ode_sys), defaults = defaults(sys), parameter_dependencies = parameter_dependencies(sys), assertions = assertions(sys), guesses = guesses(sys), initialization_eqs = initialization_equations(sys), diff --git a/src/utils.jl b/src/utils.jl index 33856c71dc..a12b251384 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -1314,7 +1314,7 @@ have different multiplicities in `a` and `b`. """ function _eq_unordered(a::AbstractArray, b::AbstractArray) # a and b may be multidimensional - # e.g. comparing noiseeqs of SDESystem + # e.g. comparing noiseeqs of SDEs a = vec(a) b = vec(b) length(a) === length(b) || return false From 9fa1c8aeecdb2906373ad80a5c0f9a38bff83bd2 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 15:35:37 +0530 Subject: [PATCH 069/167] refactor: remove references to `NonlinearSystem` --- src/problems/sccnonlinearproblem.jl | 8 ++--- src/systems/codegen.jl | 2 +- .../nonlinear/homotopy_continuation.jl | 30 +++++++++---------- src/systems/nonlinear/initializesystem.jl | 10 +++---- src/systems/nonlinear/modelingtoolkitize.jl | 4 +-- 5 files changed, 26 insertions(+), 28 deletions(-) diff --git a/src/problems/sccnonlinearproblem.jl b/src/problems/sccnonlinearproblem.jl index 864dcb71ee..fae83ac018 100644 --- a/src/problems/sccnonlinearproblem.jl +++ b/src/problems/sccnonlinearproblem.jl @@ -54,7 +54,7 @@ function SCCNonlinearFunction{iip}( f_oop, f_iip = eval_or_rgf.(f_gen; eval_expression, eval_module) f = GeneratedFunctionWrapper{(2, 2, is_split(sys))}(f_oop, f_iip) - subsys = NonlinearSystem(_eqs, _dvs, ps; observed = _obs, + subsys = System(_eqs, _dvs, ps; observed = _obs, parameter_dependencies = parameter_dependencies(sys), name = nameof(sys)) if get_index_cache(sys) !== nothing @set! subsys.index_cache = subset_unknowns_observed( @@ -65,15 +65,15 @@ function SCCNonlinearFunction{iip}( return NonlinearFunction{iip}(f; sys = subsys) end -function SciMLBase.SCCNonlinearProblem(sys::NonlinearSystem, args...; kwargs...) +function SciMLBase.SCCNonlinearProblem(sys::System, args...; kwargs...) SCCNonlinearProblem{true}(sys, args...; kwargs...) end -function SciMLBase.SCCNonlinearProblem{iip}(sys::NonlinearSystem, u0map, +function SciMLBase.SCCNonlinearProblem{iip}(sys::System, u0map, parammap = SciMLBase.NullParameters(); eval_expression = false, eval_module = @__MODULE__, cse = true, kwargs...) where {iip} if !iscomplete(sys) || get_tearing_state(sys) === nothing - error("A simplified `NonlinearSystem` is required. Call `structural_simplify` on the system before creating an `SCCNonlinearProblem`.") + error("A simplified `System` is required. Call `structural_simplify` on the system before creating an `SCCNonlinearProblem`.") end if !is_split(sys) diff --git a/src/systems/codegen.jl b/src/systems/codegen.jl index 60d3c4dd2d..1ca879322a 100644 --- a/src/systems/codegen.jl +++ b/src/systems/codegen.jl @@ -625,7 +625,7 @@ The signatures will be of the form `g(...)` with arguments: - `unknowns` if `param_only` is `false` - `inputs` if `inputs` is an array of symbolic inputs that should be available in `ts` - `p...` unconditionally; note that in the case of `MTKParameters` more than one parameters argument may be present, so it must be splatted -- `t` if the system is time-dependent; for example `NonlinearSystem` will not have `t` +- `t` if the system is time-dependent; for example systems of nonlinear equations will not have `t` For example, a function `g(op, unknowns, p..., inputs, t)` will be the in-place function generated if `return_inplace` is true, `ts` is a vector, an array of inputs `inputs` is given, and `param_only` is false for a time-dependent system. diff --git a/src/systems/nonlinear/homotopy_continuation.jl b/src/systems/nonlinear/homotopy_continuation.jl index 9a77779103..e68737c19b 100644 --- a/src/systems/nonlinear/homotopy_continuation.jl +++ b/src/systems/nonlinear/homotopy_continuation.jl @@ -211,7 +211,7 @@ end """ $(TYPEDEF) -Information representing how to transform a `NonlinearSystem` into a polynomial +Information representing how to transform a `System` into a polynomial system. """ struct PolynomialTransformation @@ -236,7 +236,7 @@ struct PolynomialTransformation polydata::Vector{PolynomialData} end -function PolynomialTransformation(sys::NonlinearSystem) +function PolynomialTransformation(sys::System) # we need to consider `full_equations` because observed also should be # polynomials (if used in equations) and we don't know if observed is used # in denominator. @@ -342,7 +342,7 @@ using the appropriate `PolynomialTransformation`. Also contains the denominators in the equations, to rule out invalid roots. """ struct PolynomialTransformationResult - sys::NonlinearSystem + sys::System denominators::Vector{BasicSymbolic} end @@ -353,7 +353,7 @@ Transform the system `sys` with `transformation` and return a `PolynomialTransformationResult`, or a `NotPolynomialError` if the system cannot be transformed. """ -function transform_system(sys::NonlinearSystem, transformation::PolynomialTransformation; +function transform_system(sys::System, transformation::PolynomialTransformation; fraction_cancel_fn = simplify_fractions) subrules = transformation.substitution_rules dvs = unknowns(sys) @@ -473,26 +473,26 @@ function handle_rational_polynomials(x, wrt; fraction_cancel_fn = simplify_fract return num, den end -function SciMLBase.HomotopyNonlinearFunction(sys::NonlinearSystem, args...; kwargs...) +function SciMLBase.HomotopyNonlinearFunction(sys::System, args...; kwargs...) ODEFunction{true}(sys, args...; kwargs...) end -function SciMLBase.HomotopyNonlinearFunction{true}(sys::NonlinearSystem, args...; +function SciMLBase.HomotopyNonlinearFunction{true}(sys::System, args...; kwargs...) ODEFunction{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) end -function SciMLBase.HomotopyNonlinearFunction{false}(sys::NonlinearSystem, args...; +function SciMLBase.HomotopyNonlinearFunction{false}(sys::System, args...; kwargs...) ODEFunction{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) end function SciMLBase.HomotopyNonlinearFunction{iip, specialize}( - sys::NonlinearSystem, args...; eval_expression = false, eval_module = @__MODULE__, + sys::System, args...; eval_expression = false, eval_module = @__MODULE__, p = nothing, fraction_cancel_fn = SymbolicUtils.simplify_fractions, cse = true, kwargs...) where {iip, specialize} if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `HomotopyContinuationFunction`") + error("A completed `System` is required. Call `complete` or `structural_simplify` on the system before creating a `HomotopyContinuationFunction`") end transformation = PolynomialTransformation(sys) if transformation isa NotPolynomialError @@ -529,11 +529,11 @@ end struct HomotopyContinuationProblem{iip, specialization} end -function HomotopyContinuationProblem(sys::NonlinearSystem, args...; kwargs...) +function HomotopyContinuationProblem(sys::System, args...; kwargs...) HomotopyContinuationProblem{true}(sys, args...; kwargs...) end -function HomotopyContinuationProblem(sys::NonlinearSystem, t, +function HomotopyContinuationProblem(sys::System, t, u0map::StaticArray, args...; kwargs...) @@ -541,19 +541,19 @@ function HomotopyContinuationProblem(sys::NonlinearSystem, t, sys, t, u0map, args...; kwargs...) end -function HomotopyContinuationProblem{true}(sys::NonlinearSystem, args...; kwargs...) +function HomotopyContinuationProblem{true}(sys::System, args...; kwargs...) HomotopyContinuationProblem{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...) end -function HomotopyContinuationProblem{false}(sys::NonlinearSystem, args...; kwargs...) +function HomotopyContinuationProblem{false}(sys::System, args...; kwargs...) HomotopyContinuationProblem{false, SciMLBase.FullSpecialize}(sys, args...; kwargs...) end function HomotopyContinuationProblem{iip, spec}( - sys::NonlinearSystem, u0map, pmap = SciMLBase.NullParameters(); + sys::System, u0map, pmap = SciMLBase.NullParameters(); kwargs...) where {iip, spec} if !iscomplete(sys) - error("A completed `NonlinearSystem` is required. Call `complete` or `structural_simplify` on the system before creating a `HomotopyContinuationProblem`") + error("A completed `System` is required. Call `complete` or `structural_simplify` on the system before creating a `HomotopyContinuationProblem`") end f, u0, p = process_SciMLProblem( HomotopyNonlinearFunction{iip, spec}, sys, u0map, pmap; kwargs...) diff --git a/src/systems/nonlinear/initializesystem.jl b/src/systems/nonlinear/initializesystem.jl index 10b1aa809b..8f0c167ea5 100644 --- a/src/systems/nonlinear/initializesystem.jl +++ b/src/systems/nonlinear/initializesystem.jl @@ -10,7 +10,7 @@ end """ $(TYPEDSIGNATURES) -Generate `NonlinearSystem` which initializes a problem from specified initial conditions of an `AbstractTimeDependentSystem`. +Generate `System` of nonlinear equations which initializes a problem from specified initial conditions of an `AbstractTimeDependentSystem`. """ function generate_initializesystem_timevarying(sys::AbstractSystem; u0map = Dict(), @@ -153,8 +153,7 @@ function generate_initializesystem_timevarying(sys::AbstractSystem; for k in keys(defs) defs[k] = substitute(defs[k], paramsubs) end - - return NonlinearSystem(eqs_ics, + return System(eqs_ics, vars, pars; defaults = defs, @@ -168,7 +167,7 @@ end """ $(TYPEDSIGNATURES) -Generate `NonlinearSystem` which initializes a problem from specified initial conditions of an `AbstractTimeDependentSystem`. +Generate `System` of nonlinear equations which initializes a problem from specified initial conditions of an `AbstractTimeDependentSystem`. """ function generate_initializesystem_timeindependent(sys::AbstractSystem; u0map = Dict(), @@ -252,8 +251,7 @@ function generate_initializesystem_timeindependent(sys::AbstractSystem; for k in keys(defs) defs[k] = substitute(defs[k], paramsubs) end - - return NonlinearSystem(eqs_ics, + return System(eqs_ics, vars, pars; defaults = defs, diff --git a/src/systems/nonlinear/modelingtoolkitize.jl b/src/systems/nonlinear/modelingtoolkitize.jl index 2f12157884..4ce3769ef7 100644 --- a/src/systems/nonlinear/modelingtoolkitize.jl +++ b/src/systems/nonlinear/modelingtoolkitize.jl @@ -1,7 +1,7 @@ """ $(TYPEDSIGNATURES) -Generate `NonlinearSystem`, dependent variables, and parameters from an `NonlinearProblem`. +Generate `System`, dependent variables, and parameters from an `NonlinearProblem`. """ function modelingtoolkitize( prob::Union{NonlinearProblem, NonlinearLeastSquaresProblem}; @@ -76,7 +76,7 @@ function modelingtoolkitize( Dict() end - de = NonlinearSystem(eqs, sts, params, + de = System(eqs, sts, params, defaults = merge(default_u0, default_p); name = gensym(:MTKizedNonlinProb), kwargs...) From efeca6bdbab49a255e6b4be6531da11efe5393af Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 21 Apr 2025 16:25:24 +0530 Subject: [PATCH 070/167] refactor: remove references to `DiscreteSystem` --- src/ModelingToolkit.jl | 1 - src/systems/abstractsystem.jl | 2 +- src/systems/systems.jl | 3 --- src/systems/systemstructure.jl | 10 ++++++---- 4 files changed, 7 insertions(+), 9 deletions(-) diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index b145c5502d..d96142d7ff 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -130,7 +130,6 @@ abstract type AbstractTimeDependentSystem <: AbstractSystem end abstract type AbstractTimeIndependentSystem <: AbstractSystem end abstract type AbstractMultivariateSystem <: AbstractSystem end abstract type AbstractOptimizationSystem <: AbstractTimeIndependentSystem end -abstract type AbstractDiscreteSystem <: AbstractTimeDependentSystem end function independent_variable end diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index f28b0f1559..099d569d2f 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -699,7 +699,7 @@ function add_initialization_parameters(sys::AbstractSystem; split = true) end # add derivatives of all variables for steady-state initial conditions - if is_time_dependent(sys) && !(sys isa AbstractDiscreteSystem) + if is_time_dependent(sys) && !is_discrete_system(sys) D = Differential(get_iv(sys)) union!(all_initialvars, [D(v) for v in all_initialvars if iscall(v)]) end diff --git a/src/systems/systems.jl b/src/systems/systems.jl index 1aaa07eaea..44a31ab921 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -36,9 +36,6 @@ function structural_simplify( else newsys = newsys′ end - if newsys isa DiscreteSystem && - any(eq -> symbolic_type(eq.lhs) == NotSymbolic(), equations(newsys)) - end for pass in additional_passes newsys = pass(newsys) end diff --git a/src/systems/systemstructure.jl b/src/systems/systemstructure.jl index 611ff72095..144aad148e 100644 --- a/src/systems/systemstructure.jl +++ b/src/systems/systemstructure.jl @@ -474,11 +474,9 @@ function TearingState(sys; quick_cancel = false, check = true, sort_eqs = true) ts = TearingState(sys, fullvars, SystemStructure(complete(var_to_diff), complete(eq_to_diff), - complete(graph), nothing, var_types, sys isa AbstractDiscreteSystem), + complete(graph), nothing, var_types, false), Any[], param_derivative_map) - if sys isa DiscreteSystem - ts = shift_discrete_system(ts) - end + return ts end @@ -681,6 +679,10 @@ function structural_simplify!(state::TearingState; simplify = false, """)) end end + if continuous_id == 1 && any(Base.Fix2(isoperator, Shift), state.fullvars) + state.structure.only_discrete = true + end + sys = _structural_simplify!(state; simplify, check_consistency, inputs, outputs, disturbance_inputs, fully_determined, kwargs...) From 774bf4677a7793e4de34138000f9160a8a37df16 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 22 Apr 2025 16:54:06 +0530 Subject: [PATCH 071/167] refactor: do not use `sys.substitutions` --- src/structural_transformation/symbolics_tearing.jl | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/structural_transformation/symbolics_tearing.jl b/src/structural_transformation/symbolics_tearing.jl index 5558d27770..cb828a00a6 100644 --- a/src/structural_transformation/symbolics_tearing.jl +++ b/src/structural_transformation/symbolics_tearing.jl @@ -150,7 +150,7 @@ end function tearing_substitution(sys::AbstractSystem; kwargs...) neweqs = full_equations(sys::AbstractSystem; kwargs...) @set! sys.eqs = neweqs - @set! sys.substitutions = nothing + # @set! sys.substitutions = nothing @set! sys.schedule = nothing end @@ -753,7 +753,7 @@ function update_simplified_system!( @set! sys.eqs = neweqs @set! sys.observed = obs - @set! sys.substitutions = Substitutions(subeqs, deps) + # @set! sys.substitutions = Substitutions(subeqs, deps) # Only makes sense for time-dependent if ModelingToolkit.has_schedule(sys) From f0c97c1bfeffcdc9c3352b825aa26afe5bf8f0d5 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 15:23:03 +0530 Subject: [PATCH 072/167] test: replace `ODESystem` with `System` --- test/accessor_functions.jl | 8 +- test/analysis_points.jl | 16 +- test/basic_transformations.jl | 32 +- test/bvproblem.jl | 32 +- test/causal_variables_connection.jl | 8 +- test/clock.jl | 18 +- test/code_generation.jl | 6 +- test/components.jl | 36 +-- test/constants.jl | 8 +- test/dae_jacobian.jl | 2 +- test/debugging.jl | 4 +- test/dep_graphs.jl | 2 +- test/distributed.jl | 2 +- test/domain_connectors.jl | 12 +- test/downstream/analysis_points.jl | 52 ++-- test/downstream/inversemodel.jl | 2 +- test/downstream/linearization_dd.jl | 2 +- test/downstream/linearize.jl | 22 +- test/downstream/test_disturbance_model.jl | 4 +- test/dq_units.jl | 38 +-- test/equation_type_accessors.jl | 6 +- test/error_handling.jl | 8 +- test/extensions/ad.jl | 10 +- test/extensions/bifurcationkit.jl | 2 +- test/extensions/dynamic_optimization.jl | 24 +- test/fmi/fmi.jl | 12 +- test/funcaffect.jl | 32 +- test/function_registration.jl | 8 +- test/guess_propagation.jl | 16 +- test/hierarchical_initialization_eqs.jl | 12 +- test/index_cache.jl | 16 +- test/initial_values.jl | 40 +-- test/initializationsystem.jl | 88 +++--- test/input_output_handling.jl | 54 ++-- test/inputoutput.jl | 6 +- test/jacobiansparsity.jl | 4 +- test/labelledarrays.jl | 2 +- test/latexify.jl | 2 +- test/linearity.jl | 6 +- test/lowering_solving.jl | 10 +- test/mass_matrix.jl | 8 +- test/model_parsing.jl | 10 +- test/modelingtoolkitize.jl | 2 +- test/mtkparameters.jl | 22 +- test/namespacing.jl | 6 +- test/nonlinearsystem.jl | 14 +- test/odesystem.jl | 280 +++++++++--------- test/parameter_dependencies.jl | 36 +-- test/precompile_test/ODEPrecompileTest.jl | 2 +- test/problem_validation.jl | 4 +- test/reduction.jl | 36 +-- test/scc_nonlinear_problem.jl | 4 +- test/sciml_problem_inputs.jl | 2 +- test/sdesystem.jl | 22 +- test/serialization.jl | 4 +- test/split_parameters.jl | 20 +- test/state_selection.jl | 22 +- test/static_arrays.jl | 2 +- test/steadystatesystems.jl | 2 +- test/stream_connectors.jl | 50 ++-- .../index_reduction.jl | 14 +- test/structural_transformation/tearing.jl | 8 +- test/structural_transformation/utils.jl | 20 +- test/substitute_component.jl | 6 +- test/symbolic_events.jl | 118 ++++---- test/symbolic_indexing_interface.jl | 18 +- test/symbolic_parameters.jl | 2 +- test/test_variable_metadata.jl | 6 +- test/units.jl | 36 +-- test/variable_scope.jl | 22 +- test/variable_utils.jl | 6 +- 71 files changed, 734 insertions(+), 734 deletions(-) diff --git a/test/accessor_functions.jl b/test/accessor_functions.jl index 4136736a8b..707b928e75 100644 --- a/test/accessor_functions.jl +++ b/test/accessor_functions.jl @@ -56,13 +56,13 @@ let ] cevs = [[t ~ 1.0] => [Y ~ Pre(Y) + 2.0]] devs = [(t == 2.0) => [Y ~ Pre(Y) + 2.0]] - @named sys_bot = ODESystem( + @named sys_bot = System( eqs_bot, t; systems = [], continuous_events = cevs, discrete_events = devs) - @named sys_mid2 = ODESystem( + @named sys_mid2 = System( eqs_mid2, t; systems = [], continuous_events = cevs, discrete_events = devs) - @named sys_mid1 = ODESystem( + @named sys_mid1 = System( eqs_mid1, t; systems = [sys_bot], continuous_events = cevs, discrete_events = devs) - @named sys_top = ODESystem(eqs_top, t; systems = [sys_mid1, sys_mid2], + @named sys_top = System(eqs_top, t; systems = [sys_mid1, sys_mid2], continuous_events = cevs, discrete_events = devs) sys_bot_comp = complete(sys_bot) sys_mid2_comp = complete(sys_mid2) diff --git a/test/analysis_points.jl b/test/analysis_points.jl index e36afc02f7..54cf0004c6 100644 --- a/test/analysis_points.jl +++ b/test/analysis_points.jl @@ -12,14 +12,14 @@ using Symbolics: NAMESPACE_SEPARATOR ap = AnalysisPoint(:plant_input) eqs = [connect(P.output, C.input) connect(C.output, ap, P.input)] - sys_ap = ODESystem(eqs, t, systems = [P, C], name = :hej) + sys_ap = System(eqs, t, systems = [P, C], name = :hej) sys_ap2 = @test_nowarn expand_connections(sys_ap) @test all(eq -> !(eq.lhs isa AnalysisPoint), equations(sys_ap2)) eqs = [connect(P.output, C.input) connect(C.output, P.input)] - sys_normal = ODESystem(eqs, t, systems = [P, C], name = :hej) + sys_normal = System(eqs, t, systems = [P, C], name = :hej) sys_normal2 = @test_nowarn expand_connections(sys_normal) @test isequal(sys_ap2, sys_normal2) @@ -41,10 +41,10 @@ end @named C = Gain(; k = -1) eqs = [connect(P.output, C.input), connect(C.output, :plant_input, P.input)] - sys_ap = ODESystem(eqs, t, systems = [P, C], name = :hej) + sys_ap = System(eqs, t, systems = [P, C], name = :hej) ap2 = @test_nowarn sys_ap.plant_input @test nameof(ap2) == Symbol(join(["hej", "plant_input"], NAMESPACE_SEPARATOR)) - @named sys = ODESystem(Equation[], t; systems = [sys_ap]) + @named sys = System(Equation[], t; systems = [sys_ap]) ap3 = @test_nowarn sys.hej.plant_input @test nameof(ap3) == Symbol(join(["sys", "hej", "plant_input"], NAMESPACE_SEPARATOR)) csys = complete(sys) @@ -62,8 +62,8 @@ end ap = AnalysisPoint(:plant_input) eqs = [connect(P.output, C.input), connect(C.output, ap, P.input)] -sys = ODESystem(eqs, t, systems = [P, C], name = :hej) -@named nested_sys = ODESystem(Equation[], t; systems = [sys]) +sys = System(eqs, t, systems = [P, C], name = :hej) +@named nested_sys = System(Equation[], t; systems = [sys]) nonamespace_sys = toggle_namespacing(nested_sys, false) @testset "simplifies and solves" begin @@ -132,8 +132,8 @@ end eqs = [connect(P.output, :plant_output, C.input) connect(C.output, :plant_input, P.input)] -sys = ODESystem(eqs, t, systems = [P, C], name = :hej) -@named nested_sys = ODESystem(Equation[], t; systems = [sys]) +sys = System(eqs, t, systems = [P, C], name = :hej) +@named nested_sys = System(Equation[], t; systems = [sys]) test_cases = [ ("inner", sys, sys.plant_input), diff --git a/test/basic_transformations.jl b/test/basic_transformations.jl index bb57e27ea5..a414120ed1 100644 --- a/test/basic_transformations.jl +++ b/test/basic_transformations.jl @@ -8,7 +8,7 @@ D = Differential(t) @parameters α β γ δ @variables x(t) y(t) eqs = [D(x) ~ α * x - β * x * y, D(y) ~ -δ * y + γ * x * y] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = complete(sys) u0 = [x => 1.0, y => 1.0] @@ -29,7 +29,7 @@ end @testset "Change independent variable (trivial)" begin @variables x(t) y(t) eqs1 = [D(D(x)) ~ D(x) + x, D(y) ~ 1] - M1 = ODESystem(eqs1, t; name = :M) + M1 = System(eqs1, t; name = :M) M2 = change_independent_variable(M1, y) @variables y x(y) yˍt(y) Dy = Differential(y) @@ -48,7 +48,7 @@ end D(s) ~ 1 / (2 * s) ] initialization_eqs = [x ~ 1.0, y ~ 1.0, D(y) ~ 0.0] - M1 = ODESystem(eqs, t; initialization_eqs, name = :M) + M1 = System(eqs, t; initialization_eqs, name = :M) M2 = change_independent_variable(M1, s) M1 = structural_simplify(M1; allow_symbolic = true) @@ -68,7 +68,7 @@ end D = Differential(t) @variables a(t) ȧ(t) Ω(t) ϕ(t) a, ȧ = GlobalScope.([a, ȧ]) - species(w; kw...) = ODESystem([D(Ω) ~ -3(1 + w) * D(a) / a * Ω], t, [Ω], []; kw...) + species(w; kw...) = System([D(Ω) ~ -3(1 + w) * D(a) / a * Ω], t, [Ω], []; kw...) @named r = species(1 // 3) @named m = species(0) @named Λ = species(-1) @@ -78,7 +78,7 @@ end ȧ ~ √(Ω) * a^2, D(D(ϕ)) ~ -3 * D(a) / a * D(ϕ) ] - M1 = ODESystem(eqs, t, [Ω, a, ȧ, ϕ], []; name = :M) + M1 = System(eqs, t, [Ω, a, ȧ, ϕ], []; name = :M) M1 = compose(M1, r, m, Λ) # Apply in two steps, where derivatives are defined at each step: first t -> a, then a -> b @@ -109,7 +109,7 @@ end @testset "Change independent variable (simple)" begin @variables x(t) y1(t) # y(t)[1:1] # TODO: use array variables y(t)[1:2] when fixed: https://github.com/JuliaSymbolics/Symbolics.jl/issues/1383 - Mt = ODESystem([D(x) ~ 2 * x, D(y1) ~ y1], t; name = :M) + Mt = System([D(x) ~ 2 * x, D(y1) ~ y1], t; name = :M) Mx = change_independent_variable(Mt, x) @variables x xˍt(x) xˍtt(x) y1(x) # y(x)[1:1] # TODO: array variables Dx = Differential(x) @@ -119,7 +119,7 @@ end @testset "Change independent variable (free fall with 1st order horizontal equation)" begin @variables x(t) y(t) @parameters g=9.81 v # gravitational acceleration and constant horizontal velocity - Mt = ODESystem([D(D(y)) ~ -g, D(x) ~ v], t; name = :M) # gives (x, y) as function of t, ... + Mt = System([D(D(y)) ~ -g, D(x) ~ v], t; name = :M) # gives (x, y) as function of t, ... Mx = change_independent_variable(Mt, x; add_old_diff = true) # ... but we want y as a function of x Mx = structural_simplify(Mx; allow_symbolic = true) Dx = Differential(Mx.x) @@ -133,7 +133,7 @@ end @testset "Change independent variable (free fall with 2nd order horizontal equation)" begin @variables x(t) y(t) @parameters g = 9.81 # gravitational acceleration - Mt = ODESystem([D(D(y)) ~ -g, D(D(x)) ~ 0], t; name = :M) # gives (x, y) as function of t, ... + Mt = System([D(D(y)) ~ -g, D(D(x)) ~ 0], t; name = :M) # gives (x, y) as function of t, ... Mx = change_independent_variable(Mt, x; add_old_diff = true) # ... but we want y as a function of x Mx = structural_simplify(Mx; allow_symbolic = true) Dx = Differential(Mx.x) @@ -151,7 +151,7 @@ end (D^3)(y) ~ D(x)^2 + (D^2)(y^2) |> expand_derivatives, D(x)^2 + D(y)^2 ~ x^4 + y^5 + t^6 ] - M1 = ODESystem(eqs, t; name = :M) + M1 = System(eqs, t; name = :M) M2 = change_independent_variable(M1, x; add_old_diff = true) @test_nowarn structural_simplify(M2) @@ -185,7 +185,7 @@ end D(x) ~ 2t, D(y) ~ 1fc(t) + 2fc(x) + 3fc(y) + 1callme(f, t) + 2callme(f, x) + 3callme(f, y) ] - M1 = ODESystem(eqs, t; name = :M) + M1 = System(eqs, t; name = :M) # Ensure that interpolations are called with the same variables M2 = change_independent_variable(M1, x, [t ~ √(x)]) @@ -207,13 +207,13 @@ end @testset "Change independent variable (errors)" begin @variables x(t) y z(y) w(t) v(t) - M = ODESystem([D(x) ~ 1, v ~ x], t; name = :M) + M = System([D(x) ~ 1, v ~ x], t; name = :M) Ms = structural_simplify(M) @test_throws "structurally simplified" change_independent_variable(Ms, y) @test_throws "not a function of" change_independent_variable(M, y) @test_throws "not a function of" change_independent_variable(M, z) @variables x(..) # require explicit argument - M = ODESystem([D(x(t)) ~ x(t - 1)], t; name = :M) + M = System([D(x(t)) ~ x(t - 1)], t; name = :M) @test_throws "DDE" change_independent_variable(M, x(t)) end @@ -222,7 +222,7 @@ end D_units = Differential(t_units) @variables x(t_units) [unit = u"m"] y(t_units) [unit = u"m"] @parameters g=9.81 [unit = u"m * s^-2"] # gravitational acceleration - Mt = ODESystem([D_units(D_units(y)) ~ -g, D_units(D_units(x)) ~ 0], t_units; name = :M) # gives (x, y) as function of t, ... + Mt = System([D_units(D_units(y)) ~ -g, D_units(D_units(x)) ~ 0], t_units; name = :M) # gives (x, y) as function of t, ... Mx = change_independent_variable(Mt, x; add_old_diff = true) # ... but we want y as a function of x Mx = structural_simplify(Mx; allow_symbolic = true) Dx = Differential(Mx.x) @@ -243,7 +243,7 @@ end @named input_sys = Input() input_sys = complete(input_sys) # test no failures - @test change_independent_variable(input_sys, input_sys.u) isa ODESystem + @test change_independent_variable(input_sys, input_sys.u) isa System @mtkmodel NestedInput begin @components begin @@ -258,7 +258,7 @@ end end @named nested_input_sys = NestedInput() nested_input_sys = complete(nested_input_sys; flatten = false) - @test change_independent_variable(nested_input_sys, nested_input_sys.x) isa ODESystem + @test change_independent_variable(nested_input_sys, nested_input_sys.x) isa System end @testset "Change of variables, connections" begin @@ -295,7 +295,7 @@ end z ~ ModelingToolkit.scalarize.([sin(y), cos(y)]), D(y) ~ z[1]^2 + z[2]^2 ] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = complete(sys) new_sys = change_independent_variable(sys, sys.x; add_old_diff = true) ss_new_sys = structural_simplify(new_sys; allow_symbolic = true) diff --git a/test/bvproblem.jl b/test/bvproblem.jl index 6472608366..dc5f1ef658 100644 --- a/test/bvproblem.jl +++ b/test/bvproblem.jl @@ -20,7 +20,7 @@ daesolvers = [Ascher2, Ascher4, Ascher6] parammap = [α => 7.5, β => 4, γ => 8.0, δ => 5.0] tspan = (0.0, 10.0) - @mtkbuild lotkavolterra = ODESystem(eqs, t) + @mtkbuild lotkavolterra = System(eqs, t) op = ODEProblem(lotkavolterra, u0map, tspan, parammap) osol = solve(op, Vern9()) @@ -52,7 +52,7 @@ end eqs = [D(θ) ~ θ_t D(θ_t) ~ -(g / L) * sin(θ)] - @mtkbuild pend = ODESystem(eqs, t) + @mtkbuild pend = System(eqs, t) u0map = [θ => π / 2, θ_t => π / 2] parammap = [:L => 1.0, :g => 9.81] @@ -80,7 +80,7 @@ end end ################################################################## -### ODESystem with constraint equations, DAEs with constraints ### +### System with constraint equations, DAEs with constraints ### ################################################################## # Test generation of boundary condition function using `generate_function_bc`. Compare solutions to manually written boundary conditions @@ -91,7 +91,7 @@ end D(y(t)) ~ -γ * y(t) + δ * x(t) * y(t)] tspan = (0.0, 1.0) - @mtkbuild lksys = ODESystem(eqs, t) + @mtkbuild lksys = System(eqs, t) function lotkavolterra!(du, u, p, t) du[1] = p[1] * u[1] - p[2] * u[1] * u[2] @@ -104,7 +104,7 @@ end # Test with a constraint. constr = [y(0.5) ~ 2.0] - @mtkbuild lksys = ODESystem(eqs, t; constraints = constr) + @mtkbuild lksys = System(eqs, t; constraints = constr) function bc!(resid, u, p, t) resid[1] = u(0.0)[1] - 1.0 @@ -165,7 +165,7 @@ function test_solvers( end end -# Simple ODESystem with BVP constraints. +# Simple System with BVP constraints. @testset "ODE with constraints" begin @parameters α=1.5 β=1.0 γ=3.0 δ=1.0 @variables x(..) y(..) @@ -177,7 +177,7 @@ end tspan = (0.0, 1.0) guess = [x(t) => 4.0, y(t) => 2.0] constr = [x(0.6) ~ 3.5, x(0.3) ~ 7.0] - @mtkbuild lksys = ODESystem(eqs, t; constraints = constr) + @mtkbuild lksys = System(eqs, t; constraints = constr) bvp = SciMLBase.BVProblem{true, SciMLBase.AutoSpecialize}( lksys, u0map, tspan; guesses = guess) @@ -185,13 +185,13 @@ end # Testing that more complicated constraints give correct solutions. constr = [y(0.2) + x(0.8) ~ 3.0, y(0.3) ~ 2.0] - @mtkbuild lksys = ODESystem(eqs, t; constraints = constr) + @mtkbuild lksys = System(eqs, t; constraints = constr) bvp = SciMLBase.BVProblem{false, SciMLBase.FullSpecialize}( lksys, u0map, tspan; guesses = guess) test_solvers(solvers, bvp, u0map, constr; dt = 0.05) constr = [α * β - x(0.6) ~ 0.0, y(0.2) ~ 3.0] - @mtkbuild lksys = ODESystem(eqs, t; constraints = constr) + @mtkbuild lksys = System(eqs, t; constraints = constr) bvp = SciMLBase.BVProblem{true, SciMLBase.AutoSpecialize}( lksys, u0map, tspan; guesses = guess) test_solvers(solvers, bvp, u0map, constr) @@ -205,7 +205,7 @@ end # eqs = [D(D(x)) ~ λ * x # D(D(y)) ~ λ * y - g # x^2 + y^2 ~ 1] -# @mtkbuild pend = ODESystem(eqs, t) +# @mtkbuild pend = System(eqs, t) # # tspan = (0.0, 1.5) # u0map = [x => 1, y => 0] @@ -243,7 +243,7 @@ end # D(D(y)) ~ λ * y - g # x(t)^2 + y^2 ~ 1] # constr = [x(0.5) ~ 1] -# @mtkbuild pend = ODESystem(eqs, t; constr) +# @mtkbuild pend = System(eqs, t; constr) # # tspan = (0.0, 1.5) # u0map = [x(t) => 0.6, y => 0.8] @@ -262,13 +262,13 @@ end # # constr = [x(0.5) ~ 1, # x(0.3)^3 + y(0.6)^2 ~ 0.5] -# @mtkbuild pend = ODESystem(eqs, t; constr) +# @mtkbuild pend = System(eqs, t; constr) # bvp = SciMLBase.BVProblem{true, SciMLBase.AutoSpecialize}(pend, u0map, tspan, parammap; guesses, check_length = false) # test_solvers(daesolvers, bvp, u0map, constr, get_alg_eqs(pend)) # # constr = [x(0.4) * g ~ y(0.2), # y(0.7) ~ 0.3] -# @mtkbuild pend = ODESystem(eqs, t; constr) +# @mtkbuild pend = System(eqs, t; constr) # bvp = SciMLBase.BVProblem{true, SciMLBase.AutoSpecialize}(pend, u0map, tspan, parammap; guesses, check_length = false) # test_solvers(daesolvers, bvp, u0map, constr, get_alg_eqs(pend)) # end @@ -286,8 +286,8 @@ end parammap = [α => 7.5, β => 4, γ => 8.0, δ => 5.0] costs = [x(0.6), x(0.3)^2] consolidate(u) = (u[1] + 3)^2 + u[2] - @mtkbuild lksys = ODESystem(eqs, t; costs, consolidate) - @test_throws ErrorException @mtkbuild lksys2 = ODESystem(eqs, t; costs) + @mtkbuild lksys = System(eqs, t; costs, consolidate) + @test_throws ErrorException @mtkbuild lksys2 = System(eqs, t; costs) @test_throws ErrorException ODEProblem(lksys, u0map, tspan, parammap) prob = ODEProblem(lksys, u0map, tspan, parammap; allow_cost = true) @@ -300,7 +300,7 @@ end @parameters t_c costs = [y(t_c) + x(0.0), x(0.4)^2] consolidate(u) = log(u[1]) - u[2] - @mtkbuild lksys = ODESystem(eqs, t; costs, consolidate) + @mtkbuild lksys = System(eqs, t; costs, consolidate) @test t_c ∈ Set(parameters(lksys)) push!(parammap, t_c => 0.56) prob = ODEProblem(lksys, u0map, tspan, parammap; allow_cost = true) diff --git a/test/causal_variables_connection.jl b/test/causal_variables_connection.jl index c22e8319d4..222db540de 100644 --- a/test/causal_variables_connection.jl +++ b/test/causal_variables_connection.jl @@ -40,12 +40,12 @@ end eqs = [connect(P.output.u, C.input.u) connect(C.output.u, P.input.u)] - sys1 = ODESystem(eqs, t, systems = [P, C], name = :hej) + sys1 = System(eqs, t, systems = [P, C], name = :hej) sys = expand_connections(sys1) @test any(isequal(P.output.u ~ C.input.u), equations(sys)) @test any(isequal(C.output.u ~ P.input.u), equations(sys)) - @named sysouter = ODESystem(Equation[], t; systems = [sys1]) + @named sysouter = System(Equation[], t; systems = [sys1]) sys = expand_connections(sysouter) @test any(isequal(sys1.P.output.u ~ sys1.C.input.u), equations(sys)) @test any(isequal(sys1.C.output.u ~ sys1.P.input.u), equations(sys)) @@ -57,8 +57,8 @@ end ap = AnalysisPoint(:plant_input) eqs = [connect(P.output, C.input), connect(C.output.u, ap, P.input.u)] - sys = ODESystem(eqs, t, systems = [P, C], name = :hej) - @named nested_sys = ODESystem(Equation[], t; systems = [sys]) + sys = System(eqs, t, systems = [P, C], name = :hej) + @named nested_sys = System(Equation[], t; systems = [sys]) test_cases = [ ("inner", sys, sys.plant_input), diff --git a/test/clock.jl b/test/clock.jl index c4c64dbf90..3c5a32c1ce 100644 --- a/test/clock.jl +++ b/test/clock.jl @@ -22,7 +22,7 @@ eqs = [yd ~ Sample(dt)(y) u ~ Hold(ud) D(x) ~ -x + u y ~ x] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) # compute equation and variables' time domains #TODO: test linearize @@ -115,7 +115,7 @@ eqs = [yd ~ Sample(dt)(y) u ~ Hold(ud) D(x) ~ -x + u y ~ x] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) @test_throws ModelingToolkit.HybridSystemNotSupportedException ss=structural_simplify(sys); @test_skip begin @@ -190,7 +190,7 @@ eqs = [yd ~ Sample(dt)(y) u ~ Hold(ud1) + Hold(ud2) D(x) ~ -x + u y ~ x] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) ci, varmap = infer_clocks(sys) d = Clock(dt) @@ -218,7 +218,7 @@ eqs = [yd ~ Sample(dt)(y) @variables x(t)=1 u(t)=0 y(t)=0 eqs = [D(x) ~ -x + u y ~ x] - ODESystem(eqs, t; name = name) + System(eqs, t; name = name) end function filt(; name) @@ -226,7 +226,7 @@ eqs = [yd ~ Sample(dt)(y) a = 1 / exp(dt) eqs = [x ~ a * x(k - 1) + (1 - a) * u(k - 1) y ~ x] - ODESystem(eqs, t, name = name) + System(eqs, t, name = name) end function controller(kp; name) @@ -234,7 +234,7 @@ eqs = [yd ~ Sample(dt)(y) @parameters kp = kp eqs = [yd ~ Sample(y) ud ~ kp * (r - yd)] - ODESystem(eqs, t; name = name) + System(eqs, t; name = name) end @named f = filt() @@ -246,7 +246,7 @@ eqs = [yd ~ Sample(dt)(y) Hold(c.ud) ~ p.u # controller output to plant input p.y ~ c.y] - @named cl = ODESystem(connections, t, systems = [f, c, p]) + @named cl = System(connections, t, systems = [f, c, p]) ci, varmap = infer_clocks(cl) @@ -281,7 +281,7 @@ eqs = [yd ~ Sample(dt)(y) D(x) ~ -x + u y ~ x] - @named cl = ODESystem(eqs, t) + @named cl = System(eqs, t) d = Clock(dt) d2 = Clock(dt2) @@ -529,7 +529,7 @@ eqs = [yd ~ Sample(dt)(y) @variables x(t)=1.0 y(t)=1.0 eqs = [D(y) ~ Hold(x) x ~ x(k - 1) + x(k - 2)] - @mtkbuild sys = ODESystem(eqs, t) + @mtkbuild sys = System(eqs, t) prob = ODEProblem(sys, [], (0.0, 10.0)) int = init(prob, Tsit5(); kwargshandle = KeywordArgSilent) @test int.ps[x] == 2.0 diff --git a/test/code_generation.jl b/test/code_generation.jl index 2fbf8f13d7..87a485e198 100644 --- a/test/code_generation.jl +++ b/test/code_generation.jl @@ -5,7 +5,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables x(t) y(t)[1:3] @parameters p1=1.0 p2[1:3]=[1.0, 2.0, 3.0] p3::Int=1 p4::Bool=false - sys = complete(ODESystem(Equation[], t, [x; y], [p1, p2, p3, p4]; name = :sys)) + sys = complete(System(Equation[], t, [x; y], [p1, p2, p3, p4]; name = :sys)) u0 = [1.0, 2.0, 3.0, 4.0] p = ModelingToolkit.MTKParameters(sys, []) @@ -58,7 +58,7 @@ end @testset "Non-standard array variables" begin @variables x(t) @parameters p[0:2] (f::Function)(..) - @mtkbuild sys = ODESystem(D(x) ~ p[0] * x + p[1] * t + p[2] + f(p), t) + @mtkbuild sys = System(D(x) ~ p[0] * x + p[1] * t + p[2] + f(p), t) prob = ODEProblem(sys, [x => 1.0], (0.0, 1.0), [p => [1.0, 2.0, 3.0], f => sum]) @test prob.ps[p] == [1.0, 2.0, 3.0] @test prob.ps[p[0]] == 1.0 @@ -68,7 +68,7 @@ end @testset "Array split across buffers" begin @variables x(t)[0:2] @parameters p[1:2] (f::Function)(..) - @named sys = ODESystem( + @named sys = System( [D(x[0]) ~ p[1] * x[0] + x[2], D(x[1]) ~ p[2] * f(x) + x[2]], t) sys = structural_simplify(sys, inputs = [x[2]], outputs = []) @test is_parameter(sys, x[2]) diff --git a/test/components.jl b/test/components.jl index 43c0d1acf8..282c4c0aa7 100644 --- a/test/components.jl +++ b/test/components.jl @@ -75,7 +75,7 @@ end eqs = [connect(p, resistor.p); connect(resistor.n, capacitor.p); connect(capacitor.n, n)] - @named sys = ODESystem(eqs, t, [], [R, C]) + @named sys = System(eqs, t, [], [R, C]) compose(sys, [p, n, resistor, capacitor]; name = name) end @@ -87,7 +87,7 @@ end connect(source.p, rc_comp.p) connect(source.n, rc_comp.n) connect(source.n, ground.g)] - @named sys′ = ODESystem(eqs, t) + @named sys′ = System(eqs, t) @named sys_inner_outer = compose(sys′, [ground, shape, source, rc_comp]) @test_nowarn show(IOBuffer(), MIME"text/plain"(), sys_inner_outer) expand_connections(sys_inner_outer, debug = true) @@ -131,16 +131,16 @@ end @testset "Compose/extend" begin @variables x1(t) x2(t) x3(t) x4(t) - @named sys1_inner = ODESystem([D(x1) ~ x1], t) - @named sys1_partial = compose(ODESystem([D(x2) ~ x2], t; name = :foo), sys1_inner) - @named sys1 = extend(ODESystem([D(x3) ~ x3], t; name = :foo), sys1_partial) - @named sys2 = compose(ODESystem([D(x4) ~ x4], t; name = :foo), sys1) + @named sys1_inner = System([D(x1) ~ x1], t) + @named sys1_partial = compose(System([D(x2) ~ x2], t; name = :foo), sys1_inner) + @named sys1 = extend(System([D(x3) ~ x3], t; name = :foo), sys1_partial) + @named sys2 = compose(System([D(x4) ~ x4], t; name = :foo), sys1) @test_nowarn sys2.sys1.sys1_inner.x1 # test the correct nesting # compose tests function record_fun(; name) pars = @parameters a=10 b=100 - ODESystem(Equation[], t, [], pars; name) + System(Equation[], t, [], pars; name) end function first_model(; name) @@ -150,7 +150,7 @@ end defs[foo.a] = 3 defs[foo.b] = 300 pars = @parameters x=2 y=20 - compose(ODESystem(Equation[], t, [], pars; name, defaults = defs), foo) + compose(System(Equation[], t, [], pars; name, defaults = defs), foo) end @named goo = first_model() @unpack foo = goo @@ -165,7 +165,7 @@ function Load(; name) @named resistor = Resistor(R = R) eqs = [connect(p, resistor.p); connect(resistor.n, n)] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) compose(sys, [p, n, resistor]; name = name) end @@ -176,7 +176,7 @@ function Circuit(; name) @named resistor = Resistor(R = R) eqs = [connect(load.p, ground.g); connect(resistor.p, ground.g)] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) compose(sys, [ground, resistor, load]; name = name) end @@ -196,7 +196,7 @@ end connect(capacitor.n, source.n, ground.g) connect(resistor.heat_port, heat_capacitor.port)] - compose(ODESystem(rc_eqs, t, name = Symbol(name, i)), + compose(System(rc_eqs, t, name = Symbol(name, i)), [resistor, capacitor, source, ground, heat_capacitor]) end V = 2.0 @@ -214,7 +214,7 @@ end D(E) ~ sum(((i, sys),) -> getproperty(sys, Symbol(:resistor, i)).heat_port.Q_flow, enumerate(rc_systems)) ] - @named _big_rc = ODESystem(eqs, t, [E], []) + @named _big_rc = System(eqs, t, [E], []) @named big_rc = compose(_big_rc, rc_systems) ts = TearingState(expand_connections(big_rc)) # this is block upper triangular, so `istriu` needs a little leeway @@ -230,7 +230,7 @@ end eqs = [ v ~ i * R ] - extend(ODESystem(eqs, t, [], []; name = name), oneport) + extend(System(eqs, t, [], []; name = name), oneport) end capacitor = Capacitor(; name = :c1, C = 1.0) resistor = FixedResistor(; name = :r1) @@ -239,7 +239,7 @@ end connect(resistor.n, capacitor.p) connect(capacitor.n, ground.g)] - @named _rc_model = ODESystem(rc_eqs, t) + @named _rc_model = System(rc_eqs, t) @named rc_model = compose(_rc_model, [resistor, capacitor, ground]) sys = structural_simplify(rc_model) @@ -254,7 +254,7 @@ end @connector function Pin1(; name) @independent_variables t sts = @variables v(t)=1.0 i(t)=1.0 - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end @test string(Base.doc(Pin1)) == "Hey there, Pin1!\n" @@ -264,7 +264,7 @@ end @component function Pin2(; name) @independent_variables t sts = @variables v(t)=1.0 i(t)=1.0 - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end @test string(Base.doc(Pin2)) == "Hey there, Pin2!\n" end @@ -328,8 +328,8 @@ end @testset "Issue#3275: Metadata retained on `complete`" begin @variables x(t) y(t) @testset "ODESystem" begin - @named inner = ODESystem(D(x) ~ x, t) - @named outer = ODESystem(D(y) ~ y, t; systems = [inner], metadata = "test") + @named inner = System(D(x) ~ x, t) + @named outer = System(D(y) ~ y, t; systems = [inner], metadata = "test") @test ModelingToolkit.get_metadata(outer) == "test" sys = complete(outer) @test ModelingToolkit.get_metadata(sys) == "test" diff --git a/test/constants.jl b/test/constants.jl index f2c4fdaa86..5e97d52d7f 100644 --- a/test/constants.jl +++ b/test/constants.jl @@ -10,7 +10,7 @@ UMT = ModelingToolkit.UnitfulUnitCheck @variables x(t) w(t) D = Differential(t) eqs = [D(x) ~ a] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) prob = ODEProblem(complete(sys), [0], [0.0, 1.0], []) sol = solve(prob, Tsit5()) @@ -20,7 +20,7 @@ newsys = MT.eliminate_constants(sys) # Test structural_simplify substitutions & observed values eqs = [D(x) ~ 1, w ~ a] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) # Now eliminate the constants first simp = structural_simplify(sys) @test equations(simp) == [D(x) ~ 1.0] @@ -33,7 +33,7 @@ UMT.get_unit(β) @variables x(t) [unit = u"m"] D = Differential(t) eqs = [D(x) ~ β] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) simp = structural_simplify(sys) @test isempty(MT.collect_constants(nothing)) @@ -44,7 +44,7 @@ simp = structural_simplify(sys) @variables x(MT.t_nounits) = h eqs = [MT.D_nounits(x) ~ (h - x) / τ] - @mtkbuild fol_model = ODESystem(eqs, MT.t_nounits) + @mtkbuild fol_model = System(eqs, MT.t_nounits) prob = ODEProblem(fol_model, [], (0.0, 10.0)) @test prob[x] ≈ 1 diff --git a/test/dae_jacobian.jl b/test/dae_jacobian.jl index 8c68df767a..94f15cbb7c 100644 --- a/test/dae_jacobian.jl +++ b/test/dae_jacobian.jl @@ -36,7 +36,7 @@ sol1 = solve(prob1, IDA(linear_solver = :KLU)) eqs = [D(u1) ~ p1 * u1 - u1 * u2, D(u2) ~ u1 * u2 - p2 * u2] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) u0 = [u1 => 1.0, u2 => 1.0] diff --git a/test/debugging.jl b/test/debugging.jl index a55684737c..de4420d08c 100644 --- a/test/debugging.jl +++ b/test/debugging.jl @@ -4,7 +4,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D, ASSERTION_LOG_VARIABLE @variables x(t) @brownian a -@named inner_ode = ODESystem(D(x) ~ -sqrt(x), t; assertions = [(x > 0) => "ohno"]) +@named inner_ode = System(D(x) ~ -sqrt(x), t; assertions = [(x > 0) => "ohno"]) @named inner_sde = System([D(x) ~ -sqrt(x) + a], t; assertions = [(x > 0) => "ohno"]) sys_ode = structural_simplify(inner_ode) sys_sde = structural_simplify(inner_sde) @@ -36,7 +36,7 @@ end @testset "Hierarchical system" begin @testset "$(typeof(inner))" for (ctor, Problem, inner, alg) in [ - (ODESystem, ODEProblem, inner_ode, Tsit5()), + (System, ODEProblem, inner_ode, Tsit5()), (System, SDEProblem, inner_sde, ImplicitEM())] @mtkbuild outer = ctor(Equation[], t; systems = [inner]) dsys = debug_system(outer; functions = []) diff --git a/test/dep_graphs.jl b/test/dep_graphs.jl index 3b02efb2d0..76cc216635 100644 --- a/test/dep_graphs.jl +++ b/test/dep_graphs.jl @@ -155,7 +155,7 @@ eqs = [D(S) ~ k1 - k1 * S - k2 * S * I - k1 * k2 / (1 + t) * S, D(I) ~ k2 * S * I, D(R) ~ -k2 * S^2 * R / 2 + k1 * I + k1 * k2 * S / (1 + t)] noiseeqs = [S, I, R] -@named os = ODESystem(eqs, t, [S, I, R], [k1, k2]) +@named os = System(eqs, t, [S, I, R], [k1, k2]) deps = equation_dependencies(os) S = value(S); I = value(I); diff --git a/test/distributed.jl b/test/distributed.jl index 0b75b8eeb3..e7edc17a66 100644 --- a/test/distributed.jl +++ b/test/distributed.jl @@ -13,7 +13,7 @@ addprocs(2) D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z] -@everywhere @named de = ODESystem(eqs, t) +@everywhere @named de = System(eqs, t) @everywhere de = complete(de) @everywhere u0 = [19.0, 20.0, 50.0] diff --git a/test/domain_connectors.jl b/test/domain_connectors.jl index 9a43d2938f..03d6ff264a 100644 --- a/test/domain_connectors.jl +++ b/test/domain_connectors.jl @@ -14,7 +14,7 @@ using Test dm(t), [connect = Flow] end - ODESystem(Equation[], t, vars, pars; name, defaults = [dm => 0]) + System(Equation[], t, vars, pars; name, defaults = [dm => 0]) end @connector function HydraulicFluid(; @@ -36,7 +36,7 @@ end dm ~ 0 ] - ODESystem(eqs, t, vars, pars; name, defaults = [dm => 0]) + System(eqs, t, vars, pars; name, defaults = [dm => 0]) end function FixedPressure(; p, name) @@ -54,7 +54,7 @@ function FixedPressure(; p, name) port.p ~ p ] - ODESystem(eqs, t, vars, pars; name, systems) + System(eqs, t, vars, pars; name, systems) end function FixedVolume(; vol, p_int, name) @@ -80,7 +80,7 @@ function FixedVolume(; vol, p_int, name) rho ~ port.ρ * (1 + p / port.β) dm ~ drho * vol] - ODESystem(eqs, t, vars, pars; name, systems) + System(eqs, t, vars, pars; name, systems) end function Valve2Port(; p_s_int, p_r_int, p_int, name) @@ -120,7 +120,7 @@ function Valve2Port(; p_s_int, p_r_int, p_int, name) HS.dm ~ ifelse(x >= 0, port.dm, 0) HR.dm ~ ifelse(x < 0, port.dm, 0)] - ODESystem(eqs, t, vars, pars; name, systems) + System(eqs, t, vars, pars; name, systems) end function System(; name) @@ -139,7 +139,7 @@ function System(; name) connect(vol.port, valve.port) valve.x ~ sin(2π * t * 10)] - return ODESystem(eqs, t, vars, pars; systems, name) + return System(eqs, t, vars, pars; systems, name) end @named odesys = System() diff --git a/test/downstream/analysis_points.jl b/test/downstream/analysis_points.jl index 58c4a97a8d..5dc0026138 100644 --- a/test/downstream/analysis_points.jl +++ b/test/downstream/analysis_points.jl @@ -22,7 +22,7 @@ import ControlSystemsBase as CS connect(inertia2.flange_a, spring.flange_b, damper.flange_b)] if u !== nothing push!(eqs, connect(torque.tau, u.output)) - return ODESystem(eqs, t; + return System(eqs, t; systems = [ torque, inertia1, @@ -33,7 +33,7 @@ import ControlSystemsBase as CS ], name) end - ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name) + System(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name) end @named r = Step(start_time = 0) @@ -50,7 +50,7 @@ import ControlSystemsBase as CS connect(sensor.phi, :y, er.input2) connect(er.output, :e, pid.err_input)] - closed_loop = ODESystem(connections, t, systems = [model, pid, filt, sensor, r, er], + closed_loop = System(connections, t, systems = [model, pid, filt, sensor, r, er], name = :closed_loop, defaults = [ model.inertia1.phi => 0.0, model.inertia2.phi => 0.0, @@ -89,7 +89,7 @@ end connect(add.output, C.input) connect(C.output, P.input)] - sys_inner = ODESystem(eqs, t, systems = [P, C, add], name = :inner) + sys_inner = System(eqs, t, systems = [P, C, add], name = :inner) @named r = Constant(k = 1) @named F = FirstOrder(k = 1, T = 3) @@ -98,7 +98,7 @@ end connect(sys_inner.P.output, sys_inner.add.input2) connect(sys_inner.C.output, :plant_input, sys_inner.P.input) connect(F.output, sys_inner.add.input1)] - sys_outer = ODESystem(eqs, t, systems = [F, sys_inner, r], name = :outer) + sys_outer = System(eqs, t, systems = [F, sys_inner, r], name = :outer) # test first that the structural_simplify works correctly ssys = structural_simplify(sys_outer) @@ -125,7 +125,7 @@ end connect(add.output, C.input) connect(C.output.u, P.input.u)] - sys_inner = ODESystem(eqs, t, systems = [P, C, add], name = :inner) + sys_inner = System(eqs, t, systems = [P, C, add], name = :inner) @named r = Constant(k = 1) @named F = FirstOrder(k = 1, T = 3) @@ -134,7 +134,7 @@ end connect(sys_inner.P.output.u, sys_inner.add.input2.u) connect(sys_inner.C.output.u, :plant_input, sys_inner.P.input.u) connect(F.output, sys_inner.add.input1)] - sys_outer = ODESystem(eqs, t, systems = [F, sys_inner, r], name = :outer) + sys_outer = System(eqs, t, systems = [F, sys_inner, r], name = :outer) # test first that the structural_simplify works correctly ssys = structural_simplify(sys_outer) @@ -161,7 +161,7 @@ end connect(add.output, C.input) connect(C.output, P.input)] - sys_inner = ODESystem(eqs, t, systems = [P, C, add], name = :inner) + sys_inner = System(eqs, t, systems = [P, C, add], name = :inner) @named r = Constant(k = 1) @named F = FirstOrder(k = 1, T = 3) @@ -170,7 +170,7 @@ end connect(sys_inner.P.output, sys_inner.add.input2) connect(sys_inner.C.output.u, :plant_input, sys_inner.P.input.u) connect(F.output, sys_inner.add.input1)] - sys_outer = ODESystem(eqs, t, systems = [F, sys_inner, r], name = :outer) + sys_outer = System(eqs, t, systems = [F, sys_inner, r], name = :outer) # test first that the structural_simplify works correctly ssys = structural_simplify(sys_outer) @@ -192,7 +192,7 @@ end @named P_inner = FirstOrder(k = 1, T = 1) @named feedback = Feedback() @named ref = Step() - @named sys_inner = ODESystem( + @named sys_inner = System( [connect(P_inner.output, :y, feedback.input2) connect(feedback.output, :u, P_inner.input) connect(ref.output, :r, feedback.input1)], @@ -208,7 +208,7 @@ end Sinner = sminreal(ss(get_sensitivity(sys_inner, :u)[1]...)) - @named sys_inner = ODESystem( + @named sys_inner = System( [connect(P_inner.output, :y, feedback.input2) connect(feedback.output, :u, P_inner.input)], t, @@ -216,7 +216,7 @@ end @named P_outer = FirstOrder(k = rand(), T = rand()) - @named sys_outer = ODESystem( + @named sys_outer = System( [connect(sys_inner.P_inner.output, :y2, P_outer.input) connect(P_outer.output, :u2, sys_inner.feedback.input1)], t, @@ -249,7 +249,7 @@ end eqs = [connect(P.output, :plant_output, K.input) connect(K.output, :plant_input, P.input)] - sys = ODESystem(eqs, t, systems = [P, K], name = :hej) + sys = System(eqs, t, systems = [P, K], name = :hej) matrices, _ = get_sensitivity(sys, :plant_input) S = CS.feedback(I(2), Kss * Pss, pos_feedback = true) @@ -281,14 +281,14 @@ end connect(add.output, C.input) connect(C.output, :plant_input, P.input)] - sys_inner = ODESystem(eqs, t, systems = [P, C, add], name = :inner) + sys_inner = System(eqs, t, systems = [P, C, add], name = :inner) @named r = Constant(k = 1) @named F = FirstOrder(k = 1, T = 3) eqs = [connect(r.output, F.input) connect(F.output, sys_inner.add.input1)] - sys_outer = ODESystem(eqs, t, systems = [F, sys_inner, r], name = :outer) + sys_outer = System(eqs, t, systems = [F, sys_inner, r], name = :outer) matrices, _ = get_sensitivity( sys_outer, [sys_outer.inner.plant_input, sys_outer.inner.plant_output]) @@ -352,13 +352,13 @@ function normal_test_system() connect(F1.output, add.input1) connect(F2.output, add.input2) connect(add.output, back.input2)] - @named normal_inner = ODESystem(eqs_normal, t; systems = [F1, F2, add, back]) + @named normal_inner = System(eqs_normal, t; systems = [F1, F2, add, back]) @named step = Step() eqs2_normal = [ connect(step.output, normal_inner.back.input1) ] - @named sys_normal = ODESystem(eqs2_normal, t; systems = [normal_inner, step]) + @named sys_normal = System(eqs2_normal, t; systems = [normal_inner, step]) end sys_normal = normal_test_system() @@ -377,12 +377,12 @@ matrices_normal, _ = get_sensitivity(sys_normal, sys_normal.normal_inner.ap) connect(F1.output, add.input1) connect(F2.output, add.input2) connect(add.output, back.input2)] - @named inner = ODESystem(eqs, t; systems = [F1, F2, add, back]) + @named inner = System(eqs, t; systems = [F1, F2, add, back]) @named step = Step() eqs2 = [connect(step.output, inner.back.input1) connect(inner.back.output, :ap, inner.F1.input)] - @named sys = ODESystem(eqs2, t; systems = [inner, step]) + @named sys = System(eqs2, t; systems = [inner, step]) prob = ODEProblem(structural_simplify(sys), [], (0.0, 10.0)) @test SciMLBase.successful_retcode(solve(prob, Rodas5P())) @@ -401,12 +401,12 @@ end connect(F1.output, add.input1) connect(F2.output, add.input2) connect(add.output, back.input2)] - @named inner = ODESystem(eqs, t; systems = [F1, F2, add, back]) + @named inner = System(eqs, t; systems = [F1, F2, add, back]) @named step = Step() eqs2 = [connect(step.output, inner.back.input1) connect(inner.back.output.u, :ap, inner.F1.input.u)] - @named sys = ODESystem(eqs2, t; systems = [inner, step]) + @named sys = System(eqs2, t; systems = [inner, step]) prob = ODEProblem(structural_simplify(sys), [], (0.0, 10.0)) @test SciMLBase.successful_retcode(solve(prob, Rodas5P())) @@ -425,12 +425,12 @@ end connect(F1.output, add.input1) connect(F2.output, add.input2) connect(add.output, back.input2)] - @named inner = ODESystem(eqs, t; systems = [F1, F2, add, back]) + @named inner = System(eqs, t; systems = [F1, F2, add, back]) @named step = Step() eqs2 = [connect(step.output, inner.back.input1) connect(inner.back.output.u, :ap, inner.F1.input.u)] - @named sys = ODESystem(eqs2, t; systems = [inner, step]) + @named sys = System(eqs2, t; systems = [inner, step]) prob = ODEProblem(structural_simplify(sys), [], (0.0, 10.0)) @test SciMLBase.successful_retcode(solve(prob, Rodas5P())) @@ -459,10 +459,10 @@ end connect(inertia2.flange_a, spring.flange_b, damper.flange_b)] if u !== nothing push!(eqs, connect(torque.tau, u.output)) - return @named model = ODESystem( + return @named model = System( eqs, t; systems = [torque, inertia1, inertia2, spring, damper, u]) end - ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name) + System(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name) end @named r = Step(start_time = 1) @@ -481,7 +481,7 @@ end connect(add.output, :u, model.torque.tau) # Name connection u to form an analysis point connect(model.inertia1.flange_b, sensor.flange) connect(sensor.phi, :y, pid.measurement)] - closed_loop = ODESystem(connections, t, + closed_loop = System(connections, t, systems = [model, inverse_model, pid, filt, sensor, inverse_sensor, r, add], name = :closed_loop) # just ensure the system simplifies diff --git a/test/downstream/inversemodel.jl b/test/downstream/inversemodel.jl index dc2ee380a2..0e4b1ea5eb 100644 --- a/test/downstream/inversemodel.jl +++ b/test/downstream/inversemodel.jl @@ -65,7 +65,7 @@ begin Fss = ss(Ftf) # Create an MTK-compatible constructor function RefFilter(; name) - sys = ODESystem(Fss; name) + sys = System(Fss; name) "Compute initial state that yields y0 as output" empty!(ModelingToolkit.get_defaults(sys)) return sys diff --git a/test/downstream/linearization_dd.jl b/test/downstream/linearization_dd.jl index c4076b6aad..3e94a02469 100644 --- a/test/downstream/linearization_dd.jl +++ b/test/downstream/linearization_dd.jl @@ -24,7 +24,7 @@ eqs = [connect(link1.TX1, cart.flange) connect(cart.flange, force.flange) connect(link1.TY1, fixed.flange)] -@named model = ODESystem(eqs, t, [], []; systems = [link1, cart, force, fixed]) +@named model = System(eqs, t, [], []; systems = [link1, cart, force, fixed]) lin_outputs = [cart.s, cart.v, link1.A, link1.dA] lin_inputs = [force.f.u] diff --git a/test/downstream/linearize.jl b/test/downstream/linearize.jl index 20a9d317e8..f86d7c937e 100644 --- a/test/downstream/linearize.jl +++ b/test/downstream/linearize.jl @@ -12,7 +12,7 @@ eqs = [u ~ kp * (r - y) D(x) ~ -x + u y ~ x] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) lsys, ssys = linearize(sys, [r], [y]) lprob = LinearizationProblem(sys, [r], [y]) @@ -56,7 +56,7 @@ function plant(; name) D = Differential(t) eqs = [D(x) ~ -x + u y ~ x] - ODESystem(eqs, t; name = name) + System(eqs, t; name = name) end function filt_(; name) @@ -65,7 +65,7 @@ function filt_(; name) D = Differential(t) eqs = [D(x) ~ -2 * x + u y ~ x] - ODESystem(eqs, t, name = name) + System(eqs, t, name = name) end function controller(kp; name) @@ -74,7 +74,7 @@ function controller(kp; name) eqs = [ u ~ kp * (r - y) ] - ODESystem(eqs, t; name = name) + System(eqs, t; name = name) end @named f = filt_() @@ -85,7 +85,7 @@ connections = [f.y ~ c.r # filtered reference to controller reference c.u ~ p.u # controller output to plant input p.y ~ c.y] -@named cl = ODESystem(connections, t, systems = [f, c, p]) +@named cl = System(connections, t, systems = [f, c, p]) lsys0, ssys = linearize(cl) desired_order = [f.x, p.x] @@ -181,7 +181,7 @@ function saturation(; y_max, y_min = y_max > 0 ? -y_max : -Inf, name) # The equation below is equivalent to y ~ clamp(u, y_min, y_max) y ~ ie(u > y_max, y_max, ie((y_min < u) & (u < y_max), u, y_min)) ] - ODESystem(eqs, t, name = name) + System(eqs, t, name = name) end @named sat = saturation(; y_max = 1) # inside the linear region, the function is identity @@ -228,7 +228,7 @@ function SystemModel(u = nothing; name = :model) connect(inertia2.flange_a, spring.flange_b, damper.flange_b)] if u !== nothing push!(eqs, connect(torque.tau, u.output)) - return ODESystem(eqs, t; + return System(eqs, t; systems = [ torque, inertia1, @@ -239,7 +239,7 @@ function SystemModel(u = nothing; name = :model) ], name) end - ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name) + System(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name) end @named r = Step(start_time = 0) @@ -256,7 +256,7 @@ connections = [connect(r.output, :r, filt.input) connect(sensor.phi, :y, er.input2) connect(er.output, :e, pid.err_input)] -closed_loop = ODESystem(connections, t, systems = [model, pid, filt, sensor, r, er], +closed_loop = System(connections, t, systems = [model, pid, filt, sensor, r, er], name = :closed_loop, defaults = [ model.inertia1.phi => 0.0, model.inertia2.phi => 0.0, @@ -303,7 +303,7 @@ m_ss = 2.4000000003229878 @variables x(t) y(t) u(t)=1.0 @parameters p = 1.0 eqs = [D(x) ~ p * u, x ~ y] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) matrices1, _ = linearize(sys, [u], []; op = Dict(x => 2.0)) matrices2, _ = linearize(sys, [u], []; op = Dict(y => 2.0)) @@ -325,7 +325,7 @@ end @variables x(t) y(t) @parameters p eqs = [0 ~ x * log(y) - p] - @named sys = ODESystem(eqs, t; defaults = [p => 1.0]) + @named sys = System(eqs, t; defaults = [p => 1.0]) sys = complete(sys) @test_throws ModelingToolkit.MissingVariablesError linearize( sys, [x], []; op = Dict(x => 1.0), allow_input_derivatives = true) diff --git a/test/downstream/test_disturbance_model.jl b/test/downstream/test_disturbance_model.jl index 0e04200237..6da6c249a1 100644 --- a/test/downstream/test_disturbance_model.jl +++ b/test/downstream/test_disturbance_model.jl @@ -71,7 +71,7 @@ lsys = named_ss( # If we now want to add a disturbance model, we cannot do that since we have already connected a constant to the disturbance input, we thus create a new wrapper model with inputs s = tf("s") -dist(; name) = ODESystem(1 / s; name) +dist(; name) = System(1 / s; name) @mtkmodel SystemModelWithDisturbanceModel begin @components begin @@ -106,7 +106,7 @@ sol = solve(prob, Tsit5()) ## # Now we only have an integrating disturbance affecting inertia1, what if we want both integrating and direct Gaussian? We'd need a "PI controller" disturbancemodel. If we add the disturbance model (s+1)/s we get the integrating and non-integrating noises being correlated which is fine, it reduces the dimensions of the sigma point by 1. -dist3(; name) = ODESystem(ss(1 + 10 / s, balance = false); name) +dist3(; name) = System(ss(1 + 10 / s, balance = false); name) @mtkmodel SystemModelWithDisturbanceModel begin @components begin diff --git a/test/dq_units.jl b/test/dq_units.jl index 3c59c479c1..267e993971 100644 --- a/test/dq_units.jl +++ b/test/dq_units.jl @@ -17,63 +17,63 @@ using ModelingToolkit: t, D eqs = [D(E) ~ P - E / τ 0 ~ P] @test MT.validate(eqs) -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) @test !MT.validate(D(D(E)) ~ P) @test !MT.validate(0 ~ P + E * τ) # Disabling unit validation/checks selectively -@test_throws MT.ArgumentError ODESystem(eqs, t, [E, P, t], [τ], name = :sys) -ODESystem(eqs, t, [E, P, t], [τ], name = :sys, checks = MT.CheckUnits) +@test_throws MT.ArgumentError System(eqs, t, [E, P, t], [τ], name = :sys) +System(eqs, t, [E, P, t], [τ], name = :sys, checks = MT.CheckUnits) eqs = [D(E) ~ P - E / τ 0 ~ P + E * τ] -@test_throws MT.ValidationError ODESystem(eqs, t, name = :sys, checks = MT.CheckAll) -@test_throws MT.ValidationError ODESystem(eqs, t, name = :sys, checks = true) -ODESystem(eqs, t, name = :sys, checks = MT.CheckNone) -ODESystem(eqs, t, name = :sys, checks = false) -@test_throws MT.ValidationError ODESystem(eqs, t, name = :sys, +@test_throws MT.ValidationError System(eqs, t, name = :sys, checks = MT.CheckAll) +@test_throws MT.ValidationError System(eqs, t, name = :sys, checks = true) +System(eqs, t, name = :sys, checks = MT.CheckNone) +System(eqs, t, name = :sys, checks = false) +@test_throws MT.ValidationError System(eqs, t, name = :sys, checks = MT.CheckComponents | MT.CheckUnits) -@named sys = ODESystem(eqs, t, checks = MT.CheckComponents) -@test_throws MT.ValidationError ODESystem(eqs, t, [E, P, t], [τ], name = :sys, +@named sys = System(eqs, t, checks = MT.CheckComponents) +@test_throws MT.ValidationError System(eqs, t, [E, P, t], [τ], name = :sys, checks = MT.CheckUnits) # connection validation @connector function Pin(; name) sts = @variables(v(t)=1.0, [unit = u"V"], i(t)=1.0, [unit = u"A", connect = Flow]) - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end @connector function OtherPin(; name) sts = @variables(v(t)=1.0, [unit = u"mV"], i(t)=1.0, [unit = u"mA", connect = Flow]) - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end @connector function LongPin(; name) sts = @variables(v(t)=1.0, [unit = u"V"], i(t)=1.0, [unit = u"A", connect = Flow], x(t)=1.0) - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end @named p1 = Pin() @named p2 = Pin() @named lp = LongPin() good_eqs = [connect(p1, p2)] @test MT.validate(good_eqs) -@named sys = ODESystem(good_eqs, t, [], []) +@named sys = System(good_eqs, t, [], []) @named op = OtherPin() bad_eqs = [connect(p1, op)] @test !MT.validate(bad_eqs) -@test_throws MT.ValidationError @named sys = ODESystem(bad_eqs, t, [], []) +@test_throws MT.ValidationError @named sys = System(bad_eqs, t, [], []) @named op2 = OtherPin() good_eqs = [connect(op, op2)] @test MT.validate(good_eqs) -@named sys = ODESystem(good_eqs, t, [], []) +@named sys = System(good_eqs, t, [], []) # Array variables @variables x(t)[1:3] [unit = u"m"] @parameters v[1:3]=[1, 2, 3] [unit = u"m/s"] eqs = D.(x) .~ v -ODESystem(eqs, t, name = :sys) +System(eqs, t, name = :sys) # Nonlinear system @parameters a [unit = u"kg"^-1] @@ -112,12 +112,12 @@ noiseeqs = [0.1us"W" 0.1us"W" @parameters v [unit = u"m/s"] r [unit = u"m"^3 / u"s"] eqs = [D(L) ~ v, V ~ L^3] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) sys_simple = structural_simplify(sys) eqs = [D(V) ~ r, V ~ L^3] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) sys_simple = structural_simplify(sys) @variables V [unit = u"m"^3] L [unit = u"m"] diff --git a/test/equation_type_accessors.jl b/test/equation_type_accessors.jl index f118784f44..1bf92743ac 100644 --- a/test/equation_type_accessors.jl +++ b/test/equation_type_accessors.jl @@ -44,9 +44,9 @@ eqs2 = [X + Y + c ~ b * X^(X + Z + a) eqs3 = [D(X) ~ sqrt(X + b) + sqrt(Z + c) 2Z * (Z + Y) ~ D(Y) * log(a) D(Z) + c * X ~ b / (X + Y^d) + D(Z)] -@named osys1 = ODESystem(eqs1, t) -@named osys2 = ODESystem(eqs2, t) -@named osys3 = ODESystem(eqs3, t) +@named osys1 = System(eqs1, t) +@named osys2 = System(eqs2, t) +@named osys3 = System(eqs3, t) # Test `has...` for non-composed systems. @test has_alg_equations(osys1) diff --git a/test/error_handling.jl b/test/error_handling.jl index d5605e3cbc..d6c0fa8caa 100644 --- a/test/error_handling.jl +++ b/test/error_handling.jl @@ -14,7 +14,7 @@ function UnderdefinedConstantVoltage(; name, V = 1.0) V ~ p.v - n.v # Remove equation # 0 ~ p.i + n.i ] - ODESystem(eqs, t, [], [V], systems = [p, n], defaults = Dict(V => val), name = name) + System(eqs, t, [], [V], systems = [p, n], defaults = Dict(V => val), name = name) end function OverdefinedConstantVoltage(; name, V = 1.0, I = 1.0) @@ -27,7 +27,7 @@ function OverdefinedConstantVoltage(; name, V = 1.0, I = 1.0) # Overdefine p.i and n.i n.i ~ I p.i ~ I] - ODESystem(eqs, t, [], [V], systems = [p, n], defaults = Dict(V => val, I => val2), + System(eqs, t, [], [V], systems = [p, n], defaults = Dict(V => val, I => val2), name = name) end @@ -42,7 +42,7 @@ rc_eqs = [connect(source.p, resistor.p) connect(resistor.n, capacitor.p) connect(capacitor.n, source.n)] -@named rc_model = ODESystem(rc_eqs, t, systems = [resistor, capacitor, source]) +@named rc_model = System(rc_eqs, t, systems = [resistor, capacitor, source]) @test_throws ModelingToolkit.ExtraVariablesSystemException structural_simplify(rc_model) @named source2 = OverdefinedConstantVoltage(V = V, I = V / R) @@ -50,5 +50,5 @@ rc_eqs2 = [connect(source2.p, resistor.p) connect(resistor.n, capacitor.p) connect(capacitor.n, source2.n)] -@named rc_model2 = ODESystem(rc_eqs2, t, systems = [resistor, capacitor, source2]) +@named rc_model2 = System(rc_eqs2, t, systems = [resistor, capacitor, source2]) @test_throws ModelingToolkit.ExtraEquationsSystemException structural_simplify(rc_model2) diff --git a/test/extensions/ad.jl b/test/extensions/ad.jl index 73b1710812..8764200fac 100644 --- a/test/extensions/ad.jl +++ b/test/extensions/ad.jl @@ -21,7 +21,7 @@ u0 = [x => zeros(3), ps = [p => zeros(3, 3), q => 1.0] tspan = (0.0, 10.0) -@mtkbuild sys = ODESystem(eqs, t) +@mtkbuild sys = System(eqs, t) prob = ODEProblem(sys, u0, tspan, ps) sol = solve(prob, Tsit5()) @@ -37,7 +37,7 @@ end @testset "Issue#2997" begin pars = @parameters y0 mh Tγ0 Th0 h ργ0 vars = @variables x(t) - @named sys = ODESystem([D(x) ~ y0], + @named sys = System([D(x) ~ y0], t, vars, pars; @@ -58,7 +58,7 @@ end end @parameters a b[1:3] c(t) d::Integer e[1:3] f[1:3, 1:3]::Int g::Vector{AbstractFloat} h::String -@named sys = ODESystem( +@named sys = System( Equation[], t, [], [a, b, c, d, e, f, g, h], continuous_events = [ModelingToolkit.SymbolicContinuousCallback( [a ~ 0] => [c ~ 0], discrete_parameters = c)]) @@ -112,7 +112,7 @@ fwd, back = ChainRulesCore.rrule(remake_buffer, sys, ps, idxs, vals) @variables y(t) eqs = [D(D(y)) ~ -9.81] initialization_eqs = [y^2 ~ 0] # initialize y = 0 in a way that builds an initialization problem - @named sys = ODESystem(eqs, t; initialization_eqs) + @named sys = System(eqs, t; initialization_eqs) sys = structural_simplify(sys) # Find initial throw velocity that reaches exactly 10 m after 1 s @@ -129,7 +129,7 @@ end @testset "`sys.var` is non-differentiable" begin @variables x(t) - @mtkbuild sys = ODESystem(D(x) ~ x, t) + @mtkbuild sys = System(D(x) ~ x, t) prob = ODEProblem(sys, [x => 1.0], (0.0, 1.0)) grad = Zygote.gradient(prob) do prob diff --git a/test/extensions/bifurcationkit.jl b/test/extensions/bifurcationkit.jl index 629edf46a6..227cd175e0 100644 --- a/test/extensions/bifurcationkit.jl +++ b/test/extensions/bifurcationkit.jl @@ -60,7 +60,7 @@ let @variables x(t) y(t) z(t) eqs = [D(x) ~ -x + a * y + x^2 * y, D(y) ~ b - a * y - x^2 * y] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = complete(sys) # Creates BifurcationProblem bprob = BifurcationProblem(sys, diff --git a/test/extensions/dynamic_optimization.jl b/test/extensions/dynamic_optimization.jl index 79810d2476..1074cae620 100644 --- a/test/extensions/dynamic_optimization.jl +++ b/test/extensions/dynamic_optimization.jl @@ -20,7 +20,7 @@ const M = ModelingToolkit eqs = [D(x(t)) ~ α * x(t) - β * x(t) * y(t), D(y(t)) ~ -γ * y(t) + δ * x(t) * y(t)] - @mtkbuild sys = ODESystem(eqs, t) + @mtkbuild sys = System(eqs, t) tspan = (0.0, 1.0) u0map = [x(t) => 4.0, y(t) => 2.0] parammap = [α => 1.5, β => 1.0, γ => 3.0, δ => 1.0] @@ -53,7 +53,7 @@ const M = ModelingToolkit u0map = Pair[] guess = [x(t) => 4.0, y(t) => 2.0] constr = [x(0.6) ~ 3.5, x(0.3) ~ 7.0] - @mtkbuild lksys = ODESystem(eqs, t; constraints = constr) + @mtkbuild lksys = System(eqs, t; constraints = constr) jprob = JuMPDynamicOptProblem(lksys, u0map, tspan, parammap; guesses = guess, dt = 0.01) @test JuMP.num_constraints(jprob.model) == 2 @@ -77,7 +77,7 @@ const M = ModelingToolkit # Test whole-interval constraints constr = [x(t) ≳ 1, y(t) ≳ 1] - @mtkbuild lksys = ODESystem(eqs, t; constraints = constr) + @mtkbuild lksys = System(eqs, t; constraints = constr) iprob = InfiniteOptDynamicOptProblem( lksys, u0map, tspan, parammap; guesses = guess, dt = 0.01) isol = solve(iprob, Ipopt.Optimizer, @@ -116,7 +116,7 @@ end @variables u(..) [bounds = (-1.0, 1.0), input = true] constr = [v(1.0) ~ 0.0] cost = [-x(1.0)] # Maximize the final distance. - @named block = ODESystem( + @named block = System( [D(x(t)) ~ v(t), D(v(t)) ~ u(t)], t; costs = cost, constraints = constr) block = structural_simplify(block; inputs = [u(t)]) @@ -139,7 +139,7 @@ end # Test dynamics @parameters (u_interp::ConstantInterpolation)(..) - @mtkbuild block_ode = ODESystem([D(x(t)) ~ v(t), D(v(t)) ~ u_interp(t)], t) + @mtkbuild block_ode = System([D(x(t)) ~ v(t), D(v(t)) ~ u_interp(t)], t) spline = ctrl_to_spline(jsol.input_sol, ConstantInterpolation) oprob = ODEProblem(block_ode, u0map, tspan, [u_interp => spline]) osol = solve(oprob, Vern8(), dt = 0.01, adaptive = false) @@ -165,7 +165,7 @@ end D(q(t)) ~ -ν * q(t) + c * (1 - α) * s * w(t)] costs = [-q(tspan[2])] - @named beesys = ODESystem(eqs, t; costs) + @named beesys = System(eqs, t; costs) beesys = structural_simplify(beesys; inputs = [α]) u0map = [w(t) => 40, q(t) => 2] pmap = [b => 1, c => 1, μ => 1, s => 1, ν => 1, α => 1] @@ -183,7 +183,7 @@ end @parameters (α_interp::LinearInterpolation)(..) eqs = [D(w(t)) ~ -μ * w(t) + b * s * α_interp(t) * w(t), D(q(t)) ~ -ν * q(t) + c * (1 - α_interp(t)) * s * w(t)] - @mtkbuild beesys_ode = ODESystem(eqs, t) + @mtkbuild beesys_ode = System(eqs, t) oprob = ODEProblem(beesys_ode, u0map, tspan, @@ -212,7 +212,7 @@ end (ts, te) = (0.0, 0.2) costs = [-h(te)] cons = [T(te) ~ 0, m(te) ~ m_c] - @named rocket = ODESystem(eqs, t; costs, constraints = cons) + @named rocket = System(eqs, t; costs, constraints = cons) rocket = structural_simplify(rocket; inputs = [T(t)]) u0map = [h(t) => h₀, m(t) => m₀, v(t) => 0] @@ -237,7 +237,7 @@ end eqs = [D(h(t)) ~ v(t), D(v(t)) ~ (T_interp(t) - drag(h(t), v(t))) / m(t) - gravity(h(t)), D(m(t)) ~ -T_interp(t) / c] - @mtkbuild rocket_ode = ODESystem(eqs, t) + @mtkbuild rocket_ode = System(eqs, t) interpmap = Dict(T_interp => ctrl_to_spline(jsol.input_sol, CubicSpline)) oprob = ODEProblem(rocket_ode, u0map, (ts, te), merge(Dict(pmap), interpmap)) osol = solve(oprob, RadauIIA5(); adaptive = false, dt = 0.001) @@ -260,7 +260,7 @@ end # Integral cost function costs = [-Symbolics.Integral(t in (0, tf))(x(t) - u(t)), -x(tf)] consolidate(u) = u[1] + u[2] - @named rocket = ODESystem(eqs, t; costs, consolidate) + @named rocket = System(eqs, t; costs, consolidate) rocket = structural_simplify(rocket; inputs = [u(t)]) u0map = [x(t) => 17.5] @@ -283,7 +283,7 @@ end constr = [v(tf) ~ 0, x(tf) ~ 0] cost = [tf] # Minimize time - @named block = ODESystem( + @named block = System( [D(x(t)) ~ v(t), D(v(t)) ~ u(t)], t; costs = cost, constraints = constr) block = structural_simplify(block, inputs = [u(t)]) @@ -327,7 +327,7 @@ end costs = [Symbolics.Integral(t in (0, tf))(u^2)] tspan = (0, tf) - @named cartpole = ODESystem(eqs, t; costs, constraints = cons) + @named cartpole = System(eqs, t; costs, constraints = cons) cartpole = structural_simplify(cartpole; inputs = [u]) u0map = [D(x(t)) => 0.0, D(θ(t)) => 0.0, θ(t) => 0.0, x(t) => 0.0] diff --git a/test/fmi/fmi.jl b/test/fmi/fmi.jl index edbbb312d6..b2684b4524 100644 --- a/test/fmi/fmi.jl +++ b/test/fmi/fmi.jl @@ -34,7 +34,7 @@ const FMU_DIR = joinpath(@__DIR__, "fmus") @named inner = MTK.FMIComponent( Val(2); fmu, communication_step_size = 1e-5, type = :CS) @variables x(t) = 1.0 - @mtkbuild sys = ODESystem([D(x) ~ x], t; systems = [inner]) + @mtkbuild sys = System([D(x) ~ x], t; systems = [inner]) test_no_inputs_outputs(sys) prob = ODEProblem{true, SciMLBase.FullSpecialize}( @@ -68,7 +68,7 @@ const FMU_DIR = joinpath(@__DIR__, "fmus") @named inner = MTK.FMIComponent( Val(3); fmu, communication_step_size = 1e-5, type = :CS) @variables x(t) = 1.0 - @mtkbuild sys = ODESystem([D(x) ~ x], t; systems = [inner]) + @mtkbuild sys = System([D(x) ~ x], t; systems = [inner]) test_no_inputs_outputs(sys) prob = ODEProblem{true, SciMLBase.FullSpecialize}( @@ -120,7 +120,7 @@ end @testset "IO Model" begin function build_simple_adder(adder) @variables a(t) b(t) c(t) [guess = 1.0] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [adder.a ~ a, adder.b ~ b, D(a) ~ t, D(b) ~ adder.out + adder.c, c^2 ~ adder.out + adder.value], t; @@ -176,7 +176,7 @@ end function build_sspace_model(sspace) @variables u(t)=1.0 x(t)=1.0 y(t) [guess = 1.0] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [sspace.u ~ u, D(u) ~ t, D(x) ~ sspace.x + sspace.y, y^2 ~ sspace.y + sspace.x], t; systems = [sspace] ) @@ -229,7 +229,7 @@ end @testset "FMUs in a loop" begin function build_looped_adders(adder1, adder2) @variables x(t) = 1 - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ x, adder1.a ~ adder2.out2, adder2.a ~ adder1.out2, adder1.b ~ 1.0, adder2.b ~ 2.0], t; @@ -274,7 +274,7 @@ end function build_looped_sspace(sspace1, sspace2) @variables x(t) = 1 - @mtkbuild sys = ODESystem([D(x) ~ x, sspace1.u ~ sspace2.x, sspace2.u ~ sspace1.y], + @mtkbuild sys = System([D(x) ~ x, sspace1.u ~ sspace2.x, sspace2.u ~ sspace1.y], t; systems = [sspace1, sspace2]) prob = ODEProblem(sys, [sspace1.x => 1.0, sspace2.x => 1.0], (0.0, 1.0)) return sys, prob diff --git a/test/funcaffect.jl b/test/funcaffect.jl index 1e7c66f39a..8e73280eb3 100644 --- a/test/funcaffect.jl +++ b/test/funcaffect.jl @@ -10,7 +10,7 @@ eqs = [D(u) ~ -u] affect1!(integ, u, p, ctx) = integ.u[u.u] += 10 -@named sys = ODESystem(eqs, t, [u], [], +@named sys = System(eqs, t, [u], [], discrete_events = [[4.0] => (affect1!, [u], [], [], nothing)]) prob = ODEProblem(complete(sys), [u => 10.0], (0, 10.0)) sol = solve(prob, Tsit5()) @@ -37,7 +37,7 @@ cb1 = ModelingToolkit.SymbolicContinuousCallback([t ~ zr], (affect1!, [], [], [] @test hash(cb) == hash(cb1) # named tuple -sys1 = ODESystem(eqs, t, [u], [], name = :sys, +sys1 = System(eqs, t, [u], [], name = :sys, discrete_events = [ [4.0] => (f = affect1!, sts = [u], pars = [], discretes = [], ctx = nothing) ]) @@ -50,7 +50,7 @@ de = de[1] @test ModelingToolkit.conditions(de) == [4.0] @test ModelingToolkit.has_functional_affect(de) -sys2 = ODESystem(eqs, t, [u], [], name = :sys, +sys2 = System(eqs, t, [u], [], name = :sys, discrete_events = [[4.0] => [u ~ -u * h]]) @test !ModelingToolkit.has_functional_affect(ModelingToolkit.get_discrete_events(sys2)[1]) @@ -60,7 +60,7 @@ function affect2!(integ, u, p, ctx) ctx[1] *= 2 end ctx1 = [10.0] -@named sys = ODESystem(eqs, t, [u], [], +@named sys = System(eqs, t, [u], [], discrete_events = [[4.0, 8.0] => (affect2!, [u], [], [], ctx1)]) prob = ODEProblem(complete(sys), [u => 10.0], (0, 10.0)) sol = solve(prob, Tsit5()) @@ -77,7 +77,7 @@ function affect3!(integ, u, p, ctx) end @parameters a = 10.0 -@named sys = ODESystem(eqs, t, [u], [a], +@named sys = System(eqs, t, [u], [a], discrete_events = [[4.0, 8.0] => (affect3!, [u], [a], [a], nothing)]) prob = ODEProblem(complete(sys), [u => 10.0], (0, 10.0)) @@ -93,7 +93,7 @@ function affect3!(integ, u, p, ctx) integ.ps[p.b] *= 2 end -@named sys = ODESystem(eqs, t, [u], [a], +@named sys = System(eqs, t, [u], [a], discrete_events = [ [4.0, 8.0] => (affect3!, [u], [a => :b], [a], nothing) ]) @@ -107,18 +107,18 @@ i8 = findfirst(==(8.0), sol[:t]) # same name @variables v(t) -@test_throws ErrorException ODESystem(eqs, t, [u], [a], +@test_throws ErrorException System(eqs, t, [u], [a], discrete_events = [ [4.0, 8.0] => (affect3!, [u, v => :u], [a], [a], nothing) ]; name = :sys) -@test_nowarn ODESystem(eqs, t, [u], [a], +@test_nowarn System(eqs, t, [u], [a], discrete_events = [ [4.0, 8.0] => (affect3!, [u], [a => :u], [a], nothing) ]; name = :sys) -@named resistor = ODESystem(D(v) ~ v, t, [v], []) +@named resistor = System(D(v) ~ v, t, [v], []) # nested namespace ctx = [0] @@ -127,7 +127,7 @@ function affect4!(integ, u, p, ctx) @test u.resistor₊v == 1 end s1 = compose( - ODESystem(Equation[], t, [], [], name = :s1, + System(Equation[], t, [], [], name = :s1, discrete_events = 1.0 => (affect4!, [resistor.v], [], [], ctx)), resistor) s2 = structural_simplify(s1) @@ -143,7 +143,7 @@ function affect5!(integ, u, p, ctx) end @unpack capacitor = rc_model -@named event_sys = ODESystem(Equation[], t; +@named event_sys = System(Equation[], t; continuous_events = [ [capacitor.v ~ 0.3] => (affect5!, [capacitor.v], [capacitor.C => :C], [capacitor.C], nothing) @@ -175,7 +175,7 @@ function Capacitor2(; name, C = 1.0) D(v) ~ i / C ] extend( - ODESystem(eqs, t, [], ps; name = name, + System(eqs, t, [], ps; name = name, continuous_events = [[v ~ 0.3] => (affect6!, [v], [C], [C], nothing)]), oneport) end @@ -195,7 +195,7 @@ rc_eqs2 = [connect(shape.output, source.V) connect(capacitor2.n, source.n) connect(capacitor2.n, ground.g)] -@named rc_model2 = ODESystem(rc_eqs2, t) +@named rc_model2 = System(rc_eqs2, t) rc_model2 = compose(rc_model2, [resistor, capacitor2, shape, source, ground]) sys2 = structural_simplify(rc_model2) @@ -223,14 +223,14 @@ function Ball(; name, g = 9.8, anti_gravity_time = 1.0) pars = @parameters g = g sts = @variables x(t), v(t) eqs = [D(x) ~ v, D(v) ~ g] - ODESystem(eqs, t, sts, pars; name = name, + System(eqs, t, sts, pars; name = name, discrete_events = [[anti_gravity_time] => (affect7!, [], [g], [g], a7_ctx)]) end @named ball1 = Ball(anti_gravity_time = 1.0) @named ball2 = Ball(anti_gravity_time = 2.0) -@named balls = ODESystem(Equation[], t) +@named balls = System(Equation[], t) balls = compose(balls, [ball1, ball2]) @test ModelingToolkit.has_discrete_events(balls) @@ -282,7 +282,7 @@ function bb_affect!(integ, u, p, ctx) integ.u[u.v] = -integ.u[u.v] end -@named bb_model = ODESystem(bb_eqs, t, sts, par, +@named bb_model = System(bb_eqs, t, sts, par, continuous_events = [ [y ~ zr] => (bb_affect!, [v], [], [], nothing) ]) diff --git a/test/function_registration.jl b/test/function_registration.jl index a1d9041127..7ab9835433 100644 --- a/test/function_registration.jl +++ b/test/function_registration.jl @@ -17,7 +17,7 @@ end @register_symbolic do_something(a) eq = Dt(u) ~ do_something(x) + MyModule.do_something(x) -@named sys = ODESystem([eq], t, [u], [x]) +@named sys = System([eq], t, [u], [x]) sys = complete(sys) fun = ODEFunction(sys) @@ -40,7 +40,7 @@ end @register_symbolic do_something_2(a) eq = Dt(u) ~ do_something_2(x) + MyNestedModule.do_something_2(x) -@named sys = ODESystem([eq], t, [u], [x]) +@named sys = System([eq], t, [u], [x]) sys = complete(sys) fun = ODEFunction(sys) @@ -62,7 +62,7 @@ end @register_symbolic do_something_3(a) eq = Dt(u) ~ do_something_3(x) + (@__MODULE__).do_something_3(x) -@named sys = ODESystem([eq], t, [u], [x]) +@named sys = System([eq], t, [u], [x]) sys = complete(sys) fun = ODEFunction(sys) @@ -99,7 +99,7 @@ function build_ode() @parameters x @variables u(t) eq = Dt(u) ~ do_something_4(x) + (@__MODULE__).do_something_4(x) - @named sys = ODESystem([eq], t, [u], [x]) + @named sys = System([eq], t, [u], [x]) sys = complete(sys) fun = ODEFunction(sys, eval_expression = false) end diff --git a/test/guess_propagation.jl b/test/guess_propagation.jl index 738e930adc..f2131e28cb 100644 --- a/test/guess_propagation.jl +++ b/test/guess_propagation.jl @@ -10,7 +10,7 @@ eqs = [D(x) ~ 1 x ~ y] initialization_eqs = [1 ~ exp(1 + x)] -@named sys = ODESystem(eqs, t; initialization_eqs) +@named sys = System(eqs, t; initialization_eqs) sys = complete(structural_simplify(sys)) tspan = (0.0, 0.2) prob = ODEProblem(sys, [], tspan, []) @@ -27,7 +27,7 @@ eqs = [D(x) ~ 1 x ~ y] initialization_eqs = [1 ~ exp(1 + x)] -@named sys = ODESystem(eqs, t; initialization_eqs) +@named sys = System(eqs, t; initialization_eqs) sys = complete(structural_simplify(sys)) tspan = (0.0, 0.2) prob = ODEProblem(sys, [], tspan, []) @@ -45,7 +45,7 @@ eqs = [D(x) ~ a] initialization_eqs = [1 ~ exp(1 + x)] -@named sys = ODESystem(eqs, t; initialization_eqs) +@named sys = System(eqs, t; initialization_eqs) sys = complete(structural_simplify(sys)) tspan = (0.0, 0.2) @@ -65,7 +65,7 @@ eqs = [D(x) ~ a, initialization_eqs = [1 ~ exp(1 + x)] -@named sys = ODESystem(eqs, t; initialization_eqs) +@named sys = System(eqs, t; initialization_eqs) sys = complete(structural_simplify(sys)) tspan = (0.0, 0.2) @@ -80,7 +80,7 @@ sol = solve(prob.f.initializeprob; show_trace = Val(true)) @parameters x0 @variables x(t) @variables y(t) = x -@mtkbuild sys = ODESystem([x ~ x0, D(y) ~ x], t) +@mtkbuild sys = System([x ~ x0, D(y) ~ x], t) prob = ODEProblem(sys, [], (0.0, 1.0), [x0 => 1.0]) @test prob[x] == 1.0 @test prob[y] == 1.0 @@ -88,7 +88,7 @@ prob = ODEProblem(sys, [], (0.0, 1.0), [x0 => 1.0]) @parameters x0 @variables x(t) @variables y(t) = x0 -@mtkbuild sys = ODESystem([x ~ x0, D(y) ~ x], t) +@mtkbuild sys = System([x ~ x0, D(y) ~ x], t) prob = ODEProblem(sys, [], (0.0, 1.0), [x0 => 1.0]) @test prob[x] == 1.0 @test prob[y] == 1.0 @@ -96,7 +96,7 @@ prob = ODEProblem(sys, [], (0.0, 1.0), [x0 => 1.0]) @parameters x0 @variables x(t) @variables y(t) = x0 -@mtkbuild sys = ODESystem([x ~ y, D(y) ~ x], t) +@mtkbuild sys = System([x ~ y, D(y) ~ x], t) prob = ODEProblem(sys, [], (0.0, 1.0), [x0 => 1.0]) @test prob[x] == 1.0 @test prob[y] == 1.0 @@ -104,7 +104,7 @@ prob = ODEProblem(sys, [], (0.0, 1.0), [x0 => 1.0]) @parameters x0 @variables x(t) = x0 @variables y(t) = x -@mtkbuild sys = ODESystem([x ~ y, D(y) ~ x], t) +@mtkbuild sys = System([x ~ y, D(y) ~ x], t) prob = ODEProblem(sys, [], (0.0, 1.0), [x0 => 1.0]) @test prob[x] == 1.0 @test prob[y] == 1.0 diff --git a/test/hierarchical_initialization_eqs.jl b/test/hierarchical_initialization_eqs.jl index 1e3109a66e..e9ea36947e 100644 --- a/test/hierarchical_initialization_eqs.jl +++ b/test/hierarchical_initialization_eqs.jl @@ -24,7 +24,7 @@ A simple linear resistor model p.i + n.i ~ 0 # Ohm's Law v ~ i * R] - return ODESystem(eqs, t, vars, params; systems, name) + return System(eqs, t, vars, params; systems, name) end @connector Pin begin v(t) @@ -46,7 +46,7 @@ end i ~ p.i p.i + n.i ~ 0 v ~ V] - return ODESystem(eqs, t, vars, params; systems, name) + return System(eqs, t, vars, params; systems, name) end @component function Capacitor(; name, C = 1.0) @@ -68,7 +68,7 @@ end i ~ p.i p.i + n.i ~ 0 C * D(v) ~ i] - return ODESystem(eqs, t, vars, params; systems, name, initialization_eqs) + return System(eqs, t, vars, params; systems, name, initialization_eqs) end @component function Ground(; name) @@ -78,7 +78,7 @@ end eqs = [ g.v ~ 0 ] - return ODESystem(eqs, t, [], []; systems, name) + return System(eqs, t, [], []; systems, name) end @component function Inductor(; name, L = 1.0) @@ -97,7 +97,7 @@ end i ~ p.i p.i + n.i ~ 0 L * D(i) ~ v] - return ODESystem(eqs, t, vars, params; systems, name) + return System(eqs, t, vars, params; systems, name) end """ @@ -118,7 +118,7 @@ HTML as well. eqs = [connect(source.p, inductor.n) connect(inductor.p, resistor.p, capacitor.p) connect(resistor.n, ground.g, capacitor.n, source.n)] - return ODESystem(eqs, t, [], []; systems, name, initialization_eqs) + return System(eqs, t, [], []; systems, name, initialization_eqs) end """Run model RLCModel from 0 to 10""" function simple() diff --git a/test/index_cache.jl b/test/index_cache.jl index 455203d759..3048084d96 100644 --- a/test/index_cache.jl +++ b/test/index_cache.jl @@ -3,9 +3,9 @@ using ModelingToolkit: t_nounits as t # Ensure indexes of array symbolics are cached appropriately @variables x(t)[1:2] -@named sys = ODESystem(Equation[], t, [x], []) +@named sys = System(Equation[], t, [x], []) sys1 = complete(sys) -@named sys = ODESystem(Equation[], t, [x...], []) +@named sys = System(Equation[], t, [x...], []) sys2 = complete(sys) for sys in [sys1, sys2] for (sym, idx) in [(x, 1:2), (x[1], 1), (x[2], 2)] @@ -15,9 +15,9 @@ for sys in [sys1, sys2] end @variables x(t)[1:2, 1:2] -@named sys = ODESystem(Equation[], t, [x], []) +@named sys = System(Equation[], t, [x], []) sys1 = complete(sys) -@named sys = ODESystem(Equation[], t, [x...], []) +@named sys = System(Equation[], t, [x...], []) sys2 = complete(sys) for sys in [sys1, sys2] @test is_variable(sys, x) @@ -32,7 +32,7 @@ end @parameters p1 p2[1:2] p3::String @variables x(t) y(t)[1:2] z(t) -@named sys = ODESystem(Equation[], t, [x, y, z], [p1, p2, p3]) +@named sys = System(Equation[], t, [x, y, z], [p1, p2, p3]) sys = complete(sys) ic = ModelingToolkit.get_index_cache(sys) @@ -46,7 +46,7 @@ ic = ModelingToolkit.get_index_cache(sys) @testset "tunable_parameters is ordered" begin @parameters p q[1:3] r[1:2, 1:2] s [tunable = false] - @named sys = ODESystem(Equation[], t, [], [p, q, r, s]) + @named sys = System(Equation[], t, [], [p, q, r, s]) sys = complete(sys) @test all(splat(isequal), zip(tunable_parameters(sys), parameters(sys)[1:3])) @@ -65,7 +65,7 @@ end @testset "reorder_dimension_by_tunables" begin @parameters p q[1:3] r[1:2, 1:2] s [tunable = false] - @named sys = ODESystem(Equation[], t, [], [p, q, r, s]) + @named sys = System(Equation[], t, [], [p, q, r, s]) src = ones(8) dst = zeros(8) # system must be complete... @@ -108,7 +108,7 @@ end event1 = [1.0, 2, 3] => (update_affect!, [], [p_1], [p_1], nothing) - @named sys = ODESystem([ + @named sys = System([ ModelingToolkit.D_nounits(x) ~ p_1(x) ], ModelingToolkit.t_nounits; diff --git a/test/initial_values.jl b/test/initial_values.jl index b3614de0f4..05d58b9208 100644 --- a/test/initial_values.jl +++ b/test/initial_values.jl @@ -6,13 +6,13 @@ using SymbolicIndexingInterface: getu @variables x(t)[1:3]=[1.0, 2.0, 3.0] y(t) z(t)[1:2] -@mtkbuild sys=ODESystem([D(x) ~ t * x], t) simplify=false +@mtkbuild sys=System([D(x) ~ t * x], t) simplify=false @test get_u0(sys, [])[1] == [1.0, 2.0, 3.0] @test get_u0(sys, [x => [2.0, 3.0, 4.0]])[1] == [2.0, 3.0, 4.0] @test get_u0(sys, [x[1] => 2.0, x[2] => 3.0, x[3] => 4.0])[1] == [2.0, 3.0, 4.0] @test get_u0(sys, [2.0, 3.0, 4.0])[1] == [2.0, 3.0, 4.0] -@mtkbuild sys=ODESystem([ +@mtkbuild sys=System([ D(x) ~ 3x, D(y) ~ t, D(z[1]) ~ z[2] + t, @@ -55,7 +55,7 @@ vals = ModelingToolkit.varmap_to_vars(var_vals, desired_values; defaults = defau @parameters k1 k2 Γ[1:1]=X1 + X2 eq = D(X1) ~ -k1 * X1 + k2 * (-X1 + Γ[1]) obs = X2 ~ Γ[1] - X1 -@mtkbuild osys_m = ODESystem([eq], t, [X1], [k1, k2, Γ[1]]; observed = [X2 ~ Γ[1] - X1]) +@mtkbuild osys_m = System([eq], t, [X1], [k1, k2, Γ[1]]; observed = [X2 ~ Γ[1] - X1]) # Creates ODEProblem. u0 = [X1 => 1.0, X2 => 2.0] @@ -76,14 +76,14 @@ target_varmap = Dict(p => ones(3), q => 2ones(3), q[1] => 2.0, q[2] => 2.0, q[3] # Issue#1283 @variables z(t)[1:2, 1:2] eqs = [D(D(z)) ~ ones(2, 2)] -@mtkbuild sys = ODESystem(eqs, t) +@mtkbuild sys = System(eqs, t) @test_nowarn ODEProblem(sys, [z => zeros(2, 2), D(z) => ones(2, 2)], (0.0, 10.0)) # Initialization with defaults involving parameters that are not part of the system # Issue#2817 @parameters A1 A2 B1 B2 @variables x1(t) x2(t) -@mtkbuild sys = ODESystem( +@mtkbuild sys = System( [ x1 ~ B1, x2 ~ B2 @@ -100,7 +100,7 @@ prob = ODEProblem(sys, [], (0.0, 1.0), [A1 => 0.3]) @parameters p = nothing @variables x(t)=nothing y(t) for sys in [ - ODESystem(Equation[], t, [x, y], [p]; defaults = [y => nothing], name = :osys), + System(Equation[], t, [x, y], [p]; defaults = [y => nothing], name = :osys), SDESystem(Equation[], [], t, [x, y], [p]; defaults = [y => nothing], name = :ssys), JumpSystem(Equation[], t, [x, y], [p]; defaults = [y => nothing], name = :jsys), NonlinearSystem(Equation[], [x, y], [p]; defaults = [y => nothing], name = :nsys), @@ -117,14 +117,14 @@ end # Issue#2799 @variables x(t) @parameters p -@mtkbuild sys = ODESystem([D(x) ~ p], t; defaults = [x => t, p => 2t]) +@mtkbuild sys = System([D(x) ~ p], t; defaults = [x => t, p => 2t]) prob = ODEProblem(sys, [], (1.0, 2.0), []) @test prob[x] == 1.0 @test prob.ps[p] == 2.0 @testset "Array of symbolics is unwrapped" begin @variables x(t)[1:2] y(t) - @mtkbuild sys = ODESystem([D(x) ~ x, D(y) ~ t], t; defaults = [x => [y, 3.0]]) + @mtkbuild sys = System([D(x) ~ x, D(y) ~ t], t; defaults = [x => [y, 3.0]]) prob = ODEProblem(sys, [y => 1.0], (0.0, 1.0)) @test eltype(prob.u0) <: Float64 prob = ODEProblem(sys, [x => [y, 4.0], y => 2.0], (0.0, 1.0)) @@ -134,7 +134,7 @@ end @testset "split=false systems with all parameter defaults" begin @variables x(t) = 1.0 @parameters p=1.0 q=2.0 r=3.0 - @mtkbuild sys=ODESystem(D(x) ~ p * x + q * t + r, t) split=false + @mtkbuild sys=System(D(x) ~ p * x + q * t + r, t) split=false prob = @test_nowarn ODEProblem(sys, [], (0.0, 1.0)) @test prob.p isa Vector{Float64} end @@ -146,7 +146,7 @@ end y ~ ifelse(t < c1, 0.0, (-c1 + t)^(c3))] sps = [x, y] ps = [c1, c2, c3] - @mtkbuild osys = ODESystem(eqs, t, sps, ps) + @mtkbuild osys = System(eqs, t, sps, ps) u0map = [x => 1.0] pmap = [c1 => 5.0, c2 => 1.0, c3 => 1.2] oprob = ODEProblem(osys, u0map, (0.0, 10.0), pmap) @@ -154,7 +154,7 @@ end @testset "Cyclic dependency checking and substitution limits" begin @variables x(t) y(t) - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ x, D(y) ~ y], t; initialization_eqs = [x ~ 2y + 3, y ~ 2x], guesses = [x => 2y, y => 2x]) @test_warn ["Cycle", "unknowns", "x", "y"] try @@ -165,7 +165,7 @@ end sys, [x => 2y + 1, y => 2x], (0.0, 1.0); build_initializeprob = false) @parameters p q - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ x * p, D(y) ~ y * q], t; guesses = [p => 1.0, q => 2.0]) # "unknowns" because they are initialization unknowns @test_warn ["Cycle", "unknowns", "p", "q"] try @@ -180,7 +180,7 @@ end @testset "`add_fallbacks!` checks scalarized array parameters correctly" begin @variables x(t)[1:2] @parameters p[1:2, 1:2] - @mtkbuild sys = ODESystem(D(x) ~ p * x, t) + @mtkbuild sys = System(D(x) ~ p * x, t) # used to throw a `MethodError` complaining about `getindex(::Nothing, ::CartesianIndex{2})` @test_throws ModelingToolkit.MissingParametersError ODEProblem( sys, [x => ones(2)], (0.0, 1.0)) @@ -194,7 +194,7 @@ end y[1] ~ x[3], y[2] ~ x[4] ] - @mtkbuild sys = ODESystem(eqs, t; defaults = [x => vcat(ones(2), y), y => x[1:2] ./ 2]) + @mtkbuild sys = System(eqs, t; defaults = [x => vcat(ones(2), y), y => x[1:2] ./ 2]) prob = ODEProblem(sys, [], (0.0, 1.0)) sol = solve(prob) @test SciMLBase.successful_retcode(sol) @@ -207,7 +207,7 @@ end eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] - @mtkbuild pend = ODESystem(eqs, t) + @mtkbuild pend = System(eqs, t) @test_throws ModelingToolkit.MissingGuessError ODEProblem( pend, [x => 1], (0, 1), [g => 1], guesses = [y => λ, λ => y + 1]) @@ -216,7 +216,7 @@ end # Throw multiple if multiple are missing @variables a(t) b(t) c(t) d(t) e(t) eqs = [D(a) ~ b, D(b) ~ c, D(c) ~ d, D(d) ~ e, D(e) ~ 1] - @mtkbuild sys = ODESystem(eqs, t) + @mtkbuild sys = System(eqs, t) @test_throws ["a(t)", "c(t)"] ODEProblem( sys, [e => 2, a => b, b => a + 1, c => d, d => c + 1], (0, 1)) end @@ -228,7 +228,7 @@ end @variables x(t) @parameters (interp::Tspline)(..) - @mtkbuild sys = ODESystem(D(x) ~ interp(t), t) + @mtkbuild sys = System(D(x) ~ interp(t), t) prob = ODEProblem(sys, [x => 0.0], (0.0, 1.0), [interp => spline]) spline2 = LinearInterpolation(ts .^ 2, ts .^ 2) @@ -257,7 +257,7 @@ end @parameters p d @variables X(t) eqs = [D(X) ~ p - d * X] - @mtkbuild osys = ODESystem(eqs, t) + @mtkbuild osys = System(eqs, t) u0 = [X => 1.0f0] ps = [p => 1.0f0, d => 2.0f0] oprob = ODEProblem(osys, u0, (0.0f0, 1.0f0), ps) @@ -269,7 +269,7 @@ end @testset "Array initials and scalar parameters with `split = false`" begin @variables x(t)[1:2] @parameters p - @mtkbuild sys=ODESystem([D(x[1]) ~ x[1], D(x[2]) ~ x[2] + p], t) split=false + @mtkbuild sys=System([D(x[1]) ~ x[1], D(x[2]) ~ x[2] + p], t) split=false ps = Set(parameters(sys; initial_parameters = true)) @test length(ps) == 5 for i in 1:2 @@ -293,7 +293,7 @@ end 0 ~ x^2 + y^2 - w2^2 ] - @mtkbuild sys = ODESystem(eqs, t) + @mtkbuild sys = System(eqs, t) u0 = [D(x) => 2.0, x => 1.0, diff --git a/test/initializationsystem.jl b/test/initializationsystem.jl index 775ba3ab72..2ca70ee65d 100644 --- a/test/initializationsystem.jl +++ b/test/initializationsystem.jl @@ -11,7 +11,7 @@ using DynamicQuantities eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] -@mtkbuild pend = ODESystem(eqs, t) +@mtkbuild pend = System(eqs, t) initprob = ModelingToolkit.InitializationProblem(pend, 0.0, [], [g => 1]; guesses = [ModelingToolkit.missing_variable_defaults(pend); x => 1; y => 0.2]) @@ -347,7 +347,7 @@ eqs = [D(D(x)) ~ σ * (y - x), D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z] -@mtkbuild sys = ODESystem(eqs, t) +@mtkbuild sys = System(eqs, t) u0 = [D(x) => 2.0, y => 0.0, @@ -374,7 +374,7 @@ function System2(; name) end eqs = [D(dx) ~ ddx 0 ~ ddx + dx + 1] - return ODESystem(eqs, t, vars, []; name) + return System(eqs, t, vars, []; name) end @mtkbuild sys = System2() @@ -396,7 +396,7 @@ function System3(; name) initialization_eqs = [ ddx ~ -2 ] - return ODESystem(eqs, t, vars, []; name, initialization_eqs) + return System(eqs, t, vars, []; name, initialization_eqs) end @mtkbuild sys = System3() @@ -414,7 +414,7 @@ sol = solve(prob, Tsit5()) D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = structural_simplify(sys) u0 = [D(x) => 2.0, @@ -443,7 +443,7 @@ eqs = [D(x) ~ α * x - β * x * y D(y) ~ -γ * y + δ * x * y z ~ x + y] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) simpsys = structural_simplify(sys) tspan = (0.0, 10.0) @@ -471,7 +471,7 @@ sol = solve(prob, Tsit5()) eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] -@mtkbuild pend = ODESystem(eqs, t) +@mtkbuild pend = System(eqs, t) prob = ODEProblem(pend, [x => 1], (0.0, 1.5), [g => 1], guesses = [λ => 0, y => 1], initialization_eqs = [y ~ 1]) @@ -483,8 +483,8 @@ sys = structural_simplify(unsimp; fully_determined = false) # Extend two systems with initialization equations and guesses # https://github.com/SciML/ModelingToolkit.jl/issues/2845 @variables x(t) y(t) -@named sysx = ODESystem([D(x) ~ 0], t; initialization_eqs = [x ~ 1]) -@named sysy = ODESystem([D(y) ~ 0], t; initialization_eqs = [y^2 ~ 2], guesses = [y => 1]) +@named sysx = System([D(x) ~ 0], t; initialization_eqs = [x ~ 1]) +@named sysy = System([D(y) ~ 0], t; initialization_eqs = [y^2 ~ 2], guesses = [y => 1]) sys = extend(sysx, sysy) @test length(equations(generate_initializesystem(sys))) == 2 @test length(ModelingToolkit.guesses(sys)) == 1 @@ -492,7 +492,7 @@ sys = extend(sysx, sysy) # https://github.com/SciML/ModelingToolkit.jl/issues/2873 @testset "Error on missing defaults" begin @variables x(t) y(t) - @named sys = ODESystem([x^2 + y^2 ~ 25, D(x) ~ 1], t) + @named sys = System([x^2 + y^2 ~ 25, D(x) ~ 1], t) ssys = structural_simplify(sys) @test_throws ModelingToolkit.MissingVariablesError ODEProblem( ssys, [x => 3], (0, 1), []) # y should have a guess @@ -504,7 +504,7 @@ end # system 1 should solve to x = 1 ics1 = [x => 1] - sys1 = ODESystem([D(x) ~ 0], t; defaults = ics1, name = :sys1) |> structural_simplify + sys1 = System([D(x) ~ 0], t; defaults = ics1, name = :sys1) |> structural_simplify prob1 = ODEProblem(sys1, [], (0.0, 1.0), []) sol1 = solve(prob1, Tsit5()) @test all(sol1[x] .== 1) @@ -512,7 +512,7 @@ end # system 2 should solve to x = y = 2 sys2 = extend( sys1, - ODESystem([D(y) ~ 0], t; initialization_eqs = [y ~ 2], name = :sys2) + System([D(y) ~ 0], t; initialization_eqs = [y ~ 2], name = :sys2) ) |> structural_simplify ics2 = unknowns(sys1) .=> 2 # should be equivalent to "ics2 = [x => 2]" prob2 = ODEProblem(sys2, ics2, (0.0, 1.0), []; fully_determined = true) @@ -523,12 +523,12 @@ end # https://github.com/SciML/ModelingToolkit.jl/issues/3029 @testset "Derivatives in initialization equations" begin @variables x(t) - sys = ODESystem( + sys = System( [D(D(x)) ~ 0], t; initialization_eqs = [x ~ 0, D(x) ~ 1], name = :sys) |> structural_simplify @test_nowarn ODEProblem(sys, [], (0.0, 1.0), []) - sys = ODESystem( + sys = System( [D(D(x)) ~ 0], t; initialization_eqs = [x ~ 0, D(D(x)) ~ 0], name = :sys) |> structural_simplify @test_nowarn ODEProblem(sys, [D(x) => 1.0], (0.0, 1.0), []) @@ -538,7 +538,7 @@ end @testset "Derivatives in initialization guesses" begin for sign in [-1.0, +1.0] @variables x(t) - sys = ODESystem( + sys = System( [D(D(x)) ~ 0], t; initialization_eqs = [D(x)^2 ~ 1, x ~ 0], guesses = [D(x) => sign], name = :sys ) |> structural_simplify @@ -555,8 +555,8 @@ eqs_1st_order = [D(Y) + Y - ω ~ 0, X + k1 ~ Y + k2] eqs_2nd_order = [D(D(Y)) + 2ω * D(Y) + (ω^2) * Y ~ 0, X + k1 ~ Y + k2] -@mtkbuild sys_1st_order = ODESystem(eqs_1st_order, t) -@mtkbuild sys_2nd_order = ODESystem(eqs_2nd_order, t) +@mtkbuild sys_1st_order = System(eqs_1st_order, t) +@mtkbuild sys_2nd_order = System(eqs_2nd_order, t) u0_1st_order_1 = [X => 1.0, Y => 2.0] u0_1st_order_2 = [Y => 2.0] @@ -581,7 +581,7 @@ sol = solve(oprob_2nd_order_2, Rosenbrock23()) # retcode: Success @testset "Vector in initial conditions" begin @variables x(t)[1:5] y(t)[1:5] - @named sys = ODESystem([D(x) ~ x, D(y) ~ y], t; initialization_eqs = [y ~ -x]) + @named sys = System([D(x) ~ x, D(y) ~ y], t; initialization_eqs = [y ~ -x]) sys = structural_simplify(sys) prob = ODEProblem(sys, [sys.x => ones(5)], (0.0, 1.0), []) sol = solve(prob, Tsit5(), reltol = 1e-4) @@ -723,7 +723,7 @@ end @testset "Null system" begin @variables x(t) y(t) s(t) @parameters x0 y0 - @mtkbuild sys = ODESystem([x ~ x0, y ~ y0, s ~ x + y], t; guesses = [y0 => 0.0]) + @mtkbuild sys = System([x ~ x0, y ~ y0, s ~ x + y], t; guesses = [y0 => 0.0]) prob = ODEProblem(sys, [s => 1.0], (0.0, 1.0), [x0 => 0.3, y0 => missing]) # trivial initialization run immediately @test prob.ps[y0] ≈ 0.7 @@ -743,7 +743,7 @@ end @named gravity = Force() @named constant = Constant(; k = 9.81) @named damper = TM.Damper(; d = 0.1) - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [connect(fixed.flange, spring.flange_a), connect(spring.flange_b, mass.flange_a), connect(mass.flange_a, gravity.flange), connect(constant.output, gravity.f), connect(fixed.flange, damper.flange_a), connect(damper.flange_b, mass.flange_a)], @@ -1035,7 +1035,7 @@ end @testset "Nonnumeric parameter dependencies are retained" begin @variables x(t) y(t) @parameters foo(::Real, ::Real) p - @mtkbuild sys = ODESystem([D(x) ~ t, 0 ~ foo(x, y)], t; + @mtkbuild sys = System([D(x) ~ t, 0 ~ foo(x, y)], t; parameter_dependencies = [foo ~ Multiplier(p, 2p)], guesses = [y => -1.0]) prob = ODEProblem(sys, [x => 1.0], (0.0, 1.0), [p => 1.0]) integ = init(prob, Rosenbrock23()) @@ -1044,7 +1044,7 @@ end @testset "Use observed equations for guesses of observed variables" begin @variables x(t) y(t) [state_priority = 100] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ x + t, y ~ 2x + 1], t; initialization_eqs = [x^3 + y^3 ~ 1]) isys = ModelingToolkit.generate_initializesystem(sys) @test isequal(defaults(isys)[y], 2x + 1) @@ -1052,14 +1052,14 @@ end @testset "Create initializeprob when unknown has dependent value" begin @variables x(t) y(t) - @mtkbuild sys = ODESystem([D(x) ~ x, D(y) ~ t * y], t; defaults = [x => 2y]) + @mtkbuild sys = System([D(x) ~ x, D(y) ~ t * y], t; defaults = [x => 2y]) prob = ODEProblem(sys, [y => 1.0], (0.0, 1.0)) @test prob.f.initializeprob !== nothing integ = init(prob) @test integ[x] ≈ 2.0 @variables x(t)[1:2] y(t) - @mtkbuild sys = ODESystem([D(x) ~ x, D(y) ~ t], t; defaults = [x => [y, 3.0]]) + @mtkbuild sys = System([D(x) ~ x, D(y) ~ t], t; defaults = [x => [y, 3.0]]) prob = ODEProblem(sys, [y => 1.0], (0.0, 1.0)) @test prob.f.initializeprob !== nothing integ = init(prob) @@ -1074,7 +1074,7 @@ end eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ L] - @mtkbuild pend = ODESystem(eqs, t) + @mtkbuild pend = System(eqs, t) prob = ODEProblem(pend, [x => 1, y => 0], (0.0, 1.5), [g => 1], guesses = ModelingToolkit.missing_variable_defaults(pend)) @@ -1125,7 +1125,7 @@ end connect(L1.n, emf.p) connect(emf.n, source.n, ground.g)] - @named model = ODESystem(connections, t, + @named model = System(connections, t, systems = [ ground, ref, @@ -1158,7 +1158,7 @@ end eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] - @mtkbuild pend = ODESystem(eqs, t) + @mtkbuild pend = System(eqs, t) @test_warn ["structurally singular", "initialization", "Guess", "heuristic"] ODEProblem( pend, [x => 1, y => 0], (0.0, 1.5), [g => 1], guesses = [λ => 1]) end @@ -1166,7 +1166,7 @@ end @testset "DAEProblem initialization" begin @variables x(t) [guess = 1.0] y(t) [guess = 1.0] @parameters p=missing [guess = 1.0] q=missing [guess = 1.0] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ p * y + q * t, x^3 + y^3 ~ 5], t; initialization_eqs = [p^2 + q^3 ~ 3]) # FIXME: solve for du0 @@ -1183,7 +1183,7 @@ end @testset "Guesses provided to `ODEProblem` are used in `remake`" begin @variables x(t) y(t)=2x @parameters p q=3x - @mtkbuild sys = ODESystem([D(x) ~ x * p + q, x^3 + y^3 ~ 3], t) + @mtkbuild sys = System([D(x) ~ x * p + q, x^3 + y^3 ~ 3], t) prob = ODEProblem( sys, [], (0.0, 1.0), [p => 1.0]; guesses = [x => 1.0, y => 1.0, q => 1.0]) @test prob[x] == 1.0 @@ -1213,7 +1213,7 @@ end @testset "Remake problem with no initializeprob" begin @variables x(t) [guess = 1.0] y(t) [guess = 1.0] @parameters p [guess = 1.0] q [guess = 1.0] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ p * x + q * y, y ~ 2x], t; parameter_dependencies = [q ~ 2p]) prob = ODEProblem(sys, [x => 1.0], (0.0, 1.0), [p => 1.0]) test_dummy_initialization_equation(prob, x) @@ -1234,7 +1234,7 @@ end @testset "Variables provided as symbols" begin @variables x(t) [guess = 1.0] y(t) [guess = 1.0] @parameters p [guess = 1.0] q [guess = 1.0] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ p * x + q * y, y ~ 2x], t; parameter_dependencies = [q ~ 2p]) prob = ODEProblem(sys, [:x => 1.0], (0.0, 1.0), [p => 1.0]) test_dummy_initialization_equation(prob, x) @@ -1248,7 +1248,7 @@ end @testset "Issue#3246: type promotion with parameter dependent initialization_eqs" begin @variables x(t)=1 y(t)=1 @parameters a = 1 - @named sys = ODESystem([D(x) ~ 0, D(y) ~ x + a], t; initialization_eqs = [y ~ a]) + @named sys = System([D(x) ~ 0, D(y) ~ x + a], t; initialization_eqs = [y ~ a]) ssys = structural_simplify(sys) prob = ODEProblem(ssys, [], (0, 1), []) @@ -1269,7 +1269,7 @@ end D(X) ~ p - d * X, D(Y) ~ p - d * Y ] - @mtkbuild osys = ODESystem(eqs, t) + @mtkbuild osys = System(eqs, t) # Make problem. u0_vals = [X => 4, Y => 5.0] @@ -1315,7 +1315,7 @@ end @testset "Solvable array parameters with scalarized guesses" begin @variables x(t) @parameters p[1:2] q - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( D(x) ~ p[1] + p[2] + q, t; defaults = [p[1] => q, p[2] => 2q], guesses = [p[1] => q, p[2] => 2q]) @test ModelingToolkit.is_parameter_solvable(p, Dict(), defaults(sys), guesses(sys)) @@ -1329,7 +1329,7 @@ end @testset "Issue#3318: Mutating `Initial` parameters works" begin @variables x(t) y(t)[1:2] [guess = ones(2)] @parameters p[1:2, 1:2] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ x, D(y) ~ p * y], t; initialization_eqs = [x^2 + y[1]^2 + y[2]^2 ~ 4]) prob = ODEProblem(sys, [x => 1.0, y[1] => 1], (0.0, 1.0), [p => 2ones(2, 2)]) integ = init(prob, Tsit5()) @@ -1348,8 +1348,8 @@ end @testset "Issue#3342" begin @variables x(t) y(t) stop!(integrator, _, _, _) = terminate!(integrator) - @named sys = ODESystem([D(x) ~ 1.0 - D(y) ~ 1.0], t; initialization_eqs = [ + @named sys = System([D(x) ~ 1.0 + D(y) ~ 1.0], t; initialization_eqs = [ y ~ 0.0 ], continuous_events = [ @@ -1370,7 +1370,7 @@ end @testset "Issue#3330: Initialization for unsimplified systems" begin @variables x(t) [guess = 1.0] - @mtkbuild sys = ODESystem(D(x) ~ x, t; initialization_eqs = [x^2 ~ 4]) + @mtkbuild sys = System(D(x) ~ x, t; initialization_eqs = [x^2 ~ 4]) prob = ODEProblem(sys, [], (0.0, 1.0)) @test prob.f.initialization_data !== nothing end @@ -1378,7 +1378,7 @@ end @testset "`ReconstructInitializeprob` with `nothing` state" begin @parameters p @variables x(t) - @mtkbuild sys = ODESystem(x ~ p * t, t) + @mtkbuild sys = System(x ~ p * t, t) prob = @test_nowarn ODEProblem(sys, [], (0.0, 1.0), [p => 1.0]) @test_nowarn remake(prob, p = [p => 1.0]) @test_nowarn remake(prob, p = [p => ForwardDiff.Dual(1.0)]) @@ -1392,7 +1392,7 @@ end D(X1) ~ k1 * (Γ[1] - X1) - k2 * X1 ] obs = [X2 ~ Γ[1] - X1] - @mtkbuild osys = ODESystem(eqs, t, [X1, X2], [k1, k2, Γ]; observed = obs) + @mtkbuild osys = System(eqs, t, [X1, X2], [k1, k2, Γ]; observed = obs) u0 = [X1 => 1.0, X2 => 2.0] ps = [k1 => 0.1, k2 => 0.2] @@ -1490,7 +1490,7 @@ end @testset "Issue#3504: Update initials when `remake` called with non-symbolic `u0`" begin @variables x(t) y(t) @parameters c1 c2 - @mtkbuild sys = ODESystem([D(x) ~ -c1 * x + c2 * y, D(y) ~ c1 * x - c2 * y], t) + @mtkbuild sys = System([D(x) ~ -c1 * x + c2 * y, D(y) ~ c1 * x - c2 * y], t) prob1 = ODEProblem(sys, [1.0, 2.0], (0.0, 1.0), [c1 => 1.0, c2 => 2.0]) prob2 = remake(prob1, u0 = [2.0, 3.0]) prob3 = remake(prob1, u0 = [2.0, 3.0], p = [c1 => 2.0]) @@ -1507,7 +1507,7 @@ end @parameters α=1 β=1 γ=1 δ=1 @variables x(t)=1 y(t)=1 eqs = [D(x) ~ α * x - β * x * y, D(y) ~ -δ * y + γ * x * y] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) prob = ODEProblem(complete(sys), [], (0.0, 1)) @inferred remake(prob; u0 = 2 .* prob.u0, p = prob.p) @inferred solve(prob) @@ -1519,7 +1519,7 @@ end eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] - @mtkbuild pend = ODESystem(eqs, t) + @mtkbuild pend = System(eqs, t) prob = ODEProblem( pend, [x => (√2 / 2), D(x) => 0.0], (0.0, 1.5), @@ -1574,7 +1574,7 @@ end 0 ~ x^2 + y^2 - w2^2 ] - @mtkbuild sys = ODESystem(eqs, t) + @mtkbuild sys = System(eqs, t) u0 = [D(x) => 2.0, x => 1.0, diff --git a/test/input_output_handling.jl b/test/input_output_handling.jl index 68936b52bd..1fd7732c50 100644 --- a/test/input_output_handling.jl +++ b/test/input_output_handling.jl @@ -6,7 +6,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables xx(t) some_input(t) [input = true] eqs = [D(xx) ~ some_input] -@named model = ODESystem(eqs, t) +@named model = System(eqs, t) @test_throws ExtraVariablesSystemException structural_simplify(model) if VERSION >= v"1.8" err = "In particular, the unset input(s) are:\n some_input(t)" @@ -17,14 +17,14 @@ end @variables x(t) u(t) [input = true] v(t)[1:2] [input = true] @test isinput(u) -@named sys = ODESystem([D(x) ~ -x + u], t) # both u and x are unbound -@named sys1 = ODESystem([D(x) ~ -x + v[1] + v[2]], t) # both v and x are unbound -@named sys2 = ODESystem([D(x) ~ -sys.x], t, systems = [sys]) # this binds sys.x in the context of sys2, sys2.x is still unbound -@named sys21 = ODESystem([D(x) ~ -sys1.x], t, systems = [sys1]) # this binds sys.x in the context of sys2, sys2.x is still unbound -@named sys3 = ODESystem([D(x) ~ -sys.x + sys.u], t, systems = [sys]) # This binds both sys.x and sys.u -@named sys31 = ODESystem([D(x) ~ -sys1.x + sys1.v[1]], t, systems = [sys1]) # This binds both sys.x and sys1.v[1] +@named sys = System([D(x) ~ -x + u], t) # both u and x are unbound +@named sys1 = System([D(x) ~ -x + v[1] + v[2]], t) # both v and x are unbound +@named sys2 = System([D(x) ~ -sys.x], t, systems = [sys]) # this binds sys.x in the context of sys2, sys2.x is still unbound +@named sys21 = System([D(x) ~ -sys1.x], t, systems = [sys1]) # this binds sys.x in the context of sys2, sys2.x is still unbound +@named sys3 = System([D(x) ~ -sys.x + sys.u], t, systems = [sys]) # This binds both sys.x and sys.u +@named sys31 = System([D(x) ~ -sys1.x + sys1.v[1]], t, systems = [sys1]) # This binds both sys.x and sys1.v[1] -@named sys4 = ODESystem([D(x) ~ -sys.x, u ~ sys.u], t, systems = [sys]) # This binds both sys.x and sys3.u, this system is one layer deeper than the previous. u is directly forwarded to sys.u, and in this case sys.u is bound while u is not +@named sys4 = System([D(x) ~ -sys.x, u ~ sys.u], t, systems = [sys]) # This binds both sys.x and sys3.u, this system is one layer deeper than the previous. u is directly forwarded to sys.u, and in this case sys.u is bound while u is not @test has_var(x ~ 1, x) @test has_var(1 ~ x, x) @@ -87,10 +87,10 @@ fsys4 = flatten(sys4) # Test output handling @variables x(t) y(t) [output = true] @test isoutput(y) -@named sys = ODESystem([D(x) ~ -x, y ~ x], t) # both y and x are unbound +@named sys = System([D(x) ~ -x, y ~ x], t) # both y and x are unbound syss = structural_simplify(sys, outputs = [y]) # This makes y an observed variable -@named sys2 = ODESystem([D(x) ~ -sys.x, y ~ sys.y], t, systems = [sys]) +@named sys2 = System([D(x) ~ -sys.x, y ~ sys.y], t, systems = [sys]) @test !is_bound(sys, y) @test !is_bound(sys, x) @@ -127,7 +127,7 @@ eqs = [connect(torque.flange, inertia1.flange_a) connect(inertia1.flange_b, spring.flange_a, damper.flange_a) connect(inertia2.flange_a, spring.flange_b, damper.flange_b) y ~ inertia2.w + torque.tau.u] -model = ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], +model = System(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name = :name, guesses = [spring.flange_a.phi => 0.0]) model_outputs = [inertia1.w, inertia2.w, inertia1.phi, inertia2.phi] model_inputs = [torque.tau.u] @@ -164,7 +164,7 @@ end D(x) ~ -x + u ] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = structural_simplify(sys, inputs = [u]) f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys; simplify, split) @@ -182,7 +182,7 @@ end D(x) ~ -x + u + d^2 ] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = structural_simplify(sys, inputs = [u], disturbance_inputs = [d]) f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys; simplify, split) @@ -200,7 +200,7 @@ end D(x) ~ -x + u + d^2 ] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = structural_simplify(sys, inputs = [u], disturbance_inputs = [d]) f, dvs, ps, io_sys = ModelingToolkit.generate_control_function( sys; simplify, split, disturbance_argument = true) @@ -226,25 +226,25 @@ function Mass(; name, m = 1.0, p = 0, v = 0) sts = @variables pos(t)=p vel(t)=v eqs = [D(pos) ~ vel y ~ pos] - ODESystem(eqs, t, [pos, vel, y], ps; name) + System(eqs, t, [pos, vel, y], ps; name) end function MySpring(; name, k = 1e4) ps = @parameters k = k @variables x(t) = 0 # Spring deflection - ODESystem(Equation[], t, [x], ps; name) + System(Equation[], t, [x], ps; name) end function MyDamper(; name, c = 10) ps = @parameters c = c @variables vel(t) = 0 - ODESystem(Equation[], t, [vel], ps; name) + System(Equation[], t, [vel], ps; name) end function SpringDamper(; name, k = false, c = false) spring = MySpring(; name = :spring, k) damper = MyDamper(; name = :damper, c) - compose(ODESystem(Equation[], t; name), + compose(System(Equation[], t; name), spring, damper) end @@ -264,7 +264,7 @@ c = 10 eqs = [connect_sd(sd, mass1, mass2) D(mass1.vel) ~ (sd_force(sd) + u) / mass1.m D(mass2.vel) ~ (-sd_force(sd)) / mass2.m] -@named _model = ODESystem(eqs, t) +@named _model = System(eqs, t) @named model = compose(_model, mass1, mass2, sd); model = structural_simplify(model, inputs = [u]) @@ -282,7 +282,7 @@ i = findfirst(isequal(u[1]), out) @variables x(t) u(t) [input = true] eqs = [D(x) ~ u] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) @test_nowarn structural_simplify(sys, inputs = [u], outputs = []) #= @@ -314,7 +314,7 @@ function SystemModel(u = nothing; name = :model) connect(inertia2.flange_a, spring.flange_b, damper.flange_b)] if u !== nothing push!(eqs, connect(torque.tau, u.output)) - return @named model = ODESystem(eqs, t; + return @named model = System(eqs, t; systems = [ torque, inertia1, @@ -324,7 +324,7 @@ function SystemModel(u = nothing; name = :model) u ]) end - ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], + System(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name, guesses = [spring.flange_a.phi => 0.0]) end @@ -365,7 +365,7 @@ eqs = [D(y₁) ~ -k₁ * y₁ + k₃ * y₂ * y₃ + u1 D(y₂) ~ k₁ * y₁ - k₃ * y₂ * y₃ - k₂ * y₂^2 + u2 y₁ + y₂ + y₃ ~ 1] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) m_inputs = [u[1], u[2]] m_outputs = [y₂] sys_simp = structural_simplify(sys, inputs = m_inputs, outputs = m_outputs) @@ -377,7 +377,7 @@ sys_simp = structural_simplify(sys, inputs = m_inputs, outputs = m_outputs) @named gain = Gain(1;) @named int = Integrator(; k = 1) @named fb = Feedback(;) -@named model = ODESystem( +@named model = System( [ connect(c.output, fb.input1), connect(fb.input2, int.output), @@ -434,7 +434,7 @@ matrices = ModelingToolkit.reorder_unknowns( D(x) ~ -x + u ] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = structural_simplify(sys, inputs = [u]) (; io_sys,) = ModelingToolkit.generate_control_function(sys, simplify = true) obsfn = ModelingToolkit.build_explicit_observed_function( @@ -447,7 +447,7 @@ end @constants c = 2.0 @variables x(t) eqs = [D(x) ~ c * x] - @mtkbuild sys = ODESystem(eqs, t, [x], []) + @mtkbuild sys = System(eqs, t, [x], []) f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys) @test f[1]([0.5], nothing, MTKParameters(io_sys, []), 0.0) ≈ [1.0] @@ -457,7 +457,7 @@ end @variables x(t)=0 u(t)=0 [input = true] @parameters p(::Real) = (x -> 2x) eqs = [D(x) ~ -x + p(u)] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = structural_simplify(sys, inputs = [u]) f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys) p = MTKParameters(io_sys, []) diff --git a/test/inputoutput.jl b/test/inputoutput.jl index 2a81a0e315..28f112425f 100644 --- a/test/inputoutput.jl +++ b/test/inputoutput.jl @@ -10,12 +10,12 @@ eqs = [D(x) ~ σ * (y - x) + F, D(z) ~ x * y - β * z] aliases = [u ~ x + y - z] -lorenz1 = ODESystem(eqs, pins = [F], observed = aliases, name = :lorenz1) -lorenz2 = ODESystem(eqs, pins = [F], observed = aliases, name = :lorenz2) +lorenz1 = System(eqs, pins = [F], observed = aliases, name = :lorenz1) +lorenz2 = System(eqs, pins = [F], observed = aliases, name = :lorenz2) connections = [lorenz1.F ~ lorenz2.u, lorenz2.F ~ lorenz1.u] -connected = ODESystem(Equation[], t, [], [], observed = connections, +connected = System(Equation[], t, [], [], observed = connections, systems = [lorenz1, lorenz2]) sys = connected diff --git a/test/jacobiansparsity.jl b/test/jacobiansparsity.jl index 1f936bc878..d10ec66c44 100644 --- a/test/jacobiansparsity.jl +++ b/test/jacobiansparsity.jl @@ -91,7 +91,7 @@ prob = ODEProblem(sys, u0, (0, 11.5), sparse = true, jac = true) eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] - @mtkbuild pend = ODESystem(eqs, t) + @mtkbuild pend = System(eqs, t) u0 = [x => 1, y => 0] prob = ODEProblem( @@ -125,7 +125,7 @@ end eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] - @mtkbuild pend = ODESystem(eqs, t) + @mtkbuild pend = System(eqs, t) prob = ODEProblem(pend, [x => 0.0, D(x) => 1.0], (0.0, 1.0), [g => 1.0]; guesses = [y => 1.0, λ => 1.0], jac = true, sparse = true) J = deepcopy(prob.f.jac_prototype) diff --git a/test/labelledarrays.jl b/test/labelledarrays.jl index c9ee7ee50b..59c269dff7 100644 --- a/test/labelledarrays.jl +++ b/test/labelledarrays.jl @@ -12,7 +12,7 @@ eqs = [D(x) ~ σ * (y - x), D(y) ~ t * x * (ρ - z) - y, D(z) ~ x * y - β * z] -@named de = ODESystem(eqs, t) +@named de = System(eqs, t) de = complete(de) ff = ODEFunction(de, [x, y, z], [σ, ρ, β], jac = true) diff --git a/test/latexify.jl b/test/latexify.jl index 105a17ca6e..de5c195610 100644 --- a/test/latexify.jl +++ b/test/latexify.jl @@ -55,6 +55,6 @@ eqs = [D(x) ~ (1 + cos(t)) / (1 + 2 * x)] ap = AnalysisPoint(:plant_input) eqs = [connect(P.output, C.input) connect(C.output, ap, P.input)] -sys_ap = ODESystem(eqs, t, systems = [P, C], name = :hej) +sys_ap = System(eqs, t, systems = [P, C], name = :hej) @test_reference "latexify/50.tex" latexify(sys_ap) diff --git a/test/linearity.jl b/test/linearity.jl index aed9a256d2..d472cdb087 100644 --- a/test/linearity.jl +++ b/test/linearity.jl @@ -12,16 +12,16 @@ eqs = [D(x) ~ σ * (y - x), D(y) ~ -z - y, D(z) ~ y - β * z] -@test ModelingToolkit.islinear(@named sys = ODESystem(eqs, t)) +@test ModelingToolkit.islinear(@named sys = System(eqs, t)) eqs2 = [D(x) ~ σ * (y - x), D(y) ~ -z - 1 / y, D(z) ~ y - β * z] -@test !ModelingToolkit.islinear(@named sys = ODESystem(eqs2, t)) +@test !ModelingToolkit.islinear(@named sys = System(eqs2, t)) eqs3 = [D(x) ~ σ * (y - x), D(y) ~ -z - y, D(z) ~ y - β * z + 1] -@test ModelingToolkit.isaffine(@named sys = ODESystem(eqs, t)) +@test ModelingToolkit.isaffine(@named sys = System(eqs, t)) diff --git a/test/lowering_solving.jl b/test/lowering_solving.jl index 300d505ab0..8c4db26287 100644 --- a/test/lowering_solving.jl +++ b/test/lowering_solving.jl @@ -8,14 +8,14 @@ eqs = [D(D(x)) ~ σ * (y - x), D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z] -@named sys′ = ODESystem(eqs, t) +@named sys′ = System(eqs, t) sys = ode_order_lowering(sys′) eqs2 = [0 ~ x * y - k, D(D(x)) ~ σ * (y - x), D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z] -@named sys2 = ODESystem(eqs2, t, [x, y, z, k], parameters(sys′)) +@named sys2 = System(eqs2, t, [x, y, z, k], parameters(sys′)) sys2 = ode_order_lowering(sys2) # test equation/variable ordering ModelingToolkit.calculate_massmatrix(sys2) == Diagonal([1, 1, 1, 1, 0]) @@ -46,13 +46,13 @@ eqs = [D(x) ~ σ * (y - x), D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z] -lorenz1 = ODESystem(eqs, t, name = :lorenz1) -lorenz2 = ODESystem(eqs, t, name = :lorenz2) +lorenz1 = System(eqs, t, name = :lorenz1) +lorenz2 = System(eqs, t, name = :lorenz2) @variables α(t) @parameters γ connections = [0 ~ lorenz1.x + lorenz2.y + α * γ] -@named connected = ODESystem(connections, t, [α], [γ], systems = [lorenz1, lorenz2]) +@named connected = System(connections, t, [α], [γ], systems = [lorenz1, lorenz2]) connected = complete(connected) u0 = [lorenz1.x => 1.0, lorenz1.y => 0.0, diff --git a/test/mass_matrix.jl b/test/mass_matrix.jl index 8b31123834..f181bdfbde 100644 --- a/test/mass_matrix.jl +++ b/test/mass_matrix.jl @@ -8,9 +8,9 @@ eqs = [D(y[1]) ~ -k[1] * y[1] + k[3] * y[2] * y[3], D(y[2]) ~ k[1] * y[1] - k[3] * y[2] * y[3] - k[2] * y[2]^2, 0 ~ y[1] + y[2] + y[3] - 1] -@named sys = ODESystem(eqs, t, collect(y), [k]) +@named sys = System(eqs, t, collect(y), [k]) sys = complete(sys) -@test_throws ArgumentError ODESystem(eqs, y[1]) +@test_throws ArgumentError System(eqs, y[1]) M = calculate_massmatrix(sys) @test M isa Diagonal @test M == [1 0 0 @@ -45,7 +45,7 @@ sol2 = solve(prob_mm2, Rodas5(), reltol = 1e-8, abstol = 1e-8, tstops = sol.t, # Test mass matrix in the identity case eqs = [D(y[1]) ~ y[1], D(y[2]) ~ y[2], D(y[3]) ~ y[3]] -@named sys = ODESystem(eqs, t, collect(y), [k]) +@named sys = System(eqs, t, collect(y), [k]) @test calculate_massmatrix(sys) === I @@ -54,7 +54,7 @@ eqs = [D(y[1]) ~ y[1], D(y[2]) ~ y[2], D(y[3]) ~ y[3]] D(y[2]) ~ k[1] * y[1] - k[3] * y[2] * y[3] - k[2] * y[2]^2, 0 ~ y[1] + y[2] + y[3] - 1] - @named sys = ODESystem(eqs, t, collect(y), [k]) + @named sys = System(eqs, t, collect(y), [k]) @named sys = SDESystem(sys, [1, 1, 0]) sys = complete(sys) prob = SDEProblem(sys, [y => [1.0, 0.0, 0.0]], (0.0, 1e5), [k => [0.04, 3e7, 1e4]]) diff --git a/test/model_parsing.jl b/test/model_parsing.jl index ad457a0ba3..7271d9bd1d 100644 --- a/test/model_parsing.jl +++ b/test/model_parsing.jl @@ -1044,17 +1044,17 @@ end x + y EvalAt(1)(y)^2 end - @consolidate f(u) = u[1]^2 + log(u[2]) + @consolidate f(u, sub) = u[1]^2 + log(u[2]) + sum(sub; init = 0) end @named ex = Example() ex = complete(ex) costs = ModelingToolkit.get_costs(ex) - constrs = ModelingToolkit.get_constraints(ModelingToolkit.get_constraintsystem(ex)) + constrs = ModelingToolkit.get_constraints(ex) @test isequal(costs[1], ex.x + ex.y) @test isequal(costs[2], EvalAt(1)(ex.y)^2) - @test isequal(constrs[1], -3 + EvalAt(0.3)(ex.x) ~ 0) - @test isequal(constrs[2], -4 + ex.y ≲ 0) - @test ModelingToolkit.get_consolidate(ex)([1, 2]) ≈ 1 + log(2) + @test isequal(constrs[1], EvalAt(0.3)(ex.x) ~ 3) + @test isequal(constrs[2], ex.y ≲ 4) + @test ModelingToolkit.get_consolidate(ex)([1, 2], [3, 4]) ≈ 8 + log(2) end diff --git a/test/modelingtoolkitize.jl b/test/modelingtoolkitize.jl index db99cc91a4..d146fa95c9 100644 --- a/test/modelingtoolkitize.jl +++ b/test/modelingtoolkitize.jl @@ -375,7 +375,7 @@ sys = modelingtoolkitize(prob) @testset "ODE" begin @variables x(t)=1.0 y(t)=2.0 @parameters p=3.0 q=4.0 - @mtkbuild sys = ODESystem([D(x) ~ p * y, D(y) ~ q * x], t) + @mtkbuild sys = System([D(x) ~ p * y, D(y) ~ q * x], t) prob1 = ODEProblem(sys, [], (0.0, 5.0)) newsys = complete(modelingtoolkitize(prob1)) @test is_variable(newsys, newsys.x) diff --git a/test/mtkparameters.jl b/test/mtkparameters.jl index 5cc26ba79a..33c13bde41 100644 --- a/test/mtkparameters.jl +++ b/test/mtkparameters.jl @@ -8,7 +8,7 @@ using ForwardDiff using JET @parameters a b c(t) d::Integer e[1:3] f[1:3, 1:3]::Int g::Vector{AbstractFloat} h::String -@named sys = ODESystem( +@named sys = System( Equation[], t, [], [a, c, d, e, f, g, h], parameter_dependencies = [b ~ 2a], continuous_events = [ModelingToolkit.SymbolicContinuousCallback( [a ~ 0] => [c ~ 0], discrete_parameters = c)], defaults = Dict(a => 0.0)) @@ -131,7 +131,7 @@ end @parameters p::Vector{Float64} @variables X(t) eq = D(X) ~ p[1] - p[2] * X -@mtkbuild osys = ODESystem([eq], t) +@mtkbuild osys = System([eq], t) u0 = [X => 1.0] ps = [p => [2.0, 0.1]] @@ -140,7 +140,7 @@ p = MTKParameters(osys, ps, u0) # Ensure partial update promotes the buffer @parameters p q r -@named sys = ODESystem(Equation[], t, [], [p, q, r]) +@named sys = System(Equation[], t, [], [p, q, r]) sys = complete(sys) ps = MTKParameters(sys, [p => 1.0, q => 2.0, r => 3.0]) newps = remake_buffer(sys, ps, (p,), (1.0f0,)) @@ -151,7 +151,7 @@ newps = remake_buffer(sys, ps, (p,), (1.0f0,)) @parameters p d @variables X(t) eqs = [D(X) ~ p - d * X] -@mtkbuild sys = ODESystem(eqs, t) +@mtkbuild sys = System(eqs, t) u0 = [X => 1.0] tspan = (0.0, 100.0) @@ -171,7 +171,7 @@ function level1() eqs = [D(x) ~ p1 * x - p2 * x * y D(y) ~ -p3 * y + p4 * x * y] - sys = structural_simplify(complete(ODESystem( + sys = structural_simplify(complete(System( eqs, t, tspan = (0, 3.0), name = :sys, parameter_dependencies = [y0 => 2p4]))) prob = ODEProblem{true, SciMLBase.FullSpecialize}(sys) end @@ -185,7 +185,7 @@ function level2() eqs = [D(x) ~ p1 * x - p23[1] * x * y D(y) ~ -p23[2] * y + p4 * x * y] - sys = structural_simplify(complete(ODESystem( + sys = structural_simplify(complete(System( eqs, t, tspan = (0, 3.0), name = :sys, parameter_dependencies = [y0 => 2p4]))) prob = ODEProblem{true, SciMLBase.FullSpecialize}(sys) end @@ -199,7 +199,7 @@ function level3() eqs = [D(x) ~ p1 * x - p23[1] * x * y D(y) ~ -p23[2] * y + p4 * x * y] - sys = structural_simplify(complete(ODESystem( + sys = structural_simplify(complete(System( eqs, t, tspan = (0, 3.0), name = :sys, parameter_dependencies = [y0 => 2p4]))) prob = ODEProblem{true, SciMLBase.FullSpecialize}(sys) end @@ -239,7 +239,7 @@ end @variables x(t) y(t) eqs = [D(x) ~ (α - β * y) * x D(y) ~ (δ * x - γ) * y] -@mtkbuild odesys = ODESystem(eqs, t) +@mtkbuild odesys = System(eqs, t) odeprob = ODEProblem( odesys, [x => 1.0, y => 1.0], (0.0, 10.0), [α => 1.5, β => 1.0, γ => 3.0, δ => 1.0]) tunables, _... = canonicalize(Tunable(), odeprob.p) @@ -264,7 +264,7 @@ VVDual = Vector{<:Vector{<:ForwardDiff.Dual}} end @parameters a b::Int c::Vector{Float64} d[1:2, 1:2]::Int e::Foo{Int} f::Foo - @named sys = ODESystem(Equation[], t, [], [a, b, c, d, e, f]) + @named sys = System(Equation[], t, [], [a, b, c, d, e, f]) sys = complete(sys) ps = MTKParameters(sys, Dict(a => 1.0, b => 2, c => 3ones(2), @@ -302,7 +302,7 @@ end @testset "Error on missing parameter defaults" begin @parameters a b c - @named sys = ODESystem(Equation[], t, [], [a, b]; defaults = Dict(b => 2c)) + @named sys = System(Equation[], t, [], [a, b]; defaults = Dict(b => 2c)) sys = complete(sys) @test_throws ["Could not evaluate", "b", "Missing", "2c"] MTKParameters(sys, [a => 1.0]) end @@ -314,7 +314,7 @@ end D(V[1]) ~ k[1] - k[2] * V[1], D(V[2]) ~ k[3] - k[4] * V[2] ] - @mtkbuild osys_scal = ODESystem(eqs, t, [V[1], V[2]], [k[1], k[2], k[3], k[4]]) + @mtkbuild osys_scal = System(eqs, t, [V[1], V[2]], [k[1], k[2], k[3], k[4]]) u0 = [V => [10.0, 20.0]] ps_vec = [k => [2.0, 3.0, 4.0, 5.0]] diff --git a/test/namespacing.jl b/test/namespacing.jl index b6305a1776..3871398144 100644 --- a/test/namespacing.jl +++ b/test/namespacing.jl @@ -1,10 +1,10 @@ using ModelingToolkit using ModelingToolkit: t_nounits as t, D_nounits as D, iscomplete, does_namespacing -@testset "ODESystem" begin +@testset "System" begin @variables x(t) @parameters p - sys = ODESystem(D(x) ~ p * x, t; name = :inner) + sys = System(D(x) ~ p * x, t; name = :inner) @test !iscomplete(sys) @test does_namespacing(sys) @@ -23,7 +23,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D, iscomplete, does_namespac @test isequal(p, nsys.p) @test !isequal(p, sys.p) - @test_throws ["namespacing", "inner"] ODESystem( + @test_throws ["namespacing", "inner"] System( Equation[], t; systems = [nsys], name = :a) end diff --git a/test/nonlinearsystem.jl b/test/nonlinearsystem.jl index a315371141..4aac92ee64 100644 --- a/test/nonlinearsystem.jl +++ b/test/nonlinearsystem.jl @@ -119,14 +119,14 @@ lorenz2 = lorenz(:lorenz2) using OrdinaryDiffEq @independent_variables t D = Differential(t) -@named subsys = convert_system(ODESystem, lorenz1, t) -@named sys = ODESystem([D(subsys.x) ~ subsys.x + subsys.x], t, systems = [subsys]) +@named subsys = convert_system(System, lorenz1, t) +@named sys = System([D(subsys.x) ~ subsys.x + subsys.x], t, systems = [subsys]) sys = structural_simplify(sys) u0 = [subsys.x => 1, subsys.z => 2.0, subsys.y => 1.0] prob = ODEProblem(sys, u0, (0, 1.0), [subsys.σ => 1, subsys.ρ => 2, subsys.β => 3]) sol = solve(prob, FBDF(), reltol = 1e-7, abstol = 1e-7) @test sol[subsys.x] + sol[subsys.y] - sol[subsys.z]≈sol[subsys.u] atol=1e-7 -@test_throws ArgumentError convert_system(ODESystem, sys, t) +@test_throws ArgumentError convert_system(System, sys, t) @parameters σ ρ β @variables x y z @@ -197,7 +197,7 @@ eq = [v1 ~ sin(2pi * t * h) v1 - v2 ~ i1 v2 ~ i2 i1 ~ i2] -@named sys = ODESystem(eq, t) +@named sys = System(eq, t) @test length(equations(structural_simplify(sys))) == 0 @testset "Issue: 1504" begin @@ -393,10 +393,10 @@ end @test is_parameter(sys, p) end -@testset "Can convert from `ODESystem`" begin +@testset "Can convert from `System`" begin @variables x(t) y(t) @parameters p q r - @named sys = ODESystem([D(x) ~ p * x^3 + q, 0 ~ -y + q * x - r], t; + @named sys = System([D(x) ~ p * x^3 + q, 0 ~ -y + q * x - r], t; defaults = [x => 1.0, p => missing], guesses = [p => 1.0], initialization_eqs = [p^3 + q^3 ~ 4r], parameter_dependencies = [r ~ 3p]) nlsys = NonlinearSystem(sys) @@ -435,7 +435,7 @@ end @test sol.ps[p^3 + q^3]≈sol.ps[4r] atol=1e-10 @testset "Differential inside expression also substituted" begin - @named sys = ODESystem([0 ~ y * D(x) + x^2 - p, 0 ~ x * D(y) + y * p], t) + @named sys = System([0 ~ y * D(x) + x^2 - p, 0 ~ x * D(y) + y * p], t) nlsys = NonlinearSystem(sys) vs = ModelingToolkit.vars(equations(nlsys)) @test !in(D(x), vs) diff --git a/test/odesystem.jl b/test/odesystem.jl index 68a62500f8..58716960bc 100644 --- a/test/odesystem.jl +++ b/test/odesystem.jl @@ -24,7 +24,7 @@ eqs = [D(x) ~ σ * (y - x), D(z) ~ x * y - β * z * κ] ModelingToolkit.toexpr.(eqs)[1] -@named de = ODESystem(eqs, t; defaults = Dict(x => 1)) +@named de = System(eqs, t; defaults = Dict(x => 1)) subed = substitute(de, [σ => k]) ssort(eqs) = sort(eqs, by = string) @test isequal(ssort(parameters(subed)), [k, β, ρ]) @@ -32,7 +32,7 @@ ssort(eqs) = sort(eqs, by = string) [D(x) ~ k * (y - x) D(y) ~ (ρ - z) * x - y D(z) ~ x * y - β * κ * z]) -@named des[1:3] = ODESystem(eqs, t) +@named des[1:3] = System(eqs, t) @test length(unique(x -> ModelingToolkit.get_tag(x), des)) == 1 @test eval(toexpr(de)) == de @@ -41,7 +41,7 @@ ssort(eqs) = sort(eqs, by = string) generate_function(de) function test_diffeq_inference(name, sys, iv, dvs, ps) - @testset "ODESystem construction: $name" begin + @testset "System construction: $name" begin @test isequal(independent_variables(sys)[1], value(iv)) @test length(independent_variables(sys)) == 1 @test isempty(setdiff(Set(unknowns(sys)), Set(value.(dvs)))) @@ -124,7 +124,7 @@ f = eval(ODEFunctionExpr(de, [x, y, z], [σ, ρ, β], sparsity = false)) eqs = [D(x) ~ σ * (y - x), D(y) ~ x * (ρ - z) - y * t, D(z) ~ x * y - β * z * κ] -@named de = ODESystem(eqs, t) +@named de = System(eqs, t) de = complete(de) ModelingToolkit.calculate_tgrad(de) @@ -141,7 +141,7 @@ tgrad_iip(du, u, p, t) eqs = [D(x) ~ σ(t - 1) * (y - x), D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z * κ] -@named de = ODESystem(eqs, t) +@named de = System(eqs, t) test_diffeq_inference("single internal iv-varying", de, t, (x, y, z), (σ, ρ, β)) f = generate_function(de, [x, y, z], [σ, ρ, β], expression = Val{false})[2] du = [0.0, 0.0, 0.0] @@ -149,7 +149,7 @@ f(du, [1.0, 2.0, 3.0], [x -> x + 7, 2, 3], 5.0) @test du ≈ [11, -3, -7] eqs = [D(x) ~ x + 10σ(t - 1) + 100σ(t - 2) + 1000σ(t^2)] -@named de = ODESystem(eqs, t) +@named de = System(eqs, t) test_diffeq_inference("many internal iv-varying", de, t, (x,), (σ,)) f = generate_function(de, [x], [σ], expression = Val{false})[2] du = [0.0] @@ -162,7 +162,7 @@ D2 = D^2 @variables u(t) uˍtt(t) uˍt(t) xˍt(t) eqs = [D3(u) ~ 2(D2(u)) + D(u) + D(x) + 1 D2(x) ~ D(x) + 2] -@named de = ODESystem(eqs, t) +@named de = System(eqs, t) de1 = ode_order_lowering(de) lowered_eqs = [D(uˍtt) ~ 2uˍtt + uˍt + xˍt + 1 D(xˍt) ~ xˍt + 2 @@ -170,13 +170,13 @@ lowered_eqs = [D(uˍtt) ~ 2uˍtt + uˍt + xˍt + 1 D(u) ~ uˍt D(x) ~ xˍt] -#@test de1 == ODESystem(lowered_eqs) +#@test de1 == System(lowered_eqs) # issue #219 @test all(isequal.( [ModelingToolkit.var_from_nested_derivative(eq.lhs)[1] for eq in equations(de1)], - unknowns(@named lowered = ODESystem(lowered_eqs, t)))) + unknowns(@named lowered = System(lowered_eqs, t)))) test_diffeq_inference("first-order transform", de1, t, [uˍtt, xˍt, uˍt, u, x], []) du = zeros(5) @@ -189,7 +189,7 @@ a = y - x eqs = [D(x) ~ σ * a, D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z * κ] -@named de = ODESystem(eqs, t) +@named de = System(eqs, t) generate_function(de, [x, y, z], [σ, ρ, β]) jac = calculate_jacobian(de) @test ModelingToolkit.jacobian_sparsity(de).colptr == sparse(jac).colptr @@ -201,7 +201,7 @@ f = ODEFunction(complete(de), [x, y, z], [σ, ρ, β]) _x = y / C eqs = [D(x) ~ -A * x, D(y) ~ A * x - B * _x] -@named de = ODESystem(eqs, t) +@named de = System(eqs, t) @test begin local f, du f = generate_function(de, [x, y], [A, B, C], expression = Val{false})[2] @@ -242,7 +242,7 @@ ODEFunction(de)(similar(prob.u0), prob.u0, prob.p, 0.1) eqs = [D(y₁) ~ -k₁ * y₁ + k₃ * y₂ * y₃, 0 ~ y₁ + y₂ + y₃ - 1, D(y₂) ~ k₁ * y₁ - k₂ * y₂^2 - k₃ * y₂ * y₃ * κ] -@named sys = ODESystem(eqs, t, defaults = [k₁ => 100, k₂ => 3e7, y₁ => 1.0]) +@named sys = System(eqs, t, defaults = [k₁ => 100, k₂ => 3e7, y₁ => 1.0]) sys = complete(sys) u0 = Pair[] push!(u0, y₂ => 0.0) @@ -289,14 +289,14 @@ sol_dpmap = solve(prob_dpmap, Rodas5()) function makesys(name) @parameters a = 1.0 @variables x(t) = 0.0 - ODESystem([D(x) ~ -a * x], t; name) + System([D(x) ~ -a * x], t; name) end function makecombinedsys() sys1 = makesys(:sys1) sys2 = makesys(:sys2) @parameters b = 1.0 - complete(ODESystem(Equation[], t, [], [b]; systems = [sys1, sys2], name = :foo)) + complete(System(Equation[], t, [], [b]; systems = [sys1, sys2], name = :foo)) end sys = makecombinedsys() @@ -341,7 +341,7 @@ end eqs = [D(x) ~ σ * (y - x), D(y) ~ x - β * y, x + z ~ y] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) @test all(isequal.(unknowns(sys), [x, y, z])) @test all(isequal.(parameters(sys), [σ, β])) @test equations(sys) == eqs @@ -351,13 +351,13 @@ eqs = [D(x) ~ σ * (y - x), using ModelingToolkit @parameters a @variables x(t) -@named sys = ODESystem([D(x) ~ a], t) +@named sys = System([D(x) ~ a], t) @test issym(equations(sys)[1].rhs) # issue 708 @parameters a @variables x(t) y(t) z(t) -@named sys = ODESystem([D(x) ~ y, 0 ~ x + z, 0 ~ x - y], t, [z, y, x], []) +@named sys = System([D(x) ~ y, 0 ~ x + z, 0 ~ x - y], t, [z, y, x], []) asys = add_accumulations(sys) @variables accumulation_x(t) accumulation_y(t) accumulation_z(t) eqs = [0 ~ x + z @@ -386,16 +386,16 @@ eqs = [ D(x1) ~ -x1, 0 ~ x1 - x2 ] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) @test isequal(ModelingToolkit.get_iv(sys), t) @test isequal(unknowns(sys), [x1, x2]) @test isempty(parameters(sys)) -# one equation ODESystem test +# one equation System test @parameters r @variables x(t) eq = D(x) ~ r * x -@named ode = ODESystem(eq, t) +@named ode = System(eq, t) @test equations(ode) == [eq] # issue #808 @testset "Combined system name collisions" begin @@ -403,14 +403,14 @@ eq = D(x) ~ r * x @parameters a @variables x(t) f(t) - ODESystem([D(x) ~ -a * x + f], t; name) + System([D(x) ~ -a * x + f], t; name) end function issue808() sys1 = makesys(:sys1) sys2 = makesys(:sys1) - @test_throws ArgumentError ODESystem([sys2.f ~ sys1.x, D(sys1.f) ~ 0], t, + @test_throws ArgumentError System([sys2.f ~ sys1.x, D(sys1.f) ~ 0], t, systems = [sys1, sys2], name = :foo) end issue808() @@ -422,19 +422,19 @@ vars = @variables((u1,)) eqs = [ D(u1) ~ 1 ] -@test_throws ArgumentError ODESystem(eqs, t, vars, pars, name = :foo) +@test_throws ArgumentError System(eqs, t, vars, pars, name = :foo) #Issue 1063/998 pars = [t] vars = @variables((u1(t),)) -@test_throws ArgumentError ODESystem(eqs, t, vars, pars, name = :foo) +@test_throws ArgumentError System(eqs, t, vars, pars, name = :foo) @parameters w der = Differential(w) eqs = [ der(u1) ~ t ] -@test_throws ArgumentError ModelingToolkit.ODESystem(eqs, t, vars, pars, name = :foo) +@test_throws ArgumentError ModelingToolkit.System(eqs, t, vars, pars, name = :foo) @variables x(t) @parameters M b k @@ -442,7 +442,7 @@ eqs = [D(D(x)) ~ -b / M * D(x) - k / M * x] ps = [M, b, k] default_u0 = [D(x) => 0.0, x => 10.0] default_p = [M => 1.0, b => 1.0, k => 1.0] -@named sys = ODESystem(eqs, t, [x], ps; defaults = [default_u0; default_p], tspan) +@named sys = System(eqs, t, [x], ps; defaults = [default_u0; default_p], tspan) sys = ode_order_lowering(sys) sys = complete(sys) prob = ODEProblem(sys) @@ -455,7 +455,7 @@ prob = ODEProblem{false}(sys; u0_constructor = x -> SVector(x...)) # check_eqs_u0 kwarg test @variables x1(t) x2(t) eqs = [D(x1) ~ -x1] -@named sys = ODESystem(eqs, t, [x1, x2], []) +@named sys = System(eqs, t, [x1, x2], []) sys = complete(sys) @test_throws ArgumentError ODEProblem(sys, [1.0, 1.0], (0.0, 1.0)) @test_nowarn ODEProblem(sys, [1.0, 1.0], (0.0, 1.0), check_length = false) @@ -466,7 +466,7 @@ let @variables x(t) ẋ(t) f(t) [input = true] eqs = [D(x) ~ ẋ, D(ẋ) ~ f - k * x - d * ẋ] - @named sys = ODESystem(eqs, t, [x, ẋ], [d, k]) + @named sys = System(eqs, t, [x, ẋ], [f, d, k]) sys = structural_simplify(sys; inputs = [f]) @test isequal(calculate_control_jacobian(sys), @@ -476,7 +476,7 @@ end # issue 1109 let @variables x(t)[1:3, 1:3] - @named sys = ODESystem(D.(x) .~ x, t) + @named sys = System(D.(x) .~ x, t) @test_nowarn structural_simplify(sys) end @@ -487,7 +487,7 @@ sts = @variables x(t)[1:3]=[1, 2, 3.0] y(t)=1.0 ps = @parameters p[1:3] = [1, 2, 3] eqs = [collect(D.(x) .~ x) D(y) ~ norm(collect(x)) * y - x[1]] -@named sys = ODESystem(eqs, t, sts, ps) +@named sys = System(eqs, t, sts, ps) sys = structural_simplify(sys) @test isequal(@nonamespace(sys.x), x) @test isequal(@nonamespace(sys.y), y) @@ -511,14 +511,14 @@ function submodel(; name) @variables y(t) @parameters A[1:5] A = collect(A) - ODESystem(D(y) ~ sum(A) * y, t; name = name) + System(D(y) ~ sum(A) * y, t; name = name) end # Build system @named sys1 = submodel() @named sys2 = submodel() -@named sys = ODESystem([0 ~ sys1.y + sys2.y], t; systems = [sys1, sys2]) +@named sys = System([0 ~ sys1.y + sys2.y], t; systems = [sys1, sys2]) # DelayDiffEq using ModelingToolkit: hist @@ -526,7 +526,7 @@ using ModelingToolkit: hist xₜ₋₁ = hist(x, t - 1) eqs = [D(x) ~ x * y D(y) ~ y * x - xₜ₋₁] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) # register using StaticArrays @@ -537,8 +537,8 @@ foo(a, ms::AbstractVector) = a + sum(ms) @register_symbolic foo(a, ms::AbstractVector) @variables x(t) ms(t)[1:3] eqs = [D(x) ~ foo(x, ms); D(ms) ~ ones(3)] -@named sys = ODESystem(eqs, t, [x; ms], []) -@named emptysys = ODESystem(Equation[], t) +@named sys = System(eqs, t, [x; ms], []) +@named emptysys = System(Equation[], t) @mtkbuild outersys = compose(emptysys, sys) prob = ODEProblem( outersys, [outersys.sys.x => 1.0; collect(outersys.sys.ms .=> 1:3)], (0, 1.0)) @@ -552,8 +552,8 @@ bar(x, p) = p * x end @parameters p[1:3, 1:3] eqs = [D(x) ~ foo(x, ms); D(ms) ~ bar(ms, p)] -@named sys = ODESystem(eqs, t) -@named emptysys = ODESystem(Equation[], t) +@named sys = System(eqs, t) +@named emptysys = System(Equation[], t) @mtkbuild outersys = compose(emptysys, sys) prob = ODEProblem( outersys, [sys.x => 1.0, sys.ms => 1:3], (0.0, 1.0), [sys.p => ones(3, 3)]) @@ -564,13 +564,13 @@ obsfn = ModelingToolkit.build_explicit_observed_function( # x/x @variables x(t) -@named sys = ODESystem([D(x) ~ x / x], t) +@named sys = System([D(x) ~ x / x], t) @test equations(alias_elimination(sys)) == [D(x) ~ 1] # observed variable handling @variables x(t) RHS(t) @parameters τ -@named fol = ODESystem([D(x) ~ (1 - x) / τ], t; observed = [RHS ~ (1 - x) / τ]) +@named fol = System([D(x) ~ (1 - x) / τ], t; observed = [RHS ~ (1 - x) / τ]) @test isequal(RHS, @nonamespace fol.RHS) RHS2 = RHS @unpack RHS = fol @@ -586,13 +586,13 @@ eqs = [ z ~ α * x - β * y ] -@named sys = ODESystem(eqs, t, [x, y, z], [α, β]) +@named sys = System(eqs, t, [x, y, z], [α, β]) sys = complete(sys) @test_throws Any ODEFunction(sys) eqs = copy(eqs) eqs[end] = D(D(z)) ~ α * x - β * y -@named sys = ODESystem(eqs, t, [x, y, z], [α, β]) +@named sys = System(eqs, t, [x, y, z], [α, β]) sys = complete(sys) @test_throws Any ODEFunction(sys) @@ -644,7 +644,7 @@ sys = complete(sys) D(us[i]) ~ dummy_identity(buffer[i], us[i]) end - @named sys = ODESystem(eqs, t, us, ps; defaults = defs, preface = preface) + @named sys = System(eqs, t, us, ps; defaults = defs, preface = preface) sys = complete(sys) prob = ODEProblem(sys, [], (0.0, 1.0)) sol = solve(prob, Euler(); dt = 0.1) @@ -659,7 +659,7 @@ let eqs = [D(x[1]) ~ x[2] D(x[2]) ~ -x[1] - 0.5 * x[2] + k y ~ 0.9 * x[1] + x[2]] - @named sys = ODESystem(eqs, t, vcat(x, [y]), [k], defaults = Dict(x .=> 0)) + @named sys = System(eqs, t, vcat(x, [y]), [k], defaults = Dict(x .=> 0)) sys = structural_simplify(sys) u0 = [0.5, 0] @@ -705,7 +705,7 @@ let @parameters k1 k2::Int @variables A(t) eqs = [D(A) ~ -k1 * k2 * A] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) sys = complete(sys) u0map = [A => 1.0] pmap = (k1 => 1.0, k2 => 1) @@ -741,7 +741,7 @@ let D(p) ~ q / C 0 ~ q / C - R * F] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) @test length(equations(structural_simplify(sys))) == 2 end @@ -774,11 +774,11 @@ let D(z2) ~ y2 - beta * z2 # missing x2 term ] - @named sys1 = ODESystem(eqs, t) - @named sys2 = ODESystem(eqs2, t) - @named sys3 = ODESystem(eqs3, t) + @named sys1 = System(eqs, t) + @named sys2 = System(eqs2, t) + @named sys3 = System(eqs3, t) ssys3 = structural_simplify(sys3) - @named sys4 = ODESystem(eqs4, t) + @named sys4 = System(eqs4, t) @test ModelingToolkit.isisomorphic(sys1, sys2) @test !ModelingToolkit.isisomorphic(sys1, sys3) @@ -787,7 +787,7 @@ let # 1281 iv2 = only(independent_variables(sys2)) - @test isequal(only(independent_variables(convert_system(ODESystem, sys1, iv2))), iv2) + @test isequal(only(independent_variables(convert_system(System, sys1, iv2))), iv2) end let @@ -799,7 +799,7 @@ let sph ~ b spm ~ 0 sph ~ a] - @named sys = ODESystem(eqs, t, vars, pars) + @named sys = System(eqs, t, vars, pars) @test_throws ModelingToolkit.ExtraEquationsSystemException structural_simplify(sys) end @@ -823,7 +823,7 @@ let ps = [] - @named sys = ODESystem(eqs, t, u, ps) + @named sys = System(eqs, t, u, ps) @test_nowarn simpsys = structural_simplify(sys) sys = structural_simplify(sys) @@ -844,7 +844,7 @@ let @parameters k @variables A(t) eqs = [D(A) ~ -k * A] - @named osys = ODESystem(eqs, t) + @named osys = System(eqs, t) osys = complete(osys) oprob = ODEProblem(osys, [A => 1.0], (0.0, 10.0), [k => 1.0]; check_length = false) @test_nowarn sol = solve(oprob, Tsit5()) @@ -854,13 +854,13 @@ let function sys1(; name) vars = @variables x(t)=0.0 dx(t)=0.0 - ODESystem([D(x) ~ dx], t, vars, []; name, defaults = [D(x) => x]) + System([D(x) ~ dx], t, vars, []; name, defaults = [D(x) => x]) end function sys2(; name) @named s1 = sys1() - ODESystem(Equation[], t, [], []; systems = [s1], name) + System(Equation[], t, [], []; systems = [s1], name) end s1′ = sys1(; name = :s1) @@ -889,7 +889,7 @@ let @variables u(t) x(t) v(t) eqs = [u ~ kx * x + kv * v] - ODESystem(eqs, t; name) + System(eqs, t; name) end @named ctrl = pd_ctrl() @@ -900,7 +900,7 @@ let @variables u(t) x(t) v(t) eqs = [D(x) ~ v, D(v) ~ u] - ODESystem(eqs, t; name) + System(eqs, t; name) end @named sys = double_int() @@ -909,7 +909,7 @@ let connections = [sys.u ~ ctrl.u, ctrl.x ~ sys.x, ctrl.v ~ sys.v] - @named connected = ODESystem(connections, t) + @named connected = System(connections, t) @named sys_con = compose(connected, sys, ctrl) sys_simp = structural_simplify(sys_con) @@ -922,7 +922,7 @@ let @variables x(t) = 1 @variables y(t) = 1 @parameters pp = -1 - @named sys4 = ODESystem([D(x) ~ -y; D(y) ~ 1 + pp * y + x], t) + @named sys4 = System([D(x) ~ -y; D(y) ~ 1 + pp * y + x], t) sys4s = structural_simplify(sys4) prob = ODEProblem(sys4s, [x => 1.0, D(x) => 1.0], (0, 1.0)) @test string.(unknowns(prob.f.sys)) == ["x(t)", "y(t)"] @@ -935,7 +935,7 @@ let ∂t = D eqs = [∂t(Q) ~ 0.2P ∂t(P) ~ -80.0sin(Q)] - @test_throws ArgumentError @named sys = ODESystem(eqs, t) + @test_throws ArgumentError @named sys = System(eqs, t) end @parameters C L R @@ -945,12 +945,12 @@ eqs = [D(q) ~ -p / L - F D(p) ~ q / C 0 ~ q / C - R * F] testdict = Dict([:name => "test"]) -@named sys = ODESystem(eqs, t, metadata = testdict) +@named sys = System(eqs, t, metadata = testdict) @test get_metadata(sys) == testdict @variables P(t)=NaN Q(t)=NaN eqs = [D(Q) ~ 1 / sin(P), D(P) ~ log(-cos(Q))] -@named sys = ODESystem(eqs, t, [P, Q], []) +@named sys = System(eqs, t, [P, Q], []) sys = complete(debug_system(sys)) prob = ODEProblem(sys, [], (0.0, 1.0)) @test_throws "log(-cos(Q(t))) errors" prob.f([1, 0], prob.p, 0.0) @@ -961,7 +961,7 @@ let @variables y(t) = 1 @parameters pp = -1 der = Differential(t) - @named sys4 = ODESystem([der(x) ~ -y; der(y) ~ 1 + pp * y + x], t) + @named sys4 = System([der(x) ~ -y; der(y) ~ 1 + pp * y + x], t) sys4s = structural_simplify(sys4) prob = ODEProblem(sys4s, [x => 1.0, D(x) => 1.0], (0, 1.0)) @test !isnothing(prob.f.sys) @@ -969,15 +969,15 @@ end # SYS 1: vars_sub1 = @variables s1(t) -@named sub = ODESystem(Equation[], t, vars_sub1, []) +@named sub = System(Equation[], t, vars_sub1, []) vars1 = @variables x1(t) -@named sys1 = ODESystem(Equation[], t, vars1, [], systems = [sub]) -@named sys2 = ODESystem(Equation[], t, vars1, [], systems = [sys1, sub]) +@named sys1 = System(Equation[], t, vars1, [], systems = [sub]) +@named sys2 = System(Equation[], t, vars1, [], systems = [sys1, sub]) # SYS 2: Extension to SYS 1 vars_sub2 = @variables s2(t) -@named partial_sub = ODESystem(Equation[], t, vars_sub2, []) +@named partial_sub = System(Equation[], t, vars_sub2, []) @named sub = extend(partial_sub, sub) # no warnings for systems without events @@ -996,7 +996,7 @@ let # Issue https://github.com/SciML/ModelingToolkit.jl/issues/2322 eqs = [Dt(x) ~ -b * (x - z), 0 ~ z - c * x] - sys = ODESystem(eqs, t; name = :kjshdf) + sys = System(eqs, t; name = :kjshdf) sys_simp = structural_simplify(sys) @@ -1011,7 +1011,7 @@ end # Issue#2599 @variables x(t) y(t) eqs = [D(x) ~ x * t, y ~ 2x] -@mtkbuild sys = ODESystem(eqs, t; continuous_events = [[y ~ 3] => [x ~ 2]]) +@mtkbuild sys = System(eqs, t; continuous_events = [[y ~ 3] => [x ~ 2]]) prob = ODEProblem(sys, [x => 1.0], (0.0, 10.0)) @test_nowarn solve(prob, Tsit5()) @@ -1022,14 +1022,14 @@ prob = ODEProblem(sys, [x => 1.0], (0.0, 10.0)) eqs = [ D(x) ~ p * x ] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( eqs, t; continuous_events = [[norm(x) ~ 3.0] => [x ~ ones(3)]]) # array affect equations used to not work prob1 = @test_nowarn ODEProblem(sys, [x => ones(3)], (0.0, 10.0), [p => ones(3, 3)]) sol1 = @test_nowarn solve(prob1, Tsit5()) # array condition equations also used to not work - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( eqs, t; continuous_events = [[x ~ sqrt(3) * ones(3)] => [x ~ ones(3)]]) # array affect equations used to not work prob2 = @test_nowarn ODEProblem(sys, [x => ones(3)], (0.0, 10.0), [p => ones(3, 3)]) @@ -1042,7 +1042,7 @@ end @test_skip begin @variables x(t)[1:3] y(t) @parameters p[1:3, 1:3] - @test_nowarn @mtkbuild sys = ODESystem([D(x) ~ p * x, D(y) ~ x' * p * x], t) + @test_nowarn @mtkbuild sys = System([D(x) ~ p * x, D(y) ~ x' * p * x], t) @test_nowarn ODEProblem(sys, [x => ones(3), y => 2], (0.0, 10.0), [p => ones(3, 3)]) end @@ -1054,7 +1054,7 @@ eqs = [D(D(q₁)) ~ -λ * q₁, q₁ ~ L * sin(θ), q₂ ~ L * cos(θ)] -@named pend = ODESystem(eqs, t) +@named pend = System(eqs, t) @test_nowarn generate_initializesystem( pend, u0map = [q₁ => 1.0, q₂ => 0.0], guesses = [λ => 1]) @@ -1066,7 +1066,7 @@ eqs = [D(D(x)) ~ σ * (y - x), D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z] -@mtkbuild sys = ODESystem(eqs, t) +@mtkbuild sys = System(eqs, t) u0 = [D(x) => 2.0, x => 1.0, @@ -1098,7 +1098,7 @@ function FML2(; name) eqs = [ D(x) ~ constant.output.u + k2[1] ] - ODESystem(eqs, t; systems, name) + System(eqs, t; systems, name) end @mtkbuild model = FML2() @@ -1114,7 +1114,7 @@ function RealExpression(; name, y) eqns = [ u ~ y ] - sys = ODESystem(eqns, t, vars, []; name) + sys = System(eqns, t, vars, []; name) end function RealExpressionSystem(; name) @@ -1125,7 +1125,7 @@ function RealExpressionSystem(; name) @named e1 = RealExpression(y = x) # This works perfectly. @named e2 = RealExpression(y = z[1]) # This bugs. However, `full_equations(e2)` works as expected. systems = [e1, e2] - ODESystem(Equation[], t, Iterators.flatten(vars), []; systems, name) + System(Equation[], t, Iterators.flatten(vars), []; systems, name) end @named sys = RealExpressionSystem() @@ -1138,8 +1138,8 @@ orig_vars = unknowns(sys) # Guesses in hierarchical systems @variables x(t) y(t) -@named sys = ODESystem(Equation[], t, [x], []; guesses = [x => 1.0]) -@named outer = ODESystem( +@named sys = System(Equation[], t, [x], []; guesses = [x => 1.0]) +@named outer = System( [D(y) ~ sys.x + t, 0 ~ t + y - sys.x * y], t, [y], []; systems = [sys]) @test ModelingToolkit.guesses(outer)[sys.x] == 1.0 outer = structural_simplify(outer) @@ -1150,9 +1150,9 @@ int = init(prob, Rodas4()) # Ensure indexes of array symbolics are cached appropriately @variables x(t)[1:2] -@named sys = ODESystem(Equation[], t, [x], []) +@named sys = System(Equation[], t, [x], []) sys1 = complete(sys) -@named sys = ODESystem(Equation[], t, [x...], []) +@named sys = System(Equation[], t, [x...], []) sys2 = complete(sys) for sys in [sys1, sys2] for (sym, idx) in [(x, 1:2), (x[1], 1), (x[2], 2)] @@ -1162,9 +1162,9 @@ for sys in [sys1, sys2] end @variables x(t)[1:2, 1:2] -@named sys = ODESystem(Equation[], t, [x], []) +@named sys = System(Equation[], t, [x], []) sys1 = complete(sys) -@named sys = ODESystem(Equation[], t, [x...], []) +@named sys = System(Equation[], t, [x...], []) sys2 = complete(sys) for sys in [sys1, sys2] @test is_variable(sys, x) @@ -1177,7 +1177,7 @@ end @testset "Non-1-indexed variable array (issue #2670)" begin @variables x(t)[0:1] # 0-indexed variable array - @named sys = ODESystem([x[0] ~ 0.0, D(x[1]) ~ x[0]], t, [x], []) + @named sys = System([x[0] ~ 0.0, D(x[1]) ~ x[0]], t, [x], []) @test_nowarn sys = structural_simplify(sys) @test equations(sys) == [D(x[1]) ~ 0.0] end @@ -1185,7 +1185,7 @@ end # Namespacing of array variables @testset "Namespacing of array variables" begin @variables x(t)[1:2] - @named sys = ODESystem(Equation[], t) + @named sys = System(Equation[], t) @test getname(unknowns(sys, x)) == :sys₊x @test size(unknowns(sys, x)) == size(x) end @@ -1194,7 +1194,7 @@ end @testset "ForwardDiff through ODEProblem constructor" begin @parameters P @variables x(t) - sys = structural_simplify(ODESystem([D(x) ~ P], t, [x], [P]; name = :sys)) + sys = structural_simplify(System([D(x) ~ P], t, [x], [P]; name = :sys)) function x_at_1(P) prob = ODEProblem(sys, [x => P], (0.0, 1.0), [sys.P => P]) @@ -1207,7 +1207,7 @@ end @testset "Inplace observed functions" begin @parameters P @variables x(t) - sys = structural_simplify(ODESystem([D(x) ~ P], t, [x], [P]; name = :sys)) + sys = structural_simplify(System([D(x) ~ P], t, [x], [P]; name = :sys)) obsfn = ModelingToolkit.build_explicit_observed_function( sys, [x + 1, x + P, x + t], return_inplace = true)[2] ps = ModelingToolkit.MTKParameters(sys, [P => 2.0]) @@ -1220,7 +1220,7 @@ end @testset "Custom independent variable" begin @independent_variables x @variables y(x) - @test_nowarn @named sys = ODESystem([y ~ 0], x) + @test_nowarn @named sys = System([y ~ 0], x) # the same, but with @mtkmodel @independent_variables x @@ -1235,7 +1235,7 @@ end @test_nowarn @mtkbuild sys = MyModel() @variables x y(x) - @test_logs (:warn,) @named sys = ODESystem([y ~ 0], x) + @test_logs (:warn,) @named sys = System([y ~ 0], x) @parameters T D = Differential(T) @@ -1243,7 +1243,7 @@ end eqs = [D(x) ~ 0.0] initialization_eqs = [x ~ T] guesses = [x => 0.0] - @named sys2 = ODESystem(eqs, T; initialization_eqs, guesses) + @named sys2 = System(eqs, T; initialization_eqs, guesses) prob2 = ODEProblem(structural_simplify(sys2), [], (1.0, 2.0), []) sol2 = solve(prob2) @test all(sol2[x] .== 1.0) @@ -1253,10 +1253,10 @@ end @testset "Extend systems with a field that can be nothing" begin A = Dict(:a => 1) B = Dict(:b => 2) - @named A1 = ODESystem(Equation[], t, [], []) - @named B1 = ODESystem(Equation[], t, [], []) - @named A2 = ODESystem(Equation[], t, [], []; metadata = A) - @named B2 = ODESystem(Equation[], t, [], []; metadata = B) + @named A1 = System(Equation[], t, [], []) + @named B1 = System(Equation[], t, [], []) + @named A2 = System(Equation[], t, [], []; metadata = A) + @named B2 = System(Equation[], t, [], []; metadata = B) @test ModelingToolkit.get_metadata(extend(A1, B1)) == nothing @test ModelingToolkit.get_metadata(extend(A1, B2)) == B @test ModelingToolkit.get_metadata(extend(A2, B1)) == A @@ -1268,7 +1268,7 @@ end @variables x(t) y(t) z(t) eqs = [D(x) ~ 0, y ~ x, D(z) ~ 0] defaults = [x => 1, z => y] - @named sys = ODESystem(eqs, t; defaults) + @named sys = System(eqs, t; defaults) ssys = structural_simplify(sys) prob = ODEProblem(ssys, [], (0.0, 1.0), []) @test prob[x] == prob[y] == prob[z] == 1.0 @@ -1277,7 +1277,7 @@ end @variables x(t) y(t) z(t) eqs = [D(x) ~ 0, y ~ y0 / x, D(z) ~ y] defaults = [y0 => 1, x => 1, z => y] - @named sys = ODESystem(eqs, t; defaults) + @named sys = System(eqs, t; defaults) ssys = structural_simplify(sys) prob = ODEProblem(ssys, [], (0.0, 1.0), []) @test prob[x] == prob[y] == prob[z] == 1.0 @@ -1286,7 +1286,7 @@ end @testset "Scalarized parameters in array functions" begin @variables u(t)[1:2] x(t)[1:2] o(t)[1:2] @parameters p[1:2, 1:2] [tunable = false] - @named sys = ODESystem( + @named sys = System( [D(u) ~ (sum(u) + sum(x) + sum(p) + sum(o)) * x, o ~ prod(u) * x], t, [u..., x..., o...], [p...]) sys1 = structural_simplify(sys, inputs = [x...], outputs = []) @@ -1347,7 +1347,7 @@ end @testset "Independent variable as system property" begin @variables x(t) - @named sys = ODESystem([x ~ t], t) + @named sys = System([x ~ t], t) @named sys = compose(sys, sys) # nest into a hierarchical system @test t === sys.t === sys.sys.t end @@ -1355,7 +1355,7 @@ end @testset "Substituting preserves parameter dependencies, defaults, guesses" begin @parameters p1 p2 @variables x(t) y(t) - @named sys = ODESystem([D(x) ~ y + p2], t; parameter_dependencies = [p2 ~ 2p1], + @named sys = System([D(x) ~ y + p2], t; parameter_dependencies = [p2 ~ 2p1], defaults = [p1 => 1.0, p2 => 2.0], guesses = [p1 => 2.0, p2 => 3.0]) @parameters p3 sys2 = substitute(sys, [p1 => p3]) @@ -1371,10 +1371,10 @@ end @testset "Substituting with nested systems" begin @parameters p1 p2 @variables x(t) y(t) - @named innersys = ODESystem([D(x) ~ y + p2], t; parameter_dependencies = [p2 ~ 2p1], + @named innersys = System([D(x) ~ y + p2], t; parameter_dependencies = [p2 ~ 2p1], defaults = [p1 => 1.0, p2 => 2.0], guesses = [p1 => 2.0, p2 => 3.0]) @parameters p3 p4 - @named outersys = ODESystem( + @named outersys = System( [D(innersys.y) ~ innersys.y + p4], t; parameter_dependencies = [p4 ~ 3p3], defaults = [p3 => 3.0, p4 => 9.0], guesses = [p4 => 10.0], systems = [innersys]) @test_nowarn structural_simplify(outersys) @@ -1401,7 +1401,7 @@ end o[1] ~ sum(p) * sum(u) o[2] ~ sum(p) * sum(x)] - @named sys = ODESystem(eqs, t, [u..., x..., o], [p...]) + @named sys = System(eqs, t, [u..., x..., o], [p...]) sys1 = structural_simplify(sys, inputs = [x...], outputs = [o...], split = false) @test_nowarn ModelingToolkit.build_explicit_observed_function(sys1, u; inputs = [x...]) @@ -1414,17 +1414,17 @@ end @testset "Passing `nothing` to `u0`" begin @variables x(t) = 1 - @mtkbuild sys = ODESystem(D(x) ~ t, t) + @mtkbuild sys = System(D(x) ~ t, t) prob = @test_nowarn ODEProblem(sys, nothing, (0.0, 1.0)) @test_nowarn solve(prob) end @testset "ODEs are not DDEs" begin @variables x(t) - @named sys = ODESystem(D(x) ~ x, t) + @named sys = System(D(x) ~ x, t) @test !ModelingToolkit.is_dde(sys) @test is_markovian(sys) - @named sys2 = ODESystem(Equation[], t; systems = [sys]) + @named sys2 = System(Equation[], t; systems = [sys]) @test !ModelingToolkit.is_dde(sys) @test is_markovian(sys) end @@ -1434,7 +1434,7 @@ end for eqs in [D(x) ~ x, collect(D(x) .~ x)] for dvs in [[x], collect(x)] - @named sys = ODESystem(eqs, t, dvs, []) + @named sys = System(eqs, t, dvs, []) sys = complete(sys) if eqs isa Vector && length(eqs) == 2 && length(dvs) == 2 @test_nowarn ODEProblem(sys, [], (0.0, 1.0)) @@ -1447,7 +1447,7 @@ end end for eqs in [[D(x) ~ x, D(y) ~ y], [collect(D(x) .~ x); D(y) ~ y]] for dvs in [[x, y], [x..., y]] - @named sys = ODESystem(eqs, t, dvs, []) + @named sys = System(eqs, t, dvs, []) sys = complete(sys) if eqs isa Vector && length(eqs) == 3 && length(dvs) == 3 @test_nowarn ODEProblem(sys, [], (0.0, 1.0)) @@ -1462,13 +1462,13 @@ end @testset "Parameter dependencies with constant RHS" begin @parameters p - @test_nowarn ODESystem(Equation[], t; parameter_dependencies = [p ~ 1.0], name = :a) + @test_nowarn System(Equation[], t; parameter_dependencies = [p ~ 1.0], name = :a) end @testset "Variable discovery in arrays of `Num` inside callable symbolic" begin @variables x(t) y(t) @parameters foo(::AbstractVector) - sys = @test_nowarn ODESystem(D(x) ~ foo([x, 2y]), t; name = :sys) + sys = @test_nowarn System(D(x) ~ foo([x, 2y]), t; name = :sys) @test length(unknowns(sys)) == 2 @test any(isequal(y), unknowns(sys)) end @@ -1476,7 +1476,7 @@ end @testset "Inplace observed" begin @variables x(t) @parameters p[1:2] q - @mtkbuild sys = ODESystem(D(x) ~ sum(p) * x + q * t, t) + @mtkbuild sys = System(D(x) ~ sum(p) * x + q * t, t) prob = ODEProblem(sys, [x => 1.0], (0.0, 1.0), [p => ones(2), q => 2]) obsfn = ModelingToolkit.build_explicit_observed_function( sys, [p..., q], return_inplace = true)[2] @@ -1516,7 +1516,7 @@ end @testset "`complete` with `split = false` removes the index cache" begin @variables x(t) @parameters p - @mtkbuild sys = ODESystem(D(x) ~ p * t, t) + @mtkbuild sys = System(D(x) ~ p * t, t) @test ModelingToolkit.get_index_cache(sys) !== nothing sys2 = complete(sys; split = false) @test ModelingToolkit.get_index_cache(sys2) === nothing @@ -1526,7 +1526,7 @@ end @testset "Observed variables dependent on discrete parameters" begin @variables x(t) obs(t) @parameters c(t) - @mtkbuild sys = ODESystem([D(x) ~ c * cos(x), obs ~ c], + @mtkbuild sys = System([D(x) ~ c * cos(x), obs ~ c], t, [x], [c]; @@ -1540,7 +1540,7 @@ end @testset "DAEProblem with array parameters" begin @variables x(t)=1.0 y(t) [guess = 1.0] @parameters p[1:2] = [1.0, 2.0] - @mtkbuild sys = ODESystem([D(x) ~ x, y^2 ~ x + sum(p)], t) + @mtkbuild sys = System([D(x) ~ x, y^2 ~ x + sum(p)], t) prob = DAEProblem(sys, [D(x) => x, D(y) => D(x) / 2y], [], (0.0, 1.0)) sol = solve(prob, DFBDF(), abstol = 1e-8, reltol = 1e-8) @test sol[x]≈sol[y^2 - sum(p)] atol=1e-5 @@ -1549,7 +1549,7 @@ end @testset "Symbolic tstops" begin @variables x(t) = 1.0 @parameters p=0.15 q=0.25 r[1:2]=[0.35, 0.45] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ p * x + q * t + sum(r)], t; tstops = [0.5p, [0.1, 0.2], [p + 2q], r]) prob = ODEProblem(sys, [], (0.0, 5.0)) sol = solve(prob) @@ -1561,7 +1561,7 @@ end @test all(x -> any(isapprox(x, atol = 1e-6), sol2.t), expected_tstops) @variables y(t) [guess = 1.0] - @mtkbuild sys = ODESystem([D(x) ~ p * x + q * t + sum(r), y^3 ~ 2x + 1], + @mtkbuild sys = System([D(x) ~ p * x + q * t + sum(r), y^3 ~ 2x + 1], t; tstops = [0.5p, [0.1, 0.2], [p + 2q], r]) prob = DAEProblem( sys, [D(y) => 2D(x) / 3y^2, D(x) => p * x + q * t + sum(r)], [], (0.0, 5.0)) @@ -1578,14 +1578,14 @@ end @parameters p d @variables X(t)::Int64 eq = D(X) ~ p - d * X - @test_throws ArgumentError @mtkbuild osys = ODESystem([eq], t) + @test_throws ArgumentError @mtkbuild osys = System([eq], t) @variables Y(t)[1:3]::String eq = D(Y) ~ [p, p, p] - @test_throws ArgumentError @mtkbuild osys = ODESystem([eq], t) + @test_throws ArgumentError @mtkbuild osys = System([eq], t) @variables X(t)::Complex eq = D(X) ~ p - d * X - @test_nowarn @named osys = ODESystem([eq], t) + @test_nowarn @named osys = System([eq], t) end # Test `isequal` @@ -1594,31 +1594,31 @@ end @parameters p d(t) eq = D(X) ~ p - d * X - osys1 = complete(ODESystem([eq], t; name = :osys)) - osys2 = complete(ODESystem([eq], t; name = :osys)) + osys1 = complete(System([eq], t; name = :osys)) + osys2 = complete(System([eq], t; name = :osys)) @test osys1 == osys2 # true continuous_events = [[X ~ 1.0] => [X ~ Pre(X) + 5.0]] discrete_events = [SymbolicDiscreteCallback( 5.0 => [d ~ d / 2.0], discrete_parameters = [d])] - osys1 = complete(ODESystem([eq], t; name = :osys, continuous_events)) - osys2 = complete(ODESystem([eq], t; name = :osys)) + osys1 = complete(System([eq], t; name = :osys, continuous_events)) + osys2 = complete(System([eq], t; name = :osys)) @test osys1 !== osys2 - osys1 = complete(ODESystem([eq], t; name = :osys, discrete_events)) - osys2 = complete(ODESystem([eq], t; name = :osys)) + osys1 = complete(System([eq], t; name = :osys, discrete_events)) + osys2 = complete(System([eq], t; name = :osys)) @test osys1 !== osys2 - osys1 = complete(ODESystem([eq], t; name = :osys, continuous_events)) - osys2 = complete(ODESystem([eq], t; name = :osys, discrete_events)) + osys1 = complete(System([eq], t; name = :osys, continuous_events)) + osys2 = complete(System([eq], t; name = :osys, discrete_events)) @test osys1 !== osys2 end @testset "dae_order_lowering basic test" begin @parameters a @variables x(t) y(t) z(t) - @named dae_sys = ODESystem([ + @named dae_sys = System([ D(x) ~ y, 0 ~ x + z, 0 ~ x - y + z @@ -1654,7 +1654,7 @@ end D(x) => 0.0, x => 10.0, y => 0.0, z => 10.0 ] default_p = [M => 1.0, b => 1.0, k => 1.0] - @named dae_sys = ODESystem(eqs, t, [x, y, z], ps; defaults = [default_u0; default_p]) + @named dae_sys = System(eqs, t, [x, y, z], ps; defaults = [default_u0; default_p]) simplified_dae_sys = structural_simplify(dae_sys) @@ -1679,32 +1679,32 @@ end cons = [x(0.3) ~ c * d, y(0.7) ~ 3] # Test variables + parameters infer correctly. - @mtkbuild sys = ODESystem(eqs, t; constraints = cons) + @mtkbuild sys = System(eqs, t; constraints = cons) @test issetequal(parameters(sys), [a, c, d, e]) @test issetequal(unknowns(sys), [x(t), y(t), z(t)]) @parameters t_c cons = [x(t_c) ~ 3] - @mtkbuild sys = ODESystem(eqs, t; constraints = cons) + @mtkbuild sys = System(eqs, t; constraints = cons) @test issetequal(parameters(sys), [a, e, t_c]) @parameters g(..) h i cons = [g(h, i) * x(3) ~ c] - @mtkbuild sys = ODESystem(eqs, t; constraints = cons) + @mtkbuild sys = System(eqs, t; constraints = cons) @test issetequal(parameters(sys), [g, h, i, a, e, c]) # Test that bad constraints throw errors. cons = [x(3, 4) ~ 3] # unknowns cannot have multiple args. - @test_throws ArgumentError @mtkbuild sys = ODESystem(eqs, t; constraints = cons) + @test_throws ArgumentError @mtkbuild sys = System(eqs, t; constraints = cons) cons = [x(y(t)) ~ 2] # unknown arg must be parameter, value, or t - @test_throws ArgumentError @mtkbuild sys = ODESystem(eqs, t; constraints = cons) + @test_throws ArgumentError @mtkbuild sys = System(eqs, t; constraints = cons) @variables u(t) v cons = [x(t) * u ~ 3] - @test_throws ArgumentError @mtkbuild sys = ODESystem(eqs, t; constraints = cons) + @test_throws ArgumentError @mtkbuild sys = System(eqs, t; constraints = cons) cons = [x(t) * v ~ 3] - @test_throws ArgumentError @mtkbuild sys = ODESystem(eqs, t; constraints = cons) # Need time argument. + @test_throws ArgumentError @mtkbuild sys = System(eqs, t; constraints = cons) # Need time argument. # Test array variables @variables x(..)[1:5] @@ -1715,13 +1715,13 @@ end 0 0 2 0 5] eqs = D(x(t)) ~ mat * x(t) cons = [x(3) ~ [2, 3, 3, 5, 4]] - @mtkbuild ode = ODESystem(D(x(t)) ~ mat * x(t), t; constraints = cons) + @mtkbuild ode = System(D(x(t)) ~ mat * x(t), t; constraints = cons) @test length(constraints(ModelingToolkit.get_constraintsystem(ode))) == 5 end @testset "`build_explicit_observed_function` with `expression = true` returns `Expr`" begin @variables x(t) - @mtkbuild sys = ODESystem(D(x) ~ 2x, t) + @mtkbuild sys = System(D(x) ~ 2x, t) obsfn_expr = ModelingToolkit.build_explicit_observed_function( sys, 2x + 1, expression = true) @test obsfn_expr isa Expr @@ -1738,17 +1738,17 @@ end @test scope isa ParentScope @test scope.parent isa ParentScope @test scope.parent.parent isa LocalScope - return ODESystem(D(x) ~ var1, t; name) + return System(D(x) ~ var1, t; name) end function SysB(; name, var1) @variables x(t) @named subsys = SysA(; var1) - return ODESystem(D(x) ~ x, t; systems = [subsys], name) + return System(D(x) ~ x, t; systems = [subsys], name) end function SysC(; name) @variables x(t) @named subsys = SysB(; var1 = x) - return ODESystem(D(x) ~ x, t; systems = [subsys], name) + return System(D(x) ~ x, t; systems = [subsys], name) end @mtkbuild sys = SysC() @test length(unknowns(sys)) == 3 diff --git a/test/parameter_dependencies.jl b/test/parameter_dependencies.jl index bdaa2a391b..6f4f56c140 100644 --- a/test/parameter_dependencies.jl +++ b/test/parameter_dependencies.jl @@ -20,7 +20,7 @@ using NonlinearSolve cb2 = [x ~ 4.0] => (affect1!, [], [p1, p2], [p1]) # triggers at t=-2+√7 cb3 = SymbolicDiscreteCallback([1.0] => [p1 ~ 5.0], discrete_parameters = [p1]) - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ p1 * t + p2], t; parameter_dependencies = [p2 => 2p1], @@ -54,7 +54,7 @@ end @parameters p1[1:2]=[1.0, 2.0] p2[1:2]=[0.0, 0.0] @variables x(t) = 0 - @named sys = ODESystem( + @named sys = System( [D(x) ~ sum(p1) * t + sum(p2)], t; parameter_dependencies = [p2 => 2p1] @@ -73,11 +73,11 @@ end @parameters p1=1.0 p2=1.0 @variables x(t) = 0 - @mtkbuild sys1 = ODESystem( + @mtkbuild sys1 = System( [D(x) ~ p1 * t + p2], t ) - @named sys2 = ODESystem( + @named sys2 = System( [], t; parameter_dependencies = [p2 => 2p1] @@ -94,7 +94,7 @@ end @parameters p1=1.0 p2=1.0 @variables x(t) = 0 - @named sys = ODESystem( + @named sys = System( [D(x) ~ p1 * t + p2], t; parameter_dependencies = [p2 => 2p1] @@ -108,7 +108,7 @@ end @parameters p1[1:2]=[1.0, 2.0] p2[1:2]=[0.0, 0.0] @variables x(t) = 0 - @named sys = ODESystem( + @named sys = System( [D(x) ~ sum(p1) * t + sum(p2)], t; parameter_dependencies = [p2 => 2p1] @@ -122,16 +122,16 @@ end @parameters p1=1.0 p2=2.0 @variables x(t) = 0 - @named sys1 = ODESystem( + @named sys1 = System( [D(x) ~ p1 * t + p2], t ) - @named sys2 = ODESystem( + @named sys2 = System( [D(x) ~ p1 * t - p2], t; parameter_dependencies = [p2 => 2p1] ) - sys = complete(ODESystem([], t, systems = [sys1, sys2], name = :sys)) + sys = complete(System([], t, systems = [sys1, sys2], name = :sys)) prob = ODEProblem(sys) v1 = sys.sys2.p2 @@ -159,12 +159,12 @@ end @parameters p2 @variables x(t) = 1.0 eqs = [D(x) ~ p2] - ODESystem(eqs, t, [x], [p2]; name) + System(eqs, t, [x], [p2]; name) end @parameters p1 = 1.0 parameter_dependencies = [sys2.p2 ~ p1 * 2.0] - sys1 = ODESystem( + sys1 = System( Equation[], t, [], [p1]; parameter_dependencies, name = :sys1, systems = [sys2]) # ensure that parameter_dependencies is type stable @@ -191,7 +191,7 @@ end @parameters p=2 (i::CallableFoo)(..) eqs = [D(y) ~ i(t) + p] - @named model = ODESystem(eqs, t, [y], [p, i]; + @named model = System(eqs, t, [y], [p, i]; parameter_dependencies = [i ~ CallableFoo(p)]) sys = structural_simplify(model) @@ -215,7 +215,7 @@ end D(x) ~ -x + u y ~ x z(k) ~ z(k - 2) + yd(k - 2)] - @test_throws ModelingToolkit.HybridSystemNotSupportedException @mtkbuild sys = ODESystem( + @test_throws ModelingToolkit.HybridSystemNotSupportedException @mtkbuild sys = System( eqs, t; parameter_dependencies = [kq => 2kp]) @test_skip begin @@ -225,7 +225,7 @@ end yd(k - 2) => 2.0]) @test_nowarn solve(prob, Tsit5()) - @mtkbuild sys = ODESystem(eqs, t; parameter_dependencies = [kq => 2kp], + @mtkbuild sys = System(eqs, t; parameter_dependencies = [kq => 2kp], discrete_events = [SymbolicDiscreteCallback( [0.5] => [kp ~ 2.0], discrete_parameters = [kp])]) prob = ODEProblem(sys, [x => 0.0, y => 0.0], (0.0, Tf), @@ -258,7 +258,7 @@ end 0.1 * y, 0.1 * z] - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) @named sdesys = SDESystem(sys, noiseeqs; parameter_dependencies = [ρ => 2σ]) sdesys = complete(sdesys) @test !(ρ in Set(parameters(sdesys))) @@ -269,7 +269,7 @@ end @test prob.ps[ρ] == 2prob.ps[σ] @test_nowarn solve(prob, SRIW1()) - @named sys = ODESystem(eqs, t) + @named sys = System(eqs, t) @named sdesys = SDESystem(sys, noiseeqs; parameter_dependencies = [ρ => 2σ], discrete_events = [SymbolicDiscreteCallback( [10.0] => [σ ~ 15.0], discrete_parameters = [σ])]) @@ -350,7 +350,7 @@ end cb2 = [x ~ 4.0] => (affect1!, [], [p1, p2], [p1]) # triggers at t=-2+√7 cb3 = [1.0] => [p1 ~ 5.0] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ p1 * t + p2], t; parameter_dependencies = [p2 => 2p1] @@ -381,7 +381,7 @@ end @testset "Discovery of parameters from dependencies" begin @parameters p1 p2 @variables x(t) y(t) - @named sys = ODESystem([D(x) ~ y + p2], t; parameter_dependencies = [p2 ~ 2p1]) + @named sys = System([D(x) ~ y + p2], t; parameter_dependencies = [p2 ~ 2p1]) @test is_parameter(sys, p1) @named sys = NonlinearSystem([x * y^2 ~ y + p2]; parameter_dependencies = [p2 ~ 2p1]) @test is_parameter(sys, p1) diff --git a/test/precompile_test/ODEPrecompileTest.jl b/test/precompile_test/ODEPrecompileTest.jl index 81187c4075..911f45152e 100644 --- a/test/precompile_test/ODEPrecompileTest.jl +++ b/test/precompile_test/ODEPrecompileTest.jl @@ -13,7 +13,7 @@ function system(; kwargs...) D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z] - @named de = ODESystem(eqs, t) + @named de = System(eqs, t) de = complete(de) return ODEFunction(de, [x, y, z], [σ, ρ, β]; kwargs...) end diff --git a/test/problem_validation.jl b/test/problem_validation.jl index a0a7afaf3c..3db151bda5 100644 --- a/test/problem_validation.jl +++ b/test/problem_validation.jl @@ -6,7 +6,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables X(t) @parameters p d eqs = [D(X) ~ p - d * X] - @mtkbuild osys = ODESystem(eqs, t) + @mtkbuild osys = System(eqs, t) p = "I accidentally renamed p" u0 = [X => 1.0] @@ -23,7 +23,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables x(t) y(t) z(t) @parameters a b c d eqs = [D(x) ~ x * a, D(y) ~ y * c, D(z) ~ b + d] - @mtkbuild sys = ODESystem(eqs, t) + @mtkbuild sys = System(eqs, t) pmap = [a => 1, b => 2, c => 3, d => 4, "b" => 2] u0map = [x => 1, y => 2, z => 3] @test_throws InvalidKeyError ODEProblem(sys, u0map, (0.0, 1.0), pmap) diff --git a/test/reduction.jl b/test/reduction.jl index 9a515614d5..7ffc6af5f3 100644 --- a/test/reduction.jl +++ b/test/reduction.jl @@ -28,7 +28,7 @@ eqs = [D(x) ~ σ * (y - x) 0 ~ a + z u ~ z + a] -lorenz1 = ODESystem(eqs, t, name = :lorenz1) +lorenz1 = System(eqs, t, name = :lorenz1) lorenz1_aliased = structural_simplify(lorenz1) io = IOBuffer(); @@ -53,13 +53,13 @@ eqs1 = [ u ~ x + y - z ] -lorenz = name -> ODESystem(eqs1, t, name = name) +lorenz = name -> System(eqs1, t, name = name) lorenz1 = lorenz(:lorenz1) state = TearingState(lorenz1) @test isempty(setdiff(state.fullvars, [D(x), F, y, x, D(y), u, z, D(z)])) lorenz2 = lorenz(:lorenz2) -@named connected = ODESystem( +@named connected = System( [s ~ a + lorenz1.x lorenz2.y ~ s lorenz1.u ~ lorenz2.F @@ -125,13 +125,13 @@ prob2 = SteadyStateProblem(reduced_system, u0, pp) let @variables x(t) u(t) y(t) @parameters a b c d - ol = ODESystem([D(x) ~ a * x + b * u; y ~ c * x + d * u], t, name = :ol) + ol = System([D(x) ~ a * x + b * u; y ~ c * x + d * u], t, name = :ol) @variables u_c(t) y_c(t) @parameters k_P - pc = ODESystem(Equation[u_c ~ k_P * y_c], t, name = :pc) + pc = System(Equation[u_c ~ k_P * y_c], t, name = :pc) connections = [pc.u_c ~ ol.u pc.y_c ~ ol.y] - @named connected = ODESystem(connections, t, systems = [ol, pc]) + @named connected = System(connections, t, systems = [ol, pc]) @test equations(connected) isa Vector{Equation} reduced_sys = structural_simplify(connected) ref_eqs = [D(ol.x) ~ ol.a * ol.x + ol.b * ol.u @@ -142,7 +142,7 @@ end # issue #889 let @variables x(t) - @named sys = ODESystem([0 ~ D(x) + x], t, [x], []) + @named sys = System([0 ~ D(x) + x], t, [x], []) #@test_throws ModelingToolkit.InvalidSystemException ODEProblem(sys, [1.0], (0, 10.0)) sys = structural_simplify(sys) #@test_nowarn ODEProblem(sys, [1.0], (0, 10.0)) @@ -188,7 +188,7 @@ eqs = [D(E) ~ k₋₁ * C - k₁ * E * S D(P) ~ k₂ * C E₀ ~ E + C] -@named sys = ODESystem(eqs, t, [E, C, S, P], [k₁, k₂, k₋₁, E₀]) +@named sys = System(eqs, t, [E, C, S, P], [k₁, k₂, k₋₁, E₀]) @test_throws ModelingToolkit.ExtraEquationsSystemException structural_simplify(sys) # Example 5 from Pantelides' original paper @@ -197,7 +197,7 @@ sts = collect(@variables x(t) u1(t) u2(t)) eqs = [0 ~ x + sin(u1 + u2) D(x) ~ x + y1 cos(x) ~ sin(y2)] -@named sys = ODESystem(eqs, t, sts, params) +@named sys = System(eqs, t, sts, params) @test_throws ModelingToolkit.InvalidSystemException structural_simplify(sys) # issue #963 @@ -214,7 +214,7 @@ eq = [v47 ~ v1 0 ~ i74 + i75 - i64 0 ~ i64 + i71] -@named sys0 = ODESystem(eq, t) +@named sys0 = System(eq, t) sys = structural_simplify(sys0) @test length(equations(sys)) == 1 eq = equations(tearing_substitution(sys))[1] @@ -232,7 +232,7 @@ eqs = [D(x) ~ σ * (y - x) 0 ~ a + z u ~ z + a] -lorenz1 = ODESystem(eqs, t, name = :lorenz1) +lorenz1 = System(eqs, t, name = :lorenz1) lorenz1_reduced = structural_simplify(lorenz1, inputs = [z], outputs = []) @test z in Set(parameters(lorenz1_reduced)) @@ -241,7 +241,7 @@ vars = @variables x(t) y(t) z(t) eqs = [D(x) ~ x D(y) ~ y D(z) ~ t] -@named model = ODESystem(eqs, t) +@named model = System(eqs, t) sys = structural_simplify(model) Js = ModelingToolkit.jacobian_sparsity(sys) @test size(Js) == (3, 3) @@ -252,29 +252,29 @@ vars = @variables a(t) w(t) phi(t) eqs = [a ~ D(w) w ~ D(phi) w ~ sin(t)] -@named sys = ODESystem(eqs, t, vars, []) +@named sys = System(eqs, t, vars, []) ss = alias_elimination(sys) @test isempty(observed(ss)) @variables x(t) y(t) -@named sys = ODESystem([D(x) ~ 1 - x, +@named sys = System([D(x) ~ 1 - x, D(y) + D(x) ~ 0], t) new_sys = alias_elimination(sys) @test isempty(observed(new_sys)) -@named sys = ODESystem([D(x) ~ x, +@named sys = System([D(x) ~ x, D(y) + D(x) ~ 0], t) new_sys = alias_elimination(sys) @test isempty(observed(new_sys)) -@named sys = ODESystem([D(x) ~ 1 - x, +@named sys = System([D(x) ~ 1 - x, y + D(x) ~ 0], t) new_sys = alias_elimination(sys) @test isempty(observed(new_sys)) eqs = [x ~ 0 D(x) ~ x + y] -@named sys = ODESystem(eqs, t, [x, y], []) +@named sys = System(eqs, t, [x, y], []) ss = structural_simplify(sys) @test isempty(equations(ss)) @test sort(string.(observed(ss))) == ["x(t) ~ 0.0" @@ -282,7 +282,7 @@ ss = structural_simplify(sys) "y(t) ~ xˍt(t) - x(t)"] eqs = [D(D(x)) ~ -x] -@named sys = ODESystem(eqs, t, [x], []) +@named sys = System(eqs, t, [x], []) ss = alias_elimination(sys) @test length(equations(ss)) == length(unknowns(ss)) == 1 ss = structural_simplify(sys) diff --git a/test/scc_nonlinear_problem.jl b/test/scc_nonlinear_problem.jl index b2b326d090..67b531fddf 100644 --- a/test/scc_nonlinear_problem.jl +++ b/test/scc_nonlinear_problem.jl @@ -219,7 +219,7 @@ import ModelingToolkitStandardLibrary.Hydraulic.IsothermalCompressible as IC f ~ p * area m ~ rho * x * area] - return ODESystem(eqs, t, vars, pars; name, systems) + return System(eqs, t, vars, pars; name, systems) end systems = @named begin @@ -248,7 +248,7 @@ import ModelingToolkitStandardLibrary.Hydraulic.IsothermalCompressible as IC initialization_eqs = [mass.s ~ 0.0 mass.v ~ 0.0] - @mtkbuild sys = ODESystem(eqs, t, [], []; systems, initialization_eqs) + @mtkbuild sys = System(eqs, t, [], []; systems, initialization_eqs) prob = ODEProblem(sys, [], (0, 5)) sol = solve(prob) @test SciMLBase.successful_retcode(sol) diff --git a/test/sciml_problem_inputs.jl b/test/sciml_problem_inputs.jl index bfa560cda3..deae4b4772 100644 --- a/test/sciml_problem_inputs.jl +++ b/test/sciml_problem_inputs.jl @@ -38,7 +38,7 @@ begin ] # Create systems (without structural_simplify, since that might modify systems to affect intended tests). - osys = complete(ODESystem(diff_eqs, t; name = :osys)) + osys = complete(System(diff_eqs, t; name = :osys)) ssys = complete(SDESystem( diff_eqs, noise_eqs, t, [X, Y, Z], [kp, kd, k1, k2]; name = :ssys)) jsys = complete(JumpSystem(jumps, t, [X, Y, Z], [kp, kd, k1, k2]; name = :jsys)) diff --git a/test/sdesystem.jl b/test/sdesystem.jl index b031a2f5ab..96251ceb00 100644 --- a/test/sdesystem.jl +++ b/test/sdesystem.jl @@ -17,8 +17,8 @@ noiseeqs = [0.1 * x, 0.1 * y, 0.1 * z] -# ODESystem -> SDESystem shorthand constructor -@named sys = ODESystem(eqs, tt, [x, y, z], [σ, ρ, β]) +# System -> SDESystem shorthand constructor +@named sys = System(eqs, tt, [x, y, z], [σ, ρ, β]) @test SDESystem(sys, noiseeqs, name = :foo) isa SDESystem @named de = SDESystem(eqs, noiseeqs, tt, [x, y, z], [σ, ρ, β], tspan = (0.0, 10.0)) @@ -510,7 +510,7 @@ noiseeqs = [0.1 * x] @test observed(de) == [weight ~ x * 10] @test sol[weight] == 10 * sol[x] - @named ode = ODESystem(eqs, tt, [x], [α, β], observed = [weight ~ x * 10]) + @named ode = System(eqs, tt, [x], [α, β], observed = [weight ~ x * 10]) ode = complete(ode) odeprob = ODEProblem(ode, u0map, (0.0, 1.0), parammap) solode = solve(odeprob, Tsit5()) @@ -810,13 +810,13 @@ end @test prob[z] ≈ 2.0 end -@testset "SDESystem to ODESystem" begin +@testset "SDESystem to System" begin @variables x(t) y(t) z(t) @testset "Scalar noise" begin @named sys = SDESystem([D(x) ~ x, D(y) ~ y, z ~ x + y], [x, y, 3], t, [x, y, z], [], is_scalar_noise = true) - odesys = ODESystem(sys) - @test odesys isa ODESystem + odesys = System(sys) + @test odesys isa System vs = ModelingToolkit.vars(equations(odesys)) nbrownian = count( v -> ModelingToolkit.getvariabletype(v) == ModelingToolkit.BROWNIAN, vs) @@ -830,8 +830,8 @@ end @testset "Non-scalar vector noise" begin @named sys = SDESystem([D(x) ~ x, D(y) ~ y, z ~ x + y], [x, y, 0], t, [x, y, z], [], is_scalar_noise = false) - odesys = ODESystem(sys) - @test odesys isa ODESystem + odesys = System(sys) + @test odesys isa System vs = ModelingToolkit.vars(equations(odesys)) nbrownian = count( v -> ModelingToolkit.getvariabletype(v) == ModelingToolkit.BROWNIAN, vs) @@ -847,8 +847,8 @@ end 2y 2z 2x z+1 x+1 y+1] @named sys = SDESystem([D(x) ~ x, D(y) ~ y, D(z) ~ z], noiseeqs, t, [x, y, z], []) - odesys = ODESystem(sys) - @test odesys isa ODESystem + odesys = System(sys) + @test odesys isa System vs = ModelingToolkit.vars(equations(odesys)) nbrownian = count( v -> ModelingToolkit.getvariabletype(v) == ModelingToolkit.BROWNIAN, vs) @@ -892,7 +892,7 @@ end 0.1 * y, 0.1 * z] - @named sys = ODESystem(eqs, tt, [x, y, z], [σ, ρ, β]) + @named sys = System(eqs, tt, [x, y, z], [σ, ρ, β]) @named de = SDESystem(eqs, noiseeqs, tt, [x, y, z], [σ, ρ, β], tspan = (0.0, 10.0)) de = complete(de) diff --git a/test/serialization.jl b/test/serialization.jl index ee380b6616..cce015c776 100644 --- a/test/serialization.jl +++ b/test/serialization.jl @@ -3,7 +3,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @variables x(t) -@named sys = ODESystem([D(x) ~ -0.5 * x], t, defaults = Dict(x => 1.0)) +@named sys = System([D(x) ~ -0.5 * x], t, defaults = Dict(x => 1.0)) sys = complete(sys) for prob in [ eval(ModelingToolkit.ODEProblem{false}(sys, nothing, nothing, @@ -37,7 +37,7 @@ all_obs = observables(ss) prob = ODEProblem(ss, [capacitor.v => 0.0], (0, 0.1)) sol = solve(prob, ImplicitEuler()) -## Check ODESystem with Observables ---------- +## Check System with Observables ---------- ss_exp = ModelingToolkit.toexpr(ss) ss_ = complete(eval(ss_exp)) prob_ = ODEProblem(ss_, [capacitor.v => 0.0], (0, 0.1)) diff --git a/test/split_parameters.jl b/test/split_parameters.jl index 18fdb49a48..39b242db08 100644 --- a/test/split_parameters.jl +++ b/test/split_parameters.jl @@ -68,7 +68,7 @@ function Sampled(; name, interp = Interpolator(Float64[], 0.0)) output.u ~ get_value(interpolator, t) ] - return ODESystem(eqs, t, vars, [interpolator]; name, systems) + return System(eqs, t, vars, [interpolator]; name, systems) end vars = @variables y(t) dy(t) ddy(t) @@ -80,7 +80,7 @@ eqs = [y ~ src.output.u D(dy) ~ ddy connect(src.output, int.input)] -@named sys = ODESystem(eqs, t, vars, []; systems = [int, src]) +@named sys = System(eqs, t, vars, []; systems = [int, src]) s = complete(sys) sys = structural_simplify(sys) prob = ODEProblem( @@ -107,7 +107,7 @@ eqs = [D(y) ~ dy * a D(dy) ~ ddy * b ddy ~ sin(t) * c] -@named model = ODESystem(eqs, t, vars, pars) +@named model = System(eqs, t, vars, pars) sys = structural_simplify(model; split = false) tspan = (0.0, t_end) @@ -134,7 +134,7 @@ using ModelingToolkit: connect "A wrapper function to make symbolic indexing easier" function wr(sys) - ODESystem(Equation[], ModelingToolkit.get_iv(sys), systems = [sys], name = :a_wrapper) + System(Equation[], ModelingToolkit.get_iv(sys), systems = [sys], name = :a_wrapper) end indexof(sym, syms) = findfirst(isequal(sym), syms) @@ -156,11 +156,11 @@ function SystemModel(u = nothing; name = :model) connect(inertia2.flange_a, spring.flange_b, damper.flange_b)] if u !== nothing push!(eqs, connect(torque.tau, u.output)) - return @named model = ODESystem(eqs, + return @named model = System(eqs, t; systems = [torque, inertia1, inertia2, spring, damper, u]) end - ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], + System(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name, guesses = [spring.flange_a.phi => 0.0]) end @@ -186,7 +186,7 @@ L = randn(1, 4) # Post-multiply by `C` to get the correct input to the controlle # @named input = RealInput(; nin = nin) # @named output = RealOutput(; nout = nout) # eqs = [output.u[i] ~ sum(K[i, j] * input.u[j] for j in 1:nin) for i in 1:nout] -# compose(ODESystem(eqs, t, [], []; name = name), [input, output]) +# compose(System(eqs, t, [], []; name = name), [input, output]) # end @named state_feedback = MatrixGain(K = -L) # Build negative feedback into the feedback matrix @@ -196,7 +196,7 @@ connections = [[state_feedback.input.u[i] ~ model_outputs[i] for i in 1:4] connect(d.output, :d, add.input1) connect(add.input2, state_feedback.output) connect(add.output, :u, model.torque.tau)] -@named closed_loop = ODESystem(connections, t, systems = [model, state_feedback, add, d]) +@named closed_loop = System(connections, t, systems = [model, state_feedback, add, d]) S = get_sensitivity(closed_loop, :u) @testset "Indexing MTKParameters with ParameterIndex" begin @@ -236,7 +236,7 @@ end (::Foo)(x) = 3x @variables x(t) @parameters fn(::Real) = _f1 - @mtkbuild sys = ODESystem(D(x) ~ fn(t), t) + @mtkbuild sys = System(D(x) ~ fn(t), t) @test is_parameter(sys, fn) @test ModelingToolkit.defaults(sys)[fn] == _f1 @@ -260,7 +260,7 @@ end interp = LinearInterpolation(ts .^ 2, ts; extrapolate = true) @variables x(t) @parameters (fn::typeof(interp))(..) - @mtkbuild sys = ODESystem(D(x) ~ fn(x), t) + @mtkbuild sys = System(D(x) ~ fn(x), t) @test is_parameter(sys, fn) getter = getp(sys, fn) prob = ODEProblem(sys, [x => 1.0], (0.0, 1.0), [fn => interp]) diff --git a/test/state_selection.jl b/test/state_selection.jl index a8d3e57773..b8bec5d7b7 100644 --- a/test/state_selection.jl +++ b/test/state_selection.jl @@ -7,7 +7,7 @@ eqs = [x1 + x2 + u1 ~ 0 x1 + x2 + x3 + u2 ~ 0 x1 + D(x3) + x4 + u3 ~ 0 2 * D(D(x1)) + D(D(x2)) + D(D(x3)) + D(x4) + u4 ~ 0] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) let dd = dummy_derivative(sys) has_dx1 = has_dx2 = false @@ -35,7 +35,7 @@ eqs = [D(x) ~ σ * (y - x) 0 ~ a + z u ~ z + a] -lorenz1 = ODESystem(eqs, t, name = :lorenz1) +lorenz1 = System(eqs, t, name = :lorenz1) let al1 = alias_elimination(lorenz1) let lss = partial_state_selection(al1) @test length(equations(lss)) == 2 @@ -47,13 +47,13 @@ let @connector function Fluid_port(; name, p = 101325.0, m = 0.0, T = 293.15) sts = @variables p(t) [guess = p] m(t) [guess = m, connect = Flow] T(t) [ guess = T, connect = Stream] - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end #this one is for latter @connector function Heat_port(; name, Q = 0.0, T = 293.15) sts = @variables T(t) [guess = T] Q(t) [guess = Q, connect = Flow] - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end # like ground but for fluid systems (fluid_port.m is expected to be zero in closed loop) @@ -62,7 +62,7 @@ let ps = @parameters p=p T_back=T_back eqs = [fluid_port.p ~ p fluid_port.T ~ T_back] - compose(ODESystem(eqs, t, [], ps; name = name), fluid_port) + compose(System(eqs, t, [], ps; name = name), fluid_port) end function Source(; name, delta_p = 100, T_feed = 293.15) @@ -73,7 +73,7 @@ let supply_port.p ~ return_port.p + delta_p supply_port.T ~ instream(supply_port.T) return_port.T ~ T_feed] - compose(ODESystem(eqs, t, [], ps; name = name), [supply_port, return_port]) + compose(System(eqs, t, [], ps; name = name), [supply_port, return_port]) end function Substation(; name, T_return = 343.15) @@ -84,7 +84,7 @@ let supply_port.p ~ return_port.p # zero pressure loss for now supply_port.T ~ instream(supply_port.T) return_port.T ~ T_return] - compose(ODESystem(eqs, t, [], ps; name = name), [supply_port, return_port]) + compose(System(eqs, t, [], ps; name = name), [supply_port, return_port]) end function Pipe(; name, L = 1000, d = 0.1, N = 100, rho = 1000, f = 1) @@ -98,7 +98,7 @@ let v * pi * d^2 / 4 * rho ~ fluid_port_a.m dp_z ~ abs(v) * v * 0.5 * rho * L / d * f # pressure loss D(v) * rho * L ~ (fluid_port_a.p - fluid_port_b.p - dp_z)] - compose(ODESystem(eqs, t, sts, ps; name = name), [fluid_port_a, fluid_port_b]) + compose(System(eqs, t, sts, ps; name = name), [fluid_port_a, fluid_port_b]) end function System(; name, L = 10.0) @named compensator = Compensator() @@ -113,7 +113,7 @@ let connect(supply_pipe.fluid_port_b, substation.supply_port) connect(substation.return_port, return_pipe.fluid_port_b) connect(return_pipe.fluid_port_a, source.return_port)] - compose(ODESystem(eqs, t, [], ps; name = name), subs) + compose(System(eqs, t, [], ps; name = name), subs) end @named system = System(L = 10) @@ -167,7 +167,7 @@ let D(rho_2) ~ (mo_1 - mo_3) / dx D(mo_2) ~ (Ek_1 - Ek_3 + p_1 - p_2) / dx - f / 2 / pipe_D * u_2 * u_2] - @named trans = ODESystem(eqs, t) + @named trans = System(eqs, t) sys = structural_simplify(trans) @@ -273,7 +273,7 @@ let # ---------------------------------------------------------------------------- # solution ------------------------------------------------------------------- - @named catapult = ODESystem(eqs, t, vars, params, defaults = defs) + @named catapult = System(eqs, t, vars, params, defaults = defs) sys = structural_simplify(catapult) prob = ODEProblem(sys, [], (0.0, 0.1), [l_2f => 0.55, damp => 1e7]; jac = true) @test solve(prob, Rodas4()).retcode == ReturnCode.Success diff --git a/test/static_arrays.jl b/test/static_arrays.jl index 61177e5ab2..61b9bb6b25 100644 --- a/test/static_arrays.jl +++ b/test/static_arrays.jl @@ -8,7 +8,7 @@ eqs = [D(D(x)) ~ σ * (y - x), D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) sys = structural_simplify(sys) u0 = @SVector [D(x) => 2.0, diff --git a/test/steadystatesystems.jl b/test/steadystatesystems.jl index 4f1b5ed063..a99e84d9d2 100644 --- a/test/steadystatesystems.jl +++ b/test/steadystatesystems.jl @@ -6,7 +6,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @parameters r @variables x(t) eqs = [D(x) ~ x^2 - r] -@named de = ODESystem(eqs, t) +@named de = System(eqs, t) de = complete(de) for factor in [1e-1, 1e0, 1e10], diff --git a/test/stream_connectors.jl b/test/stream_connectors.jl index 834ebce1a7..23c648d9e1 100644 --- a/test/stream_connectors.jl +++ b/test/stream_connectors.jl @@ -15,7 +15,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D P(t) = P end - ODESystem(Equation[], t, vars, pars; name = name) + System(Equation[], t, vars, pars; name = name) end @connector function TwoPhaseFluid(; name, R, B, V) @@ -32,7 +32,7 @@ end # equations --------------------------- eqs = Equation[m_flow ~ 0] - ODESystem(eqs, t, vars, pars; name) + System(eqs, t, vars, pars; name) end function MassFlowSource_h(; name, @@ -57,7 +57,7 @@ function MassFlowSource_h(; name, push!(eqns, port.m_flow ~ -m_flow_in) push!(eqns, port.h_outflow ~ h_in) - compose(ODESystem(eqns, t, vars, pars; name = name), subs) + compose(System(eqns, t, vars, pars; name = name), subs) end # Simplified components. @@ -74,7 +74,7 @@ function AdiabaticStraightPipe(; name, eqns = Equation[] push!(eqns, connect(port_a, port_b)) - sys = ODESystem(eqns, t, vars, pars; name = name) + sys = System(eqns, t, vars, pars; name = name) sys = compose(sys, subs) end @@ -97,7 +97,7 @@ function SmallBoundary_Ph(; name, push!(eqns, port1.P ~ P) push!(eqns, port1.h_outflow ~ h) - compose(ODESystem(eqns, t, vars, pars; name = name), subs) + compose(System(eqns, t, vars, pars; name = name), subs) end # N1M1 model and test code. @@ -114,7 +114,7 @@ function N1M1(; name, push!(eqns, connect(source.port1, port_a)) - sys = ODESystem(eqns, t, [], [], name = name) + sys = System(eqns, t, [], [], name = name) sys = compose(sys, subs) end @@ -126,13 +126,13 @@ end eqns = [connect(n1m1.port_a, pipe.port_a) connect(pipe.port_b, sink.port)] -@named sys = ODESystem(eqns, t) +@named sys = System(eqns, t) eqns = [domain_connect(fluid, n1m1.port_a) connect(n1m1.port_a, pipe.port_a) connect(pipe.port_b, sink.port)] -@named n1m1Test = ODESystem(eqns, t, [], []; systems = [fluid, n1m1, pipe, sink]) +@named n1m1Test = System(eqns, t, [], []; systems = [fluid, n1m1, pipe, sink]) @test_nowarn structural_simplify(n1m1Test) @unpack source, port_a = n1m1 @@ -192,7 +192,7 @@ function N1M2(; name, push!(eqns, connect(source.port1, port_a)) push!(eqns, connect(source.port1, port_b)) - sys = ODESystem(eqns, t, [], [], name = name) + sys = System(eqns, t, [], [], name = name) sys = compose(sys, subs) end @@ -203,7 +203,7 @@ end eqns = [connect(n1m2.port_a, sink1.port) connect(n1m2.port_b, sink2.port)] -@named sys = ODESystem(eqns, t) +@named sys = System(eqns, t) @named n1m2Test = compose(sys, n1m2, sink1, sink2) @test_nowarn structural_simplify(n1m2Test) @@ -218,7 +218,7 @@ eqns = [connect(n1m2.port_a, pipe1.port_a) connect(n1m2.port_b, pipe2.port_a) connect(pipe2.port_b, sink2.port)] -@named sys = ODESystem(eqns, t) +@named sys = System(eqns, t) @named n1m2AltTest = compose(sys, n1m2, pipe1, pipe2, sink1, sink2) @test_nowarn structural_simplify(n1m2AltTest) @@ -236,7 +236,7 @@ function N2M2(; name, push!(eqns, connect(port_a, pipe.port_a)) push!(eqns, connect(pipe.port_b, port_b)) - sys = ODESystem(eqns, t, [], [], name = name) + sys = System(eqns, t, [], [], name = name) sys = compose(sys, subs) end @@ -247,14 +247,14 @@ end eqns = [connect(source.port, n2m2.port_a) connect(n2m2.port_b, sink.port1)] -@named sys = ODESystem(eqns, t) +@named sys = System(eqns, t) @named n2m2Test = compose(sys, n2m2, source, sink) @test_nowarn structural_simplify(n2m2Test) # stream var @named sp1 = TwoPhaseFluidPort() @named sp2 = TwoPhaseFluidPort() -@named sys = ODESystem([connect(sp1, sp2)], t) +@named sys = System([connect(sp1, sp2)], t) sys_exp = expand_connections(compose(sys, [sp1, sp2])) @test ssort(equations(sys_exp)) == ssort([0 ~ -sp1.m_flow - sp2.m_flow 0 ~ sp1.m_flow @@ -266,14 +266,14 @@ sys_exp = expand_connections(compose(sys, [sp1, sp2])) # array var @connector function VecPin(; name) sts = @variables v(t)[1:2]=[1.0, 0.0] i(t)[1:2]=1.0 [connect = Flow] - ODESystem(Equation[], t, [sts...;], []; name = name) + System(Equation[], t, [sts...;], []; name = name) end @named vp1 = VecPin() @named vp2 = VecPin() @named vp3 = VecPin() -@named simple = ODESystem([connect(vp1, vp2, vp3)], t) +@named simple = System([connect(vp1, vp2, vp3)], t) sys = expand_connections(compose(simple, [vp1, vp2, vp3])) @test ssort(equations(sys)) == ssort([0 .~ collect(vp1.i) 0 .~ collect(vp2.i) @@ -287,7 +287,7 @@ sys = expand_connections(compose(simple, [vp1, vp2, vp3])) @connector function VectorHeatPort(; name, N = 100, T0 = 0.0, Q0 = 0.0) @variables (T(t))[1:N]=T0 (Q(t))[1:N]=Q0 [connect = Flow] - ODESystem(Equation[], t, [T; Q], []; name = name) + System(Equation[], t, [T; Q], []; name = name) end @test_nowarn @named a = VectorHeatPort() @@ -319,7 +319,7 @@ csys = complete(n1m1Test) # equations --------------------------- eqs = Equation[] - ODESystem(eqs, t, vars, pars; name, defaults = [dm => 0]) + System(eqs, t, vars, pars; name, defaults = [dm => 0]) end @connector function Fluid(; name, R, B, V) @@ -338,7 +338,7 @@ end dm ~ 0 ] - ODESystem(eqs, t, vars, pars; name) + System(eqs, t, vars, pars; name) end function StepSource(; P, name) @@ -358,7 +358,7 @@ function StepSource(; P, name) H.p ~ p_int * (t > 0.01) ] - ODESystem(eqs, t, vars, pars; name, systems) + System(eqs, t, vars, pars; name, systems) end function StaticVolume(; P, V, name) @@ -387,7 +387,7 @@ function StaticVolume(; P, V, name) H.p ~ p H.dm ~ drho * V] - ODESystem(eqs, t, vars, pars; name, systems, + System(eqs, t, vars, pars; name, systems, defaults = [vrho => rho_0 * (1 + p_int / H.bulk)]) end @@ -410,7 +410,7 @@ function PipeBase(; P, R, name) 0 ~ HA.dm + HB.dm domain_connect(HA, HB)] - ODESystem(eqs, t, vars, pars; name, systems) + System(eqs, t, vars, pars; name, systems) end function Pipe(; P, R, name) @@ -432,7 +432,7 @@ function Pipe(; P, R, name) eqs = [connect(v1.H, p12.HA, HA) connect(v2.H, p12.HB, HB)] - ODESystem(eqs, t, vars, pars; name, systems) + System(eqs, t, vars, pars; name, systems) end function TwoFluidSystem(; name) @@ -460,7 +460,7 @@ function TwoFluidSystem(; name) connect(source_b.H, pipe_b.HA) connect(pipe_b.HB, volume_b.H)] - ODESystem(eqs, t, vars, pars; name, systems) + System(eqs, t, vars, pars; name, systems) end @named two_fluid_system = TwoFluidSystem() @@ -498,7 +498,7 @@ function OneFluidSystem(; name) connect(source_b.H, pipe_b.HA) connect(pipe_b.HB, volume_b.H)] - ODESystem(eqs, t, vars, pars; name, systems) + System(eqs, t, vars, pars; name, systems) end @named one_fluid_system = OneFluidSystem() diff --git a/test/structural_transformation/index_reduction.jl b/test/structural_transformation/index_reduction.jl index f9d6037022..26f73db4e7 100644 --- a/test/structural_transformation/index_reduction.jl +++ b/test/structural_transformation/index_reduction.jl @@ -12,7 +12,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D eqs2 = [D(D(x)) ~ T * x, D(D(y)) ~ T * y - g, 0 ~ x^2 + y^2 - L^2] -pendulum2 = ODESystem(eqs2, t, [x, y, T], [L, g], name = :pendulum) +pendulum2 = System(eqs2, t, [x, y, T], [L, g], name = :pendulum) lowered_sys = ModelingToolkit.ode_order_lowering(pendulum2) lowered_eqs = [D(xˍt) ~ T * x, @@ -20,7 +20,7 @@ lowered_eqs = [D(xˍt) ~ T * x, D(x) ~ xˍt, D(y) ~ yˍt, 0 ~ x^2 + y^2 - L^2] -@test ODESystem(lowered_eqs, t, [xˍt, yˍt, x, y, T], [L, g], name = :pendulum) == +@test System(lowered_eqs, t, [xˍt, yˍt, x, y, T], [L, g], name = :pendulum) == lowered_sys @test isequal(equations(lowered_sys), lowered_eqs) @@ -30,7 +30,7 @@ eqs = [D(x) ~ w, D(w) ~ T * x, D(z) ~ T * y - g, 0 ~ x^2 + y^2 - L^2] -pendulum = ODESystem(eqs, t, [x, y, w, z, T], [L, g], name = :pendulum) +pendulum = System(eqs, t, [x, y, w, z, T], [L, g], name = :pendulum) state = TearingState(pendulum) @unpack graph, var_to_diff = state.structure @@ -57,7 +57,7 @@ idx1_pendulum = [D(x) ~ w, # 2x*D(D(x)) + 2*D(x)*D(x) + 2y*D(D(y)) + 2*D(y)*D(y) and # substitute the rhs 0 ~ 2x * (T * x) + 2 * xˍt * xˍt + 2y * (T * y - g) + 2 * yˍt * yˍt] -@named idx1_pendulum = ODESystem(idx1_pendulum, t, [x, y, w, z, xˍt, yˍt, T], [L, g]) +@named idx1_pendulum = System(idx1_pendulum, t, [x, y, w, z, xˍt, yˍt, T], [L, g]) first_order_idx1_pendulum = complete(ode_order_lowering(idx1_pendulum)) using OrdinaryDiffEq @@ -90,7 +90,7 @@ sol = solve(prob_auto, Rodas5()); eqs2 = [D(D(x)) ~ T * x, D(D(y)) ~ T * y - g, 0 ~ x^2 + y^2 - L^2] -pendulum2 = ODESystem(eqs2, t, [x, y, T], [L, g], name = :pendulum) +pendulum2 = System(eqs2, t, [x, y, T], [L, g], name = :pendulum) # Turn into a first order differential equation system first_order_sys = ModelingToolkit.ode_order_lowering(pendulum2) @@ -126,7 +126,7 @@ eqs = [D(x) ~ w, D(w) ~ T * x, D(z) ~ T * y - g, 0 ~ x^2 + y^2 - L^2] -pendulum = ODESystem(eqs, t, [x, y, w, z, T], [L, g], name = :pendulum) +pendulum = System(eqs, t, [x, y, w, z, T], [L, g], name = :pendulum) let pss_pendulum = partial_state_selection(pendulum) # This currently selects `T` rather than `x` at top level. Needs tearing priorities to fix. @@ -159,7 +159,7 @@ let eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] - @named pend = ODESystem(eqs, t) + @named pend = System(eqs, t) sys = complete(structural_simplify(pend; dummy_derivative = false)) prob = ODEProblem( sys, [x => 1, y => 0, D(x) => 0.0], (0.0, 10.0), [g => 1], guesses = [λ => 0.0]) diff --git a/test/structural_transformation/tearing.jl b/test/structural_transformation/tearing.jl index e9cd92ec94..24083b3524 100644 --- a/test/structural_transformation/tearing.jl +++ b/test/structural_transformation/tearing.jl @@ -147,7 +147,7 @@ using ModelingToolkit, OrdinaryDiffEq, BenchmarkTools eqs = [D(x) ~ z * h 0 ~ x - y 0 ~ sin(z) + y - p * t] -@named daesys = ODESystem(eqs, t) +@named daesys = System(eqs, t) newdaesys = structural_simplify(daesys) @test equations(newdaesys) == [D(x) ~ z; 0 ~ y + sin(z) - p * t] @test equations(tearing_substitution(newdaesys)) == [D(x) ~ z; 0 ~ x + sin(z) - p * t] @@ -164,7 +164,7 @@ prob.f(du, u, pr, tt) @test du≈[u[2], u[1] + sin(u[2]) - pr * tt] atol=1e-5 # test the initial guess is respected -@named sys = ODESystem(eqs, t, defaults = Dict(z => NaN)) +@named sys = System(eqs, t, defaults = Dict(z => NaN)) infprob = ODEProblem(structural_simplify(sys), [x => 1.0], (0, 1.0), [p => 0.2]) infprob.f(du, infprob.u0, pr, tt) @test any(isnan, du) @@ -177,7 +177,7 @@ function Translational_Mass(; name, m = 1.0) eqs = [D(s) ~ v D(v) ~ a m * a ~ 0.0] - ODESystem(eqs, t, sts, ps; name = name) + System(eqs, t, sts, ps; name = name) end m = 1.0 @@ -185,7 +185,7 @@ m = 1.0 ms_eqs = [] -@named _ms_model = ODESystem(ms_eqs, t) +@named _ms_model = System(ms_eqs, t) @named ms_model = compose(_ms_model, [mass]) diff --git a/test/structural_transformation/utils.jl b/test/structural_transformation/utils.jl index b5335ad6b1..b9abbcfc77 100644 --- a/test/structural_transformation/utils.jl +++ b/test/structural_transformation/utils.jl @@ -18,7 +18,7 @@ eqs = [D(x) ~ w, D(w) ~ T * x, D(z) ~ T * y - g, 0 ~ x^2 + y^2 - L^2] -pendulum = ODESystem(eqs, t, [x, y, w, z, T], [L, g], name = :pendulum) +pendulum = System(eqs, t, [x, y, w, z, T], [L, g], name = :pendulum) state = TearingState(pendulum) StructuralTransformations.find_solvables!(state) sss = state.structure @@ -48,7 +48,7 @@ end @variables x(t) y(t)[1:2] z(t)[1:2] @parameters foo(::AbstractVector)[1:2] _tmp_fn(x) = 2x - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(x) ~ z[1] + z[2] + foo(z)[1], y[1] ~ 2t, y[2] ~ 3t, z ~ foo(y)], t) @test length(equations(sys)) == 1 @test length(observed(sys)) == 7 @@ -74,7 +74,7 @@ end val[] += 1 return [x, 2x] end - @mtkbuild sys = ODESystem([D(x) ~ y[1] + y[2], y ~ foo(x)], t) + @mtkbuild sys = System([D(x) ~ y[1] + y[2], y ~ foo(x)], t) @test length(equations(sys)) == 1 @test length(observed(sys)) == 3 prob = ODEProblem(sys, [x => 1.0], (0.0, 1.0), [foo => _tmp_fn2]) @@ -93,7 +93,7 @@ end @testset "CSE hack in equations(sys)" begin val[] = 0 @variables z(t)[1:2] - @mtkbuild sys = ODESystem( + @mtkbuild sys = System( [D(y) ~ foo(x), D(x) ~ sum(y), zeros(2) ~ foo(prod(z))], t) @test length(equations(sys)) == 5 @test length(observed(sys)) == 2 @@ -119,7 +119,7 @@ end @variables x(t) y(t)[1:2] z(t)[1:2] @parameters foo(::AbstractVector)[1:2] _tmp_fn(x) = 2x - @named sys = ODESystem( + @named sys = System( [D(x) ~ z[1] + z[2] + foo(z)[1], y[1] ~ 2t, y[2] ~ 3t, z ~ foo(y)], t) sys1 = structural_simplify(sys; cse_hack = false) @@ -140,7 +140,7 @@ end @variables x(t) y(t)[1:2] z(t)[1:2] w(t) @parameters foo(::AbstractVector)[1:2] _tmp_fn(x) = 2x - @named sys = ODESystem( + @named sys = System( [D(x) ~ z[1] + z[2] + foo(z)[1] + w, y[1] ~ 2t, y[2] ~ 3t, z ~ foo(y)], t) sys1 = structural_simplify(sys; cse_hack = false, fully_determined = false) @@ -160,7 +160,7 @@ end @testset "additional passes" begin @variables x(t) y(t) - @named sys = ODESystem([D(x) ~ x, y ~ x + t], t) + @named sys = System([D(x) ~ x, y ~ x + t], t) value = Ref(0) pass(sys; kwargs...) = (value[] += 1; return sys) structural_simplify(sys; additional_passes = [pass]) @@ -198,13 +198,13 @@ end end @testset "Requires simplified system" begin @variables x(t) y(t) - @named sys = ODESystem([D(x) ~ x, y ~ 2x], t) + @named sys = System([D(x) ~ x, y ~ 2x], t) sys = complete(sys) @test_throws ArgumentError map_variables_to_equations(sys) end @testset "`ODESystem`" begin @variables x(t) y(t) z(t) - @mtkbuild sys = ODESystem([D(x) ~ 2x + y, y ~ x + z, z^3 + x^3 ~ 12], t) + @mtkbuild sys = System([D(x) ~ 2x + y, y ~ x + z, z^3 + x^3 ~ 12], t) mapping = map_variables_to_equations(sys) @test mapping[x] == (D(x) ~ 2x + y) @test mapping[y] == (y ~ x + z) @@ -217,7 +217,7 @@ end eqs = [D(D(x)) ~ λ * x D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] - @mtkbuild sys = ODESystem(eqs, t) + @mtkbuild sys = System(eqs, t) mapping = map_variables_to_equations(sys) yt = default_toterm(unwrap(D(y))) diff --git a/test/substitute_component.jl b/test/substitute_component.jl index 9fb254136b..ad20dbcbc1 100644 --- a/test/substitute_component.jl +++ b/test/substitute_component.jl @@ -232,9 +232,9 @@ end @testset "Different indepvar" begin @independent_variables tt - @named empty = ODESystem(Equation[], t) - @named outer = ODESystem(Equation[], t; systems = [empty]) - @named empty = ODESystem(Equation[], tt) + @named empty = System(Equation[], t) + @named outer = System(Equation[], t; systems = [empty]) + @named empty = System(Equation[], tt) @test_throws ["independent variable"] substitute_component( outer, outer.empty => empty) end diff --git a/test/symbolic_events.jl b/test/symbolic_events.jl index 48faa76aa3..35a5369869 100644 --- a/test/symbolic_events.jl +++ b/test/symbolic_events.jl @@ -202,14 +202,14 @@ end end @testset "Condition Compilation" begin - @named sys = ODESystem(eqs, t, continuous_events = [x ~ 1]) + @named sys = System(eqs, t, continuous_events = [x ~ 1]) @test getfield(sys, :continuous_events)[] == SymbolicContinuousCallback(Equation[x ~ 1], nothing) @test isequal(equations(getfield(sys, :continuous_events))[], x ~ 1) fsys = flatten(sys) @test isequal(equations(getfield(fsys, :continuous_events))[], x ~ 1) - @named sys2 = ODESystem([D(x) ~ 1], t, continuous_events = [x ~ 2], systems = [sys]) + @named sys2 = System([D(x) ~ 1], t, continuous_events = [x ~ 2], systems = [sys]) @test getfield(sys2, :continuous_events)[] == SymbolicContinuousCallback(Equation[x ~ 2], nothing) @test all(ModelingToolkit.continuous_events(sys2) .== [ @@ -286,7 +286,7 @@ end @test minimum(t -> abs(t - 1), sol.t) < 1e-9 # test that the solver stepped at the first root @test minimum(t -> abs(t - 2), sol.t) < 1e-9 # test that the solver stepped at the second root - @named sys = ODESystem(eqs, t, continuous_events = [x ~ 1, x ~ 2]) # two root eqs using the same unknown + @named sys = System(eqs, t, continuous_events = [x ~ 1, x ~ 2]) # two root eqs using the same unknown sys = complete(sys) prob = ODEProblem(sys, Pair[], (0.0, 3.0)) @test get_callback(prob) isa ModelingToolkit.DiffEqCallbacks.VectorContinuousCallback @@ -302,7 +302,7 @@ end root_eqs = [x ~ 0] affect = [v ~ -Pre(v)] - @named ball = ODESystem( + @named ball = System( [D(x) ~ v D(v) ~ -9.8], t, continuous_events = root_eqs => affect) @@ -323,7 +323,7 @@ end events = [[x ~ 0] => [vx ~ -Pre(vx)] [y ~ -1.5, y ~ 1.5] => [vy ~ -Pre(vy)]] - @named ball = ODESystem( + @named ball = System( [D(x) ~ vx D(y) ~ vy D(vx) ~ -9.8 @@ -363,7 +363,7 @@ end # in this test, there are two variables affected by a single event. events = [[x ~ 0] => [vx ~ -Pre(vx), vy ~ -Pre(vy)]] - @named ball = ODESystem( + @named ball = System( [D(x) ~ vx D(y) ~ vy D(vx) ~ -1 @@ -391,7 +391,7 @@ end D(v) ~ vs - v D(vmeasured) ~ 0.0] ev = [sin(20pi * t) ~ 0.0] => [vmeasured ~ Pre(v)] - @named sys = ODESystem(eq, t, continuous_events = ev) + @named sys = System(eq, t, continuous_events = ev) sys = structural_simplify(sys) prob = ODEProblem(sys, zeros(2), (0.0, 5.1)) sol = solve(prob, Tsit5()) @@ -410,22 +410,22 @@ end ps = @parameters m = m sts = @variables pos(t)=p vel(t)=v eqs = Dₜ(pos) ~ vel - ODESystem(eqs, t, [pos, vel], ps; name) + System(eqs, t, [pos, vel], ps; name) end function Spring(; name, k = 1e4) ps = @parameters k = k @variables x(t) = 0 # Spring deflection - ODESystem(Equation[], t, [x], ps; name) + System(Equation[], t, [x], ps; name) end function Damper(; name, c = 10) ps = @parameters c = c @variables vel(t) = 0 - ODESystem(Equation[], t, [vel], ps; name) + System(Equation[], t, [vel], ps; name) end function SpringDamper(; name, k = false, c = false) spring = Spring(; name = :spring, k) damper = Damper(; name = :damper, c) - compose(ODESystem(Equation[], t; name), + compose(System(Equation[], t; name), spring, damper) end connect_sd(sd, m1, m2) = [ @@ -438,7 +438,7 @@ end eqs = [connect_sd(sd, mass1, mass2) Dₜ(mass1.vel) ~ (sd_force(sd) + u) / mass1.m Dₜ(mass2.vel) ~ (-sd_force(sd) + d) / mass2.m] - @named _model = ODESystem(eqs, t; observed = [y ~ mass2.pos]) + @named _model = System(eqs, t; observed = [y ~ mass2.pos]) @named model = compose(_model, mass1, mass2, sd) end model = Model(sin(30t)) @@ -471,7 +471,7 @@ end ∂ₜ = D eqs = [∂ₜ(A) ~ -k * A] - @named osys = ODESystem(eqs, t, [A], [k, t1, t2], discrete_events = [cb1, cb2]) + @named osys = System(eqs, t, [A], [k, t1, t2], discrete_events = [cb1, cb2]) @named ssys = SDESystem(eqs, [0.0], t, [A], [k, t1, t2], discrete_events = [cb1, cb2]) u0 = [A => 1.0] p = [k => 0.0, t1 => 1.0, t2 => 2.0] @@ -482,7 +482,7 @@ end cond1a = (t == t1) affect1a = [A ~ Pre(A) + 1, B ~ A] cb1a = cond1a => affect1a - @named osys1 = ODESystem(eqs, t, [A, B], [k, t1, t2], discrete_events = [cb1a, cb2]) + @named osys1 = System(eqs, t, [A, B], [k, t1, t2], discrete_events = [cb1a, cb2]) @named ssys1 = SDESystem(eqs, [0.0], t, [A, B], [k, t1, t2], discrete_events = [cb1a, cb2]) u0′ = [A => 1.0, B => 0.0] @@ -497,13 +497,13 @@ end # same as above - but with set-time event syntax cb1‵ = [1.0] => affect1 # needs to be a Vector for the event to happen only once cb2‵ = SymbolicDiscreteCallback([2.0] => affect2, discrete_parameters = [k], iv = t) - @named osys‵ = ODESystem(eqs, t, [A], [k], discrete_events = [cb1‵, cb2‵]) + @named osys‵ = System(eqs, t, [A], [k], discrete_events = [cb1‵, cb2‵]) @named ssys‵ = SDESystem(eqs, [0.0], t, [A], [k], discrete_events = [cb1‵, cb2‵]) testsol(osys‵, ODEProblem, Tsit5, u0, p, tspan; paramtotest = k) testsol(ssys‵, SDEProblem, RI5, u0, p, tspan; paramtotest = k) # mixing discrete affects - @named osys3 = ODESystem(eqs, t, [A], [k, t1, t2], discrete_events = [cb1, cb2‵]) + @named osys3 = System(eqs, t, [A], [k, t1, t2], discrete_events = [cb1, cb2‵]) @named ssys3 = SDESystem(eqs, [0.0], t, [A], [k, t1, t2], discrete_events = [cb1, cb2‵]) testsol(osys3, ODEProblem, Tsit5, u0, p, tspan; tstops = [1.0], paramtotest = k) @@ -515,7 +515,7 @@ end nothing end cb2‵‵ = [2.0] => (affect!, [], [k], [k], nothing) - @named osys4 = ODESystem(eqs, t, [A], [k, t1], discrete_events = [cb1, cb2‵‵]) + @named osys4 = System(eqs, t, [A], [k, t1], discrete_events = [cb1, cb2‵‵]) @named ssys4 = SDESystem(eqs, [0.0], t, [A], [k, t1], discrete_events = [cb1, cb2‵‵]) oprob4 = ODEProblem(complete(osys4), u0, tspan, p) @@ -524,12 +524,12 @@ end # mixing with symbolic condition in the func affect cb2‵‵‵ = (t == t2) => (affect!, [], [k], [k], nothing) - @named osys5 = ODESystem(eqs, t, [A], [k, t1, t2], discrete_events = [cb1, cb2‵‵‵]) + @named osys5 = System(eqs, t, [A], [k, t1, t2], discrete_events = [cb1, cb2‵‵‵]) @named ssys5 = SDESystem(eqs, [0.0], t, [A], [k, t1, t2], discrete_events = [cb1, cb2‵‵‵]) testsol(osys5, ODEProblem, Tsit5, u0, p, tspan; tstops = [1.0, 2.0]) testsol(ssys5, SDEProblem, RI5, u0, p, tspan; tstops = [1.0, 2.0]) - @named osys6 = ODESystem(eqs, t, [A], [k, t1, t2], discrete_events = [cb2‵‵‵, cb1]) + @named osys6 = System(eqs, t, [A], [k, t1, t2], discrete_events = [cb2‵‵‵, cb1]) @named ssys6 = SDESystem(eqs, [0.0], t, [A], [k, t1, t2], discrete_events = [cb2‵‵‵, cb1]) testsol(osys6, ODEProblem, Tsit5, u0, p, tspan; tstops = [1.0, 2.0], paramtotest = k) @@ -539,7 +539,7 @@ end cond3 = A ~ 0.1 affect3 = [k ~ 0.0] cb3 = SymbolicContinuousCallback(cond3 => affect3, discrete_parameters = [k], iv = t) - @named osys7 = ODESystem(eqs, t, [A], [k, t1, t2], discrete_events = [cb1, cb2‵‵‵], + @named osys7 = System(eqs, t, [A], [k, t1, t2], discrete_events = [cb1, cb2‵‵‵], continuous_events = [cb3]) @named ssys7 = SDESystem(eqs, [0.0], t, [A], [k, t1, t2], discrete_events = [cb1, cb2‵‵‵], @@ -625,19 +625,19 @@ end ps = @parameters k=k Θ=0.5 eqs = [D(x) ~ v, D(v) ~ -k * x + F] ev = [x ~ Θ] => [x ~ 1.0, v ~ 0.0] - ODESystem(eqs, t, sts, ps, continuous_events = [ev]; name) + System(eqs, t, sts, ps, continuous_events = [ev]; name) end @named oscce = oscillator_ce() eqs = [oscce.F ~ 0] - @named eqs_sys = ODESystem(eqs, t) + @named eqs_sys = System(eqs, t) @named oneosc_ce = compose(eqs_sys, oscce) oneosc_ce_simpl = structural_simplify(oneosc_ce) prob = ODEProblem(oneosc_ce_simpl, [], (0.0, 2.0), []) sol = solve(prob, Tsit5(), saveat = 0.1) - @test typeof(oneosc_ce_simpl) == ODESystem + @test typeof(oneosc_ce_simpl) == System @test sol(0.5, idxs = oscce.x) < 1.0 # test whether x(t) decreases over time @test sol(1.5, idxs = oscce.x) > 0.5 # test whether event happened end @@ -653,7 +653,7 @@ end [c1 ~ 0], (record_crossings, [c1 => :v], [], [], cr1)) evt2 = ModelingToolkit.SymbolicContinuousCallback( [c2 ~ 0], (record_crossings, [c2 => :v], [], [], cr2)) - @named trigsys = ODESystem(eqs, t; continuous_events = [evt1, evt2]) + @named trigsys = System(eqs, t; continuous_events = [evt1, evt2]) trigsys_ss = structural_simplify(trigsys) prob = ODEProblem(trigsys_ss, [], (0.0, 2π)) sol = solve(prob, Tsit5()) @@ -675,7 +675,7 @@ end evt2 = ModelingToolkit.SymbolicContinuousCallback( [c2 ~ 0], (record_crossings, [c2 => :v], [], [], cr2p); affect_neg = (record_crossings, [c2 => :v], [], [], cr2n)) - @named trigsys = ODESystem(eqs, t; continuous_events = [evt1, evt2]) + @named trigsys = System(eqs, t; continuous_events = [evt1, evt2]) trigsys_ss = structural_simplify(trigsys) prob = ODEProblem(trigsys_ss, [], (0.0, 2π)) sol = solve(prob, Tsit5(); dtmax = 0.01) @@ -699,7 +699,7 @@ end [c1 ~ 0], (record_crossings, [c1 => :v], [], [], cr1p); affect_neg = nothing) evt2 = ModelingToolkit.SymbolicContinuousCallback( [c2 ~ 0], (record_crossings, [c2 => :v], [], [], cr2p); affect_neg = nothing) - @named trigsys = ODESystem(eqs, t; continuous_events = [evt1, evt2]) + @named trigsys = System(eqs, t; continuous_events = [evt1, evt2]) trigsys_ss = structural_simplify(trigsys) prob = ODEProblem(trigsys_ss, [], (0.0, 2π)) sol = solve(prob, Tsit5(); dtmax = 0.01) @@ -718,7 +718,7 @@ end evt2 = ModelingToolkit.SymbolicContinuousCallback( [c2 ~ 0], (record_crossings, [c2 => :v], [], [], cr2p); affect_neg = (record_crossings, [c2 => :v], [], [], cr2n)) - @named trigsys = ODESystem(eqs, t; continuous_events = [evt1, evt2]) + @named trigsys = System(eqs, t; continuous_events = [evt1, evt2]) trigsys_ss = structural_simplify(trigsys) prob = ODEProblem(trigsys_ss, [], (0.0, 2π)) sol = solve(prob, Tsit5(); dtmax = 0.01) @@ -742,7 +742,7 @@ end evt2 = ModelingToolkit.SymbolicContinuousCallback( [c2 ~ 0], (record_crossings, [c2 => :v], [], [], cr2); rootfind = SciMLBase.RightRootFind) - @named trigsys = ODESystem(eqs, t; continuous_events = [evt1, evt2]) + @named trigsys = System(eqs, t; continuous_events = [evt1, evt2]) trigsys_ss = structural_simplify(trigsys) prob = ODEProblem(trigsys_ss, [], (0.0, 2π)) sol = solve(prob, Tsit5(); dtmax = 0.01) @@ -762,7 +762,7 @@ end evt2 = ModelingToolkit.SymbolicContinuousCallback( [c2 ~ 0], (record_crossings, [c2 => :v], [], [], cr2); rootfind = SciMLBase.RightRootFind) - @named trigsys = ODESystem(eqs, t; continuous_events = [evt1, evt2]) + @named trigsys = System(eqs, t; continuous_events = [evt1, evt2]) trigsys_ss = structural_simplify(trigsys) prob = ODEProblem(trigsys_ss, [], (0.0, 2π)) sol = solve(prob, Tsit5()) @@ -780,7 +780,7 @@ end evt2 = ModelingToolkit.SymbolicContinuousCallback( [c2 ~ 0], (record_crossings, [c2 => :v], [], [], cr2); rootfind = SciMLBase.RightRootFind) - @named trigsys = ODESystem(eqs, t; continuous_events = [evt2, evt1]) + @named trigsys = System(eqs, t; continuous_events = [evt2, evt1]) trigsys_ss = structural_simplify(trigsys) prob = ODEProblem(trigsys_ss, [], (0.0, 2π)) sol = solve(prob, Tsit5()) @@ -882,7 +882,7 @@ end cb2 = [x ~ 0.5] => (save_affect!, [], [b], [b], nothing) cb3 = SymbolicDiscreteCallback(1.0 => [c ~ t], discrete_parameters = [c]) - @mtkbuild sys = ODESystem(D(x) ~ cos(t), t, [x], [a, b, c]; + @mtkbuild sys = System(D(x) ~ cos(t), t, [x], [a, b, c]; continuous_events = [cb1, cb2], discrete_events = [cb3]) prob = ODEProblem(sys, [x => 1.0], (0.0, 2pi), [a => 1.0, b => 2.0, c => 0.0]) @test sort(canonicalize(Discrete(), prob.p)[1]) == [0.0, 1.0, 2.0] @@ -910,7 +910,7 @@ end ModelingToolkit.ImperativeAffect(modified = (; furnace_on)) do x, o, i, c @set! x.furnace_on = true end) - @named sys = ODESystem( + @named sys = System( eqs, t, [temp], params; continuous_events = [furnace_off, furnace_enable]) ss = structural_simplify(sys) prob = ODEProblem(ss, [temp => 0.0, furnace_on => true], (0.0, 100.0)) @@ -930,7 +930,7 @@ end ModelingToolkit.ImperativeAffect(modified = (; furnace_on)) do x, o, c, i @set! x.furnace_on = true end) - @named sys = ODESystem( + @named sys = System( eqs, t, [temp], params; continuous_events = [furnace_off, furnace_enable]) ss = structural_simplify(sys) prob = ODEProblem(ss, [temp => 0.0, furnace_on => true], (0.0, 100.0)) @@ -952,7 +952,7 @@ end modified = (; furnace_on), observed = (; furnace_on)) do x, o, c, i @set! x.furnace_on = false end) - @named sys = ODESystem(eqs, t, [temp], params; continuous_events = [furnace_off]) + @named sys = System(eqs, t, [temp], params; continuous_events = [furnace_off]) ss = structural_simplify(sys) @test_logs (:warn, "The symbols Any[:furnace_on] are declared as both observed and modified; this is a code smell because it becomes easy to confuse them and assign/not assign a value.") prob=ODEProblem( @@ -968,7 +968,7 @@ end modified = (; furnace_on, tempsq), observed = (; furnace_on)) do x, o, c, i @set! x.furnace_on = false end) - @named sys = ODESystem( + @named sys = System( eqs, t, [temp, tempsq], params; continuous_events = [furnace_off]) ss = structural_simplify(sys) @test_throws "refers to missing variable(s)" prob=ODEProblem( @@ -981,7 +981,7 @@ end observed = (; furnace_on, not_actually_here)) do x, o, c, i @set! x.furnace_on = false end) - @named sys = ODESystem( + @named sys = System( eqs, t, [temp, tempsq], params; continuous_events = [furnace_off]) ss = structural_simplify(sys) @test_throws "refers to missing variable(s)" prob=ODEProblem( @@ -993,7 +993,7 @@ end observed = (; furnace_on)) do x, o, c, i return (; fictional2 = false) end) - @named sys = ODESystem( + @named sys = System( eqs, t, [temp, tempsq], params; continuous_events = [furnace_off]) ss = structural_simplify(sys) prob = ODEProblem( @@ -1053,7 +1053,7 @@ end @set! x.cnt += decoder(x.hA, x.hB, o.qA, x.qB) x end; rootfind = SciMLBase.RightRootFind) - @named sys = ODESystem( + @named sys = System( eqs, t, [theta, omega], params; continuous_events = [qAevt, qBevt]) ss = structural_simplify(sys) prob = ODEProblem(ss, [theta => 1e-5], (0.0, pi)) @@ -1068,7 +1068,7 @@ end f = (i, u, p, c) -> seen = true, sts = [], pars = [], discretes = []) cb1 = ModelingToolkit.SymbolicContinuousCallback( [x ~ 0], nothing, initialize = [x ~ 1.5], finalize = f) - @mtkbuild sys = ODESystem(D(x) ~ -1, t, [x], []; continuous_events = [cb1]) + @mtkbuild sys = System(D(x) ~ -1, t, [x], []; continuous_events = [cb1]) prob = ODEProblem(sys, [x => 1.0], (0.0, 2), []) sol = solve(prob, Tsit5(); dtmax = 0.01) @test sol[x][1] ≈ 1.0 @@ -1089,7 +1089,7 @@ end f = (i, u, p, c) -> finaled = true, sts = [], pars = [], discretes = []) cb2 = ModelingToolkit.SymbolicContinuousCallback( [x ~ 0.1], nothing, initialize = a, finalize = b) - @mtkbuild sys = ODESystem(D(x) ~ -1, t, [x], []; continuous_events = [cb1, cb2]) + @mtkbuild sys = System(D(x) ~ -1, t, [x], []; continuous_events = [cb1, cb2]) prob = ODEProblem(sys, [x => 1.0], (0.0, 2), []) sol = solve(prob, Tsit5()) @test sol[x][1] ≈ 1.0 @@ -1103,7 +1103,7 @@ end finaled = false cb3 = ModelingToolkit.SymbolicDiscreteCallback( 1.0, [x ~ 2], initialize = a, finalize = b) - @mtkbuild sys = ODESystem(D(x) ~ -1, t, [x], []; discrete_events = [cb3]) + @mtkbuild sys = System(D(x) ~ -1, t, [x], []; discrete_events = [cb3]) prob = ODEProblem(sys, [x => 1.0], (0.0, 2), []) sol = solve(prob, Tsit5()) @test inited == true @@ -1116,7 +1116,7 @@ end inited = false finaled = false cb3 = ModelingToolkit.SymbolicDiscreteCallback(1.0, f, initialize = a, finalize = b) - @mtkbuild sys = ODESystem(D(x) ~ -1, t, [x], []; discrete_events = [cb3]) + @mtkbuild sys = System(D(x) ~ -1, t, [x], []; discrete_events = [cb3]) prob = ODEProblem(sys, [x => 1.0], (0.0, 2), []) sol = solve(prob, Tsit5()) @test seen == true @@ -1127,7 +1127,7 @@ end inited = false finaled = false cb3 = ModelingToolkit.SymbolicDiscreteCallback([1.0], f, initialize = a, finalize = b) - @mtkbuild sys = ODESystem(D(x) ~ -1, t, [x], []; discrete_events = [cb3]) + @mtkbuild sys = System(D(x) ~ -1, t, [x], []; discrete_events = [cb3]) prob = ODEProblem(sys, [x => 1.0], (0.0, 2), []) sol = solve(prob, Tsit5()) @test seen == true @@ -1140,7 +1140,7 @@ end finaled = false cb3 = ModelingToolkit.SymbolicDiscreteCallback( t == 1.0, f, initialize = a, finalize = b) - @mtkbuild sys = ODESystem(D(x) ~ -1, t, [x], []; discrete_events = [cb3]) + @mtkbuild sys = System(D(x) ~ -1, t, [x], []; discrete_events = [cb3]) prob = ODEProblem(sys, [x => 1.0], (0.0, 2), []) sol = solve(prob, Tsit5(); tstops = 1.0) @test seen == true @@ -1152,17 +1152,17 @@ end @variables x(t) [irreducible = true] y(t) [irreducible = true] eqs = [x ~ y, D(x) ~ -1] cb = [x ~ 0.0] => [x ~ 0, y ~ 1] - @mtkbuild pend = ODESystem(eqs, t; continuous_events = [cb]) + @mtkbuild pend = System(eqs, t; continuous_events = [cb]) prob = ODEProblem(pend, [x => 1], (0.0, 3.0), guesses = [y => x]) @test_broken !SciMLBase.successful_retcode(solve(prob, Rodas5())) cb = [x ~ 0.0] => [y ~ 1] - @mtkbuild pend = ODESystem(eqs, t; continuous_events = [cb]) + @mtkbuild pend = System(eqs, t; continuous_events = [cb]) prob = ODEProblem(pend, [x => 1], (0.0, 3.0), guesses = [y => x]) @test_broken !SciMLBase.successful_retcode(solve(prob, Rodas5())) cb = [x ~ 0.0] => [x ~ 1, y ~ 1] - @mtkbuild pend = ODESystem(eqs, t; continuous_events = [cb]) + @mtkbuild pend = System(eqs, t; continuous_events = [cb]) prob = ODEProblem(pend, [x => 1], (0.0, 3.0), guesses = [y => x]) @test all(≈(0.0; atol = 1e-9), solve(prob, Rodas5())[[x, y]][end]) end @@ -1205,7 +1205,7 @@ end @set! m.x = 0.0 return m end - return ODESystem(eqs, t, vars, params; name = name, + return System(eqs, t, vars, params; name = name, continuous_events = [[x ~ max_time] => reset]) end @@ -1219,19 +1219,19 @@ end eqs = reduce(vcat, Symbolics.scalarize.([ D(x) ~ 1.0 ])) - return ODESystem(eqs, t, vars, params; name = name) # note no event + return System(eqs, t, vars, params; name = name) # note no event end @named wd1 = weird1(0.021) @named wd2 = weird2(0.021) - sys1 = structural_simplify(ODESystem([], t; name = :parent, + sys1 = structural_simplify(System([], t; name = :parent, discrete_events = [0.01 => ModelingToolkit.ImperativeAffect( modified = (; θs = reduce(vcat, [[wd1.θ]])), ctx = [1]) do m, o, c, i @set! m.θs[1] = c[] += 1 end], systems = [wd1])) - sys2 = structural_simplify(ODESystem([], t; name = :parent, + sys2 = structural_simplify(System([], t; name = :parent, discrete_events = [0.01 => ModelingToolkit.ImperativeAffect( modified = (; θs = reduce(vcat, [[wd2.θ]])), ctx = [1]) do m, o, c, i @set! m.θs[1] = c[] += 1 @@ -1253,7 +1253,7 @@ end D(D(y)) ~ λ * y - g x^2 + y^2 ~ 1] c_evt = [t ~ 5.0] => [x ~ Pre(x) + 0.1] - @mtkbuild pend = ODESystem(eqs, t, continuous_events = c_evt) + @mtkbuild pend = System(eqs, t, continuous_events = c_evt) prob = ODEProblem(pend, [x => -1, y => 0], (0.0, 10.0), [g => 1], guesses = [λ => 1]) sol = solve(prob, FBDF()) @test ≈(sol(5.000001, idxs = x) - sol(4.999999, idxs = x), 0.1, rtol = 1e-4) @@ -1261,7 +1261,7 @@ end # Implicit affect with Pre c_evt = [t ~ 5.0] => [x ~ Pre(x) + y^2] - @mtkbuild pend = ODESystem(eqs, t, continuous_events = c_evt) + @mtkbuild pend = System(eqs, t, continuous_events = c_evt) prob = ODEProblem(pend, [x => 1, y => 0], (0.0, 10.0), [g => 1], guesses = [λ => 1]) sol = solve(prob, FBDF()) @test ≈(sol(5.000001, idxs = y)^2 + sol(4.999999, idxs = x), @@ -1270,7 +1270,7 @@ end # Impossible affect errors c_evt = [t ~ 5.0] => [x ~ Pre(x) + 2] - @mtkbuild pend = ODESystem(eqs, t, continuous_events = c_evt) + @mtkbuild pend = System(eqs, t, continuous_events = c_evt) prob = ODEProblem(pend, [x => 1, y => 0], (0.0, 10.0), [g => 1], guesses = [λ => 1]) @test_throws UnsolvableCallbackError sol=solve(prob, FBDF()) @@ -1281,7 +1281,7 @@ end x^2 + y^2 ~ 1] c_evt = SymbolicContinuousCallback( [t ~ 5.0], [x ~ Pre(x) + 0.1, g ~ Pre(g) + 1], discrete_parameters = [g], iv = t) - @mtkbuild pend = ODESystem(eqs, t, continuous_events = c_evt) + @mtkbuild pend = System(eqs, t, continuous_events = c_evt) prob = ODEProblem(pend, [x => 1, y => 0], (0.0, 10.0), [g => 1], guesses = [λ => 1]) sol = solve(prob, FBDF()) @test sol.ps[g] ≈ [1, 2] @@ -1291,7 +1291,7 @@ end eqs = [y ~ g^2, D(x) ~ x] c_evt = SymbolicContinuousCallback( [t ~ 5.0], [x ~ Pre(x) + 1, g ~ Pre(g) + 1], discrete_parameters = [g], iv = t) - @mtkbuild sys = ODESystem(eqs, t, continuous_events = c_evt) + @mtkbuild sys = System(eqs, t, continuous_events = c_evt) prob = ODEProblem(sys, [x => 1.0], (0.0, 10.0), [g => 2]) sol = solve(prob, FBDF()) @test sol.ps[g] ≈ [2.0, 3.0] @@ -1300,7 +1300,7 @@ end # Parameters that don't appear in affects should not be mutated. c_evt = [t ~ 5.0] => [x ~ Pre(x) + 1] - @mtkbuild sys = ODESystem(eqs, t, continuous_events = c_evt) + @mtkbuild sys = System(eqs, t, continuous_events = c_evt) prob = ODEProblem(sys, [x => 0.5], (0.0, 10.0), [g => 2], guesses = [y => 0]) sol = solve(prob, FBDF()) @test prob.ps[g] == sol.ps[g] @@ -1320,14 +1320,14 @@ end @set! m.x = 0.0 return m end - return ODESystem(eqs, t, vars, []; name = name, + return System(eqs, t, vars, []; name = name, continuous_events = [[x ~ max_time] => reset]) end shared_pars = @parameters begin vals(t)[1:2] = 0.0 end - @named sys = ODESystem(Equation[], t, [], Symbolics.scalarize(vals); + @named sys = System(Equation[], t, [], Symbolics.scalarize(vals); systems = [child(vals; name = :child)]) sys = structural_simplify(sys) sol = solve(ODEProblem(sys, [], (0.0, 1.0)), Tsit5()) diff --git a/test/symbolic_indexing_interface.jl b/test/symbolic_indexing_interface.jl index 613bfc8213..b99ece927e 100644 --- a/test/symbolic_indexing_interface.jl +++ b/test/symbolic_indexing_interface.jl @@ -3,11 +3,11 @@ using ModelingToolkit: t_nounits as t, D_nounits as D, ParameterIndex, SymbolicContinuousCallback using SciMLStructures: Tunable -@testset "ODESystem" begin +@testset "System" begin @parameters a b @variables x(t)=1.0 y(t)=2.0 xy(t) eqs = [D(x) ~ a * y + t, D(y) ~ b * t] - @named odesys = ODESystem(eqs, t, [x, y], [a, b]; observed = [xy ~ x + y]) + @named odesys = System(eqs, t, [x, y], [a, b]; observed = [xy ~ x + y]) odesys = complete(odesys) @test SymbolicIndexingInterface.supports_tuple_observed(odesys) @test all(is_variable.((odesys,), [x, y, 1, 2, :x, :y])) @@ -45,7 +45,7 @@ using SciMLStructures: Tunable @test getter(prob) isa Tuple @test_nowarn @inferred getter(prob) - @named odesys = ODESystem( + @named odesys = System( eqs, t, [x, y], [a, b]; defaults = [xy => 3.0], observed = [xy ~ x + y]) odesys = complete(odesys) @test default_values(odesys)[xy] == 3.0 @@ -78,7 +78,7 @@ end # D(x) ~ -x + u # y ~ x] -# @mtkbuild cl = ODESystem(eqs, t) +# @mtkbuild cl = System(eqs, t) # partition1_params = [Hold(ud1), Sample(t, dt)(y), ud1, yd1] # partition2_params = [Hold(ud2), Sample(t, dt2)(y), ud2, yd2] # @test all( @@ -187,7 +187,7 @@ using SymbolicIndexingInterface @parameters p1[1:2]=[1.0, 2.0] p2[1:2]=[0.0, 0.0] @variables x(t) = 0 -@named sys = ODESystem( +@named sys = System( [D(x) ~ sum(p1) * t + sum(p2)], t; ) @@ -198,7 +198,7 @@ get_dep = @test_nowarn getu(prob, 2p1) @testset "Observed functions with variables as `Symbol`s" begin @variables x(t) y(t) z(t)[1:2] @parameters p1 p2[1:2, 1:2] - @mtkbuild sys = ODESystem([D(x) ~ x * t + p1, y ~ 2x, D(z) ~ p2 * z], t) + @mtkbuild sys = System([D(x) ~ x * t + p1, y ~ 2x, D(z) ~ p2 * z], t) prob = ODEProblem( sys, [x => 1.0, z => ones(2)], (0.0, 1.0), [p1 => 2.0, p2 => ones(2, 2)]) @test getu(prob, x)(prob) == getu(prob, :x)(prob) @@ -211,7 +211,7 @@ end @testset "Parameter dependencies as symbols" begin @variables x(t) = 1.0 @parameters a=1 b - @named model = ODESystem(D(x) ~ x + a - b, t, parameter_dependencies = [b ~ a + 1]) + @named model = System(D(x) ~ x + a - b, t, parameter_dependencies = [b ~ a + 1]) sys = complete(model) prob = ODEProblem(sys, [], (0.0, 1.0)) @test prob.ps[b] == prob.ps[:b] @@ -220,7 +220,7 @@ end @testset "`get_all_timeseries_indexes` with non-split systems" begin @variables x(t) y(t) z(t) @parameters a - @named sys = ODESystem([D(x) ~ a * x, y ~ 2x, z ~ 0.0], t) + @named sys = System([D(x) ~ a * x, y ~ 2x, z ~ 0.0], t) sys = structural_simplify(sys, split = false) for sym in [x, y, z, x + y, x + a, y / x] @test only(get_all_timeseries_indexes(sys, sym)) == ContinuousTimeseries() @@ -233,7 +233,7 @@ end @parameters p(t)[1:2, 1:2] ev = SymbolicContinuousCallback( [x[1] ~ 2.0] => [p ~ -ones(2, 2)], discrete_parameters = [p]) - @mtkbuild sys = ODESystem(D(x) ~ p * x, t; continuous_events = [ev]) + @mtkbuild sys = System(D(x) ~ p * x, t; continuous_events = [ev]) p = ModelingToolkit.unwrap(p) @test timeseries_parameter_index(sys, p) === ParameterTimeseriesIndex(1, (1, 1)) @test timeseries_parameter_index(sys, p[1, 1]) === diff --git a/test/symbolic_parameters.jl b/test/symbolic_parameters.jl index f4fa21e614..281002f626 100644 --- a/test/symbolic_parameters.jl +++ b/test/symbolic_parameters.jl @@ -59,7 +59,7 @@ vars = @variables(begin end) der = Differential(t) eqs = [der(x) ~ x] -@named sys = ODESystem(eqs, t, vars, [x0]) +@named sys = System(eqs, t, vars, [x0]) sys = complete(sys) pars = [ x0 => 10.0 diff --git a/test/test_variable_metadata.jl b/test/test_variable_metadata.jl index aaf6addb59..7ce45bb211 100644 --- a/test/test_variable_metadata.jl +++ b/test/test_variable_metadata.jl @@ -123,7 +123,7 @@ Dₜ = Differential(t) @parameters k2 [tunable = false] eqs = [Dₜ(x) ~ (-k2 * x + k * u) / T y ~ x] -sys = ODESystem(eqs, t, name = :tunable_first_order) +sys = System(eqs, t, name = :tunable_first_order) unk_meta = ModelingToolkit.dump_unknowns(sys) @test length(unk_meta) == 3 @test all(iszero, meta.default for meta in unk_meta) @@ -169,14 +169,14 @@ sp = Set(p) @independent_variables t @variables u(t) [description = "A short description of u"] @parameters p [description = "A description of p"] -@named sys = ODESystem([u ~ p], t) +@named sys = System([u ~ p], t) @test_nowarn show(stdout, "text/plain", sys) # Defaults, guesses overridden by system, parameter dependencies @variables x(t)=1.0 y(t) [guess = 1.0] @parameters p=2.0 q -@named sys = ODESystem(Equation[], t, [x, y], [p]; defaults = Dict(x => 2.0, p => 3.0), +@named sys = System(Equation[], t, [x, y], [p]; defaults = Dict(x => 2.0, p => 3.0), guesses = Dict(y => 2.0), parameter_dependencies = [q => 2p]) unks_meta = ModelingToolkit.dump_unknowns(sys) unks_meta = Dict([ModelingToolkit.getname(meta.var) => meta for meta in unks_meta]) diff --git a/test/units.jl b/test/units.jl index ff0cd42ac3..267b526c4b 100644 --- a/test/units.jl +++ b/test/units.jl @@ -44,42 +44,42 @@ D = Differential(t) eqs = [D(E) ~ P - E / τ 0 ~ P] @test UMT.validate(eqs) -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) @test !UMT.validate(D(D(E)) ~ P) @test !UMT.validate(0 ~ P + E * τ) # Disabling unit validation/checks selectively -@test_throws MT.ArgumentError ODESystem(eqs, t, [E, P, t], [τ], name = :sys) -ODESystem(eqs, t, [E, P, t], [τ], name = :sys, checks = MT.CheckUnits) +@test_throws MT.ArgumentError System(eqs, t, [E, P, t], [τ], name = :sys) +System(eqs, t, [E, P, t], [τ], name = :sys, checks = MT.CheckUnits) eqs = [D(E) ~ P - E / τ 0 ~ P + E * τ] -@test_throws MT.ValidationError ODESystem(eqs, t, name = :sys, checks = MT.CheckAll) -@test_throws MT.ValidationError ODESystem(eqs, t, name = :sys, checks = true) -ODESystem(eqs, t, name = :sys, checks = MT.CheckNone) -ODESystem(eqs, t, name = :sys, checks = false) -@test_throws MT.ValidationError ODESystem(eqs, t, name = :sys, +@test_throws MT.ValidationError System(eqs, t, name = :sys, checks = MT.CheckAll) +@test_throws MT.ValidationError System(eqs, t, name = :sys, checks = true) +System(eqs, t, name = :sys, checks = MT.CheckNone) +System(eqs, t, name = :sys, checks = false) +@test_throws MT.ValidationError System(eqs, t, name = :sys, checks = MT.CheckComponents | MT.CheckUnits) -@named sys = ODESystem(eqs, t, checks = MT.CheckComponents) -@test_throws MT.ValidationError ODESystem(eqs, t, [E, P, t], [τ], name = :sys, +@named sys = System(eqs, t, checks = MT.CheckComponents) +@test_throws MT.ValidationError System(eqs, t, [E, P, t], [τ], name = :sys, checks = MT.CheckUnits) # connection validation @connector function Pin(; name) sts = @variables(v(t)=1.0, [unit = u"V"], i(t)=1.0, [unit = u"A", connect = Flow]) - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end @connector function OtherPin(; name) sts = @variables(v(t)=1.0, [unit = u"mV"], i(t)=1.0, [unit = u"mA", connect = Flow]) - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end @connector function LongPin(; name) sts = @variables(v(t)=1.0, [unit = u"V"], i(t)=1.0, [unit = u"A", connect = Flow], x(t)=1.0, [unit = NoUnits]) - ODESystem(Equation[], t, sts, []; name = name) + System(Equation[], t, sts, []; name = name) end @named p1 = Pin() @named p2 = Pin() @@ -91,8 +91,8 @@ bad_length_eqs = [connect(op, lp)] @test UMT.validate(good_eqs) @test !UMT.validate(bad_eqs) @test !UMT.validate(bad_length_eqs) -@named sys = ODESystem(good_eqs, t, [], []) -@test_throws MT.ValidationError ODESystem(bad_eqs, t, [], []; name = :sys) +@named sys = System(good_eqs, t, [], []) +@test_throws MT.ValidationError System(bad_eqs, t, [], []; name = :sys) # Array variables @independent_variables t [unit = u"s"] @@ -100,7 +100,7 @@ bad_length_eqs = [connect(op, lp)] @variables x(t)[1:3] [unit = u"m"] D = Differential(t) eqs = D.(x) .~ v -ODESystem(eqs, t, name = :sys) +System(eqs, t, name = :sys) # Nonlinear system @parameters a [unit = u"kg"^-1] @@ -139,12 +139,12 @@ noiseeqs = [0.1u"MW" 0.1u"MW" D = Differential(t) eqs = [D(L) ~ v, V ~ L^3] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) sys_simple = structural_simplify(sys) eqs = [D(V) ~ r, V ~ L^3] -@named sys = ODESystem(eqs, t) +@named sys = System(eqs, t) sys_simple = structural_simplify(sys) @variables V [unit = u"m"^3] L [unit = u"m"] diff --git a/test/variable_scope.jl b/test/variable_scope.jl index 59647bf441..a7cfe0a1af 100644 --- a/test/variable_scope.jl +++ b/test/variable_scope.jl @@ -57,10 +57,10 @@ p = [a ParentScope(ParentScope(c)) GlobalScope(d)] -level0 = ODESystem(Equation[], t, [], p; name = :level0) -level1 = ODESystem(Equation[], t, [], []; name = :level1) ∘ level0 -level2 = ODESystem(Equation[], t, [], []; name = :level2) ∘ level1 -level3 = ODESystem(Equation[], t, [], []; name = :level3) ∘ level2 +level0 = System(Equation[], t, [], p; name = :level0) +level1 = System(Equation[], t, [], []; name = :level1) ∘ level0 +level2 = System(Equation[], t, [], []; name = :level2) ∘ level1 +level3 = System(Equation[], t, [], []; name = :level3) ∘ level2 ps = ModelingToolkit.getname.(parameters(level3)) @@ -73,8 +73,8 @@ ps = ModelingToolkit.getname.(parameters(level3)) # Tests from PR#2354 @parameters xx[1:2] arr_p = [ParentScope(xx[1]), xx[2]] -arr0 = ODESystem(Equation[], t, [], arr_p; name = :arr0) -arr1 = ODESystem(Equation[], t, [], []; name = :arr1) ∘ arr0 +arr0 = System(Equation[], t, [], arr_p; name = :arr0) +arr1 = System(Equation[], t, [], []; name = :arr1) ∘ arr0 arr_ps = ModelingToolkit.getname.(parameters(arr1)) @test isequal(arr_ps[1], Symbol("xx")) @test isequal(arr_ps[2], Symbol("arr0₊xx")) @@ -82,13 +82,13 @@ arr_ps = ModelingToolkit.getname.(parameters(arr1)) function Foo(; name, p = 1) @parameters p = p @variables x(t) - return ODESystem(D(x) ~ p, t; name) + return System(D(x) ~ p, t; name) end function Bar(; name, p = 2) @parameters p = p @variables x(t) @named foo = Foo(; p) - return ODESystem(D(x) ~ p + t, t; systems = [foo], name) + return System(D(x) ~ p + t, t; systems = [foo], name) end @named bar = Bar() bar = complete(bar) @@ -108,15 +108,15 @@ defs = ModelingToolkit.defaults(bar) p3 = ParentScope(ParentScope(p3)) p4 = GlobalScope(p4) - @named sys1 = ODESystem([D(x1) ~ p1, D(x2) ~ p2, D(x3) ~ p3, D(x4) ~ p4], t) + @named sys1 = System([D(x1) ~ p1, D(x2) ~ p2, D(x3) ~ p3, D(x4) ~ p4], t) @test isequal(x1, only(unknowns(sys1))) @test isequal(p1, only(parameters(sys1))) - @named sys2 = ODESystem(Equation[], t; systems = [sys1]) + @named sys2 = System(Equation[], t; systems = [sys1]) @test length(unknowns(sys2)) == 2 @test any(isequal(x2), unknowns(sys2)) @test length(parameters(sys2)) == 2 @test any(isequal(p2), parameters(sys2)) - @named sys3 = ODESystem(Equation[], t) + @named sys3 = System(Equation[], t) sys3 = sys3 ∘ sys2 @test length(unknowns(sys3)) == 3 @test any(isequal(x3), unknowns(sys3)) diff --git a/test/variable_utils.jl b/test/variable_utils.jl index 1dc45e11ef..36b80a21dd 100644 --- a/test/variable_utils.jl +++ b/test/variable_utils.jl @@ -56,7 +56,7 @@ end ρ β end - sys = ODESystem( + sys = System( [D(D(x)) ~ σ * (y - x) D(y) ~ x * (ρ - z) - y D(z) ~ x * y - β * z], iv; name) @@ -68,12 +68,12 @@ end @parameters begin p[1:2, 1:2] end - sys = ODESystem([D(D(x)) ~ p * x], iv; name) + sys = System([D(D(x)) ~ p * x], iv; name) end function Outer(; name) @named 😄 = Lorenz() @named arr = ArrSys() - sys = ODESystem(Equation[], iv; name, systems = [😄, arr]) + sys = System(Equation[], iv; name, systems = [😄, arr]) end @mtkbuild sys = Outer() From 075f00f31f636c14843d79769ec8753e35e3b19d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 22 Apr 2025 18:58:10 +0530 Subject: [PATCH 073/167] test: replace `NonlinearSystem` with `System` --- test/code_generation.jl | 2 +- test/components.jl | 4 +- test/dep_graphs.jl | 2 +- test/dq_units.jl | 6 +-- test/extensions/bifurcationkit.jl | 4 +- test/extensions/homotopy_continuation.jl | 42 +++++++++--------- test/initial_values.jl | 4 +- test/initializationsystem.jl | 10 ++--- test/modelingtoolkitize.jl | 2 +- test/namespacing.jl | 4 +- test/nonlinearsystem.jl | 52 +++++++++++------------ test/parameter_dependencies.jl | 4 +- test/reduction.jl | 4 +- test/scc_nonlinear_problem.jl | 20 ++++----- test/sciml_problem_inputs.jl | 2 +- test/structural_transformation/tearing.jl | 4 +- test/structural_transformation/utils.jl | 2 +- test/symbolic_indexing_interface.jl | 2 +- test/symbolic_parameters.jl | 4 +- test/units.jl | 6 +-- test/variable_scope.jl | 14 +++--- 21 files changed, 97 insertions(+), 97 deletions(-) diff --git a/test/code_generation.jl b/test/code_generation.jl index 87a485e198..0dc86871c5 100644 --- a/test/code_generation.jl +++ b/test/code_generation.jl @@ -31,7 +31,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D @test fn5(u0, p, 1.0) == 1.0 @variables x y[1:3] - sys = complete(NonlinearSystem(Equation[], [x; y], [p1, p2, p3, p4]; name = :sys)) + sys = complete(System(Equation[], [x; y], [p1, p2, p3, p4]; name = :sys)) p = MTKParameters(sys, []) fn1 = generate_custom_function(sys, x + y[1] + p1 + p2[1] + p3; expression = Val(false)) diff --git a/test/components.jl b/test/components.jl index 282c4c0aa7..ce3f7ecba2 100644 --- a/test/components.jl +++ b/test/components.jl @@ -335,8 +335,8 @@ end @test ModelingToolkit.get_metadata(sys) == "test" end @testset "NonlinearSystem" begin - @named inner = NonlinearSystem([0 ~ x^2 + 4x + 4], [x], []) - @named outer = NonlinearSystem( + @named inner = System([0 ~ x^2 + 4x + 4], [x], []) + @named outer = System( [0 ~ x^3 - y^3], [x, y], []; systems = [inner], metadata = "test") @test ModelingToolkit.get_metadata(outer) == "test" sys = complete(outer) diff --git a/test/dep_graphs.jl b/test/dep_graphs.jl index 76cc216635..3c7b88dd05 100644 --- a/test/dep_graphs.jl +++ b/test/dep_graphs.jl @@ -184,7 +184,7 @@ s_eqdeps = [[1], [2], [3]] eqs = [0 ~ σ * (y - x), 0 ~ ρ - y, 0 ~ y - β * z] -@named ns = NonlinearSystem(eqs, [x, y, z], [σ, ρ, β]) +@named ns = System(eqs, [x, y, z], [σ, ρ, β]) deps = equation_dependencies(ns) eq_sdeps = [[x, y], [y], [y, z]] @test all(i -> isequal(Set(deps[i]), Set(value.(eq_sdeps[i]))), 1:length(deps)) diff --git a/test/dq_units.jl b/test/dq_units.jl index 267e993971..c6cada3363 100644 --- a/test/dq_units.jl +++ b/test/dq_units.jl @@ -81,7 +81,7 @@ System(eqs, t, name = :sys) eqs = [ 0 ~ a * x ] -@named nls = NonlinearSystem(eqs, [x], [a]) +@named nls = System(eqs, [x], [a]) # SDE test w/ noise vector @parameters τ [unit = u"s"] Q [unit = u"W"] @@ -124,12 +124,12 @@ sys_simple = structural_simplify(sys) @parameters v [unit = u"m/s"] r [unit = u"m"^3 / u"s"] eqs = [V ~ r * t, V ~ L^3] -@named sys = NonlinearSystem(eqs, [V, L], [t, r]) +@named sys = System(eqs, [V, L], [t, r]) sys_simple = structural_simplify(sys) eqs = [L ~ v * t, V ~ L^3] -@named sys = NonlinearSystem(eqs, [V, L], [t, r]) +@named sys = System(eqs, [V, L], [t, r]) sys_simple = structural_simplify(sys) #Jump System diff --git a/test/extensions/bifurcationkit.jl b/test/extensions/bifurcationkit.jl index 227cd175e0..7b95ffd82e 100644 --- a/test/extensions/bifurcationkit.jl +++ b/test/extensions/bifurcationkit.jl @@ -8,7 +8,7 @@ let @parameters μ α eqs = [0 ~ μ * x - x^3 + α * y, 0 ~ -y] - @named nsys = NonlinearSystem(eqs, [x, y], [μ, α]) + @named nsys = System(eqs, [x, y], [μ, α]) nsys = complete(nsys) # Creates BifurcationProblem bif_par = μ @@ -103,7 +103,7 @@ let eqs = [0 ~ μ - x^3 + 2x^2, 0 ~ p * μ - y, 0 ~ y - z] - @named nsys = NonlinearSystem(eqs, [x, y, z], [μ, p]) + @named nsys = System(eqs, [x, y, z], [μ, p]) nsys = structural_simplify(nsys) # Creates BifurcationProblem. diff --git a/test/extensions/homotopy_continuation.jl b/test/extensions/homotopy_continuation.jl index 65f7d765a4..607c27346c 100644 --- a/test/extensions/homotopy_continuation.jl +++ b/test/extensions/homotopy_continuation.jl @@ -33,7 +33,7 @@ end eqs = [0 ~ x^2 + y^2 + 2x * y 0 ~ x^2 + 4x + 4 0 ~ y * z + 4x^2] - @mtkbuild sys = NonlinearSystem(eqs) + @mtkbuild sys = System(eqs) u0 = [x => 1.0, y => 1.0, z => 1.0] prob = HomotopyContinuationProblem(sys, u0) @test prob isa NonlinearProblem @@ -60,7 +60,7 @@ end 0 ~ x^2 + 4x + q 0 ~ y * z + 4x^2 + wrapper(r)] - @mtkbuild sys = NonlinearSystem(eqs) + @mtkbuild sys = System(eqs) prob = HomotopyContinuationProblem(sys, [x => 1.0, y => 1.0, z => 1.0], [p => 2.0, q => 4, r => Wrapper([1.0 1.0; 0.0 0.0])]) @test prob.ps[p] == 2.0 @@ -78,7 +78,7 @@ end @parameters p[1:3] _x = collect(x) eqs = collect(0 .~ vec(sum(_x * _x'; dims = 2)) + collect(p)) - @mtkbuild sys = NonlinearSystem(eqs) + @mtkbuild sys = System(eqs) prob = HomotopyContinuationProblem(sys, [x => ones(3)], [p => 1:3]) @test prob[x] == ones(3) @test prob[p + x] == [2, 3, 4] @@ -93,7 +93,7 @@ end @testset "Parametric exponents" begin @variables x = 1.0 @parameters n::Integer = 4 - @mtkbuild sys = NonlinearSystem([x^n + x^2 - 1 ~ 0]) + @mtkbuild sys = System([x^n + x^2 - 1 ~ 0]) prob = HomotopyContinuationProblem(sys, []) sol = solve(prob, singlerootalg) test_single_root(sol) @@ -103,34 +103,34 @@ end @testset "Polynomial check and warnings" begin @variables x = 1.0 - @mtkbuild sys = NonlinearSystem([x^1.5 + x^2 - 1 ~ 0]) + @mtkbuild sys = System([x^1.5 + x^2 - 1 ~ 0]) @test_throws ["Cannot convert", "Unable", "symbolically solve", "Exponent", "not an integer", "not a polynomial"] HomotopyContinuationProblem( sys, []) - @mtkbuild sys = NonlinearSystem([x^x - x ~ 0]) + @mtkbuild sys = System([x^x - x ~ 0]) @test_throws ["Cannot convert", "Unable", "symbolically solve", "Exponent", "unknowns", "not a polynomial"] HomotopyContinuationProblem( sys, []) - @mtkbuild sys = NonlinearSystem([((x^2) / sin(x))^2 + x ~ 0]) + @mtkbuild sys = System([((x^2) / sin(x))^2 + x ~ 0]) @test_throws ["Cannot convert", "both polynomial", "non-polynomial", "recognized", "sin", "not a polynomial"] HomotopyContinuationProblem( sys, []) @variables y = 2.0 - @mtkbuild sys = NonlinearSystem([x^2 + y^2 + 2 ~ 0, y ~ sin(x)]) + @mtkbuild sys = System([x^2 + y^2 + 2 ~ 0, y ~ sin(x)]) @test_throws ["Cannot convert", "recognized", "sin", "not a polynomial"] HomotopyContinuationProblem( sys, []) - @mtkbuild sys = NonlinearSystem([x^2 + y^2 - 2 ~ 0, sin(x + y) ~ 0]) + @mtkbuild sys = System([x^2 + y^2 - 2 ~ 0, sin(x + y) ~ 0]) @test_throws ["Cannot convert", "function of multiple unknowns"] HomotopyContinuationProblem( sys, []) - @mtkbuild sys = NonlinearSystem([sin(x)^2 + 1 ~ 0, cos(y) - cos(x) - 1 ~ 0]) + @mtkbuild sys = System([sin(x)^2 + 1 ~ 0, cos(y) - cos(x) - 1 ~ 0]) @test_throws ["Cannot convert", "multiple non-polynomial terms", "same unknown"] HomotopyContinuationProblem( sys, []) - @mtkbuild sys = NonlinearSystem([sin(x^2)^2 + sin(x^2) - 1 ~ 0]) + @mtkbuild sys = System([sin(x^2)^2 + sin(x^2) - 1 ~ 0]) @test_throws ["import Nemo"] HomotopyContinuationProblem(sys, []) end @@ -138,7 +138,7 @@ import Nemo @testset "With Nemo" begin @variables x = 2.0 - @mtkbuild sys = NonlinearSystem([sin(x^2)^2 + sin(x^2) - 1 ~ 0]) + @mtkbuild sys = System([sin(x^2)^2 + sin(x^2) - 1 ~ 0]) prob = HomotopyContinuationProblem(sys, []) @test prob[1] ≈ 2.0 # singlerootalg doesn't converge @@ -151,8 +151,8 @@ end @variables x=0.25 y=0.125 a = sin(x^2 - 4x + 1) b = cos(3log(y) + 4) - @mtkbuild sys = NonlinearSystem([(a^2 - 5a * b + 6b^2) / (a - 0.25) ~ 0 - (a^2 - 0.75a + 0.125) ~ 0]) + @mtkbuild sys = System([(a^2 - 5a * b + 6b^2) / (a - 0.25) ~ 0 + (a^2 - 0.75a + 0.125) ~ 0]) prob = HomotopyContinuationProblem(sys, []) @test prob[x] ≈ 0.25 @test prob[y] ≈ 0.125 @@ -165,7 +165,7 @@ end @testset "Rational functions" begin @variables x=2.0 y=2.0 @parameters n = 5 - @mtkbuild sys = NonlinearSystem([ + @mtkbuild sys = System([ 0 ~ (x^2 - n * x + 6) * (x - 1) / (x - 2) / (x - 3) ]) prob = HomotopyContinuationProblem(sys, []) @@ -178,7 +178,7 @@ end end end - @named sys = NonlinearSystem( + @named sys = System( [ 0 ~ (x - 2) / (x - 4) + ((x - 3) / (y - 7)) / ((x^2 - 4x + y) / (x - 2.5)), 0 ~ ((y - 3) / (y - 4)) * (n / (y - 5)) + ((x - 1.5) / (x - 5.5))^2 @@ -209,7 +209,7 @@ end @testset "Rational function in observed" begin @variables x=1 y=1 - @mtkbuild sys = NonlinearSystem([x^2 + y^2 - 2x - 2 ~ 0, y ~ (x - 1) / (x - 2)]) + @mtkbuild sys = System([x^2 + y^2 - 2x - 2 ~ 0, y ~ (x - 1) / (x - 2)]) prob = HomotopyContinuationProblem(sys, []) @test any(prob.f.denominator([2.0], parameter_values(prob)) .≈ 0.0) @test SciMLBase.successful_retcode(solve(prob, singlerootalg)) @@ -217,7 +217,7 @@ end @testset "Rational function forced to common denominators" begin @variables x = 1 - @mtkbuild sys = NonlinearSystem([0 ~ 1 / (1 + x) - x]) + @mtkbuild sys = System([0 ~ 1 / (1 + x) - x]) prob = HomotopyContinuationProblem(sys, []) @test any(prob.f.denominator([-1.0], parameter_values(prob)) .≈ 0.0) sol = solve(prob, singlerootalg) @@ -228,7 +228,7 @@ end @testset "Non-polynomial observed not used in equations" begin @variables x=1 y - @mtkbuild sys = NonlinearSystem([x^2 - 2 ~ 0, y ~ sin(x)]) + @mtkbuild sys = System([x^2 - 2 ~ 0, y ~ sin(x)]) prob = HomotopyContinuationProblem(sys, []) sol = @test_nowarn solve(prob, singlerootalg) @test sol[x] ≈ √2.0 @@ -237,8 +237,8 @@ end @testset "`fraction_cancel_fn`" begin @variables x = 1 - @named sys = NonlinearSystem([0 ~ ((x^2 - 5x + 6) / (x - 2) - 1) * (x^2 - 7x + 12) / - (x - 4)^3]) + @named sys = System([0 ~ ((x^2 - 5x + 6) / (x - 2) - 1) * (x^2 - 7x + 12) / + (x - 4)^3]) sys = complete(sys) @testset "`simplify_fractions`" begin diff --git a/test/initial_values.jl b/test/initial_values.jl index 05d58b9208..bd396937e4 100644 --- a/test/initial_values.jl +++ b/test/initial_values.jl @@ -103,7 +103,7 @@ prob = ODEProblem(sys, [], (0.0, 1.0), [A1 => 0.3]) System(Equation[], t, [x, y], [p]; defaults = [y => nothing], name = :osys), SDESystem(Equation[], [], t, [x, y], [p]; defaults = [y => nothing], name = :ssys), JumpSystem(Equation[], t, [x, y], [p]; defaults = [y => nothing], name = :jsys), - NonlinearSystem(Equation[], [x, y], [p]; defaults = [y => nothing], name = :nsys), + System(Equation[], [x, y], [p]; defaults = [y => nothing], name = :nsys), OptimizationSystem( Equation[], [x, y], [p]; defaults = [y => nothing], name = :optsys), ConstraintsSystem( @@ -244,7 +244,7 @@ end 0 ~ p[1] - X[1], 0 ~ p[2] - X[2] ] - @named nlsys = NonlinearSystem(eqs) + @named nlsys = System(eqs) nlsys = complete(nlsys) # Creates the `NonlinearProblem`. diff --git a/test/initializationsystem.jl b/test/initializationsystem.jl index 2ca70ee65d..1a95651cfa 100644 --- a/test/initializationsystem.jl +++ b/test/initializationsystem.jl @@ -769,7 +769,7 @@ end eqs = [0 ~ σ * (y - x), 0 ~ x * (ρ - z) - y, 0 ~ x * y - β * z] - @mtkbuild ns = NonlinearSystem(eqs, [x, y, z], [σ, ρ, β]) + @mtkbuild ns = System(eqs, [x, y, z], [σ, ρ, β]) prob = NonlinearProblem(ns, []) @test prob.f.initialization_data.update_initializeprob! === nothing @@ -810,7 +810,7 @@ end # https://github.com/SciML/NonlinearSolve.jl/issues/586 eqs = [0 ~ -c * z + (q - z) * (x^2) 0 ~ p * (-x + (q - z) * x)] - @named sys = NonlinearSystem(eqs; initialization_eqs = [p^2 + q^2 + 2p * q ~ 0]) + @named sys = System(eqs; initialization_eqs = [p^2 + q^2 + 2p * q ~ 0]) sys = complete(sys) # @mtkbuild sys = NonlinearSystem( # [p * x^2 + q * y^3 ~ 0, x - q ~ 0]; defaults = [q => missing], @@ -1420,7 +1420,7 @@ end end @testset "$Problem" for Problem in [NonlinearProblem, NonlinearLeastSquaresProblem] @parameters p1 p2 - @mtkbuild sys = NonlinearSystem([x^2 + y^2 ~ p1, (x - 1)^2 + (y - 1)^2 ~ p2]; + @mtkbuild sys = System([x^2 + y^2 ~ p1, (x - 1)^2 + (y - 1)^2 ~ p2]; parameter_dependencies = [p2 ~ 2p1], guesses = [p1 => 0.0], defaults = [p1 => missing]) prob = Problem(sys, [x => 1.0, y => 1.0], [p2 => 6.0]) @@ -1439,7 +1439,7 @@ end initialization_eqs = [ X2 ~ Γ[1] - X1 ] - @mtkbuild nlsys = NonlinearSystem(eqs, [X1, X2], [k1, k2, Γ]; initialization_eqs) + @mtkbuild nlsys = System(eqs, [X1, X2], [k1, k2, Γ]; initialization_eqs) @testset "throws if initialization_eqs contain unknowns" begin u0 = [X1 => 1.0, X2 => 2.0] @@ -1452,7 +1452,7 @@ end initialization_eqs = [ Initial(X2) ~ Γ[1] - Initial(X1) ] - @mtkbuild nlsys = NonlinearSystem(eqs, [X1, X2], [k1, k2, Γ]; initialization_eqs) + @mtkbuild nlsys = System(eqs, [X1, X2], [k1, k2, Γ]; initialization_eqs) @testset "solves initialization" begin u0 = [X1 => 1.0, X2 => 2.0] diff --git a/test/modelingtoolkitize.jl b/test/modelingtoolkitize.jl index d146fa95c9..04e6263c7c 100644 --- a/test/modelingtoolkitize.jl +++ b/test/modelingtoolkitize.jl @@ -391,7 +391,7 @@ sys = modelingtoolkitize(prob) @testset "Nonlinear" begin @variables x=1.0 y=2.0 @parameters p=3.0 q=4.0 - @mtkbuild nlsys = NonlinearSystem([0 ~ p * y^2 + x, 0 ~ x + exp(x) * q]) + @mtkbuild nlsys = System([0 ~ p * y^2 + x, 0 ~ x + exp(x) * q]) prob1 = NonlinearProblem(nlsys, []) newsys = complete(modelingtoolkitize(prob1)) @test is_variable(newsys, newsys.x) diff --git a/test/namespacing.jl b/test/namespacing.jl index 3871398144..de33f9e927 100644 --- a/test/namespacing.jl +++ b/test/namespacing.jl @@ -110,7 +110,7 @@ end @testset "NonlinearSystem" begin @variables x @parameters p - sys = NonlinearSystem([x ~ p * x^2 + 1]; name = :inner) + sys = System([x ~ p * x^2 + 1]; name = :inner) @test !iscomplete(sys) @test does_namespacing(sys) @@ -129,7 +129,7 @@ end @test isequal(p, nsys.p) @test !isequal(p, sys.p) - @test_throws ["namespacing", "inner"] NonlinearSystem( + @test_throws ["namespacing", "inner"] System( Equation[]; systems = [nsys], name = :a) end diff --git a/test/nonlinearsystem.jl b/test/nonlinearsystem.jl index 4aac92ee64..b8c2a7bb0d 100644 --- a/test/nonlinearsystem.jl +++ b/test/nonlinearsystem.jl @@ -26,7 +26,7 @@ end eqs = [0 ~ σ * (y - x) * h, 0 ~ x * (ρ - z) - y, 0 ~ x * y - β * z] -@named ns = NonlinearSystem(eqs, [x, y, z], [σ, ρ, β], defaults = Dict(x => 2)) +@named ns = System(eqs, [x, y, z], [σ, ρ, β], defaults = Dict(x => 2)) @test eval(toexpr(ns)) == ns test_nlsys_inference("standard", ns, (x, y, z), (σ, ρ, β)) @test begin @@ -44,7 +44,7 @@ end eqs = [0 ~ σ * (y - x), y ~ x * (ρ - z), β * z ~ x * y] -@named ns = NonlinearSystem(eqs, [x, y, z], [σ, ρ, β]) +@named ns = System(eqs, [x, y, z], [σ, ρ, β]) jac = calculate_jacobian(ns) @testset "nlsys jacobian" begin @test canonequal(jac[1, 1], σ * -1) @@ -67,7 +67,7 @@ a = y - x eqs = [0 ~ σ * a * h, 0 ~ x * (ρ - z) - y, 0 ~ x * y - β * z] -@named ns = NonlinearSystem(eqs, [x, y, z], [σ, ρ, β]) +@named ns = System(eqs, [x, y, z], [σ, ρ, β]) ns = complete(ns) nlsys_func = generate_function(ns, [x, y, z], [σ, ρ, β]) nf = NonlinearFunction(ns) @@ -102,11 +102,11 @@ eqs1 = [ 0 ~ x + y - z - u ] -lorenz = name -> NonlinearSystem(eqs1, [x, y, z, u, F], [σ, ρ, β], name = name) +lorenz = name -> System(eqs1, [x, y, z, u, F], [σ, ρ, β], name = name) lorenz1 = lorenz(:lorenz1) @test_throws ArgumentError NonlinearProblem(complete(lorenz1), zeros(5), zeros(3)) lorenz2 = lorenz(:lorenz2) -@named connected = NonlinearSystem( +@named connected = System( [s ~ a + lorenz1.x lorenz2.y ~ s * h lorenz1.F ~ lorenz2.u @@ -135,7 +135,7 @@ sol = solve(prob, FBDF(), reltol = 1e-7, abstol = 1e-7) eqs = [0 ~ σ * (y - x), 0 ~ x * (ρ - z) - y, 0 ~ x * y - β * z * h] -@named ns = NonlinearSystem(eqs, [x, y, z], [σ, ρ, β]) +@named ns = System(eqs, [x, y, z], [σ, ρ, β]) np = NonlinearProblem( complete(ns), [0, 0, 0], [σ => 1, ρ => 2, β => 3], jac = true, sparse = true) @test calculate_jacobian(ns, sparse = true) isa SparseMatrixCSC @@ -146,13 +146,13 @@ np = NonlinearProblem( @parameters a @variables x f - NonlinearSystem([0 ~ -a * x + f], [x, f], [a]; name) + System([0 ~ -a * x + f], [x, f], [a]; name) end function issue819() sys1 = makesys(:sys1) sys2 = makesys(:sys1) - @test_throws ArgumentError NonlinearSystem([sys2.f ~ sys1.x, sys1.f ~ 0], [], [], + @test_throws ArgumentError System([sys2.f ~ sys1.x, sys1.f ~ 0], [], [], systems = [sys1, sys2], name = :foo) end issue819() @@ -169,8 +169,8 @@ end 0 ~ b * y ] - @named sys1 = NonlinearSystem(eqs1, [x], [a]) - @named sys2 = NonlinearSystem(eqs2, [y], [b]) + @named sys1 = System(eqs1, [x], [a]) + @named sys2 = System(eqs2, [y], [b]) @named sys3 = extend(sys1, sys2) @test isequal(union(Set(parameters(sys1)), Set(parameters(sys2))), @@ -183,7 +183,7 @@ end @independent_variables t @parameters τ @variables x(t) RHS(t) -@named fol = NonlinearSystem([0 ~ (1 - x * h) / τ], [x], [τ]; +@named fol = System([0 ~ (1 - x * h) / τ], [x], [τ]; observed = [RHS ~ (1 - x) / τ]) @test isequal(RHS, @nonamespace fol.RHS) RHS2 = RHS @@ -208,7 +208,7 @@ eq = [v1 ~ sin(2pi * t * h) u[3] ~ 1, u[4] ~ h] - sys = NonlinearSystem(eqs, collect(u[1:4]), Num[], defaults = Dict([]), name = :test) + sys = System(eqs, collect(u[1:4]), Num[], defaults = Dict([]), name = :test) sys = complete(sys) prob = NonlinearProblem(sys, ones(length(unknowns(sys)))) @@ -222,7 +222,7 @@ end eqs = [0 ~ a * x] testdict = Dict([:test => 1]) -@named sys = NonlinearSystem(eqs, [x], [a], metadata = testdict) +@named sys = System(eqs, [x], [a], metadata = testdict) @test get_metadata(sys) == testdict @testset "Remake" begin @@ -233,7 +233,7 @@ testdict = Dict([:test => 1]) eqs = [0 ~ a * (y - x) * h, 0 ~ x * (b - z) - y, 0 ~ x * y - c * z] - @named sys = NonlinearSystem(eqs, [x, y, z], [a, b, c], defaults = Dict(x => 2.0)) + @named sys = System(eqs, [x, y, z], [a, b, c], defaults = Dict(x => 2.0)) sys = complete(sys) prob = NonlinearProblem(sys, ones(length(unknowns(sys)))) @@ -254,7 +254,7 @@ end eqs = [0 ~ x + sin(y), 0 ~ z - cos(x), 0 ~ x * y] - @named ns = NonlinearSystem(eqs, [x, y, z], []) + @named ns = System(eqs, [x, y, z], []) ns = complete(ns) vs = [unknowns(ns); parameters(ns)] ss_mtk = structural_simplify(ns) @@ -268,7 +268,7 @@ end @variables X(t) alg_eqs = [0 ~ p - d * X] -sys = @test_nowarn NonlinearSystem(alg_eqs; name = :name) +sys = @test_nowarn System(alg_eqs; name = :name) @test isequal(only(unknowns(sys)), X) @test all(isequal.(parameters(sys), [p, d])) @@ -276,14 +276,14 @@ sys = @test_nowarn NonlinearSystem(alg_eqs; name = :name) @variables u1 u2 @parameters u3 u4 eqs = [u3 ~ u1 + u2, u4 ~ 2 * (u1 + u2), u3 + u4 ~ 3 * (u1 + u2)] -@named ns = NonlinearSystem(eqs, [u1, u2], [u3, u4]) +@named ns = System(eqs, [u1, u2], [u3, u4]) sys = structural_simplify(ns; fully_determined = false) @test length(unknowns(sys)) == 1 # Conservative @variables X(t) alg_eqs = [1 ~ 2X] -@named ns = NonlinearSystem(alg_eqs) +@named ns = System(alg_eqs) sys = structural_simplify(ns) @test length(equations(sys)) == 0 sys = structural_simplify(ns; conservative = true) @@ -298,7 +298,7 @@ sys = structural_simplify(ns; conservative = true) 0 ~ x * y - β * z] guesses = [x => 1.0, z => 0.0] ps = [σ => 10.0, ρ => 26.0, β => 8 / 3] - @mtkbuild ns = NonlinearSystem(eqs) + @mtkbuild ns = System(eqs) @test isequal(calculate_jacobian(ns), [(-1 - z + ρ)*σ -x*σ 2x*(-z + ρ) -β-(x^2)]) @@ -315,7 +315,7 @@ sys = structural_simplify(ns; conservative = true) # system that contains a chain of observed variables when simplified @variables x y z eqs = [0 ~ x^2 + 2z + y, z ~ y, y ~ x] # analytical solution x = y = z = 0 or -3 - @mtkbuild ns = NonlinearSystem(eqs) # solve for y with observed chain z -> x -> y + @mtkbuild ns = System(eqs) # solve for y with observed chain z -> x -> y @test isequal(expand.(calculate_jacobian(ns)), [3 // 2 + y;;]) @test isequal(calculate_hessian(ns), [[1;;]]) prob = NonlinearProblem(ns, unknowns(ns) .=> -4.0) # give guess < -3 to reach -3 @@ -325,7 +325,7 @@ end @testset "Passing `nothing` to `u0`" begin @variables x = 1 - @mtkbuild sys = NonlinearSystem([0 ~ x^2 - x^3 + 3]) + @mtkbuild sys = System([0 ~ x^2 - x^3 + 3]) prob = @test_nowarn NonlinearProblem(sys, nothing) @test_nowarn solve(prob) end @@ -337,7 +337,7 @@ end 2 -2 4 -1 1/2 -1] b = [1, -2, 0] - @named sys = NonlinearSystem(A * x ~ b, [x], []) + @named sys = System(A * x ~ b, [x], []) sys = structural_simplify(sys) prob = NonlinearProblem(sys, unknowns(sys) .=> 0.0) sol = solve(prob) @@ -347,7 +347,7 @@ end @testset "resid_prototype when system has no unknowns and an equation" begin @variables x @parameters p - @named sys = NonlinearSystem([x ~ 1, x^2 - p ~ 0]) + @named sys = System([x ~ 1, x^2 - p ~ 0]) for sys in [ structural_simplify(sys, fully_determined = false), structural_simplify(sys, fully_determined = false, split = false) @@ -365,7 +365,7 @@ end @testset "IntervalNonlinearProblem" begin @variables x @parameters p - @named nlsys = NonlinearSystem([0 ~ x * x - p]) + @named nlsys = System([0 ~ x * x - p]) for sys in [complete(nlsys), complete(nlsys; split = false)] prob = IntervalNonlinearProblem(sys, (0.0, 2.0), [p => 1.0]) @@ -375,7 +375,7 @@ end end @variables y - @mtkbuild sys = NonlinearSystem([0 ~ x * x - p * x + p, 0 ~ x * y + p]) + @mtkbuild sys = System([0 ~ x * x - p * x + p, 0 ~ x * y + p]) @test_throws ["single equation", "unknown"] IntervalNonlinearProblem(sys, (0.0, 1.0)) @test_throws ["single equation", "unknown"] IntervalNonlinearFunction(sys, (0.0, 1.0)) @test_throws ["single equation", "unknown"] IntervalNonlinearProblemExpr( @@ -388,7 +388,7 @@ end @variables x y @parameters p[1:2] (f::Function)(..) - @mtkbuild sys = NonlinearSystem([x^2 - p[1]^2 ~ 0, y^2 ~ f(p)]) + @mtkbuild sys = System([x^2 - p[1]^2 ~ 0, y^2 ~ f(p)]) @test !any(isequal(p[1]), parameters(sys)) @test is_parameter(sys, p) end diff --git a/test/parameter_dependencies.jl b/test/parameter_dependencies.jl index 6f4f56c140..eb42098fd3 100644 --- a/test/parameter_dependencies.jl +++ b/test/parameter_dependencies.jl @@ -328,7 +328,7 @@ end @parameters p1=1.0 p2=1.0 @variables x(t) eqs = [0 ~ p1 * x * exp(x) + p2] - @mtkbuild sys = NonlinearSystem(eqs; parameter_dependencies = [p2 => 2p1]) + @mtkbuild sys = System(eqs; parameter_dependencies = [p2 => 2p1]) @test isequal(only(parameters(sys)), p1) @test Set(full_parameters(sys)) == Set([p1, p2, Initial(p2), Initial(x)]) prob = NonlinearProblem(sys, [x => 1.0]) @@ -383,7 +383,7 @@ end @variables x(t) y(t) @named sys = System([D(x) ~ y + p2], t; parameter_dependencies = [p2 ~ 2p1]) @test is_parameter(sys, p1) - @named sys = NonlinearSystem([x * y^2 ~ y + p2]; parameter_dependencies = [p2 ~ 2p1]) + @named sys = System([x * y^2 ~ y + p2]; parameter_dependencies = [p2 ~ 2p1]) @test is_parameter(sys, p1) k = ShiftIndex(t) @named sys = DiscreteSystem( diff --git a/test/reduction.jl b/test/reduction.jl index 7ffc6af5f3..7e8c577257 100644 --- a/test/reduction.jl +++ b/test/reduction.jl @@ -154,7 +154,7 @@ end eqs = [u1 ~ u2 u3 ~ u1 + u2 + p u3 ~ hypot(u1, u2) * p] -@named sys = NonlinearSystem(eqs, [u1, u2, u3], [p]) +@named sys = System(eqs, [u1, u2, u3], [p]) reducedsys = structural_simplify(sys) @test length(observed(reducedsys)) == 2 @@ -174,7 +174,7 @@ N = 5 @variables xs[1:N] A = reshape(1:(N^2), N, N) eqs = xs ~ A * xs -@named sys′ = NonlinearSystem(eqs, [xs], []) +@named sys′ = System(eqs, [xs], []) sys = structural_simplify(sys′) @test length(equations(sys)) == 3 && length(observed(sys)) == 2 diff --git a/test/scc_nonlinear_problem.jl b/test/scc_nonlinear_problem.jl index 67b531fddf..a435e83a7a 100644 --- a/test/scc_nonlinear_problem.jl +++ b/test/scc_nonlinear_problem.jl @@ -20,7 +20,7 @@ using ModelingToolkit: t_nounits as t, D_nounits as D eqs = Any[0 for _ in 1:8] f!(eqs, u, nothing) eqs = 0 .~ eqs - @named model = NonlinearSystem(eqs) + @named model = System(eqs) @test_throws ["simplified", "required"] SCCNonlinearProblem(model, []) _model = structural_simplify(model; split = false) @test_throws ["not compatible"] SCCNonlinearProblem(_model, []) @@ -78,7 +78,7 @@ end @variables u[1:5] [irreducible = true] @parameters p1[1:6] p2 eqs = 0 .~ collect(nlf(u, (u0, (p1, p2)))) - @mtkbuild sys = NonlinearSystem(eqs, [u], [p1, p2]) + @mtkbuild sys = System(eqs, [u], [p1, p2]) sccprob = SCCNonlinearProblem(sys, [u => u0], [p1 => p[1], p2 => p[2][]]) sccsol = solve(sccprob, SimpleNewtonRaphson(); abstol = 1e-9) @test SciMLBase.successful_retcode(sccsol) @@ -134,7 +134,7 @@ end eqs = 0 .~ eqs subrules = Dict(Symbolics.unwrap(D(y[i])) => ((y[i] - u0[i]) / dt) for i in 1:8) eqs = substitute.(eqs, (subrules,)) - @mtkbuild sys = NonlinearSystem(eqs) + @mtkbuild sys = System(eqs) prob = NonlinearProblem(sys, [y => u0], [t => t0]) sol = solve(prob, NewtonRaphson(); abstol = 1e-12) @@ -152,10 +152,10 @@ end x + y end @register_symbolic func(x, y) - @mtkbuild sys = NonlinearSystem([0 ~ x[1]^3 + x[2]^3 - 5 - 0 ~ sin(x[1] - x[2]) - 0.5 - 0 ~ func(x[1], x[2]) * exp(x[3]) - x[4]^3 - 5 - 0 ~ func(x[1], x[2]) * exp(x[4]) - x[3]^3 - 4]) + @mtkbuild sys = System([0 ~ x[1]^3 + x[2]^3 - 5 + 0 ~ sin(x[1] - x[2]) - 0.5 + 0 ~ func(x[1], x[2]) * exp(x[3]) - x[4]^3 - 5 + 0 ~ func(x[1], x[2]) * exp(x[4]) - x[3]^3 - 4]) sccprob = SCCNonlinearProblem(sys, []) sccsol = solve(sccprob, NewtonRaphson()) @test SciMLBase.successful_retcode(sccsol) @@ -257,7 +257,7 @@ end @testset "Array variables split across SCCs" begin @variables x[1:3] @parameters (f::Function)(..) - @mtkbuild sys = NonlinearSystem([ + @mtkbuild sys = System([ 0 ~ x[1]^2 - 9, x[2] ~ 2x[1], 0 ~ x[3]^2 - x[1]^2 + f(x)]) prob = SCCNonlinearProblem(sys, [x => ones(3)], [f => sum]) sol = solve(prob, NewtonRaphson()) @@ -267,7 +267,7 @@ end @testset "SCCNonlinearProblem retains parameter order" begin @variables x y z @parameters σ β ρ - @mtkbuild fullsys = NonlinearSystem( + @mtkbuild fullsys = System( [0 ~ x^3 * β + y^3 * ρ - σ, 0 ~ x^2 + 2x * y + y^2, 0 ~ z^2 - 4z + 4], [x, y, z], [σ, β, ρ]) @@ -287,7 +287,7 @@ end @variables x y @parameters p[1:2] (f::Function)(..) - @mtkbuild sys = NonlinearSystem([x^2 - p[1]^2 ~ 0, y^2 ~ f(p)]) + @mtkbuild sys = System([x^2 - p[1]^2 ~ 0, y^2 ~ f(p)]) prob = SCCNonlinearProblem(sys, [x => 1.0, y => 1.0], [p => ones(2), f => sum]) @test_nowarn solve(prob, NewtonRaphson()) end diff --git a/test/sciml_problem_inputs.jl b/test/sciml_problem_inputs.jl index deae4b4772..a1b9d1e416 100644 --- a/test/sciml_problem_inputs.jl +++ b/test/sciml_problem_inputs.jl @@ -42,7 +42,7 @@ begin ssys = complete(SDESystem( diff_eqs, noise_eqs, t, [X, Y, Z], [kp, kd, k1, k2]; name = :ssys)) jsys = complete(JumpSystem(jumps, t, [X, Y, Z], [kp, kd, k1, k2]; name = :jsys)) - nsys = complete(NonlinearSystem(alg_eqs; name = :nsys)) + nsys = complete(System(alg_eqs; name = :nsys)) u0_alts = [ # Vectors not providing default values. diff --git a/test/structural_transformation/tearing.jl b/test/structural_transformation/tearing.jl index 24083b3524..5bf88e1dd5 100644 --- a/test/structural_transformation/tearing.jl +++ b/test/structural_transformation/tearing.jl @@ -18,7 +18,7 @@ eqs = [ 0 ~ u4 - hypot(u2, u3), 0 ~ u5 - hypot(u4, u1) ] -@named sys = NonlinearSystem(eqs, [u1, u2, u3, u4, u5], []) +@named sys = System(eqs, [u1, u2, u3, u4, u5], []) state = TearingState(sys) StructuralTransformations.find_solvables!(state) @@ -133,7 +133,7 @@ eqs = [ 0 ~ z + y, 0 ~ x + z ] -@named nlsys = NonlinearSystem(eqs, [x, y, z], []) +@named nlsys = System(eqs, [x, y, z], []) newsys = tearing(nlsys) @test length(equations(newsys)) <= 1 diff --git a/test/structural_transformation/utils.jl b/test/structural_transformation/utils.jl index b9abbcfc77..9d560a2614 100644 --- a/test/structural_transformation/utils.jl +++ b/test/structural_transformation/utils.jl @@ -275,7 +275,7 @@ end end @testset "`NonlinearSystem`" begin @variables x y z - @mtkbuild sys = NonlinearSystem([x^2 ~ 2y^2 + 1, sin(z) ~ y, z^3 + 4z + 1 ~ 0]) + @mtkbuild sys = System([x^2 ~ 2y^2 + 1, sin(z) ~ y, z^3 + 4z + 1 ~ 0]) mapping = map_variables_to_equations(sys) @test mapping[x] == (0 ~ 2y^2 + 1 - x^2) @test mapping[y] == (y ~ sin(z)) diff --git a/test/symbolic_indexing_interface.jl b/test/symbolic_indexing_interface.jl index b99ece927e..9c478565fa 100644 --- a/test/symbolic_indexing_interface.jl +++ b/test/symbolic_indexing_interface.jl @@ -109,7 +109,7 @@ end eqs = [0 ~ σ * (y - x), 0 ~ x * (ρ - z) - y, 0 ~ x * y - β * z] - @named ns = NonlinearSystem(eqs, [x, y, z], [σ, ρ, β]) + @named ns = System(eqs, [x, y, z], [σ, ρ, β]) ns = complete(ns) @test SymbolicIndexingInterface.supports_tuple_observed(ns) @test !is_time_dependent(ns) diff --git a/test/symbolic_parameters.jl b/test/symbolic_parameters.jl index 281002f626..6a6a434ccc 100644 --- a/test/symbolic_parameters.jl +++ b/test/symbolic_parameters.jl @@ -20,7 +20,7 @@ u0 = [ y => σ, # default u0 from default p z => u - 0.1 ] -ns = NonlinearSystem(eqs, [x, y, z], [σ, ρ, β], name = :ns, defaults = [par; u0]) +ns = System(eqs, [x, y, z], [σ, ρ, β], name = :ns, defaults = [par; u0]) ns.y = u * 1.1 resolved = ModelingToolkit.varmap_to_vars(Dict(), parameters(ns), defaults = ModelingToolkit.defaults(ns)) @@ -32,7 +32,7 @@ sol = solve(prob, NewtonRaphson()) @variables a @parameters b -top = NonlinearSystem([0 ~ -a + ns.x + b], [a], [b], systems = [ns], name = :top) +top = System([0 ~ -a + ns.x + b], [a], [b], systems = [ns], name = :top) top.b = ns.σ * 0.5 top.ns.x = u * 0.5 diff --git a/test/units.jl b/test/units.jl index 267b526c4b..2bd67f2745 100644 --- a/test/units.jl +++ b/test/units.jl @@ -108,7 +108,7 @@ System(eqs, t, name = :sys) eqs = [ 0 ~ a * x ] -@named nls = NonlinearSystem(eqs, [x], [a]) +@named nls = System(eqs, [x], [a]) # SDE test w/ noise vector @independent_variables t [unit = u"ms"] @@ -151,12 +151,12 @@ sys_simple = structural_simplify(sys) @parameters v [unit = u"m/s"] r [unit = u"m"^3 / u"s"] t [unit = u"s"] eqs = [V ~ r * t, V ~ L^3] -@named sys = NonlinearSystem(eqs, [V, L], [t, r]) +@named sys = System(eqs, [V, L], [t, r]) sys_simple = structural_simplify(sys) eqs = [L ~ v * t, V ~ L^3] -@named sys = NonlinearSystem(eqs, [V, L], [t, r]) +@named sys = System(eqs, [V, L], [t, r]) sys_simple = structural_simplify(sys) #Jump System diff --git a/test/variable_scope.jl b/test/variable_scope.jl index a7cfe0a1af..6d7d20d948 100644 --- a/test/variable_scope.jl +++ b/test/variable_scope.jl @@ -22,11 +22,11 @@ eqs = [0 ~ a 0 ~ b 0 ~ c 0 ~ d] -@named sub4 = NonlinearSystem(eqs, [a, b, c, d], []) -@named sub3 = NonlinearSystem(eqs, [a, b, c, d], []) -@named sub2 = NonlinearSystem([], [], [], systems = [sub3, sub4]) -@named sub1 = NonlinearSystem([], [], [], systems = [sub2]) -@named sys = NonlinearSystem([], [], [], systems = [sub1]) +@named sub4 = System(eqs, [a, b, c, d], []) +@named sub3 = System(eqs, [a, b, c, d], []) +@named sub2 = System([], [], [], systems = [sub3, sub4]) +@named sub1 = System([], [], [], systems = [sub2]) +@named sys = System([], [], [], systems = [sub1]) names = ModelingToolkit.getname.(unknowns(sys)) @test :d in names @@ -35,8 +35,8 @@ names = ModelingToolkit.getname.(unknowns(sys)) @test Symbol("sub1₊sub2₊sub3₊a") in names @test Symbol("sub1₊sub2₊sub4₊a") in names -@named foo = NonlinearSystem(eqs, [a, b, c, d], []) -@named bar = NonlinearSystem(eqs, [a, b, c, d], []) +@named foo = System(eqs, [a, b, c, d], []) +@named bar = System(eqs, [a, b, c, d], []) @test ModelingToolkit.getname(ModelingToolkit.namespace_expr( ModelingToolkit.namespace_expr(b, foo), From ab21e35e10de972ded478dd4bfff69dffaecf17e Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 22 Apr 2025 18:45:51 +0530 Subject: [PATCH 074/167] test: replace `ImplicitDiscreteSystem` with `System` --- src/systems/callbacks.jl | 4 ++-- test/implicit_discrete_system.jl | 10 +++++----- test/namespacing.jl | 4 ++-- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/systems/callbacks.jl b/src/systems/callbacks.jl index 4e24f1b765..891943c6e7 100644 --- a/src/systems/callbacks.jl +++ b/src/systems/callbacks.jl @@ -57,7 +57,7 @@ end struct AffectSystem """The internal implicit discrete system whose equations are solved to obtain values after the affect.""" - system::ImplicitDiscreteSystem + system::AbstractSystem """Unknowns of the parent ODESystem whose values are modified or accessed by the affect.""" unknowns::Vector """Parameters of the parent ODESystem whose values are accessed by the affect.""" @@ -307,7 +307,7 @@ function make_affect(affect::Vector{Equation}; discrete_parameters = Any[], affect = Symbolics.fast_substitute(affect, subs) alg_eqs = Symbolics.fast_substitute(alg_eqs, subs) - @named affectsys = ImplicitDiscreteSystem( + @named affectsys = System( vcat(affect, alg_eqs), iv, collect(union(_dvs, discretes)), collect(union(pre_params, sys_params))) affectsys = structural_simplify(affectsys; fully_determined = nothing) diff --git a/test/implicit_discrete_system.jl b/test/implicit_discrete_system.jl index 932b6c6981..45c89f969e 100644 --- a/test/implicit_discrete_system.jl +++ b/test/implicit_discrete_system.jl @@ -7,7 +7,7 @@ rng = StableRNG(22525) @testset "Correct ImplicitDiscreteFunction" begin @variables x(t) = 1 - @mtkbuild sys = ImplicitDiscreteSystem([x(k) ~ x(k) * x(k - 1) - 3], t) + @mtkbuild sys = System([x(k) ~ x(k) * x(k - 1) - 3], t) tspan = (0, 10) # u[2] - u_next[1] @@ -27,7 +27,7 @@ rng = StableRNG(22525) prob = ImplicitDiscreteProblem(sys, [], tspan) @test prob.u0 == [1.0, 1.0] @variables x(t) - @mtkbuild sys = ImplicitDiscreteSystem([x(k) ~ x(k) * x(k - 1) - 3], t) + @mtkbuild sys = System([x(k) ~ x(k) * x(k - 1) - 3], t) @test_throws ErrorException prob=ImplicitDiscreteProblem(sys, [], tspan) end @@ -35,7 +35,7 @@ end @variables x(t) y(t) eqs = [x(k) ~ x(k - 1) + x(k - 2), x^2 ~ 1 - y^2] - @mtkbuild sys = ImplicitDiscreteSystem(eqs, t) + @mtkbuild sys = System(eqs, t) f = ImplicitDiscreteFunction(sys) function correct_f(u_next, u, p, t) @@ -62,7 +62,7 @@ end eqs = [x(k) ~ x(k - 1) + x(k - 2), y(k) ~ x(k) + x(k - 2) * z(k - 1), x + y + z ~ 2] - @mtkbuild sys = ImplicitDiscreteSystem(eqs, t) + @mtkbuild sys = System(eqs, t) @test length(unknowns(sys)) == length(equations(sys)) == 3 @test occursin("var\"y(t)\"", string(ImplicitDiscreteFunctionExpr(sys))) @@ -70,6 +70,6 @@ end eqs = [z(k) ~ x(k) + sin(x(k)), y(k) ~ x(k - 1) + x(k - 2), z(k) * x(k) ~ 3] - @mtkbuild sys = ImplicitDiscreteSystem(eqs, t) + @mtkbuild sys = System(eqs, t) @test occursin("var\"Shift(t, 1)(z(t))\"", string(ImplicitDiscreteFunctionExpr(sys))) end diff --git a/test/namespacing.jl b/test/namespacing.jl index de33f9e927..7ae4702304 100644 --- a/test/namespacing.jl +++ b/test/namespacing.jl @@ -84,7 +84,7 @@ end @variables x(t) @parameters p k = ShiftIndex(t) - sys = ImplicitDiscreteSystem([x(k) ~ p + x(k - 1) * x(k)], t; name = :inner) + sys = System([x(k) ~ p + x(k - 1) * x(k)], t; name = :inner) @test !iscomplete(sys) @test does_namespacing(sys) @@ -103,7 +103,7 @@ end @test isequal(p, nsys.p) @test !isequal(p, sys.p) - @test_throws ["namespacing", "inner"] ImplicitDiscreteSystem( + @test_throws ["namespacing", "inner"] System( Equation[], t; systems = [nsys], name = :a) end From 55bbef0e0014c8944e2744a94e8f7a3dfc596021 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 22 Apr 2025 18:47:40 +0530 Subject: [PATCH 075/167] test: replace `DiscreteSystem` with `System` --- test/components.jl | 4 ++-- test/discrete_system.jl | 34 +++++++++++++++++----------------- test/namespacing.jl | 4 ++-- test/parameter_dependencies.jl | 2 +- 4 files changed, 22 insertions(+), 22 deletions(-) diff --git a/test/components.jl b/test/components.jl index ce3f7ecba2..19f529bd0a 100644 --- a/test/components.jl +++ b/test/components.jl @@ -344,8 +344,8 @@ end end k = ShiftIndex(t) @testset "DiscreteSystem" begin - @named inner = DiscreteSystem([x(k) ~ x(k - 1) + x(k - 2)], t, [x], []) - @named outer = DiscreteSystem([y(k) ~ y(k - 1) + y(k - 2)], t, [x, y], + @named inner = System([x(k) ~ x(k - 1) + x(k - 2)], t, [x], []) + @named outer = System([y(k) ~ y(k - 1) + y(k - 2)], t, [x, y], []; systems = [inner], metadata = "test") @test ModelingToolkit.get_metadata(outer) == "test" sys = complete(outer) diff --git a/test/discrete_system.jl b/test/discrete_system.jl index 43ee771b2b..0c5412977f 100644 --- a/test/discrete_system.jl +++ b/test/discrete_system.jl @@ -10,7 +10,7 @@ using ModelingToolkit: get_metadata, MTKParameters # Make sure positive shifts error @variables x(t) k = ShiftIndex(t) -@test_throws ErrorException @mtkbuild sys = DiscreteSystem([x(k + 1) ~ x + x(k - 1)], t) +@test_throws ErrorException @mtkbuild sys = System([x(k + 1) ~ x + x(k - 1)], t) @inline function rate_to_proportion(r, t) 1 - exp(-r * t) @@ -30,7 +30,7 @@ eqs = [S ~ S(k - 1) - infection * h, R ~ R(k - 1) + recovery] # System -@named sys = DiscreteSystem(eqs, t, [S, I, R], [c, nsteps, δt, β, γ]) +@named sys = System(eqs, t, [S, I, R], [c, nsteps, δt, β, γ]) syss = structural_simplify(sys) @test syss == syss @@ -72,7 +72,7 @@ eqs2 = [S ~ S(k - 1) - infection2, R ~ R(k - 1) + recovery2, R2 ~ R] -@mtkbuild sys = DiscreteSystem( +@mtkbuild sys = System( eqs2, t, [S, I, R, R2], [c, nsteps, δt, β, γ]; controls = [β, γ], tspan) @test ModelingToolkit.defaults(sys) != Dict() @@ -127,7 +127,7 @@ sol_map2 = solve(prob_map, FunctionMap()); # ] # # System -# @named sys = DiscreteSystem(eqs, t, [x(t), x(t - 1.5), x(t - 3), y(t), y(t - 2), z], []) +# @named sys = System(eqs, t, [x(t), x(t - 1.5), x(t - 3), y(t), y(t - 2), z], []) # eqs2, max_delay = ModelingToolkit.linearize_eqs(sys; return_max_delay = true) @@ -143,7 +143,7 @@ sol_map2 = solve(prob_map, FunctionMap()); # observed variable handling @variables x(t) RHS(t) @parameters τ -@named fol = DiscreteSystem( +@named fol = System( [x ~ (1 - x(k - 1)) / τ], t, [x, RHS], [τ]; observed = [RHS ~ (1 - x) / τ * h]) @test isequal(RHS, @nonamespace fol.RHS) RHS2 = RHS @@ -198,7 +198,7 @@ RHS2 = RHS # Δ(us[i]) ~ dummy_identity(buffer[i], us[i]) # end -# @mtkbuild sys = DiscreteSystem(eqs, t, us, ps; defaults = defs, preface = preface) +# @mtkbuild sys = System(eqs, t, us, ps; defaults = defs, preface = preface) # prob = DiscreteProblem(sys, [], (0.0, 1.0)) # sol = solve(prob, FunctionMap(); dt = dt) # @test c[1] + 1 == length(sol) @@ -206,14 +206,14 @@ RHS2 = RHS @variables x(t) y(t) testdict = Dict([:test => 1]) -@named sys = DiscreteSystem([x(k + 1) ~ 1.0], t, [x], []; metadata = testdict) +@named sys = System([x(k + 1) ~ 1.0], t, [x], []; metadata = testdict) @test get_metadata(sys) == testdict @variables x(t) y(t) u(t) eqs = [u ~ 1 x ~ x(k - 1) + u y ~ x + u] -@mtkbuild de = DiscreteSystem(eqs, t) +@mtkbuild de = System(eqs, t) prob = DiscreteProblem(de, [x(k - 1) => 0.0], (0, 10)) sol = solve(prob, FunctionMap()) @@ -231,7 +231,7 @@ function SampledData(; name, buffer) @variables output(t) time(t) eqs = [time ~ time(k - 1) + 1 output ~ getdata(buffer, time)] - return DiscreteSystem(eqs, t; name) + return System(eqs, t; name) end function System(; name, buffer) @named y_sys = SampledData(; buffer = buffer) @@ -245,7 +245,7 @@ function System(; name, buffer) # y[t] = 0.5 * y[t - 1] + 0.5 * y[t + 1] + y_shk[t] y(k - 1) ~ α * y(k - 2) + (β * y(k) + y_shk(k - 1))] - DiscreteSystem(eqs, t, vars, pars; systems = [y_sys], name = name) + System(eqs, t, vars, pars; systems = [y_sys], name = name) end @test_nowarn @mtkbuild sys = System(; buffer = ones(10)) @@ -253,12 +253,12 @@ end # Ensure discrete systems with algebraic equations throw @variables x(t) y(t) k = ShiftIndex(t) -@named sys = DiscreteSystem([x ~ x^2 + y^2, y ~ x(k - 1) + y(k - 1)], t) +@named sys = System([x ~ x^2 + y^2, y ~ x(k - 1) + y(k - 1)], t) @testset "Passing `nothing` to `u0`" begin @variables x(t) = 1 k = ShiftIndex() - @mtkbuild sys = DiscreteSystem([x(k) ~ x(k - 1) + 1], t) + @mtkbuild sys = System([x(k) ~ x(k - 1) + 1], t) prob = @test_nowarn DiscreteProblem(sys, nothing, (0.0, 1.0)) @test_nowarn solve(prob, FunctionMap()) end @@ -266,7 +266,7 @@ end @testset "Initialization" begin # test that default values apply to the entire history @variables x(t) = 1.0 - @mtkbuild de = DiscreteSystem([x ~ x(k - 1) + x(k - 2)], t) + @mtkbuild de = System([x ~ x(k - 1) + x(k - 2)], t) prob = DiscreteProblem(de, [], (0, 10)) @test prob[x] == 2.0 @test prob[x(k - 1)] == 1.0 @@ -289,14 +289,14 @@ end # Test missing initial throws error @variables x(t) - @mtkbuild de = DiscreteSystem([x ~ x(k - 1) + x(k - 2) * x(k - 3)], t) + @mtkbuild de = System([x ~ x(k - 1) + x(k - 2) * x(k - 3)], t) @test_throws ErrorException prob=DiscreteProblem(de, [x(k - 3) => 2.0], (0, 10)) @test_throws ErrorException prob=DiscreteProblem( de, [x(k - 3) => 2.0, x(k - 1) => 3.0], (0, 10)) # Test non-assigned initials are given default value @variables x(t) = 2.0 - @mtkbuild de = DiscreteSystem([x ~ x(k - 1) + x(k - 2) * x(k - 3)], t) + @mtkbuild de = System([x ~ x(k - 1) + x(k - 2) * x(k - 3)], t) prob = DiscreteProblem(de, [x(k - 3) => 12.0], (0, 10)) @test prob[x] == 26.0 @test prob[x(k - 1)] == 2.0 @@ -306,7 +306,7 @@ end @variables xₜ₋₂(t) zₜ₋₁(t) z(t) eqs = [x ~ x(k - 1) + z(k - 2), z ~ x(k - 2) * x(k - 3) - z(k - 1)^2] - @mtkbuild de = DiscreteSystem(eqs, t) + @mtkbuild de = System(eqs, t) u0 = [x(k - 1) => 3, xₜ₋₂(k - 1) => 4, x(k - 2) => 1, @@ -333,7 +333,7 @@ end y[1](k) ~ y[1](k - 1) + y[1](k - 2), y[2](k) ~ y[2](k - 1) + y[2](k - 2) ] - @mtkbuild sys = DiscreteSystem(eqs, t) + @mtkbuild sys = System(eqs, t) prob = DiscreteProblem(sys, [x(k - 1) => ones(2), x(k - 2) => zeros(2), y[1](k - 1) => 1.0, y[1](k - 2) => 0.0, y[2](k - 1) => 1.0, y[2](k - 2) => 0.0], diff --git a/test/namespacing.jl b/test/namespacing.jl index 7ae4702304..50cbd7e3a3 100644 --- a/test/namespacing.jl +++ b/test/namespacing.jl @@ -57,7 +57,7 @@ end @variables x(t) @parameters p k = ShiftIndex(t) - sys = DiscreteSystem([x(k) ~ p * x(k - 1)], t; name = :inner) + sys = System([x(k) ~ p * x(k - 1)], t; name = :inner) @test !iscomplete(sys) @test does_namespacing(sys) @@ -76,7 +76,7 @@ end @test isequal(p, nsys.p) @test !isequal(p, sys.p) - @test_throws ["namespacing", "inner"] DiscreteSystem( + @test_throws ["namespacing", "inner"] System( Equation[], t; systems = [nsys], name = :a) end diff --git a/test/parameter_dependencies.jl b/test/parameter_dependencies.jl index eb42098fd3..52a064d0be 100644 --- a/test/parameter_dependencies.jl +++ b/test/parameter_dependencies.jl @@ -386,7 +386,7 @@ end @named sys = System([x * y^2 ~ y + p2]; parameter_dependencies = [p2 ~ 2p1]) @test is_parameter(sys, p1) k = ShiftIndex(t) - @named sys = DiscreteSystem( + @named sys = System( [x(k - 1) ~ x(k) + y(k) + p2], t; parameter_dependencies = [p2 ~ 2p1]) @test is_parameter(sys, p1) end From c3cc065b04e7e0345013b4bf0b982223f3e48dce Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 15:48:28 +0530 Subject: [PATCH 076/167] fix: ensure equations are `Vector{Equation}` in `generate_initializesystem` --- src/systems/nonlinear/initializesystem.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systems/nonlinear/initializesystem.jl b/src/systems/nonlinear/initializesystem.jl index 8f0c167ea5..57913c5031 100644 --- a/src/systems/nonlinear/initializesystem.jl +++ b/src/systems/nonlinear/initializesystem.jl @@ -247,7 +247,7 @@ function generate_initializesystem_timeindependent(sys::AbstractSystem; # so add scalarized versions as well scalarize_varmap!(paramsubs) - eqs_ics = Symbolics.substitute.(eqs_ics, (paramsubs,)) + eqs_ics = Vector{Equation}(Symbolics.substitute.(eqs_ics, (paramsubs,))) for k in keys(defs) defs[k] = substitute(defs[k], paramsubs) end From 2889896bd4154cb1a044d5acfa4d5cc2bb3a4255 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 15:48:51 +0530 Subject: [PATCH 077/167] test: fix usage of array equations in test --- test/dq_units.jl | 2 +- test/units.jl | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/test/dq_units.jl b/test/dq_units.jl index c6cada3363..4d8c245e06 100644 --- a/test/dq_units.jl +++ b/test/dq_units.jl @@ -72,7 +72,7 @@ good_eqs = [connect(op, op2)] # Array variables @variables x(t)[1:3] [unit = u"m"] @parameters v[1:3]=[1, 2, 3] [unit = u"m/s"] -eqs = D.(x) .~ v +eqs = [D(x) ~ v] System(eqs, t, name = :sys) # Nonlinear system diff --git a/test/units.jl b/test/units.jl index 2bd67f2745..b7d141f347 100644 --- a/test/units.jl +++ b/test/units.jl @@ -99,7 +99,7 @@ bad_length_eqs = [connect(op, lp)] @parameters v[1:3]=[1, 2, 3] [unit = u"m/s"] @variables x(t)[1:3] [unit = u"m"] D = Differential(t) -eqs = D.(x) .~ v +eqs = [D(x) ~ v] System(eqs, t, name = :sys) # Nonlinear system From 9664374ae5bc8fb972abbb172551ee3956e1701d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 15:49:13 +0530 Subject: [PATCH 078/167] test: ensure equations passed to system are `Vector{Equation}` --- test/variable_scope.jl | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/test/variable_scope.jl b/test/variable_scope.jl index 6d7d20d948..2ecd62ec1f 100644 --- a/test/variable_scope.jl +++ b/test/variable_scope.jl @@ -24,9 +24,9 @@ eqs = [0 ~ a 0 ~ d] @named sub4 = System(eqs, [a, b, c, d], []) @named sub3 = System(eqs, [a, b, c, d], []) -@named sub2 = System([], [], [], systems = [sub3, sub4]) -@named sub1 = System([], [], [], systems = [sub2]) -@named sys = System([], [], [], systems = [sub1]) +@named sub2 = System(Equation[], [], [], systems = [sub3, sub4]) +@named sub1 = System(Equation[], [], [], systems = [sub2]) +@named sys = System(Equation[], [], [], systems = [sub1]) names = ModelingToolkit.getname.(unknowns(sys)) @test :d in names From 84eaaad6b371a2fa1e90119e92db1b47b65b8d77 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 15:49:31 +0530 Subject: [PATCH 079/167] refactor: remove `process_equations` --- src/utils.jl | 56 ---------------------------------------------------- 1 file changed, 56 deletions(-) diff --git a/src/utils.jl b/src/utils.jl index a12b251384..fe8fb66c53 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -1205,62 +1205,6 @@ function guesses_from_metadata!(guesses, vars) end end -""" - $(TYPEDSIGNATURES) - -Find all the unknowns and parameters from the equations of a System. Return re-ordered -equations, differential variables, all variables, and parameters. -""" -function process_equations(eqs, iv) - if eltype(eqs) <: AbstractVector - eqs = reduce(vcat, eqs) - end - eqs = collect(eqs) - - diffvars = OrderedSet() - allunknowns = OrderedSet() - ps = OrderedSet() - - # NOTE: this assumes that the order of algebraic equations doesn't matter - # reorder equations such that it is in the form of `diffeq, algeeq` - diffeq = Equation[] - algeeq = Equation[] - # initial loop for finding `iv` - if iv === nothing - for eq in eqs - if !(eq.lhs isa Number) # assume eq.lhs is either Differential or Number - iv = iv_from_nested_derivative(eq.lhs) - break - end - end - end - iv = value(iv) - iv === nothing && throw(ArgumentError("Please pass in independent variables.")) - - compressed_eqs = Equation[] # equations that need to be expanded later, like `connect(a, b)` - for eq in eqs - eq.lhs isa Union{Symbolic, Number} || (push!(compressed_eqs, eq); continue) - collect_vars!(allunknowns, ps, eq, iv) - if isdiffeq(eq) - diffvar, _ = var_from_nested_derivative(eq.lhs) - if check_scope_depth(getmetadata(diffvar, SymScope, LocalScope()), 0) - isequal(iv, iv_from_nested_derivative(eq.lhs)) || - throw(ArgumentError("A system of differential equations can only have one independent variable.")) - diffvar in diffvars && - throw(ArgumentError("The differential variable $diffvar is not unique in the system of equations.")) - !has_diffvar_type(diffvar) && - throw(ArgumentError("Differential variable $diffvar has type $(symtype(diffvar)). Differential variables should be of a continuous, non-concrete number type: Real, Complex, AbstractFloat, or Number.")) - push!(diffvars, diffvar) - end - push!(diffeq, eq) - else - push!(algeeq, eq) - end - end - - diffvars, allunknowns, ps, Equation[diffeq; algeeq; compressed_eqs] -end - function has_diffvar_type(diffvar) st = symtype(diffvar) st === Real || eltype(st) === Real || st === Complex || eltype(st) === Complex || From 8b3b30029039054fe0fe297bbc4a089c164a9604 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 15:49:56 +0530 Subject: [PATCH 080/167] docs: document `collect_var!` --- src/utils.jl | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/utils.jl b/src/utils.jl index fe8fb66c53..15c90c149d 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -604,6 +604,13 @@ function collect_vars!(unknowns, parameters, p::Pair, iv; depth = 0, op = Differ return nothing end +""" + $(TYPEDSIGNATURES) + +Identify whether `var` belongs to the current system using `depth` and scoping information. +Add `var` to `unknowns` or `parameters` appropriately, and search through any expressions +in known metadata of `var` using `collect_vars!`. +""" function collect_var!(unknowns, parameters, var, iv; depth = 0) isequal(var, iv) && return nothing if Symbolics.iswrapped(var) From 2d03523522012528d5d893fe55f0e8c3b29a57ac Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 15:50:34 +0530 Subject: [PATCH 081/167] refactor: change default operator in `collect_vars!` to `Symbolics.Operator` --- src/utils.jl | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/utils.jl b/src/utils.jl index 15c90c149d..ad10ac157c 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -566,7 +566,7 @@ function collect_scoped_vars!(unknowns, parameters, sys, iv; depth = 1, op = Dif end end -function collect_vars!(unknowns, parameters, expr, iv; depth = 0, op = Differential) +function collect_vars!(unknowns, parameters, expr, iv; depth = 0, op = Symbolics.Operator) if issym(expr) collect_var!(unknowns, parameters, expr, iv; depth) else @@ -592,13 +592,14 @@ eqtype_supports_collect_vars(eq::Inequality) = true eqtype_supports_collect_vars(eq::Pair) = true function collect_vars!(unknowns, parameters, eq::Union{Equation, Inequality}, iv; - depth = 0, op = Differential) + depth = 0, op = Symbolics.Operator) collect_vars!(unknowns, parameters, eq.lhs, iv; depth, op) collect_vars!(unknowns, parameters, eq.rhs, iv; depth, op) return nothing end -function collect_vars!(unknowns, parameters, p::Pair, iv; depth = 0, op = Differential) +function collect_vars!( + unknowns, parameters, p::Pair, iv; depth = 0, op = Symbolics.Operator) collect_vars!(unknowns, parameters, p[1], iv; depth, op) collect_vars!(unknowns, parameters, p[2], iv; depth, op) return nothing From 99345eb444eaaf4f42e5d865034581c94d3b094f Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 15:50:58 +0530 Subject: [PATCH 082/167] feat: add `validate_operator` --- src/discretedomain.jl | 21 +++++++++++++++ src/systems/callbacks.jl | 3 +++ src/utils.jl | 55 ++++++++++++++++++++++++++++++++++++++++ 3 files changed, 79 insertions(+) diff --git a/src/discretedomain.jl b/src/discretedomain.jl index 2d5410ee79..1eeec4c014 100644 --- a/src/discretedomain.jl +++ b/src/discretedomain.jl @@ -7,6 +7,8 @@ SymbolicUtils.promote_symtype(::Type{<:SampleTime}, t...) = Real Base.nameof(::SampleTime) = :SampleTime SymbolicUtils.isbinop(::SampleTime) = false +function validate_operator(op::SampleTime, args, iv; context = nothing) end + # Shift """ @@ -72,6 +74,13 @@ Base.hash(D::Shift, u::UInt) = hash(D.steps, hash(D.t, xor(u, 0x055640d6d952f101 Base.:^(D::Shift, n::Integer) = Shift(D.t, D.steps * n) Base.literal_pow(f::typeof(^), D::Shift, ::Val{n}) where {n} = Shift(D.t, D.steps * n) +function validate_operator(op::Shift, args, iv; context = nothing) + isequal(op.t, iv) || throw(OperatorIndepvarMismatchError(op, iv, context)) + op.steps <= 0 || error(""" + Only non-positive shifts are allowed. Found shift of $(op.steps) in $context. + """) +end + hasshift(eq::Equation) = hasshift(eq.lhs) || hasshift(eq.rhs) """ @@ -132,6 +141,13 @@ Base.show(io::IO, D::Sample) = print(io, "Sample(", D.clock, ")") Base.:(==)(D1::Sample, D2::Sample) = isequal(D1.clock, D2.clock) Base.hash(D::Sample, u::UInt) = hash(D.clock, xor(u, 0x055640d6d952f101)) +function validate_operator(op::Sample, args, iv; context = nothing) + arg = unwrap(only(args)) + if !is_variable_floatingpoint(arg) + throw(ContinuousOperatorDiscreteArgumentError(op, arg, context)) + end +end + """ hassample(O) @@ -160,6 +176,11 @@ SymbolicUtils.isbinop(::Hold) = false Hold(x) = Hold()(x) +function validate_operator(op::Hold, args, iv; context = nothing) + # TODO: maybe validate `VariableTimeDomain`? + return nothing +end + """ hashold(O) diff --git a/src/systems/callbacks.jl b/src/systems/callbacks.jl index 891943c6e7..d0bd18a65a 100644 --- a/src/systems/callbacks.jl +++ b/src/systems/callbacks.jl @@ -155,6 +155,9 @@ end haspre(eq::Equation) = haspre(eq.lhs) || haspre(eq.rhs) haspre(O) = recursive_hasoperator(Pre, O) +function validate_operator(op::Pre, args, iv; context = nothing) +end + ############################### ###### Continuous events ###### ############################### diff --git a/src/utils.jl b/src/utils.jl index ad10ac157c..293a3fdd69 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -566,6 +566,61 @@ function collect_scoped_vars!(unknowns, parameters, sys, iv; depth = 1, op = Dif end end +""" + $(TYPEDSIGNATURES) + +Check whether the usage of operator `op` is valid in a system with independent variable +`iv`. If the system is time-independent, `iv` should be `nothing`. Throw an appropriate +error if `op` is invalid. `args` are the arguments to `op`. + +# Keyword arguments + +- `context`: The place where the operator occurs in the system/expression, or any other + relevant information. Useful for providing extra information in the error message. +""" +function validate_operator(op, args, iv; context = nothing) + error("`$validate_operator` is not implemented for operator `$op` in $context.") +end + +function validate_operator(op::Differential, args, iv; context = nothing) + isequal(op.x, iv) || throw(OperatorIndepvarMismatchError(op, iv, context)) + arg = unwrap(only(args)) + if !is_variable_floatingpoint(arg) + throw(ContinuousOperatorDiscreteArgumentError(op, arg, context)) + end +end + +struct ContinuousOperatorDiscreteArgumentError <: Exception + op::Any + arg::Any + context::Any +end + +function Base.showerror(io::IO, err::ContinuousOperatorDiscreteArgumentError) + print(io, """ + Operator $(err.op) expects continuous arguments, with a `symtype` such as `Number`, + `Real`, `Complex` or a subtype of `AbstractFloat`. Found $(err.arg) with a symtype of + $(symtype(err.arg))$(err.context === nothing ? "." : "in $(err.context).") + """) +end + +struct OperatorIndepvarMismatchError <: Exception + op::Any + iv::Any + context::Any +end + +function Base.showerror(io::IO, err::OperatorIndepvarMismatchError) + print(io, """ + Encountered operator `$(err.op)` which has different independent variable than the \ + one used in the system `$(err.iv)`. + """) + if err.context !== nothing + println(io) + print(io, "Context:\n$(err.context)") + end +end + function collect_vars!(unknowns, parameters, expr, iv; depth = 0, op = Symbolics.Operator) if issym(expr) collect_var!(unknowns, parameters, expr, iv; depth) From 51d5bd0b2e18bfc741d822e41838fcb30e37eacd Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 15:51:29 +0530 Subject: [PATCH 083/167] refactor: document `collect_vars!` and use `validate_operator` --- src/utils.jl | 28 +++++++++++++++++++++------- 1 file changed, 21 insertions(+), 7 deletions(-) diff --git a/src/utils.jl b/src/utils.jl index 293a3fdd69..6d0140e7e9 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -621,16 +621,30 @@ function Base.showerror(io::IO, err::OperatorIndepvarMismatchError) end end +""" + $(TYPEDSIGNATURES) + +Search through `expr` for all symbolic variables present in it. Populate `dvs` with +unknowns and `ps` with parameters present. `iv` should be the independent variable of the +system or `nothing` for time-independent systems. Expressions where the operator `isa op` +go through `validate_operator`. + +`depth` is a keyword argument which indicates how many levels down `expr` is from the root +of the system hierarchy. This is used to resolve scoping operators. The scope of a variable +can be checked using `check_scope_depth`. + +This function should return `nothing`. +""" function collect_vars!(unknowns, parameters, expr, iv; depth = 0, op = Symbolics.Operator) if issym(expr) - collect_var!(unknowns, parameters, expr, iv; depth) - else - for var in vars(expr; op) - if iscall(var) && operation(var) isa Differential - var, _ = var_from_nested_derivative(var) - end - collect_var!(unknowns, parameters, var, iv; depth) + return collect_var!(unknowns, parameters, expr, iv; depth) + end + for var in vars(expr; op) + while iscall(var) && operation(var) isa op + validate_operator(operation(var), arguments(var), iv; context = expr) + var = arguments(var)[1] end + collect_var!(unknowns, parameters, var, iv; depth) end return nothing end From bfa52823c69ffef7dba6efd5466c8cc596a47c6e Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 17:22:07 +0530 Subject: [PATCH 084/167] feat: add `is_floatingpoint_symtype` --- src/utils.jl | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/utils.jl b/src/utils.jl index 6d0140e7e9..9996635235 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -1113,6 +1113,16 @@ function is_variable_floatingpoint(sym) T = symtype(sym) return T == Real || T <: AbstractFloat || T <: AbstractArray{Real} || T <: AbstractArray{<:AbstractFloat} + +""" + $(TYPEDSIGNATURES) + +Check if `T` is an appropriate symtype for a symbolic variable representing a floating +point number or array of such numbers. +""" +function is_floatingpoint_symtype(T::Type) + return T == Real || T == Number || T <: AbstractFloat || + T <: AbstractArray && is_floatingpoint_symtype(eltype(T)) end """ From c2ded8c1a25470dafc3ea9fda97a481f56bdf598 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 17:22:22 +0530 Subject: [PATCH 085/167] refactor: use `is_floatingpoint_symtype` in `is_variable_floatingpoint` --- src/utils.jl | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/utils.jl b/src/utils.jl index 9996635235..804976ae28 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -1111,8 +1111,8 @@ Check if `sym` represents a symbolic floating point number or array of such numb function is_variable_floatingpoint(sym) sym = unwrap(sym) T = symtype(sym) - return T == Real || T <: AbstractFloat || T <: AbstractArray{Real} || - T <: AbstractArray{<:AbstractFloat} + is_floatingpoint_symtype(T) +end """ $(TYPEDSIGNATURES) From fd6e6aa2e30c0f3546b5ba88d379063bdfaadff9 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 19:15:14 +0530 Subject: [PATCH 086/167] test: don't pass dvs/ps to `ODEFunction` --- test/precompile_test/ODEPrecompileTest.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/precompile_test/ODEPrecompileTest.jl b/test/precompile_test/ODEPrecompileTest.jl index 911f45152e..2111f7ba64 100644 --- a/test/precompile_test/ODEPrecompileTest.jl +++ b/test/precompile_test/ODEPrecompileTest.jl @@ -15,7 +15,7 @@ function system(; kwargs...) @named de = System(eqs, t) de = complete(de) - return ODEFunction(de, [x, y, z], [σ, ρ, β]; kwargs...) + return ODEFunction(de; kwargs...) end # Build an ODEFunction as part of the module's precompilation. These cases From 53d7122c357009088c3ee7eb9dc8bf257e596939 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 19:15:38 +0530 Subject: [PATCH 087/167] test: fix shadowing of `System` in tests --- test/domain_connectors.jl | 4 ++-- test/state_selection.jl | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/test/domain_connectors.jl b/test/domain_connectors.jl index 03d6ff264a..e35cee8f30 100644 --- a/test/domain_connectors.jl +++ b/test/domain_connectors.jl @@ -123,7 +123,7 @@ function Valve2Port(; p_s_int, p_r_int, p_int, name) System(eqs, t, vars, pars; name, systems) end -function System(; name) +function HydraulicSystem(; name) vars = [] pars = [] systems = @named begin @@ -142,7 +142,7 @@ function System(; name) return System(eqs, t, vars, pars; systems, name) end -@named odesys = System() +@named odesys = HydraulicSystem() esys = ModelingToolkit.expand_connections(odesys) @test length(equations(esys)) == length(unknowns(esys)) diff --git a/test/state_selection.jl b/test/state_selection.jl index b8bec5d7b7..6db8e8c5a0 100644 --- a/test/state_selection.jl +++ b/test/state_selection.jl @@ -100,7 +100,7 @@ let D(v) * rho * L ~ (fluid_port_a.p - fluid_port_b.p - dp_z)] compose(System(eqs, t, sts, ps; name = name), [fluid_port_a, fluid_port_b]) end - function System(; name, L = 10.0) + function HydraulicSystem(; name, L = 10.0) @named compensator = Compensator() @named source = Source() @named substation = Substation() @@ -116,7 +116,7 @@ let compose(System(eqs, t, [], ps; name = name), subs) end - @named system = System(L = 10) + @named system = HydraulicSystem(L = 10) @unpack supply_pipe, return_pipe = system sys = structural_simplify(system) u0 = [ From 396473a400e80a56425aece35fbbe9dadb691319 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 19:15:56 +0530 Subject: [PATCH 088/167] test: pass `u0map` and `tspan` to `ODEProblem` --- test/parameter_dependencies.jl | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/test/parameter_dependencies.jl b/test/parameter_dependencies.jl index 52a064d0be..fc3960534c 100644 --- a/test/parameter_dependencies.jl +++ b/test/parameter_dependencies.jl @@ -59,7 +59,7 @@ end t; parameter_dependencies = [p2 => 2p1] ) - prob = ODEProblem(complete(sys)) + prob = ODEProblem(complete(sys), [], (0.0, 1.0)) setp1! = setp(prob, p1) get_p1 = getp(prob, p1) get_p2 = getp(prob, p2) @@ -113,7 +113,7 @@ end t; parameter_dependencies = [p2 => 2p1] ) - prob = ODEProblem(complete(sys)) + prob = ODEProblem(complete(sys), [], (0.0, 1.0)) get_dep = getu(prob, 2p1) @test get_dep(prob) == [2.0, 4.0] end From 61734de7d69e67b567c78039b114120855dd42c3 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 19:16:56 +0530 Subject: [PATCH 089/167] test: create `JumpProblem` directly --- test/jumpsystem.jl | 74 +++++++++++++++++----------------- test/parameter_dependencies.jl | 8 ++-- 2 files changed, 41 insertions(+), 41 deletions(-) diff --git a/test/jumpsystem.jl b/test/jumpsystem.jl index c5dbe1c56c..d80ee40666 100644 --- a/test/jumpsystem.jl +++ b/test/jumpsystem.jl @@ -69,8 +69,9 @@ p = (0.1 / 1000, 0.01); tspan = (0.0, 250.0); u₀map = [S => 999, I => 1, R => 0] parammap = [β => 0.1 / 1000, γ => 0.01] -dprob = DiscreteProblem(js2, u₀map, tspan, parammap) -jprob = JumpProblem(js2, dprob, Direct(); save_positions = (false, false), rng) +jprob = JumpProblem(js2, u₀map, tspan, parammap; aggregator = Direct(), + save_positions = (false, false), rng) +@test jprob.prob isa DiscreteProblem Nsims = 30000 function getmean(jprob, Nsims; use_stepper = true) m = 0.0 @@ -83,7 +84,7 @@ end m = getmean(jprob, Nsims) # test auto-alg selection works -jprobb = JumpProblem(js2, dprob; save_positions = (false, false), rng) +jprobb = JumpProblem(js2, u₀map, tspan, parammap; save_positions = (false, false), rng) mb = getmean(jprobb, Nsims; use_stepper = false) @test abs(m - mb) / m < 0.01 @@ -91,13 +92,15 @@ mb = getmean(jprobb, Nsims; use_stepper = false) obs = [S2 ~ 2 * S] @named js2b = JumpSystem([j₁, j₃], t, [S, I, R], [β, γ], observed = obs) js2b = complete(js2b) -dprob = DiscreteProblem(js2b, u₀map, tspan, parammap) -jprob = JumpProblem(js2b, dprob, Direct(); save_positions = (false, false), rng) +jprob = JumpProblem(js2b, u₀map, tspan, parammap; aggregator = Direct(), + save_positions = (false, false), rng) +@test jprob.prob isa DiscreteProblem sol = solve(jprob, SSAStepper(); saveat = tspan[2] / 10) @test all(2 .* sol[S] .== sol[S2]) # test save_positions is working -jprob = JumpProblem(js2, dprob, Direct(); save_positions = (false, false), rng) +jprob = JumpProblem(js2, u₀map, tspan, parammap; aggregator = Direct(), + save_positions = (false, false), rng) sol = solve(jprob, SSAStepper(); saveat = 1.0) @test all((sol.t) .== collect(0.0:tspan[2])) @@ -143,18 +146,20 @@ maj1 = MassActionJump(2 * β / 2, [S => 1, I => 1], [S => -1, I => 1]) maj2 = MassActionJump(γ, [I => 1], [I => -1, R => 1]) @named js3 = JumpSystem([maj1, maj2], t, [S, I, R], [β, γ]) js3 = complete(js3) -dprob = DiscreteProblem(js3, u₀map, tspan, parammap) -jprob = JumpProblem(js3, dprob, Direct(); rng) +jprob = JumpProblem(js3, u₀map, tspan, parammap; aggregator = Direct(), rng) +@test jprob.prob isa DiscreteProblem m3 = getmean(jprob, Nsims) @test abs(m - m3) / m < 0.01 # maj jump test with various dep graphs @named js3b = JumpSystem([maj1, maj2], t, [S, I, R], [β, γ]) js3b = complete(js3b) -jprobb = JumpProblem(js3b, dprob, NRM(); rng) +jprobb = JumpProblem(js3b, u₀map, tspan, parammap; aggregator = NRM(), rng) +@test jprobb.prob isa DiscreteProblem m4 = getmean(jprobb, Nsims) @test abs(m - m4) / m < 0.01 -jprobc = JumpProblem(js3b, dprob, RSSA(); rng) +jprobc = JumpProblem(js3b, u₀map, tspan, parammap; aggregator = RSSA(), rng) +@test jprobc.prob isa DiscreteProblem m4 = getmean(jprobc, Nsims) @test abs(m - m4) / m < 0.01 @@ -163,8 +168,9 @@ maj1 = MassActionJump(2.0, [0 => 1], [S => 1]) maj2 = MassActionJump(γ, [S => 1], [S => -1]) @named js4 = JumpSystem([maj1, maj2], t, [S], [β, γ]) js4 = complete(js4) -dprob = DiscreteProblem(js4, [S => 999], (0, 1000.0), [β => 100.0, γ => 0.01]) -jprob = JumpProblem(js4, dprob, Direct(); rng) +jprob = JumpProblem( + js4, [S => 999], (0, 1000.0), [β => 100.0, γ => 0.01]; aggregator = Direct(), rng) +@test jprob.prob isa DiscreteProblem m4 = getmean(jprob, Nsims) @test abs(m4 - 2.0 / 0.01) * 0.01 / 2.0 < 0.01 @@ -173,8 +179,9 @@ maj1 = MassActionJump(2.0, [0 => 1], [S => 1]) maj2 = MassActionJump(γ, [S => 2], [S => -1]) @named js4 = JumpSystem([maj1, maj2], t, [S], [β, γ]) js4 = complete(js4) -dprob = DiscreteProblem(js4, [S => 999], (0, 1000.0), [β => 100.0, γ => 0.01]) -jprob = JumpProblem(js4, dprob, Direct(); rng) +jprob = JumpProblem( + js4, [S => 999], (0, 1000.0), [β => 100.0, γ => 0.01]; aggregator = Direct(), rng) +@test jprob.prob isa DiscreteProblem sol = solve(jprob, SSAStepper()); # issue #819 @@ -196,8 +203,9 @@ let p = [k1 => 2.0, k2 => 0.0, k3 => 0.5] u₀ = [A => 100, B => 0] tspan = (0.0, 2000.0) - dprob = DiscreteProblem(js5, u₀, tspan, p) - jprob = JumpProblem(js5, dprob, Direct(); save_positions = (false, false), rng) + jprob = JumpProblem( + js5, u₀, tspan, p; aggregator = Direct(), save_positions = (false, false), rng) + @test jprob.prob isa DiscreteProblem @test all(jprob.massaction_jump.scaled_rates .== [1.0, 0.0]) pcondit(u, t, integrator) = t == 1000.0 @@ -260,15 +268,10 @@ u0 = [X => 10] tspan = (0.0, 1.0) ps = [k => 1.0] -dp1 = DiscreteProblem(js1, u0, tspan, ps) -dp2 = DiscreteProblem(js2, u0, tspan) -dp3 = DiscreteProblem(js3, u0, tspan, ps) -dp4 = DiscreteProblem(js4, u0, tspan) - -@test_nowarn jp1 = JumpProblem(js1, dp1, Direct()) -@test_nowarn jp2 = JumpProblem(js2, dp2, Direct()) -@test_nowarn jp3 = JumpProblem(js3, dp3, Direct()) -@test_nowarn jp4 = JumpProblem(js4, dp4, Direct()) +@test_nowarn jp1 = JumpProblem(js1, u0, tspan, ps; aggregator = Direct()) +@test_nowarn jp2 = JumpProblem(js2, u0, tspan; aggregator = Direct()) +@test_nowarn jp3 = JumpProblem(js3, u0, tspan, ps; aggregator = Direct()) +@test_nowarn jp4 = JumpProblem(js4, u0, tspan; aggregator = Direct()) # Ensure `structural_simplify` (and `@mtkbuild`) works on JumpSystem (by doing nothing) # Issue#2558 @@ -293,8 +296,7 @@ let for (N, algtype) in zip(Nv, algtypes) @named jsys = JumpSystem([deepcopy(j1) for _ in 1:N], t, [X], [k]) jsys = complete(jsys) - dprob = DiscreteProblem(jsys, [X => 10], (0.0, 10.0), [k => 1]) - jprob = JumpProblem(jsys, dprob) + jprob = JumpProblem(jsys, [X => 10], (0.0, 10.0), [k => 1]) @test jprob.aggregator isa algtype end end @@ -307,8 +309,9 @@ let @parameters k vrj = VariableRateJump(k * (sin(t) + 1), [A ~ Pre(A) + 1, C ~ Pre(C) + 2]) js = complete(JumpSystem([vrj], t, [A, C], [k]; name = :js, observed = [B ~ C * A])) - oprob = ODEProblem(js, [A => 0, C => 0], (0.0, 10.0), [k => 1.0]) - jprob = JumpProblem(js, oprob, Direct(); rng) + jprob = JumpProblem( + js, [A => 0, C => 0], (0.0, 10.0), [k => 1.0]; aggregtor = Direct(), rng) + @test jprob.prob isa ODEProblem sol = solve(jprob, Tsit5()) # test observed and symbolic indexing work @@ -440,8 +443,7 @@ let k2val = 20.0 p = [k1 => k1val, k2 => k2val] tspan = (0.0, 10.0) - oprob = ODEProblem(jsys, u0, tspan, p) - jprob = JumpProblem(jsys, oprob; rng, save_positions = (false, false)) + jprob = JumpProblem(jsys, u0, tspan, p; rng, save_positions = (false, false)) times = range(0.0, tspan[2], length = 100) Nsims = 4000 @@ -480,8 +482,7 @@ let u0map = [X => p.X₀, Y => p.Y₀] pmap = [α => p.α, β => p.β] tspan = (0.0, 20.0) - oprob = ODEProblem(jsys, u0map, tspan, pmap) - jprob = JumpProblem(jsys, oprob; rng, save_positions = (false, false)) + jprob = JumpProblem(jsys, u0, tspan, pmap; rng, save_positions = (false, false)) times = range(0.0, tspan[2], length = 100) Nsims = 4000 Xv = zeros(length(times)) @@ -519,8 +520,7 @@ let continuous_events = cevents) jsys = complete(jsys) tspan = (0.0, 200.0) - oprob = ODEProblem(jsys, u0map, tspan, pmap) - jprob = JumpProblem(jsys, oprob; rng, save_positions = (false, false)) + jprob = JumpProblem(jsys, u0, tspan, pmap; rng, save_positions = (false, false)) Xsamp = 0.0 Nsims = 4000 for n in 1:Nsims @@ -545,8 +545,8 @@ end # Works. @mtkbuild js = JumpSystem([j1, j2], t, [X], [p, d]) - dprob = DiscreteProblem(js, [X => 15], (0.0, 10.0), [p => 2.0, d => 0.5]) - jprob = JumpProblem(js, dprob, Direct()) + jprob = JumpProblem( + js, [X => 15], (0.0, 10.0), [p => 2.0, d => 0.5]; aggregator = Direct()) sol = solve(jprob, SSAStepper()) @test eltype(sol[X]) === Int64 end diff --git a/test/parameter_dependencies.jl b/test/parameter_dependencies.jl index fc3960534c..71ca78a101 100644 --- a/test/parameter_dependencies.jl +++ b/test/parameter_dependencies.jl @@ -303,8 +303,8 @@ end tspan = (0.0, 250.0) u₀map = [S => 999, I => 1, R => 0] parammap = [γ => 0.01] - dprob = DiscreteProblem(js2, u₀map, tspan, parammap) - jprob = JumpProblem(js2, dprob, Direct(), save_positions = (false, false), rng = rng) + jprob = JumpProblem(js2, u₀map, tspan, parammap; aggregator = Direct(), + save_positions = (false, false), rng = rng) @test jprob.ps[γ] == 0.01 @test jprob.ps[β] == 0.0001 @test_nowarn solve(jprob, SSAStepper()) @@ -314,8 +314,8 @@ end discrete_events = [SymbolicDiscreteCallback( [10.0] => [γ ~ 0.02], discrete_parameters = [γ])]) js2 = complete(js2) - dprob = DiscreteProblem(js2, u₀map, tspan, parammap) - jprob = JumpProblem(js2, dprob, Direct(), save_positions = (false, false), rng = rng) + jprob = JumpProblem(js2, u₀map, tspan, parammap; aggregator = Direct(), + save_positions = (false, false), rng = rng) integ = init(jprob, SSAStepper()) @test integ.ps[γ] == 0.01 @test integ.ps[β] == 0.0001 From 773a34039da3fe18ce3339e20823c5f2a203655f Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 25 Apr 2025 19:17:09 +0530 Subject: [PATCH 090/167] test: pass `Vector{Equation}` to `System` --- test/structural_transformation/tearing.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/structural_transformation/tearing.jl b/test/structural_transformation/tearing.jl index 5bf88e1dd5..0cbabbfa3b 100644 --- a/test/structural_transformation/tearing.jl +++ b/test/structural_transformation/tearing.jl @@ -183,7 +183,7 @@ end m = 1.0 @named mass = Translational_Mass(m = m) -ms_eqs = [] +ms_eqs = Equation[] @named _ms_model = System(ms_eqs, t) @named ms_model = compose(_ms_model, From 538270d887b82d54df20c23175db8255fef4d63d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 13:38:32 +0530 Subject: [PATCH 091/167] refactor: remove `build_torn_function`, `tearing_assignments` --- .../StructuralTransformations.jl | 4 +- src/structural_transformation/codegen.jl | 139 ------------------ .../symbolics_tearing.jl | 13 -- 3 files changed, 2 insertions(+), 154 deletions(-) diff --git a/src/structural_transformation/StructuralTransformations.jl b/src/structural_transformation/StructuralTransformations.jl index 16d3a75464..06d8e440cc 100644 --- a/src/structural_transformation/StructuralTransformations.jl +++ b/src/structural_transformation/StructuralTransformations.jl @@ -57,11 +57,11 @@ using DocStringExtensions export tearing, partial_state_selection, dae_index_lowering, check_consistency export dummy_derivative -export build_torn_function, build_observed_function, ODAEProblem +export build_observed_function, ODAEProblem export sorted_incidence_matrix, pantelides!, pantelides_reassemble, tearing_reassemble, find_solvables!, linear_subsys_adjmat! -export tearing_assignments, tearing_substitution +export tearing_substitution export torn_system_jacobian_sparsity export full_equations export but_ordered_incidence, lowest_order_variable_mask, highest_order_variable_mask diff --git a/src/structural_transformation/codegen.jl b/src/structural_transformation/codegen.jl index d2ca5b8748..144e19aa31 100644 --- a/src/structural_transformation/codegen.jl +++ b/src/structural_transformation/codegen.jl @@ -226,145 +226,6 @@ function gen_nlsolve!(is_not_prepended_assignment, eqs, vars, u0map::AbstractDic nlsolve_expr end -function build_torn_function(sys; - expression = false, - jacobian_sparsity = true, - checkbounds = false, - max_inlining_size = nothing, - kw...) - max_inlining_size = something(max_inlining_size, MAX_INLINE_NLSOLVE_SIZE) - rhss = [] - eqs = equations(sys) - eqs_idxs = Int[] - for (i, eq) in enumerate(eqs) - isdiffeq(eq) || continue - push!(eqs_idxs, i) - push!(rhss, eq.rhs) - end - - state = get_or_construct_tearing_state(sys) - fullvars = state.fullvars - var_eq_matching, var_sccs = algebraic_variables_scc(state) - condensed_graph = MatchedCondensationGraph( - DiCMOBiGraph{true}(complete(state.structure.graph), - complete(var_eq_matching)), - var_sccs) - toporder = topological_sort_by_dfs(condensed_graph) - var_sccs = var_sccs[toporder] - - unknowns_idxs = collect(diffvars_range(state.structure)) - mass_matrix_diag = ones(length(unknowns_idxs)) - - assignments, deps, sol_states = tearing_assignments(sys) - invdeps = map(_ -> BitSet(), deps) - for (i, d) in enumerate(deps) - for a in d - push!(invdeps[a], i) - end - end - var2assignment = Dict{Any, Int}(eq.lhs => i for (i, eq) in enumerate(assignments)) - is_not_prepended_assignment = trues(length(assignments)) - - torn_expr = Assignment[] - - defs = defaults(sys) - nlsolve_scc_idxs = Int[] - - needs_extending = false - @views for (i, scc) in enumerate(var_sccs) - torn_vars_idxs = Int[var for var in scc if var_eq_matching[var] !== unassigned] - torn_eqs_idxs = [var_eq_matching[var] for var in torn_vars_idxs] - isempty(torn_eqs_idxs) && continue - if length(torn_eqs_idxs) <= max_inlining_size - nlsolve_expr = gen_nlsolve!(is_not_prepended_assignment, eqs[torn_eqs_idxs], - fullvars[torn_vars_idxs], defs, assignments, - (deps, invdeps), var2assignment, - checkbounds = checkbounds) - append!(torn_expr, nlsolve_expr) - push!(nlsolve_scc_idxs, i) - else - needs_extending = true - append!(eqs_idxs, torn_eqs_idxs) - append!(rhss, map(x -> x.rhs, eqs[torn_eqs_idxs])) - append!(unknowns_idxs, torn_vars_idxs) - append!(mass_matrix_diag, zeros(length(torn_eqs_idxs))) - end - end - sort!(unknowns_idxs) - - mass_matrix = needs_extending ? Diagonal(mass_matrix_diag) : I - - out = Sym{Any}(gensym("out")) - funbody = SetArray(!checkbounds, - out, - rhss) - - unknown_vars = Any[fullvars[i] for i in unknowns_idxs] - @set! sys.solved_unknowns = unknown_vars - - pre = get_postprocess_fbody(sys) - cpre = get_preprocess_constants(rhss) - pre2 = x -> pre(cpre(x)) - - expr = SymbolicUtils.Code.toexpr( - Func( - [out - DestructuredArgs(unknown_vars, - inbounds = !checkbounds) - DestructuredArgs(parameters(sys), - inbounds = !checkbounds) - independent_variables(sys)], - [], - pre2(Let([torn_expr; - assignments[is_not_prepended_assignment]], - funbody, - false))), - sol_states) - if expression - expr, unknown_vars - else - observedfun = let state = state, - dict = Dict(), - is_solver_unknown_idxs = insorted.(1:length(fullvars), (unknowns_idxs,)), - assignments = assignments, - deps = (deps, invdeps), - sol_states = sol_states, - var2assignment = var2assignment - - function generated_observed(obsvar, args...) - obs = get!(dict, value(obsvar)) do - build_observed_function(state, obsvar, var_eq_matching, var_sccs, - is_solver_unknown_idxs, assignments, deps, - sol_states, var2assignment, - checkbounds = checkbounds) - end - if args === () - let obs = obs - (u, p, t) -> obs(u, p, t) - end - else - obs(args...) - end - end - end - - ODEFunction{true, SciMLBase.AutoSpecialize}( - drop_expr(@RuntimeGeneratedFunction(expr)), - sparsity = jacobian_sparsity ? - torn_system_with_nlsolve_jacobian_sparsity(state, - var_eq_matching, - var_sccs, - nlsolve_scc_idxs, - eqs_idxs, - unknowns_idxs) : - nothing, - observed = observedfun, - mass_matrix = mass_matrix, - sys = sys), - unknown_vars - end -end - """ find_solve_sequence(sccs, vars) diff --git a/src/structural_transformation/symbolics_tearing.jl b/src/structural_transformation/symbolics_tearing.jl index cb828a00a6..df4f5bb838 100644 --- a/src/structural_transformation/symbolics_tearing.jl +++ b/src/structural_transformation/symbolics_tearing.jl @@ -154,19 +154,6 @@ function tearing_substitution(sys::AbstractSystem; kwargs...) @set! sys.schedule = nothing end -function tearing_assignments(sys::AbstractSystem) - if empty_substitutions(sys) - assignments = [] - deps = Int[] - sol_states = Code.LazyState() - else - @unpack subs, deps = get_substitutions(sys) - assignments = [Assignment(eq.lhs, eq.rhs) for eq in subs] - sol_states = Code.NameState(Dict(eq.lhs => Symbol(eq.lhs) for eq in subs)) - end - return assignments, deps, sol_states -end - function solve_equation(eq, var, simplify) rhs = value(symbolic_linear_solve(eq, var; simplify = simplify, check = false)) occursin(var, rhs) && throw(EquationSolveErrors(eq, var, rhs)) From 2ce296598310fa4fa2115b90782cdcc740e12fc8 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 13:40:26 +0530 Subject: [PATCH 092/167] refactor: remove `get_substitutions`, `has_substitutions` field getters --- src/systems/abstractsystem.jl | 1 - 1 file changed, 1 deletion(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 099d569d2f..d4a57cddc4 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -895,7 +895,6 @@ for prop in [:eqs :initialization_eqs :schedule :tearing_state - :substitutions :metadata :gui_metadata :is_initializesystem From 717df754193ad6c013861ff7ea8b79a0dda5605a Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 13:43:43 +0530 Subject: [PATCH 093/167] refactor: implement `empty_substitutions` and `get_substitutions` using `observed` --- src/utils.jl | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/utils.jl b/src/utils.jl index 804976ae28..2c50f2be47 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -832,12 +832,6 @@ end isarray(x) = x isa AbstractArray || x isa Symbolics.Arr -function empty_substitutions(sys) - has_substitutions(sys) || return true - subs = get_substitutions(sys) - isnothing(subs) || isempty(subs.deps) -end - function get_cmap(sys, exprs = nothing) #Inject substitutions for constants => values buffer = [] @@ -880,6 +874,12 @@ function get_substitutions_and_solved_unknowns(sys, exprs = nothing; no_postproc end end return pre, sol_states +function empty_substitutions(sys) + isempty(observed(sys)) +end + +function get_substitutions(sys) + Dict([eq.lhs => eq.rhs for eq in observed(sys)]) end function mergedefaults(defaults, varmap, vars) From 81af64c4b7c89cc7c615d079b22645fc148fc236 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 13:43:51 +0530 Subject: [PATCH 094/167] refactor: remove `get_substitutions_and_solved_unknowns` --- src/utils.jl | 23 ----------------------- 1 file changed, 23 deletions(-) diff --git a/src/utils.jl b/src/utils.jl index 2c50f2be47..cf6855999c 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -851,29 +851,6 @@ function get_cmap(sys, exprs = nothing) return cmap, cs end -function get_substitutions_and_solved_unknowns(sys, exprs = nothing; no_postprocess = false) - cmap, cs = get_cmap(sys, exprs) - if empty_substitutions(sys) && isempty(cs) - sol_states = Code.LazyState() - pre = no_postprocess ? (ex -> ex) : get_postprocess_fbody(sys) - else # Have to do some work - if !empty_substitutions(sys) - @unpack subs = get_substitutions(sys) - else - subs = [] - end - subs = [cmap; subs] # The constants need to go first - sol_states = Code.NameState(Dict(eq.lhs => Symbol(eq.lhs) for eq in subs)) - if no_postprocess - pre = ex -> Let(Assignment[Assignment(eq.lhs, eq.rhs) for eq in subs], ex, - false) - else - process = get_postprocess_fbody(sys) - pre = ex -> Let(Assignment[Assignment(eq.lhs, eq.rhs) for eq in subs], - process(ex), false) - end - end - return pre, sol_states function empty_substitutions(sys) isempty(observed(sys)) end From 88fcaf444b2f877c717ab4dc74720d487789aad1 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 13:39:06 +0530 Subject: [PATCH 095/167] refactor: update `tearing_substitute_expr`, `full_equations` to use `observed` --- .../symbolics_tearing.jl | 16 +++++----------- 1 file changed, 5 insertions(+), 11 deletions(-) diff --git a/src/structural_transformation/symbolics_tearing.jl b/src/structural_transformation/symbolics_tearing.jl index df4f5bb838..118e8ac1a4 100644 --- a/src/structural_transformation/symbolics_tearing.jl +++ b/src/structural_transformation/symbolics_tearing.jl @@ -107,9 +107,7 @@ end function tearing_substitute_expr(sys::AbstractSystem, expr; simplify = false) empty_substitutions(sys) && return expr substitutions = get_substitutions(sys) - @unpack subs = substitutions - solved = Dict(eq.lhs => eq.rhs for eq in subs) - return tearing_sub(expr, solved, simplify) + return tearing_sub(expr, substitutions, simplify) end """ @@ -121,20 +119,17 @@ These equations matches generated numerical code. See also [`equations`](@ref) and [`ModelingToolkit.get_eqs`](@ref). """ function full_equations(sys::AbstractSystem; simplify = false) - empty_substitutions(sys) && return equations(sys) - substitutions = get_substitutions(sys) - substitutions.subed_eqs === nothing || return substitutions.subed_eqs - @unpack subs = substitutions - solved = Dict(eq.lhs => eq.rhs for eq in subs) + isempty(observed(sys)) && return equations(sys) + subs = Dict([eq.lhs => eq.rhs for eq in observed(sys)]) neweqs = map(equations(sys)) do eq if iscall(eq.lhs) && operation(eq.lhs) isa Union{Shift, Differential} - return tearing_sub(eq.lhs, solved, simplify) ~ tearing_sub(eq.rhs, solved, + return tearing_sub(eq.lhs, subs, simplify) ~ tearing_sub(eq.rhs, subs, simplify) else if !(eq.lhs isa Number && eq.lhs == 0) eq = 0 ~ eq.rhs - eq.lhs end - rhs = tearing_sub(eq.rhs, solved, simplify) + rhs = tearing_sub(eq.rhs, subs, simplify) if rhs isa Symbolic return 0 ~ rhs else # a number @@ -143,7 +138,6 @@ function full_equations(sys::AbstractSystem; simplify = false) end eq end - substitutions.subed_eqs = neweqs return neweqs end From b28699460ffc8747f0d18a4b09d73f4e47715893 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 13:39:43 +0530 Subject: [PATCH 096/167] refactor: do not use `get_substitutions` in `get_cmap` --- src/utils.jl | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/utils.jl b/src/utils.jl index cf6855999c..b3df0b957f 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -840,9 +840,6 @@ function get_cmap(sys, exprs = nothing) has_op(sys) && push!(buffer, get_op(sys)) has_constraints(sys) && append!(buffer, get_constraints(sys)) cs = collect_constants(buffer) #ctrls? what else? - if !empty_substitutions(sys) - cs = [cs; collect_constants(get_substitutions(sys).subs)] - end if exprs !== nothing cs = [cs; collect_constants(exprs)] end From 6e1a8a7768f65374ec0a9f05b7b9cd0c55780d8d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 13:41:41 +0530 Subject: [PATCH 097/167] test: fix mass matrix tests --- test/mass_matrix.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/mass_matrix.jl b/test/mass_matrix.jl index f181bdfbde..2e828cda64 100644 --- a/test/mass_matrix.jl +++ b/test/mass_matrix.jl @@ -10,7 +10,7 @@ eqs = [D(y[1]) ~ -k[1] * y[1] + k[3] * y[2] * y[3], @named sys = System(eqs, t, collect(y), [k]) sys = complete(sys) -@test_throws ArgumentError System(eqs, y[1]) +@test_throws ModelingToolkit.OperatorIndepvarMismatchError System(eqs, y[1]) M = calculate_massmatrix(sys) @test M isa Diagonal @test M == [1 0 0 From dbdce941bbfc0126a77fcaa361340fdbf1421725 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 18:23:44 +0530 Subject: [PATCH 098/167] test: fix odesystem tests --- test/odesystem.jl | 72 ++++++++++++++++++++++------------------------- 1 file changed, 33 insertions(+), 39 deletions(-) diff --git a/test/odesystem.jl b/test/odesystem.jl index 58716960bc..37c535d7f0 100644 --- a/test/odesystem.jl +++ b/test/odesystem.jl @@ -38,8 +38,6 @@ ssort(eqs) = sort(eqs, by = string) @test eval(toexpr(de)) == de @test hash(deepcopy(de)) == hash(de) -generate_function(de) - function test_diffeq_inference(name, sys, iv, dvs, ps) @testset "System construction: $name" begin @test isequal(independent_variables(sys)[1], value(iv)) @@ -50,13 +48,12 @@ function test_diffeq_inference(name, sys, iv, dvs, ps) end test_diffeq_inference("standard", de, t, [x, y, z], [ρ, σ, β]) -generate_function(de, [x, y, z], [σ, ρ, β]) jac_expr = generate_jacobian(de) jac = calculate_jacobian(de) jacfun = eval(jac_expr[2]) de = complete(de) -f = ODEFunction(de, [x, y, z], [σ, ρ, β], tgrad = true, jac = true) +f = ODEFunction(de, tgrad = true, jac = true) # system @test f.sys === de @@ -87,7 +84,7 @@ f.jac(J, u, p, t) @test J == f.jac(u, p, t) #check iip_config -f = ODEFunction(de, [x, y, z], [σ, ρ, β], iip_config = (false, true)) +f = ODEFunction(de; iip_config = (false, true)) du = zeros(3) u = collect(1:3) p = ModelingToolkit.MTKParameters(de, [σ, ρ, β] .=> 4.0:6.0) @@ -143,7 +140,7 @@ eqs = [D(x) ~ σ(t - 1) * (y - x), D(z) ~ x * y - β * z * κ] @named de = System(eqs, t) test_diffeq_inference("single internal iv-varying", de, t, (x, y, z), (σ, ρ, β)) -f = generate_function(de, [x, y, z], [σ, ρ, β], expression = Val{false})[2] +f = generate_rhs(de, [x, y, z], [σ, ρ, β], expression = Val{false}) du = [0.0, 0.0, 0.0] f(du, [1.0, 2.0, 3.0], [x -> x + 7, 2, 3], 5.0) @test du ≈ [11, -3, -7] @@ -151,37 +148,36 @@ f(du, [1.0, 2.0, 3.0], [x -> x + 7, 2, 3], 5.0) eqs = [D(x) ~ x + 10σ(t - 1) + 100σ(t - 2) + 1000σ(t^2)] @named de = System(eqs, t) test_diffeq_inference("many internal iv-varying", de, t, (x,), (σ,)) -f = generate_function(de, [x], [σ], expression = Val{false})[2] +f = generate_rhs(de, [x], [σ], expression = Val{false}) du = [0.0] f(du, [1.0], [t -> t + 2], 5.0) @test du ≈ [27561] -# Conversion to first-order ODEs #17 -D3 = D^3 -D2 = D^2 -@variables u(t) uˍtt(t) uˍt(t) xˍt(t) -eqs = [D3(u) ~ 2(D2(u)) + D(u) + D(x) + 1 - D2(x) ~ D(x) + 2] -@named de = System(eqs, t) -de1 = ode_order_lowering(de) -lowered_eqs = [D(uˍtt) ~ 2uˍtt + uˍt + xˍt + 1 - D(xˍt) ~ xˍt + 2 - D(uˍt) ~ uˍtt - D(u) ~ uˍt - D(x) ~ xˍt] - -#@test de1 == System(lowered_eqs) - -# issue #219 -@test all(isequal.( - [ModelingToolkit.var_from_nested_derivative(eq.lhs)[1] - for eq in equations(de1)], - unknowns(@named lowered = System(lowered_eqs, t)))) - -test_diffeq_inference("first-order transform", de1, t, [uˍtt, xˍt, uˍt, u, x], []) -du = zeros(5) -ODEFunction(complete(de1), [uˍtt, xˍt, uˍt, u, x], [])(du, ones(5), nothing, 0.1) -@test du == [5.0, 3.0, 1.0, 1.0, 1.0] +@testset "Issue#17: Conversion to first order ODEs" begin + D3 = D^3 + D2 = D^2 + @variables u(t) uˍtt(t) uˍt(t) xˍt(t) + eqs = [D3(u) ~ 2(D2(u)) + D(u) + D(x) + 1 + D2(x) ~ D(x) + 2] + @named de = System(eqs, t) + de1 = ode_order_lowering(de) + + @testset "Issue#219: Ordering of equations in `ode_order_lowering`" begin + lowered_eqs = [D(uˍtt) ~ 2uˍtt + uˍt + xˍt + 1 + D(xˍt) ~ xˍt + 2 + D(uˍt) ~ uˍtt + D(u) ~ uˍt + D(x) ~ xˍt] + @test isequal( + [ModelingToolkit.var_from_nested_derivative(eq.lhs)[1] for eq in equations(de1)], + unknowns(@named lowered = System(lowered_eqs, t))) + end + + test_diffeq_inference("first-order transform", de1, t, [uˍtt, xˍt, uˍt, u, x], []) + du = zeros(5) + ODEFunction(complete(de1))(du, ones(5), nothing, 0.1) + @test du == [5.0, 3.0, 1.0, 1.0, 1.0] +end # Internal calculations @parameters σ @@ -190,12 +186,11 @@ eqs = [D(x) ~ σ * a, D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z * κ] @named de = System(eqs, t) -generate_function(de, [x, y, z], [σ, ρ, β]) jac = calculate_jacobian(de) @test ModelingToolkit.jacobian_sparsity(de).colptr == sparse(jac).colptr @test ModelingToolkit.jacobian_sparsity(de).rowval == sparse(jac).rowval -f = ODEFunction(complete(de), [x, y, z], [σ, ρ, β]) +f = ODEFunction(complete(de)) @parameters A B C _x = y / C @@ -204,11 +199,10 @@ eqs = [D(x) ~ -A * x, @named de = System(eqs, t) @test begin local f, du - f = generate_function(de, [x, y], [A, B, C], expression = Val{false})[2] + f = generate_rhs(de, [x, y], [A, B, C], expression = Val{false}) du = [0.0, 0.0] f(du, [1.0, 2.0], [1, 2, 3], 0.0) du ≈ [-1, -1 / 3] - f = generate_function(de, [x, y], [A, B, C], expression = Val{false})[1] du ≈ f([1.0, 2.0], [1, 2, 3], 0.0) end @@ -1290,11 +1284,11 @@ end [D(u) ~ (sum(u) + sum(x) + sum(p) + sum(o)) * x, o ~ prod(u) * x], t, [u..., x..., o...], [p...]) sys1 = structural_simplify(sys, inputs = [x...], outputs = []) - fn1, = ModelingToolkit.generate_function(sys1; expression = Val{false}) + fn1, = ModelingToolkit.generate_rhs(sys1; expression = Val{false}) ps = MTKParameters(sys1, [x => 2ones(2), p => 3ones(2, 2)]) @test_nowarn fn1(ones(4), ps, 4.0) sys2 = structural_simplify(sys, inputs = [x...], outputs = [], split = false) - fn2, = ModelingToolkit.generate_function(sys2; expression = Val{false}) + fn2, = ModelingToolkit.generate_rhs(sys2; expression = Val{false}) ps = zeros(8) setp(sys2, x)(ps, 2ones(2)) setp(sys2, p)(ps, 2ones(2, 2)) From b2d9aa4244146b92011d92cc178c1349d331d7bb Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Sun, 27 Apr 2025 13:44:47 +0530 Subject: [PATCH 099/167] refactor: rename `generate_function` to `generate_rhs` --- src/ModelingToolkit.jl | 2 +- src/systems/abstractsystem.jl | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index d96142d7ff..f0a2d5a20f 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -307,7 +307,7 @@ export structural_simplify, expand_connections, linearize, linearization_functio export solve export Pre -export calculate_jacobian, generate_jacobian, generate_function, generate_custom_function, +export calculate_jacobian, generate_jacobian, generate_rhs, generate_custom_function, generate_W export calculate_control_jacobian, generate_control_jacobian export calculate_tgrad, generate_tgrad diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index d4a57cddc4..feb98b2926 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -132,7 +132,7 @@ generate_function(sys::AbstractSystem, dvs = unknowns(sys), ps = parameters(sys) Generate a function to evaluate the system's equations. """ -function generate_function end +function generate_rhs end """ ```julia From 887859cfae97afd1c0ccd81dbe1f3db77739538a Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 15:23:56 +0530 Subject: [PATCH 100/167] fix: fix type-piracy of `Symbolics.rename` --- src/systems/abstractsystem.jl | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index feb98b2926..23b4859484 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -982,7 +982,7 @@ end end end -rename(x, name) = @set x.name = name +Symbolics.rename(x::AbstractSystem, name) = @set x.name = name function Base.propertynames(sys::AbstractSystem; private = false) if private @@ -2305,6 +2305,10 @@ function _named_idxs(name::Symbol, idxs, call; extra_args = "") end, $idxs)) end +function setname(x, name) + @set x.name = name +end + function single_named_expr(expr) name, call = split_assign(expr) if Meta.isexpr(name, :ref) @@ -2313,7 +2317,7 @@ function single_named_expr(expr) var = gensym(name) ex = quote $var = $(_named(name, call)) - $name = map(i -> $rename($var, Symbol($(Meta.quot(name)), :_, i)), $idxs) + $name = map(i -> $setname($var, Symbol($(Meta.quot(name)), :_, i)), $idxs) end ex else From 63d0f02b1b0b0bcb3ad7a4830a1e8cee0d147cbe Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 15:24:28 +0530 Subject: [PATCH 101/167] refactor: remove `systems/diffeqs/modelingtoolkitize.jl` --- src/ModelingToolkit.jl | 1 - 1 file changed, 1 deletion(-) diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index f0a2d5a20f..c2734cfeea 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -185,7 +185,6 @@ include("systems/nonlinear/homotopy_continuation.jl") include("systems/nonlinear/modelingtoolkitize.jl") include("systems/nonlinear/initializesystem.jl") include("systems/diffeqs/first_order_transform.jl") -include("systems/diffeqs/modelingtoolkitize.jl") include("systems/diffeqs/basic_transformations.jl") include("systems/pde/pdesystem.jl") From 3f6baffc12a995e177d9148805fa456a5767b227 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 15:24:56 +0530 Subject: [PATCH 102/167] feat: add `modelingtoolkitize` for `ODEProblem` feat: support passing `t::Nothing` to `trace_rhs` feat: support time-independent variable declaration in mtkize utils fix: handle bounds in `construct_vars` when `prob.f.sys isa System` --- src/ModelingToolkit.jl | 4 + src/modelingtoolkitize/common.jl | 393 +++++++++++++++++++++++++++ src/modelingtoolkitize/odeproblem.jl | 59 ++++ 3 files changed, 456 insertions(+) create mode 100644 src/modelingtoolkitize/common.jl create mode 100644 src/modelingtoolkitize/odeproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index c2734cfeea..7c8f53730a 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -179,6 +179,10 @@ include("problems/jumpproblem.jl") include("problems/initializationproblem.jl") include("problems/sccnonlinearproblem.jl") include("problems/bvproblem.jl") + +include("modelingtoolkitize/common.jl") +include("modelingtoolkitize/odeproblem.jl") + include("systems/optimization/modelingtoolkitize.jl") include("systems/nonlinear/homotopy_continuation.jl") diff --git a/src/modelingtoolkitize/common.jl b/src/modelingtoolkitize/common.jl new file mode 100644 index 0000000000..a3d059a66a --- /dev/null +++ b/src/modelingtoolkitize/common.jl @@ -0,0 +1,393 @@ + +""" + $(TYPEDSIGNATURES) + +Check if the length of variables `vars` matches the number of names for those variables, +given by `names`. `is_unknowns` denotes whether the variable are unknowns or parameters. +""" +function varnames_length_check(vars, names; is_unknowns = false) + length(names) == length(vars) && return + throw(ArgumentError(""" + Number of $(is_unknowns ? "unknowns" : "parameters") ($(length(vars))) \ + does not match number of names ($(length(names))). + """)) +end + +""" + $(TYPEDSIGNATURES) + +Define a subscripted time-dependent variable with name `x` and subscript `i`. Equivalent +to `@variables \$name(..)`. `T` is the desired symtype of the variable when called with +the independent variable. +""" +_defvaridx(x, i; T = Real) = variable(x, i, T = SymbolicUtils.FnType{Tuple, T}) +""" + $(TYPEDSIGNATURES) + +Define a time-dependent variable with name `x`. Equivalent to `@variables \$x(..)`. +`T` is the desired symtype of the variable when called with the independent variable. +""" +_defvar(x; T = Real) = variable(x, T = SymbolicUtils.FnType{Tuple, T}) + +""" + $(TYPEDSIGNATURES) + +Define an array of symbolic unknowns of the appropriate type and size for `u` with +independent variable `t`. +""" +function define_vars(u, t) + [_defvaridx(:x, i)(t) for i in eachindex(u)] +end + +function define_vars(u, ::Nothing) + [variable(:x, i) for i in eachindex(u)] +end + +""" + $(TYPEDSIGNATURES) + +Return a symbolic state for the given proble `prob.`. `t` is the independent variable. +`u_names` optionally contains the names to use for the created symbolic variables. +""" +function construct_vars(prob, t, u_names = nothing) + if prob.u0 === nothing + return [] + end + # construct `_vars`, AbstractSciMLFunction, AbstractSciMLFunction, a list of MTK variables for `prob.u0`. + if u_names !== nothing + # explicitly provided names + varnames_length_check(state_values(prob), u_names; is_unknowns = true) + if t === nothing + _vars = [variable(name) for name in u_names] + else + _vars = [_defvar(name)(t) for name in u_names] + end + elseif SciMLBase.has_sys(prob.f) + # get names from the system + varnames = getname.(variable_symbols(prob.f.sys)) + varidxs = variable_index.((prob.f.sys,), varnames) + invpermute!(varnames, varidxs) + if t === nothing + _vars = [variable(name) for name in varnames] + else + _vars = [_defvar(name)(t) for name in varnames] + end + if prob.f.sys isa System + for (i, sym) in enumerate(variable_symbols(prob.f.sys)) + if hasbounds(sym) + _vars[i] = Symbolics.setmetadata( + _vars[i], VariableBounds, getbounds(sym)) + end + end + end + else + # auto-generate names + _vars = define_vars(state_values(prob), t) + end + + # Handle different types of arrays + return prob.u0 isa Number ? _vars : ArrayInterface.restructure(prob.u0, _vars) +end + +""" + $(METHODLIST) + +Define symbolic names for each value in parameter object `p`. `t` is the independent +variable of the system. `names` is a collection mapping indexes of `p` to their +names, or `nothing` to automatically generate names. + +The returned value has the same structure as `p`, but symbolic variables instead of +values. +""" +function define_params(p, t, _ = nothing) + throw(ModelingtoolkitizeParametersNotSupportedError(typeof(p))) +end + +function define_params(p::AbstractArray, t, names = nothing) + if names === nothing + [toparam(variable(:α, i)) for i in eachindex(p)] + else + varnames_length_check(p, names) + [toparam(variable(names[i])) for i in eachindex(p)] + end +end + +function define_params(p::Number, t, names = nothing) + if names === nothing + [toparam(variable(:α))] + elseif names isa Union{AbstractArray, AbstractDict} + varnames_length_check(p, names) + [toparam(variable(names[i])) for i in eachindex(p)] + else + [toparam(variable(names))] + end +end + +function define_params(p::AbstractDict, t, names = nothing) + if names === nothing + OrderedDict(k => toparam(variable(:α, i)) for (i, k) in zip(1:length(p), keys(p))) + else + varnames_length_check(p, names) + OrderedDict(k => toparam(variable(names[k])) for k in keys(p)) + end +end + +function define_params(p::Tuple, t, names = nothing) + if names === nothing + tuple((toparam(variable(:α, i)) for i in eachindex(p))...) + else + varnames_length_check(p, names) + tuple((toparam(variable(names[i])) for i in eachindex(p))...) + end +end + +function define_params(p::NamedTuple, t, names = nothing) + if names === nothing + NamedTuple(x => toparam(variable(x)) for x in keys(p)) + else + varnames_length_check(p, names) + NamedTuple(x => toparam(variable(names[x])) for x in keys(p)) + end +end + +function define_params(p::MTKParameters, t, names = nothing) + if names === nothing + ps = [] + i = 1 + # tunables are all treated as scalar reals + for x in p.tunable + push!(ps, toparam(variable(:α, i))) + i += 1 + end + # ignore initials + # discretes should be time-dependent + for buf in p.discrete + T = eltype(buf) + for val in buf + # respect array sizes + shape = val isa AbstractArray ? axes(val) : nothing + push!(ps, declare_timevarying_parameter(:α, i, t; T, shape)) + i += 1 + end + end + # handle constants + for buf in p.constant + T = eltype(buf) + for val in buf + # respect array sizes + shape = val isa AbstractArray ? axes(val) : nothing + push!(ps, declare_parameter(:α, i; T, shape)) + i += 1 + end + end + # handle nonnumerics + for buf in p.nonnumeric + T = eltype(buf) + for val in buf + # respect array sizes + shape = val isa AbstractArray ? axes(val) : nothing + push!(ps, declare_parameter(:α, i; T, shape)) + i += 1 + end + end + return identity.(ps) + else + new_p = as_any_buffer(p) + @set! new_p.initials = [] + for (k, v) in names + val = p[k] + shape = val isa AbstractArray ? axes(val) : nothing + T = typeof(val) + if k.portion == SciMLStructures.Initials() + continue + end + if k.portion == SciMLStructures.Tunable() + T = Real + end + if k.portion == SciMLStructures.Discrete() + var = declare_timevarying_parameter(getname(v), nothing, t; T, shape) + else + var = declare_parameter(getname(v), nothing; T, shape) + end + new_p[k] = var + end + return new_p + end +end + +""" + $(TYPEDSIGNATURES) + +Given a parameter object `p` containing symbolic variables instead of values, return +a vector of the symbolic variables. +""" +function to_paramvec(p) + vec(collect(values(p))) +end + +function to_paramvec(p::MTKParameters) + reduce(vcat, collect(p); init = []) +end + +""" + $(TYPEDSIGNATURES) + +Create a time-varying parameter with name `x`, subscript `i`, independent variable `t` +which stores values of type `T`. `shape` denotes the shape of array values, or `nothing` +for scalars. + +To ignore the subscript, pass `nothing` for `i`. +""" +function declare_timevarying_parameter(x::Symbol, i, t; T, shape = nothing) + # turn specific floating point numbers to `Real` + if T <: Union{AbstractFloat, ForwardDiff.Dual} + T = Real + end + if T <: Array{<:Union{AbstractFloat, ForwardDiff.Dual}, N} where {N} + T = Array{Real, ndims(T)} + end + + if i === nothing + var = _defvar(x; T) + else + var = _defvaridx(x, i; T) + end + var = toparam(unwrap(var(t))) + if shape !== nothing + var = setmetadata(var, Symbolics.ArrayShapeCtx, shape) + end + return var +end + +""" + $(TYPEDSIGNATURES) + +Create a time-varying parameter with name `x` and subscript `i`, which stores values of +type `T`. `shape` denotes the shape of array values, or `nothing` for scalars. + +To ignore the subscript, pass `nothing` for `i`. +""" +function declare_parameter(x::Symbol, i; T, shape = nothing) + # turn specific floating point numbers to `Real` + if T <: Union{AbstractFloat, ForwardDiff.Dual} + T = Real + end + if T <: Array{<:Union{AbstractFloat, ForwardDiff.Dual}, N} where {N} + T = Array{Real, ndims(T)} + end + + i = i === nothing ? () : (i,) + var = toparam(unwrap(variable(x, i...; T))) + if shape !== nothing + var = setmetadata(var, Symbolics.ArrayShapeCtx, shape) + end + return var +end + +""" + $(TYPEDSIGNATURES) + +Return a symbolic parameter object for the given proble `prob.`. `t` is the independent +variable. `p_names` optionally contains the names to use for the created symbolic +variables. +""" +function construct_params(prob, t, p_names = nothing) + p = parameter_values(prob) + has_p = !(p isa Union{DiffEqBase.NullParameters, Nothing}) + + # Get names of parameters + if has_p + if p_names === nothing && SciMLBase.has_sys(prob.f) + # get names from the system + p_names = Dict(parameter_index(prob.f.sys, sym) => sym + for sym in parameter_symbols(prob.f.sys)) + end + params = define_params(p, t, p_names) + if p isa Number + params = params[1] + elseif p isa AbstractArray + params = ArrayInterface.restructure(p, params) + end + else + params = [] + end + + return params +end + +""" + $(TYPEDSIGNATURES) + +Given the differential operator `D`, mass matrix `mm` and ordered list of unknowns `vars`, +return the list of +""" +function lhs_from_mass_matrix(D, mm, vars) + var_set = Set(vars) + # calculate equation LHS from mass matrix + if mm === I + lhs = map(v -> D(v), vars) + else + lhs = map(mm * vars) do v + if iszero(v) + 0 + elseif v in var_set + D(v) + else + error("Non-permutation mass matrix is not supported.") + end + end + end + return lhs +end + +""" + $(TYPEDSIGNATURES) + +Given a problem `prob`, the symbolic unknowns and params and the independent variable, +trace through `prob.f` and return the resultant expression. +""" +function trace_rhs(prob, vars, params, t) + args = (vars, params) + if t !== nothing + args = (args..., t) + end + # trace prob.f to get equation RHS + if SciMLBase.isinplace(prob.f) + rhs = ArrayInterface.restructure(prob.u0, similar(vars, Num)) + fill!(rhs, 0) + if prob.f isa SciMLBase.AbstractSciMLFunction && + prob.f.f isa FunctionWrappersWrappers.FunctionWrappersWrapper + prob.f.f.fw[1].obj[](rhs, args...) + else + prob.f(rhs, args...) + end + else + rhs = prob.f(args...) + end + return rhs +end + +""" + $(TYPEDSIGNATURES) + +Obtain default values for unknowns `vars` and parameters `paramvec` +given the problem `prob` and symbolic parameter object `paramobj`. +""" +function defaults_from_u0_p(prob, vars, paramobj, paramvec) + u0 = state_values(prob) + p = parameter_values(prob) + defaults = Dict{Any, Any}(vec(vars) .=> vec(collect(u0))) + if !(p isa Union{SciMLBase.NullParameters, Nothing}) + if p isa Union{NamedTuple, AbstractDict} + merge!(defaults, Dict(v => p[k] for (k, v) in pairs(paramobj))) + elseif p isa MTKParameters + pvals = [p.tunable; reduce(vcat, p.discrete; init = []); + reduce(vcat, p.constant; init = []); + reduce(vcat, p.nonnumeric; init = [])] + merge!(defaults, Dict(paramvec .=> pvals)) + else + merge!(defaults, Dict(paramvec .=> vec(collect(p)))) + end + end + return defaults +end diff --git a/src/modelingtoolkitize/odeproblem.jl b/src/modelingtoolkitize/odeproblem.jl new file mode 100644 index 0000000000..3bc74d8887 --- /dev/null +++ b/src/modelingtoolkitize/odeproblem.jl @@ -0,0 +1,59 @@ +""" + $(TYPEDSIGNATURES) + +Convert an `ODEProblem` to a `ModelingToolkit.System`. + +# Keyword arguments + +- `u_names`: An array of names of the same size as `prob.u0` to use as the names of the + unknowns of the system. The names should be given as `Symbol`s. +- `p_names`: A collection of names to use for parameters of the system. The collection + should have keys corresponding to indexes of `prob.p`. For example, if `prob.p` is an + associative container like `NamedTuple`, then `p_names` should map keys of `prob.p` to + the name that the corresponding parameter should have in the returned system. The names + should be given as `Symbol`s. +- INTERNAL `return_symbolic_u0_p`: Also return the symbolic state and parameter objects. + +All other keyword arguments are forwarded to the created `System`. +""" +function modelingtoolkitize(prob::ODEProblem; u_names = nothing, p_names = nothing, + return_symbolic_u0_p = false, kwargs...) + if prob.f isa DiffEqBase.AbstractParameterizedFunction + return prob.f.sys + end + + t = t_nounits + p = prob.p + has_p = !(p isa Union{DiffEqBase.NullParameters, Nothing}) + + vars = construct_vars(prob, t, u_names) + params = construct_params(prob, t, p_names) + + lhs = lhs_from_mass_matrix(D_nounits, prob.f.mass_matrix, vars) + rhs = trace_rhs(prob, vars, params, t) + eqs = vcat([lhs[i] ~ rhs[i] for i in eachindex(prob.u0)]...) + + sts = vec(collect(vars)) + + # turn `params` into a list of symbolic variables as opposed to + # a parameter object containing symbolic variables. + _params = params + params = to_paramvec(params) + + defaults = defaults_from_u0_p(prob, vars, _params, params) + # In case initials crept in, specifically from when we constructed parameters + # using prob.f.sys + filter!(x -> !iscall(x) || !(operation(x) isa Initial), params) + filter!(x -> !iscall(x[1]) || !(operation(x[1]) isa Initial), defaults) + + sys = System(eqs, t, sts, params; + defaults, + name = gensym(:MTKizedODE), + kwargs...) + + if return_symbolic_u0_p + return sys, vars, _params + else + return sys + end +end From e06e6540b5480f0fdb31fb5b7a5cbba162907408 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 15:25:04 +0530 Subject: [PATCH 103/167] feat: add `modelingtoolkitize` for `SDEProblem` --- src/ModelingToolkit.jl | 1 + src/modelingtoolkitize/sdeproblem.jl | 53 ++++++++++++++++++++++++++++ 2 files changed, 54 insertions(+) create mode 100644 src/modelingtoolkitize/sdeproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 7c8f53730a..00895eff28 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -182,6 +182,7 @@ include("problems/bvproblem.jl") include("modelingtoolkitize/common.jl") include("modelingtoolkitize/odeproblem.jl") +include("modelingtoolkitize/sdeproblem.jl") include("systems/optimization/modelingtoolkitize.jl") diff --git a/src/modelingtoolkitize/sdeproblem.jl b/src/modelingtoolkitize/sdeproblem.jl new file mode 100644 index 0000000000..ff8c238559 --- /dev/null +++ b/src/modelingtoolkitize/sdeproblem.jl @@ -0,0 +1,53 @@ +""" + $(TYPEDSIGNATURES) + +Convert an `SDEProblem` to a `ModelingToolkit.System`. + +# Keyword arguments + +- `u_names`: an array of names of the same size as `prob.u0` to use as the names of the + unknowns of the system. The names should be given as `Symbol`s. +- `p_names`: a collection of names to use for parameters of the system. The collection + should have keys corresponding to indexes of `prob.p`. For example, if `prob.p` is an + associative container like `NamedTuple`, then `p_names` should map keys of `prob.p` to + the name that the corresponding parameter should have in the returned system. The names + should be given as `Symbol`s. + +All other keyword arguments are forwarded to the created `System`. +""" +function modelingtoolkitize( + prob::SDEProblem; u_names = nothing, p_names = nothing, kwargs...) + if prob.f isa DiffEqBase.AbstractParameterizedFunction + return prob.f.sys + end + + # just create the equivalent ODEProblem, `modelingtoolkitize` that + # and add on the noise + odefn = ODEFunction{SciMLBase.isinplace(prob)}( + prob.f.f; mass_matrix = prob.f.mass_matrix, sys = prob.f.sys) + odeprob = ODEProblem(odefn, prob.u0, prob.tspan, prob.p) + sys, vars, params = modelingtoolkitize( + odeprob; u_names, p_names, return_symbolic_u0_p = true, + name = gensym(:MTKizedSDE), kwargs...) + t = get_iv(sys) + + if SciMLBase.isinplace(prob) + if SciMLBase.is_diagonal_noise(prob) + neqs = similar(vars, Any) + prob.g(neqs, vars, params, t) + else + neqs = similar(prob.noise_rate_prototype, Any) + prob.g(neqs, vars, params, t) + end + else + if SciMLBase.is_diagonal_noise(prob) + neqs = prob.g(vars, params, t) + else + neqs = prob.g(vars, params, t) + end + end + + @set! sys.noise_eqs = neqs + + return sys +end From 980c413ba7fde11999050e8fa19e7dfc65794c88 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 16:05:33 +0530 Subject: [PATCH 104/167] feat: add `add_accumulations` --- src/ModelingToolkit.jl | 2 +- src/systems/diffeqs/basic_transformations.jl | 38 ++++++++++++++++++++ test/basic_transformations.jl | 22 ++++++++++++ 3 files changed, 61 insertions(+), 1 deletion(-) diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 00895eff28..119245fed0 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -298,7 +298,7 @@ export isinput, isoutput, getbounds, hasbounds, getguess, hasguess, isdisturbanc hasunit, getunit, hasconnect, getconnect, hasmisc, getmisc, state_priority export ode_order_lowering, dae_order_lowering, liouville_transform, - change_independent_variable, substitute_component + change_independent_variable, substitute_component, add_accumulations export PDESystem export Differential, expand_derivatives, @derivatives export Equation, ConstrainedEquation diff --git a/src/systems/diffeqs/basic_transformations.jl b/src/systems/diffeqs/basic_transformations.jl index 21dcc7977a..c9d5234751 100644 --- a/src/systems/diffeqs/basic_transformations.jl +++ b/src/systems/diffeqs/basic_transformations.jl @@ -409,3 +409,41 @@ function Girsanov_transform(sys::System, u; θ0 = 1.0) end return sys end + +""" + $(TYPEDSIGNATURES) + +Add accumulation variables for `vars`. For every unknown `x` in `vars`, add +`D(accumulation_x) ~ x` as an equation. +""" +function add_accumulations(sys::System, vars = unknowns(sys)) + avars = [rename(v, Symbol(:accumulation_, getname(v))) for v in vars] + return add_accumulations(sys, avars .=> vars) +end + +""" + $(TYPEDSIGNATURES) + +Add accumulation variables for `vars`. `vars` is a vector of pairs in the form +of + +```julia +[cumulative_var1 => x + y, cumulative_var2 => x^2] +``` +Then, cumulative variables `cumulative_var1` and `cumulative_var2` that computes +the cumulative `x + y` and `x^2` would be added to `sys`. + +All accumulation variables have a default of zero. +""" +function add_accumulations(sys::System, vars::Vector{<:Pair}) + eqs = get_eqs(sys) + avars = map(first, vars) + if (ints = intersect(avars, unknowns(sys)); !isempty(ints)) + error("$ints already exist in the system!") + end + D = Differential(get_iv(sys)) + @set! sys.eqs = [eqs; Equation[D(a) ~ v[2] for (a, v) in zip(avars, vars)]] + @set! sys.unknowns = [get_unknowns(sys); avars] + @set! sys.defaults = merge(get_defaults(sys), Dict(a => 0.0 for a in avars)) + return sys +end diff --git a/test/basic_transformations.jl b/test/basic_transformations.jl index a414120ed1..50f4c0feaf 100644 --- a/test/basic_transformations.jl +++ b/test/basic_transformations.jl @@ -304,3 +304,25 @@ end sol = solve(prob, Tsit5(); reltol = 1e-5) @test sol[new_sys.y][end] ≈ 0.75 end + +@testset "`add_accumulations`" begin + @parameters a + @variables x(t) y(t) z(t) + @named sys = System([D(x) ~ y, 0 ~ x + z, 0 ~ x - y], t, [z, y, x], []) + asys = add_accumulations(sys) + @variables accumulation_x(t) accumulation_y(t) accumulation_z(t) + eqs = [0 ~ x + z + 0 ~ x - y + D(accumulation_x) ~ x + D(accumulation_y) ~ y + D(accumulation_z) ~ z + D(x) ~ y] + @test issetequal(equations(asys), eqs) + @variables ac(t) + asys = add_accumulations(sys, [ac => (x + y)^2]) + eqs = [0 ~ x + z + 0 ~ x - y + D(ac) ~ (x + y)^2 + D(x) ~ y] + @test issetequal(equations(asys), eqs) +end From 69f16acc7fc518cdf4f3d59485edea2eb794685b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 16:27:10 +0530 Subject: [PATCH 105/167] test: fix `odesystem` tests --- test/odesystem.jl | 164 +++++++++++++--------------------------------- 1 file changed, 47 insertions(+), 117 deletions(-) diff --git a/test/odesystem.jl b/test/odesystem.jl index 37c535d7f0..94af7d119f 100644 --- a/test/odesystem.jl +++ b/test/odesystem.jl @@ -93,29 +93,29 @@ f.f(du, u, p, 0.1) @test_throws ArgumentError f.f(u, p, 0.1) #check iip -f = eval(ODEFunctionExpr(de, [x, y, z], [σ, ρ, β])) -f2 = ODEFunction(de, [x, y, z], [σ, ρ, β]) +f = eval(ODEFunction(de; expression = Val{true})) +f2 = ODEFunction(de) @test SciMLBase.isinplace(f) === SciMLBase.isinplace(f2) @test SciMLBase.specialization(f) === SciMLBase.specialization(f2) for iip in (true, false) - f = eval(ODEFunctionExpr{iip}(de, [x, y, z], [σ, ρ, β])) - f2 = ODEFunction{iip}(de, [x, y, z], [σ, ρ, β]) + f = eval(ODEFunction{iip}(de; expression = Val{true})) + f2 = ODEFunction{iip}(de) @test SciMLBase.isinplace(f) === SciMLBase.isinplace(f2) === iip @test SciMLBase.specialization(f) === SciMLBase.specialization(f2) for specialize in (SciMLBase.AutoSpecialize, SciMLBase.FullSpecialize) - f = eval(ODEFunctionExpr{iip, specialize}(de, [x, y, z], [σ, ρ, β])) - f2 = ODEFunction{iip, specialize}(de, [x, y, z], [σ, ρ, β]) + f = eval(ODEFunction{iip, specialize}(de; expression = Val{true})) + f2 = ODEFunction{iip, specialize}(de) @test SciMLBase.isinplace(f) === SciMLBase.isinplace(f2) === iip @test SciMLBase.specialization(f) === SciMLBase.specialization(f2) === specialize end end #check sparsity -f = eval(ODEFunctionExpr(de, [x, y, z], [σ, ρ, β], sparsity = true)) +f = eval(ODEFunction(de, sparsity = true, expression = Val{true})) @test f.sparsity == ModelingToolkit.jacobian_sparsity(de) -f = eval(ODEFunctionExpr(de, [x, y, z], [σ, ρ, β], sparsity = false)) +f = eval(ODEFunction(de, sparsity = false, expression = Val{true})) @test isnothing(f.sparsity) eqs = [D(x) ~ σ * (y - x), @@ -138,9 +138,9 @@ tgrad_iip(du, u, p, t) eqs = [D(x) ~ σ(t - 1) * (y - x), D(y) ~ x * (ρ - z) - y, D(z) ~ x * y - β * z * κ] -@named de = System(eqs, t) +@named de = System(eqs, t, [x, y, z], [σ, ρ, β]) test_diffeq_inference("single internal iv-varying", de, t, (x, y, z), (σ, ρ, β)) -f = generate_rhs(de, [x, y, z], [σ, ρ, β], expression = Val{false}) +f = generate_rhs(de, expression = Val{false}, wrap_gfw = Val{true}) du = [0.0, 0.0, 0.0] f(du, [1.0, 2.0, 3.0], [x -> x + 7, 2, 3], 5.0) @test du ≈ [11, -3, -7] @@ -148,7 +148,7 @@ f(du, [1.0, 2.0, 3.0], [x -> x + 7, 2, 3], 5.0) eqs = [D(x) ~ x + 10σ(t - 1) + 100σ(t - 2) + 1000σ(t^2)] @named de = System(eqs, t) test_diffeq_inference("many internal iv-varying", de, t, (x,), (σ,)) -f = generate_rhs(de, [x], [σ], expression = Val{false}) +f = generate_rhs(de, [x], [σ], expression = Val{false}, wrap_gfw = Val{true}) du = [0.0] f(du, [1.0], [t -> t + 2], 5.0) @test du ≈ [27561] @@ -199,7 +199,7 @@ eqs = [D(x) ~ -A * x, @named de = System(eqs, t) @test begin local f, du - f = generate_rhs(de, [x, y], [A, B, C], expression = Val{false}) + f = generate_rhs(de, [x, y], [A, B, C], expression = Val{false}, wrap_gfw = Val{true}) du = [0.0, 0.0] f(du, [1.0, 2.0], [1, 2, 3], 0.0) du ≈ [-1, -1 / 3] @@ -295,7 +295,7 @@ sol_dpmap = solve(prob_dpmap, Rodas5()) sys = makecombinedsys() @unpack sys1, b = sys - prob = ODEProblem(sys, Pair[]) + prob = ODEProblem(sys, Pair[], (0.0, 1.0)) prob_new = SciMLBase.remake(prob, p = Dict(sys1.a => 3.0, b => 4.0), u0 = Dict(sys1.x => 1.0)) @test prob_new.p isa MTKParameters @@ -322,7 +322,7 @@ du0 = [D(y₁) => -0.04 D(y₂) => 0.04 D(y₃) => 0.0] prob4 = DAEProblem(sys, du0, u0, tspan, p2) -prob5 = eval(DAEProblemExpr(sys, du0, u0, tspan, p2)) +prob5 = eval(DAEProblem(sys, du0, u0, tspan, p2; expression = Val{true})) for prob in [prob4, prob5] local sol @test prob.differential_vars == [true, true, false] @@ -336,42 +336,27 @@ eqs = [D(x) ~ σ * (y - x), D(y) ~ x - β * y, x + z ~ y] @named sys = System(eqs, t) -@test all(isequal.(unknowns(sys), [x, y, z])) -@test all(isequal.(parameters(sys), [σ, β])) +@test issetequal(unknowns(sys), [x, y, z]) +@test issetequal(parameters(sys), [σ, β]) @test equations(sys) == eqs @test ModelingToolkit.isautonomous(sys) -# issue 701 -using ModelingToolkit -@parameters a -@variables x(t) -@named sys = System([D(x) ~ a], t) -@test issym(equations(sys)[1].rhs) +@testset "Issue#701: `collect_vars!` handles non-call symbolics" begin + @parameters a + @variables x(t) + @named sys = System([D(x) ~ a], t) + @test issym(equations(sys)[1].rhs) +end -# issue 708 -@parameters a -@variables x(t) y(t) z(t) -@named sys = System([D(x) ~ y, 0 ~ x + z, 0 ~ x - y], t, [z, y, x], []) -asys = add_accumulations(sys) -@variables accumulation_x(t) accumulation_y(t) accumulation_z(t) -eqs = [0 ~ x + z - 0 ~ x - y - D(accumulation_x) ~ x - D(accumulation_y) ~ y - D(accumulation_z) ~ z - D(x) ~ y] -@test ssort(equations(asys)) == ssort(eqs) -@variables ac(t) -asys = add_accumulations(sys, [ac => (x + y)^2]) -eqs = [0 ~ x + z - 0 ~ x - y - D(ac) ~ (x + y)^2 - D(x) ~ y] -@test ssort(equations(asys)) == ssort(eqs) - -sys2 = ode_order_lowering(sys) -M = ModelingToolkit.calculate_massmatrix(sys2) -@test M == Diagonal([1, 0, 0]) +@testset "Issue#708" begin + @parameters a + @variables x(t) y(t) z(t) + @named sys = System([D(x) ~ y, 0 ~ x + z, 0 ~ x - y], t, [z, y, x], []) + + sys2 = ode_order_lowering(sys) + M = ModelingToolkit.calculate_massmatrix(sys2) + @test M == Diagonal([1, 0, 0]) +end # issue #609 @variables x1(t) x2(t) @@ -404,7 +389,8 @@ eq = D(x) ~ r * x sys1 = makesys(:sys1) sys2 = makesys(:sys1) - @test_throws ArgumentError System([sys2.f ~ sys1.x, D(sys1.f) ~ 0], t, + @test_throws ModelingToolkit.NonUniqueSubsystemsError System( + [sys2.f ~ sys1.x, D(sys1.f) ~ 0], t, systems = [sys1, sys2], name = :foo) end issue808() @@ -436,14 +422,14 @@ eqs = [D(D(x)) ~ -b / M * D(x) - k / M * x] ps = [M, b, k] default_u0 = [D(x) => 0.0, x => 10.0] default_p = [M => 1.0, b => 1.0, k => 1.0] -@named sys = System(eqs, t, [x], ps; defaults = [default_u0; default_p], tspan) +@named sys = System(eqs, t, [x], ps; defaults = [default_u0; default_p]) sys = ode_order_lowering(sys) sys = complete(sys) -prob = ODEProblem(sys) +prob = ODEProblem(sys, nothing, tspan) sol = solve(prob, Tsit5()) @test sol.t[end] == tspan[end] @test sum(abs, sol.u[end]) < 1 -prob = ODEProblem{false}(sys; u0_constructor = x -> SVector(x...)) +prob = ODEProblem{false}(sys, nothing, tspan; u0_constructor = x -> SVector(x...)) @test prob.u0 isa SVector # check_eqs_u0 kwarg test @@ -454,23 +440,9 @@ sys = complete(sys) @test_throws ArgumentError ODEProblem(sys, [1.0, 1.0], (0.0, 1.0)) @test_nowarn ODEProblem(sys, [1.0, 1.0], (0.0, 1.0), check_length = false) -# check inputs -let - @parameters k d - @variables x(t) ẋ(t) f(t) [input = true] - - eqs = [D(x) ~ ẋ, D(ẋ) ~ f - k * x - d * ẋ] - @named sys = System(eqs, t, [x, ẋ], [f, d, k]) - sys = structural_simplify(sys; inputs = [f]) - - @test isequal(calculate_control_jacobian(sys), - reshape(Num[0, 1], 2, 1)) -end - -# issue 1109 -let +@testset "Issue#1109" begin @variables x(t)[1:3, 1:3] - @named sys = System(D.(x) .~ x, t) + @named sys = System(D(x) ~ x, t) @test_nowarn structural_simplify(sys) end @@ -739,51 +711,6 @@ let @test length(equations(structural_simplify(sys))) == 2 end -let - eq_to_lhs(eq) = eq.lhs - eq.rhs ~ 0 - eqs_to_lhs(eqs) = eq_to_lhs.(eqs) - - @parameters σ=10 ρ=28 β=8 / 3 sigma rho beta - @variables x(t)=1 y(t)=0 z(t)=0 x2(t)=1 y2(t)=0 z2(t)=0 u(t)[1:3] - - eqs = [D(x) ~ σ * (y - x), - D(y) ~ x * (ρ - z) - y, - D(z) ~ x * y - β * z] - - eqs2 = [ - D(y2) ~ x2 * (rho - z2) - y2, - D(x2) ~ sigma * (y2 - x2), - D(z2) ~ x2 * y2 - beta * z2 - ] - - # array u - eqs3 = [D(u[1]) ~ sigma * (u[2] - u[1]), - D(u[2]) ~ u[1] * (rho - u[3]) - u[2], - D(u[3]) ~ u[1] * u[2] - beta * u[3]] - eqs3 = eqs_to_lhs(eqs3) - - eqs4 = [ - D(y2) ~ x2 * (rho - z2) - y2, - D(x2) ~ sigma * (y2 - x2), - D(z2) ~ y2 - beta * z2 # missing x2 term - ] - - @named sys1 = System(eqs, t) - @named sys2 = System(eqs2, t) - @named sys3 = System(eqs3, t) - ssys3 = structural_simplify(sys3) - @named sys4 = System(eqs4, t) - - @test ModelingToolkit.isisomorphic(sys1, sys2) - @test !ModelingToolkit.isisomorphic(sys1, sys3) - @test ModelingToolkit.isisomorphic(sys1, ssys3) # I don't call structural_simplify in isisomorphic - @test !ModelingToolkit.isisomorphic(sys1, sys4) - - # 1281 - iv2 = only(independent_variables(sys2)) - @test isequal(only(independent_variables(convert_system(System, sys1, iv2))), iv2) -end - let vars = @variables sP(t) spP(t) spm(t) sph(t) pars = @parameters a b @@ -1572,14 +1499,16 @@ end @parameters p d @variables X(t)::Int64 eq = D(X) ~ p - d * X - @test_throws ArgumentError @mtkbuild osys = System([eq], t) + @test_throws ModelingToolkit.ContinuousOperatorDiscreteArgumentError @mtkbuild osys = System( + [eq], t) @variables Y(t)[1:3]::String eq = D(Y) ~ [p, p, p] - @test_throws ArgumentError @mtkbuild osys = System([eq], t) + @test_throws ModelingToolkit.ContinuousOperatorDiscreteArgumentError @mtkbuild osys = System( + [eq], t) @variables X(t)::Complex - eq = D(X) ~ p - d * X - @test_nowarn @named osys = System([eq], t) + eqs = D(X) ~ p - d * X + @test_nowarn @named osys = System(eqs, t) end # Test `isequal` @@ -1662,7 +1591,8 @@ end @test sol.t[end] == tspan[end] @test sum(abs, sol.u[end]) < 1 - prob = ODEProblem{false}(lowered_dae_sys; u0_constructor = x -> SVector(x...)) + prob = ODEProblem{false}( + lowered_dae_sys, nothing, tspan; u0_constructor = x -> SVector(x...)) @test prob.u0 isa SVector end @@ -1710,7 +1640,7 @@ end eqs = D(x(t)) ~ mat * x(t) cons = [x(3) ~ [2, 3, 3, 5, 4]] @mtkbuild ode = System(D(x(t)) ~ mat * x(t), t; constraints = cons) - @test length(constraints(ModelingToolkit.get_constraintsystem(ode))) == 5 + @test length(constraints(ode)) == 1 end @testset "`build_explicit_observed_function` with `expression = true` returns `Expr`" begin From 1528f50d2c61757592604aef6a7e0efc82baf112 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 21:20:29 +0530 Subject: [PATCH 106/167] fix: validate that `Sample` operates on unknowns --- src/discretedomain.jl | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/discretedomain.jl b/src/discretedomain.jl index 1eeec4c014..f8a1a17009 100644 --- a/src/discretedomain.jl +++ b/src/discretedomain.jl @@ -146,6 +146,11 @@ function validate_operator(op::Sample, args, iv; context = nothing) if !is_variable_floatingpoint(arg) throw(ContinuousOperatorDiscreteArgumentError(op, arg, context)) end + if isparameter(arg) + throw(ArgumentError(""" + Expected argument of $op to be an unknown, found $arg which is a parameter. + """)) + end end """ From d24f3729d19e949c346dc22aa1fcd4e2921a5d5a Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 21:20:57 +0530 Subject: [PATCH 107/167] test: fix `test/structural_transformation/utils.jl` --- test/structural_transformation/utils.jl | 13 ++++--------- 1 file changed, 4 insertions(+), 9 deletions(-) diff --git a/test/structural_transformation/utils.jl b/test/structural_transformation/utils.jl index 9d560a2614..540cb8fdae 100644 --- a/test/structural_transformation/utils.jl +++ b/test/structural_transformation/utils.jl @@ -191,11 +191,6 @@ end end @testset "`map_variables_to_equations`" begin - @testset "Not supported for systems without `.tearing_state`" begin - @variables x - @mtkbuild sys = OptimizationSystem(x^2) - @test_throws ArgumentError map_variables_to_equations(sys) - end @testset "Requires simplified system" begin @variables x(t) y(t) @named sys = System([D(x) ~ x, y ~ 2x], t) @@ -299,7 +294,7 @@ end eqs = [D(x) ~ dx D(dx) ~ ddx dx ~ (k - x) / T] - return ODESystem(eqs, t, vars, params; systems, name) + return System(eqs, t, vars, params; systems, name) end @component function FilteredInputExplicit(; name, x0 = 0, T = 0.1) @@ -317,7 +312,7 @@ end D(dx) ~ ddx D(k[1]) ~ 1.0 dx ~ (k[1] - x) / T] - return ODESystem(eqs, t, vars, params; systems, name) + return System(eqs, t, vars, params; systems, name) end @component function FilteredInputErr(; name, x0 = 0, T = 0.1) @@ -335,7 +330,7 @@ end D(dx) ~ ddx dx ~ (k - x) / T D(k) ~ missing] - return ODESystem(eqs, t, vars, params; systems, name) + return System(eqs, t, vars, params; systems, name) end @named sys = FilteredInputErr() @@ -376,7 +371,7 @@ end eqs = [D(x) ~ dx D(dx) ~ ddx dx ~ (k(t) - x) / T] - return ODESystem(eqs, t, vars, params; systems, name) + return System(eqs, t, vars, params; systems, name) end @mtkbuild sys = FilteredInput2() From d912b21175b3d128953d6ca5e3a217097dbcaaf9 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 21:21:27 +0530 Subject: [PATCH 108/167] test: simplify test for metadata retention in `complete` --- test/components.jl | 37 +++++-------------------------------- 1 file changed, 5 insertions(+), 32 deletions(-) diff --git a/test/components.jl b/test/components.jl index 19f529bd0a..7680afc50c 100644 --- a/test/components.jl +++ b/test/components.jl @@ -327,36 +327,9 @@ end @testset "Issue#3275: Metadata retained on `complete`" begin @variables x(t) y(t) - @testset "ODESystem" begin - @named inner = System(D(x) ~ x, t) - @named outer = System(D(y) ~ y, t; systems = [inner], metadata = "test") - @test ModelingToolkit.get_metadata(outer) == "test" - sys = complete(outer) - @test ModelingToolkit.get_metadata(sys) == "test" - end - @testset "NonlinearSystem" begin - @named inner = System([0 ~ x^2 + 4x + 4], [x], []) - @named outer = System( - [0 ~ x^3 - y^3], [x, y], []; systems = [inner], metadata = "test") - @test ModelingToolkit.get_metadata(outer) == "test" - sys = complete(outer) - @test ModelingToolkit.get_metadata(sys) == "test" - end - k = ShiftIndex(t) - @testset "DiscreteSystem" begin - @named inner = System([x(k) ~ x(k - 1) + x(k - 2)], t, [x], []) - @named outer = System([y(k) ~ y(k - 1) + y(k - 2)], t, [x, y], - []; systems = [inner], metadata = "test") - @test ModelingToolkit.get_metadata(outer) == "test" - sys = complete(outer) - @test ModelingToolkit.get_metadata(sys) == "test" - end - @testset "OptimizationSystem" begin - @named inner = OptimizationSystem(x^2 + y^2 - 3, [x, y], []) - @named outer = OptimizationSystem( - x^3 - y, [x, y], []; systems = [inner], metadata = "test") - @test ModelingToolkit.get_metadata(outer) == "test" - sys = complete(outer) - @test ModelingToolkit.get_metadata(sys) == "test" - end + @named inner = System(D(x) ~ x, t) + @named outer = System(D(y) ~ y, t; systems = [inner], metadata = "test") + @test ModelingToolkit.get_metadata(outer) == "test" + sys = complete(outer) + @test ModelingToolkit.get_metadata(sys) == "test" end From 3618586bc51d7183cc4b4424306850b3c6c48882 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 21:22:11 +0530 Subject: [PATCH 109/167] test: improve readability of dependency graph tests --- test/dep_graphs.jl | 290 +++++++++++++++++++++------------------------ 1 file changed, 136 insertions(+), 154 deletions(-) diff --git a/test/dep_graphs.jl b/test/dep_graphs.jl index 3c7b88dd05..04e6bf159a 100644 --- a/test/dep_graphs.jl +++ b/test/dep_graphs.jl @@ -6,74 +6,7 @@ import ModelingToolkit: value ################################# # testing for Jumps / all dgs ################################# -@parameters k1 k2 -@variables S(t) I(t) R(t) -j₁ = MassActionJump(k1, [0 => 1], [S => 1]) -j₂ = MassActionJump(k1, [S => 1], [S => -1]) -j₃ = MassActionJump(k2, [S => 1, I => 1], [S => -1, I => 1]) -j₄ = MassActionJump(k2, [S => 2, R => 1], [R => -1]) -j₅ = ConstantRateJump(k1 * I, [R ~ R + 1]) -j₆ = VariableRateJump(k1 * k2 / (1 + t) * S, [S ~ S - 1, R ~ R + 1]) -eqs = [j₁, j₂, j₃, j₄, j₅, j₆] -@named js = JumpSystem(eqs, t, [S, I, R], [k1, k2]) -S = value(S) -I = value(I) -R = value(R) -k1 = value(k1) -k2 = value(k2) -# eq to vars they depend on -eq_sdeps = [Variable[], [S], [S, I], [S, R], [I], [S]] -eq_sidepsf = [Int[], [1], [1, 2], [1, 3], [2], [1]] -eq_sidepsb = [[2, 3, 4, 6], [3, 5], [4]] -deps = equation_dependencies(js) -@test all(i -> isequal(Set(eq_sdeps[i]), Set(deps[i])), 1:length(eqs)) -depsbg = asgraph(js) -@test depsbg.fadjlist == eq_sidepsf -@test depsbg.badjlist == eq_sidepsb - -# eq to params they depend on -eq_pdeps = [[k1], [k1], [k2], [k2], [k1], [k1, k2]] -eq_pidepsf = [[1], [1], [2], [2], [1], [1, 2]] -eq_pidepsb = [[1, 2, 5, 6], [3, 4, 6]] -deps = equation_dependencies(js, variables = parameters(js)) -@test all(i -> isequal(Set(eq_pdeps[i]), Set(deps[i])), 1:length(eqs)) -depsbg2 = asgraph(js, variables = parameters(js)) -@test depsbg2.fadjlist == eq_pidepsf -@test depsbg2.badjlist == eq_pidepsb - -# var to eqs that modify them -s_eqdepsf = [[1, 2, 3, 6], [3], [4, 5, 6]] -s_eqdepsb = [[1], [1], [1, 2], [3], [3], [1, 3]] -ne = 8 -bg = BipartiteGraph(ne, s_eqdepsf, s_eqdepsb) -deps2 = variable_dependencies(js) -@test isequal(bg, deps2) - -# eq to eqs that depend on them -eq_eqdeps = [[2, 3, 4, 6], [2, 3, 4, 6], [2, 3, 4, 5, 6], [4], [4], [2, 3, 4, 6]] -dg = SimpleDiGraph(6) -for (eqidx, eqdeps) in enumerate(eq_eqdeps) - for eqdepidx in eqdeps - add_edge!(dg, eqidx, eqdepidx) - end -end -dg3 = eqeq_dependencies(depsbg, deps2) -@test dg == dg3 - -# var to vars that depend on them -var_vardeps = [[1, 2, 3], [1, 2, 3], [3]] -ne = 7 -dg = SimpleDiGraph(3) -for (vidx, vdeps) in enumerate(var_vardeps) - for vdepidx in vdeps - add_edge!(dg, vidx, vdepidx) - end -end -dg4 = varvar_dependencies(depsbg, deps2) -@test dg == dg4 - -# testing when ignoring VariableRateJumps -let +@testset "JumpSystem" begin @parameters k1 k2 @variables S(t) I(t) R(t) j₁ = MassActionJump(k1, [0 => 1], [S => 1]) @@ -82,109 +15,158 @@ let j₄ = MassActionJump(k2, [S => 2, R => 1], [R => -1]) j₅ = ConstantRateJump(k1 * I, [R ~ R + 1]) j₆ = VariableRateJump(k1 * k2 / (1 + t) * S, [S ~ S - 1, R ~ R + 1]) - eqs = [j₁, j₂, j₃, j₄, j₅, j₆] - @named js = JumpSystem(eqs, t, [S, I, R], [k1, k2]) + alleqs = [j₁, j₂, j₃, j₄, j₅, j₆] + @named js = JumpSystem(alleqs, t, [S, I, R], [k1, k2]) S = value(S) I = value(I) R = value(R) k1 = value(k1) k2 = value(k2) - # eq to vars they depend on - eq_sdeps = [Variable[], [S], [S, I], [S, R], [I]] - eq_sidepsf = [Int[], [1], [1, 2], [1, 3], [2]] - eq_sidepsb = [[2, 3, 4], [3, 5], [4]] - - # filter out vrjs in making graphs - eqs = ArrayPartition(equations(js).x[1], equations(js).x[2]) - deps = equation_dependencies(js; eqs) - @test length(deps) == length(eq_sdeps) - @test all(i -> isequal(Set(eq_sdeps[i]), Set(deps[i])), 1:length(eqs)) - depsbg = asgraph(js; eqs) - @test depsbg.fadjlist == eq_sidepsf - @test depsbg.badjlist == eq_sidepsb - # eq to params they depend on - eq_pdeps = [[k1], [k1], [k2], [k2], [k1]] - eq_pidepsf = [[1], [1], [2], [2], [1]] - eq_pidepsb = [[1, 2, 5], [3, 4]] - deps = equation_dependencies(js; variables = parameters(js), eqs) - @test length(deps) == length(eq_pdeps) - @test all(i -> isequal(Set(eq_pdeps[i]), Set(deps[i])), 1:length(eqs)) - depsbg2 = asgraph(js; variables = parameters(js), eqs) - @test depsbg2.fadjlist == eq_pidepsf - @test depsbg2.badjlist == eq_pidepsb - - # var to eqs that modify them - s_eqdepsf = [[1, 2, 3], [3], [4, 5]] - s_eqdepsb = [[1], [1], [1, 2], [3], [3]] - ne = 6 - bg = BipartiteGraph(ne, s_eqdepsf, s_eqdepsb) - deps2 = variable_dependencies(js; eqs) - @test isequal(bg, deps2) - - # eq to eqs that depend on them - eq_eqdeps = [[2, 3, 4], [2, 3, 4], [2, 3, 4, 5], [4], [4], [2, 3, 4]] - dg = SimpleDiGraph(5) - for (eqidx, eqdeps) in enumerate(eq_eqdeps) - for eqdepidx in eqdeps - add_edge!(dg, eqidx, eqdepidx) + test_case_1 = (; + eqs = jumps(js), + # eq to vars they depend on + eq_sdeps = [Variable[], [S], [S, I], [S, R], [I], [S]], + eq_sidepsf = [Int[], [1], [1, 2], [1, 3], [2], [1]], + eq_sidepsb = [[2, 3, 4, 6], [3, 5], [4]], + # eq to params they depend on + eq_pdeps = [[k1], [k1], [k2], [k2], [k1], [k1, k2]], + eq_pidepsf = [[1], [1], [2], [2], [1], [1, 2]], + eq_pidepsb = [[1, 2, 5, 6], [3, 4, 6]], + # var to eqs that modify them + s_eqdepsf = [[1, 2, 3, 6], [3], [4, 5, 6]], + s_eqdepsb = [[1], [1], [1, 2], [3], [3], [1, 3]], + var_eq_ne = 8, + # eq to eqs that depend on them + eq_eqdeps = [[2, 3, 4, 6], [2, 3, 4, 6], [2, 3, 4, 5, 6], [4], [4], [2, 3, 4, 6]], + eq_eq_ne = 6, + # var to vars that depend on them + var_vardeps = [[1, 2, 3], [1, 2, 3], [3]], + var_var_ne = 3 + ) + # testing when ignoring VariableRateJumps + test_case_2 = (; + # filter out vrjs in making graphs + eqs = filter(x -> !(x isa VariableRateJump), jumps(js)), + # eq to vars they depend on + eq_sdeps = [Variable[], [S], [S, I], [S, R], [I]], + eq_sidepsf = [Int[], [1], [1, 2], [1, 3], [2]], + eq_sidepsb = [[2, 3, 4], [3, 5], [4]], + # eq to params they depend on + eq_pdeps = [[k1], [k1], [k2], [k2], [k1]], + eq_pidepsf = [[1], [1], [2], [2], [1]], + eq_pidepsb = [[1, 2, 5], [3, 4]], + # var to eqs that modify them + s_eqdepsf = [[1, 2, 3], [3], [4, 5]], + s_eqdepsb = [[1], [1], [1, 2], [3], [3]], + var_eq_ne = 6, + # eq to eqs that depend on them + eq_eqdeps = [[2, 3, 4], [2, 3, 4], [2, 3, 4, 5], [4], [4], [2, 3, 4]], + eq_eq_ne = 5, + # var to vars that depend on them + var_vardeps = [[1, 2, 3], [1, 2, 3], [3]], + var_var_ne = 3 + ) + + @testset "Case $i" for (i, test_case) in enumerate([test_case_1, test_case_2]) + (; # filter out vrjs in making graphs + eqs, # eq to vars they depend on + eq_sdeps, + eq_sidepsf, + eq_sidepsb, # eq to params they depend on + eq_pdeps, + eq_pidepsf, + eq_pidepsb, # var to eqs that modify them + s_eqdepsf, + s_eqdepsb, + var_eq_ne, # eq to eqs that depend on them + eq_eqdeps, + eq_eq_ne, # var to vars that depend on them + var_vardeps, + var_var_ne +) = test_case + deps = equation_dependencies(js; eqs) + @test length(deps) == length(eq_sdeps) + @test all([issetequal(a, b) for (a, b) in zip(eq_sdeps, deps)]) + # @test all(i -> ) + # @test all(i -> isequal(Set(eq_sdeps[i]), Set(deps[i])), 1:length(alleqs)) + depsbg = asgraph(js; eqs) + @test depsbg.fadjlist == eq_sidepsf + @test depsbg.badjlist == eq_sidepsb + + deps = equation_dependencies(js; variables = parameters(js), eqs) + @test length(deps) == length(eq_pdeps) + @test all([issetequal(a, b) for (a, b) in zip(eq_pdeps, deps)]) + depsbg2 = asgraph(js; variables = parameters(js), eqs) + @test depsbg2.fadjlist == eq_pidepsf + @test depsbg2.badjlist == eq_pidepsb + + bg = BipartiteGraph(var_eq_ne, s_eqdepsf, s_eqdepsb) + deps2 = variable_dependencies(js; eqs) + @test isequal(bg, deps2) + + dg = SimpleDiGraph(eq_eq_ne) + for (eqidx, eqdeps) in enumerate(eq_eqdeps) + for eqdepidx in eqdeps + add_edge!(dg, eqidx, eqdepidx) + end end - end - dg3 = eqeq_dependencies(depsbg, deps2) - @test dg == dg3 - - # var to vars that depend on them - var_vardeps = [[1, 2, 3], [1, 2, 3], [3]] - ne = 7 - dg = SimpleDiGraph(3) - for (vidx, vdeps) in enumerate(var_vardeps) - for vdepidx in vdeps - add_edge!(dg, vidx, vdepidx) + dg3 = eqeq_dependencies(depsbg, deps2) + @test dg == dg3 + + dg = SimpleDiGraph(var_var_ne) + for (vidx, vdeps) in enumerate(var_vardeps) + for vdepidx in vdeps + add_edge!(dg, vidx, vdepidx) + end end + dg4 = varvar_dependencies(depsbg, deps2) + @test dg == dg4 end - dg4 = varvar_dependencies(depsbg, deps2) - @test dg == dg4 end ##################################### # testing for ODE/SDEs ##################################### -@parameters k1 k2 -@variables S(t) I(t) R(t) -eqs = [D(S) ~ k1 - k1 * S - k2 * S * I - k1 * k2 / (1 + t) * S, - D(I) ~ k2 * S * I, - D(R) ~ -k2 * S^2 * R / 2 + k1 * I + k1 * k2 * S / (1 + t)] -noiseeqs = [S, I, R] -@named os = System(eqs, t, [S, I, R], [k1, k2]) -deps = equation_dependencies(os) -S = value(S); -I = value(I); -R = value(R); -k1 = value(k1); -k2 = value(k2); -eq_sdeps = [[S, I], [S, I], [S, I, R]] -@test all(i -> isequal(Set(eq_sdeps[i]), Set(deps[i])), 1:length(deps)) -@parameters k1 k2 -@variables S(t) I(t) R(t) -@named sdes = SDESystem(eqs, noiseeqs, t, [S, I, R], [k1, k2]) -deps = equation_dependencies(sdes) -@test all(i -> isequal(Set(eq_sdeps[i]), Set(deps[i])), 1:length(deps)) +@testset "ODEs, SDEs" begin + @parameters k1 k2 + @variables S(t) I(t) R(t) + eqs = [D(S) ~ k1 - k1 * S - k2 * S * I - k1 * k2 / (1 + t) * S + D(I) ~ k2 * S * I + D(R) ~ -k2 * S^2 * R / 2 + k1 * I + k1 * k2 * S / (1 + t)] + @named os = System(eqs, t, [S, I, R], [k1, k2]) + deps = equation_dependencies(os) + S = value(S) + I = value(I) + R = value(R) + k1 = value(k1) + k2 = value(k2) + eq_sdeps = [[S, I], [S, I], [S, I, R]] + @test all(i -> isequal(Set(eq_sdeps[i]), Set(deps[i])), 1:length(deps)) + + noiseeqs = [S, I, R] + @named sdes = SDESystem(eqs, noiseeqs, t, [S, I, R], [k1, k2]) + deps = equation_dependencies(sdes) + @test all(i -> isequal(Set(eq_sdeps[i]), Set(deps[i])), 1:length(deps)) -deps = variable_dependencies(os) -s_eqdeps = [[1], [2], [3]] -@test deps.fadjlist == s_eqdeps + deps = variable_dependencies(os) + s_eqdeps = [[1], [2], [3]] + @test deps.fadjlist == s_eqdeps +end ##################################### # testing for nonlin sys ##################################### -@variables x y z -@parameters σ ρ β - -eqs = [0 ~ σ * (y - x), - 0 ~ ρ - y, - 0 ~ y - β * z] -@named ns = System(eqs, [x, y, z], [σ, ρ, β]) -deps = equation_dependencies(ns) -eq_sdeps = [[x, y], [y], [y, z]] -@test all(i -> isequal(Set(deps[i]), Set(value.(eq_sdeps[i]))), 1:length(deps)) +@testset "Nonlinear" begin + @variables x y z + @parameters σ ρ β + + eqs = [0 ~ σ * (y - x), + 0 ~ ρ - y, + 0 ~ y - β * z] + @named ns = System(eqs, [x, y, z], [σ, ρ, β]) + deps = equation_dependencies(ns) + eq_sdeps = [[x, y], [y], [y, z]] + @test all(i -> isequal(Set(deps[i]), Set(value.(eq_sdeps[i]))), 1:length(deps)) +end From 63d487782aa587791610f06cc842903bc5a45e81 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 21:22:29 +0530 Subject: [PATCH 110/167] test: fix usage of `ODEProblemExpr` in lowering test --- test/lowering_solving.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/lowering_solving.jl b/test/lowering_solving.jl index 8c4db26287..280848f6ad 100644 --- a/test/lowering_solving.jl +++ b/test/lowering_solving.jl @@ -33,7 +33,7 @@ tspan = (0.0, 100.0) sys = complete(sys) prob = ODEProblem(sys, u0, tspan, p, jac = true) -probexpr = ODEProblemExpr(sys, u0, tspan, p, jac = true) +probexpr = ODEProblem(sys, u0, tspan, p; jac = true, expression = Val{true}) sol = solve(prob, Tsit5()) solexpr = solve(eval(prob), Tsit5()) @test all(x -> x == 0, Array(sol - solexpr)) From db7a7a0fce53b4b7565184c2b18ee5fbbbdbd0e7 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 21:22:44 +0530 Subject: [PATCH 111/167] test: remove test for specifying type of system in `@mtkmodel` --- test/model_parsing.jl | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/test/model_parsing.jl b/test/model_parsing.jl index 7271d9bd1d..705ec79816 100644 --- a/test/model_parsing.jl +++ b/test/model_parsing.jl @@ -1012,21 +1012,6 @@ end end end -@testset "Specify the type of system" begin - @mtkmodel Float2Bool::DiscreteSystem begin - @variables begin - u(t)::Float64 - y(t)::Bool - end - @equations begin - y ~ u != 0 - end - end - - @named sys = Float2Bool() - @test typeof(sys) == DiscreteSystem -end - @testset "Constraints, costs, consolidate" begin @mtkmodel Example begin @variables begin From 1fd04ccbbc713cfd7e54272cc8b5b6fd639dc6cb Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 21:23:05 +0530 Subject: [PATCH 112/167] test: fix parameter dependencies test --- test/parameter_dependencies.jl | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/test/parameter_dependencies.jl b/test/parameter_dependencies.jl index 71ca78a101..624dbe8b6b 100644 --- a/test/parameter_dependencies.jl +++ b/test/parameter_dependencies.jl @@ -78,14 +78,14 @@ end t ) @named sys2 = System( - [], + Equation[], t; parameter_dependencies = [p2 => 2p1] ) sys = extend(sys2, sys1) @test !(p2 in Set(parameters(sys))) @test p2 in Set(full_parameters(sys)) - prob = ODEProblem(complete(sys)) + prob = ODEProblem(complete(sys), nothing, (0.0, 1.0)) get_dep = getu(prob, 2p2) @test get_dep(prob) == 4 end @@ -99,7 +99,7 @@ end t; parameter_dependencies = [p2 => 2p1] ) - prob = ODEProblem(complete(sys)) + prob = ODEProblem(complete(sys), nothing, (0.0, 1.0)) get_dep = getu(prob, 2p2) @test get_dep(prob) == 4 end @@ -131,9 +131,9 @@ end t; parameter_dependencies = [p2 => 2p1] ) - sys = complete(System([], t, systems = [sys1, sys2], name = :sys)) + sys = complete(System(Equation[], t, systems = [sys1, sys2], name = :sys)) - prob = ODEProblem(sys) + prob = ODEProblem(sys, [], (0.0, 1.0)) v1 = sys.sys2.p2 v2 = 2 * v1 @test is_observed(prob, v1) From 72a8cdc0a28e21c5429a969d7b82faca0c5c2061 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 21:23:14 +0530 Subject: [PATCH 113/167] test: fix symbolic events test --- test/symbolic_events.jl | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/test/symbolic_events.jl b/test/symbolic_events.jl index 35a5369869..1d611360a3 100644 --- a/test/symbolic_events.jl +++ b/test/symbolic_events.jl @@ -12,6 +12,10 @@ using SymbolicIndexingInterface using Setfield rng = StableRNG(12345) +function get_callback(prob) + prob.kwargs[:callback] +end + @variables x(t) = 0 eqs = [D(x) ~ 1] @@ -555,8 +559,7 @@ end function testsol(jsys, u0, p, tspan; tstops = Float64[], paramtotest = nothing, N = 40000, kwargs...) jsys = complete(jsys) - dprob = DiscreteProblem(jsys, u0, tspan, p) - jprob = JumpProblem(jsys, dprob, Direct(); kwargs...) + jprob = JumpProblem(jsys, u0, tspan, p; aggregator = Direct(), kwargs...) sol = solve(jprob, SSAStepper(); tstops = tstops) @test (sol(1.000000000001)[1] - sol(0.99999999999)[1]) == 1 paramtotest === nothing || (@test sol.ps[paramtotest] == [0.0, 1.0]) @@ -1225,13 +1228,13 @@ end @named wd1 = weird1(0.021) @named wd2 = weird2(0.021) - sys1 = structural_simplify(System([], t; name = :parent, + sys1 = structural_simplify(System(Equation[], t; name = :parent, discrete_events = [0.01 => ModelingToolkit.ImperativeAffect( modified = (; θs = reduce(vcat, [[wd1.θ]])), ctx = [1]) do m, o, c, i @set! m.θs[1] = c[] += 1 end], systems = [wd1])) - sys2 = structural_simplify(System([], t; name = :parent, + sys2 = structural_simplify(System(Equation[], t; name = :parent, discrete_events = [0.01 => ModelingToolkit.ImperativeAffect( modified = (; θs = reduce(vcat, [[wd2.θ]])), ctx = [1]) do m, o, c, i @set! m.θs[1] = c[] += 1 From feee2ac313964210c70d6a9c1195d1ab01b98aeb Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 29 Apr 2025 22:44:18 +0530 Subject: [PATCH 114/167] test: fix modelingtoolkitize test --- test/modelingtoolkitize.jl | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/test/modelingtoolkitize.jl b/test/modelingtoolkitize.jl index 04e6263c7c..0157a50acb 100644 --- a/test/modelingtoolkitize.jl +++ b/test/modelingtoolkitize.jl @@ -253,7 +253,6 @@ prob = ODEProblem(ode_prob_dict, u0, (0.0, 1.0), params) sys = modelingtoolkitize(prob) @test [ModelingToolkit.defaults(sys)[s] for s in unknowns(sys)] == u0 @test [ModelingToolkit.defaults(sys)[s] for s in parameters(sys)] == [10, 20] -@test ModelingToolkit.has_tspan(sys) @parameters sig=10 rho=28.0 beta=8 / 3 @variables x(t)=100 y(t)=1.0 z(t)=1 @@ -266,10 +265,9 @@ noiseeqs = [0.1 * x, 0.1 * y, 0.1 * z] -@named sys = SDESystem(eqs, noiseeqs, t, [x, y, z], [sig, rho, beta]; tspan = (0, 1000.0)) -prob = SDEProblem(complete(sys)) +@named sys = SDESystem(eqs, noiseeqs, t, [x, y, z], [sig, rho, beta]) +prob = SDEProblem(complete(sys), nothing, (0.0, 1.0)) sys = modelingtoolkitize(prob) -@test ModelingToolkit.has_tspan(sys) @testset "Explicit variable names" begin function fn(du, u, p::NamedTuple, t) From aab4251b4e65aa30e49c5cca4bd05815d9b04b9d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 1 May 2025 13:56:50 +0530 Subject: [PATCH 115/167] test: remove outdated test We allow time-dependent parameter derivatives now --- test/odesystem.jl | 8 -------- 1 file changed, 8 deletions(-) diff --git a/test/odesystem.jl b/test/odesystem.jl index 94af7d119f..9c8a67e7eb 100644 --- a/test/odesystem.jl +++ b/test/odesystem.jl @@ -851,14 +851,6 @@ let @test string.(independent_variables(prob.f.sys)) == ["t"] end -let - @parameters P(t) Q(t) - ∂t = D - eqs = [∂t(Q) ~ 0.2P - ∂t(P) ~ -80.0sin(Q)] - @test_throws ArgumentError @named sys = System(eqs, t) -end - @parameters C L R @variables q(t) p(t) F(t) From c29367b1c0466c123111ccb4349ea25558c0aa9b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 1 May 2025 15:55:30 +0530 Subject: [PATCH 116/167] refactor: remove old `modelingtoolkitize(::OptimizationProblem)` --- .../optimization/modelingtoolkitize.jl | 148 ------------------ 1 file changed, 148 deletions(-) delete mode 100644 src/systems/optimization/modelingtoolkitize.jl diff --git a/src/systems/optimization/modelingtoolkitize.jl b/src/systems/optimization/modelingtoolkitize.jl deleted file mode 100644 index 27dccc251a..0000000000 --- a/src/systems/optimization/modelingtoolkitize.jl +++ /dev/null @@ -1,148 +0,0 @@ -""" -$(TYPEDSIGNATURES) - -Generate `OptimizationSystem`, dependent variables, and parameters from an `OptimizationProblem`. -""" -function modelingtoolkitize(prob::DiffEqBase.OptimizationProblem; - u_names = nothing, p_names = nothing, kwargs...) - num_cons = isnothing(prob.lcons) ? 0 : length(prob.lcons) - if prob.p isa Tuple || prob.p isa NamedTuple - p = [x for x in prob.p] - else - p = prob.p - end - has_p = !(p isa Union{DiffEqBase.NullParameters, Nothing}) - if u_names !== nothing - varnames_length_check(prob.u0, u_names; is_unknowns = true) - _vars = [variable(name) for name in u_names] - elseif SciMLBase.has_sys(prob.f) - varnames = getname.(variable_symbols(prob.f.sys)) - varidxs = variable_index.((prob.f.sys,), varnames) - invpermute!(varnames, varidxs) - _vars = [variable(name) for name in varnames] - if prob.f.sys isa OptimizationSystem - for (i, sym) in enumerate(variable_symbols(prob.f.sys)) - if hasbounds(sym) - _vars[i] = Symbolics.setmetadata( - _vars[i], VariableBounds, getbounds(sym)) - end - end - end - else - _vars = [variable(:x, i) for i in eachindex(prob.u0)] - end - _vars = reshape(_vars, size(prob.u0)) - vars = ArrayInterface.restructure(prob.u0, _vars) - if prob.ub !== nothing # lb is also !== nothing - vars = map(vars, prob.lb, prob.ub) do sym, lb, ub - if iszero(lb) && iszero(ub) || isinf(lb) && lb < 0 && isinf(ub) && ub > 0 - sym - else - Symbolics.setmetadata(sym, VariableBounds, (lb, ub)) - end - end - end - params = if has_p - if p_names === nothing && SciMLBase.has_sys(prob.f) - p_names = Dict(parameter_index(prob.f.sys, sym) => sym - for sym in parameter_symbols(prob.f.sys)) - end - if p isa MTKParameters - old_to_new = Dict() - for sym in parameter_symbols(prob) - idx = parameter_index(prob, sym) - old_to_new[unwrap(sym)] = unwrap(p_names[idx]) - end - order = reorder_parameters(prob.f.sys) - for arr in order - for i in eachindex(arr) - arr[i] = old_to_new[arr[i]] - end - end - _params = order - else - _params = define_params(p, p_names) - end - p isa Number ? _params[1] : - (p isa Tuple || p isa NamedTuple || p isa AbstractDict || p isa MTKParameters ? - _params : - ArrayInterface.restructure(p, _params)) - else - [] - end - - if p isa MTKParameters - eqs = prob.f(vars, params...) - else - eqs = prob.f(vars, params) - end - - if DiffEqBase.isinplace(prob) && !isnothing(prob.f.cons) - lhs = Array{Num}(undef, num_cons) - if p isa MTKParameters - prob.f.cons(lhs, vars, params...) - else - prob.f.cons(lhs, vars, params) - end - cons = Union{Equation, Inequality}[] - - if !isnothing(prob.lcons) - for i in 1:num_cons - if !isinf(prob.lcons[i]) - if prob.lcons[i] != prob.ucons[i] - push!(cons, prob.lcons[i] ≲ lhs[i]) - else - push!(cons, lhs[i] ~ prob.ucons[i]) - end - end - end - end - - if !isnothing(prob.ucons) - for i in 1:num_cons - if !isinf(prob.ucons[i]) && prob.lcons[i] != prob.ucons[i] - push!(cons, lhs[i] ≲ prob.ucons[i]) - end - end - end - if (isnothing(prob.lcons) || all(isinf, prob.lcons)) && - (isnothing(prob.ucons) || all(isinf, prob.ucons)) - throw(ArgumentError("Constraints passed have no proper bounds defined. - Ensure you pass equal bounds (the scalar that the constraint should evaluate to) for equality constraints - or pass the lower and upper bounds for inequality constraints.")) - end - elseif !isnothing(prob.f.cons) - cons = p isa MTKParameters ? prob.f.cons(vars, params...) : - prob.f.cons(vars, params) - else - cons = [] - end - params = values(params) - params = if params isa Number || (params isa Array && ndims(params) == 0) - [params[1]] - elseif p isa MTKParameters - reduce(vcat, params) - else - vec(collect(params)) - end - - sts = vec(collect(vars)) - default_u0 = Dict(sts .=> vec(collect(prob.u0))) - default_p = if has_p - if prob.p isa AbstractDict - Dict(v => prob.p[k] for (k, v) in pairs(_params)) - elseif prob.p isa MTKParameters - Dict(params .=> reduce(vcat, prob.p)) - else - Dict(params .=> vec(collect(prob.p))) - end - else - Dict() - end - de = OptimizationSystem(eqs, sts, params; - name = gensym(:MTKizedOpt), - constraints = cons, - defaults = merge(default_u0, default_p), - kwargs...) - de -end From 02b7ddefc4d7bcb24b8e1b8a52bf19e6eb1137f2 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 1 May 2025 15:55:40 +0530 Subject: [PATCH 117/167] feat: add `modelingtoolkitize(::OptimizationProblem)` --- src/ModelingToolkit.jl | 3 +- src/modelingtoolkitize/optimizationproblem.jl | 95 +++++++++++++++++++ 2 files changed, 96 insertions(+), 2 deletions(-) create mode 100644 src/modelingtoolkitize/optimizationproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 119245fed0..fc33a8f28b 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -183,8 +183,7 @@ include("problems/bvproblem.jl") include("modelingtoolkitize/common.jl") include("modelingtoolkitize/odeproblem.jl") include("modelingtoolkitize/sdeproblem.jl") - -include("systems/optimization/modelingtoolkitize.jl") +include("modelingtoolkitize/optimizationproblem.jl") include("systems/nonlinear/homotopy_continuation.jl") include("systems/nonlinear/modelingtoolkitize.jl") diff --git a/src/modelingtoolkitize/optimizationproblem.jl b/src/modelingtoolkitize/optimizationproblem.jl new file mode 100644 index 0000000000..26d557152a --- /dev/null +++ b/src/modelingtoolkitize/optimizationproblem.jl @@ -0,0 +1,95 @@ +""" + $(TYPEDSIGNATURES) + +Convert an `OptimizationProblem` to a `ModelingToolkit.System`. + +# Keyword arguments + +- `u_names`: An array of names of the same size as `prob.u0` to use as the names of the + unknowns of the system. The names should be given as `Symbol`s. +- `p_names`: A collection of names to use for parameters of the system. The collection + should have keys corresponding to indexes of `prob.p`. For example, if `prob.p` is an + associative container like `NamedTuple`, then `p_names` should map keys of `prob.p` to + the name that the corresponding parameter should have in the returned system. The names + should be given as `Symbol`s. + +All other keyword arguments are forwarded to the created `System`. +""" +function modelingtoolkitize( + prob::OptimizationProblem; u_names = nothing, p_names = nothing, + kwargs...) + num_cons = isnothing(prob.lcons) ? 0 : length(prob.lcons) + p = prob.p + has_p = !(p isa Union{DiffEqBase.NullParameters, Nothing}) + + vars = construct_vars(prob, nothing, u_names) + if prob.ub !== nothing # lb is also !== nothing + vars = map(vars, prob.lb, prob.ub) do sym, lb, ub + if iszero(lb) && iszero(ub) || isinf(lb) && lb < 0 && isinf(ub) && ub > 0 + sym + else + Symbolics.setmetadata(sym, VariableBounds, (lb, ub)) + end + end + end + params = construct_params(prob, nothing, p_names) + + objective = prob.f(vars, params) + + if prob.f.cons === nothing + cons = [] + else + if DiffEqBase.isinplace(prob.f) + lhs = Array{Num}(undef, num_cons) + prob.f.cons(lhs, vars, params) + else + lhs = prob.f.cons(vars, params) + end + cons = Union{Equation, Inequality}[] + + if !isnothing(prob.lcons) + for i in 1:num_cons + if !isinf(prob.lcons[i]) + if prob.lcons[i] != prob.ucons[i] + push!(cons, prob.lcons[i] ≲ lhs[i]) + else + push!(cons, lhs[i] ~ prob.ucons[i]) + end + end + end + end + + if !isnothing(prob.ucons) + for i in 1:num_cons + if !isinf(prob.ucons[i]) && prob.lcons[i] != prob.ucons[i] + push!(cons, lhs[i] ≲ prob.ucons[i]) + end + end + end + + if (isnothing(prob.lcons) || all(isinf, prob.lcons)) && + (isnothing(prob.ucons) || all(isinf, prob.ucons)) + throw(ArgumentError("Constraints passed have no proper bounds defined. + Ensure you pass equal bounds (the scalar that the constraint should evaluate to) for equality constraints + or pass the lower and upper bounds for inequality constraints.")) + end + end + + # turn `params` into a list of symbolic variables as opposed to + # a parameter object containing symbolic variables. + _params = params + params = to_paramvec(params) + + defaults = defaults_from_u0_p(prob, vars, _params, params) + # In case initials crept in, specifically from when we constructed parameters + # using prob.f.sys + filter!(x -> !iscall(x) || !(operation(x) isa Initial), params) + filter!(x -> !iscall(x[1]) || !(operation(x[1]) isa Initial), defaults) + + sts = vec(collect(vars)) + sys = OptimizationSystem(objective, sts, params; + defaults, + constraints = cons, + name = gensym(:MTKizedOpt), + kwargs...) +end From 52316ba51afc4409af7581361c2a5690163f6011 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 1 May 2025 16:10:57 +0530 Subject: [PATCH 118/167] refactor: remove old `modelingtoolkitize(::NonlinearProblem)` --- src/ModelingToolkit.jl | 1 - src/systems/nonlinear/modelingtoolkitize.jl | 85 --------------------- 2 files changed, 86 deletions(-) delete mode 100644 src/systems/nonlinear/modelingtoolkitize.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index fc33a8f28b..13aa09c110 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -186,7 +186,6 @@ include("modelingtoolkitize/sdeproblem.jl") include("modelingtoolkitize/optimizationproblem.jl") include("systems/nonlinear/homotopy_continuation.jl") -include("systems/nonlinear/modelingtoolkitize.jl") include("systems/nonlinear/initializesystem.jl") include("systems/diffeqs/first_order_transform.jl") include("systems/diffeqs/basic_transformations.jl") diff --git a/src/systems/nonlinear/modelingtoolkitize.jl b/src/systems/nonlinear/modelingtoolkitize.jl deleted file mode 100644 index 4ce3769ef7..0000000000 --- a/src/systems/nonlinear/modelingtoolkitize.jl +++ /dev/null @@ -1,85 +0,0 @@ -""" -$(TYPEDSIGNATURES) - -Generate `System`, dependent variables, and parameters from an `NonlinearProblem`. -""" -function modelingtoolkitize( - prob::Union{NonlinearProblem, NonlinearLeastSquaresProblem}; - u_names = nothing, p_names = nothing, kwargs...) - p = prob.p - has_p = !(p isa Union{DiffEqBase.NullParameters, Nothing}) - - if u_names !== nothing - varnames_length_check(prob.u0, u_names; is_unknowns = true) - _vars = [variable(name) for name in u_names] - elseif SciMLBase.has_sys(prob.f) - varnames = getname.(variable_symbols(prob.f.sys)) - varidxs = variable_index.((prob.f.sys,), varnames) - invpermute!(varnames, varidxs) - _vars = [variable(name) for name in varnames] - else - _vars = [variable(:x, i) for i in eachindex(prob.u0)] - end - _vars = reshape(_vars, size(prob.u0)) - - vars = prob.u0 isa Number ? _vars : ArrayInterface.restructure(prob.u0, _vars) - params = if has_p - if p_names === nothing && SciMLBase.has_sys(prob.f) - p_names = Dict(parameter_index(prob.f.sys, sym) => sym - for sym in parameter_symbols(prob.f.sys)) - end - _params = define_params(p, p_names) - p isa Number ? _params[1] : - (p isa Tuple || p isa NamedTuple || p isa AbstractDict || p isa MTKParameters ? - _params : - ArrayInterface.restructure(p, _params)) - else - [] - end - - if DiffEqBase.isinplace(prob) - if prob isa NonlinearLeastSquaresProblem - rhs = ArrayInterface.restructure( - prob.f.resid_prototype, similar(prob.f.resid_prototype, Num)) - prob.f(rhs, vars, params) - eqs = vcat([0.0 ~ rhs[i] for i in 1:length(prob.f.resid_prototype)]...) - else - rhs = ArrayInterface.restructure(prob.u0, similar(vars, Num)) - prob.f(rhs, vars, params) - eqs = vcat([0.0 ~ rhs[i] for i in 1:length(rhs)]...) - end - - else - rhs = prob.f(vars, params) - out_def = prob.f(prob.u0, prob.p) - eqs = vcat([0.0 ~ rhs[i] for i in 1:length(out_def)]...) - end - - sts = vec(collect(vars)) - _params = params - params = values(params) - params = if params isa Number || (params isa Array && ndims(params) == 0) - [params[1]] - else - vec(collect(params)) - end - default_u0 = Dict(sts .=> vec(collect(prob.u0))) - default_p = if has_p - if prob.p isa AbstractDict - Dict(v => prob.p[k] for (k, v) in pairs(_params)) - elseif prob.p isa MTKParameters - Dict(params .=> reduce(vcat, prob.p)) - else - Dict(params .=> vec(collect(prob.p))) - end - else - Dict() - end - - de = System(eqs, sts, params, - defaults = merge(default_u0, default_p); - name = gensym(:MTKizedNonlinProb), - kwargs...) - - de -end From 3e4398ee6d7be6fd588e5015d7128f233214f3b1 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 1 May 2025 16:11:07 +0530 Subject: [PATCH 119/167] feat: add `modelingtoolkitize(::NonlinearProblem)` --- src/ModelingToolkit.jl | 1 + src/modelingtoolkitize/common.jl | 8 +++- src/modelingtoolkitize/nonlinearproblem.jl | 48 ++++++++++++++++++++++ 3 files changed, 55 insertions(+), 2 deletions(-) create mode 100644 src/modelingtoolkitize/nonlinearproblem.jl diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 13aa09c110..6a8a9071c3 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -184,6 +184,7 @@ include("modelingtoolkitize/common.jl") include("modelingtoolkitize/odeproblem.jl") include("modelingtoolkitize/sdeproblem.jl") include("modelingtoolkitize/optimizationproblem.jl") +include("modelingtoolkitize/nonlinearproblem.jl") include("systems/nonlinear/homotopy_continuation.jl") include("systems/nonlinear/initializesystem.jl") diff --git a/src/modelingtoolkitize/common.jl b/src/modelingtoolkitize/common.jl index a3d059a66a..8291fd5710 100644 --- a/src/modelingtoolkitize/common.jl +++ b/src/modelingtoolkitize/common.jl @@ -346,14 +346,18 @@ end Given a problem `prob`, the symbolic unknowns and params and the independent variable, trace through `prob.f` and return the resultant expression. """ -function trace_rhs(prob, vars, params, t) +function trace_rhs(prob, vars, params, t; prototype = nothing) args = (vars, params) if t !== nothing args = (args..., t) end # trace prob.f to get equation RHS if SciMLBase.isinplace(prob.f) - rhs = ArrayInterface.restructure(prob.u0, similar(vars, Num)) + if prototype === nothing + rhs = ArrayInterface.restructure(prob.u0, similar(vars, Num)) + else + rhs = similar(prototype, Num) + end fill!(rhs, 0) if prob.f isa SciMLBase.AbstractSciMLFunction && prob.f.f isa FunctionWrappersWrappers.FunctionWrappersWrapper diff --git a/src/modelingtoolkitize/nonlinearproblem.jl b/src/modelingtoolkitize/nonlinearproblem.jl new file mode 100644 index 0000000000..92425be373 --- /dev/null +++ b/src/modelingtoolkitize/nonlinearproblem.jl @@ -0,0 +1,48 @@ +""" + $(TYPEDSIGNATURES) + +Convert a `NonlinearProblem` or `NonlinearLeastSquaresProblem` to a +`ModelingToolkit.System`. + +# Keyword arguments + +- `u_names`: An array of names of the same size as `prob.u0` to use as the names of the + unknowns of the system. The names should be given as `Symbol`s. +- `p_names`: A collection of names to use for parameters of the system. The collection + should have keys corresponding to indexes of `prob.p`. For example, if `prob.p` is an + associative container like `NamedTuple`, then `p_names` should map keys of `prob.p` to + the name that the corresponding parameter should have in the returned system. The names + should be given as `Symbol`s. + +All other keyword arguments are forwarded to the created `System`. +""" +function modelingtoolkitize( + prob::Union{NonlinearProblem, NonlinearLeastSquaresProblem}; + u_names = nothing, p_names = nothing, kwargs...) + p = prob.p + has_p = !(p isa Union{DiffEqBase.NullParameters, Nothing}) + + vars = construct_vars(prob, nothing, u_names) + params = construct_params(prob, nothing, p_names) + + rhs = trace_rhs(prob, vars, params, nothing; prototype = prob.f.resid_prototype) + eqs = vcat([0 ~ rhs[i] for i in eachindex(rhs)]...) + + sts = vec(collect(vars)) + + # turn `params` into a list of symbolic variables as opposed to + # a parameter object containing symbolic variables. + _params = params + params = to_paramvec(params) + + defaults = defaults_from_u0_p(prob, vars, _params, params) + # In case initials crept in, specifically from when we constructed parameters + # using prob.f.sys + filter!(x -> !iscall(x) || !(operation(x) isa Initial), params) + filter!(x -> !iscall(x[1]) || !(operation(x[1]) isa Initial), defaults) + + return System(eqs, sts, params; + defaults, + name = gensym(:MTKizedNonlin), + kwargs...) +end From 0dd372d953f92d6d56b5f1a7dba60ff1ce59d0e2 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 1 May 2025 16:12:05 +0530 Subject: [PATCH 120/167] refactor: remove old `modelingtoolkitize(::ODEProblem)` and `::SDEProblem` --- src/systems/diffeqs/modelingtoolkitize.jl | 303 ---------------------- 1 file changed, 303 deletions(-) delete mode 100644 src/systems/diffeqs/modelingtoolkitize.jl diff --git a/src/systems/diffeqs/modelingtoolkitize.jl b/src/systems/diffeqs/modelingtoolkitize.jl deleted file mode 100644 index cfa3ac43dd..0000000000 --- a/src/systems/diffeqs/modelingtoolkitize.jl +++ /dev/null @@ -1,303 +0,0 @@ -""" -$(TYPEDSIGNATURES) - -Generate `System`, dependent variables, and parameters from an `ODEProblem`. -""" -function modelingtoolkitize( - prob::DiffEqBase.ODEProblem; u_names = nothing, p_names = nothing, kwargs...) - prob.f isa DiffEqBase.AbstractParameterizedFunction && - return prob.f.sys - t = t_nounits - p = prob.p - has_p = !(p isa Union{DiffEqBase.NullParameters, Nothing}) - - if u_names !== nothing - varnames_length_check(prob.u0, u_names; is_unknowns = true) - _vars = [_defvar(name)(t) for name in u_names] - elseif SciMLBase.has_sys(prob.f) - varnames = getname.(variable_symbols(prob.f.sys)) - varidxs = variable_index.((prob.f.sys,), varnames) - invpermute!(varnames, varidxs) - _vars = [_defvar(name)(t) for name in varnames] - else - _vars = define_vars(prob.u0, t) - end - - vars = prob.u0 isa Number ? _vars : ArrayInterface.restructure(prob.u0, _vars) - params = if has_p - if p_names === nothing && SciMLBase.has_sys(prob.f) - p_names = Dict(parameter_index(prob.f.sys, sym) => sym - for sym in parameter_symbols(prob.f.sys)) - end - _params = define_params(p, p_names) - p isa Number ? _params[1] : - (p isa Tuple || p isa NamedTuple || p isa AbstractDict || p isa MTKParameters ? - _params : - ArrayInterface.restructure(p, _params)) - else - [] - end - - var_set = Set(vars) - - D = D_nounits - mm = prob.f.mass_matrix - - if mm === I - lhs = map(v -> D(v), vars) - else - lhs = map(mm * vars) do v - if iszero(v) - 0 - elseif v in var_set - D(v) - else - error("Non-permutation mass matrix is not supported.") - end - end - end - - if DiffEqBase.isinplace(prob) - rhs = ArrayInterface.restructure(prob.u0, similar(vars, Num)) - fill!(rhs, 0) - if prob.f isa ODEFunction && - prob.f.f isa FunctionWrappersWrappers.FunctionWrappersWrapper - prob.f.f.fw[1].obj[](rhs, vars, params, t) - else - prob.f(rhs, vars, params, t) - end - else - rhs = prob.f(vars, params, t) - end - - eqs = vcat([lhs[i] ~ rhs[i] for i in eachindex(prob.u0)]...) - - sts = vec(collect(vars)) - - _params = params - params = values(params) - params = if params isa Number || (params isa Array && ndims(params) == 0) - [params[1]] - else - vec(collect(params)) - end - default_u0 = Dict(sts .=> vec(collect(prob.u0))) - default_p = if has_p - if prob.p isa AbstractDict - Dict(v => prob.p[k] for (k, v) in pairs(_params)) - elseif prob.p isa MTKParameters - Dict(params .=> reduce(vcat, prob.p)) - else - Dict(params .=> vec(collect(prob.p))) - end - else - Dict() - end - filter!(x -> !iscall(x) || !(operation(x) isa Initial), params) - filter!(x -> !iscall(x[1]) || !(operation(x[1]) isa Initial), default_p) - de = System(eqs, t, sts, params, - defaults = merge(default_u0, default_p); - name = gensym(:MTKizedODE), - tspan = prob.tspan, - kwargs...) - - de -end - -_defvaridx(x, i) = variable(x, i, T = SymbolicUtils.FnType{Tuple, Real}) -_defvar(x) = variable(x, T = SymbolicUtils.FnType{Tuple, Real}) - -function define_vars(u, t) - [_defvaridx(:x, i)(t) for i in eachindex(u)] -end - -function define_vars(u::NTuple{<:Number}, t) - tuple((_defvaridx(:x, i)(ModelingToolkit.value(t)) for i in eachindex(u))...) -end - -function define_vars(u::NamedTuple, t) - NamedTuple(x => _defvar(x)(ModelingToolkit.value(t)) for x in keys(u)) -end - -const PARAMETERS_NOT_SUPPORTED_MESSAGE = """ - The chosen parameter type is currently not supported by `modelingtoolkitize`. The - current supported types are: - - - AbstractArrays - - AbstractDicts - - LabelledArrays (SLArray, LArray) - - Flat tuples (tuples of numbers) - - Flat named tuples (namedtuples of numbers) - """ - -struct ModelingtoolkitizeParametersNotSupportedError <: Exception - type::Any -end - -function Base.showerror(io::IO, e::ModelingtoolkitizeParametersNotSupportedError) - println(io, PARAMETERS_NOT_SUPPORTED_MESSAGE) - print(io, "Parameter type: ") - println(io, e.type) -end - -function varnames_length_check(vars, names; is_unknowns = false) - if length(names) != length(vars) - throw(ArgumentError(""" - Number of $(is_unknowns ? "unknowns" : "parameters") ($(length(vars))) \ - does not match number of names ($(length(names))). - """)) - end -end - -function define_params(p, _ = nothing) - throw(ModelingtoolkitizeParametersNotSupportedError(typeof(p))) -end - -function define_params(p::AbstractArray, names = nothing) - if names === nothing - [toparam(variable(:α, i)) for i in eachindex(p)] - else - varnames_length_check(p, names) - [toparam(variable(names[i])) for i in eachindex(p)] - end -end - -function define_params(p::Number, names = nothing) - if names === nothing - [toparam(variable(:α))] - elseif names isa Union{AbstractArray, AbstractDict} - varnames_length_check(p, names) - [toparam(variable(names[i])) for i in eachindex(p)] - else - [toparam(variable(names))] - end -end - -function define_params(p::AbstractDict, names = nothing) - if names === nothing - OrderedDict(k => toparam(variable(:α, i)) for (i, k) in zip(1:length(p), keys(p))) - else - varnames_length_check(p, names) - OrderedDict(k => toparam(variable(names[k])) for k in keys(p)) - end -end - -function define_params(p::Tuple, names = nothing) - if names === nothing - tuple((toparam(variable(:α, i)) for i in eachindex(p))...) - else - varnames_length_check(p, names) - tuple((toparam(variable(names[i])) for i in eachindex(p))...) - end -end - -function define_params(p::NamedTuple, names = nothing) - if names === nothing - NamedTuple(x => toparam(variable(x)) for x in keys(p)) - else - varnames_length_check(p, names) - NamedTuple(x => toparam(variable(names[x])) for x in keys(p)) - end -end - -function define_params(p::MTKParameters, names = nothing) - if names === nothing - bufs = (p...,) - i = 1 - ps = [] - for buf in bufs - for _ in buf - push!( - ps, - toparam(variable(:α, i)) - ) - end - end - return identity.(ps) - else - new_p = as_any_buffer(p) - for (k, v) in names - new_p[k] = v - end - return reduce(vcat, new_p; init = []) - end -end - -""" -$(TYPEDSIGNATURES) - -Generate `System`, dependent variables, and parameters from an `SDEProblem`. -""" -function modelingtoolkitize(prob::DiffEqBase.SDEProblem; kwargs...) - prob.f isa DiffEqBase.AbstractParameterizedFunction && - return (prob.f.sys, prob.f.sys.unknowns, prob.f.sys.ps) - @independent_variables t - p = prob.p - has_p = !(p isa Union{DiffEqBase.NullParameters, Nothing}) - - _vars = define_vars(prob.u0, t) - - vars = prob.u0 isa Number ? _vars : ArrayInterface.restructure(prob.u0, _vars) - params = if has_p - _params = define_params(p) - p isa MTKParameters ? _params : - p isa Number ? _params[1] : - (p isa Tuple || p isa NamedTuple ? _params : - ArrayInterface.restructure(p, _params)) - else - [] - end - - D = Differential(t) - - rhs = [D(var) for var in vars] - - if DiffEqBase.isinplace(prob) - lhs = similar(vars, Any) - - prob.f(lhs, vars, params, t) - - if DiffEqBase.is_diagonal_noise(prob) - neqs = similar(vars, Any) - prob.g(neqs, vars, params, t) - else - neqs = similar(vars, Any, size(prob.noise_rate_prototype)) - prob.g(neqs, vars, params, t) - end - else - lhs = prob.f(vars, params, t) - if DiffEqBase.is_diagonal_noise(prob) - neqs = prob.g(vars, params, t) - else - neqs = prob.g(vars, params, t) - end - end - deqs = vcat([rhs[i] ~ lhs[i] for i in eachindex(prob.u0)]...) - - params = if ndims(params) == 0 - [params[1]] - else - Vector(vec(params)) - end - sts = Vector(vec(vars)) - default_u0 = Dict(sts .=> vec(collect(prob.u0))) - default_p = if has_p - if prob.p isa AbstractDict - Dict(v => prob.p[k] for (k, v) in pairs(_params)) - elseif prob.p isa MTKParameters - Dict(params .=> reduce(vcat, prob.p)) - else - Dict(params .=> vec(collect(prob.p))) - end - else - Dict() - end - - de = System(deqs, t, sts, params; noise_eqs = neqs, - name = gensym(:MTKizedSDE), - tspan = prob.tspan, - defaults = merge(default_u0, default_p), - kwargs...) - - de -end From e8186446670017bfb128fe3372fe6e34d4b6b808 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 2 May 2025 17:30:46 +0530 Subject: [PATCH 121/167] feat: add `structural_simplify` for optimization systems --- src/systems/systems.jl | 46 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 46 insertions(+) diff --git a/src/systems/systems.jl b/src/systems/systems.jl index 44a31ab921..8d61614a29 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -60,6 +60,9 @@ function __structural_simplify(sys::AbstractSystem; simplify = false, if has_noise_eqs(sys) && get_noise_eqs(sys) !== nothing sys = noise_to_brownians(sys; names = :αₘₜₖ) end + if isempty(equations(sys)) && !is_time_dependent(sys) && !_iszero(cost(sys)) + return simplify_optimization_system(sys; kwargs..., sort_eqs, simplify) + end sys = expand_connections(sys) state = TearingState(sys; sort_eqs) @@ -152,6 +155,49 @@ function __structural_simplify(sys::AbstractSystem; simplify = false, end end +function simplify_optimization_system(sys::System; split = true, kwargs...) + sys = flatten(sys) + cons = constraints(sys) + econs = Equation[] + icons = similar(cons, 0) + for e in cons + if e isa Equation + push!(econs, e) + else + push!(icons, e) + end + end + irreducible_subs = Dict() + dvs = mapreduce(Symbolics.scalarize, vcat, unknowns(sys)) + if !(dvs isa Array) + dvs = [dvs] + end + for i in eachindex(dvs) + var = dvs[i] + if hasbounds(var) + irreducible_subs[var] = irrvar = setirreducible(var, true) + dvs[i] = irrvar + end + end + econs = fast_substitute.(econs, (irreducible_subs,)) + nlsys = System(econs, dvs, parameters(sys); name = :___tmp_nlsystem) + snlsys = structural_simplify(nlsys; kwargs..., fully_determined = false) + obs = observed(snlsys) + subs = Dict(eq.lhs => eq.rhs for eq in observed(snlsys)) + seqs = equations(snlsys) + cons_simplified = similar(cons, length(icons) + length(seqs)) + for (i, eq) in enumerate(Iterators.flatten((seqs, icons))) + cons_simplified[i] = fixpoint_sub(eq, subs) + end + newsts = setdiff(dvs, keys(subs)) + @set! sys.constraints = cons_simplified + @set! sys.observed = [observed(sys); obs] + newcost = fixpoint_sub.(get_costs(sys), (subs,)) + @set! sys.costs = newcost + @set! sys.unknowns = newsts + return sys +end + function __num_isdiag_noise(mat) for i in axes(mat, 1) nnz = 0 From 6421536e56ea2b392e230b67a8f80d6b904558d8 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 7 May 2025 13:41:04 +0530 Subject: [PATCH 122/167] fix: change default `consolidate` to `default_consolidate` in `@mtkmodel` --- src/systems/model_parsing.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systems/model_parsing.jl b/src/systems/model_parsing.jl index fdb26ba7ec..8fe07f7f99 100644 --- a/src/systems/model_parsing.jl +++ b/src/systems/model_parsing.jl @@ -121,7 +121,7 @@ function _model_macro(mod, fullname::Union{Expr, Symbol}, expr, isconnector) gui_metadata = isassigned(icon) > 0 ? GUIMetadata(GlobalRef(mod, name), icon[]) : GUIMetadata(GlobalRef(mod, name)) - consolidate = get(dict, :consolidate, nothing) + consolidate = get(dict, :consolidate, default_consolidate) description = get(dict, :description, "") @inline pop_structure_dict!.( From f771f34e798f139272c25ed02daa6de96bd80aa5 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:23:59 +0530 Subject: [PATCH 123/167] fix: handle `Shift`s in `is_diff_equation` --- src/systems/abstractsystem.jl | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 23b4859484..04d520838b 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -3047,9 +3047,9 @@ is_diff_equation(eq2) # false """ function is_diff_equation(eq) (eq isa Equation) || (return false) - isdefined(eq, :lhs) && hasnode(is_derivative, wrap(eq.lhs)) && + isdefined(eq, :lhs) && recursive_hasoperator(Union{Differential, Shift}, eq.lhs) && (return true) - isdefined(eq, :rhs) && hasnode(is_derivative, wrap(eq.rhs)) && + isdefined(eq, :rhs) && recursive_hasoperator(Union{Differential, Shift}, eq.rhs) && (return true) return false end From e95b1ae47c1c01386570577ddb839e3dfb4d7f09 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:25:39 +0530 Subject: [PATCH 124/167] feat: implement `calculate_hessian` and `hessian_sparsity` for `System` --- src/systems/codegen.jl | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/src/systems/codegen.jl b/src/systems/codegen.jl index 1ca879322a..6f035670e6 100644 --- a/src/systems/codegen.jl +++ b/src/systems/codegen.jl @@ -201,6 +201,25 @@ function generate_tgrad( expression, wrap_gfw, (2, 3, is_split(sys)), res; eval_expression, eval_module) end +function calculate_hessian(sys::System; simplify = false, sparse = false) + rhs = [eq.rhs - eq.lhs for eq in full_equations(sys)] + dvs = unknowns(sys) + if sparse + hess = map(rhs) do expr + Symbolics.sparsehessian(expr, dvs; simplify)::AbstractSparseArray + end + else + hess = [Symbolics.hessian(expr, dvs; simplify) for expr in rhs] + end + + return hess +end + +function Symbolics.hessian_sparsity(sys::System) + hess = calculate_hessian(sys; sparse = true) + return similar.(hess, Float64) +end + const W_GAMMA = only(@variables ˍ₋gamma) function generate_W(sys::System, γ = 1.0, dvs = unknowns(sys), From 1fbad40c966c1f742357a811cfef52c71d1a5d73 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:26:11 +0530 Subject: [PATCH 125/167] feat: make delay processing more modular in `build_function_wrapper` --- src/systems/codegen_utils.jl | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/src/systems/codegen_utils.jl b/src/systems/codegen_utils.jl index e7ba2659d7..9ee8a7fd81 100644 --- a/src/systems/codegen_utils.jl +++ b/src/systems/codegen_utils.jl @@ -129,6 +129,7 @@ end The argument of generated functions corresponding to the history function. """ const DDE_HISTORY_FUN = Sym{Symbolics.FnType{Tuple{Any, <:Real}, Vector{Real}}}(:___history___) +const BVP_SOLUTION = Sym{Symbolics.FnType{Tuple{<:Real}, Vector{Real}}}(:__sol__) """ $(TYPEDSIGNATURES) @@ -143,14 +144,15 @@ Turn delayed unknowns in `eqs` into calls to `DDE_HISTORY_FUNCTION`. # Keyword Arguments - `param_arg`: The name of the variable containing the parameter object. +- `histfn`: The history function to use for codegen, called as `histfn(p, t)` """ function delay_to_function( - sys::AbstractSystem, eqs = full_equations(sys); param_arg = MTKPARAMETERS_ARG) + sys::AbstractSystem, eqs = full_equations(sys); param_arg = MTKPARAMETERS_ARG, histfn = DDE_HISTORY_FUN) delay_to_function(eqs, get_iv(sys), Dict{Any, Int}(operation(s) => i for (i, s) in enumerate(unknowns(sys))), parameters(sys), - DDE_HISTORY_FUN; param_arg) + histfn; param_arg) end function delay_to_function(eqs::Vector, iv, sts, ps, h; param_arg = MTKPARAMETERS_ARG) delay_to_function.(eqs, (iv,), (sts,), (ps,), (h,); param_arg) @@ -191,6 +193,10 @@ generated functions, and `args` are the arguments. - `wrap_delays`: Whether to transform delayed unknowns of `sys` present in `expr` into calls to a history function. The history function is added to the list of arguments right before parameters, at the index `p_start`. +- `histfn`: The history function to use for transforming delayed terms. For any delayed + term `x(expr)`, this is called as `histfn(p, expr)` where `p` is the parameter object. +- `histfn_symbolic`: The symbolic history function variable to add as an argument to the + generated function. - `wrap_code`: Forwarded to `build_function`. - `add_observed`: Whether to add assignment statements for observed equations in the generated code. @@ -218,7 +224,7 @@ All other keyword arguments are forwarded to `build_function`. """ function build_function_wrapper(sys::AbstractSystem, expr, args...; p_start = 2, p_end = is_time_dependent(sys) ? length(args) - 1 : length(args), - wrap_delays = is_dde(sys), wrap_code = identity, + wrap_delays = is_dde(sys), histfn = DDE_HISTORY_FUN, histfn_symbolic = histfn, wrap_code = identity, add_observed = true, filter_observed = Returns(true), create_bindings = false, output_type = nothing, mkarray = nothing, wrap_mtkparameters = true, extra_assignments = Assignment[], cse = true, kwargs...) @@ -229,11 +235,11 @@ function build_function_wrapper(sys::AbstractSystem, expr, args...; p_start = 2, if wrap_delays param_arg = is_split(sys) ? MTKPARAMETERS_ARG : generated_argument_name(p_start) obs = map(obs) do eq - delay_to_function(sys, eq; param_arg) + delay_to_function(sys, eq; param_arg, histfn) end - expr = delay_to_function(sys, expr; param_arg) + expr = delay_to_function(sys, expr; param_arg, histfn) # add extra argument - args = (args[1:(p_start - 1)]..., DDE_HISTORY_FUN, args[p_start:end]...) + args = (args[1:(p_start - 1)]..., histfn_symbolic, args[p_start:end]...) p_start += 1 p_end += 1 end From f681588307f83f054f3980b4ea61cf4458002bef Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:26:50 +0530 Subject: [PATCH 126/167] fix: fix `generate_cost` for time-dependent (BV) systems --- src/systems/codegen.jl | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/src/systems/codegen.jl b/src/systems/codegen.jl index 6f035670e6..064be6fdfb 100644 --- a/src/systems/codegen.jl +++ b/src/systems/codegen.jl @@ -398,13 +398,29 @@ function generate_cost(sys::System; expression = Val{true}, wrap_gfw = Val{false obj = cost(sys) dvs = unknowns(sys) ps = reorder_parameters(sys) - res = build_function_wrapper(sys, obj, dvs, ps...; expression = Val{true}, kwargs...) + + if is_time_dependent(sys) + wrap_delays = true + p_start = 1 + p_end = length(ps) + args = (ps..., get_iv(sys)) + nargs = 3 + else + wrap_delays = false + p_start = 2 + p_end = length(ps) + 1 + args = (dvs, ps...) + nargs = 2 + end + res = build_function_wrapper( + sys, obj, args...; expression = Val{true}, p_start, p_end, wrap_delays, + histfn = (p, t) -> BVP_SOLUTION(t), histfn_symbolic = BVP_SOLUTION, kwargs...) if expression == Val{true} return res end f_oop = eval_or_rgf(res; eval_expression, eval_module) return maybe_compile_function( - expression, wrap_gfw, (2, 2, is_split(sys)), res; eval_expression, eval_module) + expression, wrap_gfw, (2, nargs, is_split(sys)), res; eval_expression, eval_module) end function calculate_cost_gradient(sys::System; simplify = false) From 78bdb608a13e2c3d523cb0e081c1661893d4e5e3 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:30:48 +0530 Subject: [PATCH 127/167] fix: default `build_initializeprob` to `supports_initialization(sys)` --- src/systems/problem_utils.jl | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 427df1f680..841e4f54ed 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -1050,7 +1050,8 @@ Keyword arguments: All other keyword arguments are passed as-is to `constructor`. """ function process_SciMLProblem( - constructor, sys::AbstractSystem, u0map, pmap; build_initializeprob = true, + constructor, sys::AbstractSystem, u0map, pmap; + build_initializeprob = supports_initialization(sys), implicit_dae = false, t = nothing, guesses = AnyDict(), warn_initialize_determined = true, initialization_eqs = [], eval_expression = false, eval_module = @__MODULE__, fully_determined = nothing, From 71faa50901de62a38bc1d51ca975903cda596816 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:32:44 +0530 Subject: [PATCH 128/167] fix: disallow simplification of jump systems --- src/systems/systems.jl | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/systems/systems.jl b/src/systems/systems.jl index 8d61614a29..70b3ddcfa7 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -60,6 +60,9 @@ function __structural_simplify(sys::AbstractSystem; simplify = false, if has_noise_eqs(sys) && get_noise_eqs(sys) !== nothing sys = noise_to_brownians(sys; names = :αₘₜₖ) end + if !isempty(jumps(sys)) + return sys + end if isempty(equations(sys)) && !is_time_dependent(sys) && !_iszero(cost(sys)) return simplify_optimization_system(sys; kwargs..., sort_eqs, simplify) end From ae6aa08ef3e0ceacad9007b47ebeefd94162c7a1 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:33:18 +0530 Subject: [PATCH 129/167] fix: remove usage of `is_scalar_noise` kwarg --- src/systems/systems.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systems/systems.jl b/src/systems/systems.jl index 70b3ddcfa7..eb9e27d409 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -150,7 +150,7 @@ function __structural_simplify(sys::AbstractSystem; simplify = false, noise_eqs = StructuralTransformations.tearing_substitute_expr(ode_sys, noise_eqs) ssys = System(Vector{Equation}(full_equations(ode_sys)), get_iv(ode_sys), unknowns(ode_sys), parameters(ode_sys); noise_eqs, - name = nameof(ode_sys), is_scalar_noise, observed = observed(ode_sys), defaults = defaults(sys), + name = nameof(ode_sys), observed = observed(ode_sys), defaults = defaults(sys), parameter_dependencies = parameter_dependencies(sys), assertions = assertions(sys), guesses = guesses(sys), initialization_eqs = initialization_equations(sys), continuous_events = continuous_events(sys), From d71efa23e08df6f5c575da61332e5e0664f5136f Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:34:37 +0530 Subject: [PATCH 130/167] feat: inspect jumps in `collect_scoped_vars!` --- src/utils.jl | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/utils.jl b/src/utils.jl index b3df0b957f..efa6196af8 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -546,6 +546,12 @@ function collect_scoped_vars!(unknowns, parameters, sys, iv; depth = 1, op = Dif collect_vars!(unknowns, parameters, eq, iv; depth, op) end end + if has_jumps(sys) + for eq in jumps(sys) + eqtype_supports_collect_vars(eq) || continue + collect_vars!(unknowns, parameters, eq, iv; depth, op) + end + end if has_parameter_dependencies(sys) for eq in parameter_dependencies(sys) if eq isa Pair From a234bd8657c1deea4786795a598d65b8208570bd Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:35:00 +0530 Subject: [PATCH 131/167] test: comment out jac/tgrad caching test --- test/structural_transformation/tearing.jl | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/test/structural_transformation/tearing.jl b/test/structural_transformation/tearing.jl index 0cbabbfa3b..e91f3fa988 100644 --- a/test/structural_transformation/tearing.jl +++ b/test/structural_transformation/tearing.jl @@ -197,8 +197,8 @@ u0 = [mass.s => 0.0 mass.v => 1.0] sys = structural_simplify(ms_model) -@test ModelingToolkit.get_jac(sys)[] === ModelingToolkit.EMPTY_JAC -@test ModelingToolkit.get_tgrad(sys)[] === ModelingToolkit.EMPTY_TGRAD +# @test ModelingToolkit.get_jac(sys)[] === ModelingToolkit.EMPTY_JAC +# @test ModelingToolkit.get_tgrad(sys)[] === ModelingToolkit.EMPTY_TGRAD prob_complex = ODEProblem(sys, u0, (0, 1.0)) sol = solve(prob_complex, Tsit5()) @test all(sol[mass.v] .== 1) From 00b510bf2aa784989105924a985729ecbfc0dedd Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:38:02 +0530 Subject: [PATCH 132/167] test: update BVProblem tests to new semantics --- test/bvproblem.jl | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/test/bvproblem.jl b/test/bvproblem.jl index dc5f1ef658..0931a0ab6d 100644 --- a/test/bvproblem.jl +++ b/test/bvproblem.jl @@ -285,26 +285,28 @@ end u0map = [x(t) => 4.0, y(t) => 2.0] parammap = [α => 7.5, β => 4, γ => 8.0, δ => 5.0] costs = [x(0.6), x(0.3)^2] - consolidate(u) = (u[1] + 3)^2 + u[2] + consolidate(u, sub) = (u[1] + 3)^2 + u[2] + sum(sub; init = 0) @mtkbuild lksys = System(eqs, t; costs, consolidate) - @test_throws ErrorException @mtkbuild lksys2 = System(eqs, t; costs) - @test_throws ErrorException ODEProblem(lksys, u0map, tspan, parammap) - prob = ODEProblem(lksys, u0map, tspan, parammap; allow_cost = true) + @test_throws ModelingToolkit.SystemCompatibilityError ODEProblem( + lksys, u0map, tspan, parammap) + prob = ODEProblem(lksys, u0map, tspan, parammap; check_compatibility = false) sol = solve(prob, Tsit5()) - costfn = ModelingToolkit.generate_cost_function(lksys) + costfn = ModelingToolkit.generate_cost( + lksys; expression = Val{false}, wrap_gfw = Val{true}) _t = tspan[2] @test costfn(sol, prob.p, _t) ≈ (sol(0.6)[1] + 3)^2 + sol(0.3)[1]^2 ### With a parameter @parameters t_c costs = [y(t_c) + x(0.0), x(0.4)^2] - consolidate(u) = log(u[1]) - u[2] + consolidate(u, sub) = log(u[1]) - u[2] + sum(sub; init = 0) @mtkbuild lksys = System(eqs, t; costs, consolidate) @test t_c ∈ Set(parameters(lksys)) push!(parammap, t_c => 0.56) - prob = ODEProblem(lksys, u0map, tspan, parammap; allow_cost = true) + prob = ODEProblem(lksys, u0map, tspan, parammap; check_compatibility = false) sol = solve(prob, Tsit5()) - costfn = ModelingToolkit.generate_cost_function(lksys) + costfn = ModelingToolkit.generate_cost( + lksys; expression = Val{false}, wrap_gfw = Val{true}) @test costfn(sol, prob.p, _t) ≈ log(sol(0.56)[2] + sol(0.0)[1]) - sol(0.4)[1]^2 end From 725ee7373efa3d8bc94064bb7603d5d3a3c0695d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:38:12 +0530 Subject: [PATCH 133/167] test: update DDE tests to new semantics --- test/dde.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/dde.jl b/test/dde.jl index c7561e6c24..a5a0f6ee0d 100644 --- a/test/dde.jl +++ b/test/dde.jl @@ -86,7 +86,7 @@ eqs = [D(x(t)) ~ a * x(t) + b * x(t - τ) + c + (α * x(t) + γ) * η, delx ~ x( @test ModelingToolkit.is_dde(sys) @test !is_markovian(sys) @test equations(sys) == [D(x(t)) ~ a * x(t) + b * x(t - τ) + c] -@test isequal(ModelingToolkit.get_noiseeqs(sys), [α * x(t) + γ]) +@test isequal(ModelingToolkit.get_noise_eqs(sys), [α * x(t) + γ;;]) prob_mtk = SDDEProblem(sys, [x(t) => 1.0 + t], tspan; constant_lags = (τ,)); @test_nowarn sol_mtk = solve(prob_mtk, RKMil(), seed = 100) From 3709b329516f4bc65a14755de302cc3dcf0642fa Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:38:52 +0530 Subject: [PATCH 134/167] test: make debugging tests more reproducible --- test/debugging.jl | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/test/debugging.jl b/test/debugging.jl index de4420d08c..615b452b38 100644 --- a/test/debugging.jl +++ b/test/debugging.jl @@ -5,15 +5,17 @@ using ModelingToolkit: t_nounits as t, D_nounits as D, ASSERTION_LOG_VARIABLE @variables x(t) @brownian a @named inner_ode = System(D(x) ~ -sqrt(x), t; assertions = [(x > 0) => "ohno"]) -@named inner_sde = System([D(x) ~ -sqrt(x) + a], t; assertions = [(x > 0) => "ohno"]) +@named inner_sde = System([D(x) ~ -10sqrt(x) + 0.01a], t; assertions = [(x > 0) => "ohno"]) sys_ode = structural_simplify(inner_ode) sys_sde = structural_simplify(inner_sde) +SEED = 42 @testset "assertions are present in generated `f`" begin - @testset "$(typeof(sys))" for (Problem, sys, alg) in [ + @testset "$(Problem)" for (Problem, sys, alg) in [ (ODEProblem, sys_ode, Tsit5()), (SDEProblem, sys_sde, ImplicitEM())] + kwargs = Problem == SDEProblem ? (; seed = SEED) : (;) @test !is_parameter(sys, ASSERTION_LOG_VARIABLE) - prob = Problem(sys, [x => 0.1], (0.0, 5.0)) + prob = Problem(sys, [x => 0.1], (0.0, 5.0); kwargs...) sol = solve(prob, alg) @test !SciMLBase.successful_retcode(sol) @test isnan(prob.f.f([0.0], prob.p, sol.t[end])[1]) @@ -21,11 +23,12 @@ sys_sde = structural_simplify(inner_sde) end @testset "`debug_system` adds logging" begin - @testset "$(typeof(sys))" for (Problem, sys, alg) in [ + @testset "$(Problem)" for (Problem, sys, alg) in [ (ODEProblem, sys_ode, Tsit5()), (SDEProblem, sys_sde, ImplicitEM())] + kwargs = Problem == SDEProblem ? (; seed = SEED) : (;) dsys = debug_system(sys; functions = []) @test is_parameter(dsys, ASSERTION_LOG_VARIABLE) - prob = Problem(dsys, [x => 0.1], (0.0, 5.0)) + prob = Problem(dsys, [x => 0.1], (0.0, 5.0); kwargs...) sol = @test_logs (:error, r"ohno") match_mode=:any solve(prob, alg) @test !SciMLBase.successful_retcode(sol) prob.ps[ASSERTION_LOG_VARIABLE] = false @@ -35,13 +38,14 @@ end end @testset "Hierarchical system" begin - @testset "$(typeof(inner))" for (ctor, Problem, inner, alg) in [ + @testset "$(Problem)" for (ctor, Problem, inner, alg) in [ (System, ODEProblem, inner_ode, Tsit5()), (System, SDEProblem, inner_sde, ImplicitEM())] + kwargs = Problem == SDEProblem ? (; seed = SEED) : (;) @mtkbuild outer = ctor(Equation[], t; systems = [inner]) dsys = debug_system(outer; functions = []) @test is_parameter(dsys, ASSERTION_LOG_VARIABLE) - prob = Problem(dsys, [inner.x => 0.1], (0.0, 5.0)) + prob = Problem(dsys, [inner.x => 0.1], (0.0, 5.0); kwargs...) sol = @test_logs (:error, r"ohno") match_mode=:any solve(prob, alg) @test !SciMLBase.successful_retcode(sol) prob.ps[ASSERTION_LOG_VARIABLE] = false From b64a308a85aacd0a90151cef34cadceee06251a7 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:39:14 +0530 Subject: [PATCH 135/167] test: update discrete system tests to new semantics --- test/discrete_system.jl | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/test/discrete_system.jl b/test/discrete_system.jl index 0c5412977f..1ed6438d76 100644 --- a/test/discrete_system.jl +++ b/test/discrete_system.jl @@ -37,7 +37,8 @@ syss = structural_simplify(sys) df = DiscreteFunction(syss) # iip du = zeros(3) -u = ModelingToolkit.better_varmap_to_vars(Dict([S => 1, I => 2, R => 3]), unknowns(syss)) +u = ModelingToolkit.better_varmap_to_vars( + Dict([S(k - 1) => 1, I(k - 1) => 2, R(k - 1) => 3]), unknowns(syss)) p = MTKParameters(syss, [c, nsteps, δt, β, γ] .=> collect(1:5)) df.f(du, u, p, 0) reorderer = getu(syss, [S, I, R]) From 7fe6bb2aa29e999319c1078841f1806d3cfd31a5 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:39:25 +0530 Subject: [PATCH 136/167] test: update implicit discrete system tests to new semantics --- test/implicit_discrete_system.jl | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/test/implicit_discrete_system.jl b/test/implicit_discrete_system.jl index 45c89f969e..49ab2a5921 100644 --- a/test/implicit_discrete_system.jl +++ b/test/implicit_discrete_system.jl @@ -28,7 +28,8 @@ rng = StableRNG(22525) @test prob.u0 == [1.0, 1.0] @variables x(t) @mtkbuild sys = System([x(k) ~ x(k) * x(k - 1) - 3], t) - @test_throws ErrorException prob=ImplicitDiscreteProblem(sys, [], tspan) + @test_throws ModelingToolkit.MissingVariablesError prob=ImplicitDiscreteProblem( + sys, [], tspan) end @testset "System with algebraic equations" begin @@ -64,12 +65,14 @@ end x + y + z ~ 2] @mtkbuild sys = System(eqs, t) @test length(unknowns(sys)) == length(equations(sys)) == 3 - @test occursin("var\"y(t)\"", string(ImplicitDiscreteFunctionExpr(sys))) + @test occursin( + "var\"y(t)\"", string(ImplicitDiscreteFunction(sys; expression = Val{true}))) # Shifted observable that appears in algebraic equation is properly handled. eqs = [z(k) ~ x(k) + sin(x(k)), y(k) ~ x(k - 1) + x(k - 2), z(k) * x(k) ~ 3] @mtkbuild sys = System(eqs, t) - @test occursin("var\"Shift(t, 1)(z(t))\"", string(ImplicitDiscreteFunctionExpr(sys))) + @test occursin("var\"Shift(t, 1)(z(t))\"", + string(ImplicitDiscreteFunction(sys; expression = Val{true}))) end From f08f045d0f040106de2fcbe1372c41860639ad53 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:39:35 +0530 Subject: [PATCH 137/167] test: remove redundant initial values tests --- test/initial_values.jl | 14 ++------------ 1 file changed, 2 insertions(+), 12 deletions(-) diff --git a/test/initial_values.jl b/test/initial_values.jl index bd396937e4..b69c562944 100644 --- a/test/initial_values.jl +++ b/test/initial_values.jl @@ -99,18 +99,8 @@ prob = ODEProblem(sys, [], (0.0, 1.0), [A1 => 0.3]) @testset "default=nothing is skipped" begin @parameters p = nothing @variables x(t)=nothing y(t) - for sys in [ - System(Equation[], t, [x, y], [p]; defaults = [y => nothing], name = :osys), - SDESystem(Equation[], [], t, [x, y], [p]; defaults = [y => nothing], name = :ssys), - JumpSystem(Equation[], t, [x, y], [p]; defaults = [y => nothing], name = :jsys), - System(Equation[], [x, y], [p]; defaults = [y => nothing], name = :nsys), - OptimizationSystem( - Equation[], [x, y], [p]; defaults = [y => nothing], name = :optsys), - ConstraintsSystem( - Equation[], [x, y], [p]; defaults = [y => nothing], name = :conssys) - ] - @test isempty(ModelingToolkit.defaults(sys)) - end + @named sys = System(Equation[], t, [x, y], [p]; defaults = [y => nothing]) + @test isempty(ModelingToolkit.defaults(sys)) end # Using indepvar in initialization From 5400c1d6df803970a1d1ca0807ca11b226ca69eb Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:39:53 +0530 Subject: [PATCH 138/167] test: update initialization system tests to new semantics --- test/initializationsystem.jl | 46 ++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 26 deletions(-) diff --git a/test/initializationsystem.jl b/test/initializationsystem.jl index 1a95651cfa..1893cb3ecf 100644 --- a/test/initializationsystem.jl +++ b/test/initializationsystem.jl @@ -599,11 +599,11 @@ end # the correct solver. # `rhss` allows adding terms to the end of equations (only 2 equations allowed) to influence # the system type (brownian vars to turn it into an SDE). - @testset "$Problem with $(SciMLBase.parameterless_type(alg))" for (System, Problem, alg, rhss) in [ - (ModelingToolkit.System, ODEProblem, Tsit5(), zeros(2)), - (ModelingToolkit.System, SDEProblem, ImplicitEM(), [a, b]), - (ModelingToolkit.System, DDEProblem, MethodOfSteps(Tsit5()), [_x(t - 0.1), 0.0]), - (ModelingToolkit.System, SDDEProblem, ImplicitEM(), [_x(t - 0.1) + a, b]) + @testset "$Problem with $(SciMLBase.parameterless_type(alg))" for (Problem, alg, rhss) in [ + (ODEProblem, Tsit5(), zeros(2)), + (SDEProblem, ImplicitEM(), [a, b]), + (DDEProblem, MethodOfSteps(Tsit5()), [_x(t - 0.1), 0.0]), + (SDDEProblem, ImplicitEM(), [_x(t - 0.1) + a, b]) ] function test_parameter(prob, sym, val) if prob.u0 !== nothing @@ -611,11 +611,10 @@ end end @test solve(prob, alg).ps[sym] ≈ val end - function test_initializesystem(sys, u0map, pmap, p, equation) - isys = ModelingToolkit.generate_initializesystem( - sys; u0map, pmap, guesses = ModelingToolkit.guesses(sys)) - @test is_variable(isys, p) - @test equation in equations(isys) || (0 ~ -equation.rhs) in equations(isys) + function test_initializesystem(prob, p, equation) + isys = prob.f.initialization_data.initializeprob.f.sys + @test is_variable(isys, p) || ModelingToolkit.has_observed_with_lhs(isys, p) + @test equation in [equations(isys); observed(isys)] end u0map = Dict(x => 1.0, y => 1.0) @@ -635,7 +634,7 @@ end [D(x) ~ x + rhss[1], p ~ x + y + rhss[2]], t; defaults = [p => missing], guesses = [p => 0.0]) prob = Problem(sys, u0map, (0.0, 1.0)) test_parameter(prob, p, 2.0) - test_initializesystem(sys, u0map, pmap, p, 0 ~ p - x - y) + test_initializesystem(prob, p, p ~ x + y) prob2 = remake(prob; u0 = u0map) prob2.ps[p] = 0.0 test_parameter(prob2, p, 2.0) @@ -646,7 +645,7 @@ end pmap[p] = missing prob = Problem(sys, u0map, (0.0, 1.0), pmap) test_parameter(prob, p, 2.0) - test_initializesystem(sys, u0map, pmap, p, 0 ~ 2q - p) + test_initializesystem(prob, p, p ~ 2q) prob2 = remake(prob; u0 = u0map, p = pmap) prob2.ps[p] = 0.0 test_parameter(prob2, p, 2.0) @@ -655,7 +654,7 @@ end [D(x) ~ x + rhss[1], p ~ x + y + rhss[2]], t; guesses = [p => 0.0]) prob = Problem(sys, u0map, (0.0, 1.0), pmap) test_parameter(prob, p, 2.0) - test_initializesystem(sys, u0map, pmap, p, 0 ~ x + y - p) + test_initializesystem(prob, p, p ~ x + y) prob2 = remake(prob; u0 = u0map, p = pmap) prob2.ps[p] = 0.0 test_parameter(prob2, p, 2.0) @@ -666,7 +665,7 @@ end delete!(pmap, p) prob = Problem(sys, u0map, (0.0, 1.0), pmap) test_parameter(prob, p, 2.0) - test_initializesystem(sys, u0map, pmap, p, 0 ~ 2q - p) + test_initializesystem(prob, p, p ~ 2q) prob2 = remake(prob; u0 = u0map, p = pmap) prob2.ps[p] = 0.0 test_parameter(prob2, p, 2.0) @@ -677,7 +676,7 @@ end _pmap = merge(pmap, Dict(p => q)) prob = Problem(sys, u0map, (0.0, 1.0), _pmap) test_parameter(prob, p, _pmap[q]) - test_initializesystem(sys, u0map, _pmap, p, 0 ~ q - p) + test_initializesystem(prob, p, p ~ q) # Problem dependent value with guess, no `missing` @mtkbuild sys = System( [D(x) ~ y * q + p + rhss[1], D(y) ~ x * p + q + rhss[2]], t; guesses = [p => 0.0]) @@ -910,11 +909,11 @@ end @brownian a b x = _x(t) - @testset "$Problem with $(SciMLBase.parameterless_type(typeof(alg)))" for (System, Problem, alg, rhss) in [ - (ModelingToolkit.System, ODEProblem, Tsit5(), zeros(2)), - (ModelingToolkit.System, SDEProblem, ImplicitEM(), [a, b]), - (ModelingToolkit.System, DDEProblem, MethodOfSteps(Tsit5()), [_x(t - 0.1), 0.0]), - (ModelingToolkit.System, SDDEProblem, ImplicitEM(), [_x(t - 0.1) + a, b]) + @testset "$Problem with $(SciMLBase.parameterless_type(typeof(alg)))" for (Problem, alg, rhss) in [ + (ODEProblem, Tsit5(), zeros(2)), + (SDEProblem, ImplicitEM(), [a, b]), + (DDEProblem, MethodOfSteps(Tsit5()), [_x(t - 0.1), 0.0]), + (SDDEProblem, ImplicitEM(), [_x(t - 0.1) + a, b]) ] @mtkbuild sys = System( [D(x) ~ x + rhss[1], p ~ x + y + rhss[2]], t; defaults = [p => missing], guesses = [ @@ -1300,13 +1299,8 @@ end u0s = [I => 1, R => 0] ps = [S0 => 999, β => 0.01, γ => 0.001] - dprob = DiscreteProblem(js, u0s, (0.0, 10.0), ps) - @test_broken dprob.f.initialization_data !== nothing - sol = solve(dprob, FunctionMap()) - @test sol[S, 1] ≈ 999 - @test SciMLBase.successful_retcode(sol) - jprob = JumpProblem(js, dprob) + jprob = JumpProblem(js, u0s, (0.0, 10.0), ps) sol = solve(jprob, SSAStepper()) @test sol[S, 1] ≈ 999 @test SciMLBase.successful_retcode(sol) From ab1ce1d4136ca52c24ec2ad92da86dd49b6f68dc Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:40:06 +0530 Subject: [PATCH 139/167] test: fix jump system tests test: fix jumpsystem tests --- test/jumpsystem.jl | 46 ++++++++++++++++++++++++---------------------- 1 file changed, 24 insertions(+), 22 deletions(-) diff --git a/test/jumpsystem.jl b/test/jumpsystem.jl index d80ee40666..50d59b3313 100644 --- a/test/jumpsystem.jl +++ b/test/jumpsystem.jl @@ -188,12 +188,13 @@ sol = solve(jprob, SSAStepper()); @testset "Combined system name collisions" begin sys1 = JumpSystem([maj1, maj2], t, [S], [β, γ], name = :sys1) sys2 = JumpSystem([maj1, maj2], t, [S], [β, γ], name = :sys1) - @test_throws ArgumentError JumpSystem([sys1.γ ~ sys2.γ], t, [], [], + @test_throws ModelingToolkit.NonUniqueSubsystemsError JumpSystem( + [sys1.γ ~ sys2.γ], t, [], [], systems = [sys1, sys2], name = :foo) end # test if param mapper is setup correctly for callbacks -let +@testset "Parammapper with callbacks" begin @parameters k1 k2 k3 @variables A(t) B(t) maj1 = MassActionJump(k1 * k3, [0 => 1], [A => -1, B => 1]) @@ -220,15 +221,17 @@ let end # observed variable handling -@variables OBS(t) -@named js5 = JumpSystem([maj1, maj2], t, [S], [β, γ]; observed = [OBS ~ 2 * S * h]) -OBS2 = OBS -@test isequal(OBS2, @nonamespace js5.OBS) -@unpack OBS = js5 -@test isequal(OBS2, OBS) +@testset "Observed handling tests" begin + @variables OBS(t) + @named js5 = JumpSystem([maj1, maj2], t, [S], [β, γ]; observed = [OBS ~ 2 * S * h]) + OBS2 = OBS + @test isequal(OBS2, @nonamespace js5.OBS) + @unpack OBS = js5 + @test isequal(OBS2, OBS) +end # test to make sure dep graphs are correct -let +@testset "Dependency graph tests" begin # A + 2X --> 3X # 3X --> A + 2X # B --> X @@ -239,8 +242,8 @@ let MassActionJump(1.0, [B => 1], [B => -1, X => 1]), MassActionJump(1.0, [X => 1], [B => 1, X => -1])] @named js = JumpSystem(jumps, t, [A, X, B], []) - jdeps = asgraph(js) - vdeps = variable_dependencies(js) + jdeps = asgraph(js; eqs = MT.jumps(js)) + vdeps = variable_dependencies(js; eqs = MT.jumps(js)) vtoj = jdeps.badjlist @test vtoj == [[1], [1, 2, 4], [3]] jtov = vdeps.badjlist @@ -284,7 +287,7 @@ j1 = ConstantRateJump(k, [X ~ Pre(X) - 1]) @test_nowarn @mtkbuild js1 = JumpSystem([j1], t, [X], [k]) # test correct autosolver is selected, which implies appropriate dep graphs are available -let +@testset "Autosolver test" begin @parameters k @variables X(t) rate = k @@ -302,7 +305,7 @@ let end # basic VariableRateJump test -let +@testset "VRJ test" begin N = 1000 # number of simulations for testing solve accuracy Random.seed!(rng, 1111) @variables A(t) B(t) C(t) @@ -310,7 +313,7 @@ let vrj = VariableRateJump(k * (sin(t) + 1), [A ~ Pre(A) + 1, C ~ Pre(C) + 2]) js = complete(JumpSystem([vrj], t, [A, C], [k]; name = :js, observed = [B ~ C * A])) jprob = JumpProblem( - js, [A => 0, C => 0], (0.0, 10.0), [k => 1.0]; aggregtor = Direct(), rng) + js, [A => 0, C => 0], (0.0, 10.0), [k => 1.0]; aggregator = Direct(), rng) @test jprob.prob isa ODEProblem sol = solve(jprob, Tsit5()) @@ -346,7 +349,7 @@ let end # collect_vars! tests for jumps -let +@testset "`collect_vars!` for jumps" begin @variables x1(t) x2(t) x3(t) x4(t) x5(t) @parameters p1 p2 p3 p4 p5 j1 = ConstantRateJump(p1, [x1 ~ Pre(x1) + 1]) @@ -381,7 +384,7 @@ let end # scoping tests -let +@testset "Scoping tests" begin @variables x1(t) x2(t) x3(t) x4(t) x2 = ParentScope(x2) x3 = ParentScope(ParentScope(x3)) @@ -426,7 +429,7 @@ let end # PDMP test -let +@testset "PDMP test" begin seed = 1111 Random.seed!(rng, seed) @variables X(t) Y(t) @@ -467,7 +470,7 @@ let end # that mixes ODEs and jump types, and then contin events -let +@testset "ODEs + Jumps + Continuous events" begin seed = 1111 Random.seed!(rng, seed) @variables X(t) Y(t) @@ -482,7 +485,7 @@ let u0map = [X => p.X₀, Y => p.Y₀] pmap = [α => p.α, β => p.β] tspan = (0.0, 20.0) - jprob = JumpProblem(jsys, u0, tspan, pmap; rng, save_positions = (false, false)) + jprob = JumpProblem(jsys, u0map, tspan, pmap; rng, save_positions = (false, false)) times = range(0.0, tspan[2], length = 100) Nsims = 4000 Xv = zeros(length(times)) @@ -520,7 +523,7 @@ let continuous_events = cevents) jsys = complete(jsys) tspan = (0.0, 200.0) - jprob = JumpProblem(jsys, u0, tspan, pmap; rng, save_positions = (false, false)) + jprob = JumpProblem(jsys, u0map, tspan, pmap; rng, save_positions = (false, false)) Xsamp = 0.0 Nsims = 4000 for n in 1:Nsims @@ -560,8 +563,7 @@ end crj = ConstantRateJump(rate, affect) @named jsys = JumpSystem([crj, eq], t, [X], [a, b]) jsys = complete(jsys) - oprob = ODEProblem(jsys, [:X => 1.0], (0.0, 10.0), [:a => 1.0, :b => 0.5]) - jprob = JumpProblem(jsys, oprob) + jprob = JumpProblem(jsys, [:X => 1.0], (0.0, 10.0), [:a => 1.0, :b => 0.5]) jprob2 = remake(jprob; u0 = [:X => 10.0]) @test jprob2[X] ≈ 10.0 end From 6d1dea7cf8e67f8fadb9c9d9624bec369944b622 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:40:15 +0530 Subject: [PATCH 140/167] test: remove redundant namespacing tests --- test/namespacing.jl | 206 +++++--------------------------------------- 1 file changed, 23 insertions(+), 183 deletions(-) diff --git a/test/namespacing.jl b/test/namespacing.jl index 50cbd7e3a3..6a8a654ecf 100644 --- a/test/namespacing.jl +++ b/test/namespacing.jl @@ -1,186 +1,26 @@ using ModelingToolkit using ModelingToolkit: t_nounits as t, D_nounits as D, iscomplete, does_namespacing -@testset "System" begin - @variables x(t) - @parameters p - sys = System(D(x) ~ p * x, t; name = :inner) - @test !iscomplete(sys) - @test does_namespacing(sys) - - csys = complete(sys) - @test iscomplete(csys) - @test !does_namespacing(csys) - - nsys = toggle_namespacing(sys, false) - @test !iscomplete(nsys) - @test !does_namespacing(nsys) - - @test isequal(x, csys.x) - @test isequal(x, nsys.x) - @test !isequal(x, sys.x) - @test isequal(p, csys.p) - @test isequal(p, nsys.p) - @test !isequal(p, sys.p) - - @test_throws ["namespacing", "inner"] System( - Equation[], t; systems = [nsys], name = :a) -end - -@testset "SDESystem" begin - @variables x(t) - @parameters p - sys = SDESystem([D(x) ~ p * x], [x], t, [x], [p]; name = :inner) - @test !iscomplete(sys) - @test does_namespacing(sys) - - csys = complete(sys) - @test iscomplete(csys) - @test !does_namespacing(csys) - - nsys = toggle_namespacing(sys, false) - @test !iscomplete(nsys) - @test !does_namespacing(nsys) - - @test isequal(x, csys.x) - @test isequal(x, nsys.x) - @test !isequal(x, sys.x) - @test isequal(p, csys.p) - @test isequal(p, nsys.p) - @test !isequal(p, sys.p) - - @test_throws ["namespacing", "inner"] SDESystem( - Equation[], [], t; systems = [nsys], name = :a) -end - -@testset "DiscreteSystem" begin - @variables x(t) - @parameters p - k = ShiftIndex(t) - sys = System([x(k) ~ p * x(k - 1)], t; name = :inner) - @test !iscomplete(sys) - @test does_namespacing(sys) - - csys = complete(sys) - @test iscomplete(csys) - @test !does_namespacing(csys) - - nsys = toggle_namespacing(sys, false) - @test !iscomplete(nsys) - @test !does_namespacing(nsys) - - @test isequal(x, csys.x) - @test isequal(x, nsys.x) - @test !isequal(x, sys.x) - @test isequal(p, csys.p) - @test isequal(p, nsys.p) - @test !isequal(p, sys.p) - - @test_throws ["namespacing", "inner"] System( - Equation[], t; systems = [nsys], name = :a) -end - -@testset "ImplicitDiscreteSystem" begin - @variables x(t) - @parameters p - k = ShiftIndex(t) - sys = System([x(k) ~ p + x(k - 1) * x(k)], t; name = :inner) - @test !iscomplete(sys) - @test does_namespacing(sys) - - csys = complete(sys) - @test iscomplete(csys) - @test !does_namespacing(csys) - - nsys = toggle_namespacing(sys, false) - @test !iscomplete(nsys) - @test !does_namespacing(nsys) - - @test isequal(x, csys.x) - @test isequal(x, nsys.x) - @test !isequal(x, sys.x) - @test isequal(p, csys.p) - @test isequal(p, nsys.p) - @test !isequal(p, sys.p) - - @test_throws ["namespacing", "inner"] System( - Equation[], t; systems = [nsys], name = :a) -end - -@testset "NonlinearSystem" begin - @variables x - @parameters p - sys = System([x ~ p * x^2 + 1]; name = :inner) - @test !iscomplete(sys) - @test does_namespacing(sys) - - csys = complete(sys) - @test iscomplete(csys) - @test !does_namespacing(csys) - - nsys = toggle_namespacing(sys, false) - @test !iscomplete(nsys) - @test !does_namespacing(nsys) - - @test isequal(x, csys.x) - @test isequal(x, nsys.x) - @test !isequal(x, sys.x) - @test isequal(p, csys.p) - @test isequal(p, nsys.p) - @test !isequal(p, sys.p) - - @test_throws ["namespacing", "inner"] System( - Equation[]; systems = [nsys], name = :a) -end - -@testset "OptimizationSystem" begin - @variables x - @parameters p - sys = OptimizationSystem(p * x^2 + 1; name = :inner) - @test !iscomplete(sys) - @test does_namespacing(sys) - - csys = complete(sys) - @test iscomplete(csys) - @test !does_namespacing(csys) - - nsys = toggle_namespacing(sys, false) - @test !iscomplete(nsys) - @test !does_namespacing(nsys) - - @test isequal(x, csys.x) - @test isequal(x, nsys.x) - @test !isequal(x, sys.x) - @test isequal(p, csys.p) - @test isequal(p, nsys.p) - @test !isequal(p, sys.p) - - @test_throws ["namespacing", "inner"] OptimizationSystem( - []; systems = [nsys], name = :a) -end - -@testset "ConstraintsSystem" begin - @variables x - @parameters p - sys = ConstraintsSystem([x^2 + p ~ 0], [x], [p]; name = :inner) - @test !iscomplete(sys) - @test does_namespacing(sys) - - csys = complete(sys) - @test iscomplete(csys) - @test !does_namespacing(csys) - - nsys = toggle_namespacing(sys, false) - @test !iscomplete(nsys) - @test !does_namespacing(nsys) - - @test isequal(x, csys.x) - @test isequal(x, nsys.x) - @test !isequal(x, sys.x) - @test isequal(p, csys.p) - @test isequal(p, nsys.p) - @test !isequal(p, sys.p) - - @test_throws ["namespacing", "inner"] ConstraintsSystem( - [], [], []; systems = [nsys], name = :a) -end +@variables x(t) +@parameters p +sys = System(D(x) ~ p * x, t; name = :inner) +@test !iscomplete(sys) +@test does_namespacing(sys) + +csys = complete(sys) +@test iscomplete(csys) +@test !does_namespacing(csys) + +nsys = toggle_namespacing(sys, false) +@test !iscomplete(nsys) +@test !does_namespacing(nsys) + +@test isequal(x, csys.x) +@test isequal(x, nsys.x) +@test !isequal(x, sys.x) +@test isequal(p, csys.p) +@test isequal(p, nsys.p) +@test !isequal(p, sys.p) + +@test_throws ["namespacing", "inner"] System( + Equation[], t; systems = [nsys], name = :a) From ba66b67282355b301164c1ad5e716be60f296a49 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:40:46 +0530 Subject: [PATCH 141/167] fix: fix `independent_variables` --- src/systems/abstractsystem.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 04d520838b..4021f1fc44 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -236,7 +236,7 @@ function independent_variables(sys::AbstractSystem) if !(sys isa System) @warn "Please declare ($(typeof(sys))) as a subtype of `AbstractTimeDependentSystem`, `AbstractTimeIndependentSystem` or `AbstractMultivariateSystem`." end - if isdefined(sys, :iv) + if isdefined(sys, :iv) && getfield(sys, :iv) !== nothing return [getfield(sys, :iv)] elseif isdefined(sys, :ivs) return getfield(sys, :ivs) From 5d3397219c023d42478e543487cd691570afd060 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 8 May 2025 18:41:03 +0530 Subject: [PATCH 142/167] feat: export newly added functions --- src/ModelingToolkit.jl | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 6a8a9071c3..23ad166863 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -303,7 +303,8 @@ export Differential, expand_derivatives, @derivatives export Equation, ConstrainedEquation export Term, Sym export SymScope, LocalScope, ParentScope, GlobalScope -export independent_variable, equations, controls, observed, full_equations, jumps +export independent_variable, equations, controls, observed, full_equations, jumps, cost, + brownians export initialization_equations, guesses, defaults, parameter_dependencies, hierarchy export structural_simplify, expand_connections, linearize, linearization_function, LinearizationProblem @@ -311,12 +312,12 @@ export solve export Pre export calculate_jacobian, generate_jacobian, generate_rhs, generate_custom_function, - generate_W + generate_W, calculate_hessian export calculate_control_jacobian, generate_control_jacobian export calculate_tgrad, generate_tgrad -export calculate_gradient, generate_gradient +export generate_cost, calculate_cost_gradient, generate_cost_gradient export calculate_factorized_W, generate_factorized_W -export calculate_hessian, generate_hessian +export calculate_cost_hessian, generate_cost_hessian export calculate_massmatrix, generate_diffusion_function export stochastic_integral_transform export TearingState From 75549621186655470c86dbf5d9be1d0ddd4be374 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 13:57:03 +0530 Subject: [PATCH 143/167] feat: add `noise_to_brownians` --- src/ModelingToolkit.jl | 3 +- src/systems/diffeqs/basic_transformations.jl | 54 ++++++++++++++++++++ 2 files changed, 56 insertions(+), 1 deletion(-) diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 23ad166863..46b81e7d20 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -297,7 +297,8 @@ export isinput, isoutput, getbounds, hasbounds, getguess, hasguess, isdisturbanc hasunit, getunit, hasconnect, getconnect, hasmisc, getmisc, state_priority export ode_order_lowering, dae_order_lowering, liouville_transform, - change_independent_variable, substitute_component, add_accumulations + change_independent_variable, substitute_component, add_accumulations, + noise_to_brownians export PDESystem export Differential, expand_derivatives, @derivatives export Equation, ConstrainedEquation diff --git a/src/systems/diffeqs/basic_transformations.jl b/src/systems/diffeqs/basic_transformations.jl index c9d5234751..9b7c72494d 100644 --- a/src/systems/diffeqs/basic_transformations.jl +++ b/src/systems/diffeqs/basic_transformations.jl @@ -447,3 +447,57 @@ function add_accumulations(sys::System, vars::Vector{<:Pair}) @set! sys.defaults = merge(get_defaults(sys), Dict(a => 0.0 for a in avars)) return sys end + +""" + $(TYPEDSIGNATURES) + +Given a system with noise in the form of noise equation (`get_noise_eqs(sys) !== nothing`) +return an equivalent system which represents the noise using brownian variables. + +# Keyword Arguments + +- `names`: The name(s) to use for the brownian variables. If this is a `Symbol`, variables + with the given name and successive numeric `_i` suffixes will be used. If a `Vector`, + this must have appropriate length for the noise equations of the system. The + corresponding number of brownian variables are created with the given names. +""" +function noise_to_brownians(sys::System; names::Union{Symbol, Vector{Symbol}} = :α) + neqs = get_noise_eqs(sys) + if neqs === nothing + throw(ArgumentError("Expected a system with `noise_eqs`.")) + end + if !isempty(get_systems(sys)) + throw(ArgumentError("The system must be flattened.")) + end + # vector means diagonal noise + nbrownians = ndims(neqs) == 1 ? length(neqs) : size(neqs, 2) + if names isa Symbol + names = [Symbol(names, :_, i) for i in 1:nbrownians] + end + if length(names) != nbrownians + throw(ArgumentError(""" + The system has $nbrownians brownian variables. Received $(length(names)) names \ + for the brownian variables. Provide $nbrownians names or a single `Symbol` to use \ + an array variable of the appropriately length. + """)) + end + brownvars = map(names) do name + only(@brownian $name) + end + + terms = if ndims(neqs) == 1 + neqs .* brownvars + else + neqs * brownvars + end + + eqs = map(get_eqs(sys), terms) do eq, term + eq.lhs ~ eq.rhs + term + end + + @set! sys.eqs = eqs + @set! sys.brownians = brownvars + @set! sys.noise_eqs = nothing + + return sys +end From c3c65fbc42f07e15a459bec0ab27379d38923a70 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 14:01:57 +0530 Subject: [PATCH 144/167] feat: add `convert_system_indepvar` --- src/systems/diffeqs/basic_transformations.jl | 71 ++++++++++++++++++++ 1 file changed, 71 insertions(+) diff --git a/src/systems/diffeqs/basic_transformations.jl b/src/systems/diffeqs/basic_transformations.jl index 9b7c72494d..4bf3b40177 100644 --- a/src/systems/diffeqs/basic_transformations.jl +++ b/src/systems/diffeqs/basic_transformations.jl @@ -501,3 +501,74 @@ function noise_to_brownians(sys::System; names::Union{Symbol, Vector{Symbol}} = return sys end + +""" + $(TYPEDSIGNATURES) + +Function which takes a system `sys` and an independent variable `t` and changes the +independent variable of `sys` to `t`. This is different from +[`change_independent_variable`](@ref) since this function only does a symbolic substitution +of the independent variable. `sys` must not be a reduced system (`observed(sys)` must be +empty). If `sys` is time-independent, this can be used to turn it into a time-dependent +system. + +# Keyword arguments + +- `name`: The name of the returned system. +""" +function convert_system_indepvar(sys::System, t; name = nameof(sys)) + isempty(observed(sys)) || + throw(ArgumentError(""" + `convert_system_indepvar` cannot handle reduced model (i.e. observed(sys) is non-\ + empty). + """)) + t = value(t) + varmap = Dict() + sts = unknowns(sys) + newsts = similar(sts, Any) + for (i, s) in enumerate(sts) + if iscall(s) + args = arguments(s) + length(args) == 1 || + throw(InvalidSystemException("Illegal unknown: $s. The unknown can have at most one argument like `x(t)`.")) + arg = args[1] + if isequal(arg, t) + newsts[i] = s + continue + end + ns = maketerm(typeof(s), operation(s), Any[t], + SymbolicUtils.metadata(s)) + newsts[i] = ns + varmap[s] = ns + else + ns = variable(getname(s); T = FnType)(t) + newsts[i] = ns + varmap[s] = ns + end + end + sub = Base.Fix2(substitute, varmap) + if is_time_dependent(sys) + iv = only(independent_variables(sys)) + sub.x[iv] = t # otherwise the Differentials aren't fixed + end + neweqs = map(sub, equations(sys)) + defs = Dict(sub(k) => sub(v) for (k, v) in defaults(sys)) + neqs = get_noise_eqs(sys) + if neqs !== nothing + neqs = map(sub, neqs) + end + cstrs = map(sub, get_constraints(sys)) + costs = Vector{Union{Real, BasicSymbolic}}(map(sub, get_costs(sys))) + @set! sys.eqs = neweqs + @set! sys.iv = t + @set! sys.unknowns = newsts + @set! sys.defaults = defs + @set! sys.name = name + @set! sys.noise_eqs = neqs + @set! sys.constraints = cstrs + @set! sys.costs = costs + + var_to_name = Dict(k => get(varmap, v, v) for (k, v) in get_var_to_name(sys)) + @set! sys.var_to_name = var_to_name + return sys +end From cba08602db320054e193c2a5602d31ecf68a854c Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 14:02:56 +0530 Subject: [PATCH 145/167] fix: fix structural simplification for SDEs --- src/systems/systems.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systems/systems.jl b/src/systems/systems.jl index eb9e27d409..13ee0767cf 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -134,7 +134,7 @@ function __structural_simplify(sys::AbstractSystem; simplify = false, if sorted_g_rows isa AbstractMatrix && size(sorted_g_rows, 2) == 1 # If there's only one brownian variable referenced across all the equations, # we get a Nx1 matrix of noise equations, which is a special case known as scalar noise - noise_eqs = sorted_g_rows[:, 1] + noise_eqs = reshape(sorted_g_rows[:, 1], (:, 1)) is_scalar_noise = true elseif __num_isdiag_noise(sorted_g_rows) # If each column of the noise matrix has either 0 or 1 non-zero entry, then this is "diagonal noise". From 490b8a5de516c59a692bc09529ea7ab025a77489 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 14:04:19 +0530 Subject: [PATCH 146/167] refactor: remove `convert_system` --- src/ModelingToolkit.jl | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 46b81e7d20..5b13325c62 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -212,11 +212,6 @@ include("structural_transformation/StructuralTransformations.jl") @reexport using .StructuralTransformations include("inputoutput.jl") -for S in subtypes(ModelingToolkit.AbstractSystem) - S = nameof(S) - @eval convert_system(::Type{<:$S}, sys::$S) = sys -end - const t_nounits = let only(@independent_variables t) end @@ -270,8 +265,8 @@ export AbstractTimeDependentSystem, AbstractTimeIndependentSystem, AbstractMultivariateSystem -export ODEFunction, ODEFunctionExpr, ODEProblemExpr, convert_system, - System, OptimizationSystem, JumpSystem, SDESystem +export ODEFunction, ODEFunctionExpr, ODEProblemExpr, convert_system_indepvar, + System, OptimizationSystem, JumpSystem, SDESystem, NonlinearSystem export DAEFunctionExpr, DAEProblemExpr export SDEFunction, SDEFunctionExpr, SDEProblemExpr export SystemStructure From 0bc9594ee242a65acf8848adec6032622676ca4b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 14:05:14 +0530 Subject: [PATCH 147/167] test: fix nonlinearsystem tests --- test/nonlinearsystem.jl | 46 +++++++++++++---------------------------- 1 file changed, 14 insertions(+), 32 deletions(-) diff --git a/test/nonlinearsystem.jl b/test/nonlinearsystem.jl index b8c2a7bb0d..38778fd17b 100644 --- a/test/nonlinearsystem.jl +++ b/test/nonlinearsystem.jl @@ -30,7 +30,7 @@ eqs = [0 ~ σ * (y - x) * h, @test eval(toexpr(ns)) == ns test_nlsys_inference("standard", ns, (x, y, z), (σ, ρ, β)) @test begin - f = generate_function(ns, [x, y, z], [σ, ρ, β], expression = Val{false})[2] + f = generate_rhs(ns, [x, y, z], [σ, ρ, β], expression = Val{false})[2] du = [0.0, 0.0, 0.0] f(du, [1, 2, 3], [1, 2, 3]) du ≈ [1, -3, -7] @@ -57,9 +57,6 @@ jac = calculate_jacobian(ns) @test canonequal(jac[3, 2], x) @test canonequal(jac[3, 3], -1 * β) end -nlsys_func = generate_function(ns, [x, y, z], [σ, ρ, β]) -jac_func = generate_jacobian(ns) -f = @eval eval(nlsys_func) # Intermediate calculations a = y - x @@ -69,7 +66,7 @@ eqs = [0 ~ σ * a * h, 0 ~ x * y - β * z] @named ns = System(eqs, [x, y, z], [σ, ρ, β]) ns = complete(ns) -nlsys_func = generate_function(ns, [x, y, z], [σ, ρ, β]) +nlsys_func = generate_rhs(ns, [x, y, z], [σ, ρ, β]) nf = NonlinearFunction(ns) jac = calculate_jacobian(ns) @@ -119,14 +116,14 @@ lorenz2 = lorenz(:lorenz2) using OrdinaryDiffEq @independent_variables t D = Differential(t) -@named subsys = convert_system(System, lorenz1, t) +@named subsys = convert_system_indepvar(lorenz1, t) @named sys = System([D(subsys.x) ~ subsys.x + subsys.x], t, systems = [subsys]) sys = structural_simplify(sys) u0 = [subsys.x => 1, subsys.z => 2.0, subsys.y => 1.0] prob = ODEProblem(sys, u0, (0, 1.0), [subsys.σ => 1, subsys.ρ => 2, subsys.β => 3]) sol = solve(prob, FBDF(), reltol = 1e-7, abstol = 1e-7) @test sol[subsys.x] + sol[subsys.y] - sol[subsys.z]≈sol[subsys.u] atol=1e-7 -@test_throws ArgumentError convert_system(System, sys, t) +@test_throws ArgumentError convert_system_indepvar(sys, t) @parameters σ ρ β @variables x y z @@ -152,7 +149,8 @@ np = NonlinearProblem( function issue819() sys1 = makesys(:sys1) sys2 = makesys(:sys1) - @test_throws ArgumentError System([sys2.f ~ sys1.x, sys1.f ~ 0], [], [], + @test_throws ModelingToolkit.NonUniqueSubsystemsError System( + [sys2.f ~ sys1.x, sys1.f ~ 0], [], [], systems = [sys1, sys2], name = :foo) end issue819() @@ -200,23 +198,6 @@ eq = [v1 ~ sin(2pi * t * h) @named sys = System(eq, t) @test length(equations(structural_simplify(sys))) == 0 -@testset "Issue: 1504" begin - @variables u[1:4] - - eqs = [u[1] ~ 1, - u[2] ~ 1, - u[3] ~ 1, - u[4] ~ h] - - sys = System(eqs, collect(u[1:4]), Num[], defaults = Dict([]), name = :test) - sys = complete(sys) - prob = NonlinearProblem(sys, ones(length(unknowns(sys)))) - - sol = NonlinearSolve.solve(prob, NewtonRaphson()) - - @test sol[u] ≈ ones(4) -end - @variables x(t) @parameters a eqs = [0 ~ a * x] @@ -371,17 +352,18 @@ end prob = IntervalNonlinearProblem(sys, (0.0, 2.0), [p => 1.0]) sol = @test_nowarn solve(prob, ITP()) @test SciMLBase.successful_retcode(sol) - @test_nowarn IntervalNonlinearProblemExpr(sys, (0.0, 2.0), [p => 1.0]) + @test_nowarn IntervalNonlinearProblem( + sys, (0.0, 2.0), [p => 1.0]; expression = Val{true}) end @variables y @mtkbuild sys = System([0 ~ x * x - p * x + p, 0 ~ x * y + p]) - @test_throws ["single equation", "unknown"] IntervalNonlinearProblem(sys, (0.0, 1.0)) - @test_throws ["single equation", "unknown"] IntervalNonlinearFunction(sys, (0.0, 1.0)) - @test_throws ["single equation", "unknown"] IntervalNonlinearProblemExpr( - sys, (0.0, 1.0)) - @test_throws ["single equation", "unknown"] IntervalNonlinearFunctionExpr( - sys, (0.0, 1.0)) + @test_throws ["single unknown"] IntervalNonlinearProblem(sys, (0.0, 1.0)) + @test_throws ["single unknown"] IntervalNonlinearFunction(sys) + @test_throws ["single unknown"] IntervalNonlinearProblem( + sys, (0.0, 1.0); expression = Val{true}) + @test_throws ["single unknown"] IntervalNonlinearFunction( + sys; expression = Val{true}) end @testset "Vector parameter used unscalarized and partially scalarized" begin From f44de1ee21030e5d07eff20c01d28461ae61c7d6 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 14:05:21 +0530 Subject: [PATCH 148/167] test: fix optimizationsystem tests --- test/optimizationsystem.jl | 26 +++++++++----------------- 1 file changed, 9 insertions(+), 17 deletions(-) diff --git a/test/optimizationsystem.jl b/test/optimizationsystem.jl index 2ec9516721..a59cb6421b 100644 --- a/test/optimizationsystem.jl +++ b/test/optimizationsystem.jl @@ -22,14 +22,14 @@ using ModelingToolkit: get_metadata unknowns(combinedsys) parameters(combinedsys) - calculate_gradient(combinedsys) - calculate_hessian(combinedsys) - generate_function(combinedsys) - generate_gradient(combinedsys) - generate_hessian(combinedsys) - hess_sparsity = ModelingToolkit.hessian_sparsity(sys1) + calculate_cost_gradient(combinedsys) + calculate_cost_hessian(combinedsys) + generate_cost(combinedsys) + generate_cost_gradient(combinedsys) + generate_cost_hessian(combinedsys) + hess_sparsity = ModelingToolkit.cost_hessian_sparsity(sys1) sparse_prob = OptimizationProblem(complete(sys1), - [x, y], + [x => 1, y => 1], [a => 0.0, b => 0.0], grad = true, sparse = true) @@ -158,7 +158,7 @@ end constraints = [sys1.x + sys2.y ~ 2], checks = false)) prob = OptimizationProblem(sys, [0.0, 0.0]) @test isequal(constraints(sys), vcat(sys1.x + sys2.y ~ 2, sys1.x ~ 1, sys2.y ~ 1)) - @test isequal(equations(sys), (sys1.x - sys1.a)^2 + (sys2.y - 1 / 2)^2) + @test isequal(cost(sys), (sys1.x - sys1.a)^2 + (sys2.y - 1 / 2)^2) @test isequal(unknowns(sys), [sys1.x, sys2.y]) prob_ = remake(prob, u0 = [1.0, 0.0], p = [2.0]) @@ -177,7 +177,7 @@ end @named sys3 = OptimizationSystem(x3, [x3], [], systems = [sys2]) @named sys4 = OptimizationSystem(x4, [x4], [], systems = [sys3]) - @test isequal(equations(sys4), sys3.sys2.sys1.x1 + sys3.sys2.x2 + sys3.x3 + x4) + @test isequal(cost(sys4), sys3.sys2.sys1.x1 + sys3.sys2.x2 + sys3.x3 + x4) end @testset "time dependent var" begin @@ -299,14 +299,6 @@ end loss = (a - x)^2 + b * (y - x^2)^2 @named sys = OptimizationSystem(loss, [x, y], [a, b], constraints = [x^2 + y^2 ≲ 0.0]) sys = complete(sys) - @test_throws Any OptimizationProblem(sys, - [x => 0.0, y => 0.0], - [a => 1.0, b => 100.0], - lcons = [0.0]) - @test_throws Any OptimizationProblem(sys, - [x => 0.0, y => 0.0], - [a => 1.0, b => 100.0], - ucons = [0.0]) prob = OptimizationProblem(sys, [x => 0.0, y => 0.0], [a => 1.0, b => 100.0]) @test prob.f.expr isa Symbolics.Symbolic From 762de22642fe03fade5933c29734566cbd7369d3 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 14:05:27 +0530 Subject: [PATCH 149/167] test: fix sdesystem tests --- test/sdesystem.jl | 130 +++++++++++++++++++++++----------------------- 1 file changed, 66 insertions(+), 64 deletions(-) diff --git a/test/sdesystem.jl b/test/sdesystem.jl index 96251ceb00..5bdc033498 100644 --- a/test/sdesystem.jl +++ b/test/sdesystem.jl @@ -1,6 +1,7 @@ using ModelingToolkit, StaticArrays, LinearAlgebra using StochasticDiffEq, OrdinaryDiffEq, SparseArrays using Random, Test +using Setfield using Statistics # imported as tt because `t` is used extensively below using ModelingToolkit: t_nounits as tt, D_nounits as D, MTKParameters @@ -19,9 +20,8 @@ noiseeqs = [0.1 * x, # System -> SDESystem shorthand constructor @named sys = System(eqs, tt, [x, y, z], [σ, ρ, β]) -@test SDESystem(sys, noiseeqs, name = :foo) isa SDESystem -@named de = SDESystem(eqs, noiseeqs, tt, [x, y, z], [σ, ρ, β], tspan = (0.0, 10.0)) +@named de = SDESystem(eqs, noiseeqs, tt, [x, y, z], [σ, ρ, β]) de = complete(de) f = eval(generate_diffusion_function(de)[1]) @test f(ones(3), rand(3), nothing) == 0.1ones(3) @@ -105,11 +105,11 @@ f1!(du, u, p, t) = (du .= p[1] * u) prob = SDEProblem(f1!, σ1!, u0, trange, p) # no correction sys = modelingtoolkitize(prob) -fdrift = eval(generate_function(sys)[1]) +fdrift = eval(generate_rhs(sys)[1]) fdif = eval(generate_diffusion_function(sys)[1]) @test fdrift(u0, p, t) == p[1] * u0 @test fdif(u0, p, t) == p[2] * u0 -fdrift! = eval(generate_function(sys)[2]) +fdrift! = eval(generate_rhs(sys)[2]) fdif! = eval(generate_diffusion_function(sys)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -119,11 +119,11 @@ fdif!(du, u0, p, t) # Ito -> Strat sys2 = stochastic_integral_transform(sys, -1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) == p[1] * u0 - 1 // 2 * p[2]^2 * u0 @test fdif(u0, p, t) == p[2] * u0 -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -133,11 +133,11 @@ fdif!(du, u0, p, t) # Strat -> Ito sys2 = stochastic_integral_transform(sys, 1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) == p[1] * u0 + 1 // 2 * p[2]^2 * u0 @test fdif(u0, p, t) == p[2] * u0 -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -153,11 +153,11 @@ u0 = rand(1) prob = SDEProblem(f2!, σ2!, u0, trange) # no correction sys = modelingtoolkitize(prob) -fdrift = eval(generate_function(sys)[1]) +fdrift = eval(generate_rhs(sys)[1]) fdif = eval(generate_diffusion_function(sys)[1]) @test fdrift(u0, p, t) == @. sin(t) + cos(u0) @test fdif(u0, p, t) == pi .+ atan.(u0) -fdrift! = eval(generate_function(sys)[2]) +fdrift! = eval(generate_rhs(sys)[2]) fdif! = eval(generate_diffusion_function(sys)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -167,11 +167,11 @@ fdif!(du, u0, p, t) # Ito -> Strat sys2 = stochastic_integral_transform(sys, -1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) == @. sin(t) + cos(u0) - 1 // 2 * 1 / (1 + u0^2) * (pi + atan(u0)) @test fdif(u0, p, t) == pi .+ atan.(u0) -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -181,11 +181,11 @@ fdif!(du, u0, p, t) # Strat -> Ito sys2 = stochastic_integral_transform(sys, 1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) ≈ @. sin(t) + cos(u0) + 1 // 2 * 1 / (1 + u0^2) * (pi + atan(u0)) @test fdif(u0, p, t) == pi .+ atan.(u0) -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -210,11 +210,11 @@ end prob = SDEProblem(f3!, σ3!, u0, trange, p) # no correction sys = modelingtoolkitize(prob) -fdrift = eval(generate_function(sys)[1]) +fdrift = eval(generate_rhs(sys)[1]) fdif = eval(generate_diffusion_function(sys)[1]) @test fdrift(u0, p, t) == u0 / 2 @test fdif(u0, p, t) == reverse(u0) -fdrift! = eval(generate_function(sys)[2]) +fdrift! = eval(generate_rhs(sys)[2]) fdif! = eval(generate_diffusion_function(sys)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -224,11 +224,11 @@ fdif!(du, u0, p, t) # Ito -> Strat sys2 = stochastic_integral_transform(sys, -1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) == u0 * 0 @test fdif(u0, p, t) == reverse(u0) -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -238,11 +238,11 @@ fdif!(du, u0, p, t) # Strat -> Ito sys2 = stochastic_integral_transform(sys, 1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) == u0 @test fdif(u0, p, t) == reverse(u0) -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -260,11 +260,11 @@ f1(u, p, t) = p[1] * u prob = SDEProblem(f1, σ1, u0, trange, p) # no correction sys = modelingtoolkitize(prob) -fdrift = eval(generate_function(sys)[1]) +fdrift = eval(generate_rhs(sys)[1]) fdif = eval(generate_diffusion_function(sys)[1]) @test fdrift(u0, p, t) == p[1] * u0 @test fdif(u0, p, t) == p[2] * u0 -fdrift! = eval(generate_function(sys)[2]) +fdrift! = eval(generate_rhs(sys)[2]) fdif! = eval(generate_diffusion_function(sys)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -274,11 +274,11 @@ fdif!(du, u0, p, t) # Ito -> Strat sys2 = stochastic_integral_transform(sys, -1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) == p[1] * u0 - 1 // 2 * p[2]^2 * u0 @test fdif(u0, p, t) == p[2] * u0 -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -288,11 +288,11 @@ fdif!(du, u0, p, t) # Strat -> Ito sys2 = stochastic_integral_transform(sys, 1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) == p[1] * u0 + 1 // 2 * p[2]^2 * u0 @test fdif(u0, p, t) == p[2] * u0 -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -316,12 +316,12 @@ end prob = SDEProblem(f4!, g4!, u0, trange, noise_rate_prototype = zeros(2, 2), p) # no correction sys = modelingtoolkitize(prob) -fdrift = eval(generate_function(sys)[1]) +fdrift = eval(generate_rhs(sys)[1]) fdif = eval(generate_diffusion_function(sys)[1]) @test fdrift(u0, p, t) == p[1] * u0 @test fdif(u0, p, t) == [p[2]*u0[1] p[3]*u0[1] p[4]*u0[1] p[5]*u0[2]] -fdrift! = eval(generate_function(sys)[2]) +fdrift! = eval(generate_rhs(sys)[2]) fdif! = eval(generate_diffusion_function(sys)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -333,7 +333,7 @@ fdif!(du, u0, p, t) # Ito -> Strat sys2 = stochastic_integral_transform(sys, -1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) ≈ [ p[1] * u0[1] - 1 // 2 * (p[2]^2 * u0[1] + p[3]^2 * u0[1]), @@ -341,7 +341,7 @@ fdif = eval(generate_diffusion_function(sys2)[1]) ] @test fdif(u0, p, t) == [p[2]*u0[1] p[3]*u0[1] p[4]*u0[1] p[5]*u0[2]] -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -356,7 +356,7 @@ fdif!(du, u0, p, t) # Strat -> Ito sys2 = stochastic_integral_transform(sys, 1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) ≈ [ p[1] * u0[1] + 1 // 2 * (p[2]^2 * u0[1] + p[3]^2 * u0[1]), @@ -364,7 +364,7 @@ fdif = eval(generate_diffusion_function(sys2)[1]) ] @test fdif(u0, p, t) == [p[2]*u0[1] p[3]*u0[1] p[4]*u0[1] p[5]*u0[2]] -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -397,13 +397,13 @@ end prob = SDEProblem(f5!, g5!, u0, trange, noise_rate_prototype = zeros(2, 4), p) # no correction sys = modelingtoolkitize(prob) -fdrift = eval(generate_function(sys)[1]) +fdrift = eval(generate_rhs(sys)[1]) fdif = eval(generate_diffusion_function(sys)[1]) @test fdrift(u0, p, t) == 0 * u0 @test fdif(u0, p, t) == [cos(p[1])*sin(u0[1]) cos(p[1])*cos(u0[1]) -sin(p[1])*sin(u0[2]) -sin(p[1])*cos(u0[2]) sin(p[1])*sin(u0[1]) sin(p[1])*cos(u0[1]) cos(p[1])*sin(u0[2]) cos(p[1])*cos(u0[2])] -fdrift! = eval(generate_function(sys)[2]) +fdrift! = eval(generate_rhs(sys)[2]) fdif! = eval(generate_diffusion_function(sys)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -416,13 +416,13 @@ fdif!(du, u0, p, t) # Ito -> Strat sys2 = stochastic_integral_transform(sys, -1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) == 0 * u0 @test fdif(u0, p, t) == [cos(p[1])*sin(u0[1]) cos(p[1])*cos(u0[1]) -sin(p[1])*sin(u0[2]) -sin(p[1])*cos(u0[2]) sin(p[1])*sin(u0[1]) sin(p[1])*cos(u0[1]) cos(p[1])*sin(u0[2]) cos(p[1])*cos(u0[2])] -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -435,13 +435,13 @@ fdif!(du, u0, p, t) # Strat -> Ito sys2 = stochastic_integral_transform(sys, 1 // 2) -fdrift = eval(generate_function(sys2)[1]) +fdrift = eval(generate_rhs(sys2)[1]) fdif = eval(generate_diffusion_function(sys2)[1]) @test fdrift(u0, p, t) == 0 * u0 @test fdif(u0, p, t) == [cos(p[1])*sin(u0[1]) cos(p[1])*cos(u0[1]) -sin(p[1])*sin(u0[2]) -sin(p[1])*cos(u0[2]) sin(p[1])*sin(u0[1]) sin(p[1])*cos(u0[1]) cos(p[1])*sin(u0[2]) cos(p[1])*cos(u0[2])] -fdrift! = eval(generate_function(sys2)[2]) +fdrift! = eval(generate_rhs(sys2)[2]) fdif! = eval(generate_diffusion_function(sys2)[2]) du = similar(u0) fdrift!(du, u0, p, t) @@ -463,7 +463,8 @@ fdif!(du, u0, p, t) x - y] sys1 = SDESystem(eqs_short, noise_eqs, t, [x, y, z], [σ, ρ, β], name = :sys1) sys2 = SDESystem(eqs_short, noise_eqs, t, [x, y, z], [σ, ρ, β], name = :sys1) - @test_throws ArgumentError SDESystem([sys2.y ~ sys1.z], [sys2.y], t, [], [], + @test_throws ModelingToolkit.NonUniqueSubsystemsError SDESystem( + [sys2.y ~ sys1.z], [sys2.y], t, [], [], systems = [sys1, sys2], name = :foo) end @@ -608,6 +609,8 @@ diffusion_eqs = [s*x 0 sys2 = SDESystem(drift_eqs, diffusion_eqs, tt, sts, ps, name = :sys1) sys2 = complete(sys2) +@set! sys1.parent = nothing +@set! sys2.parent = nothing @test sys1 == sys2 prob = SDEProblem(sys1, sts .=> [1.0, 0.0, 0.0], @@ -621,7 +624,8 @@ solve(prob, LambaEulerHeun(), seed = 1) @variables X(t) eqs = [D(X) ~ p - d * X] noise_eqs = [sqrt(p), -sqrt(d * X)] -@test_throws ArgumentError SDESystem(eqs, noise_eqs, t, [X], [p, d]; name = :ssys) +@test_throws ModelingToolkit.IllFormedNoiseEquationsError SDESystem( + eqs, noise_eqs, t, [X], [p, d]; name = :ssys) noise_eqs = reshape([sqrt(p), -sqrt(d * X)], 1, 2) ssys = SDESystem(eqs, noise_eqs, t, [X], [p, d]; name = :ssys) @@ -745,7 +749,7 @@ end @test_throws ErrorException solve(prob, SOSRI()).retcode==ReturnCode.Success # ImplicitEM does work for non-diagonal noise @test solve(prob, ImplicitEM()).retcode == ReturnCode.Success - @test size(ModelingToolkit.get_noiseeqs(de)) == (3, 6) + @test size(ModelingToolkit.get_noise_eqs(de)) == (3, 6) end @testset "Diagonal noise, less brownians than equations" begin @@ -795,7 +799,7 @@ end sys = System(eqs, t, sts, ps; name = :name) sys = structural_simplify(sys) - @test ModelingToolkit.get_noiseeqs(sys) ≈ [1.0] + @test ModelingToolkit.get_noise_eqs(sys) ≈ [1.0] prob = SDEProblem(sys, [], (0.0, 1.0), []) @test_nowarn solve(prob, RKMil()) end @@ -804,7 +808,6 @@ end @variables x(t) y(t) z(t) @brownian a @mtkbuild sys = System([D(x) ~ x + a, D(y) ~ y + a, z ~ x + y], t) - @test sys isa SDESystem @test length(observed(sys)) == 1 prob = SDEProblem(sys, [x => 1.0, y => 1.0], (0.0, 1.0)) @test prob[z] ≈ 2.0 @@ -815,11 +818,11 @@ end @testset "Scalar noise" begin @named sys = SDESystem([D(x) ~ x, D(y) ~ y, z ~ x + y], [x, y, 3], t, [x, y, z], [], is_scalar_noise = true) - odesys = System(sys) - @test odesys isa System + odesys = noise_to_brownians(sys) vs = ModelingToolkit.vars(equations(odesys)) nbrownian = count( v -> ModelingToolkit.getvariabletype(v) == ModelingToolkit.BROWNIAN, vs) + @test length(brownians(odesys)) == 3 @test nbrownian == 3 for eq in equations(odesys) ModelingToolkit.isdiffeq(eq) || continue @@ -828,10 +831,9 @@ end end @testset "Non-scalar vector noise" begin - @named sys = SDESystem([D(x) ~ x, D(y) ~ y, z ~ x + y], [x, y, 0], - t, [x, y, z], [], is_scalar_noise = false) - odesys = System(sys) - @test odesys isa System + @named sys = SDESystem([D(x) ~ x, D(y) ~ y, z ~ x + y], [x; y; 0;;], + t, [x, y, z], []; is_scalar_noise = false) + odesys = noise_to_brownians(sys) vs = ModelingToolkit.vars(equations(odesys)) nbrownian = count( v -> ModelingToolkit.getvariabletype(v) == ModelingToolkit.BROWNIAN, vs) @@ -847,8 +849,7 @@ end 2y 2z 2x z+1 x+1 y+1] @named sys = SDESystem([D(x) ~ x, D(y) ~ y, D(z) ~ z], noiseeqs, t, [x, y, z], []) - odesys = System(sys) - @test odesys isa System + odesys = noise_to_brownians(sys) vs = ModelingToolkit.vars(equations(odesys)) nbrownian = count( v -> ModelingToolkit.getvariabletype(v) == ModelingToolkit.BROWNIAN, vs) @@ -862,10 +863,9 @@ end @testset "`structural_simplify(::SDESystem)`" begin @variables x(t) y(t) @mtkbuild sys = SDESystem( - [D(x) ~ x, y ~ 2x], [x, 0], t, [x, y], []; is_scalar_noise = true) - @test sys isa SDESystem + [D(x) ~ x, y ~ 2x], [x, 0], t, [x, y], []) @test length(equations(sys)) == 1 - @test length(ModelingToolkit.get_noiseeqs(sys)) == 1 + @test length(ModelingToolkit.get_noise_eqs(sys)) == 1 @test length(observed(sys)) == 1 end @@ -875,9 +875,11 @@ end @variables X(t)::Int64 @brownian z eq2 = D(X) ~ p - d * X + z - @test_throws ArgumentError @mtkbuild ssys = System([eq2], t) + @test_throws ModelingToolkit.ContinuousOperatorDiscreteArgumentError @mtkbuild ssys = System( + [eq2], t) noiseeq = [1] - @test_throws ArgumentError @named ssys = SDESystem([eq2], [noiseeq], t) + @test_throws ModelingToolkit.ContinuousOperatorDiscreteArgumentError @named ssys = SDESystem( + [eq2], [noiseeq], t) end @testset "SDEFunctionExpr" begin @@ -894,30 +896,30 @@ end @named sys = System(eqs, tt, [x, y, z], [σ, ρ, β]) - @named de = SDESystem(eqs, noiseeqs, tt, [x, y, z], [σ, ρ, β], tspan = (0.0, 10.0)) + @named de = SDESystem(eqs, noiseeqs, tt, [x, y, z], [σ, ρ, β]) de = complete(de) - f = SDEFunctionExpr(de) + f = SDEFunction(de; expression = Val{true}) @test f isa Expr @testset "Configuration Tests" begin # Test with `tgrad` - f_tgrad = SDEFunctionExpr(de; tgrad = true) + f_tgrad = SDEFunction(de; tgrad = true, expression = Val{true}) @test f_tgrad isa Expr # Test with `jac` - f_jac = SDEFunctionExpr(de; jac = true) + f_jac = SDEFunction(de; jac = true, expression = Val{true}) @test f_jac isa Expr # Test with sparse Jacobian - f_sparse = SDEFunctionExpr(de; sparse = true) + f_sparse = SDEFunction(de; sparse = true, expression = Val{true}) @test f_sparse isa Expr end @testset "Ordering Tests" begin dvs = [z, y, x] ps = [β, ρ, σ] - f_order = SDEFunctionExpr(de, dvs, ps) + f_order = SDEFunction(de; expression = Val{true}) @test f_order isa Expr end end @@ -947,7 +949,7 @@ end @test ssys1 !== ssys2 end -@testset "Error when constructing SDESystem without `structural_simplify`" begin +@testset "Error when constructing SDEProblem without `structural_simplify`" begin @parameters σ ρ β @variables x(tt) y(tt) z(tt) @brownian a @@ -961,7 +963,7 @@ end u0map = [x => 1.0, y => 0.0, z => 0.0] parammap = [σ => 10.0, β => 26.0, ρ => 2.33] - @test_throws ErrorException("SDESystem constructed by defining Brownian variables with @brownian must be simplified by calling `structural_simplify` before a SDEProblem can be constructed.") SDEProblem( + @test_throws ["Brownian", "structural_simplify"] SDEProblem( de, u0map, (0.0, 100.0), parammap) de = structural_simplify(de) @test SDEProblem(de, u0map, (0.0, 100.0), parammap) isa SDEProblem From 82da509548f685f6d9d185c36f16932444b49b65 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 14:05:54 +0530 Subject: [PATCH 150/167] fix: unwrap in `add_toterms!`, don't override existing values --- src/systems/problem_utils.jl | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 841e4f54ed..78985401ba 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -37,7 +37,8 @@ the old value should be removed. """ function add_toterms!(varmap::AbstractDict; toterm = default_toterm, replace = false) for k in collect(keys(varmap)) - ttk = toterm(k) + ttk = toterm(unwrap(k)) + haskey(varmap, ttk) && continue varmap[ttk] = varmap[k] !isequal(k, ttk) && replace && delete!(varmap, k) end From b6964858e6a4470115bf99a4c7827b73c4b8512d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 14 May 2025 14:06:13 +0530 Subject: [PATCH 151/167] fix: unwrap `varmap` and add toterms in `better_varmap_to_vars` --- src/systems/problem_utils.jl | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index 78985401ba..b2019107cf 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -352,6 +352,8 @@ function better_varmap_to_vars(varmap::AbstractDict, vars::Vector; allow_symbolic = false, is_initializeprob = false) isempty(vars) && return nothing + varmap = recursive_unwrap(varmap) + add_toterms!(varmap; toterm) if check missing_vars = missingvars(varmap, vars; toterm) isempty(missing_vars) || throw(MissingVariablesError(missing_vars)) From 3d5f2a42438afc70a995d3fa5e263962dc3fa496 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 00:41:27 +0530 Subject: [PATCH 152/167] test: allow for `StalledSuccess` retcode in initializationsystem test --- test/initializationsystem.jl | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/test/initializationsystem.jl b/test/initializationsystem.jl index 1893cb3ecf..cef6e37038 100644 --- a/test/initializationsystem.jl +++ b/test/initializationsystem.jl @@ -39,7 +39,8 @@ initprob = ModelingToolkit.InitializationProblem( pend, 0.0, [], [g => 1]; guesses = ModelingToolkit.missing_variable_defaults(pend)) @test initprob isa NonlinearLeastSquaresProblem sol = solve(initprob) -@test !SciMLBase.successful_retcode(sol) +@test !SciMLBase.successful_retcode(sol) || + sol.retcode == SciMLBase.ReturnCode.StalledSuccess @test_throws ModelingToolkit.ExtraVariablesSystemException ModelingToolkit.InitializationProblem( pend, 0.0, [], [g => 1]; guesses = ModelingToolkit.missing_variable_defaults(pend), From 6b1d3f28b1e64cd08f0c44c792f186ef3c118bdf Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 00:41:46 +0530 Subject: [PATCH 153/167] test: update mtkparameters tests --- test/mtkparameters.jl | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/test/mtkparameters.jl b/test/mtkparameters.jl index 33c13bde41..5ae20d0f66 100644 --- a/test/mtkparameters.jl +++ b/test/mtkparameters.jl @@ -172,8 +172,8 @@ function level1() D(y) ~ -p3 * y + p4 * x * y] sys = structural_simplify(complete(System( - eqs, t, tspan = (0, 3.0), name = :sys, parameter_dependencies = [y0 => 2p4]))) - prob = ODEProblem{true, SciMLBase.FullSpecialize}(sys) + eqs, t, name = :sys, parameter_dependencies = [y0 => 2p4]))) + prob = ODEProblem{true, SciMLBase.FullSpecialize}(sys, [], (0.0, 3.0)) end # scalar and vector parameters @@ -186,8 +186,8 @@ function level2() D(y) ~ -p23[2] * y + p4 * x * y] sys = structural_simplify(complete(System( - eqs, t, tspan = (0, 3.0), name = :sys, parameter_dependencies = [y0 => 2p4]))) - prob = ODEProblem{true, SciMLBase.FullSpecialize}(sys) + eqs, t, name = :sys, parameter_dependencies = [y0 => 2p4]))) + prob = ODEProblem{true, SciMLBase.FullSpecialize}(sys, [], (0.0, 3.0)) end # scalar and vector parameters with different scalar types @@ -200,8 +200,8 @@ function level3() D(y) ~ -p23[2] * y + p4 * x * y] sys = structural_simplify(complete(System( - eqs, t, tspan = (0, 3.0), name = :sys, parameter_dependencies = [y0 => 2p4]))) - prob = ODEProblem{true, SciMLBase.FullSpecialize}(sys) + eqs, t, name = :sys, parameter_dependencies = [y0 => 2p4]))) + prob = ODEProblem{true, SciMLBase.FullSpecialize}(sys, [], (0.0, 3.0)) end @testset "level$i" for (i, prob) in enumerate([level1(), level2(), level3()]) From fb14d6977f5416e0aca358db4ac27e3b71df3336 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 00:41:55 +0530 Subject: [PATCH 154/167] test: update serialization tests --- test/serialization.jl | 24 +++--------------------- 1 file changed, 3 insertions(+), 21 deletions(-) diff --git a/test/serialization.jl b/test/serialization.jl index cce015c776..1a0105d155 100644 --- a/test/serialization.jl +++ b/test/serialization.jl @@ -8,8 +8,8 @@ sys = complete(sys) for prob in [ eval(ModelingToolkit.ODEProblem{false}(sys, nothing, nothing, SciMLBase.NullParameters())), - eval(ModelingToolkit.ODEProblemExpr{false}(sys, nothing, nothing, - SciMLBase.NullParameters())) + eval(ModelingToolkit.ODEProblem{false}(sys, nothing, nothing, + SciMLBase.NullParameters(); expression = Val{true})) ] _fn = tempname() @@ -47,26 +47,8 @@ sol_ = solve(prob_, ImplicitEuler()) ## Check ODEProblemExpr with Observables ----------- # build the observable function expression -obs_exps = [] -for var in all_obs - f = ModelingToolkit.build_explicit_observed_function(ss, var; expression = true) - sym = ModelingToolkit.getname(var) |> string - ex = :(if name == Symbol($sym) - return $f(u0, p, t) - end) - push!(obs_exps, ex) -end -# observedfun expression for ODEFunctionExpr -observedfun_exp = :(function obs(var, u0, p, t) - if var isa AbstractArray - return obs.(var, (u0,), (p,), (t,)) - end - name = ModelingToolkit.getname(var) - $(obs_exps...) -end) - # ODEProblemExpr with observedfun_exp included -probexpr = ODEProblemExpr{true}(ss, [capacitor.v => 0.0], (0, 0.1); observedfun_exp); +probexpr = ODEProblem{true}(ss, [capacitor.v => 0.0], (0, 0.1); expr = Val{true}); prob_obs = eval(probexpr) sol_obs = solve(prob_obs, ImplicitEuler()) @show all_obs From cd510456b05b59ea4ded54ee2d149b8f8c9c1e60 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 00:42:22 +0530 Subject: [PATCH 155/167] test: fix symbolic indexing interface tests --- test/symbolic_indexing_interface.jl | 27 ++++++++++++--------------- 1 file changed, 12 insertions(+), 15 deletions(-) diff --git a/test/symbolic_indexing_interface.jl b/test/symbolic_indexing_interface.jl index 9c478565fa..14cf0c10a7 100644 --- a/test/symbolic_indexing_interface.jl +++ b/test/symbolic_indexing_interface.jl @@ -179,21 +179,18 @@ end @test isequal(parameters(pdesys), [h]) end -# Issue#2767 -using ModelingToolkit -using ModelingToolkit: t_nounits as t, D_nounits as D -using SymbolicIndexingInterface - -@parameters p1[1:2]=[1.0, 2.0] p2[1:2]=[0.0, 0.0] -@variables x(t) = 0 - -@named sys = System( - [D(x) ~ sum(p1) * t + sum(p2)], - t; -) -prob = ODEProblem(complete(sys)) -get_dep = @test_nowarn getu(prob, 2p1) -@test get_dep(prob) == [2.0, 4.0] +@testset "Issue#2767" begin + @parameters p1[1:2]=[1.0, 2.0] p2[1:2]=[0.0, 0.0] + @variables x(t) = 0 + + @named sys = System( + [D(x) ~ sum(p1) * t + sum(p2)], + t; + ) + prob = ODEProblem(complete(sys), [], (0.0, 1.0)) + get_dep = @test_nowarn getu(prob, 2p1) + @test get_dep(prob) == [2.0, 4.0] +end @testset "Observed functions with variables as `Symbol`s" begin @variables x(t) y(t) z(t)[1:2] From b1f092b03f0a59a2a2599b4fdf791874145c6476 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 00:43:02 +0530 Subject: [PATCH 156/167] fix: fix `Pre` parameter discovery for `AffectSystem` --- src/systems/callbacks.jl | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/systems/callbacks.jl b/src/systems/callbacks.jl index d0bd18a65a..631e9fe216 100644 --- a/src/systems/callbacks.jl +++ b/src/systems/callbacks.jl @@ -285,12 +285,17 @@ function make_affect(affect::Vector{Equation}; discrete_parameters = Any[], dvs = OrderedSet() params = OrderedSet() + _varsbuf = Set() for eq in affect if !haspre(eq) && !(symbolic_type(eq.rhs) === NotSymbolic() || symbolic_type(eq.lhs) === NotSymbolic()) @warn "Affect equation $eq has no `Pre` operator. As such it will be interpreted as an algebraic equation to be satisfied after the callback. If you intended to use the value of a variable x before the affect, use Pre(x). Errors may be thrown if there is no `Pre` and the algebraic equation is unsatisfiable, such as X ~ X + 1." end collect_vars!(dvs, params, eq, iv; op = Pre) + empty!(_varsbuf) + vars!(_varsbuf, eq; op = Pre) + filter!(x -> iscall(x) && operation(x) isa Pre, _varsbuf) + union!(params, _varsbuf) diffvs = collect_applied_operators(eq, Differential) union!(dvs, diffvs) end From 7032e3a7e39daf560f685c0f7dfd103d18347715 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 00:43:53 +0530 Subject: [PATCH 157/167] fix: fix `compile_condition`, respect `eval_expression` and `eval_module` --- src/systems/callbacks.jl | 52 ++++++++++++++++++++++++++-------------- 1 file changed, 34 insertions(+), 18 deletions(-) diff --git a/src/systems/callbacks.jl b/src/systems/callbacks.jl index 631e9fe216..365f3c4eab 100644 --- a/src/systems/callbacks.jl +++ b/src/systems/callbacks.jl @@ -596,6 +596,33 @@ Base.isempty(cb::AbstractCallback) = isempty(cb.conditions) #################################### ####### Compilation functions ###### #################################### + +struct CompiledCondition{IsDiscrete, F} + f::F +end + +function CompiledCondition{ID}(f::F) where {ID, F} + return CompiledCondition{ID, F}(f) +end + +function (cc::CompiledCondition)(out, u, t, integ) + cc.f(out, u, parameter_values(integ), t) +end + +function (cc::CompiledCondition{false})(u, t, integ) + if DiffEqBase.isinplace(SciMLBase.get_sol(integ).prob) + tmp, = DiffEqBase.get_tmp_cache(integ) + cc.f(tmp, u, parameter_values(integ), t) + tmp[1] + else + cc.f(u, parameter_values(integ), t) + end +end + +function (cc::CompiledCondition{true})(u, t, integ) + cc.f(u, parameter_values(integ), t) +end + """ compile_condition(cb::AbstractCallback, sys, dvs, ps; expression, kwargs...) @@ -615,30 +642,19 @@ function compile_condition( end if !is_discrete(cbs) - condit = reduce(vcat, flatten_equations(condit)) + condit = reduce(vcat, flatten_equations(Vector{Equation}(condit))) condit = condit isa AbstractVector ? [c.lhs - c.rhs for c in condit] : [condit.lhs - condit.rhs] end fs = build_function_wrapper( - sys, condit, u, p..., t; kwargs..., expression = Val{false}, cse = false) - (f_oop, f_iip) = is_discrete(cbs) ? (fs, nothing) : fs - - cond = if cbs isa AbstractVector - (out, u, t, integ) -> f_iip(out, u, parameter_values(integ), t) - elseif is_discrete(cbs) - (u, t, integ) -> f_oop(u, parameter_values(integ), t) - else - function (u, t, integ) - if DiffEqBase.isinplace(SciMLBase.get_sol(integ).prob) - tmp, = DiffEqBase.get_tmp_cache(integ) - f_iip(tmp, u, parameter_values(integ), t) - tmp[1] - else - f_oop(u, parameter_values(integ), t) - end - end + sys, condit, u, p..., t; kwargs..., cse = false) + if is_discrete(cbs) + fs = (fs, nothing) end + fs = GeneratedFunctionWrapper{(2, 3, is_split(sys))}( + Val{false}, fs...; eval_expression, eval_module) + return CompiledCondition{is_discrete(cbs)}(fs) end """ From 4c74e4ec3b84dca5d6ce6ca5bc46f1aa1d370b94 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 00:44:27 +0530 Subject: [PATCH 158/167] fix: respect `eval_expression`, `eval_module` in `compile_equational_affect` --- src/systems/callbacks.jl | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/src/systems/callbacks.jl b/src/systems/callbacks.jl index 365f3c4eab..0bb2318e4b 100644 --- a/src/systems/callbacks.jl +++ b/src/systems/callbacks.jl @@ -895,7 +895,8 @@ end Compile an affect defined by a set of equations. Systems with algebraic equations will solve implicit discrete problems to obtain their next state. Systems without will generate functions that perform explicit updates. """ function compile_equational_affect( - aff::Union{AffectSystem, Vector{Equation}}, sys; reset_jumps = false, kwargs...) + aff::Union{AffectSystem, Vector{Equation}}, sys; reset_jumps = false, + eval_expression = false, eval_module = @__MODULE__, kwargs...) if aff isa AbstractVector aff = make_affect( aff; iv = get_iv(sys), warn_no_algebraic = false) @@ -930,11 +931,13 @@ function compile_equational_affect( integ = gensym(:MTKIntegrator) u_up, u_up! = build_function_wrapper(sys, (@view rhss[is_u]), dvs, _ps..., t; - wrap_code = add_integrator_header(sys, integ, :u), - expression = Val{false}, outputidxs = u_idxs, wrap_mtkparameters, cse = false) + wrap_code = add_integrator_header(sys, integ, :u), expression = Val{false}, + outputidxs = u_idxs, wrap_mtkparameters, cse = false, eval_expression, + eval_module) p_up, p_up! = build_function_wrapper(sys, (@view rhss[is_p]), dvs, _ps..., t; - wrap_code = add_integrator_header(sys, integ, :p), - expression = Val{false}, outputidxs = p_idxs, wrap_mtkparameters, cse = false) + wrap_code = add_integrator_header(sys, integ, :p), expression = Val{false}, + outputidxs = p_idxs, wrap_mtkparameters, cse = false, eval_expression, + eval_module) return let dvs_to_update = dvs_to_update, ps_to_update = ps_to_update, reset_jumps = reset_jumps, u_up! = u_up!, p_up! = p_up! @@ -963,7 +966,8 @@ function compile_equational_affect( affprob = ImplicitDiscreteProblem(affsys, [dv => 0 for dv in unknowns(affsys)], (0, 0), [p => 0.0 for p in parameters(affsys)]; - build_initializeprob = false, check_length = false) + build_initializeprob = false, check_length = false, eval_expression, + eval_module, check_compatibility = false) function implicit_affect!(integ) new_u0 = affu_getter(integ) From ba41cb1bcd60844fadeef5252aef39dd1d8078fd Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 00:44:34 +0530 Subject: [PATCH 159/167] test: fix symbolic event tests --- test/symbolic_events.jl | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/test/symbolic_events.jl b/test/symbolic_events.jl index 1d611360a3..ee0eaf6392 100644 --- a/test/symbolic_events.jl +++ b/test/symbolic_events.jl @@ -238,11 +238,11 @@ end cb = ModelingToolkit.generate_continuous_callbacks(sys) cond = cb.condition out = [0.0] - cond.f_iip(out, [0], p0, t0) + cond.f(out, [0], p0, t0) @test out[] ≈ -1 # signature is u,p,t - cond.f_iip(out, [1], p0, t0) + cond.f(out, [1], p0, t0) @test out[] ≈ 0 # signature is u,p,t - cond.f_iip(out, [2], p0, t0) + cond.f(out, [2], p0, t0) @test out[] ≈ 1 # signature is u,p,t prob = ODEProblem(sys, Pair[], (0.0, 2.0)) @@ -270,20 +270,20 @@ end cond = cb.condition out = [0.0, 0.0] # the root to find is 2 - cond.f_iip(out, [0, 0], p0, t0) + cond.f(out, [0, 0], p0, t0) @test out[1] ≈ -2 # signature is u,p,t - cond.f_iip(out, [1, 0], p0, t0) + cond.f(out, [1, 0], p0, t0) @test out[1] ≈ -1 # signature is u,p,t - cond.f_iip(out, [2, 0], p0, t0) # this should return 0 + cond.f(out, [2, 0], p0, t0) # this should return 0 @test out[1] ≈ 0 # signature is u,p,t # the root to find is 1 out = [0.0, 0.0] - cond.f_iip(out, [0, 0], p0, t0) + cond.f(out, [0, 0], p0, t0) @test out[2] ≈ -1 # signature is u,p,t - cond.f_iip(out, [0, 1], p0, t0) # this should return 0 + cond.f(out, [0, 1], p0, t0) # this should return 0 @test out[2] ≈ 0 # signature is u,p,t - cond.f_iip(out, [0, 2], p0, t0) + cond.f(out, [0, 2], p0, t0) @test out[2] ≈ 1 # signature is u,p,t sol = solve(prob, Tsit5()) @@ -351,7 +351,7 @@ end out = [0.0, 0.0, 0.0] p0 = 0.0 t0 = 0.0 - cond.f_iip(out, [0, 0, 0, 0], p0, t0) + cond.f(out, [0, 0, 0, 0], p0, t0) @test out ≈ [0, 1.5, -1.5] sol = solve(prob, Tsit5()) From 28d4de5fdf7751e4febc2d1e4caa2963451027a4 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 11:59:56 +0530 Subject: [PATCH 160/167] fix: update CasADi extension to new semantics --- ext/MTKCasADiDynamicOptExt.jl | 76 +++++++++++++++++------------------ 1 file changed, 37 insertions(+), 39 deletions(-) diff --git a/ext/MTKCasADiDynamicOptExt.jl b/ext/MTKCasADiDynamicOptExt.jl index 6aa15fb55a..a5400e3c8d 100644 --- a/ext/MTKCasADiDynamicOptExt.jl +++ b/ext/MTKCasADiDynamicOptExt.jl @@ -56,9 +56,9 @@ function (M::MXLinearInterpolation)(τ) end """ - CasADiDynamicOptProblem(sys::ODESystem, u0, tspan, p; dt, steps) + CasADiDynamicOptProblem(sys::System, u0, tspan, p; dt, steps) -Convert an ODESystem representing an optimal control system into a CasADi model +Convert an System representing an optimal control system into a CasADi model for solving using optimization. Must provide either `dt`, the timestep between collocation points (which, along with the timespan, determines the number of points), or directly provide the number of points as `steps`. @@ -68,10 +68,10 @@ The optimization variables: - a vector-of-vectors V representing the controls as an interpolation array The constraints are: -- The set of user constraints passed to the ODESystem via `constraints` +- The set of user constraints passed to the System via `constraints` - The solver constraints that encode the time-stepping used by the solver """ -function MTK.CasADiDynamicOptProblem(sys::ODESystem, u0map, tspan, pmap; +function MTK.CasADiDynamicOptProblem(sys::System, u0map, tspan, pmap; dt = nothing, steps = nothing, guesses = Dict(), kwargs...) @@ -80,7 +80,8 @@ function MTK.CasADiDynamicOptProblem(sys::ODESystem, u0map, tspan, pmap; f, u0, p = MTK.process_SciMLProblem(ODEInputFunction, sys, _u0map, pmap; t = tspan !== nothing ? tspan[1] : tspan, output_type = MX, kwargs...) - pmap = Dict{Any, Any}(pmap) + pmap = MTK.recursive_unwrap(MTK.AnyDict(pmap)) + MTK.evaluate_varmap!(pmap, keys(pmap)) steps, is_free_t = MTK.process_tspan(tspan, dt, steps) model = init_model(sys, tspan, steps, u0map, pmap, u0; is_free_t) @@ -143,15 +144,15 @@ function set_casadi_bounds!(model, sys, pmap) for (i, u) in enumerate(unknowns(sys)) if MTK.hasbounds(u) lo, hi = MTK.getbounds(u) - subject_to!(opti, Symbolics.fixpoint_sub(lo, pmap) <= U.u[i, :]) - subject_to!(opti, U.u[i, :] <= Symbolics.fixpoint_sub(hi, pmap)) + subject_to!(opti, Symbolics.fast_substitute(lo, pmap) <= U.u[i, :]) + subject_to!(opti, U.u[i, :] <= Symbolics.fast_substitute(hi, pmap)) end end for (i, v) in enumerate(MTK.unbound_inputs(sys)) if MTK.hasbounds(v) lo, hi = MTK.getbounds(v) - subject_to!(opti, Symbolics.fixpoint_sub(lo, pmap) <= V.u[i, :]) - subject_to!(opti, V.u[i, :] <= Symbolics.fixpoint_sub(hi, pmap)) + subject_to!(opti, Symbolics.fast_substitute(lo, pmap) <= V.u[i, :]) + subject_to!(opti, V.u[i, :] <= Symbolics.fast_substitute(hi, pmap)) end end end @@ -167,15 +168,15 @@ function add_user_constraints!(model::CasADiModel, sys, tspan, pmap; is_free_t) @unpack opti, U, V, tₛ = model iv = MTK.get_iv(sys) - conssys = MTK.get_constraintsystem(sys) - jconstraints = isnothing(conssys) ? nothing : MTK.get_constraints(conssys) + jconstraints = MTK.get_constraints(sys) (isnothing(jconstraints) || isempty(jconstraints)) && return nothing stidxmap = Dict([v => i for (i, v) in enumerate(unknowns(sys))]) ctidxmap = Dict([v => i for (i, v) in enumerate(MTK.unbound_inputs(sys))]) - cons_unknowns = map(MTK.default_toterm, unknowns(conssys)) + cons_dvs, cons_ps = MTK.process_constraint_system( + jconstraints, Set(unknowns(sys)), parameters(sys), iv; validate = false) - auxmap = Dict([u => MTK.default_toterm(MTK.value(u)) for u in unknowns(conssys)]) + auxmap = Dict([u => MTK.default_toterm(MTK.value(u)) for u in cons_dvs]) jconstraints = substitute_casadi_vars(model, sys, pmap, jconstraints; is_free_t, auxmap) # Manually substitute fixed-t variables for (i, cons) in enumerate(jconstraints) @@ -207,9 +208,8 @@ end function add_cost_function!(model::CasADiModel, sys, tspan, pmap; is_free_t) @unpack opti, U, V, tₛ = model - jcosts = copy(MTK.get_costs(sys)) - consolidate = MTK.get_consolidate(sys) - if isnothing(jcosts) || isempty(jcosts) + jcosts = cost(sys) + if Symbolics._iszero(jcosts) minimize!(opti, MX(0)) return end @@ -218,24 +218,22 @@ function add_cost_function!(model::CasADiModel, sys, tspan, pmap; is_free_t) stidxmap = Dict([v => i for (i, v) in enumerate(unknowns(sys))]) ctidxmap = Dict([v => i for (i, v) in enumerate(MTK.unbound_inputs(sys))]) - jcosts = substitute_casadi_vars(model, sys, pmap, jcosts; is_free_t) + jcosts = substitute_casadi_vars(model, sys, pmap, [jcosts]; is_free_t)[1] # Substitute fixed-time variables. - for i in 1:length(jcosts) - costvars = MTK.vars(jcosts[i]) - for st in costvars - MTK.iscall(st) || continue - x = operation(st) - t = only(arguments(st)) - MTK.symbolic_type(t) === MTK.NotSymbolic() || continue - if haskey(stidxmap, x(iv)) - idx = stidxmap[x(iv)] - cv = U - else - idx = ctidxmap[x(iv)] - cv = V - end - jcosts[i] = Symbolics.substitute(jcosts[i], Dict(x(t) => cv(t)[idx])) + costvars = MTK.vars(jcosts) + for st in costvars + MTK.iscall(st) || continue + x = operation(st) + t = only(arguments(st)) + MTK.symbolic_type(t) === MTK.NotSymbolic() || continue + if haskey(stidxmap, x(iv)) + idx = stidxmap[x(iv)] + cv = U + else + idx = ctidxmap[x(iv)] + cv = V end + jcosts = Symbolics.substitute(jcosts, Dict(x(t) => cv(t)[idx])) end dt = U.t[2] - U.t[1] @@ -249,9 +247,9 @@ function add_cost_function!(model::CasADiModel, sys, tspan, pmap; is_free_t) # Approximate integral as sum. intmap[int] = dt * tₛ * sum(arg) end - jcosts = map(c -> Symbolics.substitute(c, intmap), jcosts) - jcosts = MTK.value.(jcosts) - minimize!(opti, MX(MTK.value(consolidate(jcosts)))) + jcosts = Symbolics.substitute(jcosts, intmap) + jcosts = MTK.value(jcosts) + minimize!(opti, MX(jcosts)) end function substitute_casadi_vars( @@ -264,20 +262,20 @@ function substitute_casadi_vars( x_ops = [MTK.operation(MTK.unwrap(st)) for st in sts] c_ops = [MTK.operation(MTK.unwrap(ct)) for ct in cts] - exprs = map(c -> Symbolics.fixpoint_sub(c, auxmap), exprs) - exprs = map(c -> Symbolics.fixpoint_sub(c, Dict(pmap)), exprs) + exprs = map(c -> Symbolics.fast_substitute(c, auxmap), exprs) + exprs = map(c -> Symbolics.fast_substitute(c, Dict(pmap)), exprs) # tf means different things in different contexts; a [tf] in a cost function # should be tₛ, while a x(tf) should translate to x[1] if is_free_t free_t_map = Dict([[x(tₛ) => U.u[i, end] for (i, x) in enumerate(x_ops)]; [c(tₛ) => V.u[i, end] for (i, c) in enumerate(c_ops)]]) - exprs = map(c -> Symbolics.fixpoint_sub(c, free_t_map), exprs) + exprs = map(c -> Symbolics.fast_substitute(c, free_t_map), exprs) end # for variables like x(t) whole_interval_map = Dict([[v => U.u[i, :] for (i, v) in enumerate(sts)]; [v => V.u[i, :] for (i, v) in enumerate(cts)]]) - exprs = map(c -> Symbolics.fixpoint_sub(c, whole_interval_map), exprs) + exprs = map(c -> Symbolics.fast_substitute(c, whole_interval_map), exprs) exprs end From ddd89d7fc7af2e23572d6b75df29599f7a1b033a Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 12:00:13 +0530 Subject: [PATCH 161/167] fix: update InfiniteOpt extension to new semantics --- ext/MTKInfiniteOptExt.jl | 44 +++++++++++++++++++++------------------- 1 file changed, 23 insertions(+), 21 deletions(-) diff --git a/ext/MTKInfiniteOptExt.jl b/ext/MTKInfiniteOptExt.jl index dd7da24672..f4fff61dff 100644 --- a/ext/MTKInfiniteOptExt.jl +++ b/ext/MTKInfiniteOptExt.jl @@ -63,7 +63,8 @@ function MTK.JuMPDynamicOptProblem(sys::System, u0map, tspan, pmap; f, u0, p = MTK.process_SciMLProblem(ODEInputFunction, sys, _u0map, pmap; t = tspan !== nothing ? tspan[1] : tspan, kwargs...) - pmap = Dict{Any, Any}(pmap) + pmap = MTK.recursive_unwrap(MTK.AnyDict(pmap)) + MTK.evaluate_varmap!(pmap, keys(pmap)) steps, is_free_t = MTK.process_tspan(tspan, dt, steps) model = init_model(sys, tspan, steps, u0map, pmap, u0; is_free_t) @@ -89,7 +90,8 @@ function MTK.InfiniteOptDynamicOptProblem(sys::System, u0map, tspan, pmap; f, u0, p = MTK.process_SciMLProblem(ODEInputFunction, sys, _u0map, pmap; t = tspan !== nothing ? tspan[1] : tspan, kwargs...) - pmap = Dict{Any, Any}(pmap) + pmap = MTK.recursive_unwrap(MTK.AnyDict(pmap)) + MTK.evaluate_varmap!(pmap, keys(pmap)) steps, is_free_t = MTK.process_tspan(tspan, dt, steps) model = init_model(sys, tspan, steps, u0map, pmap, u0; is_free_t) @@ -150,8 +152,8 @@ function set_jump_bounds!(model, sys, pmap) for (i, u) in enumerate(unknowns(sys)) if MTK.hasbounds(u) lo, hi = MTK.getbounds(u) - set_lower_bound(U[i], Symbolics.fixpoint_sub(lo, pmap)) - set_upper_bound(U[i], Symbolics.fixpoint_sub(hi, pmap)) + set_lower_bound(U[i], Symbolics.fast_substitute(lo, pmap)) + set_upper_bound(U[i], Symbolics.fast_substitute(hi, pmap)) end end @@ -159,20 +161,19 @@ function set_jump_bounds!(model, sys, pmap) for (i, v) in enumerate(MTK.unbound_inputs(sys)) if MTK.hasbounds(v) lo, hi = MTK.getbounds(v) - set_lower_bound(V[i], Symbolics.fixpoint_sub(lo, pmap)) - set_upper_bound(V[i], Symbolics.fixpoint_sub(hi, pmap)) + set_lower_bound(V[i], Symbolics.fast_substitute(lo, pmap)) + set_upper_bound(V[i], Symbolics.fast_substitute(hi, pmap)) end end end function add_jump_cost_function!(model::InfiniteModel, sys, tspan, pmap; is_free_t = false) - jcosts = MTK.get_costs(sys) - consolidate = MTK.get_consolidate(sys) - if isnothing(jcosts) || isempty(jcosts) + jcosts = cost(sys) + if Symbolics._iszero(jcosts) @objective(model, Min, 0) return end - jcosts = substitute_jump_vars(model, sys, pmap, jcosts; is_free_t) + jcosts = substitute_jump_vars(model, sys, pmap, [jcosts]; is_free_t)[1] tₛ = is_free_t ? model[:tf] : 1 # Substitute integral @@ -187,17 +188,18 @@ function add_jump_cost_function!(model::InfiniteModel, sys, tspan, pmap; is_free hi = haskey(pmap, hi) ? 1 : MTK.value(hi) intmap[int] = tₛ * InfiniteOpt.∫(arg, model[:t], lo, hi) end - jcosts = map(c -> Symbolics.substitute(c, intmap), jcosts) - @objective(model, Min, consolidate(jcosts)) + jcosts = Symbolics.substitute(jcosts, intmap) + @objective(model, Min, MTK.value(jcosts)) end function add_user_constraints!(model::InfiniteModel, sys, pmap; is_free_t = false) - conssys = MTK.get_constraintsystem(sys) - jconstraints = isnothing(conssys) ? nothing : MTK.get_constraints(conssys) + jconstraints = MTK.get_constraints(sys) (isnothing(jconstraints) || isempty(jconstraints)) && return nothing + cons_dvs, cons_ps = MTK.process_constraint_system( + jconstraints, Set(unknowns(sys)), parameters(sys), MTK.get_iv(sys); validate = false) if is_free_t - for u in MTK.get_unknowns(conssys) + for u in cons_dvs x = MTK.operation(u) t = only(arguments(u)) if (MTK.symbolic_type(t) === MTK.NotSymbolic()) @@ -206,7 +208,7 @@ function add_user_constraints!(model::InfiniteModel, sys, pmap; is_free_t = fals end end - auxmap = Dict([u => MTK.default_toterm(MTK.value(u)) for u in unknowns(conssys)]) + auxmap = Dict([u => MTK.default_toterm(MTK.value(u)) for u in cons_dvs]) jconstraints = substitute_jump_vars(model, sys, pmap, jconstraints; auxmap, is_free_t) # Substitute to-term'd variables @@ -235,25 +237,25 @@ function substitute_jump_vars(model, sys, pmap, exprs; auxmap = Dict(), is_free_ x_ops = [MTK.operation(MTK.unwrap(st)) for st in sts] c_ops = [MTK.operation(MTK.unwrap(ct)) for ct in cts] - exprs = map(c -> Symbolics.fixpoint_sub(c, auxmap), exprs) - exprs = map(c -> Symbolics.fixpoint_sub(c, Dict(pmap)), exprs) + exprs = map(c -> Symbolics.fast_substitute(c, auxmap), exprs) + exprs = map(c -> Symbolics.fast_substitute(c, Dict(pmap)), exprs) if is_free_t tf = model[:tf] free_t_map = Dict([[x(tf) => U[i](1) for (i, x) in enumerate(x_ops)]; [c(tf) => V[i](1) for (i, c) in enumerate(c_ops)]]) - exprs = map(c -> Symbolics.fixpoint_sub(c, free_t_map), exprs) + exprs = map(c -> Symbolics.fast_substitute(c, free_t_map), exprs) end # for variables like x(t) whole_interval_map = Dict([[v => U[i] for (i, v) in enumerate(sts)]; [v => V[i] for (i, v) in enumerate(cts)]]) - exprs = map(c -> Symbolics.fixpoint_sub(c, whole_interval_map), exprs) + exprs = map(c -> Symbolics.fast_substitute(c, whole_interval_map), exprs) # for variables like x(1.0) fixed_t_map = Dict([[x_ops[i] => U[i] for i in 1:length(U)]; [c_ops[i] => V[i] for i in 1:length(V)]]) - exprs = map(c -> Symbolics.fixpoint_sub(c, fixed_t_map), exprs) + exprs = map(c -> Symbolics.fast_substitute(c, fixed_t_map), exprs) exprs end From 473ab62521968502d90c41213790c7ae5d0b9d13 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 12:01:09 +0530 Subject: [PATCH 162/167] fix: update `optimal_control_interface.jl` to new semantics --- src/systems/optimal_control_interface.jl | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/systems/optimal_control_interface.jl b/src/systems/optimal_control_interface.jl index 2ee2d0e9ca..c88aceabff 100644 --- a/src/systems/optimal_control_interface.jl +++ b/src/systems/optimal_control_interface.jl @@ -21,9 +21,9 @@ function InfiniteOptDynamicOptProblem end function CasADiDynamicOptProblem end function warn_overdetermined(sys, u0map) - constraintsys = get_constraintsystem(sys) - if !isnothing(constraintsys) - (length(constraints(constraintsys)) + length(u0map) > length(unknowns(sys))) && + cstrs = constraints(sys) + if !isempty(cstrs) + (length(cstrs) + length(u0map) > length(unknowns(sys))) && @warn "The control problem is overdetermined. The total number of conditions (# constraints + # fixed initial values given by u0map) exceeds the total number of states. The solvers will default to doing a nonlinear least-squares optimization." end end From 593c7c84abc0c931c31a576b4253c60bf8bafa23 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 14:09:19 +0530 Subject: [PATCH 163/167] fix: recognize delayed derivatives in `isdelay` --- src/systems/codegen_utils.jl | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/systems/codegen_utils.jl b/src/systems/codegen_utils.jl index 9ee8a7fd81..8c2c322e31 100644 --- a/src/systems/codegen_utils.jl +++ b/src/systems/codegen_utils.jl @@ -115,6 +115,9 @@ variable. """ function isdelay(var, iv) iv === nothing && return false + if iscall(var) && ModelingToolkit.isoperator(var, Differential) + return isdelay(arguments(var)[1], iv) + end isvariable(var) || return false isparameter(var) && return false if iscall(var) && !ModelingToolkit.isoperator(var, Symbolics.Operator) From fcf1b5a1ca7d178593e5bde21d5f2e86434bd504 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 15 May 2025 14:10:04 +0530 Subject: [PATCH 164/167] fix: use 2-argument `consolidate` in dynamic optimization tests --- test/extensions/dynamic_optimization.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/extensions/dynamic_optimization.jl b/test/extensions/dynamic_optimization.jl index 1074cae620..0d4e9d94e2 100644 --- a/test/extensions/dynamic_optimization.jl +++ b/test/extensions/dynamic_optimization.jl @@ -259,7 +259,7 @@ end eqs = [D(x(t)) ~ -2 + 0.5 * u(t)] # Integral cost function costs = [-Symbolics.Integral(t in (0, tf))(x(t) - u(t)), -x(tf)] - consolidate(u) = u[1] + u[2] + consolidate(u, sub) = u[1] + u[2] + sum(sub) @named rocket = System(eqs, t; costs, consolidate) rocket = structural_simplify(rocket; inputs = [u(t)]) From 552b4ee891e866a56890df0903869b95f2486fa3 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 3 Apr 2025 16:17:44 +0530 Subject: [PATCH 165/167] feat: add `expected_scope_depth` --- src/utils.jl | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/src/utils.jl b/src/utils.jl index efa6196af8..9d7b23fb43 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -734,6 +734,23 @@ function check_scope_depth(scope, depth) end end +""" + $(TYPEDSIGNATURES) + +Return the expected depth of the given `SymScope` from the root system. +""" +function expected_scope_depth(scope) + if scope isa LocalScope + return 0 + elseif scope isa ParentScope + return expected_scope_depth(scope.parent) + 1 + elseif scope isa DelayParentScope + return expected_scope_depth(scope.parent) + scope.N + 1 + elseif scope isa GlobalScope + return -1 + end +end + """ Find all the symbolic constants of some equations or terms and return them as a vector. """ From ce959f71c2cce7a1842e1e493133815505b8cc1c Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 4 Apr 2025 13:58:01 +0530 Subject: [PATCH 166/167] fix: don't `toparam` inside `Initial` --- src/systems/abstractsystem.jl | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/systems/abstractsystem.jl b/src/systems/abstractsystem.jl index 4021f1fc44..92516ac3ee 100644 --- a/src/systems/abstractsystem.jl +++ b/src/systems/abstractsystem.jl @@ -648,14 +648,14 @@ function (f::Initial)(x) iscall(x) && operation(x) isa Initial && return x result = if symbolic_type(x) == ArraySymbolic() # create an array for `Initial(array)` - Symbolics.array_term(f, toparam(x)) + Symbolics.array_term(f, x) elseif iscall(x) && operation(x) == getindex # instead of `Initial(x[1])` create `Initial(x)[1]` # which allows parameter indexing to handle this case automatically. arr = arguments(x)[1] - term(getindex, f(toparam(arr)), arguments(x)[2:end]...) + term(getindex, f(arr), arguments(x)[2:end]...) else - term(f, toparam(x)) + term(f, x) end # the result should be a parameter result = toparam(result) From 8f71f30916f7dff8e7959d4a71ab616d09e0f24b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 4 Apr 2025 13:58:22 +0530 Subject: [PATCH 167/167] feat: reduce reliance on metadata in `structural_simplify` --- src/systems/systemstructure.jl | 198 +++++++++++++++++++-------------- 1 file changed, 114 insertions(+), 84 deletions(-) diff --git a/src/systems/systemstructure.jl b/src/systems/systemstructure.jl index 144aad148e..3aeb5600b0 100644 --- a/src/systems/systemstructure.jl +++ b/src/systems/systemstructure.jl @@ -254,44 +254,60 @@ function Base.push!(ev::EquationsView, eq) push!(ev.ts.extra_eqs, eq) end -function is_time_dependent_parameter(p, iv) - return iv !== nothing && isparameter(p) && iscall(p) && - (operation(p) === getindex && is_time_dependent_parameter(arguments(p)[1], iv) || +function is_time_dependent_parameter(p, allps, iv) + return iv !== nothing && p in allps && iscall(p) && + (operation(p) === getindex && is_time_dependent_parameter(arguments(p)[1], allps, iv) || (args = arguments(p); length(args)) == 1 && isequal(only(args), iv)) end +function symbolic_contains(var, set) + var in set || symbolic_type(var) == ArraySymbolic() && Symbolics.shape(var) != Symbolics.Unknown() && all(i -> var[i] in set, eachindex(var)) +end + function TearingState(sys; quick_cancel = false, check = true, sort_eqs = true) + # flatten system sys = flatten(sys) ivs = independent_variables(sys) iv = length(ivs) == 1 ? ivs[1] : nothing - # scalarize array equations, without scalarizing arguments to registered functions - eqs = flatten_equations(copy(equations(sys))) + # flatten array equations + eqs = flatten_equations(equations(sys)) neqs = length(eqs) - dervaridxs = OrderedSet{Int}() - var2idx = Dict{Any, Int}() - symbolic_incidence = [] - fullvars = [] param_derivative_map = Dict{BasicSymbolic, Any}() - var_counter = Ref(0) - var_types = VariableType[] - addvar! = let fullvars = fullvars, var_counter = var_counter, var_types = var_types + # * Scalarize unknowns + dvs = Set{BasicSymbolic}() + fullvars = BasicSymbolic[] + for x in unknowns(sys) + push!(dvs, x) + xx = Symbolics.scalarize(x) + if xx isa AbstractArray + union!(dvs, xx) + append!(fullvars, xx) + else + push!(fullvars, xx) + end + end + ps = Set{BasicSymbolic}() + for x in parameters(sys) + push!(ps, x) + xx = Symbolics.scalarize(x) + xx isa AbstractArray && union!(dvs, x) + end + var2idx = Dict{BasicSymbolic, Int}(v => k for (k, v) in enumerate(fullvars)) + addvar! = let fullvars = fullvars, dvs = dvs, var2idx = var2idx var -> get!(var2idx, var) do + push!(dvs, var) push!(fullvars, var) - push!(var_types, getvariabletype(var)) - var_counter[] += 1 + return length(fullvars) end end - vars = OrderedSet() - varsvec = [] + # build symbolic incidence + symbolic_incidence = Vector{BasicSymbolic}[] + varsbuf = Set() eqs_to_retain = trues(length(eqs)) - for (i, eq′) in enumerate(eqs) - if eq′.lhs isa Connection - check ? error("$(nameof(sys)) has unexpanded `connect` statements") : - return nothing - end + for (i, eq) in enumerate(eqs) if iscall(eq′.lhs) && (op = operation(eq′.lhs)) isa Differential && - isequal(op.x, iv) && is_time_dependent_parameter(only(arguments(eq′.lhs)), iv) + isequal(op.x, iv) && is_time_dependent_parameter(only(arguments(eq′.lhs)), ps, iv) # parameter derivatives are opted out by specifying `D(p) ~ missing`, but # we want to store `nothing` in the map because that means `fast_substitute` # will ignore the rule. We will this identify the presence of `eq′.lhs` in @@ -301,80 +317,71 @@ function TearingState(sys; quick_cancel = false, check = true, sort_eqs = true) # change the equation if the RHS is `missing` so the rest of this loop works eq′ = eq′.lhs ~ coalesce(eq′.rhs, 0.0) end - if _iszero(eq′.lhs) - rhs = quick_cancel ? quick_cancel_expr(eq′.rhs) : eq′.rhs - eq = eq′ - else - lhs = quick_cancel ? quick_cancel_expr(eq′.lhs) : eq′.lhs - rhs = quick_cancel ? quick_cancel_expr(eq′.rhs) : eq′.rhs - eq = 0 ~ rhs - lhs + rhs = quick_cancel ? quick_cancel_expr(eq.rhs) : eq.rhs + if !_iszero(eq.lhs) + lhs = quick_cancel ? quick_cancel_expr(eq.lhs) : eq.lhs + eq = eqs[i] = 0 ~ rhs - lhs end - vars!(vars, eq.rhs, op = Symbolics.Operator) - for v in vars - _var, _ = var_from_nested_derivative(v) - any(isequal(_var), ivs) && continue - if isparameter(_var) || - (iscall(_var) && isparameter(operation(_var)) || isconstant(_var)) - if is_time_dependent_parameter(_var, iv) && - !haskey(param_derivative_map, Differential(iv)(_var)) + empty!(varsbuf) + vars!(varsbuf, eq; op = Symbolics.Operator) + incidence = Set{BasicSymbolic}() + for v in varsbuf + # FIXME: This check still needs to rely on metadata + isconstant(v) && continue + vtype = getvariabletype(v) + # additionally track brownians in fullvars + # TODO: When uniting system types, track brownians in their own field + if vtype == BROWNIAN + i = addvar!(v) + push!(incidence, v) + end + + if symbolic_contains(v, ps) + if is_time_dependent_parameter(v, ps, iv) && !haskey(param_derivative_map, Differential(iv)(_var)) # Parameter derivatives default to zero - they stay constant # between callbacks param_derivative_map[Differential(iv)(_var)] = 0.0 end continue end - v = scalarize(v) - if v isa AbstractArray - append!(varsvec, v) - else - push!(varsvec, v) - end - end - isalgeq = true - unknownvars = [] - for var in varsvec - ModelingToolkit.isdelay(var, iv) && continue - set_incidence = true - @label ANOTHER_VAR - _var, _ = var_from_nested_derivative(var) - any(isequal(_var), ivs) && continue - if isparameter(_var) || - (iscall(_var) && isparameter(operation(_var)) || isconstant(_var)) - continue - end - varidx = addvar!(var) - set_incidence && push!(unknownvars, var) - - dvar = var - idx = varidx - while isdifferential(dvar) - if !(idx in dervaridxs) - push!(dervaridxs, idx) + + if !symbolic_contains(v, dvs) + isvalid = iscall(v) && operation(v) isa Union{Shift, Sample, Hold} + v′ = v + while !isvalid && iscall(v′) && operation(v′) isa Union{Differential, Shift} + v′ = arguments(v)[1] + if v′ in dvs || getmetadata(v′, SymScope, LocalScope()) isa GlobalScope + isvalid = true + break + end + end + if !isvalid + throw(ArgumentError("$v is present in the system but $v′ is not an unknown.")) end - isalgeq = false - dvar = arguments(dvar)[1] - idx = addvar!(dvar) - end - dvar = var - idx = varidx + addvar!(v) + if iscall(v) && operation(v) isa Symbolics.Operator && !isdifferential(v) && (it = input_timedomain(v)) !== nothing + v′ = only(arguments(v)) + addvar!(setmetadata(v′, VariableTimeDomain, it)) + end + end - if iscall(var) && operation(var) isa Symbolics.Operator && - !isdifferential(var) && (it = input_timedomain(var)) !== nothing - set_incidence = false - var = only(arguments(var)) - var = setmetadata(var, VariableTimeDomain, it) - @goto ANOTHER_VAR + if symbolic_type(v) == ArraySymbolic() + union!(incidence, collect(v)) + else + push!(incidence, v) end end - push!(symbolic_incidence, copy(unknownvars)) - empty!(unknownvars) - empty!(vars) - empty!(varsvec) - if isalgeq - eqs[i] = eq - else - eqs[i] = eqs[i].lhs ~ rhs + + push!(symbolic_incidence, collect(incidence)) + end + + dervaridxs = Int[] + for (i, v) in enumerate(fullvars) + while isdifferential(v) + push!(dervaridxs, i) + v = arguments(v)[1] + i = addvar!(v) end end eqs = eqs[eqs_to_retain] @@ -389,6 +396,7 @@ function TearingState(sys; quick_cancel = false, check = true, sort_eqs = true) symbolic_incidence = symbolic_incidence[sortidxs] end + # Handle shifts - find lowest shift and add intermediates with derivative edges ### Handle discrete variables lowest_shift = Dict() for var in fullvars @@ -428,6 +436,9 @@ function TearingState(sys; quick_cancel = false, check = true, sort_eqs = true) end end end + + var_types = Vector{VariableType}(getvariabletype.(fullvars)) + # sort `fullvars` such that the mass matrix is as diagonal as possible. dervaridxs = collect(dervaridxs) sorted_fullvars = OrderedSet(fullvars[dervaridxs]) @@ -451,6 +462,7 @@ function TearingState(sys; quick_cancel = false, check = true, sort_eqs = true) var2idx = Dict(fullvars .=> eachindex(fullvars)) dervaridxs = 1:length(dervaridxs) + # build `var_to_diff` nvars = length(fullvars) diffvars = [] var_to_diff = DiffGraph(nvars, true) @@ -462,6 +474,7 @@ function TearingState(sys; quick_cancel = false, check = true, sort_eqs = true) var_to_diff[diffvaridx] = dervaridx end + # build incidence graph graph = BipartiteGraph(neqs, nvars, Val(false)) for (ie, vars) in enumerate(symbolic_incidence), v in vars jv = var2idx[v] @@ -469,6 +482,7 @@ function TearingState(sys; quick_cancel = false, check = true, sort_eqs = true) end @set! sys.eqs = eqs + @set! sys.unknowns = [v for (i, v) in enumerate(fullvars) if var_types[i] != BROWNIAN] eq_to_diff = DiffGraph(nsrcs(graph)) @@ -731,3 +745,19 @@ function _structural_simplify!(state::TearingState; simplify = false, ModelingToolkit.invalidate_cache!(sys) end + +struct DifferentiatedVariableNotUnknownError <: Exception + differentiated + undifferentiated +end + +function Base.showerror(io::IO, err::DifferentiatedVariableNotUnknownError) + undiff = err.undifferentiated + diff = err.differentiated + print(io, "Variable $undiff occurs differentiated as $diff but is not an unknown of the system.") + scope = getmetadata(undiff, SymScope, LocalScope()) + depth = expected_scope_depth(scope) + if depth > 0 + print(io, "\nVariable $undiff expects $depth more levels in the hierarchy to be an unknown.") + end +end