Merge pull request #213 from ufechner7/next-step

Make next_step! return nothing

Author: 1-Bart-1

Manifest-v1.10.toml.default

@@ -2,7 +2,7 @@
 
 julia_version = "1.10.9"
 manifest_format = "2.0"
-project_hash = "e060360f8cac442cf470fedd0c1378b00cf639db"
+project_hash = "e5116e83aee3763e3ebd89b0de5522b585f68fec"
 
 [[deps.ADTypes]]
 git-tree-sha1 = "e2478490447631aedba0823d4d7a80b2cc8cdb32"
@@ -144,9 +144,9 @@ version = "1.1.0"
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[deps.Bijections]]
-git-tree-sha1 = "6aaafea90a56dc1fc8cbc15e3cf26d6bc81eb0a3"
+git-tree-sha1 = "a2d308fcd4c2fb90e943cf9cd2fbfa9c32b69733"
 uuid = "e2ed5e7c-b2de-5872-ae92-c73ca462fb04"
-version = "0.1.10"
+version = "0.2.2"
 
 [[deps.BitIntegers]]
 deps = ["Random"]
@@ -328,9 +328,9 @@ uuid = "f0e56b4a-5159-44fe-b623-3e5288b988bb"
 version = "2.5.0"
 
 [[deps.ConstructionBase]]
-git-tree-sha1 = "76219f1ed5771adbb096743bff43fb5fdd4c1157"
+git-tree-sha1 = "b4b092499347b18a015186eae3042f72267106cb"
 uuid = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
-version = "1.5.8"
+version = "1.6.0"
 weakdeps = ["IntervalSets", "LinearAlgebra", "StaticArrays"]
 
     [deps.ConstructionBase.extensions]
@@ -889,9 +889,9 @@ version = "0.3.8"
 
 [[deps.KiteUtils]]
 deps = ["Arrow", "CSV", "DocStringExtensions", "LinearAlgebra", "OrderedCollections", "Parameters", "Parsers", "Pkg", "PrecompileTools", "RecursiveArrayTools", "ReferenceFrameRotations", "Rotations", "StaticArrays", "StructArrays", "StructTypes", "YAML"]
-git-tree-sha1 = "824fc2f35d5afd6332d28c69fe9e31e11267e934"
+git-tree-sha1 = "ef1ab34bdb8c1bcf06f99b4364cae5df1be6936a"
 uuid = "90980105-b163-44e5-ba9f-8b1c83bb0533"
-version = "0.10.7"
+version = "0.10.10"
 
 [[deps.Krylov]]
 deps = ["LinearAlgebra", "Printf", "SparseArrays"]
@@ -995,9 +995,9 @@ weakdeps = ["LineSearches"]
 
 [[deps.LineSearches]]
 deps = ["LinearAlgebra", "NLSolversBase", "NaNMath", "Parameters", "Printf"]
-git-tree-sha1 = "e4c3be53733db1051cc15ecf573b1042b3a712a1"
+git-tree-sha1 = "4adee99b7262ad2a1a4bbbc59d993d24e55ea96f"
 uuid = "d3d80556-e9d4-5f37-9878-2ab0fcc64255"
-version = "7.3.0"
+version = "7.4.0"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
@@ -1333,9 +1333,9 @@ version = "1.6.0"
 
 [[deps.OrdinaryDiffEqCore]]
 deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "FastBroadcast", "FastClosures", "FastPower", "FillArrays", "FunctionWrappersWrappers", "InteractiveUtils", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "SimpleUnPack", "Static", "StaticArrayInterface", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
-git-tree-sha1 = "d29adfeb720dd7c251b216d91c4bd4fe67c087df"
+git-tree-sha1 = "08dac9c6672a4548439048089bac293759a897fd"
 uuid = "bbf590c4-e513-4bbe-9b18-05decba2e5d8"
-version = "1.26.0"
+version = "1.26.1"
 weakdeps = ["EnzymeCore"]
 
     [deps.OrdinaryDiffEqCore.extensions]
@@ -1915,9 +1915,9 @@ version = "3.29.0"
 
 [[deps.Symbolics]]
 deps = ["ADTypes", "ArrayInterface", "Bijections", "CommonWorldInvalidations", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "LaTeXStrings", "Latexify", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "NaNMath", "OffsetArrays", "PrecompileTools", "Primes", "RecipesBase", "Reexport", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "SymbolicLimits", "SymbolicUtils", "TermInterface"]
-git-tree-sha1 = "e14834f421edaa8a30493f7864dfc8582855bb3c"
+git-tree-sha1 = "3d9551301d9ecdb8c193aac2ed0a3efc303494ca"
 uuid = "0c5d862f-8b57-4792-8d23-62f2024744c7"
-version = "6.40.0"
+version = "6.41.0"
 
     [deps.Symbolics.extensions]
     SymbolicsForwardDiffExt = "ForwardDiff"
@@ -1990,9 +1990,9 @@ version = "1.0.0"
 
 [[deps.ThreadingUtilities]]
 deps = ["ManualMemory"]
-git-tree-sha1 = "2d529b6b22791f3e22e7ec5c60b9016e78f5f6bf"
+git-tree-sha1 = "d969183d3d244b6c33796b5ed01ab97328f2db85"
 uuid = "8290d209-cae3-49c0-8002-c8c24d57dab5"
-version = "0.5.4"
+version = "0.5.5"
 
 [[deps.TimeZones]]
 deps = ["Artifacts", "Dates", "Downloads", "InlineStrings", "Mocking", "Printf", "Scratch", "TZJData", "Unicode", "p7zip_jll"]
@@ -2057,14 +2057,16 @@ uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[deps.Unitful]]
 deps = ["Dates", "LinearAlgebra", "Random"]
-git-tree-sha1 = "d62610ec45e4efeabf7032d67de2ffdea8344bed"
+git-tree-sha1 = "d2282232f8a4d71f79e85dc4dd45e5b12a6297fb"
 uuid = "1986cc42-f94f-5a68-af5c-568840ba703d"
-version = "1.22.1"
-weakdeps = ["ConstructionBase", "InverseFunctions"]
+version = "1.23.1"
+weakdeps = ["ConstructionBase", "ForwardDiff", "InverseFunctions", "Printf"]
 
     [deps.Unitful.extensions]
     ConstructionBaseUnitfulExt = "ConstructionBase"
+    ForwardDiffExt = "ForwardDiff"
     InverseFunctionsUnitfulExt = "InverseFunctions"
+    PrintfExt = "Printf"
 
 [[deps.Unityper]]
 deps = ["ConstructionBase"]

Manifest-v1.11.toml.default

@@ -146,9 +146,9 @@ uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 version = "1.11.0"
 
 [[deps.Bijections]]
-git-tree-sha1 = "6aaafea90a56dc1fc8cbc15e3cf26d6bc81eb0a3"
+git-tree-sha1 = "a2d308fcd4c2fb90e943cf9cd2fbfa9c32b69733"
 uuid = "e2ed5e7c-b2de-5872-ae92-c73ca462fb04"
-version = "0.1.10"
+version = "0.2.2"
 
 [[deps.BitIntegers]]
 deps = ["Random"]
@@ -1003,9 +1003,9 @@ weakdeps = ["LineSearches"]
 
 [[deps.LineSearches]]
 deps = ["LinearAlgebra", "NLSolversBase", "NaNMath", "Parameters", "Printf"]
-git-tree-sha1 = "e4c3be53733db1051cc15ecf573b1042b3a712a1"
+git-tree-sha1 = "4adee99b7262ad2a1a4bbbc59d993d24e55ea96f"
 uuid = "d3d80556-e9d4-5f37-9878-2ab0fcc64255"
-version = "7.3.0"
+version = "7.4.0"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
@@ -1946,9 +1946,9 @@ version = "3.29.0"
 
 [[deps.Symbolics]]
 deps = ["ADTypes", "ArrayInterface", "Bijections", "CommonWorldInvalidations", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "LaTeXStrings", "Latexify", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "NaNMath", "OffsetArrays", "PrecompileTools", "Primes", "RecipesBase", "Reexport", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "SymbolicLimits", "SymbolicUtils", "TermInterface"]
-git-tree-sha1 = "e14834f421edaa8a30493f7864dfc8582855bb3c"
+git-tree-sha1 = "3d9551301d9ecdb8c193aac2ed0a3efc303494ca"
 uuid = "0c5d862f-8b57-4792-8d23-62f2024744c7"
-version = "6.40.0"
+version = "6.41.0"
 
     [deps.Symbolics.extensions]
     SymbolicsForwardDiffExt = "ForwardDiff"
@@ -2022,9 +2022,9 @@ version = "1.0.0"
 
 [[deps.ThreadingUtilities]]
 deps = ["ManualMemory"]
-git-tree-sha1 = "2d529b6b22791f3e22e7ec5c60b9016e78f5f6bf"
+git-tree-sha1 = "d969183d3d244b6c33796b5ed01ab97328f2db85"
 uuid = "8290d209-cae3-49c0-8002-c8c24d57dab5"
-version = "0.5.4"
+version = "0.5.5"
 
 [[deps.TimeZones]]
 deps = ["Artifacts", "Dates", "Downloads", "InlineStrings", "Mocking", "Printf", "Scratch", "TZJData", "Unicode", "p7zip_jll"]

data/prob_1.10_ram_dynamic_3_seg.bin.default.xz

@@ -27,7 +27,7 @@ end
 
 using KiteModels, LinearAlgebra, Statistics, OrdinaryDiffEqCore 
 using ModelingToolkit
-using ModelingToolkit: t_nounits as t
+using ModelingToolkit: t_nounits
 toc()
 
 # TODO: use sparse autodiff
@@ -56,7 +56,7 @@ s.set.rel_tol = 1e-2
 toc()
 
 # Define outputs for linearization - heading
-lin_outputs = @variables heading(t)[1]
+lin_outputs = @variables heading(t_nounits)[1]
 
 # Initialize at elevation with linearization outputs
 s.system_structure.winches[2].tether_length += 0.2

data/prob_1.11_ram_dynamic_3_seg.bin.default.xz

@@ -36,7 +36,7 @@ set_values = [-50, 0.0, 0.0]  # Set values of the torques of the three winches.
 set.quasi_static = false
 set.physical_model = SIMPLE ? "simple_ram" : "ram"
 
-@info "Creating wing, aero, vsm_solver, system_structure and s:"
+@info "Creating wing, aero, vsm_solver, system_structure and symbolic_awe_model:"
 sam = SymbolicAWEModel(set)
 sam.set.abs_tol = 1e-2
 sam.set.rel_tol = 1e-2
@@ -82,7 +82,9 @@ try
         end
 
         # Step simulation
-        steptime = @elapsed (t_new, integ_steptime) = next_step!(sam; set_values, dt, vsm_interval=vsm_interval)
+        steptime = @elapsed next_step!(sam; set_values, dt, vsm_interval=vsm_interval)
+        t_new = sam.integrator.t
+        integ_steptime = sam.t_step
         t = t_new - t0  # Adjust for initial stabilization time
 
         # Track performance after initial transient

examples/lin_ram_model.jl

@@ -630,7 +630,7 @@ Parameters:
 - dt:           time step in seconds
 
 Returns:
-The end time of the time step in seconds.
+`Nothing`
 """
 function next_step!(s::AKM, integrator; set_speed = nothing, set_torque=nothing, set_force=nothing, bearing = nothing,
                     attractor=nothing, v_wind_gnd=s.set.v_wind, upwind_dir=-pi/2, dt=1/s.set.sample_freq)
@@ -662,7 +662,7 @@ function next_step!(s::AKM, integrator; set_speed = nothing, set_torque=nothing,
         s.pitch_rate = (pitch - s.pitch) / dt
         s.pitch = pitch
     end
-    integrator.t
+    return nothing
 end
 
 """

examples/ram_air_kite.jl

@@ -71,6 +71,8 @@ $(TYPEDFIELDS)
 
     prob::Union{OrdinaryDiffEqCore.ODEProblem, Nothing} = nothing
     integrator::Union{OrdinaryDiffEqCore.ODEIntegrator, Nothing} = nothing
+    t_vsm::S  = zero(S)
+    t_step::S = zero(S)
 end
 
 function SymbolicAWEModel(
@@ -511,7 +513,7 @@ This function performs the following steps:
 - `vsm_interval=1`: Interval (in number of steps) at which to linearize the VSM model. If 0, the VSM model is not linearized.
 
 # Returns
-- `Tuple{SimFloat, Float64}`: A tuple containing the current simulation time and the time taken for the step.
+- `Nothing`
 """
 function next_step!(s::SymbolicAWEModel, integrator::OrdinaryDiffEqCore.ODEIntegrator; set_values=nothing, upwind_dir=nothing, dt=1/s.set.sample_freq, vsm_interval=1)
     !(s.integrator === integrator) && error("The ODEIntegrator doesn't belong to the SymbolicAWEModel")
@@ -526,17 +528,17 @@ function next_step!(s::SymbolicAWEModel; set_values=nothing, upwind_dir=nothing,
         s.set_wind_dir(s.integrator, upwind_dir)
     end
     if vsm_interval != 0 && s.iter % vsm_interval == 0
-        linearize_vsm!(s)
+        s.t_vsm = @elapsed linearize_vsm!(s)
     end
 
     s.t_0 = s.integrator.t
-    steptime = @elapsed OrdinaryDiffEqCore.step!(s.integrator, dt, true)
+    s.t_step = @elapsed OrdinaryDiffEqCore.step!(s.integrator, dt, true)
     if !successful_retcode(s.integrator.sol)
         println("Return code for solution: ", s.integrator.sol.retcode)
     end
     @assert successful_retcode(s.integrator.sol)
     s.iter += 1
-    s.integrator.t, steptime
+    return nothing
 end
 
 function get_prob_name(set::Settings; precompile=false)

src/KiteModels.jl

@@ -110,13 +110,13 @@ if ! haskey(ENV, "NO_MTK")
     set = se("system_ram.yaml")
     set.segments = 2
     set_values = [-50, -1.1, -1.1]
-    mtk_kite = SymbolicAWEModel(set)
-    KiteModels.init_sim!(mtk_kite)
-    logger = Logger(length(mtk_kite.system_structure.points), 5)
+    sam = SymbolicAWEModel(set)
+    KiteModels.init_sim!(sam)
+    logger = Logger(length(sam.system_structure.points), 5)
 
     for i in 1:5
-        next_step!(mtk_kite, set_values)
-        sys_state = KiteModels.SysState(mtk_kite)
+        next_step!(sam; set_values)
+        sys_state = KiteModels.SysState(sam)
         log!(logger, sys_state)
     end
 end

src/ram_air_kite.jl

@@ -155,17 +155,15 @@ const BUILD_SYS = true
         # Run a simulation step with zero set values
         set_values = [0.0, 0.0, 0.0]
         dt = 1/s.set.sample_freq
-        t, _ = next_step!(s; set_values, dt=dt)
+        next_step!(s; set_values, dt=dt)
         # Update sys_state_before *after* the step to compare with the state *before* the loop
         KiteModels.update_sys_state!(sys_state_before, s)
-        @test isapprox(t, dt, atol=TOL)
+        @test isapprox(s.integrator.t, dt, atol=TOL)
 
         # Run multiple steps
         num_steps = 10
-        total_time = 0.0
         for _ in 1:num_steps
-            step_time, _ = next_step!(s; set_values, dt=dt)
-            total_time += step_time # Accumulate time from next_step! return value
+            next_step!(s; set_values, dt=dt)
         end
         sys_state_after = KiteModels.SysState(s) # Get state after the loop
         # Compare state after loop with state after first step (stored in sys_state_before)