fix input output tests

Author: vyudu

src/inputoutput.jl

@@ -197,10 +197,10 @@ function generate_control_function(sys::AbstractODESystem, inputs = unbound_inpu
         simplify = false,
         eval_expression = false,
         eval_module = @__MODULE__,
+        check_simplified = true,
         kwargs...)
-
     # Remove this when the ControlFunction gets merged.
-    if !iscomplete(sys) 
+    if check_simplified && !iscomplete(sys) 
         error("A completed `ODESystem` is required. Call `complete` or `structural_simplify` on the system before creating the control function.")
     end
     isempty(inputs) && @warn("No unbound inputs were found in system.")
@@ -259,7 +259,7 @@ end
 """
 Turn input variables into parameters of the system.
 """
-function inputs_to_parameters!(state::TransformationState, inputsyms)
+function inputs_to_parameters!(state::TransformationState, inputsyms; is_disturbance = false)
     check_bound = inputsyms === nothing
     @unpack structure, fullvars, sys = state
     @unpack var_to_diff, graph, solvable_graph = structure
@@ -414,7 +414,7 @@ function add_input_disturbance(sys, dist::DisturbanceModel, inputs = Any[]; kwar
     @variables u(t)=0 [input = true] # New system input
     dsys = get_disturbance_system(dist)
 
-    if inputs === nothing
+    if isempty(inputs)
         all_inputs = [u]
     else
         i = findfirst(isequal(dist.input), inputs)
@@ -429,8 +429,9 @@ function add_input_disturbance(sys, dist::DisturbanceModel, inputs = Any[]; kwar
            dist.input ~ u + dsys.output.u[1]]
     augmented_sys = ODESystem(eqs, t, systems = [dsys], name = gensym(:outer))
     augmented_sys = extend(augmented_sys, sys)
+    ssys = structural_simplify(augmented_sys, inputs = all_inputs, disturbance_inputs = [d])
 
-    (f_oop, f_ip), dvs, p, io_sys = generate_control_function(augmented_sys, all_inputs,
-        [d]; kwargs...)
+    (f_oop, f_ip), dvs, p, io_sys = generate_control_function(ssys, all_inputs,
+        [d]; check_simplified = false, kwargs...)
     (f_oop, f_ip), augmented_sys, dvs, p, io_sys
 end

src/linearization.jl

@@ -556,10 +556,11 @@ function linearize_symbolic(sys::AbstractSystem, inputs,
     (; A, B, C, D, f_x, f_z, g_x, g_z, f_u, g_u, h_x, h_z, h_u), sys
 end
 
-function markio!(state, orig_inputs, inputs, outputs; check = true)
+function markio!(state, orig_inputs, inputs, outputs, disturbances; check = true)
     fullvars = get_fullvars(state)
     inputset = Dict{Any, Bool}(i => false for i in inputs)
     outputset = Dict{Any, Bool}(o => false for o in outputs)
+    disturbanceset = Dict{Any, Bool}(d => false for d in disturbances)
     for (i, v) in enumerate(fullvars)
         if v in keys(inputset)
             if v in keys(outputset)
@@ -581,6 +582,12 @@ function markio!(state, orig_inputs, inputs, outputs; check = true)
             v = setio(v, false, false)
             fullvars[i] = v
         end
+
+        if v in keys(disturbanceset)
+            v = setio(v, true, false)
+            v = setdisturbance(v, true)
+            fullvars[i] = v
+        end
     end
     if check
         ikeys = keys(filter(!last, inputset))

src/systems/systems.jl

@@ -124,7 +124,6 @@ function __structural_simplify(sys::AbstractSystem; simplify = false,
                               for (i, v) in enumerate(fullvars)
                               if !iszero(new_idxs[i]) &&
                                  invview(var_to_diff)[i] === nothing]
-        # TODO: IO is not handled.
         ode_sys = structural_simplify(sys; simplify, inputs, outputs, disturbance_inputs, kwargs...)
         eqs = equations(ode_sys)
         sorted_g_rows = zeros(Num, length(eqs), size(g, 2))

src/systems/systemstructure.jl

@@ -728,8 +728,8 @@ function _structural_simplify!(state::TearingState; simplify = false,
     has_io = inputs !== nothing || outputs !== nothing
     orig_inputs = Set()
     if has_io
-        ModelingToolkit.markio!(state, orig_inputs, inputs, outputs)
-        state = ModelingToolkit.inputs_to_parameters!(state, inputs)
+        ModelingToolkit.markio!(state, orig_inputs, inputs, outputs, disturbance_inputs)
+        state = ModelingToolkit.inputs_to_parameters!(state, [inputs; disturbance_inputs])
     end
     sys, mm = ModelingToolkit.alias_elimination!(state; kwargs...)
     if check_consistency

src/variables.jl

@@ -349,6 +349,8 @@ function isdisturbance(x)
     Symbolics.getmetadata(x, VariableDisturbance, false)
 end
 
+setdisturbance(x, v) = setmetadata(x, VariableDisturbance, v)
+
 function disturbances(sys)
     [filter(isdisturbance, unknowns(sys)); filter(isdisturbance, parameters(sys))]
 end

test/input_output_handling.jl

@@ -7,10 +7,10 @@ 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)
-@test_throws ExtraVariablesSystemException structural_simplify(model, ((), ()))
+@test_throws ExtraVariablesSystemException structural_simplify(model)
 if VERSION >= v"1.8"
     err = "In particular, the unset input(s) are:\n some_input(t)"
-    @test_throws err structural_simplify(model, ((), ()))
+    @test_throws err structural_simplify(model)
 end
 
 # Test input handling
@@ -88,7 +88,7 @@ fsys4 = flatten(sys4)
 @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
-syss = structural_simplify(sys) # This makes y an observed variable
+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])
 
@@ -106,7 +106,7 @@ syss = structural_simplify(sys) # This makes y an observed variable
 @test isequal(unbound_outputs(sys2), [y])
 @test isequal(bound_outputs(sys2), [sys.y])
 
-syss = structural_simplify(sys2)
+syss = structural_simplify(sys2, outputs = [sys.y])
 
 @test !is_bound(syss, y)
 @test !is_bound(syss, x)
@@ -165,6 +165,7 @@ end
         ]
 
         @named sys = ODESystem(eqs, t)
+        sys = structural_simplify(sys, inputs = [u])
         f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys; simplify, split)
 
         @test isequal(dvs[], x)
@@ -182,8 +183,8 @@ end
         ]
 
         @named sys = ODESystem(eqs, t)
-        f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(
-            sys, [u], [d]; simplify, split)
+        sys = structural_simplify(sys, inputs = [u], disturbance_inputs = [d])
+        f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys; simplify, split)
 
         @test isequal(dvs[], x)
         @test isempty(ps)
@@ -200,8 +201,8 @@ end
         ]
 
         @named sys = ODESystem(eqs, t)
-        f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(
-            sys, [u], [d]; simplify, split, disturbance_argument = true)
+        sys = structural_simplify(sys, inputs = [u], disturbance_inputs = [d])
+        f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys; simplify, split, disturbance_argument = true)
 
         @test isequal(dvs[], x)
         @test isempty(ps)
@@ -265,9 +266,9 @@ eqs = [connect_sd(sd, mass1, mass2)
 @named _model = ODESystem(eqs, t)
 @named model = compose(_model, mass1, mass2, sd);
 
+model = structural_simplify(model, inputs = [u])
 f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(model, simplify = true)
 @test length(dvs) == 4
-@test length(ps) == length(parameters(model))
 p = MTKParameters(io_sys, [io_sys.u => NaN])
 x = ModelingToolkit.varmap_to_vars(
     merge(ModelingToolkit.defaults(model),
@@ -389,7 +390,7 @@ sys = structural_simplify(model)
 
 ## Disturbance models when plant has multiple inputs
 using ModelingToolkit, LinearAlgebra
-using ModelingToolkit: DisturbanceModel, io_preprocessing, get_iv, get_disturbance_system
+using ModelingToolkit: DisturbanceModel, get_iv, get_disturbance_system
 using ModelingToolkitStandardLibrary.Blocks
 A, C = [randn(2, 2) for i in 1:2]
 B = [1.0 0; 0 1.0]
@@ -433,6 +434,7 @@ matrices = ModelingToolkit.reorder_unknowns(
     ]
 
     @named sys = ODESystem(eqs, t)
+    sys = structural_simplify(sys, inputs = [u])
     (; io_sys,) = ModelingToolkit.generate_control_function(sys, simplify = true)
     obsfn = ModelingToolkit.build_explicit_observed_function(
         io_sys, [x + u * t]; inputs = [u])
@@ -444,9 +446,9 @@ end
     @constants c = 2.0
     @variables x(t)
     eqs = [D(x) ~ c * x]
-    @named sys = ODESystem(eqs, t, [x], [])
+    @mtkbuild sys = ODESystem(eqs, t, [x], [])
 
-    f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys, simplify = true)
+    f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys)
     @test f[1]([0.5], nothing, MTKParameters(io_sys, []), 0.0) ≈ [1.0]
 end
 
@@ -455,7 +457,8 @@ end
     @parameters p(::Real) = (x -> 2x)
     eqs = [D(x) ~ -x + p(u)]
     @named sys = ODESystem(eqs, t)
-    f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys, simplify = true)
+    sys = structural_simplify(sys, inputs = [u])
+    f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys)
     p = MTKParameters(io_sys, [])
     u = [1.0]
     x = [1.0]

test/reduction.jl

@@ -233,7 +233,7 @@ eqs = [D(x) ~ σ * (y - x)
        u ~ z + a]
 
 lorenz1 = ODESystem(eqs, t, name = :lorenz1)
-lorenz1_reduced, _ = structural_simplify(lorenz1, inputs = [z], outputs = [])
+lorenz1_reduced = structural_simplify(lorenz1, inputs = [z], outputs = [])
 @test z in Set(parameters(lorenz1_reduced))
 
 # #2064