Merge branch 'master' into dg/Dprint

Author: DhairyaLGandhi

.github/workflows/Tests.yml

@@ -45,4 +45,8 @@ jobs:
     with:
       julia-version: "${{ matrix.version }}"
       group: "${{ matrix.group }}"
+      # Disable cache for self-hosted runners since they persist between runs
+      # Set USE_SELF_HOSTED repository variable to 'true' when using self-hosted runners
+      self-hosted: ${{ vars.USE_SELF_HOSTED == 'true' }}
+      cache: ${{ vars.USE_SELF_HOSTED != 'true' }}
     secrets: "inherit"

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelingToolkit"
 uuid = "961ee093-0014-501f-94e3-6117800e7a78"
 authors = ["Yingbo Ma <[email protected]>", "Chris Rackauckas <[email protected]> and contributors"]
-version = "10.14.0"
+version = "10.22.0"
 
 [deps]
 ADTypes = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
@@ -100,8 +100,8 @@ ConstructionBase = "1"
 DataInterpolations = "7, 8"
 DataStructures = "0.17, 0.18"
 DeepDiffs = "1"
-DelayDiffEq = "5.50"
-DiffEqBase = "6.170.1"
+DelayDiffEq = "5.61"
+DiffEqBase = "6.189.1"
 DiffEqCallbacks = "2.16, 3, 4"
 DiffEqNoiseProcess = "5"
 DiffRules = "0.1, 1.0"
@@ -119,11 +119,11 @@ ForwardDiff = "0.10.3, 1"
 FunctionWrappers = "1.1"
 FunctionWrappersWrappers = "0.1"
 Graphs = "1.5.2"
-ImplicitDiscreteSolve = "0.1.2"
+ImplicitDiscreteSolve = "0.1.2, 1"
 InfiniteOpt = "0.5"
 InteractiveUtils = "1"
 JuliaFormatter = "1.0.47, 2"
-JumpProcesses = "9.13.1"
+JumpProcesses = "9.19"
 LabelledArrays = "1.3"
 Latexify = "0.11, 0.12, 0.13, 0.14, 0.15, 0.16"
 Libdl = "1"
@@ -138,7 +138,7 @@ NonlinearSolve = "4.3"
 OffsetArrays = "1"
 OrderedCollections = "1"
 OrdinaryDiffEq = "6.82.0"
-OrdinaryDiffEqCore = "1.15.0"
+OrdinaryDiffEqCore = "1.34.0"
 OrdinaryDiffEqDefault = "1.2"
 OrdinaryDiffEqNonlinearSolve = "1.5.0"
 PrecompileTools = "1"
@@ -147,20 +147,20 @@ REPL = "1"
 RecursiveArrayTools = "3.26"
 Reexport = "0.2, 1"
 RuntimeGeneratedFunctions = "0.5.9"
-SCCNonlinearSolve = "1.0.0"
-SciMLBase = "2.106.0"
+SCCNonlinearSolve = "1.4.0"
+SciMLBase = "2.115.0"
 SciMLPublic = "1.0.0"
 SciMLStructures = "1.7"
 Serialization = "1"
 Setfield = "0.7, 0.8, 1"
 SimpleNonlinearSolve = "0.1.0, 1, 2"
 SparseArrays = "1"
 SpecialFunctions = "1, 2"
-StaticArrays = "0.10, 0.11, 0.12, 1.0"
-StochasticDelayDiffEq = "1.10"
-StochasticDiffEq = "6.72.1"
+StaticArrays = "1.9.14"
+StochasticDelayDiffEq = "1.11"
+StochasticDiffEq = "6.82.0"
 SymbolicIndexingInterface = "0.3.39"
-SymbolicUtils = "3.26.1"
+SymbolicUtils = "3.30.0"
 Symbolics = "6.40"
 URIs = "1"
 UnPack = "0.1, 1.0"

docs/pages.jl

@@ -47,5 +47,8 @@ pages = [
         "basics/Precompilation.md",
         "basics/FAQ.md"],
     "comparison.md",
-    "internals.md"
+    "Internal Details" => Any[
+        "internals.md",
+        "internals/structural_transformation.md",
+        "internals/bipartite_graph.md"]
 ]

docs/src/API/System.md

@@ -7,6 +7,7 @@ optimizations).
 
 ```@docs
 System
+ModelingToolkit.AbstractSystem
 ```
 
 ## Utility constructors
@@ -185,3 +186,65 @@ ModelingToolkit.is_bound
 ```@docs
 debug_system
 ```
+
+## Input validation
+
+The following values can be passed to the `check` keyword of `System` to toggle validation
+of input. Flags can be combined with bitwise `|` and `&`.
+
+```@docs
+ModelingToolkit.CheckAll
+ModelingToolkit.CheckNone
+ModelingToolkit.CheckComponents
+ModelingToolkit.CheckUnits
+```
+
+These can also be used by custom `AbstractSystem` subtypes.
+
+## Utility functions
+
+These utility functions can be useful when manipulating systems, especially when building
+custom `AbstractSystem` subtypes.
+
+```@docs
+ModelingToolkit.collect_scoped_vars!
+ModelingToolkit.collect_var_to_name!
+ModelingToolkit.collect_vars!
+ModelingToolkit.eqtype_supports_collect_vars
+ModelingToolkit.modified_unknowns!
+```
+
+## Namepsace manipulation
+
+ModelingToolkit namespaces variables from subsystems when using them in a parent system to
+disambiguate from identically named variables in other subsystems or the parent system. The
+following functions are useful for manipulating namespacing functionality.
+
+```@docs
+ModelingToolkit.renamespace
+ModelingToolkit.namespace_equations
+```
+
+## Linearization and Analysis
+
+Functions for linearization and analysis of systems.
+
+```@docs
+linearization_ap_transform
+get_sensitivity_function
+get_comp_sensitivity_function
+get_looptransfer_function
+get_sensitivity
+get_comp_sensitivity
+get_looptransfer
+open_loop
+```
+
+## Additional Equation Classification
+
+```@docs
+alg_equations
+diff_equations
+has_alg_equations
+has_diff_equations
+```

docs/src/API/model_building.md

@@ -3,6 +3,29 @@
 This page lists functionality and utilities related to building hierarchical models. It is
 recommended to read the page on the [`System`](@ref System_type) before this.
 
+## Common definitions of `t` and `D`
+
+ModelingToolkit provides common definitions for the independent variable `t` (time) and the
+derivative with respect to it `D`.
+
+```@docs
+ModelingToolkit.t_nounits
+ModelingToolkit.D_nounits
+ModelingToolkit.t
+ModelingToolkit.D
+ModelingToolkit.t_unitful
+ModelingToolkit.D_unitful
+```
+
+Users are recommended to use the appropriate common definition in their models. The required
+definitions can be imported with convenient aliased names. For example:
+
+```julia
+using ModelingToolkit: t_nounits as t, D_nounits as D
+```
+
+Allows using `t` and `D` to refer to `t_nounits` and `D_nounits` respectively.
+
 ## Hierarchical model composition
 
 The `System` data structure can represent a tree-like hierarchy of systems for building models
@@ -203,6 +226,8 @@ change_independent_variable
 add_accumulations
 noise_to_brownians
 convert_system_indepvar
+subset_tunables
+respecialize
 ```
 
 ## Hybrid systems

docs/src/API/variables.md

@@ -18,6 +18,17 @@ Symbolic variables can have metadata attached to them. The defaults and guesses
 at variable construction time are examples of this metadata. ModelingToolkit also defines
 additional types of metadata.
 
+## Variable defaults
+
+Variables can be assigned default values to avoid having to specify defaults to the
+[`System`](@ref) constructor.
+
+```@docs
+ModelingToolkit.hasdefault
+ModelingToolkit.getdefault
+ModelingToolkit.setdefault
+```
+
 ## Variable descriptions
 
 Descriptive strings can be attached to variables using the `[description = "descriptive string"]` syntax:
@@ -56,6 +67,7 @@ help?> u
 ```@docs
 hasdescription
 getdescription
+ModelingToolkit.VariableDescription
 ```
 
 ## Connect
@@ -83,6 +95,7 @@ getconnect(k)
 ```@docs
 hasconnect
 getconnect
+ModelingToolkit.VariableConnectType
 ```
 
 ```@docs; canonical=false
@@ -112,6 +125,8 @@ isinput
 isoutput
 ModelingToolkit.setinput
 ModelingToolkit.setoutput
+ModelingToolkit.VariableInput
+ModelingToolkit.VariableOutput
 ```
 
 ## Bounds
@@ -144,6 +159,7 @@ hasbounds(x[2])
 ```@docs
 hasbounds
 getbounds
+ModelingToolkit.VariableBounds
 ```
 
 ## Guess
@@ -232,6 +248,7 @@ isirreducible(important_value)
 
 ```@docs
 isirreducible
+ModelingToolkit.VariableIrreducible
 ```
 
 ## State Priority
@@ -245,6 +262,7 @@ state_priority(important_dof)
 
 ```@docs
 state_priority
+ModelingToolkit.VariableStatePriority
 ```
 
 ## Units
@@ -261,6 +279,17 @@ getunit(speed)
 ```@docs
 hasunit
 getunit
+ModelingToolkit.VariableUnit
+```
+
+## Variable type
+
+This metadata is used by the [`System`](@ref) constructor for automatically identifying the different types of variables in a system.
+
+```@docs
+ModelingToolkit.VariableType
+ModelingToolkit.MTKVariableTypeCtx
+ModelingToolkit.isparameter
 ```
 
 ## Miscellaneous metadata
@@ -277,6 +306,7 @@ getmisc(y)
 ```@docs
 hasmisc
 getmisc
+ModelingToolkit.VariableMisc
 ```
 
 ## Dumping metadata

docs/src/basics/Debugging.md

@@ -19,7 +19,7 @@ sys = mtkcompile(sys)
 This problem causes the ODE solver to crash:
 
 ```@repl debug
-prob = ODEProblem(sys, [], (0.0, 10.0), []);
+prob = ODEProblem(sys, [], (0.0, 10.0));
 sol = solve(prob, Tsit5());
 ```
 
@@ -28,7 +28,7 @@ In such situations, the `debug_system` function is helpful:
 
 ```@repl debug
 dsys = debug_system(sys; functions = [sqrt]);
-dprob = ODEProblem(dsys, [], (0.0, 10.0), []);
+dprob = ODEProblem(dsys, [], (0.0, 10.0));
 dsol = solve(dprob, Tsit5());
 ```
 

docs/src/basics/MTKLanguage.md

@@ -31,6 +31,7 @@ set to `false`.
   - `@equations`: for the list of equations
   - `@extend`: for extending a base system and unpacking its unknowns
   - `@icon` : for embedding the model icon
+  - `@metadata`: for assigning key-value pairs as model level metadata
   - `@parameters`: for specifying the symbolic parameters
   - `@structural_parameters`: for specifying non-symbolic parameters
   - `@variables`: for specifying the unknowns
@@ -94,6 +95,16 @@ end
         v_for_defaults => 2.0
     end
 end
+
+struct Author end
+struct ModelVersion end
+@mtkmodel ModelD begin
+    @description "A component with some metadata."
+    @metadata begin
+        Author = "Test Author"
+        ModelVersion = "1.0.0"
+    end
+end
 ```
 
 #### `@description`
@@ -257,6 +268,30 @@ using ModelingToolkit
 end
 ```
 
+#### `@metadata` begin block
+
+  - Assign key-value pairs as model level metadata.
+  - The keys must be `DataType` to avoid any key collisions.
+  - Assignments can be made using either `=` or `=>`.
+  - Metadata can be retrieved using [`getmetadata`](@ref).
+  - Metadata can be set using [`setmetadata`](@ref).
+
+```@example mtkmodel-example
+using ModelingToolkit
+
+struct Author end
+struct ModelVersion end
+
+@mtkmodel MetadataModel begin
+    @metadata begin
+        Author = "Test Author"
+        ModelVersion => "1.0.0"
+    end
+end
+@named model = MetadataModel()
+getmetadata(model, Author, nothing) == "Test Author"
+```
+
 #### A begin block
 
   - Any other Julia operations can be included with dedicated begin blocks.

docs/src/examples/modelingtoolkitize_index_reduction.md

@@ -122,8 +122,8 @@ But that's not a satisfying answer, so what do you do about it?
 ### Transforming Higher Order DAEs to Index-1 DAEs
 
 It turns out that higher order DAEs can be transformed into lower order DAEs.
-[If you differentiate the last equation two times and perform a substitution,
-you can arrive at the following set of equations](https://people.math.wisc.edu/%7Echr/am205/g_act/DAE_slides.pdf):
+If you differentiate the last equation two times and perform a substitution,
+you can arrive at the following set of equations:
 
 ```math
 \begin{aligned}

docs/src/internals.md

@@ -1,4 +1,16 @@
 # Internal Details
 
-This is a page for detailing some of the inner workings to help future
-contributors to the library.
+This section documents the internal implementation details of ModelingToolkit. These APIs are not considered stable and may change without notice in non-breaking releases. They are documented here to help future contributors understand the library's inner workings.
+
+## Overview
+
+ModelingToolkit's internal architecture consists of several key components:
+
+- **Structural Transformation**: Algorithms for transforming equation systems, including index reduction, tearing, and algebraic simplification
+- **Bipartite Graphs**: Graph representations used to analyze relationships between equations and variables
+- **System Structure**: Internal representations of system state and transformations
+
+These components work together to enable ModelingToolkit's symbolic manipulation and code generation capabilities.
+
+!!! warning
+    The functions and types documented in this section are internal implementation details. Users should not rely on these APIs as they may change or be removed without deprecation warnings.