Merge branch 'func-affect' of github.com:dodoplus/ModelingToolkit.jl into func-affect

Author: dd

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelingToolkit"
 uuid = "961ee093-0014-501f-94e3-6117800e7a78"
 authors = ["Chris Rackauckas <[email protected]>"]
-version = "8.14.1"
+version = "8.15.1"
 
 [deps]
 AbstractTrees = "1520ce14-60c1-5f80-bbc7-55ef81b5835c"
@@ -11,7 +11,6 @@ ConstructionBase = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
 DiffEqBase = "2b5f629d-d688-5b77-993f-72d75c75574e"
 DiffEqCallbacks = "459566f4-90b8-5000-8ac3-15dfb0a30def"
-DiffEqJump = "c894b116-72e5-5b58-be3c-e6d8d4ac2b12"
 DiffRules = "b552c78f-8df3-52c6-915a-8e097449b14b"
 Distributed = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
@@ -21,6 +20,7 @@ Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 IfElse = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"
 InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 JuliaFormatter = "98e50ef6-434e-11e9-1051-2b60c6c9e899"
+JumpProcesses = "ccbc3e58-028d-4f4c-8cd5-9ae44345cda5"
 LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800"
 Latexify = "23fbe1c1-3f47-55db-b15f-69d7ec21a316"
 Libdl = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
@@ -30,7 +30,6 @@ NaNMath = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
 NonlinearSolve = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
-Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 RuntimeGeneratedFunctions = "7e49a35a-f44a-4d26-94aa-eba1b4ca6b47"
 SciMLBase = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
 Serialization = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
@@ -51,22 +50,21 @@ ConstructionBase = "1"
 DataStructures = "0.17, 0.18"
 DiffEqBase = "6.83.0"
 DiffEqCallbacks = "2.16"
-DiffEqJump = "7.0, 8"
 DiffRules = "0.1, 1.0"
 Distributions = "0.23, 0.24, 0.25"
 DocStringExtensions = "0.7, 0.8, 0.9"
 DomainSets = "0.5"
 Graphs = "1.5.2"
 IfElse = "0.1"
 JuliaFormatter = "1"
+JumpProcesses = "9"
 LabelledArrays = "1.3"
 Latexify = "0.11, 0.12, 0.13, 0.14, 0.15"
 MacroTools = "0.5"
 NaNMath = "0.3, 1"
 NonlinearSolve = "0.3.8"
 RecursiveArrayTools = "2.3"
 Reexport = "0.2, 1"
-Requires = "1.0"
 RuntimeGeneratedFunctions = "0.4.3, 0.5"
 SciMLBase = "1.26.2"
 Setfield = "0.7, 0.8, 1"
@@ -79,9 +77,13 @@ Unitful = "1.1"
 julia = "1.6"
 
 [extras]
+AmplNLWriter = "7c4d4715-977e-5154-bfe0-e096adeac482"
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
+Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
+Ipopt_jll = "9cc047cb-c261-5740-88fc-0cf96f7bdcc7"
 Optimization = "7f7a1694-90dd-40f0-9382-eb1efda571ba"
+OptimizationMOI = "fd9f6733-72f4-499f-8506-86b2bdd0dea1"
 OptimizationOptimJL = "36348300-93cb-4f02-beb5-3c3902f8871e"
 OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
@@ -93,4 +95,4 @@ Sundials = "c3572dad-4567-51f8-b174-8c6c989267f4"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["BenchmarkTools", "ForwardDiff", "Optimization", "OptimizationOptimJL", "OrdinaryDiffEq", "Random", "ReferenceTests", "SafeTestsets", "SteadyStateDiffEq", "Test", "StochasticDiffEq", "Sundials"]
+test = ["AmplNLWriter", "BenchmarkTools", "ForwardDiff", "Ipopt", "Ipopt_jll", "Optimization", "OptimizationOptimJL", "OptimizationMOI", "OrdinaryDiffEq", "Random", "ReferenceTests", "SafeTestsets", "SteadyStateDiffEq", "Test", "StochasticDiffEq", "Sundials"]

docs/pages.jl

@@ -8,7 +8,6 @@ pages = [
                                          "tutorials/nonlinear.md",
                                          "tutorials/optimization.md",
                                          "tutorials/stochastic_diffeq.md",
-                                         "tutorials/nonlinear_optimal_control.md",
                                          "tutorials/parameter_identifiability.md"],
     "ModelingToolkitize Tutorials" => Any["mtkitize_tutorials/modelingtoolkitize.md",
                                           "mtkitize_tutorials/modelingtoolkitize_index_reduction.md",
@@ -25,7 +24,6 @@ pages = [
                           "systems/JumpSystem.md",
                           "systems/NonlinearSystem.md",
                           "systems/OptimizationSystem.md",
-                          "systems/ControlSystem.md",
                           "systems/PDESystem.md"],
     "comparison.md",
     "internals.md",

docs/src/systems/ControlSystem.md

@@ -12,7 +12,7 @@ using Latexify, Unitful, ArrayInterfaceCore
 using MacroTools
 @reexport using UnPack
 using Setfield, ConstructionBase
-using DiffEqJump
+using JumpProcesses
 using DataStructures
 using SpecialFunctions, NaNMath
 using RuntimeGeneratedFunctions
@@ -60,8 +60,6 @@ import DiffEqBase: @add_kwonly
 
 import Graphs: SimpleDiGraph, add_edge!, incidence_matrix
 
-using Requires
-
 for fun in [:toexpr]
     @eval begin
         function $fun(eq::Equation; kw...)
@@ -137,8 +135,6 @@ include("systems/nonlinear/modelingtoolkitize.jl")
 
 include("systems/optimization/optimizationsystem.jl")
 
-include("systems/control/controlsystem.jl")
-
 include("systems/pde/pdesystem.jl")
 
 include("systems/sparsematrixclil.jl")
@@ -173,13 +169,11 @@ export AutoModelingToolkit
 export SteadyStateProblem, SteadyStateProblemExpr
 export JumpProblem, DiscreteProblem
 export NonlinearSystem, OptimizationSystem
-export ControlSystem
 export alias_elimination, flatten
 export connect, @connector, Connection, Flow, Stream, instream
 export isinput, isoutput, getbounds, hasbounds, isdisturbance, istunable, getdist, hasdist,
        tunable_parameters, isirreducible
 export ode_order_lowering, dae_order_lowering, liouville_transform
-export runge_kutta_discretize
 export PDESystem
 export Differential, expand_derivatives, @derivatives
 export Equation, ConstrainedEquation

docs/src/tutorials/nonlinear_optimal_control.md

@@ -184,6 +184,53 @@ function complete(g::BipartiteGraph{I}) where {I}
     BipartiteGraph(g.ne, g.fadjlist, badjlist)
 end
 
+# Matrix whose only purpose is to pretty-print the bipartite graph
+struct BipartiteAdjacencyList
+    u::Union{Vector{Int}, Nothing}
+end
+function Base.show(io::IO, l::BipartiteAdjacencyList)
+    if l.u === nothing
+        printstyled(io, '⋅', color = :light_black)
+    elseif isempty(l.u)
+        printstyled(io, '∅', color = :light_black)
+    else
+        print(io, l.u)
+    end
+end
+
+struct Label
+    s::String
+end
+Base.show(io::IO, l::Label) = print(io, l.s)
+
+struct BipartiteGraphPrintMatrix <:
+       AbstractMatrix{Union{Label, Int, BipartiteAdjacencyList}}
+    bpg::BipartiteGraph
+end
+Base.size(bgpm::BipartiteGraphPrintMatrix) = (max(nsrcs(bgpm.bpg), ndsts(bgpm.bpg)) + 1, 3)
+function Base.getindex(bgpm::BipartiteGraphPrintMatrix, i::Integer, j::Integer)
+    checkbounds(bgpm, i, j)
+    if i == 1
+        return (Label.(("#", "src", "dst")))[j]
+    elseif j == 1
+        return i - 1
+    elseif j == 2
+        return BipartiteAdjacencyList(i - 1 <= nsrcs(bgpm.bpg) ?
+                                      𝑠neighbors(bgpm.bpg, i - 1) : nothing)
+    elseif j == 3
+        return BipartiteAdjacencyList(i - 1 <= ndsts(bgpm.bpg) ?
+                                      𝑑neighbors(bgpm.bpg, i - 1) : nothing)
+    else
+        @assert false
+    end
+end
+
+function Base.show(io::IO, b::BipartiteGraph)
+    print(io, "BipartiteGraph with (", length(b.fadjlist), ", ",
+          isa(b.badjlist, Int) ? b.badjlist : length(b.badjlist), ") (𝑠,𝑑)-vertices\n")
+    Base.print_matrix(io, BipartiteGraphPrintMatrix(b))
+end
+
 """
 ```julia
 Base.isequal(bg1::BipartiteGraph{T}, bg2::BipartiteGraph{T}) where {T<:Integer}

src/ModelingToolkit.jl

@@ -282,12 +282,14 @@ affect. The generated function has the signature `affect!(integrator)`.
 Notes
 - `expression = Val{true}`, causes the generated function to be returned as an expression.
   If  set to `Val{false}` a `RuntimeGeneratedFunction` will be returned.
-- `outputidxs`, a vector of indices of the states that correspond to outputs.
+- `outputidxs`, a vector of indices of the output variables which should correspond to
+  `states(sys)`. If provided, checks that the LHS of affect equations are variables are
+  dropped, i.e. it is assumed these indices are correct and affect equations are
+  well-formed.
 - `kwargs` are passed through to `Symbolics.build_function`.
 """
 function compile_affect(eqs::Vector{Equation}, sys, dvs, ps; outputidxs = nothing,
-                        expression = Val{true},
-                        kwargs...)
+                        expression = Val{true}, checkvars = true, kwargs...)
     if isempty(eqs)
         if expression == Val{true}
             return :((args...) -> ())
@@ -299,6 +301,8 @@ function compile_affect(eqs::Vector{Equation}, sys, dvs, ps; outputidxs = nothin
         outvar = :u
         if outputidxs === nothing
             lhss = map(x -> x.lhs, eqs)
+            all(isvariable, lhss) ||
+                error("Non-variable symbolic expression found on the left hand side of an affect equation. Such equations must be of the form variable ~ symbolic expression for the new value of the variable.")
             update_vars = collect(Iterators.flatten(map(ModelingToolkit.vars, lhss))) # these are the ones we're changing
             length(update_vars) == length(unique(update_vars)) == length(eqs) ||
                 error("affected variables not unique, each state can only be affected by one equation for a single `root_eqs => affects` pair.")
@@ -318,8 +322,13 @@ function compile_affect(eqs::Vector{Equation}, sys, dvs, ps; outputidxs = nothin
             update_inds = outputidxs
         end
 
-        u = map(x -> time_varying_as_func(value(x), sys), dvs)
-        p = map(x -> time_varying_as_func(value(x), sys), ps)
+        if checkvars
+            u = map(x -> time_varying_as_func(value(x), sys), dvs)
+            p = map(x -> time_varying_as_func(value(x), sys), ps)
+        else
+            u = dvs
+            p = ps
+        end
         t = get_iv(sys)
         rf_oop, rf_ip = build_function(rhss, u, p, t; expression = expression,
                                        wrap_code = add_integrator_header(outvar),
@@ -483,4 +492,4 @@ function process_events(sys; callback = nothing, has_difference = false, kwargs.
     # cb = merge_cb(cb, callback)
     # @show typeof(cbs),cbs
     cb
-end
+end