Merge branch 'SciML:master' into iss3707

Author: fchen121

.github/workflows/Downstream.yml

@@ -6,6 +6,7 @@ on:
   pull_request:
     paths-ignore:
         - 'docs/**'
+        - 'benchmark/**'
 
 concurrency:
   # Skip intermediate builds: always, but for the master branch and tags.
@@ -26,6 +27,7 @@ jobs:
         os: [ubuntu-latest]
         package:
           - {user: SciML, repo: SciMLBase.jl, group: Downstream}
+          - {user: SciML, repo: SciMLBase.jl, group: SymbolicIndexingInterface}
           - {user: SciML, repo: Catalyst.jl, group: All}
           - {user: SciML, repo: CellMLToolkit.jl, group: Core}
           - {user: SciML, repo: SBMLToolkit.jl, group: All}

.github/workflows/ReleaseTest.yml

@@ -6,6 +6,7 @@ on:
   pull_request:
     paths-ignore:
         - 'docs/**'
+        - 'benchmark/**'
 
 concurrency:
   # Skip intermediate builds: always, but for the master branch and tags.

.github/workflows/Tests.yml

@@ -13,6 +13,7 @@ on:
       - master
     paths-ignore:
       - 'docs/**'
+      - 'benchmark/**'
 
 concurrency:
   # Skip intermediate builds: always, but for the master branch.

.github/workflows/benchmark.yml

@@ -22,3 +22,5 @@ jobs:
       - uses: MilesCranmer/AirspeedVelocity.jl@action-v1
         with:
           julia-version: "${{ matrix.version }}"
+          script: "benchmark/benchmarks.jl"
+          extra-pkgs: "ModelingToolkitStandardLibrary,OrdinaryDiffEqDefault"

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 = "10.2.0"
+version = "10.5.0"
 
 [deps]
 ADTypes = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
@@ -98,7 +98,7 @@ Combinatorics = "1"
 CommonSolve = "0.2.4"
 Compat = "3.42, 4"
 ConstructionBase = "1"
-DataInterpolations = "6.4"
+DataInterpolations = "7, 8"
 DataStructures = "0.17, 0.18"
 DeepDiffs = "1"
 DelayDiffEq = "5.50"
@@ -129,6 +129,7 @@ LabelledArrays = "1.3"
 Latexify = "0.11, 0.12, 0.13, 0.14, 0.15, 0.16"
 Libdl = "1"
 LinearAlgebra = "1"
+LinearSolve = "3"
 Logging = "1"
 MLStyle = "0.4.17"
 ModelingToolkitStandardLibrary = "2.20"
@@ -148,7 +149,7 @@ RecursiveArrayTools = "3.26"
 Reexport = "0.2, 1"
 RuntimeGeneratedFunctions = "0.5.9"
 SCCNonlinearSolve = "1.0.0"
-SciMLBase = "2.91.1"
+SciMLBase = "2.100.0"
 SciMLPublic = "1.0.0"
 SciMLStructures = "1.7"
 Serialization = "1"
@@ -180,6 +181,7 @@ ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
 Ipopt_jll = "9cc047cb-c261-5740-88fc-0cf96f7bdcc7"
 JET = "c3a54625-cd67-489e-a8e7-0a5a0ff4e31b"
+LinearSolve = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae"
 Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
 ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"
 NonlinearSolve = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
@@ -205,4 +207,4 @@ Sundials = "c3572dad-4567-51f8-b174-8c6c989267f4"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["AmplNLWriter", "BenchmarkTools", "BoundaryValueDiffEqMIRK", "BoundaryValueDiffEqAscher", "ControlSystemsBase", "DataInterpolations", "DelayDiffEq", "NonlinearSolve", "ForwardDiff", "Ipopt", "Ipopt_jll", "ModelingToolkitStandardLibrary", "Optimization", "OptimizationOptimJL", "OptimizationMOI", "OrdinaryDiffEq", "OrdinaryDiffEqCore", "OrdinaryDiffEqDefault", "REPL", "Random", "ReferenceTests", "SafeTestsets", "StableRNGs", "Statistics", "SteadyStateDiffEq", "Test", "StochasticDiffEq", "Sundials", "StochasticDelayDiffEq", "Pkg", "JET", "OrdinaryDiffEqNonlinearSolve", "Logging", "OptimizationBase"]
+test = ["AmplNLWriter", "BenchmarkTools", "BoundaryValueDiffEqMIRK", "BoundaryValueDiffEqAscher", "ControlSystemsBase", "DataInterpolations", "DelayDiffEq", "NonlinearSolve", "ForwardDiff", "Ipopt", "Ipopt_jll", "ModelingToolkitStandardLibrary", "Optimization", "OptimizationOptimJL", "OptimizationMOI", "OrdinaryDiffEq", "OrdinaryDiffEqCore", "OrdinaryDiffEqDefault", "REPL", "Random", "ReferenceTests", "SafeTestsets", "StableRNGs", "Statistics", "SteadyStateDiffEq", "Test", "StochasticDiffEq", "Sundials", "StochasticDelayDiffEq", "Pkg", "JET", "OrdinaryDiffEqNonlinearSolve", "Logging", "OptimizationBase", "LinearSolve"]

benchmark/Project.toml

@@ -1,6 +1,8 @@
 using ModelingToolkit, BenchmarkTools
 using ModelingToolkitStandardLibrary
-using ModelingToolkitStandardLibrary.Thermal
+using ModelingToolkitStandardLibrary.Electrical
+using ModelingToolkitStandardLibrary.Mechanical.Rotational
+using ModelingToolkitStandardLibrary.Blocks
 using OrdinaryDiffEqDefault
 
 const SUITE = BenchmarkGroup()
@@ -51,4 +53,4 @@ tspan = (0.0, 6.0)
 SUITE["ODEProblem"] = @benchmarkable ODEProblem($model, $u0, $tspan)
 
 prob = ODEProblem(model, u0, tspan)
-SUITE["init"] = init($prob)
+SUITE["init"] = @benchmarkable init($prob)

benchmark/benchmarks.jl

@@ -35,7 +35,7 @@ Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
 Attractors = "1.24"
 BenchmarkTools = "1.3"
 BifurcationKit = "0.4"
-CairoMakie = "0.13"
+CairoMakie = "0.13, 0.15"
 CommonSolve = "0.2"
 DataInterpolations = "6.5, 8"
 DiffEqDevTools = "2"

docs/Project.toml

@@ -21,6 +21,8 @@ ModelingToolkit.generate_constraint_hessian
 ModelingToolkit.generate_control_jacobian
 ModelingToolkit.build_explicit_observed_function
 ModelingToolkit.generate_control_function
+ModelingToolkit.generate_update_A
+ModelingToolkit.generate_update_b
 ```
 
 For functions such as jacobian calculation which require symbolic computation, there
@@ -42,6 +44,7 @@ ModelingToolkit.cost_hessian_sparsity
 ModelingToolkit.calculate_constraint_jacobian
 ModelingToolkit.calculate_constraint_hessian
 ModelingToolkit.calculate_control_jacobian
+ModelingToolkit.calculate_A_b
 ```
 
 All code generation eventually calls `build_function_wrapper`.

docs/src/API/codegen.md

@@ -1,4 +1,4 @@
-### Solvers
+# [Dynamic Optimization Solvers](@id dynamic_opt_api)
 
 Currently 4 backends are exposed for solving dynamic optimization problems using collocation: JuMP, InfiniteOpt, CasADi, and Pyomo.