fix: update InfiniteOpt extension to new semantics

Author: AayushSabharwal

ext/MTKInfiniteOptExt.jl

@@ -166,13 +166,12 @@ function set_jump_bounds!(model, sys, pmap)
 end
 
 function add_jump_cost_function!(model::InfiniteModel, sys, tspan, pmap; is_free_t = false)
-    jcosts = MTK.get_costs(sys)
-    consolidate = MTK.get_consolidate(sys)
-    if isnothing(jcosts) || isempty(jcosts)
+    jcosts = cost(sys)
+    if Symbolics._iszero(jcosts)
         @objective(model, Min, 0)
         return
     end
-    jcosts = substitute_jump_vars(model, sys, pmap, jcosts; is_free_t)
+    jcosts = substitute_jump_vars(model, sys, pmap, [jcosts]; is_free_t)[1]
     tₛ = is_free_t ? model[:tf] : 1
 
     # Substitute integral
@@ -187,13 +186,12 @@ function add_jump_cost_function!(model::InfiniteModel, sys, tspan, pmap; is_free
         hi = haskey(pmap, hi) ? 1 : MTK.value(hi)
         intmap[int] = tₛ * InfiniteOpt.∫(arg, model[:t], lo, hi)
     end
-    jcosts = map(c -> Symbolics.substitute(c, intmap), jcosts)
-    @objective(model, Min, consolidate(jcosts))
+    jcosts = Symbolics.substitute(jcosts, intmap)
+    @objective(model, Min, MTK.value(jcosts))
 end
 
 function add_user_constraints!(model::InfiniteModel, sys, pmap; is_free_t = false)
-    conssys = MTK.get_constraintsystem(sys)
-    jconstraints = isnothing(conssys) ? nothing : MTK.get_constraints(conssys)
+    jconstraints = MTK.get_constraints(sys)
     (isnothing(jconstraints) || isempty(jconstraints)) && return nothing
 
     if is_free_t
@@ -206,7 +204,10 @@ function add_user_constraints!(model::InfiniteModel, sys, pmap; is_free_t = fals
         end
     end
 
-    auxmap = Dict([u => MTK.default_toterm(MTK.value(u)) for u in unknowns(conssys)])
+    cons_dvs, cons_ps = MTK.process_constraint_system(
+        jconstraints, Set(unknowns(sys)), parameters(sys), MTK.get_iv(sys))
+
+    auxmap = Dict([u => MTK.default_toterm(MTK.value(u)) for u in cons_dvs])
     jconstraints = substitute_jump_vars(model, sys, pmap, jconstraints; auxmap, is_free_t)
 
     # Substitute to-term'd variables