refactor: update to new problem syntax

Author: AayushSabharwal

Project.toml

@@ -19,8 +19,8 @@ ChainRulesCore = "1.24"
 ControlSystemsBase = "1.4"
 DataFrames = "1.7"
 DataInterpolations = "6"
-ForwardDiff = "0.10"
 DiffEqBase = "6.152"
+ForwardDiff = "0.10"
 IfElse = "0.1"
 LinearAlgebra = "1.10"
 ModelingToolkit = "9.47, 10"

docs/src/connectors/connections.md

@@ -113,7 +113,7 @@ nothing # hide
 The solution shows what we would expect, a non-linear dissipation of voltage and related decrease in current flow…
 
 ```@example connections
-prob = ODEProblem(sys, [1.0], (0, 10.0), [])
+prob = ODEProblem(sys, [1.0], (0, 10.0))
 sol = solve(prob)
 
 p1 = plot(sol, idxs = [capacitor.v])
@@ -156,7 +156,7 @@ As expected, we have a similar solution…
 
 ```@example connections
 prob = ODEProblem(
-    sys, [], (0, 10.0), []; initialization_eqs = [sys.body.s ~ 0, sys.body.v ~ 1])
+    sys, [], (0, 10.0); initialization_eqs = [sys.body.s ~ 0, sys.body.v ~ 1])
 sol_v = solve(prob)
 
 p1 = plot(sol_v, idxs = [body.v])
@@ -191,7 +191,7 @@ nothing # hide
 As can be seen, we get exactly the same result.  The only difference here is that we are solving an extra equation, which allows us to plot the body position as well.
 
 ```@example connections
-prob = ODEProblem(sys, [], (0, 10.0), [], fully_determined=true)
+prob = ODEProblem(sys, [], (0, 10.0), fully_determined=true)
 sol_p = solve(prob)
 
 p1 = plot(sol_p, idxs = [body.v])
@@ -281,7 +281,7 @@ function simplify_and_solve(damping, spring, body, ground; initialization_eqs =
 
     println.(full_equations(sys))
 
-    prob = ODEProblem(sys, [], (0, 10.0), []; initialization_eqs, fully_determined=true)
+    prob = ODEProblem(sys, [], (0, 10.0); initialization_eqs, fully_determined=true)
     sol = solve(prob; abstol = 1e-9, reltol = 1e-9)
 
     return sol

src/Mechanical/TranslationalPosition/sources.jl

@@ -10,9 +10,11 @@ Input signal acting as external force on a flange
         s = 0
     end
     @components begin
-        flange = Flange(; s = s)
         f = RealInput()
     end
+    begin
+        defaults[flange.s] = s
+    end
     @equations begin
         flange.f ~ -f.u
     end

test/Blocks/sources.jl

@@ -437,9 +437,8 @@ end
         sys = mtkcompile(iosys)
         s = complete(iosys)
         prob = ODEProblem(sys,
-            [],
-            (0.0, t_end),
-            [s.src.buffer => Parameter(x, dt)];
+            [s.src.buffer => Parameter(x, dt)],
+            (0.0, t_end);
             tofloat = false)
         # prob = remake(prob; p = Parameter.(prob.p)) #<-- no longer needed with ModelingToolkit.jl PR #2231
 
@@ -467,9 +466,8 @@ end
         sys = mtkcompile(iosys)
         s = complete(iosys)
         prob = ODEProblem(sys,
-            [],
-            (0.0, t_end),
-            [s.src.buffer => x, s.src.sample_time => dt];
+            [s.src.buffer => x, s.src.sample_time => dt],
+            (0.0, t_end);
             tofloat = false)
 
         sol = solve(prob, Rodas4())

test/Hydraulic/isothermal_compressible.jl

@@ -10,7 +10,7 @@ NEWTON = NLNewton(
     check_div = false, always_new = true, max_iter = 100, relax = 9 // 10, κ = 1e-6)
 
 @testset "Fluid Domain and Tube" begin
-    function System(N; bulk_modulus, name)
+    function FluidSystem(N; bulk_modulus, name)
         pars = @parameters begin
             bulk_modulus = bulk_modulus
             p_int = 0
@@ -33,9 +33,9 @@ NEWTON = NLNewton(
         System(eqs, t, [], pars; name, systems)
     end
 
-    @mtkcompile s1_1 = System(1; bulk_modulus = 1e9)
-    @mtkcompile s1_2 = System(1; bulk_modulus = 2e9)
-    @mtkcompile s5_1 = System(5; bulk_modulus = 1e9)
+    @mtkcompile s1_1 = FluidSystem(1; bulk_modulus = 1e9)
+    @mtkcompile s1_2 = FluidSystem(1; bulk_modulus = 2e9)
+    @mtkcompile s5_1 = FluidSystem(5; bulk_modulus = 1e9)
 
     p1_1 = ODEProblem(s1_1, [], (0, 0.05))
     p1_2 = ODEProblem(s1_2, [], (0, 0.05))
@@ -61,7 +61,7 @@ NEWTON = NLNewton(
 end
 
 @testset "Valve" begin
-    function System(; name)
+    function ValveSystem(; name)
         pars = []
 
         systems = @named begin
@@ -81,7 +81,7 @@ end
         System(eqs, t, [], pars; name, systems)
     end
 
-    @named valve_system = System()
+    @named valve_system = ValveSystem()
     sys = mtkcompile(valve_system)
     prob = ODEProblem(sys, [], (0, 1))
     sol = solve(prob, Rodas5P(); abstol = 1e-6, reltol = 1e-9)
@@ -98,7 +98,7 @@ end
 end
 
 @testset "DynamicVolume and minimum_volume feature" begin # Need help here
-    function System(; name, area = 0.01, length = 0.1, damping_volume = length * area * 0.1)
+    function TestSystem(; name, area = 0.01, length = 0.1, damping_volume = length * area * 0.1)
         pars = []
 
         # DynamicVolume values
@@ -148,7 +148,7 @@ end
         System(eqs, t, [], pars; name, systems, initialization_eqs)
     end
 
-    @named sys = System()
+    @named sys = TestSystem()
     sys = mtkcompile(sys; allow_symbolic = true)
     prob = ODEProblem(sys, [], (0, 5))
     sol = solve(prob, Rodas5P(); abstol = 1e-6, reltol = 1e-9)
@@ -190,7 +190,7 @@ end
 end
 
 @testset "Actuator System" begin
-    function System(use_input; name)
+    function ActuatorSystem(use_input; name)
         pars = @parameters begin
             p_s = 200e5
             p_r = 5e5
@@ -280,12 +280,12 @@ end
         System(eqs, t, vars, pars; name, systems, initialization_eqs)
     end
 
-    @mtkcompile initsys = System(false)
+    @mtkcompile initsys = ActuatorSystem(false)
 
     initprob = ODEProblem(initsys, [], (0, 0))
     initsol = solve(initprob, Rodas5P())
 
-    @mtkcompile sys = System(true)
+    @mtkcompile sys = ActuatorSystem(true)
 
     dt = 1e-4
     time = 0:dt:0.1
@@ -318,7 +318,7 @@ end
 end
 
 @testset "Prevent Negative Pressure" begin
-    @component function System(; name)
+    @component function HydraulicSystem(; name)
         pars = @parameters let_gas = 1
 
         systems = @named begin
@@ -338,11 +338,11 @@ end
         return System(eqs, t, [], pars; name, systems, initialization_eqs)
     end
 
-    @mtkcompile sys = System()
+    @mtkcompile sys = HydraulicSystem()
 
     prob1 = ODEProblem(sys, [], (0, 0.05))
     # prob1 = remake(prob1; u0 = BigFloat.(prob1.u0))
-    prob2 = ODEProblem(sys, [], (0, 0.05), [sys.let_gas => 0])
+    prob2 = ODEProblem(sys, [sys.let_gas => 0], (0, 0.05))
 
     # @time sol1 = solve(prob1, Rodas5P(); abstol=1e-9, reltol=1e-9) #BUG: Using BigFloat gives... ERROR: MethodError: no method matching getindex(::Missing, ::Int64)
     @time sol1 = solve(prob1, Rodas5P(); adaptive = false, dt = 1e-6) #TODO: fix BigFloat to implement abstol=1e-9, reltol=1e-9

test/Mechanical/rotational.jl

@@ -30,7 +30,7 @@ using OrdinaryDiffEq: ReturnCode.Success
     @test SciMLBase.successful_retcode(sol1)
 
     prob = DAEProblem(
-        sys, D.(unknowns(sys)) .=> 0.0, [D(D(sys.inertia2.phi)) => 0.0], (0, 10.0))
+        sys, [D.(unknowns(sys)) .=> 0.0; [D(D(sys.inertia2.phi)) => 0.0]], (0, 10.0))
     dae_sol = solve(prob, DFBDF())
     @test SciMLBase.successful_retcode(dae_sol)
     @test all(dae_sol[sys.inertia1.w] .== 0)
@@ -88,8 +88,8 @@ end
     end
 
     @mtkcompile sys = TwoInertiasWithDrivingTorque()
-    prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0,
-        [D(D(sys.inertia2.phi)) => 1.0, sys.spring.flange_b.phi => 0.0], (0, 10.0))
+    prob = DAEProblem(sys, [D.(unknowns(sys)) .=> 0.0;
+        [D(D(sys.inertia2.phi)) => 1.0, sys.spring.flange_b.phi => 0.0]], (0, 10.0))
     sol = solve(prob, DFBDF())
     @test SciMLBase.successful_retcode(sol)
 
@@ -215,8 +215,8 @@ end
     end
 
     @mtkcompile sys = StickSlip()
-    prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0,
-        [sys.inertia.flange_b.tau => 0.0; unknowns(sys) .=> 0.0...], (0, 10.0))
+    prob = DAEProblem(sys, [D.(unknowns(sys)) .=> 0.0;
+        [sys.inertia.flange_b.tau => 0.0; unknowns(sys) .=> 0.0...]], (0, 10.0))
 
     sol = solve(prob, DFBDF())
     @test SciMLBase.successful_retcode(sol)
@@ -264,7 +264,7 @@ end
     @test all(sol[sys.torque_sensor.tau.u] .== -sol[sys.inertia1.flange_b.tau])
 
     prob = DAEProblem(
-        sys, D.(unknowns(sys)) .=> 0.0, [D(D(sys.inertia2.phi)) => 0.0], (0, 10.0))
+        sys, [D.(unknowns(sys)) .=> 0.0; [D(D(sys.inertia2.phi)) => 0.0]], (0, 10.0))
     sol = solve(prob, DFBDF())
     @test SciMLBase.successful_retcode(sol)
     @test all(sol[sys.inertia1.w] .== 0)

test/Mechanical/translational.jl

@@ -6,7 +6,7 @@ import ModelingToolkitStandardLibrary.Mechanical.Translational as TV
 import ModelingToolkitStandardLibrary.Mechanical.TranslationalPosition as TP
 
 @testset "Free" begin
-    function System(; name)
+    function TestSystem(; name)
         systems = @named begin
             acc = TV.Acceleration(false)
             a = Constant(; k = -10)
@@ -20,7 +20,7 @@ import ModelingToolkitStandardLibrary.Mechanical.TranslationalPosition as TP
         System(eqs, t, [], []; name, systems)
     end
 
-    @named system = System()
+    @named system = TestSystem()
     s = complete(system)
     sys = mtkcompile(system)
     prob = ODEProblem(sys, [s.mass.s => 0], (0, 0.1))
@@ -53,7 +53,7 @@ end
         sys = mtkcompile(model)
 
         prob = ODEProblem(
-            sys, [], (0, 20.0), []; initialization_eqs, fully_determined = true)
+            sys, [], (0, 20.0); initialization_eqs, fully_determined = true)
         sol = solve(prob; abstol = 1e-9, reltol = 1e-9)
 
         return sol
@@ -88,7 +88,7 @@ end
 
     @named source = Sine(frequency = 3, amplitude = 2)
 
-    function System(damping, spring, body, ground, f, source)
+    function TestSystem(damping, spring, body, ground, f, source)
         eqs = [connect(f.f, source.output)
                connect(f.flange, body.flange)
                connect(spring.flange_a, body.flange, damping.flange_a)
@@ -100,15 +100,15 @@ end
         return model
     end
 
-    model = System(dv, sv, bv, gv, fv, source)
+    model = TestSystem(dv, sv, bv, gv, fv, source)
     sys = mtkcompile(model)
     prob = ODEProblem(
-        sys, [bv.s => 0, sv.delta_s => 1], (0, 20.0), [], fully_determined = true)
+        sys, [bv.s => 0, sv.delta_s => 1], (0, 20.0), fully_determined = true)
     solv = solve(prob, Rodas4())
 
-    model = System(dp, sp, bp, gp, fp, source)
+    model = TestSystem(dp, sp, bp, gp, fp, source)
     sys = mtkcompile(model)
-    prob = ODEProblem(sys, [], (0, 20.0), [], fully_determined = true)
+    prob = ODEProblem(sys, [], (0, 20.0), fully_determined = true)
     solp = solve(prob, Rodas4())
 
     for sol in (solv, solp)
@@ -121,7 +121,7 @@ end
 @testset "sources & sensors" begin
     @testset "Translational" begin
         @testset "PositionSensor & ForceSensor" begin
-            function System(; name)
+            function TestSystem(; name)
                 systems = @named begin
                     pos = TV.Position()
                     pos_sensor = TV.PositionSensor(; s = 1)
@@ -148,7 +148,7 @@ end
                 System(eqs, t, [], []; name, systems)
             end
 
-            @named system = System()
+            @named system = TestSystem()
             s = complete(system)
             sys = mtkcompile(system)
             prob = ODEProblem(sys, [], (0, 1 / 400))
@@ -231,7 +231,7 @@ end
             @named sys = System(
                 eqs, t, [], []; systems = [force, source, mass, acc, acc_output])
             s = complete(mtkcompile(sys))
-            prob = ODEProblem(s, [mass.s => 0], (0.0, pi), fully_determined = true)
+            prob = ODEProblem(s, (0.0, pi), fully_determined = true)
             sol = solve(prob, Tsit5())
             @test sol[sys.acc_output.u] ≈ (sol[sys.mass.f] ./ m)
         end

test/Mechanical/translational_modelica.jl

@@ -23,7 +23,7 @@ using ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica: Damper, S
 
     @mtkcompile sys = SpringDamperMassFixed()
 
-    prob = ODEProblem(sys, [], (0, 20.0), [])
+    prob = ODEProblem(sys, [], (0, 20.0))
     sol = solve(prob, ImplicitMidpoint(), dt = 0.01)
 
     @test sol[sys.mass.v][1] == 1.0
@@ -51,7 +51,7 @@ end
 
     @mtkcompile sys = DrivenSpringDamperMass()
 
-    prob = ODEProblem(sys, [], (0, 20.0), [])
+    prob = ODEProblem(sys, [], (0, 20.0))
     sol = solve(prob, Rodas4())
 
     lb, ub = extrema(sol(15:0.05:20, idxs = sys.mass.v).u)
@@ -79,7 +79,7 @@ end
 
     @mtkcompile sys = DrivenSpringDamperMass2()
 
-    prob = ODEProblem(sys, [], (0, 20.0), [])
+    prob = ODEProblem(sys, [], (0, 20.0))
     sol = solve(prob, Rodas4())
 
     lb, ub = extrema(sol(15:0.05:20, idxs = sys.mass.v).u)

test/multi_domain.jl

@@ -69,7 +69,7 @@ using OrdinaryDiffEq: ReturnCode.Success
     @test sol[dc_motor.emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
 
     @test_skip begin
-        prob = DAEProblem(dc_motor, D.(unknowns(dc_motor)) .=> 0.0, Pair[], (0, 6.0))
+        prob = DAEProblem(dc_motor, D.(unknowns(dc_motor)) .=> 0.0, (0, 6.0))
         sol = solve(prob, DFBDF())
         @test sol.retcode == Success
         # EMF equations
@@ -156,7 +156,7 @@ end
     @test all(sol[sys.inertia.w] .== sol[sys.speed_sensor.w.u])
 
     @test_skip begin
-        prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, Pair[], (0, 6.0))
+        prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, (0, 6.0))
         sol = solve(prob, DFBDF())
         @test sol.retcode == Success
         # EMF equations