format and cleanup

Author: Brad Carman

src/Hydraulic/IsothermalCompressible/components.jl

@@ -11,8 +11,7 @@ Caps a hydraulic port to prevent mass flow in or out.
 - `port`: hydraulic port
 """
 @component function Cap(; name)
-    
-    vars = @variables p(t), [guess=0]
+    vars = @variables p(t), [guess = 0]
 
     systems = @named begin
         port = HydraulicPort()
@@ -39,8 +38,8 @@ Provides an "open" boundary condition for a hydraulic port such that mass flow `
     pars = []
 
     vars = @variables begin
-        p(t), [guess=0]
-        dm(t), [guess=0]
+        p(t), [guess = 0]
+        dm(t), [guess = 0]
     end
 
     systems = @named begin
@@ -73,12 +72,12 @@ Variable length internal flow model of the fully developed incompressible flow f
 - `port_a`: hydraulic port
 - `port_b`: hydraulic port
 """
-@component function TubeBase(add_inertia = true, variable_length = true; 
+@component function TubeBase(add_inertia = true, variable_length = true;
         area,
-        length_int, 
+        length_int,
         head_factor = 1,
         perimeter = 2 * sqrt(area * pi),
-        shape_factor = 64, 
+        shape_factor = 64,
         name)
     pars = @parameters begin
         area = area
@@ -89,8 +88,8 @@ Variable length internal flow model of the fully developed incompressible flow f
     end
 
     @variables begin
-        x(t), [guess=length_int]
-        ddm(t), [guess=0]
+        x(t), [guess = length_int]
+        ddm(t), [guess = 0]
     end
 
     vars = []
@@ -248,8 +247,8 @@ Reduces the flow from `port_a` to `port_b` by `n`.  Useful for modeling parallel
     end
 
     vars = @variables begin
-        dm_a(t), [guess=0]
-        dm_b(t), [guess=0]
+        dm_a(t), [guess = 0]
+        dm_b(t), [guess = 0]
     end
 
     systems = @named begin
@@ -268,7 +267,8 @@ Reduces the flow from `port_a` to `port_b` by `n`.  Useful for modeling parallel
     ODESystem(eqs, t, vars, pars; name, systems)
 end
 
-@component function ValveBase(reversible = false; minimum_area = 0, Cd, Cd_reverse = Cd, name)
+@component function ValveBase(
+        reversible = false; minimum_area = 0, Cd, Cd_reverse = Cd, name)
     pars = @parameters begin
         Cd = Cd
         Cd_reverse = Cd_reverse
@@ -281,7 +281,7 @@ end
     end
 
     vars = @variables begin
-        area(t) 
+        area(t)
         y(t)
     end
 
@@ -369,10 +369,10 @@ end
     end
 
     vars = @variables begin
-        x(t) 
-        dx(t), [guess=0]
+        x(t)
+        dx(t), [guess = 0]
         rho(t), [guess = liquid_density(port)]
-        drho(t), [guess=0]
+        drho(t), [guess = 0]
         vol(t) # = dead_volume + area * x_int
     end
 
@@ -551,7 +551,7 @@ dm ────►               │  │ area
 - `flange`: mechanical translational port
 """
 @component function DynamicVolume(N, add_inertia = true, reversible = false;
-     #   p_int,
+        #   p_int,
         area,
         x_int = 0,
         x_max,
@@ -575,7 +575,7 @@ dm ────►               │  │ area
 
     #TODO: How to set an assert effective_length >= length ??
     pars = @parameters begin
-    #    p_int = p_int
+        #    p_int = p_int
         area = area
 
         x_int = x_int
@@ -619,7 +619,7 @@ dm ────►               │  │ area
     #TODO: How to handle x_int?
     #TODO: Handle direction
     @named moving_volume = VolumeBase(;
-    #    x_int = 0,
+        #    x_int = 0,
         area,
         dead_volume = N == 0 ? area * x_int : 0,
         Χ1 = N == 0 ? 1 : 0,
@@ -651,7 +651,7 @@ dm ────►               │  │ area
                     zero(Δx)))
 
             comp = VolumeBase(; name = Symbol("v$i"),
-            #    x_int = 0,
+                #    x_int = 0,
                 area = ParentScope(area),
                 dead_volume = ParentScope(area) * length, Χ1 = 1, Χ2 = 0)
 
@@ -711,14 +711,14 @@ See [`Valve`](@ref) for more information.
     end
 
     systems = @named begin
-        port_a = HydraulicPort(; )
-        port_b = HydraulicPort(; )
+        port_a = HydraulicPort(;)
+        port_b = HydraulicPort(;)
         flange = MechanicalPort()
         valve = ValveBase(reversible; Cd)
     end
 
     vars = @variables begin
-        x(t) 
+        x(t)
         dx(t)
     end
 
@@ -759,7 +759,6 @@ See [`SpoolValve`](@ref) for more information.
 """
 @component function SpoolValve2Way(reversible = false; m, g, Cd, d, name)
     pars = @parameters begin
-
         m = m
         g = g
 
@@ -774,10 +773,10 @@ See [`SpoolValve`](@ref) for more information.
         vSA = SpoolValve(reversible; Cd, d)
         vBR = SpoolValve(reversible; Cd, d)
 
-        port_s = HydraulicPort(; )
-        port_a = HydraulicPort(; )
-        port_b = HydraulicPort(; )
-        port_r = HydraulicPort(; )
+        port_s = HydraulicPort(;)
+        port_a = HydraulicPort(;)
+        port_b = HydraulicPort(;)
+        port_r = HydraulicPort(;)
 
         mass = Mass(; m = m, g = g)
 
@@ -942,10 +941,10 @@ Actuator made of two DynamicVolumes connected in opposite direction with body ma
     end
 
     eqs = [connect(vol_a.port, port_a)
-        connect(vol_b.port, port_b)
-        connect(vol_a.flange, vol_b.flange, mass.flange, flange)
-        D(x) ~ dx
-        dx ~ vol_a.flange.v]
+           connect(vol_b.port, port_b)
+           connect(vol_a.flange, vol_b.flange, mass.flange, flange)
+           D(x) ~ dx
+           dx ~ vol_a.flange.v]
 
     ODESystem(eqs, t, vars, pars; name, systems)
 end

src/Hydraulic/IsothermalCompressible/utils.jl

@@ -1,6 +1,6 @@
 import ChainRulesCore
 
-regPow(x, a, delta = 0.01) =  x * (x * x + delta * delta)^((a - 1) / 2);
+regPow(x, a, delta = 0.01) = x * (x * x + delta * delta)^((a - 1) / 2);
 regRoot(x, delta = 0.01) = regPow(x, 0.5, delta)
 
 """

src/Mechanical/Translational/components.jl

@@ -70,13 +70,10 @@ Sliding mass with inertia
         f(t)
     end
 
-    eqs = [
-        flange.v ~ v
-        flange.f ~ f
-
-        D(s) ~ v
-        D(v) ~ f / m + g
-        ]
+    eqs = [flange.v ~ v
+           flange.f ~ f
+           D(s) ~ v
+           D(v) ~ f / m + g]
 
     return compose(ODESystem(eqs, t, vars, pars; name = name),
         flange)

test/Hydraulic/debugging.jl

@@ -7,66 +7,75 @@ import ModelingToolkitStandardLibrary.Mechanical.Translational as T
 using ModelingToolkitStandardLibrary.Blocks: Parameter
 
 @component function Step(;
-    name, height = 1.0, offset = 0.0, start_time = 0.0, duration = Inf,
-    smooth = 1e-5)
-@named output = B.RealOutput()
-duration_numeric = duration
-pars = @parameters offset=offset start_time=start_time height=height duration=duration step_val(t) :: Bool = true
-equation = if smooth == false # use comparison in case smooth is a float
-    offset +
-    ifelse((step_val) & (t < start_time + duration), height, zero(height))
- #   ifelse((start_time <= t) & (t < start_time + duration), height, zero(height))
-else
-    smooth === true && (smooth = 1e-5)
-    if duration_numeric == Inf
-        smooth_step(t, smooth, height, offset, start_time)
+        name, height = 1.0, offset = 0.0, start_time = 0.0, duration = Inf,
+        smooth = 1e-5)
+    @named output = B.RealOutput()
+    duration_numeric = duration
+    pars = @parameters offset=offset start_time=start_time height=height duration=duration step_val(t)::Bool=true
+    equation = if smooth == false # use comparison in case smooth is a float
+        offset +
+        ifelse((step_val) & (t < start_time + duration), height, zero(height))
+        #   ifelse((start_time <= t) & (t < start_time + duration), height, zero(height))
     else
-        smooth_step(t, smooth, height, offset, start_time) -
-        smooth_step(t, smooth, height, zero(start_time), start_time + duration)
+        smooth === true && (smooth = 1e-5)
+        if duration_numeric == Inf
+            smooth_step(t, smooth, height, offset, start_time)
+        else
+            smooth_step(t, smooth, height, offset, start_time) -
+            smooth_step(t, smooth, height, zero(start_time), start_time + duration)
+        end
     end
-end
-
-eqs = [
-    output.u ~ equation
-]
 
-compose(ODESystem(eqs, t, [], pars; name = name, continuous_events = [[t ~ start_time, t ~ start_time + duration] => ((i,u,p,c) -> i.ps[p.step_val]=false, [], [step_val], [step_val], nothing)]), [output])
+    eqs = [
+        output.u ~ equation
+    ]
 
+    compose(
+        ODESystem(eqs,
+            t,
+            [],
+            pars;
+            name = name,
+            continuous_events = [[t ~ start_time, t ~ start_time + duration] => (
+                (i, u, p, c) -> i.ps[p.step_val] = false,
+                [], [step_val], [step_val], nothing)]),
+        [output])
 end
 
 #@testset "Fluid Domain and Tube" begin
-    function System(N; bulk_modulus, name)
-        pars = @parameters begin
-            bulk_modulus = bulk_modulus
-        end
+function System(N; bulk_modulus, name)
+    pars = @parameters begin
+        bulk_modulus = bulk_modulus
+    end
 
-        systems = @named begin
-            fluid = IC.HydraulicFluid(; bulk_modulus)
-            stp = Step(; height = 2*101325, offset = 101325, start_time = 0.05, duration = Inf,
-                smooth = false)
-            src = IC.Pressure(;)
-            vol = IC.FixedVolume(; vol = 10.0)
-            res = IC.Tube(N; area = 0.01, length = 50.0)
-        end
+    systems = @named begin
+        fluid = IC.HydraulicFluid(; bulk_modulus)
+        stp = Step(;
+            height = 2 * 101325, offset = 101325, start_time = 0.05, duration = Inf,
+            smooth = false)
+        src = IC.Pressure(;)
+        vol = IC.FixedVolume(; vol = 10.0)
+        res = IC.Tube(N; area = 0.01, length = 50.0)
+    end
 
-        eqs = [connect(stp.output, src.p)
-               connect(fluid, src.port)
-               connect(src.port, res.port_a)
-               connect(res.port_b, vol.port)]
+    eqs = [connect(stp.output, src.p)
+           connect(fluid, src.port)
+           connect(src.port, res.port_a)
+           connect(res.port_b, vol.port)]
 
-               ODESystem(eqs, t, [], pars; name, systems)
-    end
+    ODESystem(eqs, t, [], pars; name, systems)
+end
 
-    @named sys5_1 = System(2; bulk_modulus = 1e9)
+@named sys5_1 = System(2; bulk_modulus = 1e9)
 
-    sys5_1 = structural_simplify(sys5_1)
+sys5_1 = structural_simplify(sys5_1)
 
-    initialization_eqs = [sys5_1.vol.port.p ~ 101325,sys5_1.res.p1.port_a.dm ~ 0]
-    initsys5_1 = ModelingToolkit.generate_initializesystem(sys5_1;initialization_eqs)
+initialization_eqs = [sys5_1.vol.port.p ~ 101325, sys5_1.res.p1.port_a.dm ~ 0]
+initsys5_1 = ModelingToolkit.generate_initializesystem(sys5_1; initialization_eqs)
 
-    initsys5_1 = structural_simplify(initsys5_1)
-    initprob5_1 = NonlinearProblem(initsys5_1, [t=>0])
-    initsol5_1 = solve(initprob5_1)
+initsys5_1 = structural_simplify(initsys5_1)
+initprob5_1 = NonlinearProblem(initsys5_1, [t => 0])
+initsol5_1 = solve(initprob5_1)
 
-    prob5_1 = ODEProblem(sys5_1, [], (0, 50); initialization_eqs)
-    sol5_1 = solve(prob5_1) # ERROR: UndefRefError: access to undefined reference
+prob5_1 = ODEProblem(sys5_1, [], (0, 50); initialization_eqs)
+sol5_1 = solve(prob5_1) # ERROR: UndefRefError: access to undefined reference