Add Power, Modulo, and UnaryMinus blocks; update math operations and tests

Author: shobhitvoleti

src/Blocks/Blocks.jl

@@ -10,7 +10,7 @@ using ModelingToolkit: getdefault, t_nounits as t, D_nounits as D
 export RealInput, RealInputArray, RealOutput, RealOutputArray, SISO
 include("utils.jl")
 
-export Gain, Sum, MatrixGain, Feedback, Add, Add3, Product, Division
+export Gain, Sum, MatrixGain, Feedback, Add, Add3, Product, Division, Power, Modulo, UnaryMinus
 export Abs, Sign, Sqrt, Sin, Cos, Tan, Asin, Acos, Atan, Atan2, Sinh, Cosh, Tanh, Exp
 export Log, Log10
 include("math.jl")

src/Blocks/math.jl

@@ -248,7 +248,7 @@ Output the remainder when the first input is divided by second input.
         output = RealOutput()
     end
     @equations begin
-        output.u ~ input1.u % input2.u
+        output.u ~ mod(input1.u, input2.u)
     end
 end
 

test/Blocks/math.jl

@@ -158,22 +158,62 @@ end
 end
 
 @testset "Power" begin
-    @named c1 = Constant(; k = 2)
+    @named c1 = Sine(; frequency = 1)
     @named c2 = Constant(; k = 2)
     @named pow = Power(;)
+    @named int = Integrator(; k = 1)
     @named model = ODESystem(
         [
             connect(c1.output, pow.input1),
-            connect(c2.output, pow.input2)
+            connect(c2.output, pow.input2),
+            connect(pow.output, int.input)
+        ],
+        t,
+        systems = [int, pow, c1, c2])
+    sys = structural_simplify(model)
+    prob = ODEProblem(sys, Pair[int.x => 0.0], (0.0, 1.0))
+    sol = solve(prob, Rodas4())
+    @test isequal(unbound_inputs(sys), [])
+    @test sol.retcode == Success
+    @test sol[pow.output.u] ≈ sin.(2 * pi * sol.t) .^ 2
+end
+
+@testset "Modulo" begin
+    @named c1 = Ramp(height = 2, duration = 1, offset = 1, start_time = 0, smooth = false)
+    @named c2 = Constant(; k = 1) 
+    @named modl = Modulo(;)
+    @named model = ODESystem(
+        [
+            connect(c1.output, modl.input1),
+            connect(c2.output, modl.input2)
         ],
         t,
-        systems = [pow, c1, c2])
+        systems = [modl, c1, c2])
     sys = structural_simplify(model)
     prob = ODEProblem(sys, [], (0.0, 1.0))
     sol = solve(prob, Rodas4())
     @test isequal(unbound_inputs(sys), [])
     @test sol.retcode == Success
-    @test sol[pow.output.u] ≈ 4
+    @test sol[modl.output.u] ≈ mod.(2 * sol.t,1)
+end
+
+@testset "UnaryMinus" begin
+    @named c1 = Sine(; frequency = 1)
+    @named minu = UnaryMinus(;)
+    @named int = Integrator(; k = 1)
+    @named model = ODESystem(
+        [
+            connect(c1.output, minu.input),
+            connect(minu.output, int.input)
+        ],
+        t,
+        systems = [int, minu, c1])
+    sys = structural_simplify(model)
+    prob = ODEProblem(sys, Pair[int.x => 0.0], (0.0, 1.0))
+    sol = solve(prob, Rodas4())
+    @test isequal(unbound_inputs(sys), [])
+    @test sol.retcode == Success
+    @test sol[minu.output.u] ≈ - sin.(2 * pi * sol.t)
 end
 
 @testset "Division" begin