Merge branch 'master' into myb/sub_sys

.github/workflows/Documentation.yml

@@ -11,7 +11,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@latest
         with:
           version: '1'

.github/workflows/Downstream.yml

@@ -31,14 +31,14 @@ jobs:
           - {user: SciML, repo: MethodOfLines.jl, group: DAE}
           - {user: ai4energy, repo: Ai4EComponentLib.jl, group: Downstream}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.julia-version }}
           arch: x64
       - uses: julia-actions/julia-buildpkg@latest
       - name: Clone Downstream
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: ${{ matrix.package.user }}/${{ matrix.package.repo }}
           path: downstream

.github/workflows/FormatCheck.yml

@@ -21,7 +21,7 @@ jobs:
         with:
           version: ${{ matrix.julia-version }}
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Install JuliaFormatter and format
         # This will use the latest version by default but you can set the version like so:
         #

.github/workflows/Invalidations.yml

@@ -19,12 +19,12 @@ jobs:
     - uses: julia-actions/setup-julia@v1
       with:
         version: '1'
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: julia-actions/julia-buildpkg@v1
     - uses: julia-actions/julia-invalidations@v1
       id: invs_pr
 
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         ref: ${{ github.event.repository.default_branch }}
     - uses: julia-actions/julia-buildpkg@v1

.github/workflows/ci.yml

@@ -17,7 +17,7 @@ jobs:
           - '1'
           - '1.6'
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.version }}

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 = "8.67.0"
+version = "8.68.0"
 
 [deps]
 AbstractTrees = "1520ce14-60c1-5f80-bbc7-55ef81b5835c"
@@ -32,6 +32,7 @@ MLStyle = "d8e11817-5142-5d16-987a-aa16d5891078"
 MacroTools = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
 NaNMath = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
 OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
+PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 RuntimeGeneratedFunctions = "7e49a35a-f44a-4d26-94aa-eba1b4ca6b47"
@@ -80,6 +81,7 @@ MLStyle = "0.4.17"
 MacroTools = "0.5"
 NaNMath = "0.3, 1"
 OrdinaryDiffEq = "6"
+PrecompileTools = "1"
 RecursiveArrayTools = "2.3"
 Reexport = "0.2, 1"
 RuntimeGeneratedFunctions = "0.5.9"

docs/src/basics/MTKModel_Connector.md

@@ -0,0 +1,156 @@
+## Defining components with `@mtkmodel`
+
+`@mtkmodel` is a convenience macro to define ModelingToolkit components. It returns `ModelingToolkit.Model`, which includes a constructor that returns an ODESystem, a `structure` dictionary with metadata and flag `isconnector` which is set to `false`.
+
+### What can an MTK-Model definition have?
+
+`@mtkmodel` definition contains begin blocks of
+
+  - `@components`: for listing sub-components of the system
+  - `@equations`: for the list of equations
+  - `@extend`: for extending a base system and unpacking its states
+  - `@parameters`: for specifying the symbolic parameters
+  - `@structural_parameters`: for specifying non-symbolic parameters
+  - `@variables`: for specifing the states
+
+Let's explore these in more detail with the following example:
+
+```@example mtkmodel-example
+using ModelingToolkit
+
+@mtkmodel ModelA begin
+    @parameters begin
+        k1
+        k2
+    end
+end
+
+@mtkmodel ModelB begin
+    @parameters begin
+        p1 = 1.0, [description = "Parameter of ModelB"]
+        p2 = 1.0, [description = "Parameter of ModelB"]
+    end
+end
+
+@mtkmodel ModelC begin
+    @structural_parameters begin
+        f = sin
+    end
+    begin
+        v_var = 1.0
+    end
+    @variables begin
+        v(t) = v_var
+    end
+    @extend p1, p2 = model_b = ModelB(; p1)
+    @components begin
+        model_a = ModelA(; k1)
+    end
+    @equations begin
+        model_a.k1 ~ f(v)
+    end
+end
+```
+
+#### `@parameters` and `@variables` begin block
+
+  - Parameters and variables are declared with respective begin blocks.
+  - Variables must be functions of an independent variable.
+  - Optionally, default values and metadata can be specified for these parameters and variables. See `ModelB` in the above example.
+  - Along with creating parameters and variables, keyword arguments of same name with default value `nothing` are created.
+  - Whenever a parameter or variable has default value, for example `v(t) = 0.0`, a symbolic variable named `v` with default value 0.0 and a keyword argument `v`, with default value `nothing` are created. <br> This way, users can optionally pass new value of `v` while creating a component.
+
+```julia
+julia > @named model_c = ModelC(; v = 2.0);
+
+julia > ModelingToolkit.getdefault(model_c.v)
+2.0
+```
+
+#### `@structural_parameters` begin block
+
+  - This block is for non symbolic input arguements. These are for inputs that usually are not meant to be part of components; but influence how they are defined. One can list inputs like boolean flags, functions etc... here.
+  - Whenever default values are specified, unlike parameters/variables, they are reflected in the keyword argument list.
+
+#### `@extend` block
+
+To extend a partial system,
+
+  - List the variables to unpack. If there is a single variable, explicitly specify it as a tuple.
+  - Give a name to the base system
+  - List the kwargs of the base system that should be listed as kwargs of the main component.
+  - Note that in above example, `p1` is promoted as an argument of `ModelC`. Users can set the value of `p1` as
+
+```julia
+julia> @named model_c = ModelC(; p1 = 2.0)
+
+```
+
+However, as `p2` isn't listed in the model definition, its default can't be modified by users.
+
+#### `@components` begin block
+
+  - Declare the subcomponents within `@components` begin block.
+  - The arguments in these subcomponents are promoted as keyword arguments as `subcomponent_name__argname` with `nothing` as default value.
+  - Whenever components are created with `@named` macro, these can be accessed with `.` operator as `subcomponent_name.argname`
+  - In the above example, `k1` of `model_a` can be set in following ways:
+
+```julia
+julia> @named model_c1 = ModelC(; model_a.k1 = 1);
+# or as
+
+julia> model_c2 = ModelC(; name = :model_c, model_a__k1 = 1);
+
+```
+
+And as `k2` isn't listed in the sub-component definition of `ModelC`, its default value can't be modified by users.
+
+#### `@equations` begin block
+
+  - List all the equations here
+
+#### A begin block
+
+  - Any other Julia operations can be included with dedicated begin blocks.
+
+## Defining connectors with `@connector`
+
+`@connector` returns `ModelingToolkit.Model`. It includes a constructor that returns a connector ODESystem, a `structure` dictionary with metadata and flag `isconnector` which is set to `true`.
+
+A simple connector can be defined with syntax similar to following example:
+
+```julia
+using ModelingToolkit
+
+@connector Pin begin
+    v(t) = 0.0, [description = "Voltage"]
+    i(t), [connect = Flow]
+end
+```
+
+  - Variables (as function of independent variable) are listed out in the definition. These variables can optionally have default values and metadata like `descrption`, `connect` and so on.
+
+`@connector`s accepts begin blocks of `@components`, `@equations`, `@extend`, `@parameters`, `@structural_parameters`, `@variables`. These keywords mean the same as described above for `@mtkmodel`.
+
+!!! note
+
+    For more examples of usage, checkout [ModelingToolkitStandardLibrary.jl](https://github.com/SciML/ModelingToolkitStandardLibrary.jl/)
+
+* * *
+
+### What's a `structure` dictionary?
+
+For components defined with `@mtkmodel` or `@connector`, a dictionary with metadata is created. It lists `:components` (sub-component list), `:extend` (the extended states and base system), `:parameters`, `:variables`, ``:kwargs`` (list of keyword arguments), `:independent_variable`, `:equations`.
+
+For example, the structure of `ModelC` is:
+
+```julia
+julia> ModelC.structure
+Dict{Symbol, Any} with 6 entries:
+  :components           => [[:model_a, :ModelA]]
+  :variables            => Dict{Symbol, Dict{Symbol, Any}}(:v=>Dict(:default=>:v_var))
+  :kwargs               => Dict{Symbol, Any}(:f=>:sin, :v=>:v_var, :p1=>nothing, :model_a__k1=>nothing)
+  :independent_variable => t
+  :extend               => Any[[:p1, :p2], :model_b, :ModelB]
+  :equations            => ["model_a.k1 ~ f(v)"]
+```

src/ModelingToolkit.jl

@@ -2,75 +2,79 @@
 $(DocStringExtensions.README)
 """
 module ModelingToolkit
-using DocStringExtensions
-using Compat
-using AbstractTrees
-using DiffEqBase, SciMLBase, ForwardDiff, Reexport
-using SciMLBase: StandardODEProblem, StandardNonlinearProblem, handle_varmap
-using Distributed
-using StaticArrays, LinearAlgebra, SparseArrays, LabelledArrays
-using InteractiveUtils
-using Latexify, Unitful, ArrayInterface
-using MacroTools
-@reexport using UnPack
-using Setfield, ConstructionBase
-using JumpProcesses
-using DataStructures
-using SpecialFunctions, NaNMath
-using RuntimeGeneratedFunctions
-using RuntimeGeneratedFunctions: drop_expr
-using Base.Threads
-using DiffEqCallbacks
-using Graphs
-import MacroTools: splitdef, combinedef, postwalk, striplines
-import Libdl
-using DocStringExtensions
-using Base: RefValue
-using Combinatorics
-import IfElse
-import Distributions
-import FunctionWrappersWrappers
-using URIs: URI
-
+using PrecompileTools, Reexport
+@recompile_invalidations begin 
+    using DocStringExtensions
+    using Compat
+    using AbstractTrees
+    using DiffEqBase, SciMLBase, ForwardDiff
+    using SciMLBase: StandardODEProblem, StandardNonlinearProblem, handle_varmap
+    using Distributed
+    using StaticArrays, LinearAlgebra, SparseArrays, LabelledArrays
+    using InteractiveUtils
+    using Latexify, Unitful, ArrayInterface
+    using MacroTools
+    using Setfield, ConstructionBase
+    using JumpProcesses
+    using DataStructures
+    using SpecialFunctions, NaNMath
+    using RuntimeGeneratedFunctions
+    using RuntimeGeneratedFunctions: drop_expr
+    using Base.Threads
+    using DiffEqCallbacks
+    using Graphs
+    import MacroTools: splitdef, combinedef, postwalk, striplines
+    import Libdl
+    using DocStringExtensions
+    using Base: RefValue
+    using Combinatorics
+    import IfElse
+    import Distributions
+    import FunctionWrappersWrappers
+    using URIs: URI
+
+    using RecursiveArrayTools
+
+    import SymbolicIndexingInterface
+    import SymbolicIndexingInterface: independent_variables, states, parameters
+    export independent_variables, states, parameters
+    import SymbolicUtils
+    import SymbolicUtils: istree, arguments, operation, similarterm, promote_symtype,
+        Symbolic, isadd, ismul, ispow, issym, FnType,
+        @rule, Rewriters, substitute, metadata, BasicSymbolic,
+        Sym, Term
+    using SymbolicUtils.Code
+    import SymbolicUtils.Code: toexpr
+    import SymbolicUtils.Rewriters: Chain, Postwalk, Prewalk, Fixpoint
+    import JuliaFormatter
+
+    using MLStyle
+
+    using Reexport
+    using Symbolics: degree
+    @reexport using Symbolics
+    using Symbolics: _parse_vars, value, @derivatives, get_variables,
+        exprs_occur_in, solve_for, build_expr, unwrap, wrap,
+        VariableSource, getname, variable, Connection, connect,
+        NAMESPACE_SEPARATOR
+    import Symbolics: rename, get_variables!, _solve, hessian_sparsity,
+        jacobian_sparsity, isaffine, islinear, _iszero, _isone,
+        tosymbol, lower_varname, diff2term, var_from_nested_derivative,
+        BuildTargets, JuliaTarget, StanTarget, CTarget, MATLABTarget,
+        ParallelForm, SerialForm, MultithreadedForm, build_function,
+        rhss, lhss, prettify_expr, gradient,
+        jacobian, hessian, derivative, sparsejacobian, sparsehessian,
+        substituter, scalarize, getparent
+
+    import DiffEqBase: @add_kwonly
+
+    import Graphs: SimpleDiGraph, add_edge!, incidence_matrix
+
+    @reexport using UnPack
+end
 RuntimeGeneratedFunctions.init(@__MODULE__)
 
-using RecursiveArrayTools
-
-import SymbolicIndexingInterface
-import SymbolicIndexingInterface: independent_variables, states, parameters
-export independent_variables, states, parameters
-import SymbolicUtils
-import SymbolicUtils: istree, arguments, operation, similarterm, promote_symtype,
-    Symbolic, isadd, ismul, ispow, issym, FnType,
-    @rule, Rewriters, substitute, metadata, BasicSymbolic,
-    Sym, Term
-using SymbolicUtils.Code
-import SymbolicUtils.Code: toexpr
-import SymbolicUtils.Rewriters: Chain, Postwalk, Prewalk, Fixpoint
-import JuliaFormatter
-
-using MLStyle
-
-using Reexport
-using Symbolics: degree
-@reexport using Symbolics
 export @derivatives
-using Symbolics: _parse_vars, value, @derivatives, get_variables,
-    exprs_occur_in, solve_for, build_expr, unwrap, wrap,
-    VariableSource, getname, variable, Connection, connect,
-    NAMESPACE_SEPARATOR
-import Symbolics: rename, get_variables!, _solve, hessian_sparsity,
-    jacobian_sparsity, isaffine, islinear, _iszero, _isone,
-    tosymbol, lower_varname, diff2term, var_from_nested_derivative,
-    BuildTargets, JuliaTarget, StanTarget, CTarget, MATLABTarget,
-    ParallelForm, SerialForm, MultithreadedForm, build_function,
-    rhss, lhss, prettify_expr, gradient,
-    jacobian, hessian, derivative, sparsejacobian, sparsehessian,
-    substituter, scalarize, getparent
-
-import DiffEqBase: @add_kwonly
-
-import Graphs: SimpleDiGraph, add_edge!, incidence_matrix
 
 for fun in [:toexpr]
     @eval begin

src/structural_transformation/partial_state_selection.jl

@@ -175,8 +175,8 @@ function dummy_derivative_graph!(state::TransformationState, jac = nothing;
     dummy_derivative_graph!(state.structure, var_eq_matching, jac, state_priority, log)
 end
 
-function dummy_derivative_graph!(structure::SystemStructure, var_eq_matching, jac,
-    state_priority, ::Val{log} = Val(false)) where {log}
+function dummy_derivative_graph!(structure::SystemStructure, var_eq_matching, jac = nothing,
+    state_priority = nothing, ::Val{log} = Val(false)) where {log}
     @unpack eq_to_diff, var_to_diff, graph = structure
     diff_to_eq = invview(eq_to_diff)
     diff_to_var = invview(var_to_diff)