Merge pull request #2605 from AayushSabharwal/as/fix-array-observed

fix: fix callback codegen, observed eqs with non-scalarized symbolic arrays

Author: ChrisRackauckas

src/structural_transformation/symbolics_tearing.jl

@@ -551,7 +551,43 @@ function tearing_reassemble(state::TearingState, var_eq_matching,
     end
 
     sys = state.sys
+
+    obs_sub = dummy_sub
+    for eq in neweqs
+        isdiffeq(eq) || continue
+        obs_sub[eq.lhs] = eq.rhs
+    end
+    # TODO: compute the dependency correctly so that we don't have to do this
+    obs = [fast_substitute(observed(sys), obs_sub); subeqs]
+
+    # HACK: Substitute non-scalarized symbolic arrays of observed variables
+    # E.g. if `p[1] ~ (...)` and `p[2] ~ (...)` then substitute `p => [p[1], p[2]]` in all equations
+    # ideally, we want to support equations such as `p ~ [p[1], p[2]]` which will then be handled
+    # by the topological sorting and dependency identification pieces
+    obs_arr_subs = Dict()
+
+    for eq in obs
+        lhs = eq.lhs
+        istree(lhs) || continue
+        operation(lhs) === getindex || continue
+        Symbolics.shape(lhs) !== Symbolics.Unknown() || continue
+        arg1 = arguments(lhs)[1]
+        haskey(obs_arr_subs, arg1) && continue
+        obs_arr_subs[arg1] = [arg1[i] for i in eachindex(arg1)]
+    end
+    for i in eachindex(neweqs)
+        neweqs[i] = fast_substitute(neweqs[i], obs_arr_subs; operator = Symbolics.Operator)
+    end
+    for i in eachindex(obs)
+        obs[i] = fast_substitute(obs[i], obs_arr_subs; operator = Symbolics.Operator)
+    end
+    for i in eachindex(subeqs)
+        subeqs[i] = fast_substitute(subeqs[i], obs_arr_subs; operator = Symbolics.Operator)
+    end
+
     @set! sys.eqs = neweqs
+    @set! sys.observed = obs
+
     unknowns = Any[v
                    for (i, v) in enumerate(fullvars)
                    if diff_to_var[i] === nothing && ispresent(i)]
@@ -563,15 +599,6 @@ function tearing_reassemble(state::TearingState, var_eq_matching,
     @set! sys.unknowns = unknowns
     @set! sys.substitutions = Substitutions(subeqs, deps)
 
-    obs_sub = dummy_sub
-    for eq in equations(sys)
-        isdiffeq(eq) || continue
-        obs_sub[eq.lhs] = eq.rhs
-    end
-    # TODO: compute the dependency correctly so that we don't have to do this
-    obs = [fast_substitute(observed(sys), obs_sub); subeqs]
-    @set! sys.observed = obs
-
     # Only makes sense for time-dependent
     # TODO: generalize to SDE
     if sys isa ODESystem

src/systems/abstractsystem.jl

@@ -153,15 +153,15 @@ generate_custom_function(sys::AbstractSystem, exprs, dvs = unknowns(sys),
 
 Generate a function to evaluate `exprs`. `exprs` is a symbolic expression or
 array of symbolic expression involving symbolic variables in `sys`. The symbolic variables
-may be subsetted using `dvs` and `ps`. All `kwargs` except `postprocess_fbody` and `states`
-are passed to the internal [`build_function`](@ref) call. The returned function can be called
-as `f(u, p, t)` or `f(du, u, p, t)` for time-dependent systems and `f(u, p)` or `f(du, u, p)`
-for time-independent systems. If `split=true` (the default) was passed to [`complete`](@ref),
+may be subsetted using `dvs` and `ps`. All `kwargs` are passed to the internal
+[`build_function`](@ref) call. The returned function can be called as `f(u, p, t)` or
+`f(du, u, p, t)` for time-dependent systems and `f(u, p)` or `f(du, u, p)` for
+time-independent systems. If `split=true` (the default) was passed to [`complete`](@ref),
 [`structural_simplify`](@ref) or [`@mtkbuild`](@ref), `p` is expected to be an `MTKParameters`
 object.
 """
 function generate_custom_function(sys::AbstractSystem, exprs, dvs = unknowns(sys),
-        ps = parameters(sys); wrap_code = nothing, kwargs...)
+        ps = parameters(sys); wrap_code = nothing, postprocess_fbody = nothing, states = nothing, kwargs...)
     if !iscomplete(sys)
         error("A completed system is required. Call `complete` or `structural_simplify` on the system.")
     end
@@ -170,16 +170,21 @@ function generate_custom_function(sys::AbstractSystem, exprs, dvs = unknowns(sys
     if wrap_code === nothing
         wrap_code = isscalar ? identity : (identity, identity)
     end
-    pre, sol_states = get_substitutions_and_solved_unknowns(sys)
-
+    pre, sol_states = get_substitutions_and_solved_unknowns(sys, isscalar ? [exprs] : exprs)
+    if postprocess_fbody === nothing
+        postprocess_fbody = pre
+    end
+    if states === nothing
+        states = sol_states
+    end
     if is_time_dependent(sys)
         return build_function(exprs,
             dvs,
             p...,
             get_iv(sys);
             kwargs...,
-            postprocess_fbody = pre,
-            states = sol_states,
+            postprocess_fbody,
+            states,
             wrap_code = wrap_code .∘ wrap_mtkparameters(sys, isscalar) .∘
                         wrap_array_vars(sys, exprs; dvs)
         )
@@ -188,8 +193,8 @@ function generate_custom_function(sys::AbstractSystem, exprs, dvs = unknowns(sys
             dvs,
             p...;
             kwargs...,
-            postprocess_fbody = pre,
-            states = sol_states,
+            postprocess_fbody,
+            states,
             wrap_code = wrap_code .∘ wrap_mtkparameters(sys, isscalar) .∘
                         wrap_array_vars(sys, exprs; dvs)
         )

src/systems/callbacks.jl

@@ -388,6 +388,7 @@ function compile_affect(eqs::Vector{Equation}, sys, dvs, ps; outputidxs = nothin
             return (args...) -> () # We don't do anything in the callback, we're just after the event
         end
     else
+        eqs = flatten_equations(eqs)
         rhss = map(x -> x.rhs, eqs)
         outvar = :u
         if outputidxs === nothing
@@ -457,7 +458,7 @@ end
 
 function generate_rootfinding_callback(cbs, sys::AbstractODESystem, dvs = unknowns(sys),
         ps = full_parameters(sys); kwargs...)
-    eqs = map(cb -> cb.eqs, cbs)
+    eqs = map(cb -> flatten_equations(cb.eqs), cbs)
     num_eqs = length.(eqs)
     (isempty(eqs) || sum(num_eqs) == 0) && return nothing
     # fuse equations to create VectorContinuousCallback
@@ -471,12 +472,8 @@ function generate_rootfinding_callback(cbs, sys::AbstractODESystem, dvs = unknow
     rhss = map(x -> x.rhs, eqs)
     root_eq_vars = unique(collect(Iterators.flatten(map(ModelingToolkit.vars, rhss))))
 
-    u = map(x -> time_varying_as_func(value(x), sys), dvs)
-    p = map.(x -> time_varying_as_func(value(x), sys), reorder_parameters(sys, ps))
-    t = get_iv(sys)
-    pre = get_preprocess_constants(rhss)
-    rf_oop, rf_ip = build_function(rhss, u, p..., t; expression = Val{false},
-        postprocess_fbody = pre, kwargs...)
+    rf_oop, rf_ip = generate_custom_function(sys, rhss, dvs, ps; expression = Val{false},
+        kwargs...)
 
     affect_functions = map(cbs) do cb # Keep affect function separate
         eq_aff = affects(cb)
@@ -487,16 +484,16 @@ function generate_rootfinding_callback(cbs, sys::AbstractODESystem, dvs = unknow
         cond = function (u, t, integ)
             if DiffEqBase.isinplace(integ.sol.prob)
                 tmp, = DiffEqBase.get_tmp_cache(integ)
-                rf_ip(tmp, u, parameter_values(integ)..., t)
+                rf_ip(tmp, u, parameter_values(integ), t)
                 tmp[1]
             else
-                rf_oop(u, parameter_values(integ)..., t)
+                rf_oop(u, parameter_values(integ), t)
             end
         end
         ContinuousCallback(cond, affect_functions[])
     else
         cond = function (out, u, t, integ)
-            rf_ip(out, u, parameter_values(integ)..., t)
+            rf_ip(out, u, parameter_values(integ), t)
         end
 
         # since there may be different number of conditions and affects,

src/systems/diffeqs/abstractodesystem.jl

@@ -857,6 +857,7 @@ function process_DEProblem(constructor, sys::AbstractODESystem, u0map, parammap;
     varmap = u0map === nothing || isempty(u0map) || eltype(u0map) <: Number ?
              defaults(sys) :
              merge(defaults(sys), todict(u0map))
+    varmap = canonicalize_varmap(varmap)
     varlist = collect(map(unwrap, dvs))
     missingvars = setdiff(varlist, collect(keys(varmap)))
 

src/systems/optimization/constraints_system.jl

@@ -226,12 +226,15 @@ function generate_canonical_form_lhss(sys)
     lhss = subs_constants([Symbolics.canonical_form(eq).lhs for eq in constraints(sys)])
 end
 
-function get_cmap(sys::ConstraintsSystem)
+function get_cmap(sys::ConstraintsSystem, exprs = nothing)
     #Inject substitutions for constants => values
     cs = collect_constants([get_constraints(sys); get_observed(sys)]) #ctrls? what else?
     if !empty_substitutions(sys)
         cs = [cs; collect_constants(get_substitutions(sys).subs)]
     end
+    if exprs !== nothing
+        cs = [cs; collect_constants(exprs)]
+    end
     # Swap constants for their values
     cmap = map(x -> x ~ getdefault(x), cs)
     return cmap, cs

src/utils.jl

@@ -564,19 +564,22 @@ function empty_substitutions(sys)
     isnothing(subs) || isempty(subs.deps)
 end
 
-function get_cmap(sys)
+function get_cmap(sys, exprs = nothing)
     #Inject substitutions for constants => values
     cs = collect_constants([get_eqs(sys); get_observed(sys)]) #ctrls? what else?
     if !empty_substitutions(sys)
         cs = [cs; collect_constants(get_substitutions(sys).subs)]
     end
+    if exprs !== nothing
+        cs = [cs; collect_constants(exprs)]
+    end
     # Swap constants for their values
     cmap = map(x -> x ~ getdefault(x), cs)
     return cmap, cs
 end
 
-function get_substitutions_and_solved_unknowns(sys; no_postprocess = false)
-    cmap, cs = get_cmap(sys)
+function get_substitutions_and_solved_unknowns(sys, exprs = nothing; no_postprocess = false)
+    cmap, cs = get_cmap(sys, exprs)
     if empty_substitutions(sys) && isempty(cs)
         sol_states = Code.LazyState()
         pre = no_postprocess ? (ex -> ex) : get_postprocess_fbody(sys)

src/variables.jl

@@ -216,6 +216,7 @@ function canonicalize_varmap(varmap; toterm = Symbolics.diff2term)
         if Symbolics.isarraysymbolic(k) && Symbolics.shape(k) !== Symbolics.Unknown()
             for i in eachindex(k)
                 new_varmap[k[i]] = v[i]
+                new_varmap[toterm(k[i])] = v[i]
             end
         end
     end

test/initial_values.jl

@@ -67,3 +67,10 @@ varmap = Dict(p => ones(3), q => 2ones(3))
 cvarmap = ModelingToolkit.canonicalize_varmap(varmap)
 target_varmap = Dict(p => ones(3), q => 2ones(3), q[1] => 2.0, q[2] => 2.0, q[3] => 2.0)
 @test cvarmap == target_varmap
+
+# Initialization of ODEProblem with dummy derivatives of multidimensional arrays
+# Issue#1283
+@variables z(t)[1:2, 1:2]
+eqs = [D(D(z)) ~ ones(2, 2)]
+@mtkbuild sys = ODESystem(eqs, t)
+@test_nowarn ODEProblem(sys, [z => zeros(2, 2), D(z) => ones(2, 2)], (0.0, 10.0))

test/odesystem.jl

@@ -995,3 +995,38 @@ let # Issue https://github.com/SciML/ModelingToolkit.jl/issues/2322
     sol = solve(prob, Rodas4())
     @test sol(1)[]≈0.6065307685451087 rtol=1e-4
 end
+
+# Issue#2599
+@variables x(t) y(t)
+eqs = [D(x) ~ x * t, y ~ 2x]
+@mtkbuild sys = ODESystem(eqs, t; continuous_events = [[y ~ 3] => [x ~ 2]])
+prob = ODEProblem(sys, [x => 1.0], (0.0, 10.0))
+@test_nowarn solve(prob, Tsit5())
+
+# Issue#2383
+@variables x(t)[1:3]
+@parameters p[1:3, 1:3]
+eqs = [
+    D(x) ~ p * x
+]
+@mtkbuild sys = ODESystem(eqs, t; continuous_events = [[norm(x) ~ 3.0] => [x ~ ones(3)]])
+# array affect equations used to not work
+prob1 = @test_nowarn ODEProblem(sys, [x => ones(3)], (0.0, 10.0), [p => ones(3, 3)])
+sol1 = @test_nowarn solve(prob1, Tsit5())
+
+# array condition equations also used to not work
+@mtkbuild sys = ODESystem(
+    eqs, t; continuous_events = [[x ~ sqrt(3) * ones(3)] => [x ~ ones(3)]])
+# array affect equations used to not work
+prob2 = @test_nowarn ODEProblem(sys, [x => ones(3)], (0.0, 10.0), [p => ones(3, 3)])
+sol2 = @test_nowarn solve(prob2, Tsit5())
+
+@test sol1 ≈ sol2
+
+# Requires fix in symbolics for `linear_expansion(p * x, D(y))`
+@test_broken begin
+    @variables x(t)[1:3] y(t)
+    @parameters p[1:3, 1:3]
+    @test_nowarn @mtkbuild sys = ODESystem([D(x) ~ p * x, D(y) ~ x' * p * x], t)
+    @test_nowarn ODEProblem(sys, [x => ones(3), y => 2], (0.0, 10.0), [p => ones(3, 3)])
+end