Closed
Description
The following example fails:
# Example two: Falling mass, attached to non-linear spring without compression stiffness,
# initially moving upwards with 4 m/s, using a callback to precisely calculate the discontinuities
using ModelingToolkit, OrdinaryDiffEq, LinearAlgebra
G_EARTH = Float64[0.0, 0.0, -9.81] # gravitational acceleration [m/s²]
L0::Float64 = -10.0 # initial spring length [m]
V0::Float64 = 4 # initial velocity [m/s]
# model, Z component upwards
@parameters mass=1.0 c_spring0=50.0 damping=0.5 l0=L0
@variables t pos(t)[1:3] = [0.0, 0.0, L0]
@variables vel(t)[1:3] = [0.0, 0.0, V0]
@variables acc(t)[1:3] = G_EARTH
@variables unit_vector(t)[1:3] = [0.0, 0.0, -sign(L0)]
@variables c_spring(t) = c_spring0
@variables spring_force(t)[1:3] = [0.0, 0.0, 0.0]
@variables force(t) = 0.0 norm1(t) = abs(l0) spring_vel(t) = 0.0
D = Differential(t)
eqs = vcat(D.(pos) ~ vel,
D.(vel) ~ acc,
norm1 ~ norm(pos),
unit_vector ~ -pos/norm1, # direction from point mass to origin
spring_vel ~ -unit_vector ⋅ vel,
c_spring ~ c_spring0 * (norm1 > abs(l0)),
spring_force ~ (c_spring * (norm1 - abs(l0)) + damping * spring_vel) * unit_vector,
acc ~ G_EARTH + spring_force/mass)
@named sys = ODESystem(eqs, t; continuous_events = [norm(pos) ~ abs(L0)])
simple_sys = structural_simplify(sys)
duration = 10.0
dt = 0.02
tol = 1e-6
tspan = (0.0, duration)
ts = 0:dt:duration
# initial state
u0 = Dict(pos=>[0,0,L0], vel=>[0,0,V0])
prob = ODEProblem(simple_sys, u0, tspan)
sol = solve(prob, Rodas5(), dt=dt, abstol=tol, reltol=tol, saveat=ts)
nothingwith the error message:
ERROR: LoadError: UndefVarError: `pos` not defined
Stacktrace:
[1] macro expansion
@ ~/.julia/packages/SymbolicUtils/ssQsQ/src/code.jl:418 [inlined]
[2] macro expansion
@ ~/.julia/packages/Symbolics/5BibL/src/build_function.jl:537 [inlined]
[3] macro expansion
@ ~/.julia/packages/SymbolicUtils/ssQsQ/src/code.jl:375 [inlined]
[4] macro expansion
@ ~/.julia/packages/RuntimeGeneratedFunctions/Yo8zx/src/RuntimeGeneratedFunctions.jl:163 [inlined]
[5] macro expansion
@ ./none:0 [inlined]
[6] generated_callfunc(f::RuntimeGeneratedFunctions.RuntimeGeneratedFunction{…}, __args::Vararg{…}) where {…}
@ ModelingToolkit ./none:0 [inlined]
[7] (::RuntimeGeneratedFunctions.RuntimeGeneratedFunction{…})(::Vector{…}, ::Vector{…}, ::Vector{…}, ::Float64)
@ RuntimeGeneratedFunctions ~/.julia/packages/RuntimeGeneratedFunctions/Yo8zx/src/RuntimeGeneratedFunctions.jl:150
[8] #346
@ ~/.julia/packages/ModelingToolkit/dCa81/src/systems/callbacks.jl:403 [inlined]
[9] determine_event_occurance
@ ~/.julia/packages/DiffEqBase/a6p43/src/callbacks.jl:290 [inlined]
[10] find_callback_time(integrator::OrdinaryDiffEq.ODEIntegrator{…}, callback::ContinuousCallback{…}, counter::Int64)
@ DiffEqBase ~/.julia/packages/DiffEqBase/a6p43/src/callbacks.jl:397
[11] macro expansion
@ ~/.julia/packages/DiffEqBase/a6p43/src/callbacks.jl:131 [inlined]
[12] find_first_continuous_callback
@ ~/.julia/packages/DiffEqBase/a6p43/src/callbacks.jl:126 [inlined]
[13] find_first_continuous_callback
@ ~/.julia/packages/DiffEqBase/a6p43/src/callbacks.jl:124 [inlined]
[14] handle_callbacks!
@ ~/.julia/packages/OrdinaryDiffEq/6qpRx/src/integrators/integrator_utils.jl:324 [inlined]
[15] _loopfooter!(integrator::OrdinaryDiffEq.ODEIntegrator{…})
@ OrdinaryDiffEq ~/.julia/packages/OrdinaryDiffEq/6qpRx/src/integrators/integrator_utils.jl:247
[16] loopfooter!
@ ~/.julia/packages/OrdinaryDiffEq/6qpRx/src/integrators/integrator_utils.jl:200 [inlined]
[17] solve!(integrator::OrdinaryDiffEq.ODEIntegrator{…})
@ OrdinaryDiffEq ~/.julia/packages/OrdinaryDiffEq/6qpRx/src/solve.jl:540
[18] __solve(::ODEProblem{…}, ::Rodas5{…}; kwargs::@Kwargs{…})
@ OrdinaryDiffEq ~/.julia/packages/OrdinaryDiffEq/6qpRx/src/solve.jl:6
[19] __solve
@ ~/.julia/packages/OrdinaryDiffEq/6qpRx/src/solve.jl:1 [inlined]
[20] solve_call(_prob::ODEProblem{…}, args::Rodas5{…}; merge_callbacks::Bool, kwargshandle::Nothing, kwargs::@Kwargs{…})
@ DiffEqBase ~/.julia/packages/DiffEqBase/a6p43/src/solve.jl:561
[21] solve_call
@ DiffEqBase ~/.julia/packages/DiffEqBase/a6p43/src/solve.jl:527 [inlined]
[22] #solve_up#42
@ DiffEqBase ~/.julia/packages/DiffEqBase/a6p43/src/solve.jl:1010 [inlined]
[23] solve_up
@ DiffEqBase ~/.julia/packages/DiffEqBase/a6p43/src/solve.jl:996 [inlined]
[24] #solve#40
@ DiffEqBase ~/.julia/packages/DiffEqBase/a6p43/src/solve.jl:933 [inlined]
[25] top-level scope
@ ~/repos/Tethers.jl/mwes/mwe02.jl:50
[26] include(fname::String)
@ Base.MainInclude ./client.jl:489
[27] top-level scope
@ REPL[1]:1
in expression starting at /home/ufechner/repos/Tethers.jl/mwes/mwe02.jl:50
Some type information was truncated. Use `show(err)` to see complete types.
even though pos(t) is defined as variable.
**Environment (please complete the following information):**
- Output of `using Pkg; Pkg.status()`
```julia
Project Tethers v0.1.0
Status `~/repos/Tethers.jl/Project.toml`
[992eb4ea] CondaPkg v0.2.22
[16fef848] LiveServer v1.2.7
[961ee093] ModelingToolkit v8.73.2
[1dea7af3] OrdinaryDiffEq v6.62.0
[9b87118b] PackageCompiler v2.1.15
[438e738f] PyCall v1.96.3
[d330b81b] PyPlot v2.11.2
[21f18d07] Timers v0.1.5
[44cfe95a] Pkg v1.10.0
- Output of
using Pkg; Pkg.status(; mode = PKGMODE_MANIFEST)
Project Tethers v0.1.0
Status `~/repos/Tethers.jl/Manifest.toml`
[47edcb42] ADTypes v0.2.5
⌅ [c3fe647b] AbstractAlgebra v0.33.0
[1520ce14] AbstractTrees v0.4.4
[7d9f7c33] Accessors v0.1.33
[79e6a3ab] Adapt v3.7.2
[ec485272] ArnoldiMethod v0.2.0
[4fba245c] ArrayInterface v7.6.1
[4c555306] ArrayLayouts v1.4.4
[e2ed5e7c] Bijections v0.1.6
[d1d4a3ce] BitFlags v0.1.8
[62783981] BitTwiddlingConvenienceFunctions v0.1.5
[2a0fbf3d] CPUSummary v0.2.4
[00ebfdb7] CSTParser v3.3.6
[49dc2e85] Calculus v0.5.1
[d360d2e6] ChainRulesCore v1.18.0
[fb6a15b2] CloseOpenIntervals v0.1.12
[944b1d66] CodecZlib v0.7.3
[3da002f7] ColorTypes v0.11.4
[5ae59095] Colors v0.12.10
[861a8166] Combinatorics v1.0.2
[a80b9123] CommonMark v0.8.12
[38540f10] CommonSolve v0.2.4
[bbf7d656] CommonSubexpressions v0.3.0
[34da2185] Compat v4.10.1
[b152e2b5] CompositeTypes v0.1.3
[a33af91c] CompositionsBase v0.1.2
[2569d6c7] ConcreteStructs v0.2.3
[f0e56b4a] ConcurrentUtilities v2.3.0
[8f4d0f93] Conda v1.10.0
[992eb4ea] CondaPkg v0.2.22
[187b0558] ConstructionBase v1.5.4
[adafc99b] CpuId v0.3.1
[a8cc5b0e] Crayons v4.1.1
[9a962f9c] DataAPI v1.15.0
[864edb3b] DataStructures v0.18.15
[e2d170a0] DataValueInterfaces v1.0.0
[8bb1440f] DelimitedFiles v1.9.1
[2b5f629d] DiffEqBase v6.143.0
[459566f4] DiffEqCallbacks v2.35.0
[163ba53b] DiffResults v1.1.0
[b552c78f] DiffRules v1.15.1
[b4f34e82] Distances v0.10.11
[31c24e10] Distributions v0.25.104
[ffbed154] DocStringExtensions v0.9.3
⌅ [5b8099bc] DomainSets v0.6.7
[fa6b7ba4] DualNumbers v0.6.8
[7c1d4256] DynamicPolynomials v0.5.3
[4e289a0a] EnumX v1.0.4
[f151be2c] EnzymeCore v0.6.4
[460bff9d] ExceptionUnwrapping v0.1.9
[d4d017d3] ExponentialUtilities v1.25.0
[e2ba6199] ExprTools v0.1.10
[7034ab61] FastBroadcast v0.2.8
[9aa1b823] FastClosures v0.3.2
[29a986be] FastLapackInterface v2.0.0
[1a297f60] FillArrays v1.9.3
[6a86dc24] FiniteDiff v2.21.1
[53c48c17] FixedPointNumbers v0.8.4
[59287772] Formatting v0.4.2
[f6369f11] ForwardDiff v0.10.36
[069b7b12] FunctionWrappers v1.1.3
[77dc65aa] FunctionWrappersWrappers v0.1.3
[d9f16b24] Functors v0.4.5
[46192b85] GPUArraysCore v0.1.5
[c145ed77] GenericSchur v0.5.3
[c27321d9] Glob v1.3.1
[86223c79] Graphs v1.9.0
[0b43b601] Groebner v0.5.0
⌅ [d5909c97] GroupsCore v0.4.2
[cd3eb016] HTTP v1.10.1
[3e5b6fbb] HostCPUFeatures v0.1.16
[34004b35] HypergeometricFunctions v0.3.23
[615f187c] IfElse v0.1.1
[d25df0c9] Inflate v0.1.4
[18e54dd8] IntegerMathUtils v0.1.2
[8197267c] IntervalSets v0.7.8
[3587e190] InverseFunctions v0.1.12
[92d709cd] IrrationalConstants v0.2.2
[82899510] IteratorInterfaceExtensions v1.0.0
[692b3bcd] JLLWrappers v1.5.0
[682c06a0] JSON v0.21.4
[0f8b85d8] JSON3 v1.13.2
[98e50ef6] JuliaFormatter v1.0.45
[ccbc3e58] JumpProcesses v9.10.0
[ef3ab10e] KLU v0.4.1
[ba0b0d4f] Krylov v0.9.5
[b964fa9f] LaTeXStrings v1.3.1
[2ee39098] LabelledArrays v1.15.0
[984bce1d] LambertW v0.4.6
[23fbe1c1] Latexify v0.16.1
[73f95e8e] LatticeRules v0.0.1
[10f19ff3] LayoutPointers v0.1.15
[50d2b5c4] Lazy v0.15.1
[5078a376] LazyArrays v1.8.2
[d3d80556] LineSearches v7.2.0
[7ed4a6bd] LinearSolve v2.21.0
[16fef848] LiveServer v1.2.7
[2ab3a3ac] LogExpFunctions v0.3.26
[e6f89c97] LoggingExtras v1.0.3
[bdcacae8] LoopVectorization v0.12.166
[6c6e2e6c] MIMEs v0.1.4
[d8e11817] MLStyle v0.4.17
[1914dd2f] MacroTools v0.5.11
[d125e4d3] ManualMemory v0.1.8
[a3b82374] MatrixFactorizations v2.1.0
[bb5d69b7] MaybeInplace v0.1.1
[739be429] MbedTLS v1.1.9
[0b3b1443] MicroMamba v0.1.14
[e1d29d7a] Missings v1.1.0
[961ee093] ModelingToolkit v8.73.2
[46d2c3a1] MuladdMacro v0.2.4
[102ac46a] MultivariatePolynomials v0.5.3
[d8a4904e] MutableArithmetics v1.4.0
[d41bc354] NLSolversBase v7.8.3
[2774e3e8] NLsolve v4.5.1
[77ba4419] NaNMath v1.0.2
[8913a72c] NonlinearSolve v3.1.0
[6fe1bfb0] OffsetArrays v1.12.10
[4d8831e6] OpenSSL v1.4.1
[bac558e1] OrderedCollections v1.6.3
[1dea7af3] OrdinaryDiffEq v6.62.0
[90014a1f] PDMats v0.11.31
[9b87118b] PackageCompiler v2.1.15
[65ce6f38] PackageExtensionCompat v1.0.2
[d96e819e] Parameters v0.12.3
[69de0a69] Parsers v2.8.0
[fa939f87] Pidfile v1.3.0
[e409e4f3] PoissonRandom v0.4.4
[f517fe37] Polyester v0.7.9
[1d0040c9] PolyesterWeave v0.2.1
[d236fae5] PreallocationTools v0.4.13
[aea7be01] PrecompileTools v1.2.0
[21216c6a] Preferences v1.4.1
[27ebfcd6] Primes v0.5.5
[438e738f] PyCall v1.96.3
[d330b81b] PyPlot v2.11.2
[1fd47b50] QuadGK v2.9.1
[8a4e6c94] QuasiMonteCarlo v0.3.3
[fb686558] RandomExtensions v0.4.4
[e6cf234a] RandomNumbers v1.5.3
[3cdcf5f2] RecipesBase v1.3.4
⌅ [731186ca] RecursiveArrayTools v2.38.10
[f2c3362d] RecursiveFactorization v0.2.21
[189a3867] Reexport v1.2.2
[05181044] RelocatableFolders v1.0.1
[ae029012] Requires v1.3.0
[79098fc4] Rmath v0.7.1
[7e49a35a] RuntimeGeneratedFunctions v0.5.12
[fdea26ae] SIMD v3.4.6
[94e857df] SIMDTypes v0.1.0
[476501e8] SLEEFPirates v0.6.42
⌅ [0bca4576] SciMLBase v2.10.0
[e9a6253c] SciMLNLSolve v0.1.9
[c0aeaf25] SciMLOperators v0.3.7
[6c6a2e73] Scratch v1.2.1
[efcf1570] Setfield v1.1.1
[777ac1f9] SimpleBufferStream v1.1.0
[727e6d20] SimpleNonlinearSolve v1.0.2
[699a6c99] SimpleTraits v0.9.4
[ce78b400] SimpleUnPack v1.1.0
[ed01d8cd] Sobol v1.5.0
[a2af1166] SortingAlgorithms v1.2.0
[47a9eef4] SparseDiffTools v2.14.0
[e56a9233] Sparspak v0.3.9
[276daf66] SpecialFunctions v2.3.1
[aedffcd0] Static v0.8.8
[0d7ed370] StaticArrayInterface v1.5.0
[90137ffa] StaticArrays v1.7.0
[1e83bf80] StaticArraysCore v1.4.2
[82ae8749] StatsAPI v1.7.0
[2913bbd2] StatsBase v0.34.2
[4c63d2b9] StatsFuns v1.3.0
[7792a7ef] StrideArraysCore v0.5.2
[856f2bd8] StructTypes v1.10.0
⌅ [2efcf032] SymbolicIndexingInterface v0.2.2
⌅ [d1185830] SymbolicUtils v1.4.0
⌅ [0c5d862f] Symbolics v5.11.0
[3783bdb8] TableTraits v1.0.1
[bd369af6] Tables v1.11.1
[1e6cf692] TestEnv v1.101.1
[8290d209] ThreadingUtilities v0.5.2
[a759f4b9] TimerOutputs v0.5.23
[21f18d07] Timers v0.1.5
[0796e94c] Tokenize v0.5.26
[3bb67fe8] TranscodingStreams v0.10.2
[d5829a12] TriangularSolve v0.1.20
[410a4b4d] Tricks v0.1.8
[781d530d] TruncatedStacktraces v1.4.0
[5c2747f8] URIs v1.5.1
[3a884ed6] UnPack v1.0.2
[1986cc42] Unitful v1.19.0
[a7c27f48] Unityper v0.1.5
[3d5dd08c] VectorizationBase v0.21.65
[81def892] VersionParsing v1.3.0
[19fa3120] VertexSafeGraphs v0.2.0
[1d5cc7b8] IntelOpenMP_jll v2024.0.0+0
[856f044c] MKL_jll v2024.0.0+0
[458c3c95] OpenSSL_jll v3.0.12+0
[efe28fd5] OpenSpecFun_jll v0.5.5+0
[f50d1b31] Rmath_jll v0.4.0+0
[f8abcde7] micromamba_jll v1.4.9+0
[0dad84c5] ArgTools v1.1.1
[56f22d72] Artifacts
[2a0f44e3] Base64
[ade2ca70] Dates
[8ba89e20] Distributed
[f43a241f] Downloads v1.6.0
[7b1f6079] FileWatching
[9fa8497b] Future
[b77e0a4c] InteractiveUtils
[4af54fe1] LazyArtifacts
[b27032c2] LibCURL v0.6.4
[76f85450] LibGit2
[8f399da3] Libdl
[37e2e46d] LinearAlgebra
[56ddb016] Logging
[d6f4376e] Markdown
[a63ad114] Mmap
[ca575930] NetworkOptions v1.2.0
[44cfe95a] Pkg v1.10.0
[de0858da] Printf
[3fa0cd96] REPL
[9a3f8284] Random
[ea8e919c] SHA v0.7.0
[9e88b42a] Serialization
[1a1011a3] SharedArrays
[6462fe0b] Sockets
[2f01184e] SparseArrays v1.10.0
[10745b16] Statistics v1.10.0
[4607b0f0] SuiteSparse
[fa267f1f] TOML v1.0.3
[a4e569a6] Tar v1.10.0
[8dfed614] Test
[cf7118a7] UUIDs
[4ec0a83e] Unicode
[e66e0078] CompilerSupportLibraries_jll v1.0.5+1
[deac9b47] LibCURL_jll v8.4.0+0
[e37daf67] LibGit2_jll v1.6.4+0
[29816b5a] LibSSH2_jll v1.11.0+1
[c8ffd9c3] MbedTLS_jll v2.28.2+1
[14a3606d] MozillaCACerts_jll v2023.1.10
[4536629a] OpenBLAS_jll v0.3.23+2
[05823500] OpenLibm_jll v0.8.1+2
[bea87d4a] SuiteSparse_jll v7.2.1+1
[83775a58] Zlib_jll v1.2.13+1
[8e850b90] libblastrampoline_jll v5.8.0+1
[8e850ede] nghttp2_jll v1.52.0+1
[3f19e933] p7zip_jll v17.4.0+2
Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated -m`- Output of
versioninfo()
Julia Version 1.10.0-rc2
Commit dbb9c46795b (2023-12-03 15:25 UTC)
Build Info:
Official https://julialang.org/ release
Platform Info:
OS: Linux (x86_64-linux-gnu)
CPU: 16 × AMD Ryzen 7 7840U w/ Radeon 780M Graphics
WORD_SIZE: 64
LIBM: libopenlibm
LLVM: libLLVM-15.0.7 (ORCJIT, znver3)
Threads: 12 on 16 virtual coresSee also: https://github.com/ufechner7/Tethers.jl
This script https://github.com/ufechner7/Tethers.jl/blob/main/src/Tether_03b.jl works fine. Here I am using the lower level continues_events from DifferentialEquations.