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fix: enable using MTKParameters with generate_control_function #3210

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Merged
merged 1 commit into from
Nov 16, 2024
Merged

fix: enable using MTKParameters with generate_control_function #3210

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10 changes: 6 additions & 4 deletions src/inputoutput.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -235,18 +235,20 @@ function generate_control_function(sys::AbstractODESystem, inputs = unbound_inpu
# TODO: add an optional check on the ordering of observed equations
u = map(x -> time_varying_as_func(value(x), sys), dvs)
p = map(x -> time_varying_as_func(value(x), sys), ps)
p = reorder_parameters(sys, p)
t = get_iv(sys)

# pre = has_difference ? (ex -> ex) : get_postprocess_fbody(sys)

args = (u, inputs, p, t)
args = (u, inputs, p..., t)
if implicit_dae
ddvs = map(Differential(get_iv(sys)), dvs)
args = (ddvs, args...)
end
process = get_postprocess_fbody(sys)
f = build_function(rhss, args...; postprocess_fbody = process,
expression = Val{true}, wrap_code = wrap_array_vars(sys, rhss; dvs, ps) .∘
expression = Val{true}, wrap_code = wrap_mtkparameters(sys, false, 3) .∘
wrap_array_vars(sys, rhss; dvs, ps, inputs) .∘
wrap_parameter_dependencies(sys, false),
kwargs...)
f = eval_or_rgf.(f; eval_expression, eval_module)
Expand Down Expand Up @@ -426,7 +428,7 @@ function add_input_disturbance(sys, dist::DisturbanceModel, inputs = nothing; kw
augmented_sys = ODESystem(eqs, t, systems = [dsys], name = gensym(:outer))
augmented_sys = extend(augmented_sys, sys)

(f_oop, f_ip), dvs, p = generate_control_function(augmented_sys, all_inputs,
(f_oop, f_ip), dvs, p, io_sys = generate_control_function(augmented_sys, all_inputs,
[d]; kwargs...)
(f_oop, f_ip), augmented_sys, dvs, p
(f_oop, f_ip), augmented_sys, dvs, p, io_sys
end
24 changes: 18 additions & 6 deletions test/input_output_handling.jl
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Expand Up @@ -160,12 +160,12 @@ eqs = [
]

@named sys = ODESystem(eqs, t)
f, dvs, ps = ModelingToolkit.generate_control_function(sys, simplify = true)
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys, simplify = true)

@test isequal(dvs[], x)
@test isempty(ps)

p = []
p = nothing
x = [rand()]
u = [rand()]
@test f[1](x, u, p, 1) == -x + u
Expand Down Expand Up @@ -221,10 +221,10 @@ eqs = [connect_sd(sd, mass1, mass2)
@named _model = ODESystem(eqs, t)
@named model = compose(_model, mass1, mass2, sd);

f, dvs, ps = ModelingToolkit.generate_control_function(model, simplify = true)
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(model, simplify = true)
@test length(dvs) == 4
@test length(ps) == length(parameters(model))
p = ModelingToolkit.varmap_to_vars(ModelingToolkit.defaults(model), ps)
p = MTKParameters(io_sys, [io_sys.u => NaN])
x = ModelingToolkit.varmap_to_vars(
merge(ModelingToolkit.defaults(model),
Dict(D.(unknowns(model)) .=> 0.0)), dvs)
Expand Down Expand Up @@ -288,7 +288,7 @@ model_outputs = [model.inertia1.w, model.inertia2.w, model.inertia1.phi, model.i
@named dmodel = Blocks.StateSpace([0.0], [1.0], [1.0], [0.0]) # An integrating disturbance

@named dist = ModelingToolkit.DisturbanceModel(model.torque.tau.u, dmodel)
(f_oop, f_ip), outersys, dvs, p = ModelingToolkit.add_input_disturbance(model, dist)
(f_oop, f_ip), outersys, dvs, p, io_sys = ModelingToolkit.add_input_disturbance(model, dist)

@unpack u, d = outersys
matrices, ssys = linearize(outersys, [u, d], model_outputs)
Expand All @@ -302,7 +302,7 @@ x_add = ModelingToolkit.varmap_to_vars(merge(Dict(dvs .=> 0), Dict(dstate => 1))
x0 = randn(5)
x1 = copy(x0) + x_add # add disturbance state perturbation
u = randn(1)
pn = ModelingToolkit.varmap_to_vars(def, p)
pn = MTKParameters(io_sys, [])
xp0 = f_oop(x0, u, pn, 0)
xp1 = f_oop(x1, u, pn, 0)

Expand Down Expand Up @@ -401,3 +401,15 @@ end
f, dvs, ps = ModelingToolkit.generate_control_function(sys, simplify = true)
@test f[1]([0.5], nothing, nothing, 0.0) == [1.0]
end

@testset "With callable symbolic" begin
@variables x(t)=0 u(t)=0 [input = true]
@parameters p(::Real) = (x -> 2x)
eqs = [D(x) ~ -x + p(u)]
@named sys = ODESystem(eqs, t)
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys, simplify = true)
p = MTKParameters(io_sys, [])
u = [1.0]
x = [1.0]
@test_nowarn f[1](x, u, p, 0.0)
end
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