refactor: update for compatibility with MTKv9

Project.toml

@@ -19,7 +19,7 @@ DataInterpolations = "4"
 DiffEqBase = "6.103"
 IfElse = "0.1"
 LinearAlgebra = "1.10"
-ModelingToolkit = "8.69"
+ModelingToolkit = "9"
 OrdinaryDiffEq = "6.33"
 SafeTestsets = "0.1"
 Symbolics = "5.2"

docs/Project.toml

@@ -13,6 +13,6 @@ ControlSystemsBase = "1.1"
 DifferentialEquations = "7.6"
 Documenter = "1"
 IfElse = "0.1"
-ModelingToolkit = "8.67"
+ModelingToolkit = "9"
 OrdinaryDiffEq = "6.31"
 Plots = "1.36"

docs/src/connectors/connections.md

@@ -90,10 +90,9 @@ As can be seen, this will give a 1 equation model matching our energy dissipatio
 
 ```@example connections
 using ModelingToolkitStandardLibrary.Electrical, ModelingToolkit, DifferentialEquations
+using ModelingToolkit: t_nounits as t
 using Plots
 
-@parameters t
-
 @named resistor = Resistor(R = 1)
 @named capacitor = Capacitor(C = 1)
 @named ground = Ground()

docs/src/tutorials/custom_component.md

@@ -8,6 +8,7 @@ First, we need to make some imports.
 
 ```@example components
 using ModelingToolkit
+using ModelingToolkit: t_nounits as t
 using ModelingToolkitStandardLibrary.Electrical
 using ModelingToolkitStandardLibrary.Electrical: OnePort
 using OrdinaryDiffEq
@@ -35,8 +36,6 @@ end NonlinearResistor;
 this can almost be directly translated to the syntax of `ModelingToolkit`.
 
 ```@example components
-@parameters t
-
 function NonlinearResistor(; name, Ga, Gb, Ve)
     @named oneport = OnePort()
     @unpack v, i = oneport

docs/src/tutorials/dc_motor_pi.md

@@ -14,14 +14,13 @@ First, the needed packages are imported and the parameters of the model defined.
 
 ```@example dc_motor_pi
 using ModelingToolkit
+using ModelingToolkit: t_nounits as t
 using ModelingToolkitStandardLibrary.Electrical
 using ModelingToolkitStandardLibrary.Mechanical.Rotational
 using ModelingToolkitStandardLibrary.Blocks
 using OrdinaryDiffEq
 using Plots
 
-@parameters t
-
 R = 0.5 # [Ohm] armature resistance
 L = 4.5e-3 # [H] armature inductance
 k = 0.5 # [N.m/A] motor constant

docs/src/tutorials/input_component.md

@@ -14,13 +14,11 @@ The `ModelingToolkitStandardLibrary.Blocks.TimeVaryingFunction` component is eas
 
 ```julia
 using ModelingToolkit
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ModelingToolkitStandardLibrary.Blocks
 using DataInterpolations
 using OrdinaryDiffEq
 
-@parameters t
-D = Differential(t)
-
 function System(f; name)
     src = TimeVaryingFunction(f)
 

docs/src/tutorials/rc_circuit.md

@@ -29,7 +29,7 @@ rc_eqs = [connect(constant.output, source.V)
 @named rc_model = ODESystem(rc_eqs, t,
     systems = [resistor, capacitor, constant, source, ground])
 sys = structural_simplify(rc_model)
-prob = ODAEProblem(sys, Pair[], (0, 10.0))
+prob = ODEProblem(sys, Pair[], (0, 10.0))
 sol = solve(prob, Tsit5())
 plot(sol, idxs = [capacitor.v, resistor.i],
     title = "RC Circuit Demonstration",

docs/src/tutorials/thermal_model.md

@@ -8,8 +8,7 @@ from dividing the total initial energy in the system by the sum of the heat capa
 
 ```@example
 using ModelingToolkitStandardLibrary.Thermal, ModelingToolkit, OrdinaryDiffEq, Plots
-
-@parameters t
+using ModelingToolkit: t_nounits as t
 
 C1 = 15
 C2 = 15

src/Blocks/Blocks.jl

@@ -5,10 +5,7 @@ module Blocks
 using ModelingToolkit, Symbolics
 import IfElse: ifelse
 import ..@symcheck
-using ModelingToolkit: getdefault
-
-@parameters t
-D = Differential(t)
+using ModelingToolkit: getdefault, t_nounits as t, D_nounits as D
 
 export RealInput, RealOutput, SISO
 include("utils.jl")

src/Blocks/continuous.jl

@@ -620,6 +620,7 @@ See also [`StateSpace`](@ref) which handles MIMO systems, as well as [ControlSys
 
     x = collect(x)
     x_scaled = collect(x_scaled)
+    bb = collect(bb)
 
     sts = [x; x_scaled; y; u]
 

src/Blocks/sources.jl

@@ -521,7 +521,7 @@
 end
 
 get_sample_time(memory::Parameter) = memory.ref
-Symbolics.@register_symbolic get_sample_time(memory)
+Symbolics.@register_symbolic get_sample_time(memory::Parameter)
 
 Base.convert(::Type{T}, x::Parameter{T}) where {T <: Real} = x.ref
 function Base.convert(::Type{<:Parameter{T}}, x::Number) where {T <: Real}
@@ -603,8 +603,9 @@
 function get_sampled_data(t, buffer)
     get_sampled_data(t, buffer.data, buffer.ref, buffer.circular_buffer)
 end
-Symbolics.@register_symbolic get_sampled_data(t, buffer)
-Symbolics.@register_symbolic get_sampled_data(t, buffer, dt, circular_buffer) false
+Symbolics.@register_symbolic Parameter(data::Vector, ref, circular_buffer::Bool)
+Symbolics.@register_symbolic get_sampled_data(t, buffer::Parameter)
+Symbolics.@register_symbolic get_sampled_data(t, buffer::Vector, dt, circular_buffer) false
 
 function Symbolics.derivative(::typeof(get_sampled_data), args::NTuple{2, Any}, ::Val{1})
     t = @inbounds args[1]
@@ -655,21 +656,23 @@
         buffer,
         sample_time,
         circular_buffer = true)
+    T = eltype(buffer)
     pars = @parameters begin
-        buffer = buffer #::Vector{Real}
-        sample_time = sample_time #::Real
-        circular_buffer = circular_buffer #::Bool
+        buffer::Vector{T} = buffer #::Vector{Real}
+        sample_time::T = sample_time #::Real
+        circular_buffer::Bool = circular_buffer #::Bool
     end
+    @parameters p::Parameter{T} = Parameter(buffer, sample_time, circular_buffer)
     vars = []
     systems = @named begin
         output = RealOutput()
     end
     eqs = [
-        output.u ~ get_sampled_data(t, buffer, sample_time, circular_buffer)
+        output.u ~ get_sampled_data(t, p)
     ]
-    return ODESystem(eqs, t, vars, pars; name, systems,
+    return ODESystem(eqs, t, vars, [pars; p]; name, systems,
         defaults = [
-            output.u => get_sampled_data(0.0, buffer, sample_time, circular_buffer)
+            output.u => get_sampled_data(0.0, p)
         ])
 end
 
@@ -684,9 +687,10 @@
 # Connectors:
   - `output`
 """
-@component function SampledData(::Val{SampledDataType.struct_based}; name, buffer)
+@component function SampledData(
+        ::Val{SampledDataType.struct_based}; name, buffer::Parameter)
     pars = @parameters begin
-        buffer = buffer #::Parameter
+        buffer::typeof(buffer) = buffer #::Parameter
     end
     vars = []
     systems = @named begin

src/Electrical/Electrical.jl

@@ -5,13 +5,11 @@ This library contains electrical components to build up analog circuits.
 module Electrical
 
 using ModelingToolkit, Symbolics, IfElse
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ..Thermal: HeatPort
 using ..Mechanical.Rotational: Flange, Support
 using ..Blocks: RealInput, RealOutput
 
-@parameters t
-D = Differential(t)
-
 export Pin, OnePort
 include("utils.jl")
 

src/Hydraulic/IsothermalCompressible/IsothermalCompressible.jl

@@ -4,15 +4,13 @@ Library to model iso-thermal compressible liquid fluid flow
 module IsothermalCompressible
 
 using ModelingToolkit, Symbolics
+using ModelingToolkit: t_nounits as t, D_nounits as D
 
 using ...Blocks: RealInput, RealOutput
 using ...Mechanical.Translational: MechanicalPort, Mass
 
 using IfElse: ifelse
 
-@parameters t
-D = Differential(t)
-
 export HydraulicPort, HydraulicFluid
 include("utils.jl")
 

src/Magnetic/FluxTubes/FluxTubes.jl

@@ -1,10 +1,8 @@
 module FluxTubes
 using ModelingToolkit
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ...Electrical: Pin
 
-@parameters t
-D = Differential(t)
-
 export PositiveMagneticPort, NegativeMagneticPort, TwoPort
 include("utils.jl")
 

src/Mechanical/MultiBody2D/MultiBody2D.jl

@@ -1,11 +1,9 @@
 module MultiBody2D
 
 using ModelingToolkit, Symbolics, IfElse
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ..TranslationalPosition
 
-@parameters t
-D = Differential(t)
-
 export Link
 include("components.jl")
 

src/Mechanical/Rotational/Rotational.jl

@@ -4,12 +4,10 @@ Library to model 1-dimensional, rotational mechanical systems
 module Rotational
 
 using ModelingToolkit, Symbolics, IfElse
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ...Blocks: RealInput, RealOutput
 import ...@symcheck
 
-@parameters t
-D = Differential(t)
-
 export Flange, Support
 include("utils.jl")
 

src/Mechanical/Translational/Translational.jl

@@ -4,14 +4,11 @@ Library to model 1-dimensional, translational mechanical systems
 module Translational
 
 using ModelingToolkit, Symbolics
-using ModelingToolkit: getdefault
+using ModelingToolkit: getdefault, t_nounits as t, D_nounits as D
 
 using ModelingToolkitStandardLibrary.Blocks: RealInput, RealOutput
 using IfElse: ifelse
 
-@parameters t
-D = Differential(t)
-
 export MechanicalPort
 include("utils.jl")
 

src/Mechanical/TranslationalModelica/TranslationalModelica.jl

@@ -4,11 +4,9 @@ Library to model 1-dimensional, translational mechanical components.
 module TranslationalModelica
 
 using ModelingToolkit, Symbolics, IfElse
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ...Blocks: RealInput, RealOutput
 
-@parameters t
-D = Differential(t)
-
 export Flange
 include("utils.jl")
 

src/Mechanical/TranslationalPosition/TranslationalPosition.jl

@@ -4,11 +4,9 @@ Library to model 1-dimensional, translational mechanical components.
 module TranslationalPosition
 
 using ModelingToolkit, Symbolics, IfElse
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ...Blocks: RealInput, RealOutput
 
-@parameters t
-D = Differential(t)
-
 export Flange
 include("utils.jl")
 

src/Thermal/Thermal.jl

@@ -3,11 +3,9 @@ Library of thermal system components to model heat transfer.
 """
 module Thermal
 using ModelingToolkit, Symbolics, IfElse
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ...Blocks: RealInput, RealOutput
 
-@parameters t
-D = Differential(t)
-
 export HeatPort, Element1D
 include("utils.jl")
 

test/Blocks/continuous.jl

@@ -1,10 +1,9 @@
 using ModelingToolkit, ModelingToolkitStandardLibrary, OrdinaryDiffEq
 using ModelingToolkitStandardLibrary.Blocks
+using ModelingToolkit: t_nounits as t
 using OrdinaryDiffEq: ReturnCode.Success
 using Test
 
-@parameters t
-
 #=
 Testing strategy:
 The general strategy is to test systems using simple inputs where the solution

test/Blocks/math.jl

@@ -1,11 +1,9 @@
 using ModelingToolkitStandardLibrary.Blocks
 using ModelingToolkit, OrdinaryDiffEq, Test
 using ModelingToolkitStandardLibrary.Blocks: _clamp, _dead_zone
-using ModelingToolkit: inputs, unbound_inputs, bound_inputs
+using ModelingToolkit: inputs, unbound_inputs, bound_inputs, t_nounits as t
 using OrdinaryDiffEq: ReturnCode.Success
 
-@parameters t
-
 @testset "Gain" begin
     @named c = Constant(; k = 1)
     @named gain = Gain(; k = 1)

test/Blocks/nonlinear.jl

@@ -1,10 +1,9 @@
 using ModelingToolkit, OrdinaryDiffEq
 using ModelingToolkitStandardLibrary.Blocks
+using ModelingToolkit: t_nounits as t
 using ModelingToolkitStandardLibrary.Blocks: _clamp, _dead_zone
 using OrdinaryDiffEq: ReturnCode.Success
 
-@parameters t
-
 @testset "Limiter" begin
     @testset "Constant" begin
         @named c = Constant(; k = 1)

test/Blocks/sources.jl

@@ -1,13 +1,11 @@
 using ModelingToolkit, ModelingToolkitStandardLibrary, OrdinaryDiffEq
 using ModelingToolkitStandardLibrary.Blocks
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ModelingToolkitStandardLibrary.Blocks: smooth_sin, smooth_cos, smooth_damped_sin,
                                              smooth_square, smooth_step, smooth_ramp,
                                              smooth_triangular, triangular, square
 using OrdinaryDiffEq: ReturnCode.Success
 
-@parameters t
-D = Differential(t)
-
 @testset "Constant" begin
     @named src = Constant(k = 2)
     @named int = Integrator()