WIP change from JSC to SynchToolkit

Project.toml

@@ -4,22 +4,22 @@ authors = ["Fredrik Bagge Carlson"]
 version = "0.1.1"
 
 [deps]
-DiffEqCallbacks = "459566f4-90b8-5000-8ac3-15dfb0a30def"
-JuliaSimCompiler = "8391cb6b-4921-5777-4e45-fd9aab8cb88d"
+HeptagonToolkit = "530fcfb7-09ad-4628-8fc4-9627497dc745"
 ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
 ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"
-OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
+OrdinaryDiffEqTsit5 = "b1df2697-797e-41e3-8120-5422d3b24e4a"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 StableRNGs = "860ef19b-820b-49d6-a774-d7a799459cd3"
+SynchToolkit = "f500ffa8-9682-42ac-8d34-0ca7926c2e94"
 
 [compat]
-DiffEqCallbacks = "~3.8"
-JuliaSimCompiler = "0.1.19"
+HeptagonToolkit = "1.0.0"
 ModelingToolkit = "9"
 ModelingToolkitStandardLibrary = "2"
-OrdinaryDiffEq = "6.89"
+OrdinaryDiffEqTsit5 = "1.1.0"
 Random = "1"
 StableRNGs = "1"
+SynchToolkit = "0.1.0"
 julia = "1.10"
 
 [extras]

docs/src/examples/dc_motor_pi.md

@@ -20,7 +20,7 @@ using ModelingToolkit: t_nounits as t
 using ModelingToolkitStandardLibrary.Electrical
 using ModelingToolkitStandardLibrary.Mechanical.Rotational
 using ModelingToolkitStandardLibrary.Blocks
-using OrdinaryDiffEq
+using OrdinaryDiffEqTsit5
 using Plots
 
 R = 0.5 # [Ohm] armature resistance
@@ -110,7 +110,7 @@ Below, we re-model the system, this time with a discrete-time controller: [`Disc
 
 ```@example dc_motor_pi
 using ModelingToolkitSampledData
-using JuliaSimCompiler
+using SynchToolkit
 
 z = ShiftIndex()
 @mtkmodel DiscreteClosedLoop begin
@@ -159,7 +159,7 @@ end
 
 @named disc_model = DiscreteClosedLoop()
 disc_model = complete(disc_model)
-ssys = structural_simplify(IRSystem(disc_model)) # Conversion to an IRSystem from JuliaSimCompiler is required for sampled-data systems
+ssys = structural_simplify(disc_model; additional_passes=[SynchToolkit.compile_lustre])
 
 disc_prob = ODEProblem(ssys, [unknowns(disc_model) .=> 0.0; disc_model.pi_controller.I(z-1) => 0; disc_model.pi_controller.eI(z-1) => 0], (0, 2.0))
 disc_sol = solve(disc_prob, Tsit5())
@@ -213,7 +213,7 @@ end
 
 @named cascade = Cascade()
 cascade = complete(cascade)
-ssys = structural_simplify(IRSystem(cascade))
+ssys = structural_simplify(cascade; additional_passes=[SynchToolkit.compile_lustre])
 i = cascade.inner
 cascade_prob = ODEProblem(ssys, [
     unknowns(cascade) .=> 0.0;

docs/src/examples/onoffcontroller.md

@@ -7,10 +7,10 @@ where ``τ = 100`` is a time constant. The controller ``u = f(x)`` is an on/off
 
 
 ```@example ONOFF
-using ModelingToolkit, ModelingToolkitSampledData, OrdinaryDiffEq, Plots
+using ModelingToolkit, ModelingToolkitSampledData, OrdinaryDiffEqTsit5, Plots
 using ModelingToolkit: t_nounits as t, D_nounits as D
 using ModelingToolkitStandardLibrary.Blocks
-using JuliaSimCompiler
+using SynchToolkit
 cl = Clock(1)
 z = ShiftIndex(cl)
 @mtkmodel OnOffModel begin
@@ -29,7 +29,7 @@ z = ShiftIndex(cl)
 end
 @named m = OnOffModel()
 m = complete(m)
-ssys = structural_simplify(IRSystem(m))
+ssys = structural_simplify(m; additional_passes=[SynchToolkit.compile_lustre])
 prob = ODEProblem(ssys, [m.onoff.y(z-1) => 0], (0.0, 40.0))
 sol = solve(prob, Tsit5(), dtmax=0.1)
 plot(sol, idxs=[m.x, m.onoff.y], title="On-off control of an unstable first-order system")

docs/src/examples/sliding_mode_control.md

@@ -10,10 +10,10 @@ ė = -e
 which yields the switching variable ``s = ė + e``, encoded in the function ``s = σ(x, t)``
 
 ```@example ONOFF
-using ModelingToolkit, ModelingToolkitSampledData, OrdinaryDiffEq, Plots
+using ModelingToolkit, ModelingToolkitSampledData, OrdinaryDiffEqTsit5, Plots
 using ModelingToolkit: t_nounits as t, D_nounits as D
 using ModelingToolkitStandardLibrary.Blocks
-using JuliaSimCompiler
+using SynchToolkit
 dt = 0.01
 clock = Clock(dt)
 z = ShiftIndex(clock)
@@ -42,7 +42,7 @@ end
     end
     @parameters begin
         k = 1,    [description = "Control gain"]
-        k2 = 1.1, [description = "Tuning parameter, often set to 1.1"]
+        k2 = 0.5, [description = "Tuning parameter"]
     end
     @variables begin
         s(t) = 0.0, [description = "Sliding surface"]
@@ -80,12 +80,13 @@ end
 end
 @named m = ClosedLoopModel()
 m = complete(m)
-ssys = structural_simplify(IRSystem(m))
+ssys = structural_simplify(m; additional_passes=[SynchToolkit.compile_lustre])
 prob = ODEProblem(ssys, [m.plant.x => -1, m.plant.xd => 0, m.controller.x(z-1) => 0], (0.0, 2π))
 sol = solve(prob, Tsit5(), dtmax=0.01)
 figy = plot(sol, idxs=[m.plant.x])
 plot!(sol.t, qr.(sol.t), label="Reference")
-figu = plot(sol, idxs=[m.zoh.y, m.disturbance], label=["Control signal" "Disturbance"])
+figu = plot(sol, idxs=m.controller.y, label="Control signal")
+plot!(sol, idxs=m.disturbance, label="Disturbance")
 plot(figy, figu, layout=(2,1))
 ```
 

docs/src/tutorials/SampledData.md

@@ -226,10 +226,11 @@ connections = [r ~ (t >= 5)        # reference signal
 cl = complete(cl)
 ```
 
-We can now simulate the system. JuliaSimCompiler is required to simulate hybrid continuous/discrete systems, we thus convert the system to an `JuliaSimCompiler.IRSystem` before calling `structural_simplify`
+We can now simulate the system.
 ```@example clocks
-using JuliaSimCompiler, Plots
-ssys = structural_simplify(IRSystem(cl))
+using Plots
+using SynchToolkit
+ssys = structural_simplify(cl; additional_passes=[SynchToolkit.compile_lustre])
 
 prob = ODEProblem(ssys, [
     cl.f.x(k-1) => 0,

docs/src/tutorials/noise.md

@@ -14,7 +14,7 @@ using ModelingToolkitStandardLibrary.Electrical
 using ModelingToolkitStandardLibrary.Mechanical.Rotational
 using ModelingToolkitStandardLibrary.Blocks
 using ModelingToolkitSampledData
-using JuliaSimCompiler
+using SynchToolkit
 using OrdinaryDiffEq
 using Plots
 
@@ -72,7 +72,7 @@ end
 
 @named noisy_model = NoisyClosedLoop()
 noisy_model = complete(noisy_model)
-ssys = structural_simplify(IRSystem(noisy_model)) # Conversion to an IRSystem from JuliaSimCompiler is required for sampled-data systems
+ssys = structural_simplify(noisy_model; additional_passes=[SynchToolkit.compile_lustre])
 
 noise_prob = ODEProblem(ssys, [unknowns(noisy_model) .=> 0.0; noisy_model.pi_controller.I(z-1) => 0; noisy_model.pi_controller.eI(z-1) => 0; noisy_model.noise.y(z-1) => 0], (0, 2.0))
 noise_sol = solve(noise_prob, Tsit5())
@@ -105,7 +105,7 @@ A signal may be quantized to a fixed number of levels (e.g., 8-bit) using the [`
 using ModelingToolkit, ModelingToolkitSampledData, OrdinaryDiffEq, Plots
 using ModelingToolkit: t_nounits as t, D_nounits as D
 using ModelingToolkitStandardLibrary.Blocks
-using JuliaSimCompiler
+
 z = ShiftIndex(Clock(0.1))
 @mtkmodel QuantizationModel begin
     @components begin
@@ -123,7 +123,7 @@ z = ShiftIndex(Clock(0.1))
 end
 @named m = QuantizationModel()
 m = complete(m)
-ssys = structural_simplify(IRSystem(m))
+ssys = structural_simplify(m; additional_passes=[SynchToolkit.compile_lustre])
 prob = ODEProblem(ssys, [], (0.0, 2.0))
 sol = solve(prob, Tsit5())
 plot(sol, idxs=m.input.output.u)
@@ -170,7 +170,7 @@ The block [`SampleWithADEffects`](@ref) combines an ideal [`Sampler`](@ref), a [
 end
 @named m = PracticalSamplerModel()
 m = complete(m)
-ssys = structural_simplify(IRSystem(m))
+ssys = structural_simplify(m; additional_passes=[SynchToolkit.compile_lustre])
 prob = ODEProblem(ssys, [m.sampling.noise.y(z-1) => 0], (0.0, 2.0))
 sol = solve(prob, Tsit5())
 plot(sol, idxs=m.input.output.u)

src/ModelingToolkitSampledData.jl

@@ -1,6 +1,6 @@
 module ModelingToolkitSampledData
 using ModelingToolkit
-using JuliaSimCompiler
+using SynchToolkit
 using StableRNGs
 
 export get_clock
@@ -14,6 +14,4 @@ export DiscreteOnOffController
 include("discrete_blocks.jl")
 
 
-runtime(ssys::JuliaSimCompiler.ScheduledSystem) = ssys.discrete_info.callback.affect!.affect!.x
-
 end

src/discrete_blocks.jl

@@ -343,7 +343,6 @@ end
 """
 @mtkmodel ClockChanger begin
     begin
-        isdefined(Main, :JuliaSimCompiler) || error("JuliaSimCompiler must be defined in the Main module for the ClockChanger component to work. Run `import JuliaSimCompiler`.")
         @warn "The ClockChanger component is experimental and has known correctness issues. Please use with caution."
     end
     @extend u, y = siso = SISO()
@@ -355,7 +354,7 @@ end
         O = 0 # This is just a dummy to workaround a bug in JSComp
     end
     @equations begin
-        y(ShiftIndex(to)) ~ Main.JuliaSimCompiler.ClockChange(; to, from)(u(ShiftIndex(from))) + O
+        y(ShiftIndex(to)) ~ ClockChange(; to, from)(u(ShiftIndex(from))) + O
     end
 end
 
@@ -918,7 +917,7 @@ z = ShiftIndex(cl)
 end
 @named m = SlweRateLimiterModel()
 m = complete(m)
-ssys = structural_simplify(IRSystem(m))
+ssys = structural_simplify(m; additional_passes=[SynchToolkit.compile_lustre])
 prob = ODEProblem(ssys, [m.limiter.y(z-1) => 0], (0.0, 2.0))
 sol = solve(prob, Tsit5(), dtmax=0.01)
 plot(sol, idxs=[m.input.output.u, m.limiter.y], title="Slew rate limited sine wave")

test/runtests.jl

@@ -1,6 +1,6 @@
 using ModelingToolkitSampledData
 using ModelingToolkit
-using JuliaSimCompiler
+using SynchToolkit
 using Test
 
 @testset "ModelingToolkitSampledData.jl" begin