bump MTK to version 10

Project.toml

@@ -64,7 +64,7 @@ KernelAbstractions = "0.9.18"
 LinearAlgebra = "1"
 MacroTools = "0.5.15"
 Mixers = "0.1.2"
-ModelingToolkit = "9.67"
+ModelingToolkit = "10"
 NNlib = "0.9.13"
 NonlinearSolve = "4"
 OrderedCollections = "1.8.0"

docs/examples/gas_network.jl

@@ -233,7 +233,7 @@ As a workaround we had to explicitly define `LinearInterpolations` as unitless,
 
 To build the network, we first need to define the components. This is a two-step process:
 
-- first create the symbolic `ODESystem` using ModelingToolkit
+- first create the symbolic `System` using ModelingToolkit
 - secondly build a NetworkDynamics component model ([`VertexModel`](@ref)/[`EdgeModel`](@ref)) based on the symbolic system.
 
 In the first step we can use the keyword arguments to pass "default" values for our parameters and states.

docs/localmake.jl

@@ -11,53 +11,61 @@ use the updated `*.md` and source files. This way the Julia session keeps alive
 individual builds are much faster.
 =#
 
-#=
+PORT = isempty(ARGS) ? 8000 : parse(Int, ARGS[1])
+@assert 8000 ≤ PORT ≤ 9000 "PORT has to be in range 8000..9000!"
+
+print("Do you want to update docs environment? [y/n] (default: n) ")
+answer = readline()
+UPDATE_ENV = if !isempty(answer) && answer[1] == 'y'
+    true
+else
+    false
+end
+
+print("Do you want to build docs continously on file change? This will enable the `draft=true` flag, and the examples will not run. [y/n] (default: n)")
+answer = readline()
+SERVEDOCS_DRAFT = if !isempty(answer) && answer[1] == 'y'
+    true
+else
+    false
+end
+
+
 using Pkg
 Pkg.activate(@__DIR__)
 Pkg.instantiate()
-print("Do you want to update docs environment? [y/n] ")
-answer = readline()
-if !isempty(answer) && answer[1] == 'y'
+
+if UPDATE_ENV
     Pkg.update()
 end
 
 using Revise
 using LiveServer
-using REPL.TerminalMenus
-
-port = isempty(ARGS) ? 8000 : parse(Int, ARGS[1])
-@assert 8000 ≤ port ≤ 9000 "port has to be in range 8000..9000!"
-
-@info "Start server..."
-@async serve(;dir=joinpath(@__DIR__, "build"), port)
-
-menu = RadioMenu(["Run again!", "Quit!"])
-while true
-    revise()
-    @info "Start building docs..."
-    try
-        include("make.jl")
-    catch e
-        @info "make.jl error" e
-    end
-
-    println("\nDocs are served at http://localhost:$port")
+using NetworkDynamics
+cd(pkgdir(NetworkDynamics))
 
-    if request("What now?", menu) != 1
-        break
-    end
-end
-=#
 
+if SERVEDOCS_DRAFT
+    servedocs(
+        literate_dir = joinpath("docs", "examples"),
+        skip_dir = joinpath("docs", "src", "generated")
+    )
+else
+    @info "Start server..."
+    @async serve(;dir=joinpath(@__DIR__, "build"), PORT)
 
-using Pkg
-Pkg.activate(@__DIR__)
-using NetworkDynamics
-using LiveServer
+    while true
+        revise()
+        @info "Start building docs..."
+        try
+            include("make.jl")
+        catch e
+            @info "make.jl error" e
+        end
 
-cd(pkgdir(NetworkDynamics))
+        println("\nDocs are served at http://localhost:$port")
 
-servedocs(
-    literate_dir = joinpath("docs", "examples"),
-    skip_dir = joinpath("docs", "src", "generated")
-)
+        println("Press [Enter] to rerun the make process or [Ctrl+C] to exit.")
+        readline()
+    end
+end

docs/make.jl

@@ -68,7 +68,7 @@ kwargs = (;
             "Directed and Weighted Graphs" => "generated/directed_and_weighted_graphs.md",
         ]
     ],
-    draft=false,
+    draft = isdefined(Main, :SERVEDOCS_DRAFT) ? Main.SERVEDOCS_PREVIEW : false,
     format = Documenter.HTML(ansicolor = true),
     warnonly=[:missing_docs],
 )

docs/src/API.md

@@ -17,9 +17,9 @@ EdgeModel()
 
 ## Component Models with MTK
 ```@docs
-VertexModel(::ModelingToolkit.ODESystem, ::Any, ::Any)
-EdgeModel(::ModelingToolkit.ODESystem, ::Any, ::Any, ::Any, ::Any)
-EdgeModel(::ModelingToolkit.ODESystem, ::Any, ::Any, ::Any)
+VertexModel(::ModelingToolkit.System, ::Any, ::Any)
+EdgeModel(::ModelingToolkit.System, ::Any, ::Any, ::Any, ::Any)
+EdgeModel(::ModelingToolkit.System, ::Any, ::Any, ::Any)
 ```
 
 ### Output Function Helpers/Wrappers 

docs/src/metadata.md

@@ -32,7 +32,7 @@ Special cases for symbol metadata are:
 For those, there are special functions `has_*`, `get_*`, `set_*!` and `delete_*!`. See [Per Symbol Metadata API](@ref).
 
 
-These are closely aligned with the [metadata use in ModelingToolkit](https://docs.sciml.ai/ModelingToolkit/stable/basics/Variable_metadata/). They are automatically copied from the `ODESystem` if you use MTK models to create NetworkDynamics models.
+These are closely aligned with the [metadata use in ModelingToolkit](https://docs.sciml.ai/ModelingToolkit/stable/basics/Variable_metadata/). They are automatically copied from the `System` if you use MTK models to create NetworkDynamics models.
 
 ## Metadata Utils
 Accessing metadata (especially defaults) of states and parameters is a very

docs/src/mtk_integration.md

@@ -6,13 +6,13 @@ which are then connected on network scale using NetworkDynamics.
 
 The main entry point for this interop are the constructors
 ```julia
-VertexModel(::ODESystem, inputs, outputs)
-EdgeModel(::ODESystem, srcin, dstin, [srscout], dstout)
+VertexModel(::System, inputs, outputs)
+EdgeModel(::System, srcin, dstin, [srscout], dstout)
 ```
 whose docstrings can be found in the [Component Models with MTK](@ref) section in the API.
 
 These constructors will:
-- transform the states marked as input to parameters and `structural_simplify`ing the system,
+- transform the states marked as input to parameters and `mtkcompile`ing the system,
 - generate the `f` and `g` functions,
 - generate code for observables,
 - port all supported [Metadata](@ref) from MTK symbols to component symbols and
@@ -76,7 +76,7 @@ An ideal voltage source is just a model which pins its output voltage to a fixed
 The source ejects whatever current is necessary. We introduce another variable `i(t)`
 to "capture" this current. This variable will be removed during structural simplify, but will
 be available for plotting through the [Observables](@ref) mechanism.
-The `VertexModel` can be generated from an `ODESystem` by providing names of the input and output states:
+The `VertexModel` can be generated from an `System` by providing names of the input and output states:
 
 ```@example mtk
 @mtkmodel VoltageSource begin

ext/NetworkDynamicsMTKExt.jl

@@ -1,8 +1,8 @@
 module NetworkDynamicsMTKExt
 
 using ModelingToolkit: Symbolic, iscall, operation, arguments, build_function
-using ModelingToolkit: ModelingToolkit, Equation, ODESystem, Differential
-using ModelingToolkit: equations, full_equations, get_variables, structural_simplify, getname, unwrap
+using ModelingToolkit: ModelingToolkit, Equation, System, Differential
+using ModelingToolkit: equations, full_equations, get_variables, mtkcompile, getname, unwrap
 using ModelingToolkit: parameters, unknowns, independent_variables, observed, defaults
 using Symbolics: Symbolics, fixpoint_sub, substitute
 using RecursiveArrayTools: RecursiveArrayTools
@@ -18,22 +18,22 @@ import NetworkDynamics: VertexModel, EdgeModel, AnnotatedSym
 include("MTKExt_utils.jl")
 
 """
-    VertexModel(sys::ODESystem, inputs, outputs;
+    VertexModel(sys::System, inputs, outputs;
                 verbose=false, name=getname(sys), extin=nothing, ff_to_constraint=true, kwargs...)
 
-Create a `VertexModel` object from a given `ODESystem` created with ModelingToolkit.
+Create a `VertexModel` object from a given `System` created with ModelingToolkit.
 You need to provide 2 lists of symbolic names (`Symbol` or `Vector{Symbols}`):
 - `inputs`: names of variables in you equation representing the aggregated edge states
 - `outputs`: names of variables in you equation representing the node output
 
 Additional kw arguments:
-- `name`: Set name of the component model. Will be lifted from the ODESystem name.
+- `name`: Set name of the component model. Will be lifted from the System name.
 - `extin=nothing`: Provide external inputs as pairs, i.e. `extin=[:extvar => VIndex(1, :a)]`
    will bound the variable `extvar(t)` in the equations to the state `a` of the first vertex.
 - `ff_to_constraint=true`: Controlls, whether output transformations `g` which depend on inputs should be
   transformed into constraints. Defaults to true since ND.jl does not handle vertices with FF yet.
 """
-function VertexModel(sys::ODESystem, inputs, outputs; verbose=false, name=getname(sys),
+function VertexModel(sys::System, inputs, outputs; verbose=false, name=getname(sys),
                      ff_to_constraint=true, extin=nothing, kwargs...)
     warn_events(sys)
     inputs = inputs isa AbstractVector ? inputs : [inputs]
@@ -87,9 +87,9 @@ function VertexModel(sys::ODESystem, inputs, outputs; verbose=false, name=getnam
 end
 
 """
-    EdgeModel(sys::ODESystem, srcin, dstin, AntiSymmetric(dstout); kwargs...)
+    EdgeModel(sys::System, srcin, dstin, AntiSymmetric(dstout); kwargs...)
 
-Create a `EdgeModel` object from a given `ODESystem` created with ModelingToolkit for **single sided models**.
+Create a `EdgeModel` object from a given `System` created with ModelingToolkit for **single sided models**.
 
 Here you only need to provide one list of output symbols: `dstout`.
 To make it clear how to handle the single-sided output definiton, you musst wrap
@@ -100,27 +100,27 @@ the symbol vector in
 
 Additional `kwargs` are the same as for the double-sided EdgeModel MTK constructor.
 """
-EdgeModel(sys::ODESystem, srcin, dstin, dstout; kwargs...) = EdgeModel(sys, srcin, dstin, nothing, dstout; kwargs...)
+EdgeModel(sys::System, srcin, dstin, dstout; kwargs...) = EdgeModel(sys, srcin, dstin, nothing, dstout; kwargs...)
 
 """
-    EdgeModel(sys::ODESystem, srcin, dstin, srcout, dstout;
+    EdgeModel(sys::System, srcin, dstin, srcout, dstout;
               verbose=false, name=getname(sys), extin=nothing, ff_to_constraint=false, kwargs...)
 
-Create a `EdgeModel` object from a given `ODESystem` created with ModelingToolkit.
+Create a `EdgeModel` object from a given `System` created with ModelingToolkit.
 You need to provide 4 lists of symbolic names (`Symbol` or `Vector{Symbols}`):
 - `srcin`: names of variables in you equation representing the node state at the source
 - `dstin`: names of variables in you equation representing the node state at the destination
 - `srcout`: names of variables in you equation representing the output at the source
 - `dstout`: names of variables in you equation representing the output at the destination
 
 Additional kw arguments:
-- `name`: Set name of the component model. Will be lifted from the ODESystem name.
+- `name`: Set name of the component model. Will be lifted from the System name.
 - `extin=nothing`: Provide external inputs as pairs, i.e. `extin=[:extvar => VIndex(1, :a)]`
    will bound the variable `extvar(t)` in the equations to the state `a` of the first vertex.
 - `ff_to_constraint=false`: Controlls, whether output transformations `g` which depend on inputs should be
   transformed into constraints.
 """
-function EdgeModel(sys::ODESystem, srcin, dstin, srcout, dstout; verbose=false, name=getname(sys),
+function EdgeModel(sys::System, srcin, dstin, srcout, dstout; verbose=false, name=getname(sys),
                    ff_to_constraint=false, extin=nothing, kwargs...)
     warn_events(sys)
     srcin = srcin isa AbstractVector ? srcin : [srcin]
@@ -300,16 +300,16 @@ function generate_io_function(_sys, inputss::Tuple, outputss::Tuple;
             verbose && @warn "The specified outputs $implicit_outputs do not appear in the equations of the system!"
         end
         verbose && @info "Simplifying system with inputs $_openinputs and outputs $_definedoutputs"
-        structural_simplify(_sys, (_openinputs, _definedoutputs); simplify=false)[1]
+        mtkcompile(_sys; inputs=_openinputs, outputs=_definedoutputs, simplify=false)
     end
 
     allparams = parameters(sys) # contains inputs!
     @argcheck allinputs ⊆ Set(allparams) ∪ missing_inputs
     params = setdiff(allparams, Set(allinputs))
 
     # extract the main equations and observed equations
-    eqs::Vector{Equation} = ModelingToolkit.subs_constants(equations(sys))
-    obseqs_sorted::Vector{Equation} = ModelingToolkit.subs_constants(observed(sys))
+    eqs::Vector{Equation} = equations(sys)
+    obseqs_sorted::Vector{Equation} = observed(sys)
     fix_metadata!(eqs, sys);
     fix_metadata!(obseqs_sorted, sys);
 
@@ -398,7 +398,7 @@ function generate_io_function(_sys, inputss::Tuple, outputss::Tuple;
         end
         verbose && @info "Transformed algebraic eqs" eqs
 
-        # create massmatrix, we don't use the method provided by ODESystem because of reordering
+        # create massmatrix, we don't use the method provided by System because of reordering
         mm = generate_massmatrix(eqs)
         verbose && @info "Generated mass matrix" mm
         mm