refactor: update implementation of discrete save interface

Author: AayushSabharwal

src/systems/abstractsystem.jl

@@ -440,7 +440,8 @@ function SymbolicIndexingInterface.is_parameter(sys::AbstractSystem, sym)
     sym = unwrap(sym)
     if has_index_cache(sys) && (ic = get_index_cache(sys)) !== nothing
         return sym isa ParameterIndex || is_parameter(ic, sym) ||
-               iscall(sym) && operation(sym) === getindex &&
+               iscall(sym) &&
+               operation(sym) === getindex &&
                is_parameter(ic, first(arguments(sym)))
     end
     if unwrap(sym) isa Int
@@ -519,34 +520,19 @@ function SymbolicIndexingInterface.parameter_index(sys::AbstractSystem, sym::Sym
 end
 
 function SymbolicIndexingInterface.is_timeseries_parameter(sys::AbstractSystem, sym)
+    is_time_dependent(sys) || return false
     has_index_cache(sys) && (ic = get_index_cache(sys)) !== nothing || return false
     is_timeseries_parameter(ic, sym)
 end
 
 function SymbolicIndexingInterface.timeseries_parameter_index(sys::AbstractSystem, sym)
+    is_time_dependent(sys) || return nothing
     has_index_cache(sys) && (ic = get_index_cache(sys)) !== nothing || return nothing
     timeseries_parameter_index(ic, sym)
 end
 
 function SymbolicIndexingInterface.parameter_observed(sys::AbstractSystem, sym)
     if has_index_cache(sys) && (ic = get_index_cache(sys)) !== nothing
-        allvars = vars(sym; op = Symbolics.Operator)
-        ts_idxs = Set{Int}()
-        for var in allvars
-            var = unwrap(var)
-            # FIXME: Shouldn't have to shift systems
-            if istree(var) && (op = operation(var)) isa Shift && op.steps == 1
-                var = only(arguments(var))
-            end
-            ts_idx = check_index_map(ic.discrete_idx, unwrap(var))
-            ts_idx === nothing && continue
-            push!(ts_idxs, ts_idx[1])
-        end
-        if length(ts_idxs) == 1
-            ts_idx = only(ts_idxs)
-        else
-            ts_idx = nothing
-        end
         rawobs = build_explicit_observed_function(
             sys, sym; param_only = true, return_inplace = true)
         if rawobs isa Tuple
@@ -573,10 +559,44 @@ function SymbolicIndexingInterface.parameter_observed(sys::AbstractSystem, sym)
             end
         end
     else
-        ts_idx = nothing
         obsfn = build_explicit_observed_function(sys, sym; param_only = true)
     end
-    return ParameterObservedFunction(ts_idx, obsfn)
+    return obsfn
+end
+
+function _all_ts_idxs!(ts_idxs, ::NotSymbolic, sys, sym)
+    if is_variable(sys, sym)
+        push!(ts_idxs, ContinuousTimeseries())
+    elseif is_timeseries_parameter(sys, sym)
+        push!(ts_idxs, timeseries_parameter_index(sys, sym).timeseries_idx)
+    end
+end
+# Need this to avoid ambiguity with the array case
+for traitT in [
+    ScalarSymbolic,
+    ArraySymbolic
+]
+    @eval function _all_ts_idxs!(ts_idxs, ::$traitT, sys, sym)
+        allsyms = vars(sym; op = Symbolics.Operator)
+        foreach(allsyms) do s
+            _all_ts_idxs!(ts_idxs, sys, s)
+        end
+    end
+end
+function _all_ts_idxs!(ts_idxs, ::NotSymbolic, sys, sym::AbstractArray)
+    foreach(sym) do s
+        _all_ts_idxs!(ts_idxs, sys, s)
+    end
+end
+_all_ts_idxs!(ts_idxs, sys, sym) = _all_ts_idxs!(ts_idxs, NotSymbolic(), sys, sym)
+
+function SymbolicIndexingInterface.get_all_timeseries_indexes(sys::AbstractSystem, sym)
+    if !is_time_dependent(sys)
+        return Set()
+    end
+    ts_idxs = Set()
+    _all_ts_idxs!(ts_idxs, sys, sym)
+    return ts_idxs
 end
 
 function SymbolicIndexingInterface.parameter_symbols(sys::AbstractSystem)

src/systems/index_cache.jl

@@ -113,7 +113,7 @@ function IndexCache(sys::AbstractSystem)
                     error("Discrete subsystem $i input $inp is not a parameter")
                 disc_clocks[inp] = i
                 disc_clocks[default_toterm(inp)] = i
-                if hasname(inp) && (!istree(inp) || operation(inp) !== getindex)
+                if hasname(inp) && (!iscall(inp) || operation(inp) !== getindex)
                     disc_clocks[getname(inp)] = i
                     disc_clocks[default_toterm(inp)] = i
                 end
@@ -126,7 +126,7 @@ function IndexCache(sys::AbstractSystem)
                     error("Discrete subsystem $i unknown $sym is not a parameter")
                 disc_clocks[sym] = i
                 disc_clocks[default_toterm(sym)] = i
-                if hasname(sym) && (!istree(sym) || operation(sym) !== getindex)
+                if hasname(sym) && (!iscall(sym) || operation(sym) !== getindex)
                     disc_clocks[getname(sym)] = i
                     disc_clocks[getname(default_toterm(sym))] = i
                 end
@@ -138,13 +138,13 @@ function IndexCache(sys::AbstractSystem)
                 # FIXME: This shouldn't be necessary
                 eq.rhs === -0.0 && continue
                 sym = eq.lhs
-                if istree(sym) && operation(sym) == Shift(t, 1)
+                if iscall(sym) && operation(sym) == Shift(t, 1)
                     sym = only(arguments(sym))
                 end
                 disc_clocks[sym] = i
                 disc_clocks[sym] = i
                 disc_clocks[default_toterm(sym)] = i
-                if hasname(sym) && (!istree(sym) || operation(sym) !== getindex)
+                if hasname(sym) && (!iscall(sym) || operation(sym) !== getindex)
                     disc_clocks[getname(sym)] = i
                     disc_clocks[getname(default_toterm(sym))] = i
                 end
@@ -153,7 +153,7 @@ function IndexCache(sys::AbstractSystem)
 
         for par in inputs[continuous_id]
             is_parameter(sys, par) || error("Discrete subsystem input is not a parameter")
-            istree(par) && operation(par) isa Hold ||
+            iscall(par) && operation(par) isa Hold ||
                 error("Continuous subsystem input is not a Hold")
             if haskey(disc_clocks, par)
                 sym = par
@@ -176,7 +176,7 @@ function IndexCache(sys::AbstractSystem)
             disc_clocks[affect.lhs] = user_affect_clock
             disc_clocks[default_toterm(affect.lhs)] = user_affect_clock
             if hasname(affect.lhs) &&
-               (!istree(affect.lhs) || operation(affect.lhs) !== getindex)
+               (!iscall(affect.lhs) || operation(affect.lhs) !== getindex)
                 disc_clocks[getname(affect.lhs)] = user_affect_clock
                 disc_clocks[getname(default_toterm(affect.lhs))] = user_affect_clock
             end
@@ -190,7 +190,7 @@ function IndexCache(sys::AbstractSystem)
                 disc = unwrap(disc)
                 disc_clocks[disc] = user_affect_clock
                 disc_clocks[default_toterm(disc)] = user_affect_clock
-                if hasname(disc) && (!istree(disc) || operation(disc) !== getindex)
+                if hasname(disc) && (!iscall(disc) || operation(disc) !== getindex)
                     disc_clocks[getname(disc)] = user_affect_clock
                     disc_clocks[getname(default_toterm(disc))] = user_affect_clock
                 end
@@ -245,7 +245,7 @@ function IndexCache(sys::AbstractSystem)
             for (j, sym) in enumerate(buffer[btype])
                 disc_idxs[sym] = (clockidx, i, j)
                 disc_idxs[default_toterm(sym)] = (clockidx, i, j)
-                if hasname(sym) && (!istree(sym) || operation(sym) !== getindex)
+                if hasname(sym) && (!iscall(sym) || operation(sym) !== getindex)
                     disc_idxs[getname(sym)] = (clockidx, i, j)
                     disc_idxs[getname(default_toterm(sym))] = (clockidx, i, j)
                 end
@@ -256,7 +256,7 @@ function IndexCache(sys::AbstractSystem)
         haskey(disc_idxs, sym) && continue
         disc_idxs[sym] = (clockid, 0, 0)
         disc_idxs[default_toterm(sym)] = (clockid, 0, 0)
-        if hasname(sym) && (!istree(sym) || operation(sym) !== getindex)
+        if hasname(sym) && (!iscall(sym) || operation(sym) !== getindex)
             disc_idxs[getname(sym)] = (clockid, 0, 0)
             disc_idxs[getname(default_toterm(sym))] = (clockid, 0, 0)
         end

src/systems/parameter_buffer.jl

@@ -363,7 +363,7 @@ function SymbolicIndexingInterface.set_parameter!(
             if validate_size && size(val) !== size(p.discrete[i][j][k])
                 throw(InvalidParameterSizeException(size(p.discrete[i][j][k]), size(val)))
             end
-            p.discrete[i][j][k][l...] = val
+            p.discrete[i][j][k] = val
         else
             p.discrete[i][j][k][l...] = val
         end
@@ -563,7 +563,8 @@ end
 Base.size(::NestedGetIndex) = ()
 
 function SymbolicIndexingInterface.with_updated_parameter_timeseries_values(
-        ps::MTKParameters, args::Pair{A, B}...) where {A, B <: NestedGetIndex}
+        ::AbstractSystem, ps::MTKParameters, args::Pair{A, B}...) where {
+        A, B <: NestedGetIndex}
     for (i, val) in args
         ps.discrete[i] = val.x
     end

test/mtkparameters.jl

@@ -2,6 +2,7 @@ using ModelingToolkit
 using ModelingToolkit: t_nounits as t, D_nounits as D, MTKParameters
 using SymbolicIndexingInterface
 using SciMLStructures: SciMLStructures, canonicalize, Tunable, Discrete, Constants
+using StaticArrays: SizedVector
 using OrdinaryDiffEq
 using ForwardDiff
 using JET
@@ -292,29 +293,10 @@ end
 end
 
 # Parameter timeseries
-# dt = 0.1
-# dt2 = 0.2
-# @variables x(t)=0 y(t)=0 u(t)=0 yd1(t)=0 ud1(t)=0 yd2(t)=0 ud2(t)=0
-# @parameters kp=1 r=1
-
-# eqs = [
-#        # controller (time discrete part `dt=0.1`)
-#        yd1 ~ Sample(t, dt)(y)
-#        ud1 ~ kp * (r - yd1)
-#        # controller (time discrete part `dt=0.2`)
-#        yd2 ~ Sample(t, dt2)(y)
-#        ud2 ~ kp * (r - yd2)
-
-#        # plant (time continuous part)
-#        u ~ Hold(ud1) + Hold(ud2)
-#        D(x) ~ -x + u
-#        y ~ x]
-
-# @mtkbuild cl = ODESystem(eqs, t)
-ps = MTKParameters(([1.0, 1.0],), SizedArray{2}([([0.0, 0.0],), ([0.0, 0.0],)]), (), (), (), nothing, nothing)
-# ps = MTKParameters(cl, [kp => 1.0])
+ps = MTKParameters(([1.0, 1.0],), SizedVector{2}([([0.0, 0.0],), ([0.0, 0.0],)]),
+    (), (), (), nothing, nothing)
 with_updated_parameter_timeseries_values(
-    ps, 1 => ModelingToolkit.NestedGetIndex(([5.0, 10.0],)))
+    sys, ps, 1 => ModelingToolkit.NestedGetIndex(([5.0, 10.0],)))
 @test ps.discrete[1][1] == [5.0, 10.0]
 with_updated_parameter_timeseries_values(
     ps, 1 => ModelingToolkit.NestedGetIndex(([3.0, 30.0],)),
@@ -324,27 +306,9 @@ with_updated_parameter_timeseries_values(
 @test SciMLBase.get_saveable_values(ps, 1).x == ps.discrete[1]
 
 # With multiple types and clocks
-# @variables x(t) xd1(t) xd2(t) flag(t)::Bool yd1(t) yd2(t) yc1(t) yc2(t)
-# dt = 0.1
-# k1 = ShiftIndex(t, dt)
-# ssc = ModelingToolkit.SolverStepClock(t)
-# k2 = ShiftIndex(ssc)
-
-# eqs = [
-#     flag ~ ~flag(k1 - 1),
-#     xd1 ~ Sample(t, dt)(x),
-#     yd1 ~ ifelse(flag, xd1, yd1(k1 - 1)), xd2 ~ Sample(ssc)(x),
-#     yd2 ~ yd2(k2 - 1) + xd2, yc1 ~ Hold(yd1),
-#     yc2 ~ Hold(yd2),
-#     D(x) ~ yc1 + yc2
-# ]
-# @mtkbuild sys = ODESystem(eqs, t)
-# ps = MTKParameters(sys,
-#     [flag => true, yd1 => ifelse(flag, Sample(t, dt)(x), 1.0),
-#         yd2 => 2.0 + Sample(ssc)(x), Sample(t, dt)(x) => x,
-#         Sample(ssc)(x) => x, Hold(yd1) => yd1, Hold(yd2) => yd2],
-#     [x => 3.0])
-ps = MTKParameters((), SizedVector{2}([([1.0, 2.0, 3.0], falses(1)), ([4.0, 5.0, 6.0], falses(0))]), (), (), (), nothing, nothing)
+ps = MTKParameters(
+    (), SizedVector{2}([([1.0, 2.0, 3.0], falses(1)), ([4.0, 5.0, 6.0], falses(0))]),
+    (), (), (), nothing, nothing)
 @test SciMLBase.get_saveable_values(ps, 1).x isa Tuple{Vector{Float64}, BitVector}
 # tsidx1 = timeseries_parameter_index(sys, flag).timeseries_idx
 # tsidx2 = 3 - tsidx1
@@ -355,6 +319,6 @@ tsidx2 = 2
 @test length(ps.discrete[tsidx2][1]) == 3
 @test length(ps.discrete[tsidx2][2]) == 0
 with_updated_parameter_timeseries_values(
-    ps, tsidx1 => ModelingToolkit.NestedGetIndex(([10.0, 11.0, 12.0], [false])))
+    sys, ps, tsidx1 => ModelingToolkit.NestedGetIndex(([10.0, 11.0, 12.0], [false])))
 @test ps.discrete[tsidx1][1] == [10.0, 11.0, 12.0]
 @test ps.discrete[tsidx1][2][] == false

test/parameter_dependencies.jl

@@ -173,18 +173,21 @@ end
     @test_skip begin
         Tf = 1.0
         prob = ODEProblem(sys, [x => 0.0, y => 0.0], (0.0, Tf),
-            [kp => 1.0; z(k - 1) => 3.0; yd(k - 1) => 0.0; z(k - 2) => 4.0; yd(k - 2) => 2.0])
+            [kp => 1.0; z(k - 1) => 3.0; yd(k - 1) => 0.0; z(k - 2) => 4.0;
+             yd(k - 2) => 2.0])
         @test_nowarn solve(prob, Tsit5())
 
         @mtkbuild sys = ODESystem(eqs, t; parameter_dependencies = [kq => 2kp],
             discrete_events = [[0.5] => [kp ~ 2.0]])
         prob = ODEProblem(sys, [x => 0.0, y => 0.0], (0.0, Tf),
-            [kp => 1.0; z(k - 1) => 3.0; yd(k - 1) => 0.0; z(k - 2) => 4.0; yd(k - 2) => 2.0])
+            [kp => 1.0; z(k - 1) => 3.0; yd(k - 1) => 0.0; z(k - 2) => 4.0;
+             yd(k - 2) => 2.0])
         @test prob.ps[kp] == 1.0
         @test prob.ps[kq] == 2.0
         @test_nowarn solve(prob, Tsit5())
         prob = ODEProblem(sys, [x => 0.0, y => 0.0], (0.0, Tf),
-            [kp => 1.0; z(k - 1) => 3.0; yd(k - 1) => 0.0; z(k - 2) => 4.0; yd(k - 2) => 2.0])
+            [kp => 1.0; z(k - 1) => 3.0; yd(k - 1) => 0.0; z(k - 2) => 4.0;
+             yd(k - 2) => 2.0])
         integ = init(prob, Tsit5())
         @test integ.ps[kp] == 1.0
         @test integ.ps[kq] == 2.0

test/symbolic_indexing_interface.jl

@@ -38,12 +38,12 @@ using SciMLStructures: Tunable
     odesys = complete(odesys)
     @test default_values(odesys)[xy] == 3.0
     pobs = parameter_observed(odesys, a + b)
-    @test pobs.timeseries_idx === nothing
-    @test pobs.observed_fn(
+    @test isempty(get_all_timeseries_indexes(odesys, a + b))
+    @test pobs(
         ModelingToolkit.MTKParameters(odesys, [a => 1.0, b => 2.0]), 0.0) ≈ 3.0
     pobs = parameter_observed(odesys, [a + b, a - b])
-    @test pobs.timeseries_idx === nothing
-    @test pobs.observed_fn(
+    @test isempty(get_all_timeseries_indexes(odesys, [a + b, a - b]))
+    @test pobs(
         ModelingToolkit.MTKParameters(odesys, [a => 1.0, b => 2.0]), 0.0) ≈ [3.0, -1.0]
 end
 
@@ -102,11 +102,11 @@ end
     @test !is_time_dependent(ns)
     ps = ModelingToolkit.MTKParameters(ns, [σ => 1.0, ρ => 2.0, β => 3.0])
     pobs = parameter_observed(ns, σ + ρ)
-    @test pobs.timeseries_idx === nothing
-    @test pobs.observed_fn(ps) == 3.0
+    @test isempty(get_all_timeseries_indexes(ns, σ + ρ))
+    @test pobs(ps) == 3.0
     pobs = parameter_observed(ns, [σ + ρ, ρ + β])
-    @test pobs.timeseries_idx === nothing
-    @test pobs.observed_fn(ps) == [3.0, 5.0]
+    @test isempty(get_all_timeseries_indexes(ns, [σ + ρ, ρ + β]))
+    @test pobs(ps) == [3.0, 5.0]
 end
 
 @testset "PDESystem" begin
@@ -147,6 +147,11 @@ end
     domains = [t ∈ (0.0, 1.0),
         x ∈ (0.0, 1.0)]
 
+    analytic = [u(t, x) ~ -h * x * (x - 1) * sin(x) * exp(-2 * h * t)]
+    analytic_function = (ps, t, x) -> -ps[1] * x * (x - 1) * sin(x) * exp(-2 * ps[1] * t)
+
+    @named pdesys = PDESystem(eq, bcs, domains, [t, x], [u], [h], analytic = analytic)
+
     @test isequal(pdesys.ps, [h])
     @test isequal(parameter_symbols(pdesys), [h])
     @test isequal(parameters(pdesys), [h])
@@ -179,12 +184,4 @@ get_dep = @test_nowarn getu(prob, 2p1)
     @test getu(prob, z)(prob) == getu(prob, :z)(prob)
     @test getu(prob, p1)(prob) == getu(prob, :p1)(prob)
     @test getu(prob, p2)(prob) == getu(prob, :p2)(prob)
-    analytic = [u(t, x) ~ -h * x * (x - 1) * sin(x) * exp(-2 * h * t)]
-    analytic_function = (ps, t, x) -> -ps[1] * x * (x - 1) * sin(x) * exp(-2 * ps[1] * t)
-
-    @named pdesys = PDESystem(eq, bcs, domains, [t, x], [u], [h], analytic = analytic)
-
-    @test isequal(pdesys.ps, [h])
-    @test isequal(parameter_symbols(pdesys), [h])
-    @test isequal(parameters(pdesys), [h])
 end