fix: remove usages of ODAEProblem, fix solution indexing, use unknowns

Author: AayushSabharwal

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",

test/Blocks/test_analysis_points.jl

@@ -19,8 +19,8 @@ sys = ODESystem(eqs, t, systems = [P, C], name = :hej)
 ssys = structural_simplify(sys)
 prob = ODEProblem(ssys, [P.x => 1], (0, 10))
 sol = solve(prob, Rodas5())
-@test norm(sol[1]) >= 1
-@test norm(sol[end]) < 1e-6 # This fails without the feedback through C
+@test norm(sol.u[1]) >= 1
+@test norm(sol.u[end]) < 1e-6 # This fails without the feedback through C
 # plot(sol)
 
 matrices, _ = get_sensitivity(sys, ap)
@@ -107,7 +107,6 @@ matrices2, _ = linearize(sys, :plant_input, [P.output.u])
 @named P = FirstOrder(k = 1, T = 1)
 @named C = Gain(; k = 1)
 @named add = Blocks.Add(k2 = -1)
-t = ModelingToolkit.get_iv(P)
 
 eqs = [connect(P.output, :plant_output, add.input2)
        connect(add.output, C.input)
@@ -230,7 +229,6 @@ Si = ss(matrices...)
 @test tf(So) ≈ tf(Si)
 
 ## A simple multi-level system with loop openings
-@parameters t
 @named P_inner = FirstOrder(k = 1, T = 1)
 @named feedback = Feedback()
 @named ref = Step()
@@ -310,7 +308,6 @@ G = CS.feedback(Pss, Kss, pos_feedback = true)
 @named P = FirstOrder(k = 1, T = 1)
 @named C = Gain(; k = 1)
 @named add = Blocks.Add(k2 = -1)
-t = ModelingToolkit.get_iv(P)
 
 eqs = [connect(P.output, :plant_output, add.input2)
        connect(add.output, C.input)

test/Electrical/analog.jl

@@ -42,7 +42,7 @@ using OrdinaryDiffEq: ReturnCode.Success
             power_sensor
         ])
     sys = structural_simplify(model)
-    prob = ODAEProblem(sys, [], (0.0, 10.0))
+    prob = ODEProblem(sys, [], (0.0, 10.0))
     sol = solve(prob, Tsit5())
 
     # Plots.plot(sol; vars=[capacitor.v, voltage_sensor.v])
@@ -99,7 +99,7 @@ end
     @named model = ODESystem(connections, t;
         systems = [resistor, capacitor, source, voltage, ground])
     sys = structural_simplify(model)
-    prob = ODAEProblem(sys, Pair[], (0.0, 10.0))
+    prob = ODEProblem(sys, Pair[], (0.0, 10.0))
     sol = solve(prob, Tsit5())
 
     # Plots.plot(sol; vars=[source.v, capacitor.v])
@@ -123,7 +123,7 @@ end
     @named model = ODESystem(connections, t;
         systems = [resistor, inductor, source, voltage, ground])
     sys = structural_simplify(model)
-    prob = ODAEProblem(sys, Pair[], (0.0, 10.0))
+    prob = ODEProblem(sys, Pair[], (0.0, 10.0))
     sol = solve(prob, Tsit5())
 
     # Plots.plot(sol; vars=[inductor.i, inductor.i])
@@ -158,7 +158,7 @@ end
         @named model = ODESystem(connections, t;
             systems = [resistor, capacitor, source, ground, voltage])
         sys = structural_simplify(model)
-        prob = ODAEProblem(sys, Pair[], (0.0, 10.0))
+        prob = ODEProblem(sys, Pair[], (0.0, 10.0))
         sol = solve(prob, Tsit5())
         @test sol.retcode == Success
         sol = solve(prob, Rodas4())
@@ -185,7 +185,7 @@ end
     @named model = ODESystem(connections, t;
         systems = [ground, resistor, current, capacitor, source])
     sys = structural_simplify(model)
-    prob = ODAEProblem(sys, Pair[], (0.0, 10.0))
+    prob = ODEProblem(sys, Pair[], (0.0, 10.0))
     sol = solve(prob, Tsit5())
     y(x, st) = (x .> st) .* abs.(collect(x) .- st)
     @test sol.retcode == Success
@@ -295,7 +295,7 @@ _damped_sine_wave(x, f, A, st, ϕ, d) = exp((st - x) * d) * A * sin(2 * π * f *
 
         u0 = [cap.v => 0.0]
 
-        prob = ODAEProblem(vsys, u0, (0, 10.0))
+        prob = ODEProblem(vsys, u0, (0, 10.0))
         sol = solve(prob, dt = 0.1, Tsit5())
 
         @test sol.retcode == Success
@@ -361,7 +361,7 @@ end
 
         u0 = [cap.v => 0.0]
 
-        prob = ODAEProblem(isys, u0, (0, 10.0))
+        prob = ODEProblem(isys, u0, (0, 10.0))
         sol = solve(prob, dt = 0.1, Tsit5())
 
         @test sol.retcode == Success

test/Mechanical/rotational.jl

@@ -26,11 +26,11 @@ using OrdinaryDiffEq: ReturnCode.Success
     sol1 = solve(prob, Rodas4())
     @test SciMLBase.successful_retcode(sol1)
 
-    prob = ODAEProblem(sys, Pair[], (0, 10.0))
+    prob = ODEProblem(sys, Pair[], (0, 10.0))
     sol = solve(prob, Rodas4())
     @test SciMLBase.successful_retcode(sol)
 
-    prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 10.0))
+    prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, Pair[], (0, 10.0))
     sol = solve(prob, DFBDF())
     @test SciMLBase.successful_retcode(sol)
     @test all(sol[inertia1.w] .== 0)
@@ -84,12 +84,12 @@ end
             sine
         ])
     sys = structural_simplify(model)
-    prob = DAEProblem(sys, D.(states(sys)) .=> 0.0,
-        [D(D(inertia2.phi)) => 1.0; D.(states(model)) .=> 0.0], (0, 10.0))
+    prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0,
+        [D(D(inertia2.phi)) => 1.0; D.(unknowns(model)) .=> 0.0], (0, 10.0))
     sol = solve(prob, DFBDF())
     @test SciMLBase.successful_retcode(sol)
 
-    prob = ODAEProblem(sys, Pair[], (0, 1.0))
+    prob = ODEProblem(sys, Pair[], (0, 1.0))
     sol = solve(prob, Rodas4())
     @test SciMLBase.successful_retcode(sol)
 
@@ -164,7 +164,7 @@ end
         ])
     @test_skip begin
         sys = structural_simplify(model) #key 7 not found
-        prob = ODAEProblem(sys, Pair[], (0, 1.0))
+        prob = ODEProblem(sys, Pair[], (0, 1.0))
         sol = solve(prob, Rodas4())
         @test SciMLBase.successful_retcode(sol)
     end
@@ -212,7 +212,7 @@ end
             angle_sensor
         ])
     sys = structural_simplify(model)
-    prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 10.0))
+    prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, Pair[], (0, 10.0))
 
     sol = solve(prob, DFBDF())
     @test SciMLBase.successful_retcode(sol)
@@ -259,7 +259,7 @@ end
     @test all(sol[rel_speed_sensor.w_rel.u] .== sol[speed_sensor.w.u])
     @test all(sol[torque_sensor.tau.u] .== -sol[inertia1.flange_b.tau])
 
-    prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 10.0))
+    prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, Pair[], (0, 10.0))
     sol = solve(prob, DFBDF())
     @test SciMLBase.successful_retcode(sol)
     @test all(sol[inertia1.w] .== 0)

test/multi_domain.jl

@@ -70,7 +70,7 @@ using OrdinaryDiffEq: ReturnCode.Success
     @test sol[inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
     @test sol[emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
 
-    prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 6.0))
+    prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, Pair[], (0, 6.0))
     sol = solve(prob, DFBDF())
     @test sol.retcode == Success
     # EMF equations
@@ -159,7 +159,7 @@ end
 
     @test all(sol[inertia.w] .== sol[speed_sensor.w.u])
 
-    prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 6.0))
+    prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, Pair[], (0, 6.0))
     sol = solve(prob, DFBDF())
 
     @test sol.retcode == Success