Merge pull request #140 from ModiaSim/remove_empty_parameter_levels

Remove empty parameter levels

Author: MartinOtter

Manifest.toml

@@ -1,8 +1,27 @@
+authors = ["Hilding Elmqvist <Hilding.Elmqvist@Mogram.net>", "Martin Otter <Martin.Otter@dlr.de>"]
 name = "Modia"
 uuid = "cb905087-75eb-5f27-8515-1ce0ec8e839e"
-authors = ["Hilding Elmqvist <Hilding.Elmqvist@Mogram.net>", "Martin Otter <Martin.Otter@dlr.de>"]
 version = "0.8.2"
 
+[compat]
+DataFrames = "1"
+DifferentialEquations = "7"
+FiniteDiff = "2"
+ForwardDiff = "0.10"
+JSON = "0.21"
+Measurements = "2"
+ModiaBase = "0.11"
+ModiaResult = "0.4.1"
+MonteCarloMeasurements = "1"
+OrderedCollections = "1"
+RecursiveFactorization = "0.2"
+Reexport = "1"
+StaticArrays = "1"
+Sundials = "4.4"
+TimerOutputs = "0.5"
+Unitful = "1"
+julia = "1.7"
+
 [deps]
 DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
 DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
@@ -25,21 +44,5 @@ Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 TimerOutputs = "a759f4b9-e2f1-59dc-863e-4aeb61b1ea8f"
 Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
 
-[compat]
-DataFrames = "1"
-DifferentialEquations = "7"
-FiniteDiff = "2"
-ForwardDiff = "0.10"
-JSON = "0.21"
-Measurements = "2"
-ModiaBase = "0.10"
-ModiaResult = "0.4.1"
-MonteCarloMeasurements = "1"
-OrderedCollections = "1"
-RecursiveFactorization = "0.2"
-Reexport = "1"
-StaticArrays = "1"
-Sundials = "4.4"
-TimerOutputs = "0.5"
-Unitful = "1"
-julia = "1.7"
+[extras]
+CPUSummary = "2a0fbf3d-bb9c-48f3-b0a9-814d99fd7ab9"

Project.toml

@@ -38,8 +38,50 @@ functionalities of these packages.
 
 ### Version 0.8.2
 
+- New exported functions
+  - modelToJSON(model; expressionsAsStrings=true)
+  - JSONToModel(json)
+  - writeModel(filename, model; log=true) 
+  - readModel(filename; log=true)
+  writeModel saves the model in JSON format on file and readModel reads the model from a JSON file.
+
+- `Modia/examples/ServoSystem.jl` enhanced, so that the hierarchical model with units is
+  first stored in JSON format on file, then the model is read from file, a parameter is modified,
+  and then the model is passed to @instantiateModel(..).
+ 
+- `@instantiateModel(...)`:
+  - `@instantiateModel(..., logCode=true, ...)` provides now correct unit type casts for scalars.
+  - `@instantiateModel(..., saveCodeOnFile=fileName, ...)` stores the generated code on file `fileName`.
+  - Automatically use `@instantiatedModel(..., unitless=true, ..)`, if `FloatType = MonteCarloMeasurements.XXX`,
+    because there are easily cases where this fails, if units are present.
+
+- `@showModel model`: Nicer pretty print if model is hierarchical.
+
+- New function `Modia.unitAsString(unitOfQuantity)`,
+  see Unitful issue 412 (https://github.com/PainterQubits/Unitful.jl/issues/412).
+
+- Remove empty hierarchies in model parameters (seen with `simulate!(..., logParameters=true)`).
+
 - Memory allocation reduced if states or tearing variables are SVectors.
 
+- Improved casting and checking of types in the generated code
+  (see new test model Modia/test/TestUnitAsString.jl). 
+  
+- Moved ModiaBase.Symbolic.makeDerVar from ModiaBase to new file `Modia/src/Symbolic.jl` (because makeDerVar needs FloatType for
+  generating type-stable code and FloatType is available in Modia but not in ModiaBase).
+
+- Github actions workflow added for automatic tests on Linux/Windows/MacOS, for pull requests on main.
+
+**Bug fixes**
+
+- Fixed issue with unit on macOS (exponents had been displayed as Unicode superscripts when converting 
+  the unit to a string, leading to errors in the further processing).
+  
+- Hide result only if `Var(hideResult=true)` (previously, hideResult=false was treated as true).
+
+- `Modia/models/Rotational.jl`: Change some Int to Float64 values, because errors occured in some situations.
+
+
 ### Version 0.8.1
 
 - Missing file Modia/test/TestLinearEquations.jl added.

docs/src/index.md

@@ -98,27 +98,31 @@ Servo = Model(
 
 
 TestServo = Model(
-    ks    = 0.8,
+    ks    = 0.4,
     Ts    = 0.08u"s",
     ramp  = Ramp  | Map(duration=1.18u"s", height=2.95),
     servo = Servo | Map(ks=:(up.ks), Ts=:(up.Ts)),
-    load  = Inertia | Map(J=170u"kg*m^2"),
-    equations =:[load.flange_b.tau = 0u"N*m"],
+    load  = Inertia | Map(J=170.0u"kg*m^2"),
+    equations =:[load.flange_b.tau = 0.0u"N*m"],
     connect = :[
         (ramp.y        , servo.refSpeed)
         (servo.flange_b, load.flange_a) ]
 )
 
+file = joinpath(pwd(), "TestServo.json")
+writeModel(file, TestServo)
+TestServo = readModel(file) | Map(ks = 0.8)
+
 plotVariables = [("ramp.y", "load.w")         "servo.speedError.y";
                  "servo.gear.spring.phi_rel"  "servo.motor.currentSensor.i"]
 
-testServo1 = @instantiateModel(TestServo)
+testServo1 = @instantiateModel(TestServo, saveCodeOnFile="TestServo.jl")
 println("Simulate")
 @time simulate!(testServo1, Tsit5(), stopTime=2.0, tolerance=1e-6, requiredFinalStates = 
     [7.320842067204029, 9.346410309487013, 355.30389168655955, 2.792544498835712, 429.42665751348284, 311.7812493890421, 4.089776248793499, 2.969353608933471])
 plot(testServo1, plotVariables, figure=1)
 
-
+#=
 println("\nServo with uncertainties")
 using Modia.Measurements
 TestServoWithUncertainties = TestServo | Map(
@@ -139,6 +143,6 @@ TestServoWithMonteCarlo = TestServo | Map(
 testServo3 = @instantiateModel(TestServoWithMonteCarlo, FloatType = Modia.MonteCarloMeasurements.StaticParticles{Float64,nparticles}, unitless=true)
 @time simulate!(testServo3, Tsit5(), stopTime=2.0, tolerance=1e-6)
 plot(testServo3, plotVariables, figure=3)
-
+=#
 
 end

examples/ServoSystem.jl

@@ -61,7 +61,7 @@ PartialCompliant = Model(
 # Linear 1D rotational spring
 Spring = PartialCompliant | Model(
     c = 1.0u"N*m/rad",   # (min = 0, info = "Spring constant")
-    phi_rel0 = 0u"rad", # (info = "Unstretched spring angle") 
+    phi_rel0 = 0.0u"rad", # (info = "Unstretched spring angle") 
     equations = :[
         tau = c * (phi_rel - phi_rel0) ]
 ) 
@@ -70,7 +70,7 @@ Spring = PartialCompliant | Model(
 SpringDamper = PartialCompliant | Model(
     c = 1.0*u"N*m/rad", # (min = 0, info = "Spring constant")
     d = 0.0u"N*m*s/rad", # (info = "Damping constant")
-    phi_rel0 = 0u"rad", # (info = "Unstretched spring angle")
+    phi_rel0 = 0.0u"rad", # (info = "Unstretched spring angle")
     equations = :[
         tau = c * (phi_rel - phi_rel0) + d * der(phi_rel) ]
 )

models/Rotational.jl

@@ -17,21 +17,36 @@ fieldnames(typeof(integrator)) = (:sol, :u, :du, :k, :t, :dt, :f, :p, :uprev, :u
 """
     baseType(T)
 
-Return the base type of a type T.
+Return the base type of a type T, according to the following definition.
+
+```julia
+baseType(::Type{T})                                           where {T}     = T
+baseType(::Type{Unitful.Quantity{T,D,U}})                     where {T,D,U} = T
+baseType(::Type{Measurements.Measurement{T}})                 where {T}     = T
+baseType(::Type{MonteCarloMeasurements.Particles{T,N}})       where {T,N}   = T
+baseType(::Type{MonteCarloMeasurements.StaticParticles{T,N}}) where {T,N}   = T
+```
 
 # Examples
 ```
 baseType(Float32)                # Float32
 baseType(Measurement{Float64})   # Float64
 ```
 """
-baseType(::Type{T})                                           where {T}                  = T
-baseType(::Type{Measurements.Measurement{T}})                 where {T<:AbstractFloat}   = T
-baseType(::Type{MonteCarloMeasurements.Particles{T,N}})       where {T<:AbstractFloat,N} = T
-baseType(::Type{MonteCarloMeasurements.StaticParticles{T,N}}) where {T<:AbstractFloat,N} = T
+baseType(::Type{T})                                           where {T}     = T
+baseType(::Type{Unitful.Quantity{T,D,U}})                     where {T,D,U} = T
+baseType(::Type{Measurements.Measurement{T}})                 where {T}     = T
+baseType(::Type{MonteCarloMeasurements.Particles{T,N}})       where {T,N}   = T
+baseType(::Type{MonteCarloMeasurements.StaticParticles{T,N}}) where {T,N}   = T
+
+isQuantity(              ::Type{T}) where {T} = T <: Unitful.Quantity         || T <: MonteCarloMeasurements.AbstractParticles && baseType(T) <: Unitful.Quantity
+isMeasurements(          ::Type{T}) where {T} = T <: Measurements.Measurement || T <: Unitful.Quantity && baseType(T) <: Measurements.Measurement
+isMonteCarloMeasurements(::Type{T}) where {T} = T <: MonteCarloMeasurements.AbstractParticles
 
-Base.floatmax(::Type{MonteCarloMeasurements.Particles{T,N}})       where {T<:AbstractFloat,N} = Base.floatmax(T)
-Base.floatmax(::Type{MonteCarloMeasurements.StaticParticles{T,N}}) where {T<:AbstractFloat,N} = Base.floatmax(T)
+Base.floatmax(::Type{Unitful.Quantity{T,D,U}})                     where {T,D,U} = Base.floatmax(T)
+Base.floatmax(::Type{Measurements.Measurement{T}})                 where {T}     = Base.floatmax(T)
+Base.floatmax(::Type{MonteCarloMeasurements.Particles{T,N}})       where {T,N}   = Base.floatmax(T)
+Base.floatmax(::Type{MonteCarloMeasurements.StaticParticles{T,N}}) where {T,N}   = Base.floatmax(T)
 
 
 """
@@ -1528,7 +1543,7 @@ Symbol `functionName` as function name. By `eval(code)` or
 
 - `hasUnits::Bool`: = true, if variables have units. Note, the units of the state vector are defined in equationinfo.
 """
-function generate_getDerivatives!(AST::Vector{Expr}, equationInfo::Modia.EquationInfo,
+function generate_getDerivatives!(FloatType, TimeType, AST::Vector{Expr}, equationInfo::Modia.EquationInfo,
                                   parameters, variables, previousVars, preVars, holdVars, functionName::Symbol;
                                   pre::Vector{Symbol} = Symbol[], hasUnits=false)
 
@@ -1643,9 +1658,12 @@ function generate_getDerivatives!(AST::Vector{Expr}, equationInfo::Modia.Equatio
     end
 
     # Generate code of the function
+    # temporarily removed: _m.time = $TimeType(Modia.getValue(_time))
     code = quote
-                function $functionName(_x, _m::Modia.SimulationModel{_FloatType,_TimeType}, _time)::Nothing where {_FloatType,_TimeType}
-                    _m.time = _TimeType(Modia.getValue(_time))
+                function $functionName(_x, _m::Modia.SimulationModel{$FloatType,$TimeType}, _time::$TimeType)::Nothing
+                    _FloatType = $FloatType
+                    _TimeType = $TimeType
+                    _m.time = _time
                     _m.nGetDerivatives += 1
                     instantiatedModel = _m
                     _p = _m.evaluatedParameters

src/CodeGeneration.jl

@@ -8,7 +8,7 @@ Encoding and decoding Modia models as JSON.
 """
 module JSONModel
 
-export modelToJSON, JSONToModel, cloneModel
+export modelToJSON, JSONToModel, cloneModel, writeModel, readModel
 
 import JSON
 using Modia
@@ -31,7 +31,7 @@ function encodeModel(model, expressionsAsStrings=true)
     Base.remove_linenums!(model)
     model = removeBlock(model)
     if typeof(model) <: Quantity
-        return Dict(:_value => ustrip.(model), :_unit=>string(unit(model)))
+        return Dict(:_value => ustrip.(model), :_unit=>Modia.unitAsString(unit(model)))
     elseif expressionsAsStrings && typeof(model) == Expr
         return Dict(:_Expr=>string(model))
     elseif typeof(model) == Expr
@@ -80,10 +80,10 @@ Encodes a model suitable to convert to a JSON string.
 function decodeModel(jModel)
     if typeof(jModel) <: AbstractDict && length(keys(jModel)) == 2 && "_value" in keys(jModel) && "_unit" in keys(jModel)
         unit = jModel["_unit"]
-        unit = replace(unit, ' ' => '*')  # Workaround for https://github.com/PainterQubits/Unitful.jl/issues/391
+        #unit = replace(unit, ' ' => '*')  # Workaround for https://github.com/PainterQubits/Unitful.jl/issues/391  # Remove, since already correctly done in encodeModel(...)
         return jModel["_value"]*uparse(unit)
     elseif typeof(jModel) <: AbstractDict && length(keys(jModel)) == 1 && "_Expr" in keys(jModel) 
-        return Meta.parse(jModel["_Expr"])
+        return Base.remove_linenums!( Meta.parse(jModel["_Expr"]) )  # without remove_linenums!, there are errors later with if-expressions.
     elseif typeof(jModel) <: AbstractDict && length(keys(jModel)) == 1 && "_Symbol" in keys(jModel) 
         return Symbol(jModel["_Symbol"])
     elseif typeof(jModel) <: AbstractDict && length(keys(jModel)) == 2 && "head" in keys(jModel) && "args" in keys(jModel)
@@ -122,6 +122,32 @@ function JSONToModel(json)
 end
 
 
+"""
+    writeModel(filename::String, model; log=true)
+    
+Write model in JSON format on file `filename`.
+"""
+function writeModel(filename::String, model::AbstractDict; log=true) 
+    if log
+        println("  Write model in JSON format on file \"$filename\"")
+    end
+    write(filename, modelToJSON(model))
+end
+
+
+"""
+    model = readModel(filename::AbstractString; log=true)
+    
+Read a model that is stored in JSON format on file `filename` and return it.
+"""
+function readModel(filename::String; log=true)
+    if log
+        println("  Read model from JSON file \"$filename\"")
+    end
+    JSONToModel( read(filename,String) )
+end
+
+
 
 """
     modelClone = cloneModel(model; expressionsAsStrings=true)

src/JSONModel.jl

@@ -83,7 +83,9 @@ function showModel(m::OrderedDict, level=0)
             end
             println("  "^level, "]")
         elseif k != :_class
-            println("  "^level, k, " = ", stringifyDefinition(v), ",")
+            #println("  "^level, k, " = ", stringifyDefinition(v), ",")
+            print("  "^level, k, " = ")
+            showModel(v,level)
         end
     end
     println("  "^(level-1), "),")
@@ -546,7 +548,7 @@ function flattenModelTuple!(model, modelStructure, modelName, to; unitless = fal
             if :_outer in keys(v) && v[:_outer]
                 push!(modelStructure.equations, :($k = $(prepend(k, :up))))
             end
-            if :hideResult in keys(v)
+            if :hideResult in keys(v) && v[:hideResult] == true
                 push!(modelStructure.hideResults, subMod)
             end
         elseif isCollection(v) # || typeof(v) == Symbol # instantiate