Merge pull request #165 from ModiaSim/release0.10.0

Release0.10.0

Author: MartinOtter

.github/workflows/test.yml

@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.8.1'
+          - '1.8.5'
         os:
           - ubuntu-latest
           - windows-latest

Manifest.toml

@@ -39,18 +39,18 @@ version = "0.1.29"
 
 [[deps.ArrayLayouts]]
 deps = ["FillArrays", "LinearAlgebra", "SparseArrays"]
-git-tree-sha1 = "4aff5fa660eb95c2e0deb6bcdabe4d9a96bc4667"
+git-tree-sha1 = "4efc22e4c299e49995a38d503d9dbb0544a37838"
 uuid = "4c555306-a7a7-4459-81d9-ec55ddd5c99a"
-version = "0.8.18"
+version = "1.0.4"
 
 [[deps.Artifacts]]
 uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
 
 [[deps.BandedMatrices]]
-deps = ["ArrayLayouts", "FillArrays", "LinearAlgebra", "SnoopPrecompile", "SparseArrays"]
-git-tree-sha1 = "6ef8fc1d77b60f41041d59ce61ef9eb41ed97a83"
+deps = ["ArrayLayouts", "FillArrays", "LinearAlgebra", "PrecompileTools", "SparseArrays"]
+git-tree-sha1 = "b18febf0a34ba9192fdcd4fd2c57b535a48d3dd4"
 uuid = "aae01518-5342-5314-be14-df237901396f"
-version = "0.17.18"
+version = "0.17.24"
 
 [[deps.Base64]]
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
@@ -73,10 +73,10 @@ uuid = "fa961155-64e5-5f13-b03f-caf6b980ea82"
 version = "0.4.2"
 
 [[deps.CPUSummary]]
-deps = ["CpuId", "IfElse", "Static"]
-git-tree-sha1 = "2c144ddb46b552f72d7eafe7cc2f50746e41ea21"
+deps = ["CpuId", "IfElse", "PrecompileTools", "Static"]
+git-tree-sha1 = "89e0654ed8c7aebad6d5ad235d6242c2d737a928"
 uuid = "2a0fbf3d-bb9c-48f3-b0a9-814d99fd7ab9"
-version = "0.2.2"
+version = "0.2.3"
 
 [[deps.Calculus]]
 deps = ["LinearAlgebra"]
@@ -227,9 +227,9 @@ uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 
 [[deps.Distributions]]
 deps = ["ChainRulesCore", "DensityInterface", "FillArrays", "LinearAlgebra", "PDMats", "Printf", "QuadGK", "Random", "SparseArrays", "SpecialFunctions", "Statistics", "StatsAPI", "StatsBase", "StatsFuns", "Test"]
-git-tree-sha1 = "5eeb2bd01e5065090ad591a205d8cad432ae6cb6"
+git-tree-sha1 = "c72970914c8a21b36bbc244e9df0ed1834a0360b"
 uuid = "31c24e10-a181-5473-b8eb-7969acd0382f"
-version = "0.25.93"
+version = "0.25.95"
 
 [[deps.DocStringExtensions]]
 deps = ["LibGit2"]
@@ -286,15 +286,15 @@ uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
 [[deps.FillArrays]]
 deps = ["LinearAlgebra", "Random", "SparseArrays", "Statistics"]
-git-tree-sha1 = "7072f1e3e5a8be51d525d64f63d3ec1287ff2790"
+git-tree-sha1 = "ed569cb9e7e3590d5ba884da7edc50216aac5811"
 uuid = "1a297f60-69ca-5386-bcde-b61e274b549b"
-version = "0.13.11"
+version = "1.1.0"
 
 [[deps.FiniteDiff]]
 deps = ["ArrayInterface", "LinearAlgebra", "Requires", "Setfield", "SparseArrays", "StaticArrays"]
-git-tree-sha1 = "6604e18a0220650dbbea7854938768f15955dd8e"
+git-tree-sha1 = "abfd952bdf92f6d7195c45dc46d50043bd0d7dbe"
 uuid = "6a86dc24-6348-571c-b903-95158fe2bd41"
-version = "2.20.0"
+version = "2.21.0"
 
 [[deps.Formatting]]
 deps = ["Printf"]
@@ -325,9 +325,9 @@ uuid = "9fa8497b-333b-5362-9e8d-4d0656e87820"
 
 [[deps.GPUArraysCore]]
 deps = ["Adapt"]
-git-tree-sha1 = "1cd7f0af1aa58abc02ea1d872953a97359cb87fa"
+git-tree-sha1 = "2d6ca471a6c7b536127afccfa7564b5b39227fe0"
 uuid = "46192b85-c4d5-4398-a991-12ede77f4527"
-version = "0.1.4"
+version = "0.1.5"
 
 [[deps.GenericSchur]]
 deps = ["LinearAlgebra", "Printf"]
@@ -630,10 +630,10 @@ uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 version = "1.6.0"
 
 [[deps.OrdinaryDiffEq]]
-deps = ["Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DocStringExtensions", "ExponentialUtilities", "FastBroadcast", "FastClosures", "FiniteDiff", "ForwardDiff", "FunctionWrappersWrappers", "IfElse", "LineSearches", "LinearAlgebra", "LinearSolve", "Logging", "LoopVectorization", "MacroTools", "MuladdMacro", "NLsolve", "NonlinearSolve", "Polyester", "PreallocationTools", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLNLSolve", "SimpleNonlinearSolve", "SimpleUnPack", "SparseArrays", "SparseDiffTools", "StaticArrayInterface", "StaticArrays", "TruncatedStacktraces"]
-git-tree-sha1 = "6ffebfa8971546bace3fc312f9a703795f79f5b9"
+deps = ["ADTypes", "Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DocStringExtensions", "ExponentialUtilities", "FastBroadcast", "FastClosures", "FiniteDiff", "ForwardDiff", "FunctionWrappersWrappers", "IfElse", "LineSearches", "LinearAlgebra", "LinearSolve", "Logging", "LoopVectorization", "MacroTools", "MuladdMacro", "NLsolve", "NonlinearSolve", "Polyester", "PreallocationTools", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLNLSolve", "SciMLOperators", "SimpleNonlinearSolve", "SimpleUnPack", "SparseArrays", "SparseDiffTools", "StaticArrayInterface", "StaticArrays", "TruncatedStacktraces"]
+git-tree-sha1 = "7f758238ce4202ced5e08aa2903d19d3a4f0dd7c"
 uuid = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
-version = "6.51.2"
+version = "6.52.0"
 
 [[deps.PDMats]]
 deps = ["LinearAlgebra", "SparseArrays", "SuiteSparse"]
@@ -791,9 +791,9 @@ version = "0.4.0+0"
 
 [[deps.RuntimeGeneratedFunctions]]
 deps = ["ExprTools", "SHA", "Serialization"]
-git-tree-sha1 = "d7d9ebe28062161c1e314ed643097b0c6fe657d9"
+git-tree-sha1 = "92fa1dd437690a5e2ac39c81b6353ef106affc0e"
 uuid = "7e49a35a-f44a-4d26-94aa-eba1b4ca6b47"
-version = "0.5.7"
+version = "0.5.8"
 
 [[deps.SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -824,9 +824,9 @@ version = "0.1.6"
 
 [[deps.SciMLOperators]]
 deps = ["ArrayInterface", "DocStringExtensions", "Lazy", "LinearAlgebra", "Setfield", "SparseArrays", "StaticArraysCore", "Tricks"]
-git-tree-sha1 = "90163ebc767cba9f126ea00aeef1d75ed74fe7b0"
+git-tree-sha1 = "d9f0f6ce9bb899a657c4d218a846533910e9dea9"
 uuid = "c0aeaf25-5076-4817-a8d5-81caf7dfa961"
-version = "0.2.8"
+version = "0.2.9"
 
 [[deps.SentinelArrays]]
 deps = ["Dates", "Random"]
@@ -854,10 +854,10 @@ uuid = "3201582d-3078-4276-ba5d-0a1254d79d7c"
 version = "0.4.2"
 
 [[deps.SimpleNonlinearSolve]]
-deps = ["ArrayInterface", "DiffEqBase", "FiniteDiff", "ForwardDiff", "LinearAlgebra", "Reexport", "Requires", "SciMLBase", "SnoopPrecompile", "StaticArraysCore"]
-git-tree-sha1 = "54c78ac3cc0343a16785adabe5bbf4063c737967"
+deps = ["ArrayInterface", "DiffEqBase", "FiniteDiff", "ForwardDiff", "LinearAlgebra", "PrecompileTools", "Reexport", "Requires", "SciMLBase", "StaticArraysCore"]
+git-tree-sha1 = "7c55a3e65aad4ce6e610409cdd564b8d590b9726"
 uuid = "727e6d20-b764-4bd8-a329-72de5adea6c7"
-version = "0.1.14"
+version = "0.1.15"
 
 [[deps.SimpleTraits]]
 deps = ["InteractiveUtils", "MacroTools"]
@@ -890,10 +890,10 @@ deps = ["LinearAlgebra", "Random"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[deps.SparseDiffTools]]
-deps = ["Adapt", "ArrayInterface", "Compat", "DataStructures", "FiniteDiff", "ForwardDiff", "Graphs", "LinearAlgebra", "Requires", "SparseArrays", "StaticArrays", "VertexSafeGraphs"]
-git-tree-sha1 = "e19ac47477c9a8fcca06dab5e5471417d5d9d723"
+deps = ["ADTypes", "Adapt", "ArrayInterface", "Compat", "DataStructures", "FiniteDiff", "ForwardDiff", "Graphs", "LinearAlgebra", "Reexport", "Requires", "SciMLOperators", "SparseArrays", "StaticArrayInterface", "StaticArrays", "Tricks", "VertexSafeGraphs"]
+git-tree-sha1 = "04f060e66a61a909ed59efd79f64943688d7568d"
 uuid = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
-version = "1.31.0"
+version = "2.3.0"
 
 [[deps.Sparspak]]
 deps = ["Libdl", "LinearAlgebra", "Logging", "OffsetArrays", "Printf", "SparseArrays", "Test"]
@@ -959,10 +959,10 @@ uuid = "9672c7b4-1e72-59bd-8a11-6ac3964bc41f"
 version = "1.15.0"
 
 [[deps.StochasticDiffEq]]
-deps = ["Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DiffEqNoiseProcess", "DocStringExtensions", "FillArrays", "FiniteDiff", "ForwardDiff", "JumpProcesses", "LevyArea", "LinearAlgebra", "Logging", "MuladdMacro", "NLsolve", "OrdinaryDiffEq", "Random", "RandomNumbers", "RecursiveArrayTools", "Reexport", "SciMLBase", "SparseArrays", "SparseDiffTools", "StaticArrays", "UnPack"]
-git-tree-sha1 = "073da86200349ddf4ef8bc3e3f3acd62e1d554f7"
+deps = ["Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DiffEqNoiseProcess", "DocStringExtensions", "FillArrays", "FiniteDiff", "ForwardDiff", "JumpProcesses", "LevyArea", "LinearAlgebra", "Logging", "MuladdMacro", "NLsolve", "OrdinaryDiffEq", "Random", "RandomNumbers", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SparseArrays", "SparseDiffTools", "StaticArrays", "UnPack"]
+git-tree-sha1 = "619c846726548b7b2e8728b72f288acf10390121"
 uuid = "789caeaf-c7a9-5a7d-9973-96adeb23e2a0"
-version = "6.60.0"
+version = "6.61.0"
 
 [[deps.StrideArraysCore]]
 deps = ["ArrayInterface", "CloseOpenIntervals", "IfElse", "LayoutPointers", "ManualMemory", "SIMDTypes", "Static", "StaticArrayInterface", "ThreadingUtilities"]
@@ -986,9 +986,9 @@ version = "5.10.1+0"
 
 [[deps.Sundials]]
 deps = ["CEnum", "DataStructures", "DiffEqBase", "Libdl", "LinearAlgebra", "Logging", "PrecompileTools", "Reexport", "SciMLBase", "SparseArrays", "Sundials_jll"]
-git-tree-sha1 = "4289695031d663252f38fd114d3e0020d1461cee"
+git-tree-sha1 = "a982ee85e1908d39f58d7fff670e60f991ca2ddb"
 uuid = "c3572dad-4567-51f8-b174-8c6c989267f4"
-version = "4.18.0"
+version = "4.19.0"
 
 [[deps.Sundials_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "OpenBLAS_jll", "Pkg", "SuiteSparse_jll"]

Project.toml

@@ -1,7 +1,7 @@
 authors = ["Hilding Elmqvist <[email protected]>", "Martin Otter <[email protected]>"]
 name = "Modia"
 uuid = "cb905087-75eb-5f27-8515-1ce0ec8e839e"
-version = "0.9.4"
+version = "0.10.0"
 
 [deps]
 DiffEqBase = "2b5f629d-d688-5b77-993f-72d75c75574e"

docs/src/index.md

@@ -42,6 +42,23 @@ functionalities of these packages.
 
 ## Release Notes
 
+### Version 0.10.0
+
+- Initial support of segmented simulations where the number of states can change during simulation.
+  For examples, see `Modia/test/TestHeatTransfer2.jl` and models in directory `Modia3D/test/Segmented`
+  (of release 0.12.0 and later). The tutorial will be updated for this feature in an upcoming version.
+  
+
+**Non-backwards** compatible changes 
+
+These changes should usually not influence user models.
+
+- `_buildFunction = <functionName>` changed to `_buildFunction = Par(functionName = <functionName>)` and
+  changed argument list of `<functionName>`.
+- `_instantiateFunction = Par(..)` changed to `_initSegmentFunction = Par(functionName = <functionName>)`
+  and changed argument list of `<functionName>`.
+
+
 ### Version 0.9.4
 
 - Precompile statements included (compilation of Modia package takes more time, but startup of Modia model simulations is faster).

models/HeatTransfer.jl

@@ -70,4 +70,40 @@ InsulatedRod = Model(
     ]
 )
 
+
+include("HeatTransfer/InsulatedRod2.jl")
+
+"""
+    insulatedRod = InsulatedRod2(; L, A, rho=7500.0u"kg/m^3", lambda=74.0u"W/(m*K)", c=450.0u"J/(kg*K), T0=293.15u"K", nT=1") 
     
+Generate a Model(..) instance of an insulated rod with length `L` and cross sectional area `A` that
+models 1D heat transfer from port_a to port_b. The rod is discretized with `nT` internal temperature nodes that are initialized with `T0`.
+This is an acausal built-in component where the code size does not depend on `nT` and
+`nT` can still be changed after model code is generated and compiled.
+
+For more details see Appendix B1 of [DOI: 10.3390/electronics12030500](https://doi.org/10.3390/electronics12030500).
+
+# Optional Arguments:
+- `rho`: density of rod material
+- `lambda`: thermal conductivity of rod material
+- `c`: specific heat capacity of rod material
+- `T0`: initial temperature of internal temperature nodes
+- `nT`: number of temperature nodes (`nT > 0`).
+
+# Internal variables that can be inquired/plotted:
+- `T`: Vector of temperatures at the internal temperature nodes
+- `der(T)': Vector of derivatives of `T`.
+"""
+InsulatedRod2 = Model(; 
+    _buildFunction       = Par(functionName = :(build_InsulatedRod2!)),        # Called once in @instantiateModel(..) before getDerivatives!(..) is generated 
+    _initSegmentFunction = Par(functionName = :(initSegment_InsulatedRod2!)),  # Called once before initialization of a new simulation segment
+    L      = 1.0u"m",                # Length of rod
+    A      = 0.0004u"m^2",           # Rod area
+    rho    = 7500.0u"kg/m^3",        # Density of rod material
+    lambda = 74.0u"W/(m*K)",         # Thermal conductivity of rod material
+    c      = 450.0u"J/(kg*K)",       # Specific heat capacity of rod material
+    T0     = 293.15u"K",             # Initial temperature of internal temperature nodes
+    nT     = 1,                      # Number of temperature nodes (nT > 0).
+    port_a  = HeatPort,              # heat port on left side
+    port_b  = HeatPort               # heat port on right side
+)

models/HeatTransfer/InsulatedRod2.jl

@@ -0,0 +1,131 @@
+# License for this file: MIT (expat)
+# Copyright 2023, DLR Institute of System Dynamics and Control
+#
+# This file is included in Modia/models/HeatTranser.jl
+
+
+# Structure holding the internal memory of the insulated rod
+mutable struct InsulatedRodStruct{FloatType}
+  # Parameters
+  Ge::FloatType              # = lambda*A/dx
+  Ge2::FloatType             # = 2*Ge
+  k::FloatType               # = Ge / (c*rho*A*dx)
+  T_init::Vector{FloatType}  # initial states
+
+  # Internal states and state deriatives
+  T::Vector{FloatType}       # states
+  der_T::Vector{FloatType}   # state derivatives
+
+  # Start index of state and state derivative vectors
+  T_startIndex::Int
+  
+  InsulatedRodStruct{FloatType}() where {FloatType} = new()
+end
+
+
+# Called from @instantiateModel(..) before getDerivatives!(..) is generated
+function build_InsulatedRod2!(model::AbstractDict, FloatType, TimeType, unitless::Bool, ID, pathAST)
+    model = model | Model(
+        insRod  = Var(hideResult=true),  # InsulatedRodStruct instance (an equation to return this variable is generated by _buildFunction)
+        success = Var(hideResult=true),  # Dummy return argument
+        equations = :[
+            # copy states into insRod.T and return insRod
+            insRod = openInsulatedRod!(instantiatedModel, $ID)
+      
+            # equations at the boundaries
+            port_a.Q_flow = getGe2(insRod, Val($unitless))*(port_a.T - getT1(  insRod, Val($unitless)))
+            port_b.Q_flow = getGe2(insRod, Val($unitless))*(port_b.T - getTend(insRod, Val($unitless)))
+
+            # compute insRod.der_T and copy it into state derivatives
+            success = computeInsulatedRodDerivatives!(instantiatedModel, insRod, port_a.T, port_b.T)   # instantiatedModel is provided in the generated code
+        ])
+
+  return (model, InsulatedRodStruct{FloatType}())
+end
+
+
+# Called once before initialization of first simulation segment
+function initFirstSegment_InsulatedRod2!(obj::InsulatedRodStruct{FloatType}; L, A, rho, lambda, c, T0, nT)::Nothing where {FloatType}
+    # Convert to SI units, strip units and check that values are positives
+    #=
+    @show L
+    @Modia.strippedPositive!(path, L)
+    @Modia.strippedPositive!(path, A)
+    @Modia.strippedPositive!(path, rho)
+    @Modia.strippedPositive!(path, lambda)
+    @Modia.strippedPositive!(path, c)
+    @Modia.strippedPositive!(path, T0)
+    @Modia.strippedPositive!(path, nT)
+    @show L
+    @show A
+    @show rho
+    @show lambda
+    =#
+    L      = stripUnit(L)
+    A      = stripUnit(A)
+    rho    = stripUnit(rho)
+    lambda = stripUnit(lambda)
+    c      = stripUnit(c)
+    T0     = stripUnit(T0)
+
+    # Compute derived parameters
+    dx         = L/nT
+    obj.Ge     = lambda*A/dx
+    obj.Ge2    = 2*obj.Ge
+    obj.k      = obj.Ge / ( c*rho*A*dx )
+    obj.T_init = fill(T0, nT)
+
+    # Allocate and initialize internal states
+    obj.T      = copy(obj.T_init)
+    obj.der_T  = zeros(nT)
+    return nothing
+end
+
+
+# Called once before initialization of a new simulation segment
+function initSegment_InsulatedRod2!(instantiatedModel::SimulationModel{FloatType,TimeType}, path::String, ID,
+                                    parameters::AbstractDict; log=false)::Nothing where {FloatType,TimeType}
+    obj::InsulatedRodStruct{FloatType} = Modia.get_instantiatedSubmodel(instantiatedModel, ID)
+    
+    if Modia.isFirstInitialOfAllSegments(instantiatedModel)
+        initFirstSegment_InsulatedRod2!(obj; parameters...)
+    end
+
+    # Define a vector of new state and state derivative variables
+    obj.T_startIndex = Modia.new_x_segmented_variable!(instantiatedModel, path*".T", path*".der(T)", obj.T, "K")
+    return nothing
+end
+
+
+# Open an initialized InsulatedRod2 model and return a reference to it
+function openInsulatedRod!(instantiatedModel::SimulationModel{FloatType,TimeType}, ID)::InsulatedRodStruct{FloatType} where {FloatType,TimeType}
+    obj::InsulatedRodStruct{FloatType} = Modia.get_instantiatedSubmodel(instantiatedModel, ID)
+    Modia.get_Vector_x_segmented_value!(instantiatedModel, obj.T_startIndex, obj.T)
+    return obj
+end
+
+
+# Functions to inquire values from InsulatedRodStruct
+getT1(  insRod::InsulatedRodStruct, Unitless::Val{true})  = insRod.T[1] 
+getT1(  insRod::InsulatedRodStruct, Unitless::Val{false}) = insRod.T[1]*u"K"
+
+getTend(insRod::InsulatedRodStruct, Unitless::Val{true})  = insRod.T[end] 
+getTend(insRod::InsulatedRodStruct, Unitless::Val{false}) = insRod.T[end]*u"K"
+
+getGe2( insRod::InsulatedRodStruct, Unitless::Val{true})  = insRod.Ge2
+getGe2( insRod::InsulatedRodStruct, Unitless::Val{false}) = insRod.Ge2*u"W/K"
+
+T_grad1(T,Ta,i) = if i == 1        ; (Ta - T[1])*2 else T[i-1] - T[i] end
+T_grad2(T,Tb,i) = if i == length(T); (T[i] - Tb)*2 else T[i] - T[i+1] end
+
+function computeInsulatedRodDerivatives!(instantiatedModel, obj::InsulatedRodStruct{FloatType}, Ta, Tb)::Bool where {FloatType}
+    Ta::FloatType = stripUnit(Ta)
+    Tb::FloatType = stripUnit(Tb)
+    T  = obj.T
+    k  = obj.k
+    for i in 1:length(T)
+        obj.der_T[i] = k*(T_grad1(T,Ta,i) - T_grad2(T,Tb,i))
+    end
+    Modia.add_der_x_segmented_value!(instantiatedModel, obj.T_startIndex, obj.der_T)
+    return true
+end