Merge pull request #2826 from AayushSabharwal/as/m-e-g-a

feat: complete `eval_expression` and `eval_module` support

src/inputoutput.jl

@@ -195,6 +195,8 @@ function generate_control_function(sys::AbstractODESystem, inputs = unbound_inpu
         disturbance_inputs = disturbances(sys);
         implicit_dae = false,
         simplify = false,
+        eval_expression = false,
+        eval_module = @__MODULE__,
         kwargs...)
     isempty(inputs) && @warn("No unbound inputs were found in system.")
 
@@ -240,7 +242,8 @@ function generate_control_function(sys::AbstractODESystem, inputs = unbound_inpu
     end
     process = get_postprocess_fbody(sys)
     f = build_function(rhss, args...; postprocess_fbody = process,
-        expression = Val{false}, kwargs...)
+        expression = Val{true}, kwargs...)
+    f = eval_or_rgf.(f; eval_expression, eval_module)
     (; f, dvs, ps, io_sys = sys)
 end
 
@@ -395,7 +398,7 @@ model_outputs = [model.inertia1.w, model.inertia2.w, model.inertia1.phi, model.i
 
 `f_oop` will have an extra state corresponding to the integrator in the disturbance model. This state will not be affected by any input, but will affect the dynamics from where it enters, in this case it will affect additively from `model.torque.tau.u`.
 """
-function add_input_disturbance(sys, dist::DisturbanceModel, inputs = nothing)
+function add_input_disturbance(sys, dist::DisturbanceModel, inputs = nothing; kwargs...)
     t = get_iv(sys)
     @variables d(t)=0 [disturbance = true]
     @variables u(t)=0 [input = true] # New system input
@@ -418,6 +421,6 @@ function add_input_disturbance(sys, dist::DisturbanceModel, inputs = nothing)
     augmented_sys = extend(augmented_sys, sys)
 
     (f_oop, f_ip), dvs, p = generate_control_function(augmented_sys, all_inputs,
-        [d])
+        [d]; kwargs...)
     (f_oop, f_ip), augmented_sys, dvs, p
 end

src/systems/abstractsystem.jl

@@ -161,7 +161,8 @@ time-independent systems. If `split=true` (the default) was passed to [`complete
 object.
 """
 function generate_custom_function(sys::AbstractSystem, exprs, dvs = unknowns(sys),
-        ps = parameters(sys); wrap_code = nothing, postprocess_fbody = nothing, states = nothing, kwargs...)
+        ps = parameters(sys); wrap_code = nothing, postprocess_fbody = nothing, states = nothing,
+        expression = Val{true}, eval_expression = false, eval_module = @__MODULE__, kwargs...)
     if !iscomplete(sys)
         error("A completed system is required. Call `complete` or `structural_simplify` on the system.")
     end
@@ -177,28 +178,38 @@ function generate_custom_function(sys::AbstractSystem, exprs, dvs = unknowns(sys
     if states === nothing
         states = sol_states
     end
-    if is_time_dependent(sys)
-        return build_function(exprs,
+    fnexpr = if is_time_dependent(sys)
+        build_function(exprs,
             dvs,
             p...,
             get_iv(sys);
             kwargs...,
             postprocess_fbody,
             states,
             wrap_code = wrap_code .∘ wrap_mtkparameters(sys, isscalar) .∘
-                        wrap_array_vars(sys, exprs; dvs)
+                        wrap_array_vars(sys, exprs; dvs),
+            expression = Val{true}
         )
     else
-        return build_function(exprs,
+        build_function(exprs,
             dvs,
             p...;
             kwargs...,
             postprocess_fbody,
             states,
             wrap_code = wrap_code .∘ wrap_mtkparameters(sys, isscalar) .∘
-                        wrap_array_vars(sys, exprs; dvs)
+                        wrap_array_vars(sys, exprs; dvs),
+            expression = Val{true}
         )
     end
+    if expression == Val{true}
+        return fnexpr
+    end
+    if fnexpr isa Tuple
+        return eval_or_rgf.(fnexpr; eval_expression, eval_module)
+    else
+        return eval_or_rgf(fnexpr; eval_expression, eval_module)
+    end
 end
 
 function wrap_assignments(isscalar, assignments; let_block = false)
@@ -509,7 +520,8 @@ function SymbolicIndexingInterface.is_observed(sys::AbstractSystem, sym)
            !is_independent_variable(sys, sym) && symbolic_type(sym) != NotSymbolic()
 end
 
-function SymbolicIndexingInterface.observed(sys::AbstractSystem, sym)
+function SymbolicIndexingInterface.observed(
+        sys::AbstractSystem, sym; eval_expression = false, eval_module = @__MODULE__)
     if has_index_cache(sys) && (ic = get_index_cache(sys)) !== nothing
         if sym isa Symbol
             _sym = get(ic.symbol_to_variable, sym, nothing)
@@ -531,7 +543,8 @@ function SymbolicIndexingInterface.observed(sys::AbstractSystem, sym)
             end
         end
     end
-    _fn = build_explicit_observed_function(sys, sym)
+    _fn = build_explicit_observed_function(sys, sym; eval_expression, eval_module)
+
     if is_time_dependent(sys)
         return let _fn = _fn
             fn1(u, p, t) = _fn(u, p, t)
@@ -1210,19 +1223,30 @@ end
 struct ObservedFunctionCache{S}
     sys::S
     dict::Dict{Any, Any}
+    eval_expression::Bool
+    eval_module::Module
 end
 
-function ObservedFunctionCache(sys)
-    return ObservedFunctionCache(sys, Dict())
-    let sys = sys, dict = Dict()
-        function generated_observed(obsvar, args...)
-        end
-    end
+function ObservedFunctionCache(sys; eval_expression = false, eval_module = @__MODULE__)
+    return ObservedFunctionCache(sys, Dict(), eval_expression, eval_module)
+end
+
+# This is hit because ensemble problems do a deepcopy
+function Base.deepcopy_internal(ofc::ObservedFunctionCache, stackdict::IdDict)
+    sys = deepcopy(ofc.sys)
+    dict = deepcopy(ofc.dict)
+    eval_expression = ofc.eval_expression
+    eval_module = ofc.eval_module
+    newofc = ObservedFunctionCache(sys, dict, eval_expression, eval_module)
+    stackdict[ofc] = newofc
+    return newofc
 end
 
 function (ofc::ObservedFunctionCache)(obsvar, args...)
     obs = get!(ofc.dict, value(obsvar)) do
-        SymbolicIndexingInterface.observed(ofc.sys, obsvar)
+        SymbolicIndexingInterface.observed(
+            ofc.sys, obsvar; eval_expression = ofc.eval_expression,
+            eval_module = ofc.eval_module)
     end
     if args === ()
         return obs
@@ -1871,6 +1895,7 @@ function linearization_function(sys::AbstractSystem, inputs,
         p = DiffEqBase.NullParameters(),
         zero_dummy_der = false,
         initialization_solver_alg = TrustRegion(),
+        eval_expression = false, eval_module = @__MODULE__,
         kwargs...)
     inputs isa AbstractVector || (inputs = [inputs])
     outputs isa AbstractVector || (outputs = [outputs])
@@ -1895,85 +1920,58 @@ function linearization_function(sys::AbstractSystem, inputs,
     end
     x0 = merge(defaults_and_guesses(sys), op)
     if has_index_cache(sys) && get_index_cache(sys) !== nothing
-        sys_ps = MTKParameters(sys, p, x0)
+        sys_ps = MTKParameters(sys, p, x0; eval_expression, eval_module)
     else
         sys_ps = varmap_to_vars(p, parameters(sys); defaults = x0)
     end
     p[get_iv(sys)] = NaN
     if has_index_cache(initsys) && get_index_cache(initsys) !== nothing
-        oldps = MTKParameters(initsys, p, merge(guesses(sys), defaults(sys), op))
+        oldps = MTKParameters(initsys, p, merge(guesses(sys), defaults(sys), op);
+            eval_expression, eval_module)
         initsys_ps = parameters(initsys)
-        initsys_idxs = [parameter_index(initsys, param) for param in initsys_ps]
-        tunable_ps = [initsys_ps[i]
-                      for i in eachindex(initsys_ps)
-                      if initsys_idxs[i].portion == SciMLStructures.Tunable()]
-        tunable_getter = isempty(tunable_ps) ? nothing : getu(sys, tunable_ps)
-        discrete_ps = [initsys_ps[i]
-                       for i in eachindex(initsys_ps)
-                       if initsys_idxs[i].portion == SciMLStructures.Discrete()]
-        disc_getter = isempty(discrete_ps) ? nothing : getu(sys, discrete_ps)
-        constant_ps = [initsys_ps[i]
-                       for i in eachindex(initsys_ps)
-                       if initsys_idxs[i].portion == SciMLStructures.Constants()]
-        const_getter = isempty(constant_ps) ? nothing : getu(sys, constant_ps)
-        nonnum_ps = [initsys_ps[i]
-                     for i in eachindex(initsys_ps)
-                     if initsys_idxs[i].portion == NONNUMERIC_PORTION]
-        nonnum_getter = isempty(nonnum_ps) ? nothing : getu(sys, nonnum_ps)
+        p_getter = build_explicit_observed_function(
+            sys, initsys_ps; eval_expression, eval_module)
+
         u_getter = isempty(unknowns(initsys)) ? (_...) -> nothing :
-                   getu(sys, unknowns(initsys))
-        get_initprob_u_p = let tunable_getter = tunable_getter,
-            disc_getter = disc_getter,
-            const_getter = const_getter,
-            nonnum_getter = nonnum_getter,
-            oldps = oldps,
+                   build_explicit_observed_function(
+            sys, unknowns(initsys); eval_expression, eval_module)
+        get_initprob_u_p = let p_getter,
+            p_setter! = setp(initsys, initsys_ps),
             u_getter = u_getter
 
             function (u, p, t)
                 state = ProblemState(; u, p, t)
-                if tunable_getter !== nothing
-                    SciMLStructures.replace!(
-                        SciMLStructures.Tunable(), oldps, tunable_getter(state))
-                end
-                if disc_getter !== nothing
-                    SciMLStructures.replace!(
-                        SciMLStructures.Discrete(), oldps, disc_getter(state))
-                end
-                if const_getter !== nothing
-                    SciMLStructures.replace!(
-                        SciMLStructures.Constants(), oldps, const_getter(state))
-                end
-                if nonnum_getter !== nothing
-                    SciMLStructures.replace!(
-                        NONNUMERIC_PORTION, oldps, nonnum_getter(state))
-                end
+                p_setter!(oldps, p_getter(state))
                 newu = u_getter(state)
                 return newu, oldps
             end
         end
     else
         get_initprob_u_p = let p_getter = getu(sys, parameters(initsys)),
-            u_getter = getu(sys, unknowns(initsys))
+            u_getter = build_explicit_observed_function(
+                sys, unknowns(initsys); eval_expression, eval_module)
 
             function (u, p, t)
                 state = ProblemState(; u, p, t)
                 return u_getter(state), p_getter(state)
             end
         end
     end
-    initfn = NonlinearFunction(initsys)
-    initprobmap = getu(initsys, unknowns(sys))
+    initfn = NonlinearFunction(initsys; eval_expression, eval_module)
+    initprobmap = build_explicit_observed_function(
+        initsys, unknowns(sys); eval_expression, eval_module)
     ps = full_parameters(sys)
+    h = build_explicit_observed_function(sys, outputs; eval_expression, eval_module)
     lin_fun = let diff_idxs = diff_idxs,
         alge_idxs = alge_idxs,
         input_idxs = input_idxs,
         sts = unknowns(sys),
         get_initprob_u_p = get_initprob_u_p,
         fun = ODEFunction{true, SciMLBase.FullSpecialize}(
-            sys, unknowns(sys), ps),
+            sys, unknowns(sys), ps; eval_expression, eval_module),
         initfn = initfn,
         initprobmap = initprobmap,
-        h = build_explicit_observed_function(sys, outputs),
+        h = h,
         chunk = ForwardDiff.Chunk(input_idxs),
         sys_ps = sys_ps,
         initialize = initialize,
@@ -2056,6 +2054,7 @@ where `x` are differential unknown variables, `z` algebraic variables, `u` input
 """
 function linearize_symbolic(sys::AbstractSystem, inputs,
         outputs; simplify = false, allow_input_derivatives = false,
+        eval_expression = false, eval_module = @__MODULE__,
         kwargs...)
     sys, diff_idxs, alge_idxs, input_idxs = io_preprocessing(
         sys, inputs, outputs; simplify,
@@ -2065,10 +2064,11 @@ function linearize_symbolic(sys::AbstractSystem, inputs,
     ps = full_parameters(sys)
     p = reorder_parameters(sys, ps)
 
-    fun = generate_function(sys, sts, ps; expression = Val{false})[1]
+    fun_expr = generate_function(sys, sts, ps; expression = Val{true})[1]
+    fun = eval_or_rgf(fun_expr; eval_expression, eval_module)
     dx = fun(sts, p..., t)
 
-    h = build_explicit_observed_function(sys, outputs)
+    h = build_explicit_observed_function(sys, outputs; eval_expression, eval_module)
     y = h(sts, p..., t)
 
     fg_xz = Symbolics.jacobian(dx, sts)

src/systems/callbacks.jl

@@ -343,7 +343,7 @@ Notes
   - `kwargs` are passed through to `Symbolics.build_function`.
 """
 function compile_condition(cb::SymbolicDiscreteCallback, sys, dvs, ps;
-        expression = Val{true}, kwargs...)
+        expression = Val{true}, eval_expression = false, eval_module = @__MODULE__, kwargs...)
     u = map(x -> time_varying_as_func(value(x), sys), dvs)
     p = map.(x -> time_varying_as_func(value(x), sys), reorder_parameters(sys, ps))
     t = get_iv(sys)
@@ -353,8 +353,13 @@ function compile_condition(cb::SymbolicDiscreteCallback, sys, dvs, ps;
         cmap = map(x -> x => getdefault(x), cs)
         condit = substitute(condit, cmap)
     end
-    build_function(condit, u, t, p...; expression, wrap_code = condition_header(sys),
+    expr = build_function(
+        condit, u, t, p...; expression = Val{true}, wrap_code = condition_header(sys),
         kwargs...)
+    if expression == Val{true}
+        return expr
+    end
+    return eval_or_rgf(expr; eval_expression, eval_module)
 end
 
 function compile_affect(cb::SymbolicContinuousCallback, args...; kwargs...)
@@ -379,7 +384,8 @@ Notes
   - `kwargs` are passed through to `Symbolics.build_function`.
 """
 function compile_affect(eqs::Vector{Equation}, sys, dvs, ps; outputidxs = nothing,
-        expression = Val{true}, checkvars = true,
+        expression = Val{true}, checkvars = true, eval_expression = false,
+        eval_module = @__MODULE__,
         postprocess_affect_expr! = nothing, kwargs...)
     if isempty(eqs)
         if expression == Val{true}
@@ -432,20 +438,20 @@ function compile_affect(eqs::Vector{Equation}, sys, dvs, ps; outputidxs = nothin
         end
         t = get_iv(sys)
         integ = gensym(:MTKIntegrator)
-        getexpr = (postprocess_affect_expr! === nothing) ? expression : Val{true}
         pre = get_preprocess_constants(rhss)
-        rf_oop, rf_ip = build_function(rhss, u, p..., t; expression = getexpr,
+        rf_oop, rf_ip = build_function(rhss, u, p..., t; expression = Val{true},
             wrap_code = add_integrator_header(sys, integ, outvar),
             outputidxs = update_inds,
             postprocess_fbody = pre,
             kwargs...)
         # applied user-provided function to the generated expression
         if postprocess_affect_expr! !== nothing
             postprocess_affect_expr!(rf_ip, integ)
-            (expression == Val{false}) &&
-                (return drop_expr(@RuntimeGeneratedFunction(rf_ip)))
         end
-        rf_ip
+        if expression == Val{false}
+            return eval_or_rgf(rf_ip; eval_expression, eval_module)
+        end
+        return rf_ip
     end
 end
 

src/systems/connectors.jl

@@ -408,7 +408,7 @@ function Base.merge(csets::AbstractVector{<:ConnectionSet}, allouter = false)
     id2set = Dict{Int, Int}()
     merged_set = ConnectionSet[]
     for (id, ele) in enumerate(idx2ele)
-        rid = find_root(union_find, id)
+        rid = find_root!(union_find, id)
         set_idx = get!(id2set, rid) do
             set = ConnectionSet()
             push!(merged_set, set)