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handle SampleTime operator in discrete compile #3582

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handle SampleTime operator in discrete compile #3582

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22 changes: 21 additions & 1 deletion src/systems/systemstructure.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -712,7 +712,7 @@
if state.sys isa ODESystem
# split_system returns one or two systems and the inputs for each
# mod clock inference to be binary
# if it's continous keep going, if not then error unless given trait impl in additional passes

Check warning on line 715 in src/systems/systemstructure.jl

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"continous" should be "continuous".
ci = ModelingToolkit.ClockInference(state)
ci = ModelingToolkit.infer_clocks!(ci)
time_domains = merge(Dict(state.fullvars .=> ci.var_domain),
Expand Down Expand Up @@ -749,7 +749,10 @@
deleteat!(additional_passes, discrete_pass_idx)
# in the case of a hybrid system, the discrete_compile pass should take the currents of sys.discrete_subsystems
# and modifies discrete_subsystems to bea tuple of the io and anything else, while adding or manipulating the rest of sys as needed
sys = discrete_compile(sys, tss[[i for i in eachindex(tss) if i != continuous_id]], inputs, ci)
discrete_ids = [i for i in eachindex(tss) if i != continuous_id]
discrete_partitions = tss[discrete_ids]
substitute_sampletime!(discrete_partitions, id_to_clock[discrete_ids])
sys = discrete_compile(sys, discrete_partitions, inputs, ci)
else
throw(HybridSystemNotSupportedException("Hybrid continuous-discrete systems are currently not supported with the standard MTK compiler. This system requires JuliaSimCompiler.jl, see https://help.juliahub.com/juliasimcompiler/stable/"))
end
Expand Down Expand Up @@ -809,3 +812,20 @@

ModelingToolkit.invalidate_cache!(sys), input_idxs
end

"""
substitute_sampletime(discrete_partitions, clocks)

Substitutes the `SampleTime()` operators for its value, e.g., `SampleTime()*x(k)` becomes `sampletime(clock(x))*x(k)`
"""
function substitute_sampletime!(discrete_partitions, clocks)
@show clocks
for (part, clock) in zip(discrete_partitions, clocks)
@show dt = sampletime(clock)
submap = SampleTime() => dt
new_eqs = map(part.original_eqs) do eq
substitute(eq, submap)
end
part.original_eqs .= new_eqs
end
end
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[JuliaFormatter] reported by reviewdog 🐶

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end
end

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