refactor: depend on MTKBase

Project.toml

@@ -8,8 +8,9 @@ ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
 DiffEqBase = "2b5f629d-d688-5b77-993f-72d75c75574e"
 IfElse = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
-ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
+ModelingToolkitBase = "7771a370-6774-4173-bd38-47e70ca0b839"
 PreallocationTools = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
+SciCompDSL = "91a8cdf1-4ca6-467b-a780-87fda3fff15e"
 Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
 
 [compat]
@@ -23,14 +24,15 @@ DiffEqBase = "6.152"
 ForwardDiff = "0.10"
 IfElse = "0.1"
 LinearAlgebra = "1.10"
-ModelingToolkit = "10"
+ModelingToolkitBase = "1"
 OrdinaryDiffEq = "6.87"
 OrdinaryDiffEqDefault = "1.1"
 PreallocationTools = "0.4.23"
 SafeTestsets = "0.1"
+SciCompDSL = "1"
 SciMLStructures = "1.4.2"
 SymbolicIndexingInterface = "0.3.28"
-Symbolics = "6.14"
+Symbolics = "7"
 Test = "1"
 julia = "1.10"
 

src/Blocks/Blocks.jl

@@ -2,10 +2,10 @@
 The module `Blocks` contains common input-output components, referred to as blocks.
 """
 module Blocks
-using ModelingToolkit, Symbolics
+using ModelingToolkitBase, Symbolics, SciCompDSL
 import IfElse: ifelse
 import ..@symcheck
-using ModelingToolkit: getdefault, t_nounits as t, D_nounits as D
+using ModelingToolkitBase: getdefault, t_nounits as t, D_nounits as D
 
 export RealInput, RealInputArray, RealOutput, RealOutputArray, SISO
 include("utils.jl")

src/Blocks/continuous.jl

@@ -610,7 +610,7 @@ To set the initial state, it's recommended to set the initial condition for `x`,
   - `input`
   - `output`
 
-See also [`StateSpace`](@ref) which handles MIMO systems, as well as [ControlSystemsMTK.jl](https://juliacontrol.github.io/ControlSystemsMTK.jl/stable/) for an interface between [ControlSystems.jl](https://juliacontrol.github.io/ControlSystems.jl/stable/) and ModelingToolkit.jl for advanced manipulation of transfer functions and linear statespace systems. For linearization, see [`linearize`](@ref) and [Linear Analysis](https://docs.sciml.ai/ModelingToolkitStandardLibrary/stable/API/linear_analysis/).
+See also [`StateSpace`](@ref) which handles MIMO systems, as well as [ControlSystemsMTK.jl](https://juliacontrol.github.io/ControlSystemsMTK.jl/stable/) for an interface between [ControlSystems.jl](https://juliacontrol.github.io/ControlSystems.jl/stable/) and ModelingToolkitBase.jl for advanced manipulation of transfer functions and linear statespace systems. For linearization, see [`linearize`](@ref) and [Linear Analysis](https://docs.sciml.ai/ModelingToolkitStandardLibrary/stable/API/linear_analysis/).
 """
 @component function TransferFunction(; b = [1], a = [1, 1], name)
     nb = length(b)

src/Blocks/nonlinear.jl

@@ -62,7 +62,7 @@ If the input is within `u_min` ... `u_max`, the output is zero. Outside of this
         u_min = -u_max, [description = "Lower limit of dead zone of DeadZone"]
     end
     begin
-        if !ModelingToolkit.isvariable(u_max)
+        if !ModelingToolkitBase.isvariable(u_max)
             u_max ≥ u_min || throw(ArgumentError("`u_min` must be smaller than `u_max`"))
         end
     end

src/Blocks/sources.jl

@@ -822,7 +822,7 @@ Base.nameof(::CachedInterpolation) = :CachedInterpolation
 @register_symbolic (f::CachedInterpolation)(u::AbstractArray, x::AbstractArray, args::Tuple)
 
 """
-    ParametrizedInterpolation(interp_type, u, x, args...; name, t = ModelingToolkit.t_nounits)
+    ParametrizedInterpolation(interp_type, u, x, args...; name, t = ModelingToolkitBase.t_nounits)
 
 Represent function interpolation symbolically as a block component, with the interpolation data represented parametrically.
 By default interpolation types from [`DataInterpolations.jl`](https://github.com/SciML/DataInterpolations.jl) are supported,
@@ -862,7 +862,7 @@ function ParametrizedInterpolation(
 
     eqs = [output.u ~ interpolator(input.u)]
 
-    System(eqs, ModelingToolkit.t_nounits, [],
+    System(eqs, ModelingToolkitBase.t_nounits, [],
         [data, ts, interpolation_type, interpolator];
         parameter_dependencies = [
             interpolator ~ build_interpolation(data, ts, args)

src/Blocks/utils.jl

@@ -15,9 +15,8 @@
             input = true,
             description = "Inner variable in RealInput $name"
         ]
-        u = collect(u)
     end
-    System(Equation[], t, [u;], []; name = name, guesses = [(u .=> guess);])
+    System(Equation[], t, [u;], []; name = name, guesses = [u => guess])
 end
 @doc """
     RealInput(;name, guess)
@@ -73,9 +72,8 @@ Connector with an array of input signals of type Real.
             output = true,
             description = "Inner variable in RealOutput $name"
         ]
-        u = collect(u)
     end
-    System(Equation[], t, [u;], []; name = name, guesses = [(u .=> guess);])
+    System(Equation[], t, [u;], []; name = name, guesses = [u => guess])
 end
 @doc """
     RealOutput(;name, guess)

src/Electrical/Digital/sources.jl

@@ -16,7 +16,7 @@ PulseDiff(; name, Val = 1, dt = 0.1)
 function PulseDiff(; name, Val = 1, dt = 0.1)
     @named d = DigitalPin()
     @variables val(t)
-    D = ModelingToolkit.Difference(t; dt = dt)
+    D = ModelingToolkitBase.Difference(t; dt = dt)
 
     eqs = [D(val) ~ Val
            val ~ d.val]

src/Electrical/Electrical.jl

@@ -4,8 +4,8 @@ This library contains electrical components to build up analog circuits.
 """
 module Electrical
 
-using ModelingToolkit, Symbolics, IfElse
-using ModelingToolkit: t_nounits as t, D_nounits as D
+using ModelingToolkitBase, Symbolics, IfElse, SciCompDSL
+using ModelingToolkitBase: t_nounits as t, D_nounits as D
 using ..Thermal: HeatPort
 using ..Mechanical.Rotational: Flange, Support
 using ..Blocks: RealInput, RealOutput

src/Hydraulic/Hydraulic.jl

@@ -3,7 +3,7 @@ Library of hydraulic models.
 """
 module Hydraulic
 
-using ModelingToolkit
+using ModelingToolkitBase, SciCompDSL
 
 include("IsothermalCompressible/IsothermalCompressible.jl")
 

src/Hydraulic/IsothermalCompressible/IsothermalCompressible.jl

@@ -3,8 +3,8 @@ Library to model iso-thermal compressible liquid fluid flow
 """
 module IsothermalCompressible
 
-using ModelingToolkit, Symbolics
-using ModelingToolkit: t_nounits as t, D_nounits as D
+using ModelingToolkitBase, Symbolics, SciCompDSL
+using ModelingToolkitBase: t_nounits as t, D_nounits as D
 
 using ...Blocks: RealInput, RealOutput
 using ...Mechanical.Translational: MechanicalPort, Mass

src/Magnetic/FluxTubes/FluxTubes.jl

@@ -1,6 +1,6 @@
 module FluxTubes
-using ModelingToolkit
-using ModelingToolkit: t_nounits as t, D_nounits as D
+using ModelingToolkitBase, SciCompDSL
+using ModelingToolkitBase: t_nounits as t, D_nounits as D
 using ...Electrical: Pin
 
 export PositiveMagneticPort, NegativeMagneticPort, TwoPort

src/Magnetic/Magnetic.jl

@@ -1,6 +1,6 @@
 module Magnetic
 
-using ModelingToolkit
+using ModelingToolkitBase, SciCompDSL
 
 # FluxTubes
 include("FluxTubes/FluxTubes.jl")

src/Mechanical/Mechanical.jl

@@ -3,7 +3,7 @@ Library of mechanical models.
 """
 module Mechanical
 
-using ModelingToolkit
+using ModelingToolkitBase, SciCompDSL
 
 include("Rotational/Rotational.jl")
 include("Translational/Translational.jl")

src/Mechanical/MultiBody2D/MultiBody2D.jl

@@ -1,7 +1,7 @@
 module MultiBody2D
 
-using ModelingToolkit, Symbolics, IfElse
-using ModelingToolkit: t_nounits as t, D_nounits as D
+using ModelingToolkitBase, Symbolics, IfElse, SciCompDSL
+using ModelingToolkitBase: t_nounits as t, D_nounits as D
 using ..TranslationalPosition
 
 export Link

src/Mechanical/Rotational/Rotational.jl

@@ -3,8 +3,8 @@ Library to model 1-dimensional, rotational mechanical systems
 """
 module Rotational
 
-using ModelingToolkit, Symbolics, IfElse
-using ModelingToolkit: t_nounits as t, D_nounits as D
+using ModelingToolkitBase, Symbolics, IfElse, SciCompDSL
+using ModelingToolkitBase: t_nounits as t, D_nounits as D
 using ...Blocks: RealInput, RealOutput
 import ...@symcheck
 

src/Mechanical/Translational/Translational.jl

@@ -3,8 +3,8 @@ Library to model 1-dimensional, translational mechanical systems
 """
 module Translational
 
-using ModelingToolkit, Symbolics
-using ModelingToolkit: getdefault, t_nounits as t, D_nounits as D
+using ModelingToolkitBase, Symbolics, SciCompDSL
+using ModelingToolkitBase: getdefault, t_nounits as t, D_nounits as D
 
 using ModelingToolkitStandardLibrary.Blocks: RealInput, RealOutput
 using IfElse: ifelse

src/Mechanical/TranslationalModelica/TranslationalModelica.jl

@@ -3,8 +3,8 @@ Library to model 1-dimensional, translational mechanical components.
 """
 module TranslationalModelica
 
-using ModelingToolkit, Symbolics, IfElse
-using ModelingToolkit: t_nounits as t, D_nounits as D
+using ModelingToolkitBase, Symbolics, IfElse, SciCompDSL
+using ModelingToolkitBase: t_nounits as t, D_nounits as D
 using ...Blocks: RealInput, RealOutput
 
 export Flange

src/Mechanical/TranslationalPosition/TranslationalPosition.jl

@@ -3,8 +3,8 @@ Library to model 1-dimensional, translational mechanical components.
 """
 module TranslationalPosition
 
-using ModelingToolkit, Symbolics, IfElse
-using ModelingToolkit: t_nounits as t, D_nounits as D
+using ModelingToolkitBase, Symbolics, IfElse, SciCompDSL
+using ModelingToolkitBase: t_nounits as t, D_nounits as D
 using ...Blocks: RealInput, RealOutput
 
 export Flange

src/Thermal/Thermal.jl

@@ -2,8 +2,8 @@
 Library of thermal system components to model heat transfer.
 """
 module Thermal
-using ModelingToolkit, Symbolics, IfElse
-using ModelingToolkit: t_nounits as t, D_nounits as D
+using ModelingToolkitBase, Symbolics, IfElse, SciCompDSL
+using ModelingToolkitBase: t_nounits as t, D_nounits as D
 using ...Blocks: RealInput, RealOutput
 
 export HeatPort, Element1D