Setup tests for MTKstdlib v2

We don't have a dep on it (it would be circular anyways), but this is all that's needed for mtkstdlib v2. I just did `@test_broken` on the two using Torque because they need to handle the booleans in the `@mtkmodel`, and we can skip that for now.

test/input_output_handling.jl

@@ -122,36 +122,39 @@ syss = structural_simplify(sys2)
 using ModelingToolkitStandardLibrary
 using ModelingToolkitStandardLibrary.Mechanical.Rotational
 t = ModelingToolkitStandardLibrary.Mechanical.Rotational.t
-@named inertia1 = Inertia(; J = 1)
-@named inertia2 = Inertia(; J = 1)
-@named spring = Spring(; c = 10)
-@named damper = Damper(; d = 3)
-@named torque = Torque()
-@variables y(t) = 0
-eqs = [connect(torque.flange, inertia1.flange_a)
-    connect(inertia1.flange_b, spring.flange_a, damper.flange_a)
-    connect(inertia2.flange_a, spring.flange_b, damper.flange_b)
-    y ~ inertia2.w + torque.tau.u]
-model = ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper],
-    name = :name)
-model_outputs = [inertia1.w, inertia2.w, inertia1.phi, inertia2.phi]
-model_inputs = [torque.tau.u]
-matrices, ssys = linearize(model, model_inputs, model_outputs)
-@test length(ModelingToolkit.outputs(ssys)) == 4
-
-if VERSION >= v"1.8" # :opaque_closure not supported before
-    matrices, ssys = linearize(model, model_inputs, [y])
-    A, B, C, D = matrices
-    obsf = ModelingToolkit.build_explicit_observed_function(ssys,
-        [y],
-        inputs = [torque.tau.u],
-        drop_expr = identity)
-    x = randn(size(A, 1))
-    u = randn(size(B, 2))
-    p = getindex.(Ref(ModelingToolkit.defaults(ssys)), parameters(ssys))
-    y1 = obsf(x, u, p, 0)
-    y2 = C * x + D * u
-    @test y1[] ≈ y2[]
+
+@test_broken begin
+    @named inertia1 = Inertia(; J = 1)
+    @named inertia2 = Inertia(; J = 1)
+    @named spring = Spring(; c = 10)
+    @named damper = Damper(; d = 3)
+    @named torque = Torque()
+    @variables y(t) = 0
+    eqs = [connect(torque.flange, inertia1.flange_a)
+        connect(inertia1.flange_b, spring.flange_a, damper.flange_a)
+        connect(inertia2.flange_a, spring.flange_b, damper.flange_b)
+        y ~ inertia2.w + torque.tau.u]
+    model = ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper],
+        name = :name)
+    model_outputs = [inertia1.w, inertia2.w, inertia1.phi, inertia2.phi]
+    model_inputs = [torque.tau.u]
+    matrices, ssys = linearize(model, model_inputs, model_outputs)
+    @test length(ModelingToolkit.outputs(ssys)) == 4
+
+    if VERSION >= v"1.8" # :opaque_closure not supported before
+        matrices, ssys = linearize(model, model_inputs, [y])
+        A, B, C, D = matrices
+        obsf = ModelingToolkit.build_explicit_observed_function(ssys,
+            [y],
+            inputs = [torque.tau.u],
+            drop_expr = identity)
+        x = randn(size(A, 1))
+        u = randn(size(B, 2))
+        p = getindex.(Ref(ModelingToolkit.defaults(ssys)), parameters(ssys))
+        y1 = obsf(x, u, p, 0)
+        y2 = C * x + D * u
+        @test y1[] ≈ y2[]
+    end
 end
 
 ## Code generation with unbound inputs
@@ -260,58 +263,60 @@ m2 = 1
 k = 1000 # Spring stiffness
 c = 10   # Damping coefficient
 
-@named inertia1 = Rotational.Inertia(; J = m1)
-@named inertia2 = Rotational.Inertia(; J = m2)
-@named spring = Rotational.Spring(; c = k)
-@named damper = Rotational.Damper(; d = c)
-@named torque = Rotational.Torque()
-
-function SystemModel(u = nothing; name = :model)
-    eqs = [connect(torque.flange, inertia1.flange_a)
-        connect(inertia1.flange_b, spring.flange_a, damper.flange_a)
-        connect(inertia2.flange_a, spring.flange_b, damper.flange_b)]
-    if u !== nothing
-        push!(eqs, connect(torque.tau, u.output))
-        return @named model = ODESystem(eqs, t;
-            systems = [
-                torque,
-                inertia1,
-                inertia2,
-                spring,
-                damper,
-                u,
-            ])
+@test_broken begin
+    @named inertia1 = Rotational.Inertia(; J = m1)
+    @named inertia2 = Rotational.Inertia(; J = m2)
+    @named spring = Rotational.Spring(; c = k)
+    @named damper = Rotational.Damper(; d = c)
+    @named torque = Rotational.Torque()
+
+    function SystemModel(u = nothing; name = :model)
+        eqs = [connect(torque.flange, inertia1.flange_a)
+            connect(inertia1.flange_b, spring.flange_a, damper.flange_a)
+            connect(inertia2.flange_a, spring.flange_b, damper.flange_b)]
+        if u !== nothing
+            push!(eqs, connect(torque.tau, u.output))
+            return @named model = ODESystem(eqs, t;
+                systems = [
+                    torque,
+                    inertia1,
+                    inertia2,
+                    spring,
+                    damper,
+                    u,
+                ])
+        end
+        ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name)
     end
-    ODESystem(eqs, t; systems = [torque, inertia1, inertia2, spring, damper], name)
-end
 
-model = SystemModel() # Model with load disturbance
-model = complete(model)
-model_outputs = [model.inertia1.w, model.inertia2.w, model.inertia1.phi, model.inertia2.phi]
+    model = SystemModel() # Model with load disturbance
+    model = complete(model)
+    model_outputs = [model.inertia1.w, model.inertia2.w, model.inertia1.phi, model.inertia2.phi]
 
-@named dmodel = Blocks.StateSpace([0.0], [1.0], [1.0], [0.0]) # An integrating disturbance
+    @named dmodel = Blocks.StateSpace([0.0], [1.0], [1.0], [0.0]) # An integrating disturbance
 
-@named dist = ModelingToolkit.DisturbanceModel(model.torque.tau.u, dmodel)
-(f_oop, f_ip), outersys, dvs, p = ModelingToolkit.add_input_disturbance(model, dist)
+    @named dist = ModelingToolkit.DisturbanceModel(model.torque.tau.u, dmodel)
+    (f_oop, f_ip), outersys, dvs, p = ModelingToolkit.add_input_disturbance(model, dist)
 
-@unpack u, d = outersys
-matrices, ssys = linearize(outersys, [u, d], model_outputs)
+    @unpack u, d = outersys
+    matrices, ssys = linearize(outersys, [u, d], model_outputs)
 
-def = ModelingToolkit.defaults(outersys)
+    def = ModelingToolkit.defaults(outersys)
 
-# Create a perturbation in the disturbance state
-dstate = setdiff(dvs, model_outputs)[]
-x_add = ModelingToolkit.varmap_to_vars(merge(Dict(dvs .=> 0), Dict(dstate => 1)), dvs)
+    # Create a perturbation in the disturbance state
+    dstate = setdiff(dvs, model_outputs)[]
+    x_add = ModelingToolkit.varmap_to_vars(merge(Dict(dvs .=> 0), Dict(dstate => 1)), dvs)
 
-x0 = randn(5)
-x1 = copy(x0) + x_add # add disturbance state perturbation
-u = randn(1)
-pn = ModelingToolkit.varmap_to_vars(def, p)
-xp0 = f_oop(x0, u, pn, 0)
-xp1 = f_oop(x1, u, pn, 0)
+    x0 = randn(5)
+    x1 = copy(x0) + x_add # add disturbance state perturbation
+    u = randn(1)
+    pn = ModelingToolkit.varmap_to_vars(def, p)
+    xp0 = f_oop(x0, u, pn, 0)
+    xp1 = f_oop(x1, u, pn, 0)
 
-@test xp0 ≈ matrices.A * x0 + matrices.B * [u; 0]
-@test xp1 ≈ matrices.A * x1 + matrices.B * [u; 0]
+    @test xp0 ≈ matrices.A * x0 + matrices.B * [u; 0]
+    @test xp1 ≈ matrices.A * x1 + matrices.B * [u; 0]
+end
 
 @parameters t
 @variables x(t)[1:3] = 0
@@ -382,4 +387,4 @@ matrices, ssys = linearize(augmented_sys,
 # Verify using ControlSystemsBase
 # P = ss(A,B,C,0)
 # G = ss(matrices...)
-# @test sminreal(G[1, 3]) ≈ sminreal(P[1,1])*dist
+# @test sminreal(G[1, 3]) ≈ sminreal(P[1,1])*dist

test/linearize.jl

@@ -197,7 +197,7 @@ if VERSION >= v"1.8"
     D = Differential(t)
 
     @named link1 = Link(; m = 0.2, l = 10, I = 1, g = -9.807)
-    @named cart = Translational.Mass(; m = 1, s_0 = 0)
+    @named cart = Translational.Mass(; m = 1, s = 0)
     @named fixed = Fixed()
     @named force = Force()