SciML · ven-k · Aug 23, 2023 · Aug 25, 2023 · Aug 25, 2023 · Aug 28, 2023
diff --git a/src/Blocks/Blocks.jl b/src/Blocks/Blocks.jl
@@ -6,8 +6,9 @@ using ModelingToolkit, Symbolics
 import IfElse: ifelse
 import ..@symcheck
 using ModelingToolkit: getdefault
+using ..DynamicQuantities: @u_str
 
-@parameters t
+@parameters t [unit = u"s"]
 D = Differential(t)
 
 export RealInput, RealOutput, SISO

diff --git a/src/Blocks/math.jl b/src/Blocks/math.jl
@@ -38,19 +38,19 @@ Output the product of a gain matrix with the input signal vector.
   - `output`
 """
 @mtkmodel MatrixGain begin
-    @parameters begin
-        K, [description = "Matrix gain"]
+    @structural_parameters begin
+        K
     end
     begin
-        nout = size(getdefault(K), 1)
-        nin = size(getdefault(K), 2)
+        nout = size(K, 1)
+        nin = size(K, 2)
     end
     @components begin
-        input = RealInput(; nin = size(K, 2))
-        output = RealOutput(; nout = size(K, 1))
+        input = RealInput(; nin = nin)
+        output = RealOutput(; nout = nout)
     end
     @equations begin
-        [(@info i, j; output.u[i] ~ sum(getdefault(K)[i, j] * input.u[j])) for j in 1:nin
+        [(output.u[i] ~ sum(K[i, j] * input.u[j])) for j in 1:nin
          for i in 1:nout]...
     end
 end

diff --git a/src/Blocks/nonlinear.jl b/src/Blocks/nonlinear.jl
@@ -97,15 +97,14 @@ Initial value of state `Y` can be set with `int.y`
         rising = 1.0, [description = "Maximum rising slew rate of SlewRateLimiter"]
         falling = -rising, [description = "Derivative time constant of SlewRateLimiter"]
         Td = 0.001, [description = "Derivative time constant"]
-        y_start
     end
     begin
         getdefault(rising) ≥ getdefault(falling) ||
             throw(ArgumentError("`rising` must be smaller than `falling`"))
         getdefault(Td) > 0 ||
             throw(ArgumentError("Time constant `Td` must be strictly positive"))
     end
-    @extend u, y = siso = SISO(y_start = y_start)
+    @extend u, y = siso = SISO(; y_start)
     @equations begin
         D(y) ~ max(min((u - y) / Td, rising), falling)
     end

diff --git a/src/Blocks/sources.jl b/src/Blocks/sources.jl
@@ -76,7 +76,7 @@ Generate constant signal.
 """
 @mtkmodel Constant begin
     @components begin
-        output = RealOutput()
+        output = RealOutput(; unit)
     end
     @parameters begin
         k = 0.0, [description = "Constant output value of block"]
@@ -101,7 +101,7 @@ The input variable `t` can be changed by passing a different variable as the key
         f
     end
     @components begin
-        output = RealOutput()
+        output = RealOutput(; unit)
     end
     @equations begin
         output.u ~ first(getdefault(f))(t)
@@ -135,8 +135,9 @@ Generate sine signal.
     phase = 0,
     offset = 0,
     start_time = 0,
-    smooth = false)
-    @named output = RealOutput()
+    smooth = false,
+    output__unit = nothing)
+    @named output = RealOutput(; unit = output__unit)
     pars = @parameters offset=offset start_time=start_time amplitude=amplitude frequency=frequency phase=phase
     equation = if smooth == false
         offset + ifelse(t < start_time, 0,
@@ -178,8 +179,9 @@ Cosine signal.
     phase = 0,
     offset = 0,
     start_time = 0,
-    smooth = false)
-    @named output = RealOutput()
+    smooth = false,
+    output__unit = nothing)
+    @named output = RealOutput(; unit = output__unit)
     pars = @parameters offset=offset start_time=start_time amplitude=amplitude frequency=frequency phase=phase
     equation = if smooth == false
         offset + ifelse(t < start_time, zero(t),
@@ -209,8 +211,8 @@ Generate current time signal.
 
   - `output`
 """
-@component function ContinuousClock(; name, offset = 0, start_time = 0)
-    @named output = RealOutput()
+@component function ContinuousClock(; name, offset = 0, start_time = 0, output__unit = nothing)
+    @named output = RealOutput(; unit = output__unit)
     pars = @parameters offset=offset start_time=start_time
     eqs = [
         output.u ~ offset + ifelse(t < start_time, zero(t), t - start_time),
@@ -242,8 +244,9 @@ Generate ramp signal.
     duration = 1,
     offset = 0,
     start_time = 0,
-    smooth = false)
-    @named output = RealOutput()
+    smooth = false,
+    output__unit = nothing)
+    @named output = RealOutput(; unit = output__unit)
     pars = @parameters offset=offset start_time=start_time height=height duration=duration
     equation = if smooth == false
         offset + ifelse(t < start_time, 0,
@@ -280,8 +283,9 @@ Generate smooth square signal.
   - `output`
 """
 @component function Square(; name, frequency = 1.0, amplitude = 1.0,
-    offset = 0.0, start_time = 0.0, smooth = false)
-    @named output = RealOutput()
+    offset = 0.0, start_time = 0.0, smooth = false,
+    output__unit = nothing)
+    @named output = RealOutput(; unit = output__unit)
     pars = @parameters begin
         frequency = frequency
         amplitude = amplitude
@@ -322,8 +326,8 @@ Generate step signal.
   - `output`
 """
 @component function Step(; name, height = 1, offset = 0, start_time = 0, duration = Inf,
-    smooth = 1e-5)
-    @named output = RealOutput()
+    smooth = 1e-5, output__unit = nothing)
+    @named output = RealOutput(; unit = output__unit)
     duration_numeric = duration
     pars = @parameters offset=offset start_time=start_time height=height duration=duration
     equation = if smooth == false # use comparison in case smooth is a float
@@ -372,8 +376,9 @@ Exponentially damped sine signal.
     phase = 0,
     offset = 0,
     start_time = 0,
-    smooth = false)
-    @named output = RealOutput()
+    smooth = false,
+    output__unit = nothing)
+    @named output = RealOutput(; unit = output__unit)
     pars = @parameters offset=offset start_time=start_time amplitude=amplitude frequency=frequency phase=phase damping=damping
 
     equation = if smooth == false
@@ -413,8 +418,9 @@ Generate smooth triangular signal for frequencies less than or equal to 25 Hz
   - `output`
 """
 @component function Triangular(; name, amplitude = 1.0, frequency = 1.0,
-    offset = 0.0, start_time = 0.0, smooth = false)
-    @named output = RealOutput()
+    offset = 0.0, start_time = 0.0, smooth = false,
+    output__unit = nothing)
+    @named output = RealOutput(; unit = output__unit)
     pars = @parameters begin
         amplitude = amplitude
         frequency = frequency
@@ -604,13 +610,13 @@ data input component.
 # Connectors:
   - `output`
 """
-@component function SampledData(; name, buffer)
+@component function SampledData(; name, buffer, unit = nothing)
     pars = @parameters begin
         buffer = buffer
     end
     vars = []
     systems = @named begin
-        output = RealOutput()
+        output = RealOutput(; unit)
     end
     eqs = [
         output.u ~ get_sampled_data(t, buffer),

diff --git a/src/Blocks/utils.jl b/src/Blocks/utils.jl
@@ -1,14 +1,30 @@
-@connector function RealInput(; name, nin = 1, u_start = nin > 1 ? zeros(nin) : 0.0)
+@connector function RealInput(; name, nin = 1, u_start = nin > 1 ? zeros(nin) : 0.0, unit = nothing)
     if nin == 1
-        @variables u(t)=u_start [
-            input = true,
-            description = "Inner variable in RealInput $name",
-        ]
+        if unit !== nothing
+            @variables u(t)=u_start [
+                input = true,
+                description = "Inner variable in RealInput $name",
+                unit = unit
+            ]
+        else
+            @variables u(t)=u_start [
+                input = true,
+                description = "Inner variable in RealInput $name",
+            ]
+        end
     else
-        @variables u(t)[1:nin]=u_start [
-            input = true,
-            description = "Inner variable in RealInput $name",
-        ]
+        if unit !== nothing
+            @variables u(t)[1:nin]=u_start [
+                input = true,
+                description = "Inner variable in RealInput $name",
+                unit = unit
+            ]
+        else
+            @variables u(t)[1:nin]=u_start [
+                input = true,
+                description = "Inner variable in RealInput $name",
+            ]
+        end
         u = collect(u)
     end
     ODESystem(Equation[], t, [u...], []; name = name)
@@ -26,18 +42,34 @@ Connector with one input signal of type Real.
 - `u`: Value of the connector; if nin=1 this is a scalar
 """ RealInput
 
-@connector function RealOutput(; name, nout = 1, u_start = nout > 1 ? zeros(nout) : 0.0)
+@connector function RealOutput(; name, nout = 1, u_start = nout > 1 ? zeros(nout) : 0.0, unit = nothing)
     if nout == 1
-        @variables u(t)=u_start [
-            output = true,
-            description = "Inner variable in RealOutput $name",
-        ]
+        if unit !== nothing
+            @variables u(t)=u_start [
+                output = true,
+                description = "Inner variable in RealOutput $name",
+                unit = unit
+            ]
+        else
+            @variables u(t)=u_start [
+                output = true,
+                description = "Inner variable in RealOutput $name",
+            ]
+        end
     else
-        @variables u(t)[1:nout]=u_start [
-            output = true,
-            description = "Inner variable in RealOutput $name",
-        ]
-        u = collect(u)
+        if unit !== nothing
+            @variables u(t)[1:nout]=u_start [
+                output = true,
+                description = "Inner variable in RealOutput $name",
+                unit = unit
+            ]
+        else
+            @variables u(t)[1:nout]=u_start [
+                output = true,
+                description = "Inner variable in RealOutput $name",
+                ]
+            end
+            u = collect(u)
     end
     ODESystem(Equation[], t, [u...], []; name = name)
 end

diff --git a/src/Electrical/Analog/ideal_components.jl b/src/Electrical/Analog/ideal_components.jl
@@ -38,7 +38,7 @@ See [OnePort](@ref)
 @mtkmodel Resistor begin
     @extend v, i = oneport = OnePort()
     @parameters begin
-        R, [description = "Resistance"]
+        R, [description = "Resistance", unit = u"Ω"]
     end
     @equations begin
         v ~ i * R
@@ -66,7 +66,7 @@ See [OnePort](@ref)
 @mtkmodel Conductor begin
     @extend v, i = oneport = OnePort()
     @parameters begin
-        G, [description = "Conductance"]
+        G, [description = "Conductance", unit = u"S"]
     end
     @equations begin
         i ~ v * G
@@ -93,13 +93,10 @@ See [OnePort](@ref)
   - `C`: [`F`] Capacitance
 """
 @mtkmodel Capacitor begin
+    @extend v, i = oneport = OnePort(; v = 0.0)
     @parameters begin
-        C, [description = "Capacitance"]
+        C, [description = "Capacitance",unit = u"F"]
     end
-    @variables begin
-        v
-    end
-    @extend v, i = oneport = OnePort(; v = v)
     @equations begin
         D(v) ~ i / C
     end
@@ -125,13 +122,10 @@ See [OnePort](@ref)
   - `L`: [`H`] Inductance
 """
 @mtkmodel Inductor begin
+    @extend v, i = oneport = OnePort(; i = 0.0)
     @parameters begin
-        L, [description = "Inductance"]
-    end
-    @variables begin
-        i
+        L, [description = "Inductance", unit = u"H"]
     end
-    @extend v, i = oneport = OnePort(; i = i)
     @equations begin
         D(i) ~ 1 / L * v
     end
@@ -211,9 +205,9 @@ Temperature dependent electrical resistor
         heat_port = HeatPort()
     end
     @parameters begin
-        R_ref = 1.0, [description = "Reference resistance"]
-        T_ref = 300.15, [description = "Reference temperature"]
-        alpha = 0, [description = "Temperature coefficient of resistance"]
+        R_ref = 1.0, [description = "Reference resistance", unit = u"Ω"]
+        T_ref = 300.15, [description = "Reference temperature", unit = u"K"]
+        alpha = 0, [description = "Temperature coefficient of resistance", unit = u"1/K"]
     end
     @variables begin
         R(t) = R_ref
@@ -248,25 +242,19 @@ Electromotoric force (electric/mechanic transformer)
   - `k`: [`N⋅m/A`] Transformation coefficient
 """
 @mtkmodel EMF begin
+    @extend OnePort()
     @components begin
-        p = Pin()
-        n = Pin()
         flange = Flange()
         support = Support()
     end
     @parameters begin
-        k, [description = "Transformation coefficient"]
+        k, [description = "Transformation coefficient", unit = u"N*m/A"]
     end
     @variables begin
-        v(t) = 0.0
-        i(t) = 0.0
-        phi(t) = 0.0
-        w(t) = 0.0
+        phi(t) = 0.0, [description = "Rotation angle", unit = u"rad"]
+        w(t) = 0.0, [description = "Angular velocity", unit = u"rad/s"]
     end
     @equations begin
-        v ~ p.v - n.v
-        0 ~ p.i + n.i
-        i ~ p.i
         phi ~ flange.phi - support.phi
         D(phi) ~ w
         k * w ~ v