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Fails to initialize with units #3086

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ctessum opened this issue Oct 1, 2024 · 7 comments · Fixed by #3119
Closed

Fails to initialize with units #3086

ctessum opened this issue Oct 1, 2024 · 7 comments · Fixed by #3119
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bug Something isn't working

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@ctessum
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ctessum commented Oct 1, 2024

Describe the bug 🐞

Systems don't seem to initialize properly if there are units.

Expected behavior

I would like to be able to run the system but it fails during initialization.

Minimal Reproducible Example 👇

using ModelingToolkit
using ModelingToolkit: t, D
using DimensionalQuantities
@variables a(t) = 1.0 [unit=u"kg"]
@variables b(t) = 2.0 [unit=u"kg"]
@constants c = 3.0 [unit=u"s"]

eqs = [D(a) ~ a/c, b ~ a]
sys = structural_simplify(ODESystem(eqs, t; name=:sys))
sys_nl = generate_initializesystem(sys)

Error & Stacktrace ⚠️

┌ Warning:  in eq. #1right, in sum 1.0 - a(t), units [1.0 , 1.0 kg] do not match.
└ @ ModelingToolkit ~/.julia/packages/ModelingToolkit/Vsl3C/src/systems/unit_check.jl:181
┌ Warning:  in eq. #2right, in sum 2.0 - b(t), units [1.0 , 1.0 kg] do not match.
└ @ ModelingToolkit ~/.julia/packages/ModelingToolkit/Vsl3C/src/systems/unit_check.jl:181
ERROR: ModelingToolkit.ValidationError("Some equations had invalid units. See warnings for details.")
Stacktrace:
 [1] check_units(::Val{:DynamicQuantities}, eqs::Vector{Equation})
   @ ModelingToolkit ~/.julia/packages/ModelingToolkit/Vsl3C/src/systems/unit_check.jl:314
 [2] _
   @ ~/.julia/packages/ModelingToolkit/Vsl3C/src/systems/nonlinear/nonlinearsystem.jl:103 [inlined]
 [3] NonlinearSystem
   @ ~/.julia/packages/ModelingToolkit/Vsl3C/src/systems/nonlinear/nonlinearsystem.jl:94 [inlined]
 [4] NonlinearSystem(eqs::Vector{…}, unknowns::Vector{…}, ps::Vector{…}; observed::Vector{…}, name::Symbol, default_u0::Dict{…}, default_p::Dict{…}, defaults::Dict{…}, systems::Vector{…}, connector_type::Nothing, continuous_events::Nothing, discrete_events::Nothing, checks::Bool, parameter_dependencies::Vector{…}, metadata::Nothing, gui_metadata::Nothing)
   @ ModelingToolkit ~/.julia/packages/ModelingToolkit/Vsl3C/src/systems/nonlinear/nonlinearsystem.jl:161
 [5] generate_initializesystem(sys::ODESystem; u0map::Dict{…}, name::Symbol, guesses::Dict{…}, check_defguess::Bool, default_dd_value::Float64, algebraic_only::Bool, initialization_eqs::Vector{…}, check_units::Bool, kwargs::@Kwargs{})
   @ ModelingToolkit ~/.julia/packages/ModelingToolkit/Vsl3C/src/systems/nonlinear/initializesystem.jl:103
 [6] generate_initializesystem(sys::ODESystem)
   @ ModelingToolkit ~/.julia/packages/ModelingToolkit/Vsl3C/src/systems/nonlinear/initializesystem.jl:6
 [7] top-level scope
   @ .../test/compose_fastjx_superfast_test.jl:33
Some type information was truncated. Use `show(err)` to see complete types.

Environment (please complete the following information):

  • Output of using Pkg; Pkg.status()
  [479239e8] Catalyst v14.4.1
⌅ [06fc5a27] DynamicQuantities v0.13.2
  [e53f1632] EarthSciMLBase v0.16.1 `~/code/earthsciml/EarthSciMLBase`
  [a98d9a8b] Interpolations v0.15.1
  [961ee093] ModelingToolkit v9.41.0
  [90137ffa] StaticArrays v1.9.7
  [ade2ca70] Dates
  • Output of using Pkg; Pkg.status(; mode = PKGMODE_MANIFEST)
  [47edcb42] ADTypes v1.9.0
  [1520ce14] AbstractTrees v0.4.5
  [7d9f7c33] Accessors v0.1.38
  [79e6a3ab] Adapt v4.0.4
  [66dad0bd] AliasTables v1.1.3
  [ec485272] ArnoldiMethod v0.4.0
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  [4c555306] ArrayLayouts v1.10.3
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  [62783981] BitTwiddlingConvenienceFunctions v0.1.6
  [8e7c35d0] BlockArrays v1.1.1
  [ffab5731] BlockBandedMatrices v0.13.1
  [2a0fbf3d] CPUSummary v0.2.6
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  [479239e8] Catalyst v14.4.1
  [d360d2e6] ChainRulesCore v1.25.0
  [fb6a15b2] CloseOpenIntervals v0.1.13
  [861a8166] Combinatorics v1.0.2
  [a80b9123] CommonMark v0.8.12
  [38540f10] CommonSolve v0.2.4
  [bbf7d656] CommonSubexpressions v0.3.1
  [f70d9fcc] CommonWorldInvalidations v1.0.0
  [34da2185] Compat v4.16.0
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  [5960d6e9] OrdinaryDiffEqFIRK v1.1.1
  [101fe9f7] OrdinaryDiffEqFeagin v1.1.0
  [d3585ca7] OrdinaryDiffEqFunctionMap v1.1.1
  [d28bc4f8] OrdinaryDiffEqHighOrderRK v1.1.0
  [9f002381] OrdinaryDiffEqIMEXMultistep v1.1.0
  [521117fe] OrdinaryDiffEqLinear v1.1.0
  [1344f307] OrdinaryDiffEqLowOrderRK v1.2.0
  [b0944070] OrdinaryDiffEqLowStorageRK v1.2.1
  [127b3ac7] OrdinaryDiffEqNonlinearSolve v1.2.1
  [c9986a66] OrdinaryDiffEqNordsieck v1.1.0
  [5dd0a6cf] OrdinaryDiffEqPDIRK v1.1.0
  [5b33eab2] OrdinaryDiffEqPRK v1.1.0
  [04162be5] OrdinaryDiffEqQPRK v1.1.0
  [af6ede74] OrdinaryDiffEqRKN v1.1.0
  [43230ef6] OrdinaryDiffEqRosenbrock v1.2.0
  [2d112036] OrdinaryDiffEqSDIRK v1.1.0
  [669c94d9] OrdinaryDiffEqSSPRK v1.2.0
  [e3e12d00] OrdinaryDiffEqStabilizedIRK v1.1.0
  [358294b1] OrdinaryDiffEqStabilizedRK v1.1.0
  [fa646aed] OrdinaryDiffEqSymplecticRK v1.1.0
  [b1df2697] OrdinaryDiffEqTsit5 v1.1.0
  [79d7bb75] OrdinaryDiffEqVerner v1.1.1
  [90014a1f] PDMats v0.11.31
  [65ce6f38] PackageExtensionCompat v1.0.2
  [d96e819e] Parameters v0.12.3
  [69de0a69] Parsers v2.8.1
  [e409e4f3] PoissonRandom v0.4.4
  [f517fe37] Polyester v0.7.16
  [1d0040c9] PolyesterWeave v0.2.2
  [85a6dd25] PositiveFactorizations v0.2.4
  [d236fae5] PreallocationTools v0.4.24
  [aea7be01] PrecompileTools v1.2.1
  [21216c6a] Preferences v1.4.3
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  [f2c3362d] RecursiveFactorization v0.2.23
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  [ae029012] Requires v1.3.0
  [ae5879a3] ResettableStacks v1.1.1
  [79098fc4] Rmath v0.8.0
  [7e49a35a] RuntimeGeneratedFunctions v0.5.13
  [94e857df] SIMDTypes v0.1.0
  [476501e8] SLEEFPirates v0.6.43
  [0bca4576] SciMLBase v2.54.2
  [c0aeaf25] SciMLOperators v0.3.10
  [53ae85a6] SciMLStructures v1.5.0
  [efcf1570] Setfield v1.1.1
  [727e6d20] SimpleNonlinearSolve v1.12.3
  [699a6c99] SimpleTraits v0.9.4
  [ce78b400] SimpleUnPack v1.1.0
  [a2af1166] SortingAlgorithms v1.2.1
  [47a9eef4] SparseDiffTools v2.22.0
  [e56a9233] Sparspak v0.3.9
  [276daf66] SpecialFunctions v2.4.0
  [aedffcd0] Static v1.1.1
  [0d7ed370] StaticArrayInterface v1.8.0
  [90137ffa] StaticArrays v1.9.7
  [1e83bf80] StaticArraysCore v1.4.3
  [82ae8749] StatsAPI v1.7.0
  [2913bbd2] StatsBase v0.34.3
  [4c63d2b9] StatsFuns v1.3.2
  [7792a7ef] StrideArraysCore v0.5.7
  [2efcf032] SymbolicIndexingInterface v0.3.31
  [19f23fe9] SymbolicLimits v0.2.2
  [d1185830] SymbolicUtils v3.7.1
  [0c5d862f] Symbolics v6.13.1
  [3783bdb8] TableTraits v1.0.1
  [bd369af6] Tables v1.12.0
  [8ea1fca8] TermInterface v2.0.0
  [8290d209] ThreadingUtilities v0.5.2
  [a759f4b9] TimerOutputs v0.5.24
  [0796e94c] Tokenize v0.5.29
  [3bb67fe8] TranscodingStreams v0.11.2
  [d5829a12] TriangularSolve v0.2.1
  [410a4b4d] Tricks v0.1.9
  [781d530d] TruncatedStacktraces v1.4.0
  [5c2747f8] URIs v1.5.1
  [3a884ed6] UnPack v1.0.2
  [1986cc42] Unitful v1.21.0
  [a7c27f48] Unityper v0.1.6
  [3d5dd08c] VectorizationBase v0.21.70
  [19fa3120] VertexSafeGraphs v0.2.0
  [efce3f68] WoodburyMatrices v1.0.0
  [1d5cc7b8] IntelOpenMP_jll v2024.2.1+0
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  [8dfed614] Test
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  [8e850ede] nghttp2_jll v1.52.0+1
  [3f19e933] p7zip_jll v17.4.0+2
  • Output of versioninfo()
Julia Version 1.10.5
Commit 6f3fdf7b362 (2024-08-27 14:19 UTC)
Build Info:
  Official https://julialang.org/ release
Platform Info:
  OS: macOS (arm64-apple-darwin22.4.0)
  CPU: 8 × Apple M1
  WORD_SIZE: 64
  LIBM: libopenlibm
  LLVM: libLLVM-15.0.7 (ORCJIT, apple-m1)
Threads: 12 default, 0 interactive, 4 GC (on 4 virtual cores)
Environment:
  JULIA_EDITOR = code
  JULIA_NUM_THREADS = 12```

**Additional context**

Add any other context about the problem here.
@ctessum ctessum added the bug Something isn't working label Oct 1, 2024
@wang890
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wang890 commented Oct 1, 2024

please see #2342 (comment)
and the response of ChrisRackauckas.

It will takes time to improve the Unit system. Unit is just for displaying to user, not for modeling and equation solving. I think the most important thing currently is not that, but other features and bug correction.

@ctessum
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ctessum commented Oct 1, 2024

Thanks for this response, but I'm not sure I completely understand it. This is something that used to work, but stopped working sometime during the last month or so. It doesn't involve unit literals. I guess I should have labeled it as a regression, but I'm not exactly sure which version it most recently worked with. I can look into that.

@ctessum
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ctessum commented Oct 1, 2024

This worked fine in MTK 9.38 but was broken in 9.39. Maybe #3032 caused the problem?

@ChrisRackauckas
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For some reason in the initialization system unit check it's only using the value and uniting the values right. Before that PR, it wasn't doing an initialization system at all, which is incorrect since you have an overconstrained system. The easiest "fix" for now is to just make sure that if you have an ODE that you initialize it like an ODE, for example:

using ModelingToolkit
using ModelingToolkit: t, D
using DimensionalQuantities
@variables a(t) = 1.0 [unit=u"kg"]
@variables b(t) [unit=u"kg"]
@constants c = 3.0 [unit=u"s"]

eqs = [D(a) ~ a/c, b ~ a]
sys = structural_simplify(ODESystem(eqs, t; name=:sys))
sys_nl = generate_initializesystem(sys)

Your model was incorrect anyways since the initial conditions you gave are impossible to satisfy, so this is a much more sane formulation.

@ctessum
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ctessum commented Oct 9, 2024

Would it make sense to add a kwarg to turn off unit checking (e.g. check_units=false)? It could be useful in this case because generate_initializesystem would typically be run after ODESystem or whatever has already passed unit validation, and there isn't a huge benefit to running it again.

Also, presumably, fixing the above case to make unit validation pass would probably require creating a new @constant for each default value which includes the correct units, which is a slightly complex process which would make the code less readable. This could be avoided if unit checking could be turned off in this case.

Adding an option to turn off unit checking would also fix SciML/MethodOfLines.jl#287 , which is another case where unit checking has already passed during initial system construction but an automatic transformation causes it to fail, presumably for the same reason involving the use of literals rather than @constants.

Finally, an option to turn off unit checking would make debugging easier, for cases where one just wants to try something to see what happens and doesn't want to worry about making all the units work out.

@ChrisRackauckas
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There already is a keyword argument to turn off the unit checking.

@ctessum
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ctessum commented Oct 13, 2024

Well then!

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