Switch from JuliaFormatter to Runic.jl for code formatting

.github/workflows/FormatCheck.yml

@@ -1,13 +1,19 @@
-name: "Format Check"
+name: format-check
 
 on:
   push:
     branches:
+      - 'master'
       - 'main'
+      - 'release-'
     tags: '*'
   pull_request:
 
 jobs:
-  format-check:
-    name: "Format Check"
-    uses: "SciML/.github/.github/workflows/format-check.yml@v1"
+  runic:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: fredrikekre/runic-action@v1
+        with:
+          version: '1'

docs/make.jl

@@ -17,9 +17,11 @@ ENV["GKSwstype"] = "100"
 
 include("pages.jl")
 
-makedocs(sitename = "ModelingToolkitStandardLibrary.jl",
+makedocs(
+    sitename = "ModelingToolkitStandardLibrary.jl",
     authors = "Julia Computing",
-    modules = [ModelingToolkit,
+    modules = [
+        ModelingToolkit,
         ModelingToolkitStandardLibrary,
         ModelingToolkitStandardLibrary.Blocks,
         ModelingToolkitStandardLibrary.Mechanical,
@@ -29,13 +31,19 @@ makedocs(sitename = "ModelingToolkitStandardLibrary.jl",
         ModelingToolkitStandardLibrary.Electrical,
         ModelingToolkitStandardLibrary.Thermal,
         ModelingToolkitStandardLibrary.Hydraulic,
-        ModelingToolkitStandardLibrary.Hydraulic.IsothermalCompressible],
+        ModelingToolkitStandardLibrary.Hydraulic.IsothermalCompressible,
+    ],
     clean = true, doctest = false, linkcheck = true,
     linkcheck_ignore = ["https://www.mathworks.com/help/simscape/ug/basic-principles-of-modeling-physical-networks.html#bq89sba-6"],
     warnonly = [:docs_block, :missing_docs, :cross_references],
-    format = Documenter.HTML(assets = ["assets/favicon.ico"],
-        canonical = "https://docs.sciml.ai/ModelingToolkitStandardLibrary/stable/"),
-    pages = pages)
+    format = Documenter.HTML(
+        assets = ["assets/favicon.ico"],
+        canonical = "https://docs.sciml.ai/ModelingToolkitStandardLibrary/stable/"
+    ),
+    pages = pages
+)
 
-deploydocs(repo = "github.com/SciML/ModelingToolkitStandardLibrary.jl";
-    push_preview = true)
+deploydocs(
+    repo = "github.com/SciML/ModelingToolkitStandardLibrary.jl";
+    push_preview = true
+)

docs/pages.jl

@@ -5,11 +5,11 @@ pages = [
         "Custom Components" => "tutorials/custom_component.md",
         "Thermal Conduction Model" => "tutorials/thermal_model.md",
         "DC Motor with Speed Controller" => "tutorials/dc_motor_pi.md",
-        "SampledData Component" => "tutorials/input_component.md"
+        "SampledData Component" => "tutorials/input_component.md",
     ],
     "About Acausal Connections" => [
         "Theory" => "connectors/connections.md",
-        "Sign Convention" => "connectors/sign_convention.md"
+        "Sign Convention" => "connectors/sign_convention.md",
     ],
     "API" => [
         "Basic Blocks" => "API/blocks.md",
@@ -18,6 +18,6 @@ pages = [
         "Mechanical Components" => "API/mechanical.md",
         "Thermal Components" => "API/thermal.md",
         "Hydraulic Components" => "API/hydraulic.md",
-        "Linear Analysis" => "API/linear_analysis.md"
-    ]
+        "Linear Analysis" => "API/linear_analysis.md",
+    ],
 ]

src/Blocks/Blocks.jl

@@ -11,14 +11,14 @@ export RealInput, RealInputArray, RealOutput, RealOutputArray, SISO
 include("utils.jl")
 
 export Gain, Sum, MatrixGain, Feedback, Add, Add3, Product, Division, Power, Modulo,
-       UnaryMinus, Floor, Ceil
+    UnaryMinus, Floor, Ceil
 export Abs, Sign, Sqrt, Sin, Cos, Tan, Asin, Acos, Atan, Atan2, Sinh, Cosh, Tanh, Exp
 export Log, Log10
 include("math.jl")
 
 export Constant, TimeVaryingFunction, Sine, Cosine, ContinuousClock, Ramp, Step, ExpSine,
-       Square, Triangular, Parameter, SampledData,
-       Interpolation, ParametrizedInterpolation
+    Square, Triangular, Parameter, SampledData,
+    Interpolation, ParametrizedInterpolation
 include("sources.jl")
 
 export Limiter, DeadZone, SlewRateLimiter

src/Blocks/continuous.jl

@@ -34,7 +34,7 @@ Initial value of integrator state ``x`` can be set with `x`
 
     equations = Equation[
         D(x) ~ k * u,
-        y ~ x
+        y ~ x,
     ]
 
     sys = System(equations, t, vars, pars; name, systems)
@@ -74,7 +74,7 @@ Initial value of the state ``x`` can be set with `x`.
 """
 @component function Derivative(; name, k = 1, T = nothing, x = 0.0)
     @symcheck T > 0 ||
-              throw(ArgumentError("Time constant `T` has to be strictly positive"))
+        throw(ArgumentError("Time constant `T` has to be strictly positive"))
 
     @named siso = SISO()
     @unpack u, y = siso
@@ -93,7 +93,7 @@ Initial value of the state ``x`` can be set with `x`.
 
     equations = Equation[
         D(x) ~ (u - x) / T,
-        y ~ (k / T) * (u - x)
+        y ~ (k / T) * (u - x),
     ]
 
     sys = System(equations, t, vars, pars; name, systems)
@@ -137,7 +137,7 @@ See also [`SecondOrder`](@ref)
 """
 @component function FirstOrder(; name, lowpass = true, T = nothing, k = 1.0, x = 0.0)
     @symcheck T > 0 ||
-              throw(ArgumentError("Time constant `T` has to be strictly positive"))
+        throw(ArgumentError("Time constant `T` has to be strictly positive"))
 
     @named siso = SISO()
     @unpack u, y = siso
@@ -156,7 +156,7 @@ See also [`SecondOrder`](@ref)
 
     equations = Equation[
         D(x) ~ (k * u - x) / T,
-        lowpass ? (y ~ x) : (y ~ k * u - x)
+        lowpass ? (y ~ x) : (y ~ k * u - x),
     ]
 
     sys = System(equations, t, vars, pars; name, systems)
@@ -211,7 +211,7 @@ Initial value of the state `x` can be set with `x`, and of derivative state `xd`
     equations = Equation[
         D(x) ~ xd,
         D(xd) ~ w * (w * (k * u - x) - 2 * d * xd),
-        y ~ x
+        y ~ x,
     ]
 
     sys = System(equations, t, vars, pars; name, systems)
@@ -243,7 +243,7 @@ See also [`LimPI`](@ref)
 """
 @component function PI(; name, k = 1.0, T = 1.0, gainPI__k = nothing)
     @symcheck T > 0 ||
-              throw(ArgumentError("Time constant `T` has to be strictly positive"))
+        throw(ArgumentError("Time constant `T` has to be strictly positive"))
 
     pars = @parameters begin
         k = k, [description = "Proportional gain"]
@@ -266,7 +266,7 @@ See also [`LimPI`](@ref)
         connect(addPI.output, gainPI.input),
         connect(gainPI.output, ctr_output),
         connect(err_input, int.input),
-        connect(int.output, addPI.input2)
+        connect(int.output, addPI.input2),
     ]
 
     return System(equations, t, vars, pars; name, systems)
@@ -293,18 +293,20 @@ Text-book version of a PID-controller without actuator saturation and anti-windu
 
 See also [`LimPID`](@ref)
 """
-@component function PID(; name, k = 1, Ti = false, Td = false, Nd = 10, int__x = 0,
-        der__x = 0)
+@component function PID(;
+        name, k = 1, Ti = false, Td = false, Nd = 10, int__x = 0,
+        der__x = 0
+    )
     with_I = !isequal(Ti, false)
     with_D = !isequal(Td, false)
     @named err_input = RealInput() # control error
     @named ctr_output = RealOutput() # control signal
     @symcheck Ti ≥ 0 ||
-              throw(ArgumentError("Ti out of bounds, got $(Ti) but expected Ti ≥ 0"))
+        throw(ArgumentError("Ti out of bounds, got $(Ti) but expected Ti ≥ 0"))
     @symcheck Td ≥ 0 ||
-              throw(ArgumentError("Td out of bounds, got $(Td) but expected Td ≥ 0"))
+        throw(ArgumentError("Td out of bounds, got $(Td) but expected Td ≥ 0"))
     @symcheck Nd > 0 ||
-              throw(ArgumentError("Nd out of bounds, got $(Nd) but expected Nd > 0"))
+        throw(ArgumentError("Nd out of bounds, got $(Nd) but expected Nd > 0"))
 
     pars = @parameters begin
         k = k, [description = "Proportional gain"]
@@ -339,7 +341,7 @@ See also [`LimPID`](@ref)
     eqs = [
         connect(err_input, addPID.input1),
         connect(addPID.output, gainPID.input),
-        connect(gainPID.output, ctr_output)
+        connect(gainPID.output, ctr_output),
     ]
     if with_I
         push!(eqs, connect(err_input, int.input))
@@ -380,7 +382,7 @@ The simplified expression above is given without the anti-windup protection.
 """
 @component function LimPI(; name, k = 1, T = nothing, u_max = nothing, u_min = -u_max, Ta = nothing, int__x = 0.0)
     @symcheck Ta > 0 ||
-              throw(ArgumentError("Time constant `Ta` has to be strictly positive"))
+        throw(ArgumentError("Time constant `Ta` has to be strictly positive"))
     @symcheck T > 0 || throw(ArgumentError("Time constant `T` has to be strictly positive"))
     @symcheck u_max ≥ u_min || throw(ArgumentError("u_min must be smaller than u_max"))
     pars = @parameters begin
@@ -411,7 +413,7 @@ The simplified expression above is given without the anti-windup protection.
         connect(err_input, addTrack.input1),
         connect(gainTrack.output, addTrack.input2),
         connect(addTrack.output, int.input),
-        connect(int.output, addPI.input2)
+        connect(int.output, addPI.input2),
     ]
     System(eqs, t, [], pars; name = name, systems = sys)
 end
@@ -449,14 +451,16 @@ where the transfer function for the derivative includes additional filtering, se
   - `measurement`
   - `ctr_output`
 """
-@component function LimPID(; name, k = 1, Ti = false, Td = false, wp = 1, wd = 1,
-        Ni = Ti == 0 ? Inf : √(max(Td / Ti, 1e-6)),
+@component function LimPID(;
+        name, k = 1, Ti = false, Td = false, wp = 1, wd = 1,
+        Ni = Ti == 0 ? Inf : √(max(Td / Ti, 1.0e-6)),
         Nd = 10,
         u_max = Inf,
         u_min = u_max > 0 ? -u_max : -Inf,
         gains = false,
         int__x = 0.0,
-        der__x = 0.0)
+        der__x = 0.0
+    )
     with_I = !isequal(Ti, false)
     with_D = !isequal(Td, false)
     with_AWM = Ni != Inf
@@ -465,12 +469,12 @@ where the transfer function for the derivative includes additional filtering, se
         Td = Td / k
     end
     @symcheck Ti ≥ 0 ||
-              throw(ArgumentError("Ti out of bounds, got $(Ti) but expected Ti ≥ 0"))
+        throw(ArgumentError("Ti out of bounds, got $(Ti) but expected Ti ≥ 0"))
     @symcheck Td ≥ 0 ||
-              throw(ArgumentError("Td out of bounds, got $(Td) but expected Td ≥ 0"))
+        throw(ArgumentError("Td out of bounds, got $(Td) but expected Td ≥ 0"))
     @symcheck u_max ≥ u_min || throw(ArgumentError("u_min must be smaller than u_max"))
     @symcheck Nd > 0 ||
-              throw(ArgumentError("Nd out of bounds, got $(Nd) but expected Nd > 0"))
+        throw(ArgumentError("Nd out of bounds, got $(Nd) but expected Nd > 0"))
 
     pars = @parameters begin
         k = k, [description = "Proportional gain"]
@@ -530,7 +534,7 @@ where the transfer function for the derivative includes additional filtering, se
         connect(addP.output, addPID.input1),
         connect(addPID.output, gainPID.input),
         connect(gainPID.output, limiter.input),
-        connect(limiter.output, ctr_output)
+        connect(limiter.output, ctr_output),
     ]
     if with_I
         push!(eqs, connect(reference, addI.input1))
@@ -592,8 +596,10 @@ y &= h(x, u)
 
 linearized around the operating point `x₀, u₀`, we have `y0, u0 = h(x₀, u₀), u₀`.
 """
-@component function StateSpace(; A, B, C, D = nothing, x = zeros(size(A, 1)), name,
-        u0 = zeros(size(B, 2)), y0 = zeros(size(C, 1)))
+@component function StateSpace(;
+        A, B, C, D = nothing, x = zeros(size(A, 1)), name,
+        u0 = zeros(size(B, 2)), y0 = zeros(size(C, 1))
+    )
     nx, nu, ny = size(A, 1), size(B, 2), size(C, 1)
     size(A, 2) == nx || error("`A` has to be a square matrix.")
     size(B, 1) == nx || error("`B` has to be of dimension ($nx x $nu).")
@@ -608,19 +614,23 @@ linearized around the operating point `x₀, u₀`, we have `y0, u0 = h(x₀, u
     end
     @named input = RealInput(nin = nu)
     @named output = RealOutput(nout = ny)
-    @variables x(t)[1:nx]=x [
-        description = "State variables of StateSpace system $name"
+    @variables x(t)[1:nx] = x [
+        description = "State variables of StateSpace system $name",
     ]
     # pars = @parameters A=A B=B C=C D=D # This is buggy
     eqs = [ # FIXME: if array equations work
-        [Differential(t)(x[i]) ~
-         sum(A[i, k] * x[k] for k in 1:nx) +
-         sum(B[i, j] * (input.u[j] - u0[j]) for j in 1:nu)
-         for i in 1:nx]..., # cannot use D here
-        [output.u[j] ~
-         sum(C[j, i] * x[i] for i in 1:nx) +
-         sum(D[j, k] * (input.u[k] - u0[k]) for k in 1:nu) + y0[j]
-         for j in 1:ny]...
+        [
+            Differential(t)(x[i]) ~
+                sum(A[i, k] * x[k] for k in 1:nx) +
+                sum(B[i, j] * (input.u[j] - u0[j]) for j in 1:nu)
+                for i in 1:nx
+        ]..., # cannot use D here
+        [
+            output.u[j] ~
+                sum(C[j, i] * x[i] for i in 1:nx) +
+                sum(D[j, k] * (input.u[k] - u0[k]) for k in 1:nu) + y0[j]
+                for j in 1:ny
+        ]...,
     ]
     compose(System(eqs, t, vcat(x...), [], name = name), [input, output])
 end
@@ -668,24 +678,24 @@ See also [`StateSpace`](@ref) which handles MIMO systems, as well as [ControlSys
 
     @parameters begin
         b[1:nb] = b,
-        [
-            description = "Numerator coefficients of transfer function (e.g., 2s + 3 is specified as [2,3])"
-        ]
+            [
+                description = "Numerator coefficients of transfer function (e.g., 2s + 3 is specified as [2,3])",
+            ]
         a[1:na] = a,
-        [
-            description = "Denominator coefficients of transfer function (e.g., `s² + 2ωs + ω^2` is specified as [1, 2ω, ω^2])"
-        ]
+            [
+                description = "Denominator coefficients of transfer function (e.g., `s² + 2ωs + ω^2` is specified as [1, 2ω, ω^2])",
+            ]
         bb[1:(nbb + nb)] = [zeros(nbb); b]
     end
-    d = bb[1] / a[1]# , [description = "Direct feedthrough gain"]
+    d = bb[1] / a[1] # , [description = "Direct feedthrough gain"]
 
     a = collect(a)
     a_end = ifelse(a[end] > 100 * symbolic_eps(sqrt(a' * a)), a[end], 1.0)
 
     pars = [collect(b); a; collect(bb)]
     @variables begin
         x(t)[1:nx] = zeros(nx),
-        [description = "State of transfer function on controller canonical form"]
+            [description = "State of transfer function on controller canonical form"]
         x_scaled(t)[1:nx] = collect(x) * a_end, [description = "Scaled vector x"]
         u(t), [description = "Input of transfer function"]
         y(t), [description = "Output of transfer function"]
@@ -700,10 +710,12 @@ See also [`StateSpace`](@ref) which handles MIMO systems, as well as [ControlSys
     if nx == 0
         eqs = [y ~ d * u]
     else
-        eqs = Equation[D(x_scaled[1]) ~ (-a[2:na]'x_scaled + a_end * u) / a[1]
-                       D.(x_scaled[2:nx]) .~ x_scaled[1:(nx - 1)]
-                       y ~ ((bb[2:na] - d * a[2:na])'x_scaled) / a_end + d * u
-                       x .~ x_scaled ./ a_end]
+        eqs = Equation[
+            D(x_scaled[1]) ~ (-a[2:na]'x_scaled + a_end * u) / a[1]
+            D.(x_scaled[2:nx]) .~ x_scaled[1:(nx - 1)]
+            y ~ ((bb[2:na] - d * a[2:na])'x_scaled) / a_end + d * u
+            x .~ x_scaled ./ a_end
+        ]
     end
     push!(eqs, input.u ~ u)
     push!(eqs, output.u ~ y)