Adding Power, Modulo, UnaryMinus, Floor and Ceil blocks

docs/src/API/blocks.md

@@ -36,6 +36,11 @@ Add
 Add3
 Product
 Division
+UnaryMinus
+Power
+Modulo
+Floor
+Ceil
 StaticNonLinearity
 Abs
 Sign

src/Blocks/Blocks.jl

@@ -10,7 +10,7 @@ using ModelingToolkit: getdefault, t_nounits as t, D_nounits as D
 export RealInput, RealInputArray, RealOutput, RealOutputArray, SISO
 include("utils.jl")
 
-export Gain, Sum, MatrixGain, Feedback, Add, Add3, Product, Division
+export Gain, Sum, MatrixGain, Feedback, Add, Add3, Product, Division, Power, Modulo, UnaryMinus, Floor, Ceil
 export Abs, Sign, Sqrt, Sin, Cos, Tan, Asin, Acos, Atan, Atan2, Sinh, Cosh, Tanh, Exp
 export Log, Log10
 include("math.jl")

src/Blocks/math.jl

@@ -208,6 +208,112 @@ Output first input divided by second input.
     end
 end
 
+"""
+    Power(; name)
+
+Output the exponential with base as the first input and exponent as second input i.e u1^u2
+
+# Connectors:
+
+  - `input1`
+  - `input2`
+  - `output`
+"""
+@mtkmodel Power begin
+    @components begin
+        input1 = RealInput()
+        input2 = RealInput() # denominator can not be zero
+        output = RealOutput()
+    end
+    @equations begin
+        output.u ~ input1.u ^ input2.u
+    end
+end
+
+"""
+    Modulo(; name)
+
+Output the remainder when the first input is divided by second input.
+
+# Connectors:
+
+  - `input1`
+  - `input2`
+  - `output`
+"""
+@mtkmodel Modulo begin
+    @components begin
+        input1 = RealInput()
+        input2 = RealInput(guess = 1.0) # denominator can not be zero
+        output = RealOutput()
+    end
+    @equations begin
+        output.u ~ mod(input1.u, input2.u)
+    end
+end
+
+"""
+    UnaryMinus(; name)
+
+Output the product of -1 and the input.
+
+# Connectors:
+
+  - `input`
+  - `output`
+"""
+@mtkmodel UnaryMinus begin
+    @components begin
+        input = RealInput()
+        output = RealOutput()
+    end
+    @equations begin
+        output.u ~ -(input.u)
+    end
+end
+
+## Rounding functions add after the symbolic functions are registered
+"""
+    Floor(; name)
+
+Output the floor rounding of the input.
+
+# Connectors:
+
+  - `input`
+  - `output`
+"""
+@mtkmodel Floor begin
+    @components begin
+        input = RealInput()
+        output = RealOutput()
+    end
+    @equations begin
+        output.u ~ floor(input.u)
+    end
+end
+
+"""
+    Ceil(; name)
+
+Output the ceiling rounding of the input.
+
+# Connectors:
+
+  - `input`
+  - `output`
+"""
+@mtkmodel Ceil begin
+    @components begin
+        input = RealInput()
+        output = RealOutput()
+    end
+    @equations begin
+        output.u ~ ceil(input.u)
+    end
+end
+
+
 """
     StaticNonLinearity(func; name)
 

test/Blocks/math.jl

@@ -157,6 +157,103 @@ end
     @test sol[prod.output.u] ≈ 2 * sin.(2 * pi * sol.t)
 end
 
+@testset "Power" begin
+    @named c1 = Sine(; frequency = 1)
+    @named c2 = Constant(; k = 2)
+    @named pow = Power(;)
+    @named int = Integrator(; k = 1)
+    @named model = ODESystem(
+        [
+            connect(c1.output, pow.input1),
+            connect(c2.output, pow.input2),
+            connect(pow.output, int.input)
+        ],
+        t,
+        systems = [int, pow, c1, c2])
+    sys = structural_simplify(model)
+    prob = ODEProblem(sys, Pair[int.x => 0.0], (0.0, 1.0))
+    sol = solve(prob, Rodas4())
+    @test isequal(unbound_inputs(sys), [])
+    @test sol.retcode == Success
+    @test sol[pow.output.u] ≈ sin.(2 * pi * sol.t) .^ 2
+end
+
+@testset "Modulo" begin
+    @named c1 = Ramp(height = 2, duration = 1, offset = 1, start_time = 0, smooth = false)
+    @named c2 = Constant(; k = 1) 
+    @named modl = Modulo(;)
+    @named model = ODESystem(
+        [
+            connect(c1.output, modl.input1),
+            connect(c2.output, modl.input2)
+        ],
+        t,
+        systems = [modl, c1, c2])
+    sys = structural_simplify(model)
+    prob = ODEProblem(sys, [], (0.0, 1.0))
+    sol = solve(prob, Rodas4())
+    @test isequal(unbound_inputs(sys), [])
+    @test sol.retcode == Success
+    @test sol[modl.output.u] ≈ mod.(2 * sol.t,1)
+end
+
+@testset "UnaryMinus" begin
+    @named c1 = Sine(; frequency = 1)
+    @named minu = UnaryMinus(;)
+    @named int = Integrator(; k = 1)
+    @named model = ODESystem(
+        [
+            connect(c1.output, minu.input),
+            connect(minu.output, int.input)
+        ],
+        t,
+        systems = [int, minu, c1])
+    sys = structural_simplify(model)
+    prob = ODEProblem(sys, Pair[int.x => 0.0], (0.0, 1.0))
+    sol = solve(prob, Rodas4())
+    @test isequal(unbound_inputs(sys), [])
+    @test sol.retcode == Success
+    @test sol[minu.output.u] ≈ - sin.(2 * pi * sol.t)
+end
+
+@testset "Floor" begin
+    @named c1 = Sine(; frequency = 1)
+    @named flr = Floor(;)
+    @named int = Integrator(; k = 1)
+    @named model = ODESystem(
+        [
+            connect(c1.output, flr.input),
+            connect(flr.output, int.input)
+        ],
+        t,
+        systems = [int, flr, c1])
+    sys = structural_simplify(model)
+    prob = ODEProblem(sys, Pair[int.x => 0.0], (0.0, 1.0))
+    sol = solve(prob, Rodas4())
+    @test isequal(unbound_inputs(sys), [])
+    @test sol.retcode == Success
+    @test sol[flr.output.u] ≈ floor.(sin.(2 * pi * sol.t))
+end
+
+@testset "Ceil" begin
+    @named c1 = Sine(; frequency = 1)
+    @named cel = Ceil(;)
+    @named int = Integrator(; k = 1)
+    @named model = ODESystem(
+        [
+            connect(c1.output, cel.input),
+            connect(cel.output, int.input)
+        ],
+        t,
+        systems = [int, cel, c1])
+    sys = structural_simplify(model)
+    prob = ODEProblem(sys, Pair[int.x => 0.0], (0.0, 1.0))
+    sol = solve(prob, Rodas4())
+    @test isequal(unbound_inputs(sys), [])
+    @test sol.retcode == Success
+    @test sol[cel.output.u] ≈ ceil.(sin.(2 * pi * sol.t))
+end
+
 @testset "Division" begin
     @named c1 = Sine(; frequency = 1)
     @named c2 = Constant(; k = 2)