feat: support analysis points duplicating existing connections

src/systems/abstractsystem.jl

@@ -622,7 +622,7 @@
 """
     Initial(x)
 
 The `Initial` operator. Used by initializaton to store constant constraints on variables
 of a system. See the documentation section on initialization for more information.
 """
 struct Initial <: Symbolics.Operator end
@@ -878,6 +878,7 @@
              :assertions
              :solved_unknowns
              :split_idxs
+             :ignored_connections
              :parent
              :is_dde
              :tstops
@@ -1394,6 +1395,75 @@
     return merge(asserts, namespaced_asserts)
 end
 
+const HierarchyVariableT = Vector{Union{BasicSymbolic, Symbol}}
+const HierarchySystemT = Vector{Union{AbstractSystem, Symbol}}
+"""
+The type returned from `as_hierarchy`.
+"""
+const HierarchyT = Union{HierarchyVariableT, HierarchySystemT}
+
+"""
+    $(TYPEDSIGNATURES)
+
+The inverse operation of `as_hierarchy`.
+"""
+function from_hierarchy(hierarchy::HierarchyT)
+    namefn = hierarchy[1] isa AbstractSystem ? nameof : getname
+    foldl(@view hierarchy[2:end]; init = hierarchy[1]) do sys, name
+        rename(sys, Symbol(name, NAMESPACE_SEPARATOR, namefn(sys)))
+    end
+end
+
+"""
+    $(TYPEDSIGNATURES)
+
+Represent a namespaced system (or variable) `sys` as a hierarchy. Return a vector, where
+the first element is the unnamespaced system (variable) and subsequent elements are
+`Symbol`s representing the parents of the unnamespaced system (variable) in order from
+inner to outer.
+"""
+function as_hierarchy(sys::Union{AbstractSystem, BasicSymbolic})::HierarchyT
+    namefn = sys isa AbstractSystem ? nameof : getname
+    # get the hierarchy
+    hierarchy = namespace_hierarchy(namefn(sys))
+    # rename the system with unnamespaced name
+    newsys = rename(sys, hierarchy[end])
+    # and remove it from the list
+    pop!(hierarchy)
+    # reverse it to go from inner to outer
+    reverse!(hierarchy)
+    # concatenate
+    T = sys isa AbstractSystem ? AbstractSystem : BasicSymbolic
+    return Union{Symbol, T}[newsys; hierarchy]
+end
+
+"""
+    $(TYPEDSIGNATURES)
+
+Get the connections to ignore for `sys` and its subsystems. The returned value is a
+`Tuple` similar in structure to the `ignored_connections` field. Each system (variable)
+in the first (second) element of the tuple is also passed through `as_hierarchy`.
+"""
+function ignored_connections(sys::AbstractSystem)
+    has_ignored_connections(sys) || return (HierarchySystemT[], HierarchyVariableT[])
+
+    ics = get_ignored_connections(sys)
+    if ics === nothing
+        ics = (HierarchySystemT[], HierarchyVariableT[])
+    end
+    # turn into hierarchies
+    ics = (map(as_hierarchy, ics[1]), map(as_hierarchy, ics[2]))
+    systems = get_systems(sys)
+    # for each subsystem, get its ignored connections, add the name of the subsystem
+    # to the hierarchy and concatenate corresponding buffers of the result
+    result = mapreduce(Broadcast.BroadcastFunction(vcat), systems; init = ics) do subsys
+        sub_ics = ignored_connections(subsys)
+        (map(Base.Fix2(push!, nameof(subsys)), sub_ics[1]),
+            map(Base.Fix2(push!, nameof(subsys)), sub_ics[2]))
+    end
+    return (Vector{HierarchySystemT}(result[1]), Vector{HierarchyVariableT}(result[2]))
+end
+
 """
 $(TYPEDSIGNATURES)
 

src/systems/analysis_points.jl

@@ -412,6 +412,27 @@
     return pvar, default
 end
 
+function with_analysis_point_ignored(sys::AbstractSystem, ap::AnalysisPoint)
+    has_ignored_connections(sys) || return sys
+    ignored = get_ignored_connections(sys)
+    if ignored === nothing
+        ignored = (ODESystem[], BasicSymbolic[])
+    else
+        ignored = copy.(ignored)
+    end
+    if ap.outputs === nothing
+        error("Empty analysis point")
+    end
+    for x in ap.outputs
+        if x isa ODESystem
+            push!(ignored[1], x)
+        else
+            push!(ignored[2], unwrap(x))
+        end
+    end
+    return @set sys.ignored_connections = ignored
+end
+
 #### PRIMITIVE TRANSFORMATIONS
 
 const DOC_WILL_REMOVE_AP = """
@@ -469,7 +490,9 @@
         ap = breaksys_eqs[ap_idx].rhs
         deleteat!(breaksys_eqs, ap_idx)
 
-        tf.add_input || return sys, ()
+        breaksys = with_analysis_point_ignored(breaksys, ap)
+
+        tf.add_input || return breaksys, ()
 
         ap_ivar = ap_var(ap.input)
         new_var, new_def = get_analysis_variable(ap_ivar, nameof(ap), get_iv(sys))
@@ -510,8 +533,8 @@
         ap_idx = analysis_point_index(ap_sys, tf.ap)
         ap_idx === nothing &&
             error("Analysis point $(nameof(tf.ap)) not found in system $(nameof(sys)).")
         # get the anlysis point
-        ap_sys_eqs = copy(get_eqs(ap_sys))
+        ap_sys_eqs = get_eqs(ap_sys)
         ap = ap_sys_eqs[ap_idx].rhs
 
         # input variable
@@ -564,12 +587,13 @@
         ap_idx = analysis_point_index(ap_sys, tf.ap)
         ap_idx === nothing &&
             error("Analysis point $(nameof(tf.ap)) not found in system $(nameof(sys)).")
         # modified quations
         ap_sys_eqs = copy(get_eqs(ap_sys))
         @set! ap_sys.eqs = ap_sys_eqs
         ap = ap_sys_eqs[ap_idx].rhs
         # remove analysis point
         deleteat!(ap_sys_eqs, ap_idx)
+        ap_sys = with_analysis_point_ignored(ap_sys, ap)
 
         # add equations involving new variable
         ap_ivar = ap_var(ap.input)
@@ -634,7 +658,7 @@
         ap_idx = analysis_point_index(ap_sys, tf.ap)
         ap_idx === nothing &&
             error("Analysis point $(nameof(tf.ap)) not found in system $(nameof(sys)).")
-        ap_sys_eqs = copy(get_eqs(ap_sys))
+        ap_sys_eqs = get_eqs(ap_sys)
         ap = ap_sys_eqs[ap_idx].rhs
 
         # add equations involving new variable
@@ -875,7 +899,7 @@
 # Keyword Arguments
 
 - `system_modifier`: a function which takes the modified system and returns a new system
   with any required further modifications peformed.
 """
 function open_loop(sys, ap::Union{Symbol, AnalysisPoint}; system_modifier = identity)
     ap = only(canonicalize_ap(sys, ap))

src/systems/connectors.jl

@@ -315,7 +315,34 @@ function ori(sys)
     end
 end
 
-function connection2set!(connectionsets, namespace, ss, isouter)
+"""
+    $(TYPEDSIGNATURES)
+
+Populate `connectionsets` with connections between the connectors `ss`, all of which are
+namespaced by `namespace`.
+
+# Keyword Arguments
+- `ignored_connects`: A tuple of the systems and variables for which connections should be
+  ignored. Of the format returned from `as_hierarchy`.
+- `namespaced_ignored_systems`: The `from_hierarchy` versions of entries in
+  `ignored_connects[1]`, purely to avoid unnecessary recomputation.
+"""
+function connection2set!(connectionsets, namespace, ss, isouter;
+        ignored_connects = (HierarchySystemT[], HierarchyVariableT[]),
+        namespaced_ignored_systems = ODESystem[])
+    ignored_systems, ignored_variables = ignored_connects
+    # ignore specified systems
+    ss = filter(ss) do s
+        all(namespaced_ignored_systems) do igsys
+            nameof(igsys) != nameof(s)
+        end
+    end
+    # `ignored_variables` for each `s` in `ss`
+    corresponding_ignored_variables = map(
+        Base.Fix2(ignored_systems_for_subsystem, ignored_variables), ss)
+    corresponding_namespaced_ignored_variables = map(
+        Broadcast.BroadcastFunction(from_hierarchy), corresponding_ignored_variables)
+
     regular_ss = []
     domain_ss = nothing
     for s in ss
@@ -340,9 +367,12 @@ function connection2set!(connectionsets, namespace, ss, isouter)
         for (i, s) in enumerate(ss)
             sts = unknowns(s)
             io = isouter(s)
-            for (j, v) in enumerate(sts)
+            _ignored_variables = corresponding_ignored_variables[i]
+            _namespaced_ignored_variables = corresponding_namespaced_ignored_variables[i]
+            for v in sts
                 vtype = get_connection_type(v)
                 (vtype === Flow && isequal(v, dv)) || continue
+                any(isequal(v), _namespaced_ignored_variables) && continue
                 push!(cset, T(LazyNamespace(namespace, domain_ss), dv, false))
                 push!(cset, T(LazyNamespace(namespace, s), v, io))
             end
@@ -360,6 +390,12 @@ function connection2set!(connectionsets, namespace, ss, isouter)
     end
     sts1 = Set(sts1v)
     num_unknowns = length(sts1)
+
+    # we don't filter here because `csets` should include the full set of unknowns.
+    # not all of `ss` will have the same (or any) variables filtered so the ones
+    # that aren't should still go in the right cset. Since `sts1` is only used for
+    # validating that all systems being connected are of the same type, it has
+    # unfiltered entries.
     csets = [T[] for _ in 1:num_unknowns] # Add 9 orientation variables if connection is between multibody frames
     for (i, s) in enumerate(ss)
         unknown_vars = unknowns(s)
@@ -372,7 +408,10 @@ function connection2set!(connectionsets, namespace, ss, isouter)
           all(Base.Fix2(in, sts1), unknown_vars)) ||
          connection_error(ss))
         io = isouter(s)
+        # don't `filter!` here so that `j` points to the correct cset regardless of
+        # which variables are filtered.
         for (j, v) in enumerate(unknown_vars)
+            any(isequal(v), corresponding_namespaced_ignored_variables[i]) && continue
             push!(csets[j], T(LazyNamespace(namespace, s), v, io))
         end
     end
@@ -395,16 +434,48 @@ function generate_connection_set(
     connectionsets = ConnectionSet[]
     domain_csets = ConnectionSet[]
     sys = generate_connection_set!(
-        connectionsets, domain_csets, sys, find, replace, scalarize)
+        connectionsets, domain_csets, sys, find, replace, scalarize, nothing,
+        # include systems to be ignored
+        ignored_connections(sys))
     csets = merge(connectionsets)
     domain_csets = merge([csets; domain_csets], true)
 
     sys, (csets, domain_csets)
 end
 
+"""
+    $(TYPEDSIGNATURES)
+
+Generate connection sets from `connect` equations.
+
+# Arguments
+
+- `connectionsets` is the list of connection sets to be populated by recursively
+  descending `sys`.
+- `domain_csets` is the list of connection sets for domain connections.
+- `sys` is the system whose equations are to be searched.
+- `namespace` is a system representing the namespace in which `sys` exists, or `nothing`
+  for no namespace (if `sys` is top-level).
+- `ignored_connects` is a tuple. The first (second) element is a list of systems
+  (variables) in the format returned by `as_hierarchy` to be ignored when generating
+  connections. This is typically because the connections they are used in were removed by
+  analysis point transformations.
+"""
 function generate_connection_set!(connectionsets, domain_csets,
-        sys::AbstractSystem, find, replace, scalarize, namespace = nothing)
+        sys::AbstractSystem, find, replace, scalarize, namespace = nothing,
+        ignored_connects = (HierarchySystemT[], HierarchyVariableT[]))
     subsys = get_systems(sys)
+    ignored_systems, ignored_variables = ignored_connects
+    # turn hierarchies into namespaced systems
+    namespaced_ignored_systems = from_hierarchy.(ignored_systems)
+    namespaced_ignored_variables = from_hierarchy.(ignored_variables)
+    namespaced_ignored = (namespaced_ignored_systems, namespaced_ignored_variables)
+    # filter the subsystems of `sys` to exclude ignored ones
+    filtered_subsys = filter(subsys) do ss
+        all(namespaced_ignored_systems) do igsys
+            nameof(igsys) != nameof(ss)
+        end
+    end
 
     isouter = generate_isouter(sys)
     eqs′ = get_eqs(sys)
@@ -430,7 +501,8 @@ function generate_connection_set!(connectionsets, domain_csets,
             neweq isa AbstractArray ? append!(eqs, neweq) : push!(eqs, neweq)
         else
             if lhs isa Connection && get_systems(lhs) === :domain
-                connection2set!(domain_csets, namespace, get_systems(rhs), isouter)
+                connection2set!(domain_csets, namespace, get_systems(rhs), isouter;
+                    ignored_connects, namespaced_ignored_systems)
             elseif isconnection(rhs)
                 push!(cts, get_systems(rhs))
             else
@@ -446,17 +518,23 @@ function generate_connection_set!(connectionsets, domain_csets,
 
     # all connectors are eventually inside connectors.
     T = ConnectionElement
-    for s in subsys
+    # only generate connection sets for systems that are not ignored
+    for s in filtered_subsys
         isconnector(s) || continue
         is_domain_connector(s) && continue
+        _ignored_variables = ignored_systems_for_subsystem(s, ignored_variables)
+        _namespaced_ignored_variables = from_hierarchy.(_ignored_variables)
         for v in unknowns(s)
             Flow === get_connection_type(v) || continue
+            # ignore specified variables
+            any(isequal(v), _namespaced_ignored_variables) && continue
             push!(connectionsets, ConnectionSet([T(LazyNamespace(namespace, s), v, false)]))
         end
     end
 
     for ct in cts
-        connection2set!(connectionsets, namespace, ct, isouter)
+        connection2set!(connectionsets, namespace, ct, isouter;
+            ignored_connects, namespaced_ignored_systems)
     end
 
     # pre order traversal
@@ -465,12 +543,38 @@ function generate_connection_set!(connectionsets, domain_csets,
     end
     @set! sys.systems = map(
         s -> generate_connection_set!(connectionsets, domain_csets, s,
-            find, replace, scalarize,
-            renamespace(namespace, s)),
+            find, replace, scalarize, renamespace(namespace, s),
+            ignored_systems_for_subsystem.((s,), ignored_connects)),
         subsys)
     @set! sys.eqs = eqs
 end
 
+"""
+    $(TYPEDSIGNATURES)
+
+Given a subsystem `subsys` of a parent system and a list of systems (variables) to be
+ignored by `generate_connection_set!` (`expand_variable_connections`), filter
+`ignored_systems` to only include those present in the subtree of `subsys` and update
+their hierarchy to not include `subsys`.
+"""
+function ignored_systems_for_subsystem(
+        subsys::AbstractSystem, ignored_systems::Vector{<:HierarchyT})
+    result = eltype(ignored_systems)[]
+    # in case `subsys` is namespaced, get its hierarchy and compare suffixes
+    # instead of the just the last element
+    suffix = reverse!(namespace_hierarchy(nameof(subsys)))
+    N = length(suffix)
+    for igsys in ignored_systems
+        if igsys[(end - N + 1):end] == suffix
+            push!(result, copy(igsys))
+            for i in 1:N
+                pop!(result[end])
+            end
+        end
+    end
+    return result
+end
+
 function Base.merge(csets::AbstractVector{<:ConnectionSet}, allouter = false)
     ele2idx = Dict{ConnectionElement, Int}()
     idx2ele = ConnectionElement[]
@@ -576,16 +680,25 @@ end
 Recursively descend through the hierarchy of `sys` and expand all connection equations
 of causal variables. Return the modified system.
 """
-function expand_variable_connections(sys::AbstractSystem)
+function expand_variable_connections(sys::AbstractSystem; ignored_variables = nothing)
+    if ignored_variables === nothing
+        ignored_variables = ignored_connections(sys)[2]
+    end
+    namespaced_ignored = from_hierarchy.(ignored_variables)
     eqs = copy(get_eqs(sys))
     valid_idxs = trues(length(eqs))
     additional_eqs = Equation[]
 
     for (i, eq) in enumerate(eqs)
         eq.lhs isa Connection || continue
         connection = eq.rhs
-        elements = connection.systems
+        elements = get_systems(connection)
         is_causal_variable_connection(connection) || continue
+        elements = filter(elements) do el
+            all(namespaced_ignored) do var
+                getname(var) != getname(el.var)
+            end
+        end
 
         valid_idxs[i] = false
         elements = map(x -> x.var, elements)
@@ -595,7 +708,10 @@ function expand_variable_connections(sys::AbstractSystem)
         end
     end
     eqs = [eqs[valid_idxs]; additional_eqs]
-    subsystems = map(expand_variable_connections, get_systems(sys))
+    subsystems = map(get_systems(sys)) do subsys
+        expand_variable_connections(subsys;
+            ignored_variables = ignored_systems_for_subsystem(subsys, ignored_variables))
+    end
     @set! sys.eqs = eqs
     @set! sys.systems = subsystems
     return sys