Merge pull request #3497 from AayushSabharwal/as/nonamespace

feat: allow toggling namespacing independently of `complete`

Author: ChrisRackauckas

docs/src/basics/AbstractSystem.md

@@ -148,3 +148,15 @@ The `AbstractSystem` types allow for specifying default values, for example
 into the value maps, where for any repeats the value maps override the default.
 In addition, defaults of a higher level in the system override the defaults of
 a lower level in the system.
+
+## Namespacing
+
+By default, unsimplified systems will namespace variables accessed via `getproperty`.
+Systems created via `@mtkbuild`, or ones passed through `structural_simplify` or
+`complete` will not perform this namespacing. However, all of these processes modify
+the system in a variety of ways. To toggle namespacing without transforming any other
+property of the system, use `toggle_namespacing`.
+
+```@docs
+toggle_namespacing
+```

src/ModelingToolkit.jl

@@ -328,7 +328,7 @@ export alg_equations, diff_equations, has_alg_equations, has_diff_equations
 export get_alg_eqs, get_diff_eqs, has_alg_eqs, has_diff_eqs
 
 export @variables, @parameters, @independent_variables, @constants, @brownian
-export @named, @nonamespace, @namespace, extend, compose, complete
+export @named, @nonamespace, @namespace, extend, compose, complete, toggle_namespacing
 export debug_system
 
 #export ContinuousClock, Discrete, sampletime, input_timedomain, output_timedomain

src/systems/abstractsystem.jl

@@ -590,7 +590,24 @@ function SymbolicIndexingInterface.all_symbols(sys::AbstractSystem)
     return syms
 end
 
+"""
+    $(TYPEDSIGNATURES)
+
+Check whether a system is marked as `complete`.
+"""
 iscomplete(sys::AbstractSystem) = isdefined(sys, :complete) && getfield(sys, :complete)
+"""
+    $(TYPEDSIGNATURES)
+
+Check whether a system performs namespacing.
+"""
+function does_namespacing(sys::AbstractSystem)
+    if isdefined(sys, :namespacing)
+        getfield(sys, :namespacing)
+    else
+        !iscomplete(sys)
+    end
+end
 
 """
 $(TYPEDSIGNATURES)
@@ -798,9 +815,25 @@ function complete(
     if isdefined(sys, :initializesystem) && get_initializesystem(sys) !== nothing
         @set! sys.initializesystem = complete(get_initializesystem(sys); split)
     end
+    sys = toggle_namespacing(sys, false; safe = true)
     isdefined(sys, :complete) ? (@set! sys.complete = true) : sys
 end
 
+"""
+    $(TYPEDSIGNATURES)
+
+Return a new `sys` with namespacing enabled or disabled, depending on `value`. The
+keyword argument `safe` denotes whether systems that do not support such a toggle
+should error or be ignored.
+"""
+function toggle_namespacing(sys::AbstractSystem, value::Bool; safe = false)
+    if !isdefined(sys, :namespacing)
+        safe && return sys
+        throw(ArgumentError("The system must define the `namespacing` flag to toggle namespacing"))
+    end
+    @set sys.namespacing = value
+end
+
 """
     $(TYPEDSIGNATURES)
 
@@ -985,13 +1018,14 @@ function Base.propertynames(sys::AbstractSystem; private = false)
     end
 end
 
-function Base.getproperty(sys::AbstractSystem, name::Symbol; namespace = !iscomplete(sys))
+function Base.getproperty(
+        sys::AbstractSystem, name::Symbol; namespace = does_namespacing(sys))
     if has_parent(sys) && (parent = get_parent(sys); parent !== nothing)
         return getproperty(parent, name; namespace)
     end
     wrap(getvar(sys, name; namespace = namespace))
 end
-function getvar(sys::AbstractSystem, name::Symbol; namespace = !iscomplete(sys))
+function getvar(sys::AbstractSystem, name::Symbol; namespace = does_namespacing(sys))
     systems = get_systems(sys)
     if isdefined(sys, name)
         Base.depwarn(

src/systems/analysis_points.jl

@@ -768,7 +768,13 @@ already an `AnalysisPoint` or `Symbol`) is simply wrapped in an array. `Symbol`
 `AnalysisPoint`s are namespaced with `sys`.
 """
 canonicalize_ap(sys::AbstractSystem, ap::Symbol) = [AnalysisPoint(renamespace(sys, ap))]
-canonicalize_ap(sys::AbstractSystem, ap::AnalysisPoint) = [ap]
+function canonicalize_ap(sys::AbstractSystem, ap::AnalysisPoint)
+    if does_namespacing(sys)
+        return [ap]
+    else
+        return [renamespace(sys, ap)]
+    end
+end
 canonicalize_ap(sys::AbstractSystem, ap) = [ap]
 function canonicalize_ap(sys::AbstractSystem, aps::Vector)
     mapreduce(Base.Fix1(canonicalize_ap, sys), vcat, aps; init = [])

src/systems/diffeqs/odesystem.jl

@@ -169,7 +169,11 @@ struct ODESystem <: AbstractODESystem
     """
     substitutions::Any
     """
-    If a model `sys` is complete, then `sys.x` no longer performs namespacing.
+    If false, then `sys.x` no longer performs namespacing.
+    """
+    namespacing::Bool
+    """
+    If true, denotes the model will not be modified any further.
     """
     complete::Bool
     """
@@ -207,8 +211,8 @@ struct ODESystem <: AbstractODESystem
             connector_type, preface, cevents,
             devents, parameter_dependencies, assertions = Dict{BasicSymbolic, String}(),
             metadata = nothing, gui_metadata = nothing, is_dde = false,
-            tstops = [], tearing_state = nothing,
-            substitutions = nothing, complete = false, index_cache = nothing,
+            tstops = [], tearing_state = nothing, substitutions = nothing,
+            namespacing = true, complete = false, index_cache = nothing,
             discrete_subsystems = nothing, solved_unknowns = nothing,
             split_idxs = nothing, ignored_connections = nothing, parent = nothing;
             checks::Union{Bool, Int} = true)
@@ -218,6 +222,7 @@ struct ODESystem <: AbstractODESystem
             check_parameters(ps, iv)
             check_equations(deqs, iv)
             check_equations(equations(cevents), iv)
+            check_subsystems(systems)
         end
         if checks == true || (checks & CheckUnits) > 0
             u = __get_unit_type(dvs, ps, iv)
@@ -228,7 +233,8 @@ struct ODESystem <: AbstractODESystem
             ctrl_jac, Wfact, Wfact_t, name, description, systems, defaults, guesses, torn_matching,
             initializesystem, initialization_eqs, schedule, connector_type, preface,
             cevents, devents, parameter_dependencies, assertions, metadata,
-            gui_metadata, is_dde, tstops, tearing_state, substitutions, complete, index_cache,
+            gui_metadata, is_dde, tstops, tearing_state, substitutions, namespacing,
+            complete, index_cache,
             discrete_subsystems, solved_unknowns, split_idxs, ignored_connections, parent)
     end
 end

src/systems/diffeqs/sdesystem.jl

@@ -139,7 +139,11 @@ struct SDESystem <: AbstractODESystem
     """
     gui_metadata::Union{Nothing, GUIMetadata}
     """
-    If a model `sys` is complete, then `sys.x` no longer performs namespacing.
+    If false, then `sys.x` no longer performs namespacing.
+    """
+    namespacing::Bool
+    """
+    If true, denotes the model will not be modified any further.
     """
     complete::Bool
     """
@@ -166,7 +170,7 @@ struct SDESystem <: AbstractODESystem
             guesses, initializesystem, initialization_eqs, connector_type,
             cevents, devents, parameter_dependencies, assertions = Dict{
                 BasicSymbolic, Nothing},
-            metadata = nothing, gui_metadata = nothing,
+            metadata = nothing, gui_metadata = nothing, namespacing = true,
             complete = false, index_cache = nothing, parent = nothing, is_scalar_noise = false,
             is_dde = false,
             isscheduled = false;
@@ -184,6 +188,7 @@ struct SDESystem <: AbstractODESystem
             if is_scalar_noise && neqs isa AbstractMatrix
                 throw(ArgumentError("Noise equations ill-formed. Received a matrix of noise equations of size $(size(neqs)), but `is_scalar_noise` was set to `true`. Scalar noise is only compatible with an `AbstractVector` of noise equations."))
             end
+            check_subsystems(systems)
         end
         if checks == true || (checks & CheckUnits) > 0
             u = __get_unit_type(dvs, ps, iv)
@@ -192,8 +197,8 @@ struct SDESystem <: AbstractODESystem
         new(tag, deqs, neqs, iv, dvs, ps, tspan, var_to_name, ctrls, observed, tgrad, jac,
             ctrl_jac, Wfact, Wfact_t, name, description, systems,
             defaults, guesses, initializesystem, initialization_eqs, connector_type, cevents,
-            devents, parameter_dependencies, assertions, metadata, gui_metadata, complete,
-            index_cache, parent, is_scalar_noise, is_dde, isscheduled)
+            devents, parameter_dependencies, assertions, metadata, gui_metadata, namespacing,
+            complete, index_cache, parent, is_scalar_noise, is_dde, isscheduled)
     end
 end
 
@@ -218,7 +223,6 @@ function SDESystem(deqs::AbstractVector{<:Equation}, neqs::AbstractArray, iv, dv
         assertions = Dict{BasicSymbolic, String}(),
         metadata = nothing,
         gui_metadata = nothing,
-        complete = false,
         index_cache = nothing,
         parent = nothing,
         is_scalar_noise = false,
@@ -274,7 +278,7 @@ function SDESystem(deqs::AbstractVector{<:Equation}, neqs::AbstractArray, iv, dv
         ctrl_jac, Wfact, Wfact_t, name, description, systems, defaults, guesses,
         initializesystem, initialization_eqs, connector_type,
         cont_callbacks, disc_callbacks, parameter_dependencies, assertions, metadata, gui_metadata,
-        complete, index_cache, parent, is_scalar_noise, is_dde; checks = checks)
+        true, false, index_cache, parent, is_scalar_noise, is_dde; checks = checks)
 end
 
 function SDESystem(sys::ODESystem, neqs; kwargs...)
@@ -321,9 +325,8 @@ function SDESystem(eqs::Vector{Equation}, noiseeqs::AbstractArray, iv; kwargs...
             throw(ArgumentError("Variable $dv in noise equations is not an unknown of the system."))
     end
     algevars = setdiff(allunknowns, diffvars)
-
     return SDESystem(eqs, noiseeqs, iv, Iterators.flatten((diffvars, algevars)),
-        [ps; collect(noiseps)]; kwargs...)
+        [collect(ps); collect(noiseps)]; kwargs...)
 end
 
 function SDESystem(eq::Equation, noiseeqs::AbstractArray, args...; kwargs...)

src/systems/discrete_system/discrete_system.jl

@@ -97,7 +97,11 @@ struct DiscreteSystem <: AbstractDiscreteSystem
     """
     substitutions::Any
     """
-    If a model `sys` is complete, then `sys.x` no longer performs namespacing.
+    If false, then `sys.x` no longer performs namespacing.
+    """
+    namespacing::Bool
+    """
+    If true, denotes the model will not be modified any further.
     """
     complete::Bool
     """
@@ -114,14 +118,15 @@ struct DiscreteSystem <: AbstractDiscreteSystem
             observed, name, description, systems, defaults, guesses, initializesystem,
             initialization_eqs, preface, connector_type, parameter_dependencies = Equation[],
             metadata = nothing, gui_metadata = nothing,
-            tearing_state = nothing, substitutions = nothing,
+            tearing_state = nothing, substitutions = nothing, namespacing = true,
             complete = false, index_cache = nothing, parent = nothing,
             isscheduled = false;
             checks::Union{Bool, Int} = true)
         if checks == true || (checks & CheckComponents) > 0
             check_independent_variables([iv])
             check_variables(dvs, iv)
             check_parameters(ps, iv)
+            check_subsystems(systems)
         end
         if checks == true || (checks & CheckUnits) > 0
             u = __get_unit_type(dvs, ps, iv)
@@ -130,7 +135,8 @@ struct DiscreteSystem <: AbstractDiscreteSystem
         new(tag, discreteEqs, iv, dvs, ps, tspan, var_to_name, observed, name, description,
             systems, defaults, guesses, initializesystem, initialization_eqs,
             preface, connector_type, parameter_dependencies, metadata, gui_metadata,
-            tearing_state, substitutions, complete, index_cache, parent, isscheduled)
+            tearing_state, substitutions, namespacing, complete, index_cache, parent,
+            isscheduled)
     end
 end
 

src/systems/discrete_system/implicit_discrete_system.jl

@@ -96,7 +96,11 @@ struct ImplicitDiscreteSystem <: AbstractDiscreteSystem
     """
     substitutions::Any
     """
-    If a model `sys` is complete, then `sys.x` no longer performs namespacing.
+    If false, then `sys.x` no longer performs namespacing.
+    """
+    namespacing::Bool
+    """
+    If true, denotes the model will not be modified any further.
     """
     complete::Bool
     """
@@ -113,14 +117,15 @@ struct ImplicitDiscreteSystem <: AbstractDiscreteSystem
             observed, name, description, systems, defaults, guesses, initializesystem,
             initialization_eqs, preface, connector_type, parameter_dependencies = Equation[],
             metadata = nothing, gui_metadata = nothing,
-            tearing_state = nothing, substitutions = nothing,
+            tearing_state = nothing, substitutions = nothing, namespacing = true,
             complete = false, index_cache = nothing, parent = nothing,
             isscheduled = false;
             checks::Union{Bool, Int} = true)
         if checks == true || (checks & CheckComponents) > 0
             check_independent_variables([iv])
             check_variables(dvs, iv)
             check_parameters(ps, iv)
+            check_subsystems(systems)
         end
         if checks == true || (checks & CheckUnits) > 0
             u = __get_unit_type(dvs, ps, iv)
@@ -129,7 +134,8 @@ struct ImplicitDiscreteSystem <: AbstractDiscreteSystem
         new(tag, discreteEqs, iv, dvs, ps, tspan, var_to_name, observed, name, description,
             systems, defaults, guesses, initializesystem, initialization_eqs,
             preface, connector_type, parameter_dependencies, metadata, gui_metadata,
-            tearing_state, substitutions, complete, index_cache, parent, isscheduled)
+            tearing_state, substitutions, namespacing, complete, index_cache, parent,
+            isscheduled)
     end
 end
 

src/systems/jumps/jumpsystem.jl

@@ -116,7 +116,11 @@ struct JumpSystem{U <: ArrayPartition} <: AbstractTimeDependentSystem
     """
     gui_metadata::Union{Nothing, GUIMetadata}
     """
-    If a model `sys` is complete, then `sys.x` no longer performs namespacing.
+    If false, then `sys.x` no longer performs namespacing.
+    """
+    namespacing::Bool
+    """
+    If true, denotes the model will not be modified any further.
     """
     complete::Bool
     """
@@ -130,12 +134,13 @@ struct JumpSystem{U <: ArrayPartition} <: AbstractTimeDependentSystem
             systems, defaults, guesses, initializesystem, initialization_eqs, connector_type,
             cevents, devents,
             parameter_dependencies, metadata = nothing, gui_metadata = nothing,
-            complete = false, index_cache = nothing, isscheduled = false;
+            namespacing = true, complete = false, index_cache = nothing, isscheduled = false;
             checks::Union{Bool, Int} = true) where {U <: ArrayPartition}
         if checks == true || (checks & CheckComponents) > 0
             check_independent_variables([iv])
             check_variables(unknowns, iv)
             check_parameters(ps, iv)
+            check_subsystems(systems)
         end
         if checks == true || (checks & CheckUnits) > 0
             u = __get_unit_type(unknowns, ps, iv)
@@ -145,7 +150,7 @@ struct JumpSystem{U <: ArrayPartition} <: AbstractTimeDependentSystem
             observed, name, description, systems, defaults, guesses, initializesystem,
             initialization_eqs,
             connector_type, cevents, devents, parameter_dependencies, metadata,
-            gui_metadata, complete, index_cache, isscheduled)
+            gui_metadata, namespacing, complete, index_cache, isscheduled)
     end
 end
 function JumpSystem(tag, ap, iv, states, ps, var_to_name, args...; kwargs...)

src/systems/nonlinear/nonlinearsystem.jl

@@ -95,7 +95,11 @@ struct NonlinearSystem <: AbstractTimeIndependentSystem
     """
     substitutions::Any
     """
-    If a model `sys` is complete, then `sys.x` no longer performs namespacing.
+    If false, then `sys.x` no longer performs namespacing.
+    """
+    namespacing::Bool
+    """
+    If true, denotes the model will not be modified any further.
     """
     complete::Bool
     """
@@ -112,17 +116,18 @@ struct NonlinearSystem <: AbstractTimeIndependentSystem
             tag, eqs, unknowns, ps, var_to_name, observed, jac, name, description,
             systems, defaults, guesses, initializesystem, initialization_eqs, connector_type,
             parameter_dependencies = Equation[], metadata = nothing, gui_metadata = nothing,
-            tearing_state = nothing, substitutions = nothing,
+            tearing_state = nothing, substitutions = nothing, namespacing = true,
             complete = false, index_cache = nothing, parent = nothing,
             isscheduled = false; checks::Union{Bool, Int} = true)
         if checks == true || (checks & CheckUnits) > 0
             u = __get_unit_type(unknowns, ps)
             check_units(u, eqs)
+            check_subsystems(systems)
         end
         new(tag, eqs, unknowns, ps, var_to_name, observed, jac, name, description,
             systems, defaults, guesses, initializesystem, initialization_eqs,
             connector_type, parameter_dependencies, metadata, gui_metadata, tearing_state,
-            substitutions, complete, index_cache, parent, isscheduled)
+            substitutions, namespacing, complete, index_cache, parent, isscheduled)
     end
 end