static void printEquations(FILE *fout, int n, MODEL_DATA_XML *xml) {
int i,j;
for(i=0; i<n; i++) {
indent(fout,2);fprintf(fout, "<equation id=\"eq%d\" name=\"", modelInfoXmlGetEquation(xml,i).id);printStrXML(fout,modelInfoXmlGetEquation(xml,i).name);fprintf(fout,"\">\n");
indent(fout,4);fprintf(fout, "<refs>\n");
for(j=0; j<modelInfoXmlGetEquation(xml,i).numVar; j++) {
indent(fout,6);fprintf(fout, "<ref refid=\"var%d\" />\n", 0 /* modelInfoXmlGetEquation(xml,i).vars[j]->id */);
}
indent(fout,4);fprintf(fout, "</refs>\n");
indent(fout,4);fprintf(fout, "<calcinfo time=\"%f\" count=\"%lu\"/>\n", rt_accumulated(SIM_TIMER_FIRST_FUNCTION + xml->nFunctions + xml->nProfileBlocks + modelInfoXmlGetEquation(xml,i).id), rt_ncall(SIM_TIMER_FIRST_FUNCTION + xml->nFunctions + xml->nProfileBlocks + modelInfoXmlGetEquation(xml,i).id));
indent(fout,2);fprintf(fout, "</equation>\n");
}
}
/*! \fn solve non-linear system with hybrd method
*
* \param [in] [data]
* [sysNumber] index of the corresponing non-linear system
*
* \author wbraun
*/
int solveHybrd(DATA *data, int sysNumber)
{
NONLINEAR_SYSTEM_DATA* systemData = &(data->simulationInfo.nonlinearSystemData[sysNumber]);
DATA_HYBRD* solverData = (DATA_HYBRD*)systemData->solverData;
/*
* We are given the number of the non-linear system.
* We want to look it up among all equations.
*/
int eqSystemNumber = systemData->equationIndex;
int i, j;
integer iflag = 1;
double xerror, xerror_scaled;
int success = 0;
double local_tol = 1e-12;
double initial_factor = solverData->factor;
int nfunc_evals = 0;
int continuous = 1;
int nonContinuousCase = 0;
int giveUp = 0;
int retries = 0;
int retries2 = 0;
int retries3 = 0;
int assertCalled = 0;
int assertRetries = 0;
int assertMessage = 0;
static state mem_state;
modelica_boolean* relationsPreBackup;
relationsPreBackup = (modelica_boolean*) malloc(data->modelData.nRelations*sizeof(modelica_boolean));
/* debug output */
if(ACTIVE_STREAM(LOG_NLS))
{
INFO2(LOG_NLS, "start solving non-linear system >>%s<< at time %g",
modelInfoXmlGetEquation(&data->modelData.modelDataXml, eqSystemNumber).name,
data->localData[0]->timeValue);
INDENT(LOG_NLS);
for(i=0; i<solverData->n; i++)
{
INFO2(LOG_NLS, "x[%d] = %f", i, systemData->nlsx[i]);
INDENT(LOG_NLS);
INFO3(LOG_NLS, "scaling = %f\nold = %f\nextrapolated = %f",
systemData->nominal[i], systemData->nlsxOld[i], systemData->nlsxExtrapolation[i]);
RELEASE(LOG_NLS);
}
RELEASE(LOG_NLS);
}
/* set x vector */
if(data->simulationInfo.discreteCall)
memcpy(solverData->x, systemData->nlsx, solverData->n*(sizeof(double)));
else
memcpy(solverData->x, systemData->nlsxExtrapolation, solverData->n*(sizeof(double)));
for(i=0; i<solverData->n; i++)
solverData->xScalefactors[i] = fmax(fabs(solverData->x[i]), systemData->nominal[i]);
/* evaluate with discontinuities */
{
int scaling = solverData->useXScaling;
if(scaling)
solverData->useXScaling = 0;
mem_state = get_memory_state();
/* try */
if(!setjmp(nonlinearJmpbuf))
{
wrapper_fvec_hybrj(&solverData->n, solverData->x, solverData->fvec, solverData->fjac, &solverData->ldfjac, &iflag, data, sysNumber);
restore_memory_state(mem_state);
} else { /* catch */
restore_memory_state(mem_state);
WARNING(LOG_STDOUT, "Non-Linear Solver try to handle a problem with a called assert.");
}
if(scaling) {
solverData->useXScaling = 1;
}
}
/* start solving loop */
while(!giveUp && !success)
{
for(i=0; i<solverData->n; i++)
solverData->xScalefactors[i] = fmax(fabs(solverData->x[i]), systemData->nominal[i]);
/* debug output */
if(ACTIVE_STREAM(LOG_NLS_V)) {
printVector(solverData->xScalefactors, &(solverData->n), LOG_NLS_V, "scaling factors x vector");
printVector(solverData->x, &(solverData->n), LOG_NLS_V, "Iteration variable values");
}
/* Scaling x vector */
if(solverData->useXScaling) {
for(i=0; i<solverData->n; i++) {
solverData->x[i] = (1.0/solverData->xScalefactors[i]) * solverData->x[i];
}
}
/* debug output */
if(ACTIVE_STREAM(LOG_NLS_V))
{
printVector(solverData->x, &solverData->n, LOG_NLS_V, "Iteration variable values (scaled)");
}
/* set residual function continuous
*/
if(continuous) {
((DATA*)data)->simulationInfo.solveContinuous = 1;
} else {
((DATA*)data)->simulationInfo.solveContinuous = 0;
}
giveUp = 1;
mem_state = get_memory_state();
/* try */
if(!setjmp(nonlinearJmpbuf))
{
_omc_hybrj_(wrapper_fvec_hybrj, &solverData->n, solverData->x,
solverData->fvec, solverData->fjac, &solverData->ldfjac, &solverData->xtol,
&solverData->maxfev, solverData->diag, &solverData->mode,
&solverData->factor, &solverData->nprint, &solverData->info,
&solverData->nfev, &solverData->njev, solverData->r__,
&solverData->lr, solverData->qtf, solverData->wa1,
solverData->wa2, solverData->wa3, solverData->wa4, data, sysNumber);
restore_memory_state(mem_state);
if(assertCalled)
{
INFO(LOG_NLS, "After asserts was called, values reached which avoided assert call.");
memcpy(systemData->nlsxOld, solverData->x, solverData->n*(sizeof(double)));
}
assertRetries = 0;
assertCalled = 0;
}
else
{ /* catch */
restore_memory_state(mem_state);
if(!assertMessage)
{
INDENT(LOG_STDOUT);
WARNING(LOG_STDOUT, "While solving non-linear system an assert was called.");
WARNING(LOG_STDOUT, "The non-linear solver tries to solve the problem that could take some time.");
WARNING(LOG_STDOUT, "It could help to provide better start-values for the iteration variables.");
WARNING(LOG_STDOUT, "For more information simulate with -lv LOG_NLS");
RELEASE(LOG_STDOUT);
assertMessage = 1;
}
solverData->info = -1;
xerror_scaled = 1;
xerror = 1;
assertCalled = 1;
}
/* set residual function continuous */
if(continuous)
{
((DATA*)data)->simulationInfo.solveContinuous = 0;
}
else
{
((DATA*)data)->simulationInfo.solveContinuous = 1;
}
/* re-scaling x vector */
if(solverData->useXScaling)
for(i=0; i<solverData->n; i++)
solverData->x[i] = solverData->x[i]*solverData->xScalefactors[i];
/* check for proper inputs */
if(solverData->info == 0) {
printErrorEqSyst(IMPROPER_INPUT, modelInfoXmlGetEquation(&data->modelData.modelDataXml, eqSystemNumber),
data->localData[0]->timeValue);
}
if(solverData->info != -1)
{
/* evaluate with discontinuities */
if(data->simulationInfo.discreteCall){
int scaling = solverData->useXScaling;
if(scaling)
solverData->useXScaling = 0;
((DATA*)data)->simulationInfo.solveContinuous = 0;
mem_state = get_memory_state();
/* try */
if(!setjmp(nonlinearJmpbuf))
{
wrapper_fvec_hybrj(&solverData->n, solverData->x, solverData->fvec, solverData->fjac, &solverData->ldfjac, &iflag, data, sysNumber);
restore_memory_state(mem_state);
} else { /* catch */
restore_memory_state(mem_state);
WARNING(LOG_STDOUT, "Non-Linear Solver try to handle a problem with a called assert.");
solverData->info = -1;
xerror_scaled = 1;
xerror = 1;
assertCalled = 1;
}
if(scaling)
solverData->useXScaling = 1;
storeRelations(data);
}
}
if(solverData->info != -1)
{
/* scaling residual vector */
{
int l=0;
for(i=0; i<solverData->n; i++){
solverData->resScaling[i] = 1e-16;
for(j=0; j<solverData->n; j++){
solverData->resScaling[i] = (fabs(solverData->fjacobian[l]) > solverData->resScaling[i])
? fabs(solverData->fjacobian[l]) : solverData->resScaling[i];
l++;
}
solverData->fvecScaled[i] = solverData->fvec[i] * (1 / solverData->resScaling[i]);
}
/* debug output */
if(ACTIVE_STREAM(LOG_NLS_V))
{
INFO(LOG_NLS_V, "scaling factors for residual vector");
INDENT(LOG_NLS_V);
for(i=0; i<solverData->n; i++)
{
INFO2(LOG_NLS_V, "scaled residual [%d] : %.20e", i, solverData->fvecScaled[i]);
INDENT(LOG_NLS_V);
INFO2(LOG_NLS_V, "scaling factor [%d] : %.20e", i, solverData->resScaling[i]);
RELEASE(LOG_NLS_V);
}
RELEASE(LOG_NLS_V);
}
/* debug output */
if(ACTIVE_STREAM(LOG_NLS_JAC))
{
char buffer[4096];
INFO2(LOG_NLS_JAC, "jacobian matrix [%dx%d]", (int)solverData->n, (int)solverData->n);
INDENT(LOG_NLS_JAC);
for(i=0; i<solverData->n; i++)
{
buffer[0] = 0;
for(j=0; j<solverData->n; j++)
sprintf(buffer, "%s%10g ", buffer, solverData->fjacobian[i*solverData->n+j]);
INFO1(LOG_NLS_JAC, "%s", buffer);
}
RELEASE(LOG_NLS_JAC);
}
/* check for error */
xerror_scaled = enorm_(&solverData->n, solverData->fvecScaled);
xerror = enorm_(&solverData->n, solverData->fvec);
}
}
/* reset non-contunuousCase */
if(nonContinuousCase && xerror > local_tol && xerror_scaled > local_tol)
{
memcpy(data->simulationInfo.relationsPre, relationsPreBackup, sizeof(modelica_boolean)*data->modelData.nRelations);
nonContinuousCase = 0;
}
if(solverData->info < 4 && xerror > local_tol && xerror_scaled > local_tol)
solverData->info = 4;
/* solution found */
if(solverData->info == 1 || xerror <= local_tol || xerror_scaled <= local_tol)
{
int scaling;
success = 1;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS))
{
INFO(LOG_NLS, "system solved");
INDENT(LOG_NLS);
INFO2(LOG_NLS, "%d retries\n%d restarts", retries, retries2+retries3);
RELEASE(LOG_NLS);
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS);
}
scaling = solverData->useXScaling;
if(scaling)
solverData->useXScaling = 0;
/* take the solution */
memcpy(systemData->nlsx, solverData->x, solverData->n*(sizeof(double)));
mem_state = get_memory_state();
/* try */
if(!setjmp(nonlinearJmpbuf))
{
wrapper_fvec_hybrj(&solverData->n, solverData->x, solverData->fvec, solverData->fjac, &solverData->ldfjac, &iflag, data, sysNumber);
restore_memory_state(mem_state);
}
else
{ /* catch */
restore_memory_state(mem_state);
WARNING(LOG_STDOUT, "Non-Linear Solver try to handle a problem with a called assert.");
solverData->info = 4;
xerror_scaled = 1;
xerror = 1;
assertCalled = 1;
success = 0;
giveUp = 0;
}
if(scaling)
solverData->useXScaling = 1;
}
else if((solverData->info == 4 || solverData->info == 5) && assertRetries < 1+solverData->n && assertCalled)
{
/* case only used, when the Modelica code called an assert
* then, we try to modify start values to avoid the assert call.*/
int i;
memcpy(solverData->x, systemData->nlsxOld, solverData->n*(sizeof(double)));
/* set all zero values to nominal values */
if(assertRetries < 1)
{
for(i=0; i<solverData->n; i++)
{
if(systemData->nlsx[i] == 0)
{
systemData->nlsx[i] = systemData->nominal[i];
solverData->x[i] = systemData->nominal[i];
}
}
}
/* change initial guess values one by one */
else if(assertRetries < solverData->n+1)
{
i = assertRetries-1;
solverData->x[i] += 0.01*systemData->nominal[i];
}
giveUp = 0;
nfunc_evals += solverData->nfev;
assertRetries++;
if(ACTIVE_STREAM(LOG_NLS))
{
INFO1(LOG_NLS, " - try to handle a problem with a called assert vary initial value a bit. (Retry: %d)",assertRetries);
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
}
else if((solverData->info == 4 || solverData->info == 5) && retries < 3)
{
/* first try to decrease factor */
/* set x vector */
if(data->simulationInfo.discreteCall)
memcpy(solverData->x, systemData->nlsx, solverData->n*(sizeof(double)));
else
memcpy(solverData->x, systemData->nlsxExtrapolation, solverData->n*(sizeof(double)));
solverData->factor = solverData->factor / 10.0;
retries++;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS))
{
INFO1(LOG_NLS, " - iteration making no progress:\t decreasing initial step bound to %f.", solverData->factor);
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
}
else if((solverData->info == 4 || solverData->info == 5) && retries < 4)
{
/* try to vary the initial values */
for(i = 0; i < solverData->n; i++)
solverData->x[i] += systemData->nominal[i] * 0.1;
solverData->factor = initial_factor;
retries++;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS))
{
INFO(LOG_NLS, "iteration making no progress:\t vary solution point by 1%%.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
}
else if((solverData->info == 4 || solverData->info == 5) && retries < 5)
{
/* try old values as x-Scaling factors */
/* set x vector */
if(data->simulationInfo.discreteCall)
memcpy(solverData->x, systemData->nlsx, solverData->n*(sizeof(double)));
else
memcpy(solverData->x, systemData->nlsxExtrapolation, solverData->n*(sizeof(double)));
for(i=0; i<solverData->n; i++)
solverData->xScalefactors[i] = fmax(fabs(systemData->nlsxOld[i]), systemData->nominal[i]);
retries++;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS))
{
INFO(LOG_NLS, "iteration making no progress:\t try old values as scaling factors.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
}
else if((solverData->info == 4 || solverData->info == 5) && retries < 6)
{
int scaling = 0;
/* try to disable x-Scaling */
/* set x vector */
if(data->simulationInfo.discreteCall)
memcpy(solverData->x, systemData->nlsx, solverData->n*(sizeof(double)));
else
memcpy(solverData->x, systemData->nlsxExtrapolation, solverData->n*(sizeof(double)));
scaling = solverData->useXScaling;
if(scaling)
solverData->useXScaling = 0;
/* reset x-scalling factors */
for(i=0; i<solverData->n; i++)
solverData->xScalefactors[i] = fmax(fabs(solverData->x[i]), systemData->nominal[i]);
retries++;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS))
{
INFO(LOG_NLS, "iteration making no progress:\t try without scaling at all.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
}
else if((solverData->info == 4 || solverData->info == 5) && retries < 7 && data->simulationInfo.discreteCall)
{
/* try to solve non-continuous
* work-a-round: since other wise some model does
* stuck in event iteration. e.g.: Modelica.Mechanics.Rotational.Examples.HeatLosses
*/
memcpy(solverData->x, systemData->nlsxOld, solverData->n*(sizeof(double)));
retries++;
/* try to solve a discontinuous system */
continuous = 0;
nonContinuousCase = 1;
memcpy(relationsPreBackup, data->simulationInfo.relationsPre, sizeof(modelica_boolean)*data->modelData.nRelations);
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS)) {
INFO(LOG_NLS, " - iteration making no progress:\t try to solve a discontinuous system.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
/* Then try with old values (instead of extrapolating )*/
} else if((solverData->info == 4 || solverData->info == 5) && retries2 < 1) {
int scaling = 0;
/* set x vector */
memcpy(solverData->x, systemData->nlsxOld, solverData->n*(sizeof(double)));
scaling = solverData->useXScaling;
if(!scaling)
solverData->useXScaling = 1;
continuous = 1;
solverData->factor = initial_factor;
retries = 0;
retries2++;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS)) {
INFO(LOG_NLS, " - iteration making no progress:\t use old values instead extrapolated.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
/* try to vary the initial values */
} else if((solverData->info == 4 || solverData->info == 5) && retries2 < 2) {
/* set x vector */
if(data->simulationInfo.discreteCall)
memcpy(solverData->x, systemData->nlsx, solverData->n*(sizeof(double)));
else
memcpy(solverData->x, systemData->nlsxExtrapolation, solverData->n*(sizeof(double)));
for(i = 0; i < solverData->n; i++) {
solverData->x[i] *= 1.01;
};
retries = 0;
retries2++;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS)) {
INFO(LOG_NLS,
" - iteration making no progress:\t vary initial point by adding 1%%.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
/* try to vary the initial values */
} else if((solverData->info == 4 || solverData->info == 5) && retries2 < 3) {
/* set x vector */
if(data->simulationInfo.discreteCall)
memcpy(solverData->x, systemData->nlsx, solverData->n*(sizeof(double)));
else
memcpy(solverData->x, systemData->nlsxExtrapolation, solverData->n*(sizeof(double)));
for(i = 0; i < solverData->n; i++) {
solverData->x[i] *= 0.99;
};
retries = 0;
retries2++;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS)) {
INFO(LOG_NLS, " - iteration making no progress:\t vary initial point by -1%%.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
/* try to vary the initial values */
} else if((solverData->info == 4 || solverData->info == 5) && retries2 < 4) {
/* set x vector */
memcpy(solverData->x, systemData->nominal, solverData->n*(sizeof(double)));
retries = 0;
retries2++;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS)) {
INFO(LOG_NLS, " - iteration making no progress:\t try scaling factor as initial point.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
/* try own scaling factors */
} else if((solverData->info == 4 || solverData->info == 5) && retries2 < 5 && !assertCalled) {
/* set x vector */
if(data->simulationInfo.discreteCall)
memcpy(solverData->x, systemData->nlsx, solverData->n*(sizeof(double)));
else
memcpy(solverData->x, systemData->nlsxExtrapolation, solverData->n*(sizeof(double)));
for(i = 0; i < solverData->n; i++) {
solverData->diag[i] = fabs(solverData->resScaling[i]);
if(solverData->diag[i] <= 1e-16)
solverData->diag[i] = 1e-16;
}
retries = 0;
retries2++;
giveUp = 0;
solverData->mode = 2;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS)) {
INFO(LOG_NLS, " - iteration making no progress:\t try with own scaling factors.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
/* try without internal scaling */
} else if((solverData->info == 4 || solverData->info == 5) && retries3 < 1) {
/* set x vector */
if(data->simulationInfo.discreteCall)
memcpy(solverData->x, systemData->nlsx, solverData->n*(sizeof(double)));
else
memcpy(solverData->x, systemData->nlsxExtrapolation, solverData->n*(sizeof(double)));
for(i = 0; i < solverData->n; i++)
solverData->diag[i] = 1.0;
solverData->useXScaling = 1;
retries = 0;
retries2 = 0;
retries3++;
solverData->mode = 2;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS)) {
INFO(LOG_NLS, " - iteration making no progress:\t disable solver internal scaling.");
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
/* try to reduce the tolerance a bit */
} else if((solverData->info == 4 || solverData->info == 5) && retries3 < 6) {
/* set x vector */
if(data->simulationInfo.discreteCall)
memcpy(solverData->x, systemData->nlsx, solverData->n*(sizeof(double)));
else
memcpy(solverData->x, systemData->nlsxExtrapolation, solverData->n*(sizeof(double)));
/* reduce tolarance */
local_tol = local_tol*10;
solverData->factor = initial_factor;
solverData->mode = 1;
retries = 0;
retries2 = 0;
retries3++;
giveUp = 0;
nfunc_evals += solverData->nfev;
if(ACTIVE_STREAM(LOG_NLS)) {
INFO1(LOG_NLS, " - iteration making no progress:\t reduce the tolerance slightly to %e.", local_tol);
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
} else if(solverData->info >= 2 && solverData->info <= 5) {
/* while the initialization it's ok to every time a solution */
if(!data->simulationInfo.initial){
printErrorEqSyst(ERROR_AT_TIME, modelInfoXmlGetEquation(&data->modelData.modelDataXml, eqSystemNumber), data->localData[0]->timeValue);
}
if(ACTIVE_STREAM(LOG_NLS)) {
RELEASE(LOG_NLS);
INFO1(LOG_NLS, "### No Solution! ###\n after %d restarts", retries*retries2*retries3);
printStatus(solverData, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS);
}
/* take the best approximation */
memcpy(systemData->nlsx, solverData->x, solverData->n*(sizeof(double)));
}
}
/* reset some solving data */
solverData->factor = initial_factor;
solverData->mode = 1;
free(relationsPreBackup);
return success;
}
