/*
* function calculates a jacobian matrix
*/
static
int nlsDenseJac(long int N, N_Vector vecX, N_Vector vecFX, DlsMat Jac, void *userData, N_Vector tmp1, N_Vector tmp2)
{
NLS_KINSOL_USERDATA *kinsolUserData = (NLS_KINSOL_USERDATA*) userData;
DATA* data = kinsolUserData->data;
threadData_t *threadData = kinsolUserData->threadData;
int sysNumber = kinsolUserData->sysNumber;
NONLINEAR_SYSTEM_DATA *nlsData = &(data->simulationInfo->nonlinearSystemData[sysNumber]);
NLS_KINSOL_DATA* kinsolData = (NLS_KINSOL_DATA*) nlsData->solverData;
/* prepare variables */
double *x = N_VGetArrayPointer(vecX);
double *fx = N_VGetArrayPointer(vecFX);
double *xScaling = NV_DATA_S(kinsolData->xScale);
double *fRes = NV_DATA_S(kinsolData->fRes);
double xsave, xscale, sign;
double delta_hh;
const double delta_h = sqrt(DBL_EPSILON*2e1);
long int i,j;
/* performance measurement */
rt_ext_tp_tick(&nlsData->jacobianTimeClock);
for(i = 0; i < N; i++)
{
xsave = x[i];
delta_hh = delta_h * (fabs(xsave) + 1.0);
if ((xsave + delta_hh >= nlsData->max[i]))
delta_hh *= -1;
x[i] += delta_hh;
/* Calculate difference quotient */
nlsKinsolResiduals(vecX, kinsolData->fRes, userData);
/* Calculate scaled difference quotient */
delta_hh = 1. / delta_hh;
for(j = 0; j < N; j++)
{
DENSE_ELEM(Jac, j, i) = (fRes[j] - fx[j]) * delta_hh;
}
x[i] = xsave;
}
/* debug */
if (ACTIVE_STREAM(LOG_NLS_JAC)){
infoStreamPrint(LOG_NLS_JAC, 0, "##KINSOL## omc dense matrix.");
PrintMat(Jac);
}
/* performance measurement and statistics */
nlsData->jacobianTime += rt_ext_tp_tock(&(nlsData->jacobianTimeClock));
nlsData->numberOfJEval++;
return 0;
}
/*! \fn wrapper_fvec_newton for the residual Function
* tensolve calls for the subroutine fcn(n, x, fvec, iflag, data)
*
* fj decides whether the function values or the jacobian matrix shall be calculated
* fj = 1 ==> calculate function values
* fj = 0 ==> calculate jacobian matrix
*/
int wrapper_fvec_newton(int* n, double* x, double* fvec, void* userdata, int fj)
{
DATA_USER* uData = (DATA_USER*) userdata;
DATA* data = (DATA*)(uData->data);
void *dataAndThreadData[2] = {data, uData->threadData};
int currentSys = ((DATA_USER*)userdata)->sysNumber;
NONLINEAR_SYSTEM_DATA* systemData = &(data->simulationInfo->nonlinearSystemData[currentSys]);
DATA_NEWTON* solverData = (DATA_NEWTON*)(systemData->solverData);
int flag = 1;
int *iflag=&flag;
if (fj) {
(data->simulationInfo->nonlinearSystemData[currentSys].residualFunc)(dataAndThreadData, x, fvec, iflag);
} else {
/* performance measurement */
rt_ext_tp_tick(&systemData->jacobianTimeClock);
if(systemData->jacobianIndex != -1) {
getAnalyticalJacobianNewton(data, uData->threadData, solverData->fjac, currentSys);
} else {
double delta_h = sqrt(solverData->epsfcn);
double delta_hh;
double xsave;
int i,j,l, linear=0;
for(i = 0; i < *n; i++) {
delta_hh = fmax(delta_h * fmax(fabs(x[i]), fabs(fvec[i])), delta_h);
delta_hh = ((fvec[i] >= 0) ? delta_hh : -delta_hh);
delta_hh = x[i] + delta_hh - x[i];
xsave = x[i];
x[i] += delta_hh;
delta_hh = 1. / delta_hh;
wrapper_fvec_newton(n, x, solverData->rwork, userdata, 1);
solverData->nfev++;
for(j = 0; j < *n; j++) {
l = i * *n + j;
solverData->fjac[l] = (solverData->rwork[j] - fvec[j]) * delta_hh;
}
x[i] = xsave;
}
}
/* performance measurement and statistics */
systemData->jacobianTime += rt_ext_tp_tock(&(systemData->jacobianTimeClock));
systemData->numberOfJEval++;
}
return *iflag;
}
/*
* function calculates a jacobian matrix by
* numerical method finite differences with coloring
* into a sparse SlsMat matrix
*/
static
int nlsSparseJac(N_Vector vecX, N_Vector vecFX, SlsMat Jac, void *userData, N_Vector tmp1, N_Vector tmp2)
{
NLS_KINSOL_USERDATA *kinsolUserData = (NLS_KINSOL_USERDATA*) userData;
DATA* data = kinsolUserData->data;
threadData_t *threadData = kinsolUserData->threadData;
int sysNumber = kinsolUserData->sysNumber;
NONLINEAR_SYSTEM_DATA *nlsData = &(data->simulationInfo->nonlinearSystemData[sysNumber]);
NLS_KINSOL_DATA* kinsolData = (NLS_KINSOL_DATA*) nlsData->solverData;
/* prepare variables */
double *x = N_VGetArrayPointer(vecX);
double *fx = N_VGetArrayPointer(vecFX);
double *xsave = N_VGetArrayPointer(tmp1);
double *delta_hh = N_VGetArrayPointer(tmp2);
double *xScaling = NV_DATA_S(kinsolData->xScale);
double *fRes = NV_DATA_S(kinsolData->fRes);
SPARSE_PATTERN* sparsePattern = &(nlsData->sparsePattern);
const double delta_h = sqrt(DBL_EPSILON*2e1);
long int i,j,ii;
int nth = 0;
/* performance measurement */
rt_ext_tp_tick(&nlsData->jacobianTimeClock);
/* reset matrix */
SlsSetToZero(Jac);
for(i = 0; i < sparsePattern->maxColors; i++)
{
for(ii=0; ii < kinsolData->size; ii++)
{
if(sparsePattern->colorCols[ii]-1 == i)
{
xsave[ii] = x[ii];
delta_hh[ii] = delta_h * (fabs(xsave[ii]) + 1.0);
if ((xsave[ii] + delta_hh[ii] >= nlsData->max[ii]))
delta_hh[ii] *= -1;
x[ii] += delta_hh[ii];
/* Calculate scaled difference quotient */
delta_hh[ii] = 1. / delta_hh[ii];
}
}
nlsKinsolResiduals(vecX, kinsolData->fRes, userData);
for(ii = 0; ii < kinsolData->size; ii++)
{
if(sparsePattern->colorCols[ii]-1 == i)
{
nth = sparsePattern->leadindex[ii];
while(nth < sparsePattern->leadindex[ii+1])
{
j = sparsePattern->index[nth];
setJacElementKluSparse(j, ii, (fRes[j] - fx[j]) * delta_hh[ii], nth, Jac);
nth++;
};
x[ii] = xsave[ii];
}
}
}
/* finish sparse matrix */
finishSparseColPtr(Jac);
/* debug */
if (ACTIVE_STREAM(LOG_NLS_JAC)){
infoStreamPrint(LOG_NLS_JAC, 1, "##KINSOL## Sparse Matrix.");
PrintSparseMat(Jac);
nlsKinsolJacSumSparse(Jac);
messageClose(LOG_NLS_JAC);
}
/* performance measurement and statistics */
nlsData->jacobianTime += rt_ext_tp_tock(&(nlsData->jacobianTimeClock));
nlsData->numberOfJEval++;
return 0;
}
/*! \fn solve linear system with lapack method
*
* \param [in] [data]
* [sysNumber] index of the corresponding linear system
*
* \author wbraun
*/
int solveLapack(DATA *data, int sysNumber)
{
int i, j, iflag = 1;
LINEAR_SYSTEM_DATA* systemData = &(data->simulationInfo.linearSystemData[sysNumber]);
DATA_LAPACK* solverData = (DATA_LAPACK*)systemData->solverData;
int success = 1;
/* We are given the number of the linear system.
* We want to look it up among all equations. */
int eqSystemNumber = systemData->equationIndex;
int indexes[2] = {1,eqSystemNumber};
_omc_scalar residualNorm = 0;
infoStreamPrintWithEquationIndexes(LOG_LS, 0, indexes, "Start solving Linear System %d (size %d) at time %g with Lapack Solver",
eqSystemNumber, (int) systemData->size,
data->localData[0]->timeValue);
/* set data */
_omc_setVectorData(solverData->x, systemData->x);
_omc_setVectorData(solverData->b, systemData->b);
_omc_setMatrixData(solverData->A, systemData->A);
rt_ext_tp_tick(&(solverData->timeClock));
if (0 == systemData->method) {
/* reset matrix A */
memset(systemData->A, 0, (systemData->size)*(systemData->size)*sizeof(double));
/* update matrix A */
systemData->setA(data, systemData);
/* update vector b (rhs) */
systemData->setb(data, systemData);
} else {
/* calculate jacobian -> matrix A*/
if(systemData->jacobianIndex != -1){
getAnalyticalJacobianLapack(data, solverData->A->data, sysNumber);
} else {
assertStreamPrint(data->threadData, 1, "jacobian function pointer is invalid" );
}
/* calculate vector b (rhs) */
_omc_copyVector(solverData->work, solverData->x);
wrapper_fvec_lapack(solverData->work, solverData->b, &iflag, data, sysNumber);
}
infoStreamPrint(LOG_LS, 0, "### %f time to set Matrix A and vector b.", rt_ext_tp_tock(&(solverData->timeClock)));
/* Log A*x=b */
if(ACTIVE_STREAM(LOG_LS_V)){
_omc_printVector(solverData->x, "Vector old x", LOG_LS_V);
_omc_printMatrix(solverData->A, "Matrix A", LOG_LS_V);
_omc_printVector(solverData->b, "Vector b", LOG_LS_V);
}
rt_ext_tp_tick(&(solverData->timeClock));
/* Solve system */
dgesv_((int*) &systemData->size,
(int*) &solverData->nrhs,
solverData->A->data,
(int*) &systemData->size,
solverData->ipiv,
solverData->b->data,
(int*) &systemData->size,
&solverData->info);
infoStreamPrint(LOG_LS, 0, "Solve System: %f", rt_ext_tp_tock(&(solverData->timeClock)));
if(solverData->info < 0)
{
warningStreamPrint(LOG_LS, 0, "Error solving linear system of equations (no. %d) at time %f. Argument %d illegal.", (int)systemData->equationIndex, data->localData[0]->timeValue, (int)solverData->info);
success = 0;
}
else if(solverData->info > 0)
{
warningStreamPrint(LOG_LS, 0,
"Failed to solve linear system of equations (no. %d) at time %f, system is singular for U[%d, %d].",
(int)systemData->equationIndex, data->localData[0]->timeValue, (int)solverData->info+1, (int)solverData->info+1);
success = 0;
/* debug output */
if (ACTIVE_STREAM(LOG_LS)){
_omc_printMatrix(solverData->A, "Matrix U", LOG_LS);
_omc_printVector(solverData->b, "Output vector x", LOG_LS);
}
}
if (1 == success){
if (1 == systemData->method){
/* take the solution */
solverData->x = _omc_addVectorVector(solverData->x, solverData->work, solverData->b);
/* update inner equations */
wrapper_fvec_lapack(solverData->x, solverData->work, &iflag, data, sysNumber);
residualNorm = _omc_euclideanVectorNorm(solverData->work);
} else {
/* take the solution */
_omc_copyVector(solverData->x, solverData->b);
}
if (ACTIVE_STREAM(LOG_LS_V)){
infoStreamPrint(LOG_LS_V, 1, "Residual Norm %f of solution x:", residualNorm);
infoStreamPrint(LOG_LS_V, 0, "System %d numVars %d.", eqSystemNumber, modelInfoGetEquation(&data->modelData.modelDataXml,eqSystemNumber).numVar);
for(i = 0; i < systemData->size; ++i) {
infoStreamPrint(LOG_LS_V, 0, "[%d] %s = %g", i+1, modelInfoGetEquation(&data->modelData.modelDataXml,eqSystemNumber).vars[i], systemData->x[i]);
}
messageClose(LOG_LS_V);
}
}
return success;
}
/*! \fn solve linear system with UmfPack method
*
* \param [in] [data]
* [sysNumber] index of the corresponding linear system
*
*
* author: kbalzereit, wbraun
*/
int
solveUmfPack(DATA *data, int sysNumber)
{
LINEAR_SYSTEM_DATA* systemData = &(data->simulationInfo.linearSystemData[sysNumber]);
DATA_UMFPACK* solverData = (DATA_UMFPACK*)systemData->solverData;
int i, j, status = UMFPACK_OK, success = 0, ni=0, n = systemData->size, eqSystemNumber = systemData->equationIndex, indexes[2] = {1,eqSystemNumber};
infoStreamPrintWithEquationIndexes(LOG_LS, 0, indexes, "Start solving Linear System %d (size %d) at time %g with UMFPACK Solver",
eqSystemNumber, (int) systemData->size,
data->localData[0]->timeValue);
rt_ext_tp_tick(&(solverData->timeClock));
if (0 == systemData->method)
{
/* set A matrix */
solverData->Ap[0] = 0;
systemData->setA(data, systemData);
solverData->Ap[solverData->n_row] = solverData->nnz;
if (ACTIVE_STREAM(LOG_LS_V))
{
infoStreamPrint(LOG_LS_V, 1, "Matrix A");
printMatrixCSR(solverData->Ap, solverData->Ai, solverData->Ax, n);
messageClose(LOG_LS_V);
}
/* set b vector */
systemData->setb(data, systemData);
} else {
solverData->Ap[0] = 0;
/* calculate jacobian -> matrix A*/
if(systemData->jacobianIndex != -1) {
getAnalyticalJacobianUmfPack(data, sysNumber);
} else {
assertStreamPrint(data->threadData, 1, "jacobian function pointer is invalid" );
}
solverData->Ap[solverData->n_row] = solverData->nnz;
/* calculate vector b (rhs) */
memcpy(solverData->work, systemData->x, sizeof(double)*solverData->n_row);
wrapper_fvec_umfpack(solverData->work, systemData->b, data, sysNumber);
}
infoStreamPrint(LOG_LS, 0, "### %f time to set Matrix A and vector b.", rt_ext_tp_tock(&(solverData->timeClock)));
if (ACTIVE_STREAM(LOG_LS_V))
{
if (ACTIVE_STREAM(LOG_LS_V))
{
infoStreamPrint(LOG_LS_V, 1, "Old solution x:");
for(i = 0; i < solverData->n_row; ++i)
infoStreamPrint(LOG_LS_V, 0, "[%d] %s = %g", i+1, modelInfoGetEquation(&data->modelData.modelDataXml,eqSystemNumber).vars[i], systemData->x[i]);
messageClose(LOG_LS_V);
}
infoStreamPrint(LOG_LS_V, 1, "Matrix A n_rows = %d", solverData->n_row);
for (i=0; i<solverData->n_row; i++) {
infoStreamPrint(LOG_LS_V, 0, "%d. Ap => %d -> %d", i, solverData->Ap[i], solverData->Ap[i+1]);
for (j=solverData->Ap[i]; j<solverData->Ap[i+1]; j++) {
infoStreamPrint(LOG_LS_V, 0, "A[%d,%d] = %f", i, solverData->Ai[j], solverData->Ax[j]);
}
}
messageClose(LOG_LS_V);
for (i=0; i<solverData->n_row; i++)
infoStreamPrint(LOG_LS_V, 0, "b[%d] = %e", i, systemData->b[i]);
}
rt_ext_tp_tick(&(solverData->timeClock));
/* symbolic pre-ordering of A to reduce fill-in of L and U */
if (0 == solverData->numberSolving)
{
status = umfpack_di_symbolic(solverData->n_col, solverData->n_row, solverData->Ap, solverData->Ai, solverData->Ax, &(solverData->symbolic), solverData->control, solverData->info);
}
/* compute the LU factorization of A */
if (0 == status) {
status = umfpack_di_numeric(solverData->Ap, solverData->Ai, solverData->Ax, solverData->symbolic, &(solverData->numeric), solverData->control, solverData->info);
}
if (0 == status) {
if (1 == systemData->method) {
status = umfpack_di_solve(UMFPACK_A, solverData->Ap, solverData->Ai, solverData->Ax, systemData->x, systemData->b, solverData->numeric, solverData->control, solverData->info);
} else {
status = umfpack_di_solve(UMFPACK_Aat, solverData->Ap, solverData->Ai, solverData->Ax, systemData->x, systemData->b, solverData->numeric, solverData->control, solverData->info);
}
}
if (status == UMFPACK_OK) {
success = 1;
}
else if (status == UMFPACK_WARNING_singular_matrix)
{
if (!solveSingularSystem(systemData))
{
success = 1;
}
}
infoStreamPrint(LOG_LS, 0, "Solve System: %f", rt_ext_tp_tock(&(solverData->timeClock)));
/* print solution */
if (1 == success) {
if (1 == systemData->method) {
/* take the solution */
for(i = 0; i < solverData->n_row; ++i)
systemData->x[i] += solverData->work[i];
/* update inner equations */
wrapper_fvec_umfpack(systemData->x, solverData->work, data, sysNumber);
} else {
/* the solution is automatically in x */
}
if (ACTIVE_STREAM(LOG_LS_V))
{
infoStreamPrint(LOG_LS_V, 1, "Solution x:");
infoStreamPrint(LOG_LS_V, 0, "System %d numVars %d.", eqSystemNumber, modelInfoGetEquation(&data->modelData.modelDataXml,eqSystemNumber).numVar);
for(i = 0; i < systemData->size; ++i)
infoStreamPrint(LOG_LS_V, 0, "[%d] %s = %g", i+1, modelInfoGetEquation(&data->modelData.modelDataXml,eqSystemNumber).vars[i], systemData->x[i]);
messageClose(LOG_LS_V);
}
}
else
{
warningStreamPrint(LOG_STDOUT, 0,
"Failed to solve linear system of equations (no. %d) at time %f, system status %d.",
(int)systemData->equationIndex, data->localData[0]->timeValue, status);
}
solverData->numberSolving += 1;
return success;
}
/*! \fn solve linear system with totalpivot method
*
* \param [in] [data]
* [sysNumber] index of the corresponing non-linear system
*
* \author bbachmann
*/
int solveTotalPivot(DATA *data, threadData_t *threadData, int sysNumber, double* aux_x)
{
void *dataAndThreadData[2] = {data, threadData};
int i, j;
LINEAR_SYSTEM_DATA* systemData = &(data->simulationInfo->linearSystemData[sysNumber]);
DATA_TOTALPIVOT* solverData = (DATA_TOTALPIVOT*) systemData->solverData[1];
int n = systemData->size, status;
double fdeps = 1e-8;
double xTol = 1e-8;
int eqSystemNumber = systemData->equationIndex;
int indexes[2] = {1,eqSystemNumber};
int rank;
/* We are given the number of the linear system.
* We want to look it up among all equations. */
/* int eqSystemNumber = systemData->equationIndex; */
int success = 1;
double tmpJacEvalTime;
infoStreamPrintWithEquationIndexes(LOG_LS, 0, indexes, "Start solving Linear System %d (size %d) at time %g with Total Pivot Solver",
eqSystemNumber, (int) systemData->size,
data->localData[0]->timeValue);
debugVectorDoubleLS(LOG_LS_V,"SCALING",systemData->nominal,n);
debugVectorDoubleLS(LOG_LS_V,"Old VALUES",aux_x,n);
rt_ext_tp_tick(&(solverData->timeClock));
if (0 == systemData->method){
/* reset matrix A */
vecConstLS(n*n, 0.0, systemData->A);
/* update matrix A -> first n columns of matrix Ab*/
systemData->setA(data, threadData, systemData);
vecCopyLS(n*n, systemData->A, solverData->Ab);
/* update vector b (rhs) -> -b is last column of matrix Ab*/
rt_ext_tp_tick(&(solverData->timeClock));
systemData->setb(data, threadData, systemData);
vecScalarMultLS(n, systemData->b, -1.0, solverData->Ab + n*n);
} else {
/* calculate jacobian -> first n columns of matrix Ab*/
if(systemData->jacobianIndex != -1){
getAnalyticalJacobianTotalPivot(data, threadData, solverData->Ab, sysNumber);
} else {
assertStreamPrint(threadData, 1, "jacobian function pointer is invalid" );
}
/* calculate vector b (rhs) -> -b is last column of matrix Ab */
wrapper_fvec_totalpivot(aux_x, solverData->Ab + n*n, dataAndThreadData, sysNumber);
}
tmpJacEvalTime = rt_ext_tp_tock(&(solverData->timeClock));
systemData->jacobianTime += tmpJacEvalTime;
infoStreamPrint(LOG_LS_V, 0, "### %f time to set Matrix A and vector b.", tmpJacEvalTime);
debugMatrixDoubleLS(LOG_LS_V,"LGS: matrix Ab",solverData->Ab, n, n+1);
rt_ext_tp_tick(&(solverData->timeClock));
status = solveSystemWithTotalPivotSearchLS(n, solverData->x, solverData->Ab, solverData->indRow, solverData->indCol, &rank);
infoStreamPrint(LOG_LS_V, 0, "Solve System: %f", rt_ext_tp_tock(&(solverData->timeClock)));
if (status != 0)
{
warningStreamPrint(LOG_STDOUT, 0, "Error solving linear system of equations (no. %d) at time %f.", (int)systemData->equationIndex, data->localData[0]->timeValue);
success = 0;
} else {
debugVectorDoubleLS(LOG_LS_V, "SOLUTION:", solverData->x, n+1);
if (1 == systemData->method){
/* add the solution to old solution vector*/
vecAddLS(n, aux_x, solverData->x, aux_x);
wrapper_fvec_totalpivot(aux_x, solverData->b, dataAndThreadData, sysNumber);
} else {
/* take the solution */
vecCopyLS(n, solverData->x, aux_x);
}
if (ACTIVE_STREAM(LOG_LS_V)){
infoStreamPrint(LOG_LS_V, 1, "Solution x:");
infoStreamPrint(LOG_LS_V, 0, "System %d numVars %d.", eqSystemNumber, modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).numVar);
for(i=0; i<systemData->size; ++i)
{
infoStreamPrint(LOG_LS_V, 0, "[%d] %s = %g", i+1, modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).vars[i], aux_x[i]);
}
messageClose(LOG_LS_V);
}
}
return success;
}
/*! \fn solve linear system with Klu method
*
* \param [in] [data]
* [sysNumber] index of the corresponding linear system
*
*
* author: wbraun
*/
int
solveKlu(DATA *data, threadData_t *threadData, int sysNumber)
{
void *dataAndThreadData[2] = {data, threadData};
LINEAR_SYSTEM_DATA* systemData = &(data->simulationInfo->linearSystemData[sysNumber]);
DATA_KLU* solverData = (DATA_KLU*)systemData->solverData;
int i, j, status = 0, success = 0, n = systemData->size, eqSystemNumber = systemData->equationIndex, indexes[2] = {1,eqSystemNumber};
infoStreamPrintWithEquationIndexes(LOG_LS, 0, indexes, "Start solving Linear System %d (size %d) at time %g with Klu Solver",
eqSystemNumber, (int) systemData->size,
data->localData[0]->timeValue);
rt_ext_tp_tick(&(solverData->timeClock));
if (0 == systemData->method)
{
/* set A matrix */
solverData->Ap[0] = 0;
systemData->setA(data, threadData, systemData);
solverData->Ap[solverData->n_row] = solverData->nnz;
if (ACTIVE_STREAM(LOG_LS_V))
{
infoStreamPrint(LOG_LS_V, 1, "Matrix A");
printMatrixCSR(solverData->Ap, solverData->Ai, solverData->Ax, n);
messageClose(LOG_LS_V);
}
/* set b vector */
systemData->setb(data, threadData, systemData);
} else {
solverData->Ap[0] = 0;
/* calculate jacobian -> matrix A*/
if(systemData->jacobianIndex != -1){
getAnalyticalJacobian(data, threadData, sysNumber);
} else {
assertStreamPrint(threadData, 1, "jacobian function pointer is invalid" );
}
solverData->Ap[solverData->n_row] = solverData->nnz;
/* calculate vector b (rhs) */
memcpy(solverData->work, systemData->x, sizeof(double)*solverData->n_row);
residual_wrapper(solverData->work, systemData->b, dataAndThreadData, sysNumber);
}
infoStreamPrint(LOG_LS, 0, "### %f time to set Matrix A and vector b.", rt_ext_tp_tock(&(solverData->timeClock)));
if (ACTIVE_STREAM(LOG_LS_V))
{
if (ACTIVE_STREAM(LOG_LS_V))
{
infoStreamPrint(LOG_LS_V, 1, "Old solution x:");
for(i = 0; i < solverData->n_row; ++i)
infoStreamPrint(LOG_LS_V, 0, "[%d] %s = %g", i+1, modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).vars[i], systemData->x[i]);
messageClose(LOG_LS_V);
}
infoStreamPrint(LOG_LS_V, 1, "Matrix A n_rows = %d", solverData->n_row);
for (i=0; i<solverData->n_row; i++){
infoStreamPrint(LOG_LS_V, 0, "%d. Ap => %d -> %d", i, solverData->Ap[i], solverData->Ap[i+1]);
for (j=solverData->Ap[i]; j<solverData->Ap[i+1]; j++){
infoStreamPrint(LOG_LS_V, 0, "A[%d,%d] = %f", i, solverData->Ai[j], solverData->Ax[j]);
}
}
messageClose(LOG_LS_V);
for (i=0; i<solverData->n_row; i++)
infoStreamPrint(LOG_LS_V, 0, "b[%d] = %e", i, systemData->b[i]);
}
rt_ext_tp_tick(&(solverData->timeClock));
/* symbolic pre-ordering of A to reduce fill-in of L and U */
if (0 == solverData->numberSolving)
{
infoStreamPrint(LOG_LS_V, 0, "Perform analyze settings:\n - ordering used: %d\n - current status: %d", solverData->common.ordering, solverData->common.status);
solverData->symbolic = klu_analyze(solverData->n_col, solverData->Ap, solverData->Ai, &solverData->common);
}
/* compute the LU factorization of A */
if (0 == solverData->common.status){
solverData->numeric = klu_factor(solverData->Ap, solverData->Ai, solverData->Ax, solverData->symbolic, &solverData->common);
}
if (0 == solverData->common.status){
if (1 == systemData->method){
if (klu_solve(solverData->symbolic, solverData->numeric, solverData->n_col, 1, systemData->b, &solverData->common)){
success = 1;
}
} else {
if (klu_tsolve(solverData->symbolic, solverData->numeric, solverData->n_col, 1, systemData->b, &solverData->common)){
success = 1;
}
}
}
infoStreamPrint(LOG_LS, 0, "Solve System: %f", rt_ext_tp_tock(&(solverData->timeClock)));
/* print solution */
if (1 == success){
if (1 == systemData->method){
/* take the solution */
for(i = 0; i < solverData->n_row; ++i)
systemData->x[i] += systemData->b[i];
/* update inner equations */
residual_wrapper(systemData->x, solverData->work, dataAndThreadData, sysNumber);
} else {
/* the solution is automatically in x */
memcpy(systemData->x, systemData->b, sizeof(double)*systemData->size);
}
if (ACTIVE_STREAM(LOG_LS_V))
{
infoStreamPrint(LOG_LS_V, 1, "Solution x:");
infoStreamPrint(LOG_LS_V, 0, "System %d numVars %d.", eqSystemNumber, modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).numVar);
for(i = 0; i < systemData->size; ++i)
infoStreamPrint(LOG_LS_V, 0, "[%d] %s = %g", i+1, modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).vars[i], systemData->x[i]);
messageClose(LOG_LS_V);
}
}
else
{
warningStreamPrint(LOG_STDOUT, 0,
"Failed to solve linear system of equations (no. %d) at time %f, system status %d.",
(int)systemData->equationIndex, data->localData[0]->timeValue, status);
}
solverData->numberSolving += 1;
return success;
}
void TimeManager::updateTick()
{
_realTime = rt_ext_tp_tock(&_visualTimer)*1e9;
}
int
solveLis(DATA *data, threadData_t *threadData, int sysNumber)
{
void *dataAndThreadData[2] = {data, threadData};
LINEAR_SYSTEM_DATA* systemData = &(data->simulationInfo->linearSystemData[sysNumber]);
DATA_LIS* solverData = (DATA_LIS*)systemData->solverData;
int i, ret, success = 1, ni, iflag = 1, n = systemData->size, eqSystemNumber = systemData->equationIndex;
char *lis_returncode[] = {"LIS_SUCCESS", "LIS_ILL_OPTION", "LIS_BREAKDOWN", "LIS_OUT_OF_MEMORY", "LIS_MAXITER", "LIS_NOT_IMPLEMENTED", "LIS_ERR_FILE_IO"};
LIS_INT err;
int indexes[2] = {1,eqSystemNumber};
infoStreamPrintWithEquationIndexes(LOG_LS, 0, indexes, "Start solving Linear System %d (size %d) at time %g with Lis Solver",
eqSystemNumber, (int) systemData->size,
data->localData[0]->timeValue);
/* set old values as start value for the iteration */
for(i=0; i<n; i++) {
err = lis_vector_set_value(LIS_INS_VALUE, i, systemData->x[i], solverData->x);
}
rt_ext_tp_tick(&(solverData->timeClock));
if (0 == systemData->method)
{
lis_matrix_set_size(solverData->A, solverData->n_row, 0);
/* set A matrix */
systemData->setA(data, threadData, systemData);
lis_matrix_assemble(solverData->A);
/* set b vector */
systemData->setb(data, threadData, systemData);
} else {
lis_matrix_set_size(solverData->A, solverData->n_row, 0);
/* calculate jacobian -> matrix A*/
if(systemData->jacobianIndex != -1) {
getAnalyticalJacobianLis(data, threadData, sysNumber);
} else {
assertStreamPrint(threadData, 1, "jacobian function pointer is invalid" );
}
lis_matrix_assemble(solverData->A);
/* calculate vector b (rhs) */
memcpy(solverData->work, systemData->x, sizeof(double)*solverData->n_row);
wrapper_fvec_lis(solverData->work, systemData->b, dataAndThreadData, sysNumber);
/* set b vector */
for(i=0; i<n; i++) {
err = lis_vector_set_value(LIS_INS_VALUE, i, systemData->b[i], solverData->b);
}
}
infoStreamPrint(LOG_LS, 0, "### %f time to set Matrix A and vector b.", rt_ext_tp_tock(&(solverData->timeClock)));
rt_ext_tp_tick(&(solverData->timeClock));
err = lis_solve(solverData->A,solverData->b,solverData->x,solverData->solver);
infoStreamPrint(LOG_LS, 0, "Solve System: %f", rt_ext_tp_tock(&(solverData->timeClock)));
if (err) {
warningStreamPrint(LOG_LS_V, 0, "lis_solve : %s(code=%d)\n\n ", lis_returncode[err], err);
printLisMatrixCSR(solverData->A, solverData->n_row);
success = 0;
}
/* Log A*x=b */
if(ACTIVE_STREAM(LOG_LS_V))
{
char *buffer = (char*)malloc(sizeof(char)*n*25);
printLisMatrixCSR(solverData->A, n);
/* b vector */
infoStreamPrint(LOG_LS_V, 1, "b vector [%d]", n);
for(i=0; i<n; i++)
{
buffer[0] = 0;
sprintf(buffer, "%s%20.12g ", buffer, solverData->b->value[i]);
infoStreamPrint(LOG_LS_V, 0, "%s", buffer);
}
messageClose(LOG_LS_V);
free(buffer);
}
/* print solution */
if (1 == success) {
if (1 == systemData->method) {
/* take the solution */
lis_vector_get_values(solverData->x, 0, solverData->n_row, systemData->x);
for(i = 0; i < solverData->n_row; ++i)
systemData->x[i] += solverData->work[i];
/* update inner equations */
wrapper_fvec_lis(systemData->x, solverData->work, dataAndThreadData, sysNumber);
} else {
/* write solution */
lis_vector_get_values(solverData->x, 0, solverData->n_row, systemData->x);
}
if (ACTIVE_STREAM(LOG_LS_V))
{
infoStreamPrint(LOG_LS_V, 1, "Solution x:");
infoStreamPrint(LOG_LS_V, 0, "System %d numVars %d.", eqSystemNumber, modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).numVar);
for(i = 0; i < systemData->size; ++i)
infoStreamPrint(LOG_LS_V, 0, "[%d] %s = %g", i+1, modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).vars[i], systemData->x[i]);
messageClose(LOG_LS_V);
}
}
else
{
warningStreamPrint(LOG_STDOUT, 0,
"Failed to solve linear system of equations (no. %d) at time %f, system status %d.",
(int)systemData->equationIndex, data->localData[0]->timeValue, err);
}
return success;
}
/*! \fn solve non-linear systems
*
* \param [in] [data]
* \param [in] [sysNumber] index of corresponding non-linear system
*
* \author wbraun
*/
int solve_nonlinear_system(DATA *data, threadData_t *threadData, int sysNumber)
{
void *dataAndThreadData[2] = {data, threadData};
int success = 0, saveJumpState;
NONLINEAR_SYSTEM_DATA* nonlinsys = &(data->simulationInfo->nonlinearSystemData[sysNumber]);
struct dataNewtonAndHybrid *mixedSolverData;
data->simulationInfo->currentNonlinearSystemIndex = sysNumber;
/* enable to avoid division by zero */
data->simulationInfo->noThrowDivZero = 1;
((DATA*)data)->simulationInfo->solveContinuous = 1;
/* performance measurement */
rt_ext_tp_tick(&nonlinsys->totalTimeClock);
/* grab the initial guess */
infoStreamPrint(LOG_NLS_EXTRAPOLATE, 1, "############ Start new iteration for system %ld at time at %g ############", nonlinsys->equationIndex, data->localData[0]->timeValue);
/* if last solving is too long ago use just old values */
if (fabs(data->localData[0]->timeValue - nonlinsys->lastTimeSolved) < 5*data->simulationInfo->stepSize)
{
getInitialGuess(nonlinsys, data->localData[0]->timeValue);
}
else
{
nonlinsys->getIterationVars(data, nonlinsys->nlsx);
memcpy(nonlinsys->nlsx, nonlinsys->nlsxOld, nonlinsys->size*(sizeof(double)));
}
/* update non continuous */
if (data->simulationInfo->discreteCall)
{
updateInnerEquation(dataAndThreadData, sysNumber, 1);
}
/* try */
#ifndef OMC_EMCC
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
/* handle asserts */
saveJumpState = threadData->currentErrorStage;
threadData->currentErrorStage = ERROR_NONLINEARSOLVER;
/* use the selected solver for solving nonlinear system */
switch(data->simulationInfo->nlsMethod)
{
#if !defined(OMC_MINIMAL_RUNTIME)
case NLS_HYBRID:
success = solveHybrd(data, threadData, sysNumber);
break;
case NLS_KINSOL:
success = nlsKinsolSolve(data, threadData, sysNumber);
break;
case NLS_NEWTON:
success = solveNewton(data, threadData, sysNumber);
/* check if solution process was successful, if not use alternative tearing set if available (dynamic tearing)*/
if (!success && nonlinsys->strictTearingFunctionCall != NULL){
debugString(LOG_DT, "Solving the casual tearing set failed! Now the strict tearing set is used.");
success = nonlinsys->strictTearingFunctionCall(data, threadData);
if (success) success=2;
}
break;
#endif
case NLS_HOMOTOPY:
success = solveHomotopy(data, threadData, sysNumber);
break;
#if !defined(OMC_MINIMAL_RUNTIME)
case NLS_MIXED:
mixedSolverData = nonlinsys->solverData;
nonlinsys->solverData = mixedSolverData->newtonData;
success = solveHomotopy(data, threadData, sysNumber);
/* check if solution process was successful, if not use alternative tearing set if available (dynamic tearing)*/
if (!success && nonlinsys->strictTearingFunctionCall != NULL){
debugString(LOG_DT, "Solving the casual tearing set failed! Now the strict tearing set is used.");
success = nonlinsys->strictTearingFunctionCall(data, threadData);
if (success){
success=2;
/* update iteration variables of the causal set*/
nonlinsys->getIterationVars(data, nonlinsys->nlsx);
}
}
if (!success) {
nonlinsys->solverData = mixedSolverData->hybridData;
success = solveHybrd(data, threadData, sysNumber);
}
nonlinsys->solverData = mixedSolverData;
break;
#endif
default:
throwStreamPrint(threadData, "unrecognized nonlinear solver");
}
/* set result */
nonlinsys->solved = success;
/* handle asserts */
threadData->currentErrorStage = saveJumpState;
/*catch */
#ifndef OMC_EMCC
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
/* update value list database */
updateInitialGuessDB(nonlinsys, data->localData[0]->timeValue, data->simulationInfo->currentContext);
if (nonlinsys->solved == 1)
{
nonlinsys->lastTimeSolved = data->localData[0]->timeValue;
}
/* enable to avoid division by zero */
data->simulationInfo->noThrowDivZero = 0;
((DATA*)data)->simulationInfo->solveContinuous = 0;
/* performance measurement and statistics */
nonlinsys->totalTime += rt_ext_tp_tock(&(nonlinsys->totalTimeClock));
nonlinsys->numberOfCall++;
/* write csv file for debugging */
#if !defined(OMC_MINIMAL_RUNTIME)
if (data->simulationInfo->nlsCsvInfomation)
{
print_csvLineCallStats(((struct csvStats*) nonlinsys->csvData)->callStats,
nonlinsys->numberOfCall,
data->localData[0]->timeValue,
nonlinsys->numberOfIterations,
nonlinsys->numberOfFEval,
nonlinsys->totalTime,
nonlinsys->solved
);
}
#endif
return check_nonlinear_solution(data, 1, sysNumber);
}
