static inline void smallIntSolverStep(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo, const double tstop){
long double a;
int iter;
int err;
solverInfo->currentTime = data->localData[0]->timeValue;
while(solverInfo->currentTime < tstop){
a = 1.0;
iter = 0;
rotateRingBuffer(data->simulationData, 1, (void**) data->localData);
do{
if(data->modelData->nStates < 1){
solverInfo->currentTime = tstop;
data->localData[0]->timeValue = tstop;
break;
}
solverInfo->currentStepSize = a*(tstop - solverInfo->currentTime);
err = dassl_step(data, threadData, solverInfo);
a *= 0.5;
if(++iter > 10){
printf("\n");
warningStreamPrint(LOG_STDOUT, 0, "Initial guess failure at time %.12g", solverInfo->currentTime);
assert(0);
}
}while(err < 0);
data->callback->updateContinuousSystem(data, threadData);
}
}
/*! \fn performSimulation(DATA* data, SOLVER_INFO* solverInfo)
*
* \param [ref] [data]
* \param [ref] [solverInfo]
*
* This function performs the simulation controlled by solverInfo.
*/
int prefixedName_performSimulation(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo)
{
TRACE_PUSH
int retValIntegrator=0;
int retValue=0;
int i, retry=0;
unsigned int __currStepNo = 0;
SIMULATION_INFO *simInfo = &(data->simulationInfo);
solverInfo->currentTime = simInfo->startTime;
MEASURE_TIME fmt;
fmtInit(data, &fmt);
printAllVarsDebug(data, 0, LOG_DEBUG); /* ??? */
printSparseStructure(data, LOG_SOLVER);
modelica_boolean syncStep = 0;
/***** Start main simulation loop *****/
while(solverInfo->currentTime < simInfo->stopTime)
{
int success = 0;
threadData->currentErrorStage = ERROR_SIMULATION;
#ifdef USE_DEBUG_TRACE
if(useStream[LOG_TRACE])
printf("TRACE: push loop step=%u, time=%.12g\n", __currStepNo, solverInfo->currentTime);
#endif
omc_alloc_interface.collect_a_little();
/* try */
#if !defined(OMC_EMCC)
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
{
clear_rt_step(data);
rotateRingBuffer(data->simulationData, 1, (void**) data->localData);
modelica_boolean syncEventStep = solverInfo->didEventStep || syncStep;
/***** Calculation next step size *****/
if(syncEventStep)
{
infoStreamPrint(LOG_SOLVER, 0, "offset value for the next step: %.16g", (solverInfo->currentTime - solverInfo->laststep));
}
else
{
if (solverInfo->solverNoEquidistantGrid)
{
if (solverInfo->currentTime >= solverInfo->lastdesiredStep)
{
double tmpTime = solverInfo->currentTime;
do
{
__currStepNo++;
solverInfo->currentStepSize = (double)(__currStepNo*(simInfo->stopTime-simInfo->startTime))/(simInfo->numSteps) + simInfo->startTime - solverInfo->currentTime;
}while(solverInfo->currentStepSize <= 0);
}
}
else
{
__currStepNo++;
}
}
solverInfo->currentStepSize = (double)(__currStepNo*(simInfo->stopTime-simInfo->startTime))/(simInfo->numSteps) + simInfo->startTime - solverInfo->currentTime;
solverInfo->lastdesiredStep = solverInfo->currentTime + solverInfo->currentStepSize;
/* if retry reduce stepsize */
if(0 != retry)
{
solverInfo->currentStepSize /= 2;
}
/***** End calculation next step size *****/
checkForSynchronous(data, solverInfo);
/* check for next time event */
checkForSampleEvent(data, solverInfo);
/* if regular output point and last time events are almost equals
* skip that step and go further */
if (solverInfo->currentStepSize < 1e-15 && syncEventStep){
__currStepNo++;
continue;
}
/*
* integration step determine all states by a integration method
* update continuous system
*/
retValIntegrator = simulationStep(data, threadData, solverInfo);
if (S_OPTIMIZATION == solverInfo->solverMethod) break;
syncStep = simulationUpdate(data, threadData, solverInfo);
retry = 0; /* reset retry */
fmtEmitStep(data, threadData, &fmt, solverInfo->didEventStep);
saveDasslStats(solverInfo);
checkSimulationTerminated(data, solverInfo);
/* terminate for some cases:
* - integrator fails
* - non-linear system failed to solve
* - assert was called
*/
if(retValIntegrator)
{
retValue = -1 + retValIntegrator;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | Integrator failed. | Simulation terminated at time %g", solverInfo->currentTime);
break;
}
else if(check_nonlinear_solutions(data, 0))
{
retValue = -2;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | non-linear system solver failed. | Simulation terminated at time %g", solverInfo->currentTime);
break;
}
else if(check_linear_solutions(data, 0))
{
retValue = -3;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | linear system solver failed. | Simulation terminated at time %g", solverInfo->currentTime);
break;
}
else if(check_mixed_solutions(data, 0))
{
retValue = -4;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | mixed system solver failed. | Simulation terminated at time %g", solverInfo->currentTime);
break;
}
success = 1;
}
#if !defined(OMC_EMCC)
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
if (!success) /* catch */
{
if(0 == retry)
{
retrySimulationStep(data, threadData, solverInfo);
retry = 1;
}
else
{
retValue = -1;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | Simulation terminated by an assert at time: %g", data->localData[0]->timeValue);
break;
}
}
TRACE_POP /* pop loop */
} /* end while solver */
fmtClose(&fmt);
TRACE_POP
return retValue;
}
int dassl_initial(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo, DASSL_DATA *dasslData)
{
TRACE_PUSH
/* work arrays for DASSL */
unsigned int i;
SIMULATION_DATA tmpSimData = {0};
RHSFinalFlag = 0;
dasslData->liw = 40 + data->modelData.nStates;
dasslData->lrw = 60 + ((maxOrder + 4) * data->modelData.nStates) + (data->modelData.nStates * data->modelData.nStates) + (3*data->modelData.nZeroCrossings);
dasslData->rwork = (double*) calloc(dasslData->lrw, sizeof(double));
assertStreamPrint(threadData, 0 != dasslData->rwork,"out of memory");
dasslData->iwork = (int*) calloc(dasslData->liw, sizeof(int));
assertStreamPrint(threadData, 0 != dasslData->iwork,"out of memory");
dasslData->ng = (int) data->modelData.nZeroCrossings;
dasslData->jroot = (int*) calloc(data->modelData.nZeroCrossings, sizeof(int));
dasslData->rpar = (double**) malloc(3*sizeof(double*));
dasslData->ipar = (int*) malloc(sizeof(int));
dasslData->ipar[0] = ACTIVE_STREAM(LOG_JAC);
assertStreamPrint(threadData, 0 != dasslData->ipar,"out of memory");
dasslData->atol = (double*) malloc(data->modelData.nStates*sizeof(double));
dasslData->rtol = (double*) malloc(data->modelData.nStates*sizeof(double));
dasslData->info = (int*) calloc(infoLength, sizeof(int));
assertStreamPrint(threadData, 0 != dasslData->info,"out of memory");
dasslData->dasslStatistics = (unsigned int*) calloc(numStatistics, sizeof(unsigned int));
assertStreamPrint(threadData, 0 != dasslData->dasslStatistics,"out of memory");
dasslData->dasslStatisticsTmp = (unsigned int*) calloc(numStatistics, sizeof(unsigned int));
assertStreamPrint(threadData, 0 != dasslData->dasslStatisticsTmp,"out of memory");
dasslData->idid = 0;
dasslData->sqrteps = sqrt(DBL_EPSILON);
dasslData->ysave = (double*) malloc(data->modelData.nStates*sizeof(double));
dasslData->delta_hh = (double*) malloc(data->modelData.nStates*sizeof(double));
dasslData->newdelta = (double*) malloc(data->modelData.nStates*sizeof(double));
dasslData->stateDer = (double*) malloc(data->modelData.nStates*sizeof(double));
dasslData->currentContext = CONTEXT_UNKNOWN;
/* setup internal ring buffer for dassl */
/* RingBuffer */
dasslData->simulationData = 0;
dasslData->simulationData = allocRingBuffer(SIZERINGBUFFER, sizeof(SIMULATION_DATA));
if(!data->simulationData)
{
throwStreamPrint(threadData, "Your memory is not strong enough for our Ringbuffer!");
}
/* prepare RingBuffer */
for(i=0; i<SIZERINGBUFFER; i++)
{
/* set time value */
tmpSimData.timeValue = 0;
/* buffer for all variable values */
tmpSimData.realVars = (modelica_real*)calloc(data->modelData.nVariablesReal, sizeof(modelica_real));
assertStreamPrint(threadData, 0 != tmpSimData.realVars, "out of memory");
tmpSimData.integerVars = (modelica_integer*)calloc(data->modelData.nVariablesInteger, sizeof(modelica_integer));
assertStreamPrint(threadData, 0 != tmpSimData.integerVars, "out of memory");
tmpSimData.booleanVars = (modelica_boolean*)calloc(data->modelData.nVariablesBoolean, sizeof(modelica_boolean));
assertStreamPrint(threadData, 0 != tmpSimData.booleanVars, "out of memory");
tmpSimData.stringVars = (modelica_string*) GC_malloc_uncollectable(data->modelData.nVariablesString * sizeof(modelica_string));
assertStreamPrint(threadData, 0 != tmpSimData.stringVars, "out of memory");
appendRingData(dasslData->simulationData, &tmpSimData);
}
dasslData->localData = (SIMULATION_DATA**) GC_malloc_uncollectable(SIZERINGBUFFER * sizeof(SIMULATION_DATA));
memset(dasslData->localData, 0, SIZERINGBUFFER * sizeof(SIMULATION_DATA));
rotateRingBuffer(dasslData->simulationData, 0, (void**) dasslData->localData);
/* end setup internal ring buffer for dassl */
/* ### start configuration of dassl ### */
infoStreamPrint(LOG_SOLVER, 1, "Configuration of the dassl code:");
/* set nominal values of the states for absolute tolerances */
dasslData->info[1] = 1;
infoStreamPrint(LOG_SOLVER, 1, "The relative tolerance is %g. Following absolute tolerances are used for the states: ", data->simulationInfo.tolerance);
for(i=0; i<data->modelData.nStates; ++i)
{
dasslData->rtol[i] = data->simulationInfo.tolerance;
dasslData->atol[i] = data->simulationInfo.tolerance * fmax(fabs(data->modelData.realVarsData[i].attribute.nominal), 1e-32);
infoStreamPrint(LOG_SOLVER, 0, "%d. %s -> %g", i+1, data->modelData.realVarsData[i].info.name, dasslData->atol[i]);
}
messageClose(LOG_SOLVER);
/* let dassl return at every internal step */
dasslData->info[2] = 1;
/* define maximum step size, which is dassl is allowed to go */
if (omc_flag[FLAG_MAX_STEP_SIZE])
{
double maxStepSize = atof(omc_flagValue[FLAG_MAX_STEP_SIZE]);
assertStreamPrint(threadData, maxStepSize >= DASSL_STEP_EPS, "Selected maximum step size %e is too small.", maxStepSize);
dasslData->rwork[1] = maxStepSize;
dasslData->info[6] = 1;
infoStreamPrint(LOG_SOLVER, 0, "maximum step size %g", dasslData->rwork[1]);
}
else
{
infoStreamPrint(LOG_SOLVER, 0, "maximum step size not set");
}
/* define initial step size, which is dassl is used every time it restarts */
if (omc_flag[FLAG_INITIAL_STEP_SIZE])
{
double initialStepSize = atof(omc_flagValue[FLAG_INITIAL_STEP_SIZE]);
assertStreamPrint(threadData, initialStepSize >= DASSL_STEP_EPS, "Selected initial step size %e is too small.", initialStepSize);
dasslData->rwork[2] = initialStepSize;
dasslData->info[7] = 1;
infoStreamPrint(LOG_SOLVER, 0, "initial step size %g", dasslData->rwork[2]);
}
else
{
infoStreamPrint(LOG_SOLVER, 0, "initial step size not set");
}
/* define maximum integration order of dassl */
if (omc_flag[FLAG_MAX_ORDER])
{
int maxOrder = atoi(omc_flagValue[FLAG_MAX_ORDER]);
assertStreamPrint(threadData, maxOrder >= 1 && maxOrder <= 5, "Selected maximum order %d is out of range (1-5).", maxOrder);
dasslData->iwork[2] = maxOrder;
dasslData->info[8] = 1;
}
infoStreamPrint(LOG_SOLVER, 0, "maximum integration order %d", dasslData->info[8]?dasslData->iwork[2]:maxOrder);
/* if FLAG_NOEQUIDISTANT_GRID is set, choose dassl step method */
if (omc_flag[FLAG_NOEQUIDISTANT_GRID])
{
dasslData->dasslSteps = 1; /* TRUE */
solverInfo->solverNoEquidistantGrid = 1;
}
else
{
dasslData->dasslSteps = 0; /* FALSE */
}
infoStreamPrint(LOG_SOLVER, 0, "use equidistant time grid %s", dasslData->dasslSteps?"NO":"YES");
/* check if Flags FLAG_NOEQUIDISTANT_OUT_FREQ or FLAG_NOEQUIDISTANT_OUT_TIME are set */
if (dasslData->dasslSteps){
if (omc_flag[FLAG_NOEQUIDISTANT_OUT_FREQ])
{
dasslData->dasslStepsFreq = atoi(omc_flagValue[FLAG_NOEQUIDISTANT_OUT_FREQ]);
}
else if (omc_flag[FLAG_NOEQUIDISTANT_OUT_TIME])
{
dasslData->dasslStepsTime = atof(omc_flagValue[FLAG_NOEQUIDISTANT_OUT_TIME]);
dasslData->rwork[1] = dasslData->dasslStepsTime;
dasslData->info[6] = 1;
infoStreamPrint(LOG_SOLVER, 0, "maximum step size %g", dasslData->rwork[1]);
} else {
dasslData->dasslStepsFreq = 1;
dasslData->dasslStepsTime = 0.0;
}
if (omc_flag[FLAG_NOEQUIDISTANT_OUT_FREQ] && omc_flag[FLAG_NOEQUIDISTANT_OUT_TIME]){
warningStreamPrint(LOG_STDOUT, 0, "The flags are \"noEquidistantOutputFrequency\" "
"and \"noEquidistantOutputTime\" are in opposition "
"to each other. The flag \"noEquidistantOutputFrequency\" superiors.");
}
infoStreamPrint(LOG_SOLVER, 0, "as the output frequency control is used: %d", dasslData->dasslStepsFreq);
infoStreamPrint(LOG_SOLVER, 0, "as the output frequency time step control is used: %f", dasslData->dasslStepsTime);
}
/* if FLAG_DASSL_JACOBIAN is set, choose dassl jacobian calculation method */
if (omc_flag[FLAG_DASSL_JACOBIAN])
{
for(i=1; i< DASSL_JAC_MAX;i++)
{
if(!strcmp((const char*)omc_flagValue[FLAG_DASSL_JACOBIAN], dasslJacobianMethodStr[i])){
dasslData->dasslJacobian = (int)i;
break;
}
}
if(dasslData->dasslJacobian == DASSL_JAC_UNKNOWN)
{
if (ACTIVE_WARNING_STREAM(LOG_SOLVER))
{
warningStreamPrint(LOG_SOLVER, 1, "unrecognized jacobian calculation method %s, current options are:", (const char*)omc_flagValue[FLAG_DASSL_JACOBIAN]);
for(i=1; i < DASSL_JAC_MAX; ++i)
{
warningStreamPrint(LOG_SOLVER, 0, "%-15s [%s]", dasslJacobianMethodStr[i], dasslJacobianMethodDescStr[i]);
}
messageClose(LOG_SOLVER);
}
throwStreamPrint(threadData,"unrecognized jacobian calculation method %s", (const char*)omc_flagValue[FLAG_DASSL_JACOBIAN]);
}
/* default case colored numerical jacobian */
}
else
{
dasslData->dasslJacobian = DASSL_COLOREDNUMJAC;
}
/* selects the calculation method of the jacobian */
if(dasslData->dasslJacobian == DASSL_COLOREDNUMJAC ||
dasslData->dasslJacobian == DASSL_COLOREDSYMJAC ||
dasslData->dasslJacobian == DASSL_NUMJAC ||
dasslData->dasslJacobian == DASSL_SYMJAC)
{
if (data->callback->initialAnalyticJacobianA(data, threadData))
{
infoStreamPrint(LOG_STDOUT, 0, "Jacobian or SparsePattern is not generated or failed to initialize! Switch back to normal.");
dasslData->dasslJacobian = DASSL_INTERNALNUMJAC;
}
else
{
dasslData->info[4] = 1; /* use sub-routine JAC */
}
}
/* set up the appropriate function pointer */
switch (dasslData->dasslJacobian){
case DASSL_COLOREDNUMJAC:
dasslData->jacobianFunction = JacobianOwnNumColored;
break;
case DASSL_COLOREDSYMJAC:
dasslData->jacobianFunction = JacobianSymbolicColored;
break;
case DASSL_SYMJAC:
dasslData->jacobianFunction = JacobianSymbolic;
break;
case DASSL_NUMJAC:
dasslData->jacobianFunction = JacobianOwnNum;
break;
case DASSL_INTERNALNUMJAC:
dasslData->jacobianFunction = dummy_Jacobian;
break;
default:
throwStreamPrint(threadData,"unrecognized jacobian calculation method %s", (const char*)omc_flagValue[FLAG_DASSL_JACOBIAN]);
break;
}
infoStreamPrint(LOG_SOLVER, 0, "jacobian is calculated by %s", dasslJacobianMethodDescStr[dasslData->dasslJacobian]);
/* if FLAG_DASSL_NO_ROOTFINDING is set, choose dassl with out internal root finding */
if(omc_flag[FLAG_DASSL_NO_ROOTFINDING])
{
dasslData->dasslRootFinding = 0;
dasslData->zeroCrossingFunction = dummy_zeroCrossing;
dasslData->ng = 0;
}
else
{
solverInfo->solverRootFinding = 1;
dasslData->dasslRootFinding = 1;
dasslData->zeroCrossingFunction = function_ZeroCrossingsDASSL;
}
infoStreamPrint(LOG_SOLVER, 0, "dassl uses internal root finding method %s", dasslData->dasslRootFinding?"YES":"NO");
/* if FLAG_DASSL_NO_RESTART is set, choose dassl step method */
if (omc_flag[FLAG_DASSL_NO_RESTART])
{
dasslData->dasslAvoidEventRestart = 1; /* TRUE */
}
else
{
dasslData->dasslAvoidEventRestart = 0; /* FALSE */
}
infoStreamPrint(LOG_SOLVER, 0, "dassl performs an restart after an event occurs %s", dasslData->dasslAvoidEventRestart?"NO":"YES");
/* ### end configuration of dassl ### */
messageClose(LOG_SOLVER);
TRACE_POP
return 0;
}
/*!
* create initial guess dasslColorSymJac
* author: Vitalij Ruge
**/
static short initial_guess_ipopt_sim(OptData *optData, SOLVER_INFO* solverInfo, const short o)
{
double *u0;
int i,j,k,l;
modelica_real ***v;
long double tol;
short printGuess, op=1;
const int nx = optData->dim.nx;
const int nu = optData->dim.nu;
const int np = optData->dim.np;
const int nsi = optData->dim.nsi;
const int nReal = optData->dim.nReal;
char *cflags = (char*)omc_flagValue[FLAG_IIF];
DATA* data = optData->data;
threadData_t *threadData = optData->threadData;
SIMULATION_INFO *sInfo = data->simulationInfo;
if(!data->simulationInfo->external_input.active){
externalInputallocate(data);
}
/* Initial DASSL solver */
DASSL_DATA* dasslData = (DASSL_DATA*) malloc(sizeof(DASSL_DATA));
tol = data->simulationInfo->tolerance;
data->simulationInfo->tolerance = fmin(fmax(tol,1e-8),1e-3);
infoStreamPrint(LOG_SOLVER, 0, "Initial Guess: Initializing DASSL");
sInfo->solverMethod = "dassl";
solverInfo->solverMethod = S_DASSL;
dassl_initial(data, threadData, solverInfo, dasslData);
solverInfo->solverMethod = S_OPTIMIZATION;
solverInfo->solverData = dasslData;
u0 = optData->bounds.u0;
v = optData->v;
if(!data->simulationInfo->external_input.active)
for(i = 0; i< nu;++i)
data->simulationInfo->inputVars[i] = u0[i]/*optData->bounds.scalF[i + nx]*/;
printGuess = (short)(ACTIVE_STREAM(LOG_INIT) && !ACTIVE_STREAM(LOG_SOLVER));
if((double)data->simulationInfo->startTime < optData->time.t0){
double t = data->simulationInfo->startTime;
const int nBoolean = data->modelData->nVariablesBoolean;
const int nInteger = data->modelData->nVariablesInteger;
const int nRelations = data->modelData->nRelations;
FILE * pFile = optData->pFile;
fprintf(pFile, "%lf ",(double)t);
for(i = 0; i < nu; ++i){
fprintf(pFile, "%lf ", (float)data->simulationInfo->inputVars[i]);
}
fprintf(pFile, "%s", "\n");
if(1){
printf("\nPreSim");
printf("\n========================================================\n");
printf("\ndone: time[%i] = %g",0,(double)data->simulationInfo->startTime);
}
while(t < optData->time.t0){
externalInputUpdate(data);
smallIntSolverStep(data, threadData, solverInfo, fmin(t += optData->time.dt[0], optData->time.t0));
printf("\ndone: time[%i] = %g",0,(double)data->localData[0]->timeValue);
sim_result.emit(&sim_result,data,threadData);
fprintf(pFile, "%lf ",(double)data->localData[0]->timeValue);
for(i = 0; i < nu; ++i){
fprintf(pFile, "%lf ", (float)data->simulationInfo->inputVars[i]);
}
fprintf(pFile, "%s", "\n");
}
memcpy(optData->v0, data->localData[0]->realVars, nReal*sizeof(modelica_real));
memcpy(optData->i0, data->localData[0]->integerVars, nInteger*sizeof(modelica_integer));
memcpy(optData->b0, data->localData[0]->booleanVars, nBoolean*sizeof(modelica_boolean));
memcpy(optData->i0Pre, data->simulationInfo->integerVarsPre, nInteger*sizeof(modelica_integer));
memcpy(optData->b0Pre, data->simulationInfo->booleanVarsPre, nBoolean*sizeof(modelica_boolean));
memcpy(optData->v0Pre, data->simulationInfo->realVarsPre, nReal*sizeof(modelica_real));
memcpy(optData->rePre, data->simulationInfo->relationsPre, nRelations*sizeof(modelica_boolean));
memcpy(optData->re, data->simulationInfo->relations, nRelations*sizeof(modelica_boolean));
memcpy(optData->storeR, data->simulationInfo->storedRelations, nRelations*sizeof(modelica_boolean));
if(1){
printf("\n--------------------------------------------------------");
printf("\nfinished: PreSim");
printf("\n========================================================\n");
}
}
if(o == 2 && cflags && strcmp(cflags, ""))
op = 2;
if(printGuess ){
printf("\nInitial Guess");
printf("\n========================================================\n");
printf("\ndone: time[%i] = %g",0,(double)optData->time.t0);
}
for(i = 0, k=1; i < nsi; ++i){
for(j = 0; j < np; ++j, ++k){
externalInputUpdate(data);
if(op==1)
smallIntSolverStep(data, threadData, solverInfo, (double)optData->time.t[i][j]);
else{
rotateRingBuffer(data->simulationData, 1, (void**) data->localData);
importStartValues(data, threadData, cflags, (double)optData->time.t[i][j]);
for(l=0; l<nReal; ++l){
data->localData[0]->realVars[l] = data->modelData->realVarsData[l].attribute.start;
}
}
if(printGuess)
printf("\ndone: time[%i] = %g", k, (double)optData->time.t[i][j]);
memcpy(v[i][j], data->localData[0]->realVars, nReal*sizeof(double));
for(l = 0; l < nx; ++l){
if(((double) v[i][j][l] < (double)optData->bounds.vmin[l]*optData->bounds.vnom[l])
|| (double) (v[i][j][l] > (double) optData->bounds.vmax[l]*optData->bounds.vnom[l])){
printf("\n********************************************\n");
warningStreamPrint(LOG_STDOUT, 0, "Initial guess failure at time %g",(double)optData->time.t[i][j]);
warningStreamPrint(LOG_STDOUT, 0, "%g<= (%s=%g) <=%g",
(double)optData->bounds.vmin[l]*optData->bounds.vnom[l],
data->modelData->realVarsData[l].info.name,
(double)v[i][j][l],
(double)optData->bounds.vmax[l]*optData->bounds.vnom[l]);
printf("\n********************************************");
}
}
}
}
if(printGuess){
printf("\n--------------------------------------------------------");
printf("\nfinished: Initial Guess");
printf("\n========================================================\n");
}
dassl_deinitial(solverInfo->solverData);
solverInfo->solverData = (void*)optData;
sInfo->solverMethod = "optimization";
data->simulationInfo->tolerance = tol;
externalInputFree(data);
return op;
}
/*! \fn performSimulation(DATA* data, SOLVER_INFO* solverInfo)
*
* \param [ref] [data]
* \param [ref] [solverInfo]
*
* This function performs the simulation controlled by solverInfo.
*/
int prefixedName_performSimulation(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo)
{
TRACE_PUSH
int retValIntegrator=0;
int retValue=0;
int i, retry=0, steadStateReached=0;
unsigned int __currStepNo = 0;
SIMULATION_INFO *simInfo = data->simulationInfo;
solverInfo->currentTime = simInfo->startTime;
MEASURE_TIME fmt;
fmtInit(data, &fmt);
printAllVarsDebug(data, 0, LOG_DEBUG); /* ??? */
if (!compiledInDAEMode)
{
printSparseStructure(&(data->simulationInfo->analyticJacobians[data->callback->INDEX_JAC_A].sparsePattern),
data->simulationInfo->analyticJacobians[data->callback->INDEX_JAC_A].sizeRows,
data->simulationInfo->analyticJacobians[data->callback->INDEX_JAC_A].sizeCols,
LOG_SOLVER, "ODE sparse pattern");
}
else
{
printSparseStructure(data->simulationInfo->daeModeData->sparsePattern,
data->simulationInfo->daeModeData->nResidualVars,
data->simulationInfo->daeModeData->nResidualVars,
LOG_SOLVER, "DAE sparse pattern");
}
if(terminationTerminate)
{
printInfo(stdout, TermInfo);
fputc('\n', stdout);
infoStreamPrint(LOG_STDOUT, 0, "Simulation call terminate() at initialization (time %f)\nMessage : %s", data->localData[0]->timeValue, TermMsg);
data->simulationInfo->stopTime = solverInfo->currentTime;
} else {
modelica_boolean syncStep = 0;
/***** Start main simulation loop *****/
while(solverInfo->currentTime < simInfo->stopTime || !simInfo->useStopTime)
{
int success = 0;
threadData->currentErrorStage = ERROR_SIMULATION;
#ifdef USE_DEBUG_TRACE
if(useStream[LOG_TRACE]) {
printf("TRACE: push loop step=%u, time=%.12g\n", __currStepNo, solverInfo->currentTime);
}
#endif
/* check for steady state */
if (omc_flag[FLAG_STEADY_STATE])
{
if (0 < data->modelData->nStates)
{
int i;
double maxDer = 0.0;
double currDer;
for(i=data->modelData->nStates; i<2*data->modelData->nStates; ++i)
{
currDer = fabs(data->localData[0]->realVars[i] / data->modelData->realVarsData[i].attribute.nominal);
if(maxDer < currDer)
maxDer = currDer;
}
if (maxDer < steadyStateTol) {
steadStateReached=1;
infoStreamPrint(LOG_STDOUT, 0, "steady state reached at time = %g\n * max(|d(x_i)/dt|/nominal(x_i)) = %g\n * relative tolerance = %g", solverInfo->currentTime, maxDer, steadyStateTol);
break;
}
}
else
throwStreamPrint(threadData, "No states in model. Flag -steadyState can only be used if states are present.");
}
omc_alloc_interface.collect_a_little();
/* try */
#if !defined(OMC_EMCC)
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
{
printAllVars(data, 0, LOG_SOLVER_V);
clear_rt_step(data);
if (!compiledInDAEMode) /* do not use ringbuffer for daeMode */
rotateRingBuffer(data->simulationData, 1, (void**) data->localData);
modelica_boolean syncEventStep = solverInfo->didEventStep || syncStep;
/***** Calculation next step size *****/
if(syncEventStep) {
infoStreamPrint(LOG_SOLVER, 0, "offset value for the next step: %.16g", (solverInfo->currentTime - solverInfo->laststep));
} else {
if (solverInfo->solverNoEquidistantGrid)
{
if (solverInfo->currentTime >= solverInfo->lastdesiredStep)
{
do {
__currStepNo++;
solverInfo->currentStepSize = (double)(__currStepNo*(simInfo->stopTime-simInfo->startTime))/(simInfo->numSteps) + simInfo->startTime - solverInfo->currentTime;
} while(solverInfo->currentStepSize <= 0);
}
} else {
__currStepNo++;
}
}
solverInfo->currentStepSize = (double)(__currStepNo*(simInfo->stopTime-simInfo->startTime))/(simInfo->numSteps) + simInfo->startTime - solverInfo->currentTime;
solverInfo->lastdesiredStep = solverInfo->currentTime + solverInfo->currentStepSize;
/* if retry reduce stepsize */
if (0 != retry) {
solverInfo->currentStepSize /= 2;
}
/***** End calculation next step size *****/
checkForSynchronous(data, solverInfo);
/* check for next time event */
checkForSampleEvent(data, solverInfo);
/* if regular output point and last time events are almost equals
* skip that step and go further */
if (solverInfo->currentStepSize < 1e-15 && syncEventStep){
__currStepNo++;
continue;
}
/*
* integration step determine all states by a integration method
* update continuous system
*/
infoStreamPrint(LOG_SOLVER, 1, "call solver from %g to %g (stepSize: %.15g)", solverInfo->currentTime, solverInfo->currentTime + solverInfo->currentStepSize, solverInfo->currentStepSize);
retValIntegrator = simulationStep(data, threadData, solverInfo);
infoStreamPrint(LOG_SOLVER, 0, "finished solver step %g", solverInfo->currentTime);
messageClose(LOG_SOLVER);
if (S_OPTIMIZATION == solverInfo->solverMethod) break;
syncStep = simulationUpdate(data, threadData, solverInfo);
retry = 0; /* reset retry */
fmtEmitStep(data, threadData, &fmt, solverInfo);
saveIntegratorStats(solverInfo);
checkSimulationTerminated(data, solverInfo);
/* terminate for some cases:
* - integrator fails
* - non-linear system failed to solve
* - assert was called
*/
if (retValIntegrator) {
retValue = -1 + retValIntegrator;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | Integrator failed. | Simulation terminated at time %g", solverInfo->currentTime);
break;
} else if(check_nonlinear_solutions(data, 0)) {
retValue = -2;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | non-linear system solver failed. | Simulation terminated at time %g", solverInfo->currentTime);
break;
} else if(check_linear_solutions(data, 0)) {
retValue = -3;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | linear system solver failed. | Simulation terminated at time %g", solverInfo->currentTime);
break;
} else if(check_mixed_solutions(data, 0)) {
retValue = -4;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | mixed system solver failed. | Simulation terminated at time %g", solverInfo->currentTime);
break;
}
success = 1;
}
#if !defined(OMC_EMCC)
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
if (!success) { /* catch */
if(0 == retry) {
retrySimulationStep(data, threadData, solverInfo);
retry = 1;
} else {
retValue = -1;
infoStreamPrint(LOG_STDOUT, 0, "model terminate | Simulation terminated by an assert at time: %g", data->localData[0]->timeValue);
break;
}
}
TRACE_POP /* pop loop */
} /* end while solver */
} /* end else */
fmtClose(&fmt);
if (omc_flag[FLAG_STEADY_STATE] && !steadStateReached) {
warningStreamPrint(LOG_STDOUT, 0, "Steady state has not been reached.\nThis may be due to too restrictive relative tolerance (%g) or short stopTime (%g).", steadyStateTol, simInfo->stopTime);
}
TRACE_POP
return retValue;
}
/*!
* create initial guess
* author: Vitalij Ruge
**/
int initial_guess_ipopt(IPOPT_DATA_ *iData,SOLVER_INFO* solverInfo)
{
double *u0, *u, *x, uu,tmp ,lhs, rhs;
int i,j,k,ii,jj,id;
int err;
double *v;
DATA* data = iData->data;
SIMULATION_DATA *sData = (SIMULATION_DATA*)data->localData[0];
SIMULATION_INFO *sInfo = &(data->simulationInfo);
KINODE *kinOde;
u0 = iData->data->localData[1]->realVars + iData->index_u;
u = iData->data->localData[0]->realVars + iData->index_u;
x = iData->data->localData[0]->realVars;
v = iData->v;
for(ii=iData->nx,j=0; j < iData->nu; ++j, ++ii)
{
u0[j] = data->modelData.realVarsData[iData->index_u+j].attribute.start;
u0[j] = fmin(fmax(u0[j],iData->umin[j]),iData->umax[j]);
u[j] = u0[j];
v[ii] = u0[j]*iData->scalVar[j + iData->nx];
}
solverInfo->solverData = calloc(1, sizeof(KINODE));
kinOde = (KINODE*) solverInfo->solverData;
refreshSimData(x, u, iData->tf, iData);
allocateKinOde(data, solverInfo, 8, 1);
if(ACTIVE_STREAM(LOG_IPOPT))
{
printf("\n****initial guess****");
printf("\n #####done time[%i] = %f",0,iData->time[0]);
}
for(i=0, k=1, v=iData->v + iData->nv; i<iData->nsi; ++i)
{
for(jj=0; jj<iData->deg; ++jj, ++k)
{
solverInfo->currentStepSize = iData->time[k] - iData->time[k-1];
iData->data->localData[1]->timeValue = iData->time[k];
do
{
err = kinsolOde(solverInfo->solverData);
if(err < 0)
{
solverInfo->currentStepSize *= 0.99;
kinOde->kData->fnormtol *=10.0;
kinOde->kData->scsteptol *=10.0;
if(ACTIVE_STREAM(LOG_SOLVER))
{
printf("\n #####try time[%i] = %f",k,iData->time[k]);
}
}
else
{
if(ACTIVE_STREAM(LOG_IPOPT))
printf("\n #####done time[%i] = %f",k,iData->time[k]);
}
}while(err <0);
kinOde->kData->fnormtol =iData->data->simulationInfo.tolerance;
kinOde->kData->scsteptol =iData->data->simulationInfo.tolerance;
for(j=0; j< iData->nx; ++j)
{
v[j] = sData->realVars[j] * iData->scalVar[j];
}
for(ii=iData->index_u; j< iData->nv; ++j, ++ii)
{
v[j] = sData->realVars[ii] * iData->scalVar[j];
}
v += iData->nv;
/* updateContinuousSystem(iData->data); */
rotateRingBuffer(iData->data->simulationData, 1, (void**) iData->data->localData);
}
}
for(i = 0, id=0; i<iData->NV;i++,++id)
{
if(id >=iData->nv)
id = 0;
if(id <iData->nx)
{
iData->v[i] =fmin(fmax(iData->vmin[id],iData->v[i]),iData->vmax[id]);
}
else if(id< iData->nv)
{
iData->v[i] = fmin(fmax(iData->vmin[id],iData->v[i]),iData->vmax[id]);
}
}
if(ACTIVE_STREAM(LOG_IPOPT))
printf("\n*****initial guess done*****");
freeKinOde(data, solverInfo, 8, 1);
solverInfo->solverData = (void*)iData;
return 0;
}