static int getNsi(char*filename, const int nsi, modelica_boolean * exTimeGrid){
int n = 0, c;
FILE * pFile = NULL;
*exTimeGrid = 0;
pFile = fopen(filename,"r");
if(pFile == NULL){
warningStreamPrint(LOG_STDOUT, 0, "OMC can't find the file %s.", filename);
fclose(pFile);
return nsi;
}
while(1){
c = fgetc(pFile);
if (c==EOF) break;
if (c=='\n') ++n;
}
// check if csv file is empty!
if (n == 0){
warningStreamPrint(LOG_STDOUT, 0, "time grid file: %s is empty", filename);
fclose(pFile);
return nsi;
}
*exTimeGrid = 1;
return n-1;
}
static void fmtInit(DATA* data, MEASURE_TIME* mt)
{
mt->fmtReal = NULL;
mt->fmtInt = NULL;
if(measure_time_flag)
{
const char* fullFileName;
if (omc_flag[FLAG_OUTPUT_PATH]) { /* read the output path from the command line (if any) */
if (0 > GC_asprintf(&fullFileName, "%s/%s", omc_flagValue[FLAG_OUTPUT_PATH], data->modelData->modelFilePrefix)) {
throwStreamPrint(NULL, "perform_simulation.c: Error: can not allocate memory.");
}
} else {
fullFileName = data->modelData->modelFilePrefix;
}
size_t len = strlen(fullFileName);
char* filename = (char*) malloc((len+15) * sizeof(char));
strncpy(filename,fullFileName,len);
strncpy(&filename[len],"_prof.realdata",15);
mt->fmtReal = fopen(filename, "wb");
if(!mt->fmtReal)
{
warningStreamPrint(LOG_STDOUT, 0, "Time measurements output file %s could not be opened: %s", filename, strerror(errno));
}
strncpy(&filename[len],"_prof.intdata",14);
mt->fmtInt = fopen(filename, "wb");
if(!mt->fmtInt)
{
warningStreamPrint(LOG_STDOUT, 0, "Time measurements output file %s could not be opened: %s", filename, strerror(errno));
fclose(mt->fmtReal);
mt->fmtReal = NULL;
}
free(filename);
}
}
static void fmtInit(DATA* data, MEASURE_TIME* mt)
{
mt->fmtReal = NULL;
mt->fmtInt = NULL;
if(measure_time_flag)
{
size_t len = strlen(data->modelData.modelFilePrefix);
char* filename = (char*) malloc((len+15) * sizeof(char));
strncpy(filename,data->modelData.modelFilePrefix,len);
strncpy(&filename[len],"_prof.realdata",15);
mt->fmtReal = fopen(filename, "wb");
if(!mt->fmtReal)
{
warningStreamPrint(LOG_STDOUT, 0, "Time measurements output file %s could not be opened: %s", filename, strerror(errno));
}
strncpy(&filename[len],"_prof.intdata",14);
mt->fmtInt = fopen(filename, "wb");
if(!mt->fmtInt)
{
warningStreamPrint(LOG_STDOUT, 0, "Time measurements output file %s could not be opened: %s", filename, strerror(errno));
fclose(mt->fmtReal);
mt->fmtReal = NULL;
}
free(filename);
}
}
/*!
* pick up start values from csv for states
* author: Vitalij Ruge
**/
static inline void pickUpStates(OptData* optData){
char* cflags;
cflags = (char*)omc_flagValue[FLAG_INPUT_FILE_STATES];
if(cflags){
FILE * pFile = NULL;
pFile = fopen(cflags,"r");
if(pFile == NULL){
warningStreamPrint(LOG_STDOUT, 0, "OMC can't find the file %s.",cflags);
}else{
int c, n = 0;
modelica_boolean b;
while(1){
c = fgetc(pFile);
if (c==EOF) break;
if (c=='\n') ++n;
}
// check if csv file is empty!
if(n == 0){
fprintf(stderr, "External input file: externalInput.csv is empty!\n"); fflush(NULL);
EXIT(1);
}else{
int i, j;
double start_value;
char buffer[200];
const int nReal = optData->data->modelData.nVariablesReal;
rewind(pFile);
for(i =0; i< n; ++i){
fscanf(pFile, "%s", buffer);
if (fscanf(pFile, "%lf", &start_value) <= 0) continue;
for(j = 0, b = 0; j < nReal; ++j){
if(!strcmp(optData->data->modelData.realVarsData[j].info.name, buffer)){
optData->data->localData[0]->realVars[j] = start_value;
optData->data->localData[1]->realVars[j] = start_value;
optData->data->localData[2]->realVars[j] = start_value;
optData->v0[i] = start_value;
b = 1;
continue;
}
}
if(!b)
warningStreamPrint(LOG_STDOUT, 0, "it was impossible to set %s.start %g", buffer,start_value);
else
printf("\n[%i]set %s.start %g", i, buffer,start_value);
}
fclose(pFile);
printf("\n");
/*update system*/
optData->data->callback->input_function(optData->data);
/*optData->data->callback->functionDAE(optData->data);*/
updateDiscreteSystem(optData->data);
}
}
}
}
static
void nlsKinsolInfoPrint(const char *module, const char *function, char *msg, void *user_data)
{
if (ACTIVE_STREAM(LOG_NLS_V))
{
warningStreamPrint(LOG_NLS_V, 1, "%s %s:", module, function);
warningStreamPrint(LOG_NLS_V, 0, "%s", msg);
messageClose(LOG_NLS_V);
}
}
/*!
* helper for initial_guess_optimizer (pick up clfag option)
* author: Vitalij Ruge
**/
static int initial_guess_ipopt_cflag(OptData *optData, char* cflags)
{
if(!strcmp(cflags,"const") || !strcmp(cflags,"CONST"))
{
int i, j;
const int nsi = optData->dim.nsi;
const int np = optData->dim.np;
const int nu = optData->dim.nu;
const int nReal = optData->dim.nReal;
for(i = 0; i< nu; ++i )
optData->data->simulationInfo->inputVars[i] = optData->bounds.u0[i];
for(i = 0; i < nsi; ++i){
for(j = 0; j < np; ++j){
memcpy(optData->v[i][j], optData->v0, nReal*sizeof(modelica_real));
}
}
infoStreamPrint(LOG_IPOPT, 0, "Using const trajectory as initial guess.");
return 0;
}else if(!strcmp(cflags,"sim") || !strcmp(cflags,"SIM")){
infoStreamPrint(LOG_IPOPT, 0, "Using simulation as initial guess.");
return 1;
}else if(!strcmp(cflags,"file") || !strcmp(cflags,"FILE")){
infoStreamPrint(LOG_STDOUT, 0, "Using values from file as initial guess.");
return 2;
}
warningStreamPrint(LOG_STDOUT, 0, "not support ipopt_init=%s", cflags);
return 1;
}
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 check_nonlinear_solution
*
* This function checks if a non-linear system
* is solved. Returns a warning and 1 in case it's not
* solved otherwise 0.
*
* \param [in] [data]
* \param [in] [printFailingSystems]
* \param [in] [sysNumber] index of corresponding non-linear System
* \param [out] [returnValue] Returns 1 if fail otherwise 0.
*
* \author wbraun
*/
int check_nonlinear_solution(DATA *data, int printFailingSystems, int sysNumber)
{
NONLINEAR_SYSTEM_DATA* nonlinsys = data->simulationInfo->nonlinearSystemData;
long j;
int i = sysNumber;
if(nonlinsys[i].solved == 0)
{
int index = nonlinsys[i].equationIndex, indexes[2] = {1,index};
if (!printFailingSystems) return 1;
warningStreamPrintWithEquationIndexes(LOG_NLS, 1, indexes, "nonlinear system %d fails: at t=%g", index, data->localData[0]->timeValue);
if(data->simulationInfo->initial)
{
warningStreamPrint(LOG_NLS, 0, "proper start-values for some of the following iteration variables might help");
}
for(j=0; j<modelInfoGetEquation(&data->modelData->modelDataXml, (nonlinsys[i]).equationIndex).numVar; ++j) {
int done=0;
long k;
const MODEL_DATA *mData = data->modelData;
for(k=0; k<mData->nVariablesReal && !done; ++k)
{
if (!strcmp(mData->realVarsData[k].info.name, modelInfoGetEquation(&data->modelData->modelDataXml, (nonlinsys[i]).equationIndex).vars[j]))
{
done = 1;
warningStreamPrint(LOG_NLS, 0, "[%ld] Real %s(start=%g, nominal=%g)", j+1,
mData->realVarsData[k].info.name,
mData->realVarsData[k].attribute.start,
mData->realVarsData[k].attribute.nominal);
}
}
if (!done)
{
warningStreamPrint(LOG_NLS, 0, "[%ld] Real %s(start=?, nominal=?)", j+1, modelInfoGetEquation(&data->modelData->modelDataXml, (nonlinsys[i]).equationIndex).vars[j]);
}
}
messageCloseWarning(LOG_NLS);
return 1;
}
if(nonlinsys[i].solved == 2)
{
nonlinsys[i].solved = 1;
return 2;
}
return 0;
}
static inline void overwriteTimeGridFile(OptDataTime * time, char* filename, long double c[], const int np, const int nsi){
int i,k;
long double dc[np];
const int np1 = np - 1;
double t;
FILE * pFile = NULL;
pFile = fopen(filename,"r");
fscanf(pFile, "%lf", &t);
time->t0 = t;
fscanf(pFile, "%lf", &t);
time->t[0][np1] = t;
time->dt[0] = time->t[0][np1] - time->t0;
if(time->dt[0] <= 0){
warningStreamPrint(LOG_STDOUT, 0, "read time grid from file fail!");
warningStreamPrint(LOG_STDOUT, 0, "line %i: %g <= %g",0, (double)time->t[0][np1], (double)time->t0);
EXIT(0);
}
for(k = 0; k < np; ++k){
dc[k] = c[k]*time->dt[0];
time->t[0][k] = time->t0 + dc[k];
}
for(i=1;i<nsi;++i){
fscanf(pFile, "%lf", &t);
time->t[i][np1] = t;
time->dt[i] = time->t[i][np1] - time->t[i-1][np1];
for(k = 0; k < np; ++k){
dc[k] = c[k]*time->dt[i];
time->t[i][k] = time->t[i-1][np1] + dc[k];
}
if(time->dt[i] <= 0){
warningStreamPrint(LOG_STDOUT, 0, "read time grid");
warningStreamPrint(LOG_STDOUT, 0, "line %i/%i: %g <= %g",i, nsi, (double)time->t[i][np1], (double)time->t[i-1][np1]);
warningStreamPrint(LOG_STDOUT, 0, "failed!");
EXIT(0);
}
}
time->tf = time->t[nsi-1][np1];
fclose(pFile);
}
static
void nlsKinsolErrorPrint(int errorCode, const char *module, const char *function, char *msg, void *userData)
{
NLS_KINSOL_DATA *kinsolData = (NLS_KINSOL_DATA*) userData;
DATA* data = kinsolData->userData.data;
int sysNumber = kinsolData->userData.sysNumber;
long eqSystemNumber = data->simulationInfo->nonlinearSystemData[sysNumber].equationIndex;
if (ACTIVE_STREAM(LOG_NLS))
{
warningStreamPrint(LOG_NLS, 1, "kinsol failed for %d", modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).id);
warningStreamPrint(LOG_NLS, 0, "[module] %s | [function] %s | [error_code] %d", module, function, errorCode);
warningStreamPrint(LOG_NLS, 0, "%s", msg);
messageClose(LOG_NLS);
}
}
static void fmtEmitStep(DATA* data, threadData_t *threadData, MEASURE_TIME* mt, int didEventStep)
{
if(mt->fmtReal)
{
int i, flag=1;
double tmpdbl;
unsigned int tmpint;
int total = data->modelData->modelDataXml.nFunctions + data->modelData->modelDataXml.nProfileBlocks;
rt_tick(SIM_TIMER_OVERHEAD);
rt_accumulate(SIM_TIMER_STEP);
/* Disable time measurements if we have trouble writing to the file... */
flag = flag && 1 == fwrite(&mt->stepNo, sizeof(unsigned int), 1, mt->fmtInt);
mt->stepNo++;
flag = flag && 1 == fwrite(&(data->localData[0]->timeValue), sizeof(double), 1, mt->fmtReal);
tmpdbl = rt_accumulated(SIM_TIMER_STEP);
flag = flag && 1 == fwrite(&tmpdbl, sizeof(double), 1, mt->fmtReal);
flag = flag && total == fwrite(rt_ncall_arr(SIM_TIMER_FIRST_FUNCTION), sizeof(uint32_t), total, mt->fmtInt);
for(i=0; i<data->modelData->modelDataXml.nFunctions + data->modelData->modelDataXml.nProfileBlocks; i++) {
tmpdbl = rt_accumulated(i + SIM_TIMER_FIRST_FUNCTION);
flag = flag && 1 == fwrite(&tmpdbl, sizeof(double), 1, mt->fmtReal);
}
rt_accumulate(SIM_TIMER_OVERHEAD);
if(!flag)
{
warningStreamPrint(LOG_SOLVER, 0, "Disabled time measurements because the output file could not be generated: %s", strerror(errno));
fclose(mt->fmtInt);
fclose(mt->fmtReal);
mt->fmtInt = NULL;
mt->fmtReal = NULL;
}
}
/* prevent emit if noEventEmit flag is used, if it's an event */
if ((omc_flag[FLAG_NOEVENTEMIT] && didEventStep == 0) || !omc_flag[FLAG_NOEVENTEMIT]) {
sim_result.emit(&sim_result, data, threadData);
}
#if !defined(OMC_MINIMAL_RUNTIME)
embedded_server_update(data->embeddedServerState, data->localData[0]->timeValue);
if (data->real_time_sync.enabled) {
double time = data->localData[0]->timeValue;
int64_t res = rt_ext_tp_sync_nanosec(&data->real_time_sync.clock, (uint64_t) (data->real_time_sync.scaling*(time-data->real_time_sync.time)*1e9));
int64_t maxLateNano = data->simulationInfo->stepSize*1e9*0.1*data->real_time_sync.scaling /* Maximum late time: 10% of step size */;
if (res > maxLateNano) {
int t=0,tMaxLate=0;
const char *unit = prettyPrintNanoSec(res, &t);
const char *unit2 = prettyPrintNanoSec(maxLateNano, &tMaxLate);
errorStreamPrint(LOG_RT, 0, "Missed deadline at time %g; delta was %d %s (maxLate=%d %s)", time, t, unit, tMaxLate, unit2);
}
if (res > data->real_time_sync.maxLate) {
data->real_time_sync.maxLate = res;
}
}
printAllVarsDebug(data, 0, LOG_DEBUG); /* ??? */
#endif
}
/*! \fn damping_heuristic
*
* first damping heuristic:
* x_increment will be halved until the Euclidean norm of the residual function
* is smaller than the Euclidean norm of the current point
*
* treshold for damping = 0.01
* compiler flag: -newton = damped
*/
void damping_heuristic(double* x, int(*f)(int*, double*, double*, void*, int),
double current_fvec_enorm, int* n, double* fvec, double* lambda, int* k, DATA_NEWTON* solverData, void* userdata)
{
int i,j=0;
double enorm_new, treshold = 1e-2;
/* calculate new function values */
(*f)(n, solverData->x_new, fvec, userdata, 1);
solverData->nfev++;
enorm_new=enorm_(n,fvec);
if (enorm_new >= current_fvec_enorm)
infoStreamPrint(LOG_NLS_V, 1, "Start Damping: enorm_new : %e; current_fvec_enorm: %e ", enorm_new, current_fvec_enorm);
while (enorm_new >= current_fvec_enorm)
{
j++;
*lambda*=0.5;
for (i=0; i<*n; i++)
solverData->x_new[i]=x[i]-*lambda*solverData->x_increment[i];
/* calculate new function values */
(*f)(n, solverData->x_new, fvec, userdata, 1);
solverData->nfev++;
enorm_new=enorm_(n,fvec);
if (*lambda <= treshold)
{
warningStreamPrint(LOG_NLS_V, 0, "Warning: lambda reached a threshold.");
/* if damping is without success, trying full newton step; after 5 full newton steps try a very little step */
if (*k >= 5)
for (i=0; i<*n; i++)
solverData->x_new[i]=x[i]-*lambda*solverData->x_increment[i];
else
for (i=0; i<*n; i++)
solverData->x_new[i]=x[i]-solverData->x_increment[i];
/* calculate new function values */
(*f)(n, solverData->x_new, fvec, userdata, 1);
solverData->nfev++;
(*k)++;
break;
}
}
*lambda = 1;
messageClose(LOG_NLS_V);
}
/* finish sparse matrix, by fixing colprts */
static void finishSparseColPtr(SlsMat mat)
{
int i;
/* finish matrix colptrs */
mat->colptrs[mat->N] = mat->NNZ;
for(i=1; i<mat->N+1; ++i){
if (mat->colptrs[i] == 0){
warningStreamPrint(LOG_STDOUT, 0, "##KINSOL## Jac row %d singular. See LOG_NLS for more infomation.", i);
mat->colptrs[i] = mat->colptrs[i-1];
}
}
}
static void retrySimulationStep(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo)
{
/* reduce step size by a half and try again */
solverInfo->laststep = solverInfo->currentTime - solverInfo->laststep;
/* restore old values and try another step with smaller step-size by dassl*/
restoreOldValues(data);
solverInfo->currentTime = data->localData[0]->timeValue;
overwriteOldSimulationData(data);
updateDiscreteSystem(data, threadData);
warningStreamPrint(LOG_STDOUT, 0, "Integrator attempt to handle a problem with a called assert.");
solverInfo->didEventStep = 1;
}
/*! \fn solveLinearSystem
*
* function solves linear system J*(x_{n+1} - x_n) = f using lapack
*/
int solveLinearSystem(int* n, int* iwork, double* fvec, double *fjac, DATA_NEWTON* solverData)
{
int i, nrsh=1, lapackinfo;
char trans = 'N';
/* if no factorization is given, calculate it */
if (solverData->factorization == 0)
{
/* solve J*(x_{n+1} - x_n)=f */
dgetrf_(n, n, fjac, n, iwork, &lapackinfo);
solverData->factorization = 1;
dgetrs_(&trans, n, &nrsh, fjac, n, iwork, fvec, n, &lapackinfo);
}
else
{
dgetrs_(&trans, n, &nrsh, fjac, n, iwork, fvec, n, &lapackinfo);
}
if(lapackinfo > 0)
{
warningStreamPrint(LOG_NLS, 0, "Jacobian Matrix singular!");
return -1;
}
else if(lapackinfo < 0)
{
warningStreamPrint(LOG_NLS, 0, "illegal input in argument %d", (int)lapackinfo);
return -1;
}
else
{
/* save solution of J*(x_{n+1} - x_n)=f */
memcpy(solverData->x_increment, fvec, *n*sizeof(double));
}
return 0;
}
/*! \fn calculatingErrors
*
* function scales the residual vector using the jacobian (heuristic)
*/
void scaling_residual_vector(DATA_NEWTON* solverData)
{
int i,j,k;
for(i=0, k=0; i<solverData->n; i++)
{
solverData->resScaling[i] = 0.0;
for(j=0; j<solverData->n; j++, ++k)
{
solverData->resScaling[i] = fmax(fabs(solverData->fjac[k]), solverData->resScaling[i]);
}
if(solverData->resScaling[i] <= 0.0){
warningStreamPrint(LOG_NLS_V, 1, "Jacobian matrix is singular.");
solverData->resScaling[i] = 1e-16;
}
solverData->fvecScaled[i] = solverData->fvec[i] / solverData->resScaling[i];
}
}
/*! \fn check_mixed_solutions
* This function checks whether some of the mixed systems
* are failed to solve. If one is failed it returns 1 otherwise 0.
*
* \param [in] [data]
* \param [in] [printFailingSystems]
*
* \author wbraun
*/
int check_mixed_solutions(DATA *data, int printFailingSystems)
{
MIXED_SYSTEM_DATA* system = data->simulationInfo->mixedSystemData;
int i, j, retVal=0;
for(i=0; i<data->modelData->nMixedSystems; ++i)
if(system[i].solved == 0)
{
retVal = 1;
if(printFailingSystems && ACTIVE_WARNING_STREAM(LOG_NLS))
{
warningStreamPrint(LOG_NLS, 1, "mixed system fails: %d at t=%g", modelInfoGetEquation(&data->modelData->modelDataXml, system->equationIndex).id, data->localData[0]->timeValue);
messageClose(LOG_NLS);
}
}
return retVal;
}
/*! \fn updateInnerEquation
*
* This function updates inner equation with the current x.
*
* \param [ref] [data]
* [in] [sysNumber] index of corresponding non-linear system
*/
int updateInnerEquation(void **dataIn, int sysNumber, int discrete)
{
DATA *data = (DATA*) ((void**)dataIn[0]);
threadData_t *threadData = (threadData_t*) ((void**)dataIn[1]);
NONLINEAR_SYSTEM_DATA* nonlinsys = &(data->simulationInfo->nonlinearSystemData[sysNumber]);
int success = 0;
/* solve non continuous at discrete points*/
if(discrete)
{
data->simulationInfo->solveContinuous = 0;
}
/* try */
#ifndef OMC_EMCC
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
/* call residual function */
nonlinsys->residualFunc((void*) dataIn, nonlinsys->nlsx, nonlinsys->resValues, (int*)&nonlinsys->size);
/* replace extrapolated values by current x for discrete step */
memcpy(nonlinsys->nlsxExtrapolation, nonlinsys->nlsx, nonlinsys->size*(sizeof(double)));
success = 1;
/*catch */
#ifndef OMC_EMCC
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
if (!success)
{
warningStreamPrint(LOG_STDOUT, 0, "Non-Linear Solver try to handle a problem with a called assert.");
}
if(discrete)
{
data->simulationInfo->solveContinuous = 1;
}
return success;
}
static void fmtEmitStep(DATA* data, threadData_t *threadData, MEASURE_TIME* mt, int didEventStep)
{
if(mt->fmtReal)
{
int i, flag=1;
double tmpdbl;
unsigned int tmpint;
int total = data->modelData.modelDataXml.nFunctions + data->modelData.modelDataXml.nProfileBlocks;
rt_tick(SIM_TIMER_OVERHEAD);
rt_accumulate(SIM_TIMER_STEP);
/* Disable time measurements if we have trouble writing to the file... */
flag = flag && 1 == fwrite(&mt->stepNo, sizeof(unsigned int), 1, mt->fmtInt);
mt->stepNo++;
flag = flag && 1 == fwrite(&(data->localData[0]->timeValue), sizeof(double), 1, mt->fmtReal);
tmpdbl = rt_accumulated(SIM_TIMER_STEP);
flag = flag && 1 == fwrite(&tmpdbl, sizeof(double), 1, mt->fmtReal);
flag = flag && total == fwrite(rt_ncall_arr(SIM_TIMER_FIRST_FUNCTION), sizeof(uint32_t), total, mt->fmtInt);
for(i=0; i<data->modelData.modelDataXml.nFunctions + data->modelData.modelDataXml.nProfileBlocks; i++) {
tmpdbl = rt_accumulated(i + SIM_TIMER_FIRST_FUNCTION);
flag = flag && 1 == fwrite(&tmpdbl, sizeof(double), 1, mt->fmtReal);
}
rt_accumulate(SIM_TIMER_OVERHEAD);
if(!flag)
{
warningStreamPrint(LOG_SOLVER, 0, "Disabled time measurements because the output file could not be generated: %s", strerror(errno));
fclose(mt->fmtInt);
fclose(mt->fmtReal);
mt->fmtInt = NULL;
mt->fmtReal = NULL;
}
}
/* prevent emit if noEventEmit flag is used, if it's an event */
if ((omc_flag[FLAG_NOEVENTEMIT] && didEventStep == 0) || !omc_flag[FLAG_NOEVENTEMIT])
{
sim_result.emit(&sim_result, data, threadData);
}
printAllVarsDebug(data, 0, LOG_DEBUG); /* ??? */
}
/*! \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;
rt_ext_tp_tick(&nonlinsys->totalTimeClock);
if(data->simulationInfo.discreteCall)
{
double *fvec = malloc(sizeof(double)*nonlinsys->size);
int success = 0;
#ifndef OMC_EMCC
/* try */
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
((DATA*)data)->simulationInfo.solveContinuous = 0;
nonlinsys->residualFunc((void*) dataAndThreadData, nonlinsys->nlsx, fvec, (int*)&nonlinsys->size);
((DATA*)data)->simulationInfo.solveContinuous = 1;
success = 1;
#ifndef OMC_EMCC
/*catch */
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
if (!success)
{
warningStreamPrint(LOG_STDOUT, 0, "Non-Linear Solver try to handle a problem with a called assert.");
}
free(fvec);
}
int setLogFormat(int argc, char** argv)
{
const char* value = getOption(FLAG_NAME[FLAG_LOG_FORMAT], argc, argv);
if (NULL == value) {
value = getFlagValue(FLAG_NAME[FLAG_LOG_FORMAT], argc, argv);
}
if (NULL != value) {
if (0 == strcmp(value, "xml")) {
setStreamPrintXML(1);
} else if (0 == strcmp(value, "xmltcp")) {
setStreamPrintXML(2);
} else if (0 == strcmp(value, "text")) {
setStreamPrintXML(0);
} else {
warningStreamPrint(LOG_STDOUT, 0, "invalid command line option: -logFormat=%s, expected text, xml, or xmltcp", value);
return 1;
}
}
return 0;
}
/* pick up information(nStates...) from model data to optimizer struct
* author: Vitalij Ruge
*/
static inline void pickUpDim(OptDataDim * dim, DATA* data, OptDataTime * time){
char * cflags = NULL;
cflags = (char*)omc_flagValue[FLAG_OPTIMIZER_NP];
if(cflags){
dim->np = atoi(cflags);
if(dim->np != 1 && dim->np!=3){
warningStreamPrint(LOG_STDOUT, 0, "FLAG_OPTIZER_NP is %i. Currently optimizer support only 1 and 3.\nFLAG_OPTIZER_NP set of 3", dim->np);
dim->np = 3;
}
}else
dim->np = 3; /*ToDo*/
dim->nx = data->modelData.nStates;
dim->nu = data->modelData.nInputVars;
dim->nv = dim->nx + dim->nu;
dim->nc = data->modelData.nOptimizeConstraints;
dim->ncf = data->modelData.nOptimizeFinalConstraints;
dim->nJ = dim->nx + dim->nc;
dim->nJ2 = dim->nJ + 2;
dim->nReal = data->modelData.nVariablesReal;
cflags = (char*)omc_flagValue[FLAG_OPTIMIZER_TGRID];
data->callback->getTimeGrid(data, &dim->nsi, &time->tt);
time->model_grid = (modelica_boolean)(dim->nsi > 0);
if(!time->model_grid)
dim->nsi = data->simulationInfo.numSteps;
if(cflags)
dim->nsi = getNsi(cflags, dim->nsi, &dim->exTimeGrid);
dim->nt = dim->nsi*dim->np;
dim->NV = dim->nt*dim->nv;
dim->NRes = dim->nt*dim->nJ + dim->ncf;
dim->index_con = dim->nReal - (dim->nc + dim->ncf);
dim->index_conf = dim->index_con + dim->nc;
assert(dim->nt > 0);
}
int nlsKinsolSolve(DATA *data, threadData_t *threadData, int sysNumber)
{
NONLINEAR_SYSTEM_DATA *nlsData = &(data->simulationInfo->nonlinearSystemData[sysNumber]);
NLS_KINSOL_DATA *kinsolData = (NLS_KINSOL_DATA*)nlsData->solverData;
long eqSystemNumber = nlsData->equationIndex;
int indexes[2] = {1,eqSystemNumber};
int flag, i;
long nFEval;
int success = 0;
int retry = 0;
double *xStart = NV_DATA_S(kinsolData->initialGuess);
double *xScaling = NV_DATA_S(kinsolData->xScale);
double *fScaling = NV_DATA_S(kinsolData->fScale);
double fNormValue;
/* set user data */
kinsolData->userData.data = data;
kinsolData->userData.threadData = threadData;
kinsolData->userData.sysNumber = sysNumber;
/* reset configuration settings */
nlsKinsolConfigSetup(kinsolData);
infoStreamPrint(LOG_NLS, 0, "------------------------------------------------------");
infoStreamPrintWithEquationIndexes(LOG_NLS, 1, indexes, "Start solving non-linear system >>%ld<< using Kinsol solver at time %g", eqSystemNumber, data->localData[0]->timeValue);
nlsKinsolResetInitial(data, kinsolData, nlsData, INITIAL_EXTRAPOLATION);
/* set x scaling */
nlsKinsolXScaling(data, kinsolData, nlsData, SCALING_NOMINALSTART);
/* set f scaling */
_omc_fillVector(_omc_createVector(nlsData->size, fScaling), 1.);
/* */
do{
/* dump configuration */
nlsKinsolConfigPrint(kinsolData, nlsData);
flag = KINSol(kinsolData->kinsolMemory, /* KINSol memory block */
kinsolData->initialGuess, /* initial guess on input; solution vector */
kinsolData->kinsolStrategy, /* global strategy choice */
kinsolData->xScale, /* scaling vector, for the variable cc */
kinsolData->fScale); /* scaling vector for function values fval */
infoStreamPrint(LOG_NLS_V, 0, "KINSol finished with errorCode %d.", flag);
/* check for errors */
if(flag < 0)
{
retry = nlsKinsolErrorHandler(flag, data, nlsData, kinsolData);
}
/* solution found */
if ((flag == KIN_SUCCESS) || (flag == KIN_INITIAL_GUESS_OK) || (flag == KIN_STEP_LT_STPTOL))
{
success = 1;
}
kinsolData->retries++;
/* write statistics */
KINGetNumNonlinSolvIters(kinsolData->kinsolMemory, &nFEval);
nlsData->numberOfIterations += nFEval;
nlsData->numberOfFEval += kinsolData->countResCalls;
infoStreamPrint(LOG_NLS_V, 0, "Next try? success = %d, retry = %d, retries = %d = %s\n", success, retry, kinsolData->retries,!success && !(retry<1) && kinsolData->retries<RETRY_MAX ? "true" : "false" );
}while(!success && !(retry<0) && kinsolData->retries < RETRY_MAX);
/* solution found */
if (success)
{
/* check if solution really solves the residuals */
nlsKinsolResiduals(kinsolData->initialGuess, kinsolData->fRes, &kinsolData->userData);
fNormValue = N_VWL2Norm(kinsolData->fRes, kinsolData->fRes);
infoStreamPrint(LOG_NLS, 0, "scaled Euclidean norm of F(u) = %e", fNormValue);
if (FTOL_WITH_LESS_ACCURANCY<fNormValue)
{
warningStreamPrint(LOG_NLS, 0, "False positive solution. FNorm is too small.");
success = 0;
}
else /* solved system for reuse linear solver information */
{
kinsolData->solved = 1;
}
/* copy solution */
memcpy(nlsData->nlsx, xStart, nlsData->size*(sizeof(double)));
/* dump solution */
if(ACTIVE_STREAM(LOG_NLS))
{
infoStreamPrintWithEquationIndexes(LOG_NLS, 1, indexes, "solution for NLS %ld at t=%g", eqSystemNumber, kinsolData->userData.data->localData[0]->timeValue);
for(i=0; i<nlsData->size; ++i)
{
infoStreamPrintWithEquationIndexes(LOG_NLS, 0, indexes, "[%d] %s = %g", i+1, modelInfoGetEquation(&kinsolData->userData.data->modelData->modelDataXml,eqSystemNumber).vars[i], nlsData->nlsx[i]);
}
messageClose(LOG_NLS);
}
}
messageClose(LOG_NLS);
return success;
}
static
int nlsKinsolErrorHandler(int errorCode, DATA *data, NONLINEAR_SYSTEM_DATA *nlsData, NLS_KINSOL_DATA *kinsolData)
{
int retValue, i, retValue2=0;
double fNorm;
double *xStart = NV_DATA_S(kinsolData->initialGuess);
double *xScaling = NV_DATA_S(kinsolData->xScale);
/* check what kind of error
* retValue < 0 -> a non recoverable issue
* retValue == 1 -> try with other settings
*/
KINSetNoInitSetup(kinsolData->kinsolMemory, FALSE);
switch(errorCode)
{
case KIN_MEM_NULL:
case KIN_ILL_INPUT:
case KIN_NO_MALLOC:
errorStreamPrint(LOG_NLS, 0, "kinsol has a serious memory issue ERROR %d\n", errorCode);
return errorCode;
break;
/* just retry with new initial guess */
case KIN_MXNEWT_5X_EXCEEDED:
warningStreamPrint(LOG_NLS, 0, "initial guess was too far away from the solution. Try again.\n");
return 1;
break;
/* just retry without line search */
case KIN_LINESEARCH_NONCONV:
warningStreamPrint(LOG_NLS, 0, "kinsols line search did not convergence. Try without.\n");
kinsolData->kinsolStrategy = KIN_NONE;
return 1;
/* maybe happened because of an out-dated factorization, so just retry */
case KIN_LSETUP_FAIL:
case KIN_LSOLVE_FAIL:
warningStreamPrint(LOG_NLS, 0, "kinsols matrix need new factorization. Try again.\n");
KINKLUReInit(kinsolData->kinsolMemory, kinsolData->size, kinsolData->nnz, 2);
return 1;
case KIN_MAXITER_REACHED:
case KIN_REPTD_SYSFUNC_ERR:
warningStreamPrint(LOG_NLS, 0, "kinsols runs into issues retry with differnt configuration.\n");
retValue = 1;
break;
default:
errorStreamPrint(LOG_STDOUT, 0, "kinsol has a serious solving issue ERROR %d\n", errorCode);
return errorCode;
break;
}
/* check if the current solution is sufficient anyway */
KINGetFuncNorm(kinsolData->kinsolMemory, &fNorm);
if (fNorm<FTOL_WITH_LESS_ACCURANCY)
{
warningStreamPrint(LOG_NLS, 0, "Move forward with a less accurate solution.");
KINSetFuncNormTol(kinsolData->kinsolMemory, FTOL_WITH_LESS_ACCURANCY);
KINSetScaledStepTol(kinsolData->kinsolMemory, FTOL_WITH_LESS_ACCURANCY);
retValue2 = 1;
}
else
{
warningStreamPrint(LOG_NLS, 0, "Current status of fx = %f", fNorm);
}
/* reconfigure kinsol for an other try */
if (retValue == 1 && !retValue2)
{
switch(kinsolData->retries)
{
case 0:
/* try without x scaling */
nlsKinsolXScaling(data, kinsolData, nlsData, SCALING_ONES);
break;
case 1:
/* try without line-search and oldValues */
nlsKinsolResetInitial(data, kinsolData, nlsData, INITIAL_OLDVALUES);
kinsolData->kinsolStrategy = KIN_LINESEARCH;
break;
case 2:
/* try without line-search and oldValues */
nlsKinsolResetInitial(data, kinsolData, nlsData, INITIAL_EXTRAPOLATION);
kinsolData->kinsolStrategy = KIN_NONE;
break;
case 3:
/* try with exact newton */
nlsKinsolXScaling(data, kinsolData, nlsData, SCALING_NOMINALSTART);
nlsKinsolResetInitial(data, kinsolData, nlsData, INITIAL_EXTRAPOLATION);
KINSetMaxSetupCalls(kinsolData->kinsolMemory, 1);
kinsolData->kinsolStrategy = KIN_LINESEARCH;
break;
case 4:
/* try with exact newton to with out x scaling values */
nlsKinsolXScaling(data, kinsolData, nlsData, SCALING_ONES);
nlsKinsolResetInitial(data, kinsolData, nlsData, INITIAL_OLDVALUES);
KINSetMaxSetupCalls(kinsolData->kinsolMemory, 1);
kinsolData->kinsolStrategy = KIN_LINESEARCH;
break;
default:
retValue = 0;
break;
}
}
return retValue+retValue2;
}
/*! \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, threadData_t *threadData, 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;
modelica_boolean* relationsPreBackup;
struct dataAndSys dataAndSysNumber = {data, threadData, sysNumber};
relationsPreBackup = (modelica_boolean*) malloc(data->modelData->nRelations*sizeof(modelica_boolean));
solverData->numberOfFunctionEvaluations = 0;
/* debug output */
if(ACTIVE_STREAM(LOG_NLS_V))
{
int indexes[2] = {1,eqSystemNumber};
infoStreamPrintWithEquationIndexes(LOG_NLS_V, 1, indexes, "start solving non-linear system >>%d<< at time %g", eqSystemNumber, data->localData[0]->timeValue);
for(i=0; i<solverData->n; i++)
{
infoStreamPrint(LOG_NLS_V, 1, "%d. %s = %f", i+1, modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).vars[i], systemData->nlsx[i]);
infoStreamPrint(LOG_NLS_V, 0, " nominal = %f\nold = %f\nextrapolated = %f",
systemData->nominal[i], systemData->nlsxOld[i], systemData->nlsxExtrapolation[i]);
messageClose(LOG_NLS_V);
}
messageClose(LOG_NLS_V);
}
/* 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]);
}
/* 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;
/* try */
{
int success = 0;
#ifndef OMC_EMCC
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
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, (void*) &dataAndSysNumber);
success = 1;
if(assertCalled)
{
infoStreamPrint(LOG_NLS, 0, "After assertions failed, found a solution for which assertions did not fail.");
/* re-scaling x vector */
for(i=0; i<solverData->n; i++){
if(solverData->useXScaling)
systemData->nlsxOld[i] = solverData->x[i]*solverData->xScalefactors[i];
else
systemData->nlsxOld[i] = solverData->x[i];
}
}
assertRetries = 0;
assertCalled = 0;
success = 1;
#ifndef OMC_EMCC
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
/* catch */
if (!success)
{
if (!assertMessage)
{
if (ACTIVE_WARNING_STREAM(LOG_STDOUT))
{
if(data->simulationInfo->initial)
warningStreamPrint(LOG_STDOUT, 1, "While solving non-linear system an assertion failed during initialization.");
else
warningStreamPrint(LOG_STDOUT, 1, "While solving non-linear system an assertion failed at time %g.", data->localData[0]->timeValue);
warningStreamPrint(LOG_STDOUT, 0, "The non-linear solver tries to solve the problem that could take some time.");
warningStreamPrint(LOG_STDOUT, 0, "It could help to provide better start-values for the iteration variables.");
if (!ACTIVE_STREAM(LOG_NLS))
warningStreamPrint(LOG_STDOUT, 0, "For more information simulate with -lv LOG_NLS");
messageClose(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, modelInfoGetEquation(&data->modelData->modelDataXml, eqSystemNumber),
data->localData[0]->timeValue);
}
if(solverData->info != -1)
{
/* evaluate with discontinuities */
if(data->simulationInfo->discreteCall){
int scaling = solverData->useXScaling;
int success = 0;
if(scaling)
solverData->useXScaling = 0;
((DATA*)data)->simulationInfo->solveContinuous = 0;
/* try */
#ifndef OMC_EMCC
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
wrapper_fvec_hybrj(&solverData->n, solverData->x, solverData->fvec, solverData->fjac, &solverData->ldfjac, &iflag, (void*) &dataAndSysNumber);
success = 1;
#ifndef OMC_EMCC
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
/* catch */
if (!success)
{
warningStreamPrint(LOG_STDOUT, 0, "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;
updateRelationsPre(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))
{
infoStreamPrint(LOG_NLS_V, 1, "scaling factors for residual vector");
for(i=0; i<solverData->n; i++)
{
infoStreamPrint(LOG_NLS_V, 1, "scaled residual [%d] : %.20e", i, solverData->fvecScaled[i]);
infoStreamPrint(LOG_NLS_V, 0, "scaling factor [%d] : %.20e", i, solverData->resScaling[i]);
messageClose(LOG_NLS_V);
}
messageClose(LOG_NLS_V);
}
/* debug output */
if(ACTIVE_STREAM(LOG_NLS_JAC))
{
char buffer[4096];
infoStreamPrint(LOG_NLS_JAC, 1, "jacobian matrix [%dx%d]", (int)solverData->n, (int)solverData->n);
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]);
infoStreamPrint(LOG_NLS_JAC, 0, "%s", buffer);
}
messageClose(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))
{
int indexes[2] = {1,eqSystemNumber};
/* output solution */
infoStreamPrintWithEquationIndexes(LOG_NLS, 1, indexes, "solution for NLS %d at t=%g", eqSystemNumber, data->localData[0]->timeValue);
for(i=0; i<solverData->n; ++i)
{
infoStreamPrint(LOG_NLS, 0, "[%d] %s = %g", i+1, modelInfoGetEquation(&data->modelData->modelDataXml,eqSystemNumber).vars[i], solverData->x[i]);
}
messageClose(LOG_NLS);
}else if (ACTIVE_STREAM(LOG_NLS_V)){
infoStreamPrint(LOG_NLS_V, 1, "system solved");
infoStreamPrint(LOG_NLS_V, 0, "%d retries\n%d restarts", retries, retries2+retries3);
messageClose(LOG_NLS_V);
printStatus(data, solverData, eqSystemNumber, &nfunc_evals, &xerror, &xerror_scaled, LOG_NLS_V);
}
scaling = solverData->useXScaling;
if(scaling)
solverData->useXScaling = 0;
/* take the solution */
memcpy(systemData->nlsx, solverData->x, solverData->n*(sizeof(double)));
/* try */
{
int success = 0;
#ifndef OMC_EMCC
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
wrapper_fvec_hybrj(&solverData->n, solverData->x, solverData->fvec, solverData->fjac, &solverData->ldfjac, &iflag, (void*) &dataAndSysNumber);
success = 1;
#ifndef OMC_EMCC
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
/* catch */
if (!success) {
warningStreamPrint(LOG_STDOUT, 0, "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;
}
/*! \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 stateSelection
*
* function to select the actual states
*
* \param [ref] [data]
* \param [in] [reportError]
* \param [in] [switchStates] flag for switch states, function does switch only if this switchStates = 1
* \return ???
*
* \author Frenkel TUD
*/
int stateSelection(DATA *data, threadData_t *threadData, char reportError, int switchStates)
{
TRACE_PUSH
long i=0;
long j=0;
int globalres=0;
long k=0;
long l=0;
/* go through all the state sets */
for(i=0; i<data->modelData->nStateSets; i++)
{
int res=0;
STATE_SET_DATA *set = &(data->simulationInfo->stateSetData[i]);
modelica_integer* oldColPivot = (modelica_integer*) malloc(set->nCandidates * sizeof(modelica_integer));
modelica_integer* oldRowPivot = (modelica_integer*) malloc(set->nDummyStates * sizeof(modelica_integer));
/* debug */
if(ACTIVE_STREAM(LOG_DSS))
{
infoStreamPrint(LOG_DSS, 1, "StateSelection Set %ld. Select %ld states from %ld candidates.", i, set->nStates, set->nCandidates);
for(k=0; k < set->nCandidates; k++)
{
infoStreamPrint(LOG_DSS, 0, "[%ld] cadidate %s", k+1, set->statescandidates[k]->name);
}
messageClose(LOG_DSS);
infoStreamPrint(LOG_DSS, 0, "StateSelection Matrix A");
{
unsigned int aid = set->A->id - data->modelData->integerVarsData[0].info.id;
modelica_integer *Adump = &(data->localData[0]->integerVars[aid]);
for(k=0; k < set->nCandidates; k++)
{
for(l=0; l < set->nStates; l++)
{
infoStreamPrint(LOG_DSS, 0, "A[%ld,%ld] = %ld", k+1, l+1, Adump[k*set->nCandidates+l]);
}
}
}
}
/* generate jacobian, stored in set->J */
getAnalyticalJacobianSet(data, threadData, i);
/* call pivoting function to select the states */
memcpy(oldColPivot, set->colPivot, set->nCandidates*sizeof(modelica_integer));
memcpy(oldRowPivot, set->rowPivot, set->nDummyStates*sizeof(modelica_integer));
if((pivot(set->J, set->nDummyStates, set->nCandidates, set->rowPivot, set->colPivot) != 0) && reportError)
{
/* error, report the matrix and the time */
char *buffer = (char*)malloc(sizeof(char)*data->simulationInfo->analyticJacobians[set->jacobianIndex].sizeCols*10);
warningStreamPrint(LOG_DSS, 1, "jacobian %dx%d [id: %ld]", data->simulationInfo->analyticJacobians[set->jacobianIndex].sizeRows, data->simulationInfo->analyticJacobians[set->jacobianIndex].sizeCols, set->jacobianIndex);
for(i=0; i < data->simulationInfo->analyticJacobians[set->jacobianIndex].sizeRows; i++)
{
buffer[0] = 0;
for(j=0; j < data->simulationInfo->analyticJacobians[set->jacobianIndex].sizeCols; j++)
sprintf(buffer, "%s%.5e ", buffer, set->J[i*data->simulationInfo->analyticJacobians[set->jacobianIndex].sizeCols+j]);
warningStreamPrint(LOG_DSS, 0, "%s", buffer);
}
free(buffer);
for(i=0; i<set->nCandidates; i++)
warningStreamPrint(LOG_DSS, 0, "%s", set->statescandidates[i]->name);
messageClose(LOG_DSS);
throwStreamPrint(threadData, "Error, singular Jacobian for dynamic state selection at time %f\nUse -lv LOG_DSS_JAC to get the Jacobian", data->localData[0]->timeValue);
}
/* if we have a new set throw event for reinitialization
and set the A matrix for set.x=A*(states) */
res = comparePivot(oldColPivot, set->colPivot, set->nCandidates, set->nDummyStates, set->nStates, set->A, set->states, set->statescandidates, data, switchStates);
if(!switchStates)
{
memcpy(set->colPivot, oldColPivot, set->nCandidates*sizeof(modelica_integer));
memcpy(set->rowPivot, oldRowPivot, set->nDummyStates*sizeof(modelica_integer));
}
if(res)
globalres = 1;
free(oldColPivot);
free(oldRowPivot);
}
TRACE_POP
return globalres;
}
/*!
* run optimization with ipopt
* author: Vitalij Ruge
**/
static inline void optimizationWithIpopt(OptData*optData) {
IpoptProblem nlp = NULL;
const int NV = optData->dim.NV;
const int NRes = optData->dim.NRes;
const int nsi = optData->dim.nsi;
const int np = optData->dim.np;
const int nx = optData->dim.nx;
const int NJ = optData->dim.nJderx;
const int NJf = optData->dim.nJfderx;
const int nH0 = optData->dim.nH0_;
const int nH1 = optData->dim.nH1_;
const int njac = np*(NJ*nsi + nx*(np*nsi - 1)) + NJf;
const int nhess = (nsi*np-1)*nH0+nH1;
Number * Vmin = optData->bounds.Vmin;
Number * Vmax = optData->bounds.Vmax;
Number * gmin = optData->ipop.gmin;
Number * gmax = optData->ipop.gmax;
Number * vopt = optData->ipop.vopt;
Number * mult_g = optData->ipop.mult_g;
Number * mult_x_L = optData->ipop.mult_x_L;
Number * mult_x_U = optData->ipop.mult_x_U;
Number obj;
char *cflags;
int max_iter = 5000;
int res = 0;
nlp = CreateIpoptProblem(NV, Vmin, Vmax,
NRes, gmin, gmax, njac, nhess, 0, &evalfF,
&evalfG, &evalfDiffF, &evalfDiffG, &ipopt_h);
/********************************************************************/
/******************* ipopt flags ************************/
/********************************************************************/
/*tol */
AddIpoptNumOption(nlp, "tol", optData->data->simulationInfo.tolerance);
AddIpoptStrOption(nlp, "evaluate_orig_obj_at_resto_trial", "yes");
/* print level */
if(ACTIVE_STREAM(LOG_IPOPT_FULL)) {
AddIpoptIntOption(nlp, "print_level", 7);
} else if(ACTIVE_STREAM(LOG_IPOPT)) {
AddIpoptIntOption(nlp, "print_level", 5);
} else if(ACTIVE_STREAM(LOG_STATS)) {
AddIpoptIntOption(nlp, "print_level", 3);
} else {
AddIpoptIntOption(nlp, "print_level", 2);
}
AddIpoptIntOption(nlp, "file_print_level", 0);
/* derivative_test */
if(ACTIVE_STREAM(LOG_IPOPT_JAC) && ACTIVE_STREAM(LOG_IPOPT_HESSE)) {
AddIpoptIntOption(nlp, "print_level", 4);
AddIpoptStrOption(nlp, "derivative_test", "second-order");
} else if(ACTIVE_STREAM(LOG_IPOPT_JAC)) {
AddIpoptIntOption(nlp, "print_level", 4);
AddIpoptStrOption(nlp, "derivative_test", "first-order");
} else if(ACTIVE_STREAM(LOG_IPOPT_HESSE)) {
AddIpoptIntOption(nlp, "print_level", 4);
AddIpoptStrOption(nlp, "derivative_test", "only-second-order");
} else {
AddIpoptStrOption(nlp, "derivative_test", "none");
}
cflags = (char*)omc_flagValue[FLAG_IPOPT_HESSE];
if(cflags) {
if(!strcmp(cflags,"BFGS"))
AddIpoptStrOption(nlp, "hessian_approximation", "limited-memory");
else if(!strcmp(cflags,"const") || !strcmp(cflags,"CONST"))
AddIpoptStrOption(nlp, "hessian_constant", "yes");
else if(!(!strcmp(cflags,"num") || !strcmp(cflags,"NUM")))
warningStreamPrint(LOG_STDOUT, 0, "not support ipopt_hesse=%s",cflags);
}
/*linear_solver e.g. mumps, MA27, MA57,...
* be sure HSL solver are installed if your try HSL solver*/
cflags = (char*)omc_flagValue[FLAG_LS_IPOPT];
if(cflags)
AddIpoptStrOption(nlp, "linear_solver", cflags);
AddIpoptNumOption(nlp,"mumps_pivtolmax",1e-5);
/* max iter */
cflags = (char*)omc_flagValue[FLAG_IPOPT_MAX_ITER];
if(cflags) {
char buffer[100];
char c;
int index_e = -1, i = 0;
strcpy(buffer,cflags);
while(buffer[i] != '\0') {
if(buffer[i] == 'e') {
index_e = i;
break;
}
++i;
}
if(index_e < 0) {
max_iter = atoi(cflags);
if(max_iter >= 0)
AddIpoptIntOption(nlp, "max_iter", max_iter);
printf("\nmax_iter = %i",atoi(cflags));
} else {
max_iter = (atoi(cflags)*pow(10.0, (double)atoi(cflags+index_e+1)));
if(max_iter >= 0)
AddIpoptIntOption(nlp, "max_iter", (int)max_iter);
printf("\nmax_iter = (int) %i | (double) %g",(int)max_iter, atoi(cflags)*pow(10.0, (double)atoi(cflags+index_e+1)));
}
} else
AddIpoptIntOption(nlp, "max_iter", 5000);
/*heuristic optition */
{
int ws = 0;
cflags = (char*)omc_flagValue[FLAG_IPOPT_WARM_START];
if(cflags) {
ws = atoi(cflags);
}
if(ws > 0) {
double shift = pow(10,-1.0*ws);
AddIpoptNumOption(nlp,"mu_init",shift);
AddIpoptNumOption(nlp,"bound_mult_init_val",shift);
AddIpoptStrOption(nlp,"mu_strategy", "monotone");
AddIpoptNumOption(nlp,"bound_push", 1e-5);
AddIpoptNumOption(nlp,"bound_frac", 1e-5);
AddIpoptNumOption(nlp,"slack_bound_push", 1e-5);
AddIpoptNumOption(nlp,"constr_mult_init_max", 1e-5);
AddIpoptStrOption(nlp,"bound_mult_init_method","mu-based");
} else {
AddIpoptStrOption(nlp,"mu_strategy","adaptive");
AddIpoptStrOption(nlp,"bound_mult_init_method","constant");
}
AddIpoptStrOption(nlp,"fixed_variable_treatment","make_parameter");
AddIpoptStrOption(nlp,"dependency_detection_with_rhs","yes");
AddIpoptNumOption(nlp,"nu_init",1e-9);
AddIpoptNumOption(nlp,"eta_phi",1e-10);
}
/********************************************************************/
if(max_iter >=0) {
optData->iter_ = 0.0;
optData->index = 1;
res = IpoptSolve(nlp, vopt, NULL, &obj, mult_g, mult_x_L, mult_x_U, (void*)optData);
}
if(res != 0 && !ACTIVE_STREAM(LOG_IPOPT))
warningStreamPrint(LOG_STDOUT, 0, "No optimal solution found!\nUse -lv=LOG_IPOPT for more information.");
FreeIpoptProblem(nlp);
}
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));
data->simulationInfo->currentContext = CONTEXT_ALGEBRAIC;
/* ### start configuration of dassl ### */
infoStreamPrint(LOG_SOLVER, 1, "Configuration of the dassl code:");
printf("---------------###---------------\n\n");
printf("Some stats:\n\n");
printf("(A) Firstly, we consider some info of the object DATA *data:\n");
printf("(1) SIMULATION_INFO (*simulationInfo):\n");
printf("\tstartTime: %f\n", data->simulationInfo->startTime);
printf("\tstopTime: %f\n", data->simulationInfo->stopTime);
printf("\tnumSteps: %d\n", data->simulationInfo->numSteps);
printf("\ttolerance: %f\n", data->simulationInfo->tolerance);
printf("\ttolerance: %f\n", (*(*data).simulationInfo).tolerance);
printf("\t*solverMethod: %c\n", *(data->simulationInfo->solverMethod));
printf("\t*outputFormat: %c\n", *(data->simulationInfo->outputFormat));
printf("\t*variableFilter: %c\n", *(data->simulationInfo->variableFilter));
printf("\tlsMethod: %d\n", data->simulationInfo->lsMethod);
printf("\tmixedMethod: %d\n", data->simulationInfo->mixedMethod);
printf("\tnlsMethod: %d\n", data->simulationInfo->nlsMethod);
printf("\tnewtonStrategy: %d\n", data->simulationInfo->newtonStrategy);
printf("\tnlsCsvInfomation: %d\n", data->simulationInfo->nlsCsvInfomation);
printf("\tcurrentContext: %d\n", data->simulationInfo->currentContext);
printf("\tcurrentContextOld: %d\n", data->simulationInfo->currentContextOld);
printf("\tjacobianEvals: %d\n", data->simulationInfo->jacobianEvals);
printf("\tlambda: %d\n", data->simulationInfo->lambda);
printf("\tnextSampleEvent: %f\n", data->simulationInfo->nextSampleEvent);
printf("\tnextSampleTimes[0]: %f\n", data->simulationInfo->nextSampleTimes[0]);
printf("\tnextSampleTimes[1]: %f\n", data->simulationInfo->nextSampleTimes[1]);
printf("\tnextSampleTimes[2]: %f\n", data->simulationInfo->nextSampleTimes[2]);
printf("\n\tThere are even more although I believe they will not be useful for now.\n\n");
printf("(2) SIMULATION_DATA (**localData):\n");
printf("\ttimeValue: %f\n", data->localData[0]->timeValue);
printf("The following are the initial values.\n");
printf("\trealVars[0]: %f\n", data->localData[0]->realVars[0]);
printf("\trealVars[1]: %f\n", data->localData[0]->realVars[1]);
printf("\tintegerVars: %d\n", data->localData[0]->integerVars[1]);
printf("\t*booleanVars: %s\n", *(data->localData[0]->booleanVars));
printf("\t*stringVars: %s\n", *(data->localData[0]->stringVars));
//printf("\t*inlineVars: %f\n", *(data->localData[0]->inlineVars)); //Errors when attempting to print this one. Not sure why though.
printf("\n\tI am not sure this garbage struct is necessary. One \'timeValue\' is used. I am sure we can use a local variable or a similar route.\n\n");
printf("(3) MODEL_DATA (*modelData):\n");
printf("\trealVarsData[0].attribute.nominal: %f\n", data->modelData->realVarsData[0].attribute.nominal);
printf("\trealVarsData[1].attribute.nominal: %f\n", data->modelData->realVarsData[1].attribute.nominal);
printf("\trealVarsData[0].attribute.useStart: %s\n", data->modelData->realVarsData[0].attribute.useStart ? "true" : "false");
printf("\trealVarsData[1].attribute.useStart: %s\n", data->modelData->realVarsData[1].attribute.useStart ? "true" : "false");
printf("\tnStates: %d\n", data->modelData->nStates);
printf("\tnVariablesReal: %d\n", data->modelData->nVariablesReal);
printf("\tnDiscreteReal: %d\n", data->modelData->nDiscreteReal);
printf("\tnVariablesInteger: %d\n", data->modelData->nVariablesInteger);
printf("\tnVariablesBoolean: %d\n", data->modelData->nVariablesBoolean);
printf("\tnVariablesString: %d\n", data->modelData->nVariablesString);
printf("\tnParametersReal: %d\n", data->modelData->nParametersReal);
printf("\tnVariablesReal: %d\n", data->modelData->nVariablesReal);
printf("\tnParametersInteger: %d\n", data->modelData->nParametersInteger);
printf("\tnParametersBoolean: %d\n", data->modelData->nParametersBoolean);
printf("\tnParametersString: %d\n", data->modelData->nParametersString);
printf("\tnInputVars: %d\n", data->modelData->nInputVars);
printf("\tnOutputVars: %d\n", data->modelData->nOutputVars);
printf("\tnZeroCrossings: %d\n", data->modelData->nZeroCrossings);
printf("\tnMathEvents: %d\n", data->modelData->nMathEvents);
printf("\tnDelayExpressions: %d\n", data->modelData->nDelayExpressions);
printf("\tnExtObjs: %d\n", data->modelData->nExtObjs);
printf("\tnMixedSystems: %d\n", data->modelData->nMixedSystems);
printf("\tnLinearSystems: %d\n", data->modelData->nLinearSystems);
printf("\tnNonLinearSystems: %d\n", data->modelData->nNonLinearSystems);
printf("\tnStateSets: %d\n", data->modelData->nStateSets);
printf("\tnInlineVars: %d\n", data->modelData->nInlineVars);
printf("\tnOptimizeConstraints: %d\n", data->modelData->nOptimizeConstraints);
printf("\tnOptimizeFinalConstraints: %d\n\n", data->modelData->nOptimizeFinalConstraints);
printf("(4) RINGBUFFER* (simulationData) -- The first comment in the .c file is that this does not work. This struct is never used in the qss solver.\n\n");
//printf("\titemSize: %d\n", data->simulationData->itemSize);
printf("(5) OpenModelicaGeneratedFunctionCallbacks (*callback). Just a number of functions updating the results. Not even sure where all these functions are defined. We may want to investigate where these functions are defined if we want to have a full understanding of the how OpenModelica enables it's solvers.\n\n");
printf("(B) threadData_t threadData. Next we have to consider the object threadData_t. However, I cannot find the definition of this object. Must investigate and get all attributes.\n\n");
printf("(C) SOLVER_INFO solverInfo:\n");
printf("\tcurrentTime: %f\n", solverInfo->currentTime);
printf("\tcurrentStepSize: %f\n", solverInfo->currentStepSize);
printf("\tlaststep: %f\n", solverInfo->laststep);
printf("\tsolverMethod: %d\n", solverInfo->solverMethod);
printf("\tsolverStepSize: %f\n", solverInfo->solverStepSize);
printf("\tsolverRootFinding: %s\n", solverInfo->solverRootFinding ? "true" : "false");
printf("\tsolverNoEquidistantGrid: %s\n", solverInfo->solverNoEquidistantGrid ? "true" : "false");
printf("\tlastdesiredStep: %f\n", solverInfo->lastdesiredStep);
printf("\tstateEvents: %d\n", solverInfo->stateEvents);
printf("\tdidEventStep: %d\n", solverInfo->didEventStep);
// printf("\teventLst.itemSize %d\n", solverInfo->eventLst->itemSize);
// printf("\teventLst.length %d\n", solverInfo->eventLst.length);
printf("\tsampleEvents: %d\n", solverInfo->sampleEvents);
printf("\tintegratorSteps: %d\n", solverInfo->integratorSteps);
printf("---------------###---------------\n\n");
/* 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_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;
}
}
/* default use a user sub-routine for JAC */
dasslData->info[4] = 1;
/* set up the appropriate function pointer */
switch (dasslData->dasslJacobian){
case DASSL_COLOREDNUMJAC:
data->simulationInfo->jacobianEvals = data->simulationInfo->analyticJacobians[data->callback->INDEX_JAC_A].sparsePattern.maxColors;
dasslData->jacobianFunction = JacobianOwnNumColored;
break;
case DASSL_COLOREDSYMJAC:
data->simulationInfo->jacobianEvals = data->simulationInfo->analyticJacobians[data->callback->INDEX_JAC_A].sparsePattern.maxColors;
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;
/* no user sub-routine for JAC */
dasslData->info[4] = 0;
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;
}