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/* ASCEND modelling environment |
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Copyright (C) 2011 Carnegie Mellon University |
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This program is free software; you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation; either version 2, or (at your option) |
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any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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|
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place - Suite 330, |
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Boston, MA 02111-1307, USA. |
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|
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*//* |
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by Harry, 4th June 2015 |
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|
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This file contains an implmentation of the prepare_integrator function |
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that sets up the integration engine to perform event guided integration. |
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The various tasks it performs include: allocate memory (ida_mem), obtain |
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integrator configuration, analyse equations and configure IDA to setup |
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sufficient memory for the derivative and non-derivative variables. |
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|
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*/ |
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#define _GNU_SOURCE |
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|
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#include "ida.h" |
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#include "idalinear.h" |
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#include "idaanalyse.h" |
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#include "idatypes.h" /* The list of includes needs cleaning up! Once basic files are written, |
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#include "idaprec.h" all commonly called functions can be added in just one header file. |
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#include "idacalc.h" Once that's done, these includes must be revisited*/ |
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#include "idaio.h" |
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#include "idaboundary.h" |
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|
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#include <signal.h> /*Check if these includes are necessary*/ |
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#include <setjmp.h> |
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#include <fenv.h> |
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#include <math.h> |
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|
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#ifdef ASC_WITH_MMIO |
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# include <mmio.h> |
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#endif |
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|
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#include <ascend/general/platform.h> |
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#include <ascend/utilities/error.h> |
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#include <ascend/utilities/ascSignal.h> |
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#include <ascend/general/panic.h> |
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#include <ascend/compiler/instance_enum.h> |
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|
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|
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#include <ascend/system/slv_client.h> |
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#include <ascend/system/relman.h> |
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#include <ascend/system/block.h> |
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#include <ascend/system/slv_stdcalls.h> |
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#include <ascend/system/jacobian.h> |
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#include <ascend/system/bndman.h> |
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|
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#include <ascend/utilities/config.h> |
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#include <ascend/integrator/integrator.h> |
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|
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|
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int ida_prepare_integrator(IntegratorSystem *integ){ |
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flag = IDAInit(ida_mem, &integrator_ida_fex, t0, y0 ,yp0); |
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|
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/*------------------- RECORDING INTEGRATOR PREFERENCES --------------------* |
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The following block sets several preferences based on user choices. |
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The code implemented in this block was initially obtained from |
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ida.c in the Ksenija2 directory. |
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*-----------------------------------------------------------------------------------------------------------*/ |
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|
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/*Takes in a host of parameters for specifying integrator preferences*/ |
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static int integrator_ida_params_default(IntegratorSystem *integ) { |
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asc_assert(integ!=NULL); |
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asc_assert(integ->engine==INTEG_IDA); |
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slv_parameters_t *p; |
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p = &(integ->params); |
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slv_destroy_parms(p); |
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if (p->parms == NULL) { |
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//CONSOLE_DEBUG("params NULL"); |
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p->parms = ASC_NEW_ARRAY(struct slv_parameter, IDA_PARAMS_SIZE); |
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return -1; |
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p->dynamic_parms = 1; |
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}else{ |
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//CONSOLE_DEBUG("params not NULL"); |
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} |
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/* reset the number of parameters to zero so that we can check it at the end */ |
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p->num_parms = 0; |
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/*The following calls to slv_param_* specify several preferences. See integrator manual for choice of available preferences in IDA*/ |
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slv_param_bool(p, IDA_PARAM_AUTODIFF, |
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(SlvParameterInitBool){{"autodiff" |
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,"Use auto-diff?",1 |
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,"Use automatic differentiation of expressions (1) or use numerical derivatives (0)" |
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}, TRUE}); |
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|
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slv_param_char(p,IDA_PARAM_CALCIC |
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,(SlvParameterInitChar){{"calcic" |
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,"Initial conditions calcuation",1 |
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,"Use specified values of ydot to solve for inital y (Y)," |
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" or use the the values of the differential variables (yd) to solve" |
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" for the pure algebraic variables (ya) along with the derivatives" |
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" of the differential variables (yddot) (YA_YDP), or else don't solve" |
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" the intial conditions at all (NONE). See IDA manual p 41 (IDASetId)" |
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}, "YA_YDP"}, (char *[]) {"Y", "YA_YDP", "NONE",NULL}); |
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|
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|
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slv_param_bool(p,IDA_PARAM_SAFEEVAL |
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,(SlvParameterInitBool){{"safeeval" |
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,"Use safe evaluation?",1 |
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,"Use 'safe' function evaluation routines (TRUE) or allow ASCEND to " |
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"throw SIGFPE errors which will then halt integration." |
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}, FALSE}); |
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|
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slv_param_bool(p,IDA_PARAM_ATOLVECT |
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,(SlvParameterInitBool){{"atolvect" |
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,"Use 'ode_atol' values as specified?",1 |
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,"If TRUE, values of 'ode_atol' are taken from your model and used " |
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" in the integration. If FALSE, a scalar absolute tolerance value" |
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" is shared by all variables. See IDA manual, section 5.5.1" |
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}, TRUE}); |
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|
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slv_param_real(p,IDA_PARAM_ATOL |
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,(SlvParameterInitReal){{"atol" |
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,"Scalar absolute error tolerance",1 |
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,"Value of the scalar absolute error tolerance. See also 'atolvect'." |
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" See IDA manual, sections 5.5.1 and 5.5.2 'Advice on choice and use of tolerances'" |
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}, 1e-5, 0, 1e10}); |
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|
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slv_param_real(p,IDA_PARAM_RTOL |
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,(SlvParameterInitReal){{"rtol" |
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,"Scalar relative error tolerance",1 |
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,"Value of the scalar relative error tolerance. (Note that for IDA," |
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" it's not possible to set per-variable relative tolerances as it is" |
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" with LSODE)." |
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" See IDA manual, section 5.5.2 'Advice on choice and use of tolerances'" |
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}, 1e-4, 0, 1}); |
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|
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slv_param_char(p,IDA_PARAM_LINSOLVER |
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,(SlvParameterInitChar){{"linsolver" |
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,"Linear solver",1 |
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,"See IDA manual, section 5.5.3. Choose 'ASCEND' to use the linsolqr" |
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" direct linear solver bundled with ASCEND, 'DENSE' to use the dense" |
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" solver bundled with IDA, or one of the Krylov solvers SPGMR, SPBCG" |
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" or SPTFQMR (which still need preconditioners to be implemented" |
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" before they can be very useful."},"DENSE"},(char *[]){"ASCEND","DENSE","BAND","SPGMR","SPBCG","SPTFQMR",NULL}); |
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|
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slv_param_int(p,IDA_PARAM_MAXL |
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,(SlvParameterInitInt){{"maxl" |
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,"Maximum Krylov dimension",0 |
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,"The maximum dimension of Krylov space used by the linear solver" |
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" (for SPGMR, SPBCG, SPTFQMR) with IDA. See IDA manual section 5.5." |
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" The default of 0 results in IDA using its internal default, which" |
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" is currently a value of 5." |
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}, 0, 0, 20}); |
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|
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slv_param_int(p,IDA_PARAM_MAXORD |
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,(SlvParameterInitInt){{"maxord" |
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,"Maximum order of linear multistep method",0 |
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,"The maximum order of the linear multistep method with IDA. See" |
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" IDA manual p 38." |
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}, 5, 1, 5}); |
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|
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slv_param_bool(p,IDA_PARAM_GSMODIFIED |
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,(SlvParameterInitBool){{"gsmodified" |
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,"Gram-Schmidt Orthogonalisation Scheme", 2 |
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,"TRUE = GS_MODIFIED, FALSE = GS_CLASSICAL. See IDA manual section" |
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" 5.5.6.6. Only applies when linsolve=SPGMR is selected." |
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}, TRUE}); |
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slv_param_int(p,IDA_PARAM_MAXNCF |
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,(SlvParameterInitInt){{"maxncf" |
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,"Max nonlinear solver convergence failures per step", 2 |
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,"Maximum number of allowable nonlinear solver convergence failures" |
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" on one step. See IDA manual section 5.5.6.1." |
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}, 10,0,1000}); |
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slv_param_char(p,IDA_PARAM_PREC |
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,(SlvParameterInitChar){{"prec" |
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,"Preconditioner",1 |
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,"See IDA manual, section section 5.6.8." |
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},"NONE"}, (char *[]) {"NONE","DIAG",NULL}); |
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/*Check to verify the number of parameters are correct*/ |
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asc_assert(p->num_parms == IDA_PARAMS_SIZE); |
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//CONSOLE_DEBUG("Created %d params", p->num_parms); |
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/*------------------- PASSING ON USER PREFERENCES TO INTEGRATOR --------------------* |
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In the following block, the user preferences for several integrator |
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settings are passed on to the integrator engine. |
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|
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*-----------------------------------------------------------------------------------------------------------*/ |
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/*Passing initial calculation details*/ |
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/*Passing initial calculation details*/ |
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icopt = 0; |
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if (strcmp(SLV_PARAM_CHAR(&integ->params,IDA_PARAM_CALCIC), "Y") == 0) { |
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CONSOLE_DEBUG("Solving initial conditions using values of yddot"); |
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icopt = IDA_Y_INIT; |
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asc_assert(icopt!=0); |
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}else if (strcmp(SLV_PARAM_CHAR(&integ->params,IDA_PARAM_CALCIC), "YA_YDP") == 0){ |
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CONSOLE_DEBUG("Solving initial conditions using values of yd"); |
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icopt = IDA_YA_YDP_INIT; |
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asc_assert(icopt!=0); |
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flag = IDACalcIC(ida_mem, icopt, tout1); |
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|
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/*Passing safe-evaluation option*/ /*Passing safe-evaluation option*/ |
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#ifdef ASC_SIGNAL_TRAPS /*Fix Dependencies here? Re-visit!*/ |
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if(enginedata->safeeval) { |
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CONSOLE_DEBUG("SETTING TO IGNORE SIGFPE..."); |
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Asc_SignalHandlerPush(SIGFPE, SIG_DFL); |
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}else{ |
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#ifdef FEX_DEBUG |
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CONSOLE_DEBUG("SETTING TO CATCH SIGFPE..."); |
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#endif |
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Asc_SignalHandlerPushDefault(SIGFPE); |
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} |
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/*Passing tolerance preferences*/ /*Passing tolerance preferences*/ |
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|
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int ida_malloc(IntegratorSystem *integ, void *ida_mem, realtype t0, |
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N_Vector y0, N_Vector yp0) { |
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int flag; |
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N_Vector abstolvect; |
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realtype reltol, abstol; |
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/* relative error tolerance */ |
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reltol = SLV_PARAM_REAL(&(integ->params),IDA_PARAM_RTOL); |
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//CONSOLE_DEBUG("rtol = %8.2e",reltol); |
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#if SUNDIALS_VERSION_MAJOR==2 && SUNDIALS_VERSION_MINOR>=4 |
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flag = IDAInit(ida_mem, &integrator_ida_fex, t0, y0 ,yp0); |
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#else |
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if(SLV_PARAM_BOOL(&(integ->params),IDA_PARAM_ATOLVECT)) { |
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/* vector of absolute tolerances */ |
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CONSOLE_DEBUG("USING VECTOR OF ATOL VALUES"); |
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abstolvect = N_VNew_Serial(integ->n_y); |
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integrator_get_atol(integ, NV_DATA_S(abstolvect)); |
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flag = IDAMalloc(ida_mem, &integrator_ida_fex, t0, y0, yp0, IDA_SV, |
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reltol, abstolvect); |
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N_VDestroy_Serial(abstolvect); |
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}else{ |
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/* scalar absolute tolerance (one value for all) */ |
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abstol = SLV_PARAM_REAL(&(integ->params),IDA_PARAM_ATOL); |
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CONSOLE_DEBUG("USING SCALAR ATOL VALUE = %8.2e",abstol); |
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flag = IDAMalloc(ida_mem, &integrator_ida_fex, t0, y0, yp0, IDA_SS, |
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reltol, &abstol); |
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} |
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#endif |
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|
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/*Passing solver-type preferences*/ /*Passing solver-type preferences*/ |
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linsolver = SLV_PARAM_CHAR(&(integ->params),IDA_PARAM_LINSOLVER); |
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//CONSOLE_DEBUG("ASSIGNING LINEAR SOLVER '%s'",linsolver); |
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if(strcmp(linsolver, "ASCEND") == 0) { |
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CONSOLE_DEBUG("ASCEND DIRECT SOLVER, size = %d",integ->n_y); |
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IDAASCEND(ida_mem, integ->n_y); |
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IDAASCENDSetJacFn(ida_mem, &integrator_ida_sjex, (void *) integ); |
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enginedata->flagfntype = "IDAASCEND"; |
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enginedata->flagfn = &IDAASCENDGetLastFlag; |
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enginedata->flagnamefn = &IDAASCENDGetReturnFlagName; |
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}else if (strcmp(linsolver, "DENSE") == 0){ |
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//CONSOLE_DEBUG("DENSE DIRECT SOLVER, size = %d",integ->n_y); |
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flag = IDADense(ida_mem, integ->n_y); |
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switch(flag){ |
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case IDADENSE_SUCCESS: |
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break; |
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case IDADENSE_MEM_NULL: |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"ida_mem is NULL"); |
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return 5; |
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case IDADENSE_ILL_INPUT: |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"IDADENSE is not compatible with current nvector module"); |
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return 5; |
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case IDADENSE_MEM_FAIL: |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Memory allocation failed for IDADENSE"); |
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return 5; |
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default: |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"bad return"); |
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return 5; |
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} |
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|
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if(SLV_PARAM_BOOL(&(integ->params),IDA_PARAM_AUTODIFF)) { |
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//CONSOLE_DEBUG("USING AUTODIFF"); |
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#if SUNDIALS_VERSION_MAJOR==2 && SUNDIALS_VERSION_MINOR>=4 |
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flag = IDADlsSetDenseJacFn(ida_mem, &integrator_ida_djex); |
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#else |
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flag = IDADenseSetJacFn(ida_mem, &integrator_ida_djex, |
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(void *) integ); |
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#endif |
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switch (flag) { |
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case IDADENSE_SUCCESS: |
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break; |
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default: |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Failed IDADenseSetJacFn"); |
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return 6; |
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} |
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}else{ |
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CONSOLE_DEBUG("USING NUMERICAL DIFF"); |
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} |
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enginedata->flagfntype = "IDADENSE"; |
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#if SUNDIALS_VERSION_MAJOR==2 && SUNDIALS_VERSION_MINOR>=4 |
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enginedata->flagfn = &IDADlsGetLastFlag; |
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enginedata->flagnamefn = &IDADlsGetReturnFlagName; |
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#else |
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enginedata->flagfn = &IDADenseGetLastFlag; |
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enginedata->flagnamefn = &IDADenseGetReturnFlagName; |
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#endif |
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}else{ |
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/* remaining methods are all SPILS */ |
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CONSOLE_DEBUG("IDA SPILS"); |
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maxl = SLV_PARAM_INT(&(integ->params),IDA_PARAM_MAXL); |
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CONSOLE_DEBUG("maxl = %d",maxl); |
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|
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/* what preconditioner for SPILS solver? */ |
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|
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pname = SLV_PARAM_CHAR(&(integ->params),IDA_PARAM_PREC); |
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if(strcmp(pname, "NONE") == 0){ |
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prec = NULL; |
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}else if(strcmp(pname, "JACOBI") == 0){ |
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prec = &prec_jacobi; |
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}else{ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Invalid preconditioner choice '%s'",pname); |
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return 7; |
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} |
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|
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/* which SPILS linear solver? */ |
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if(strcmp(linsolver, "SPGMR") == 0){ |
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CONSOLE_DEBUG("IDA SPGMR"); |
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flag = IDASpgmr(ida_mem, maxl); /* 0 means use the default max Krylov dimension of 5 */ |
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}else if(strcmp(linsolver, "SPBCG") == 0){ |
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CONSOLE_DEBUG("IDA SPBCG"); |
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flag = IDASpbcg(ida_mem, maxl); |
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}else if(strcmp(linsolver, "SPTFQMR") == 0){ |
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CONSOLE_DEBUG("IDA SPTFQMR"); |
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flag = IDASptfqmr(ida_mem, maxl); |
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}else{ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Unknown IDA linear solver choice '%s'",linsolver); |
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return 8; |
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} |
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|
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if(prec){ |
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/* assign the preconditioner to the linear solver */ |
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(prec->pcreate)(integ); |
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#if SUNDIALS_VERSION_MAJOR==2 && SUNDIALS_VERSION_MINOR>=4 |
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IDASpilsSetPreconditioner(ida_mem,prec->psetup,prec->psolve); |
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#else |
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IDASpilsSetPreconditioner(ida_mem, prec->psetup, prec->psolve, |
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(void *) integ); |
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#endif |
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CONSOLE_DEBUG("PRECONDITIONER = %s",pname); |
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}else{ |
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CONSOLE_DEBUG("No preconditioner"); |
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} |
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|
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enginedata->flagfntype = "IDASPILS"; |
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enginedata->flagfn = &IDASpilsGetLastFlag; |
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enginedata->flagnamefn = &IDASpilsGetReturnFlagName; |
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if(flag == IDASPILS_MEM_NULL){ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"ida_mem is NULL"); |
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return 9; |
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}else if (flag == IDASPILS_MEM_FAIL) { |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Unable to allocate memory (IDASpgmr)"); |
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return 9; |
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}/* else success */ |
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/* assign the J*v function */ |
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if(SLV_PARAM_BOOL(&(integ->params),IDA_PARAM_AUTODIFF)) { |
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CONSOLE_DEBUG("USING AUTODIFF"); |
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#if SUNDIALS_VERSION_MAJOR==2 && SUNDIALS_VERSION_MINOR>=4 |
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flag = IDASpilsSetJacTimesVecFn(ida_mem, &integrator_ida_jvex); |
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#else |
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flag = IDASpilsSetJacTimesVecFn(ida_mem, &integrator_ida_jvex, |
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(void *) integ); |
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#endif |
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if(flag == IDASPILS_MEM_NULL) { |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"ida_mem is NULL"); |
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return 10; |
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}else if (flag == IDASPILS_LMEM_NULL) { |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"IDASPILS linear solver has not been initialized"); |
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return 10; |
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}/* else success */ |
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}else{ |
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CONSOLE_DEBUG("USING NUMERICAL DIFF"); |
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} |
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if(strcmp(linsolver, "SPGMR") == 0) { |
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/* select Gram-Schmidt orthogonalisation */ |
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if(SLV_PARAM_BOOL(&(integ->params),IDA_PARAM_GSMODIFIED)) { |
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CONSOLE_DEBUG("USING MODIFIED GS"); |
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flag = IDASpilsSetGSType(ida_mem, MODIFIED_GS); |
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if(flag != IDASPILS_SUCCESS) { |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Failed to set GS_MODIFIED"); |
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return 11; |
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} |
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}else{ |
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CONSOLE_DEBUG("USING CLASSICAL GS"); |
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flag = IDASpilsSetGSType(ida_mem, CLASSICAL_GS); |
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if(flag != IDASPILS_SUCCESS) { |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Failed to set GS_MODIFIED"); |
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return 11; |
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} |
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} |
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} |
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} |
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|
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/*Passing Maxord and Maxncf values*/ /*Passing Maxord and Maxncf values*/ |
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|
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#if SUNDIALS_VERSION_MAJOR==2 && SUNDIALS_VERSION_MINOR>=4 |
| 446 |
IDASetUserData(ida_mem, (void *)integ); |
| 447 |
#else |
| 448 |
IDASetRdata(ida_mem, (void *) integ); |
| 449 |
#endif |
| 450 |
IDASetMaxStep(ida_mem, integrator_get_maxstep(integ)); |
| 451 |
IDASetInitStep(ida_mem, integrator_get_stepzero(integ)); |
| 452 |
IDASetMaxNumSteps(ida_mem, integrator_get_maxsubsteps(integ)); |
| 453 |
if (integrator_get_minstep(integ) > 0) { |
| 454 |
ERROR_REPORTER_HERE(ASC_PROG_NOTE,"IDA does not support minstep (ignored)\n"); |
| 455 |
} |
| 456 |
//CONSOLE_DEBUG("MAXNCF = %d",SLV_PARAM_INT(&integ->params,IDA_PARAM_MAXNCF)); |
| 457 |
IDASetMaxConvFails(ida_mem, SLV_PARAM_INT(&integ->params,IDA_PARAM_MAXNCF)); |
| 458 |
//CONSOLE_DEBUG("MAXORD = %d",SLV_PARAM_INT(&integ->params,IDA_PARAM_MAXORD)); |
| 459 |
IDASetMaxOrd(ida_mem, SLV_PARAM_INT(&integ->params,IDA_PARAM_MAXORD)); |
| 460 |
|
| 461 |
|
| 462 |
|
| 463 |
|
| 464 |
|
| 465 |
|
| 466 |
|
| 467 |
|
| 468 |
/*------------------- ANALYSE EQUATIONS --------------------* |
| 469 |
The following block analyses the equations passed on from the |
| 470 |
GUI to aid integration. This block runs a series of checks, the |
| 471 |
process is stopped when flag takes a non-zero value. |
| 472 |
*-----------------------------------------------------------------------------------------------------------*/ |
| 473 |
|
| 474 |
flag = integrator_ida_check_vars(integ) + integrator_ida_flag_rels(integ) |
| 475 |
+ integrator_ida_sort_rels_and_vars(integ) + integrator_ida_create_lists(integ) + |
| 476 |
integrator_ida_analyse(integ) + integrator_ida_check_partitioning(integ)+ |
| 477 |
integrator_ida_check_diffindex(integ); |
| 478 |
|
| 479 |
if(flag!=0){ |
| 480 |
return -2; /*Failed analysis*/ |
| 481 |
} |
| 482 |
|
| 483 |
|
| 484 |
|
| 485 |
|
| 486 |
|
| 487 |
|
| 488 |
|
| 489 |
/*------------------- ALLOCATE MEMORY FOR YDOT, Y ETC --------------------* |
| 490 |
The following block analyses the equations passed on from the |
| 491 |
GUI to aid integration. This block runs a series of checks, the |
| 492 |
process is stopped when flag takes a non-zero value. |
| 493 |
*-----------------------------------------------------------------------------------------------------------*/ |
| 494 |
|
| 495 |
|
| 496 |
|
| 497 |
/*This block has to be discussed with Ksenija before implamentation. Is this block necessary? |
| 498 |
The IDA Manual says that most memory allocation procedures are taken care of. Also there's the |
| 499 |
implementation of IDAMalloc, which needs to be cleared up. Also ida_malloc has already been called above |
| 500 |
this does the same job of allocating ydot and ypdot. Anything else needs to be done here? */ |
| 501 |
|
| 502 |
|
| 503 |
|
| 504 |
|
| 505 |
|
| 506 |
|
| 507 |
return 0; /*prepare_integrator successful!*/ |
| 508 |
} |
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