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/* ASCEND modelling environment |
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Copyright (C) 2006 Carnegie Mellon University |
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|
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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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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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@file |
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Access to the IDA integrator for ASCEND. IDA is a DAE solver that comes |
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as part of the GPL-licensed SUNDIALS solver package from LLNL. |
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@see http://www.llnl.gov/casc/sundials/ |
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*//* |
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by John Pye, May 2006 |
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*/ |
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|
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/* |
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Be careful with the following. This file requires both the 'ida.h' from |
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SUNDIALS as well as the 'ida.h' from ASCEND. Make sure that we're getting |
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both of these; if you get problems check your build tool for the paths being |
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passed to the C preprocessor. |
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*/ |
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|
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/* standard includes */ |
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#include <signal.h> |
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|
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/* ASCEND includes */ |
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#include "ida.h" |
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#include <utilities/error.h> |
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#include <utilities/ascConfig.h> |
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#include <utilities/ascSignal.h> |
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#include <compiler/instance_enum.h> |
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#include "var.h" |
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#include "rel.h" |
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#include "discrete.h" |
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#include "conditional.h" |
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#include "logrel.h" |
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#include "bnd.h" |
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#include "linsol.h" |
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#include "linsolqr.h" |
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#include "slv_common.h" |
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#include "slv_client.h" |
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#include "relman.h" |
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|
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/* SUNDIALS includes */ |
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#ifdef ASC_WITH_IDA |
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# include <sundials/sundials_config.h> |
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# include <ida/ida.h> |
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# include <nvector/nvector_serial.h> |
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# include <ida/ida_spgmr.h> |
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# ifndef IDA_SUCCESS |
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# error "Failed to include SUNDIALS IDA header file" |
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# endif |
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#endif |
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|
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/* |
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for the benefit of build tools that didn't sniff the SUNDIALS version, we |
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assume version 2.2.x (and thence possible errors) |
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*/ |
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#ifndef SUNDIALS_VERSION_MINOR |
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# warning "GUESSING SUNDIALS VERSION 2.2" |
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# define SUNDIALS_VERSION_MINOR 2 |
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#endif |
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#ifndef SUNDIALS_VERSION_MAJOR |
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# define SUNDIALS_VERSION_MAJOR 2 |
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#endif |
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|
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/* check that we've got what we expect now */ |
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#ifndef ASC_IDA_H |
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# error "Failed to include ASCEND IDA header file" |
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#endif |
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|
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/** |
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Struct containing any stuff that IDA needs that doesn't fit into the |
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common IntegratorSystem struct. |
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*/ |
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typedef struct{ |
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struct rel_relation **rellist; /**< NULL terminated list of rels */ |
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struct var_variable **varlist; /**< NULL terminated list of vars. ONLY USED FOR DEBUGGING -- get rid of it! */ |
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int nrels; |
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int safeeval; /**< whether to pass the 'safe' flag to relman_eval */ |
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} IntegratorIdaData; |
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|
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/*------------------------------------------------------------- |
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FORWARD DECLS |
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*/ |
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/* residual function forward declaration */ |
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int integrator_ida_fex(realtype tt, N_Vector yy, N_Vector yp, N_Vector rr, void *res_data); |
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|
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int integrator_ida_jvex(realtype tt, N_Vector yy, N_Vector yp, N_Vector rr |
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, N_Vector v, N_Vector Jv, realtype c_j |
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, void *jac_data, N_Vector tmp1, N_Vector tmp2 |
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); |
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|
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/* error handler forward declaration */ |
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void integrator_ida_error(int error_code |
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, const char *module, const char *function |
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, char *msg, void *eh_data |
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); |
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|
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/*------------------------------------------------------------- |
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SETUP/TEARDOWN ROUTINES |
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*/ |
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void integrator_ida_create(IntegratorSystem *blsys){ |
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CONSOLE_DEBUG("ALLOCATING IDA ENGINE DATA"); |
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IntegratorIdaData *enginedata; |
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enginedata = ASC_NEW(IntegratorIdaData); |
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enginedata->rellist = NULL; |
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enginedata->varlist = NULL; |
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enginedata->safeeval = 1; |
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blsys->enginedata = (void *)enginedata; |
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} |
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|
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void integrator_ida_free(void *enginedata){ |
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CONSOLE_DEBUG("DELETING IDA ENGINE DATA"); |
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IntegratorIdaData *d = (IntegratorIdaData *)enginedata; |
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/* note, we don't own the rellist, so don't need to free it */ |
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ASC_FREE(d); |
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} |
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|
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IntegratorIdaData *integrator_ida_enginedata(IntegratorSystem *blsys){ |
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IntegratorIdaData *d; |
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assert(blsys!=NULL); |
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assert(blsys->enginedata!=NULL); |
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assert(blsys->engine==INTEG_IDA); |
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d = ((IntegratorIdaData *)(blsys->enginedata)); |
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assert(d->safeeval = 1); |
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return d; |
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} |
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|
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/*------------------------------------------------------------- |
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MAIN IDA SOLVER ROUTINE, see IDA manual, sec 5.4, p. 27 ff. |
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*/ |
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|
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/* return 1 on success */ |
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int integrator_ida_solve( |
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IntegratorSystem *blsys |
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, unsigned long start_index |
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, unsigned long finish_index |
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){ |
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void *ida_mem; |
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int size, flag, t_index; |
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realtype t0, reltol, t, tret, tout1; |
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N_Vector y0, yp0, abstol, ypret, yret; |
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IntegratorIdaData *enginedata; |
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|
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CONSOLE_DEBUG("STARTING IDA..."); |
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|
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enginedata = integrator_ida_enginedata(blsys); |
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CONSOLE_DEBUG("safeeval = %d",enginedata->safeeval); |
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|
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/* store reference to list of relations (in enginedata) */ |
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enginedata->nrels = slv_get_num_solvers_rels(blsys->system); |
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enginedata->rellist = slv_get_solvers_rel_list(blsys->system); |
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enginedata->varlist = slv_get_solvers_var_list(blsys->system); |
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CONSOLE_DEBUG("Number of relations: %d",enginedata->nrels); |
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CONSOLE_DEBUG("Number of dependent vars: %ld",blsys->n_y); |
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size = blsys->n_y; |
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|
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if(enginedata->nrels!=size){ |
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ERROR_REPORTER_HERE(ASC_USER_ERROR,"Integration problem is not square (%d rels, %d vars)", enginedata->nrels, size); |
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return 0; /* failure */ |
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} |
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|
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/* retrieve initial values from the system */ |
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t0 = samplelist_get(blsys->samples,start_index); |
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|
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y0 = N_VNew_Serial(size); |
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integrator_get_y(blsys,NV_DATA_S(y0)); |
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|
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yp0 = N_VNew_Serial(size); |
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integrator_get_ydot(blsys,NV_DATA_S(yp0)); |
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|
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N_VPrint_Serial(yp0); |
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CONSOLE_DEBUG("yp0 is at %p",&yp0); |
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|
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/* create IDA object */ |
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ida_mem = IDACreate(); |
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|
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/* retrieve the absolute tolerance values for each variable */ |
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abstol = N_VNew_Serial(size); |
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N_VConst(0.1,abstol); /** @TODO fill in the abstol values from the model */ |
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reltol = 0.001; |
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|
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/* allocate internal memory */ |
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flag = IDAMalloc(ida_mem, &integrator_ida_fex, t0, y0, yp0, IDA_SV, reltol, abstol); |
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if(flag==IDA_MEM_NULL){ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"ida_mem is NULL"); |
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return 0; |
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}else if(flag==IDA_MEM_FAIL){ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Unable to allocate memory (IDAMalloc)"); |
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return 0; |
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}else if(flag==IDA_ILL_INPUT){ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Invalid input to IDAMalloc"); |
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return 0; |
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}/* else success */ |
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|
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/* set optional inputs... */ |
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IDASetErrHandlerFn(ida_mem, &integrator_ida_error, (void *)blsys); |
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IDASetRdata(ida_mem, (void *)blsys); |
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IDASetMaxStep(ida_mem, integrator_get_maxstep(blsys)); |
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IDASetInitStep(ida_mem, integrator_get_stepzero(blsys)); |
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IDASetMaxNumSteps(ida_mem, integrator_get_maxsubsteps(blsys)); |
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/* there's no capability for setting *minimum* step size in IDA */ |
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|
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CONSOLE_DEBUG("ASSIGNING LINEAR SOLVER"); |
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|
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/* attach linear solver module, using the default value of maxl */ |
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flag = IDASpgmr(ida_mem, 0); |
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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 0; |
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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 0; |
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}/* else success */ |
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|
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/* assign the J*v function */ |
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flag = IDASpilsSetJacTimesVecFn(ida_mem, &integrator_ida_jvex, (void *)blsys); |
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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 0; |
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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 0; |
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}/* else success */ |
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|
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/* set linear solver optional inputs... |
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|
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...nothing here at the moment... |
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|
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*/ |
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|
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/* correct initial values, given derivatives */ |
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blsys->currentstep=0; |
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t_index=start_index+1; |
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tout1 = samplelist_get(blsys->samples, t_index); |
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|
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#if SUNDIALS_VERSION_MAJOR==2 && SUNDIALS_VERSION_MINOR==3 |
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flag = IDACalcIC(ida_mem, IDA_Y_INIT, tout1); |
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#else |
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flag = IDACalcIC(ida_mem, t0, y0, yp0, IDA_Y_INIT, tout1); |
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#endif |
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|
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if(flag!=IDA_SUCCESS){ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Unable to solve initial values (IDACalcIC)"); |
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return 0; |
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}/* else success */ |
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|
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CONSOLE_DEBUG("INITIAL CONDITIONS SOLVED :-)"); |
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|
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/* optionally, specify ROO-FINDING PROBLEM */ |
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|
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/* -- set up the IntegratorReporter */ |
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integrator_output_init(blsys); |
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|
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/* -- store the initial values of all the stuff */ |
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integrator_output_write(blsys); |
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integrator_output_write_obs(blsys); |
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|
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/* specify where the returned values should be stored */ |
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yret = y0; |
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ypret = yp0; |
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|
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/* advance solution in time, return values as yret and derivatives as ypret */ |
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blsys->currentstep=1; |
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for(t_index=start_index+1;t_index <= finish_index;++t_index, ++blsys->currentstep){ |
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t = samplelist_get(blsys->samples, t_index); |
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|
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CONSOLE_DEBUG("SOLVING UP TO t = %f", t); |
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|
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flag = IDASolve(ida_mem, t, &tret, yret, ypret, IDA_NORMAL); |
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|
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/* pass the values of everything back to the compiler */ |
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integrator_set_t(blsys, (double)tret); |
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integrator_set_y(blsys, NV_DATA_S(yret)); |
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integrator_set_ydot(blsys, NV_DATA_S(ypret)); |
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|
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if(flag<0){ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Failed to solve t = %f (IDASolve), error %d", t, flag); |
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break; |
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} |
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|
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/* -- do something so that blsys knows the values of tret, yret and ypret */ |
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|
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/* -- store the current values of all the stuff */ |
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integrator_output_write(blsys); |
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integrator_output_write_obs(blsys); |
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} |
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|
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/* -- close the IntegratorReporter */ |
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integrator_output_close(blsys); |
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|
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if(flag < 0){ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Solving aborted while attempting t = %f", t); |
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return 0; |
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} |
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|
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/* get optional outputs */ |
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|
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/* free solution memory */ |
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N_VDestroy_Serial(yret); |
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N_VDestroy_Serial(ypret); |
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|
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/* free solver memory */ |
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IDAFree(ida_mem); |
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|
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/* all done */ |
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return 1; |
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} |
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|
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/*-------------------------------------------------- |
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RESIDUALS AND JACOBIAN |
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*/ |
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/** |
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Function to evaluate system residuals, in the form required for IDA. |
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|
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Given tt, yy and yp, we need to evaluate and return rr. |
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|
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@param tt current value of indep variable (time) |
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@param yy current values of dependent variable vector |
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@param yp current values of derivatives of dependent variables |
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@param rr the output residual vector (is we're returning data to) |
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@param res_data pointer to our stuff (blsys in this case). |
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|
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@return 0 on success, positive on recoverable error, and |
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negative on unrecoverable error. |
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*/ |
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int integrator_ida_fex(realtype tt, N_Vector yy, N_Vector yp, N_Vector rr, void *res_data){ |
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IntegratorSystem *blsys; |
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IntegratorIdaData *enginedata; |
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int i, calc_ok, is_error; |
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struct rel_relation** relptr; |
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double resid; |
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char *relname; |
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|
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blsys = (IntegratorSystem *)res_data; |
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enginedata = integrator_ida_enginedata(blsys); |
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|
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/* fprintf(stderr,"\n\n"); */ |
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/* CONSOLE_DEBUG("ABOUT TO EVALUTE RESIDUALS..."); */ |
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|
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/* pass the values of everything back to the compiler */ |
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integrator_set_t(blsys, (double)tt); |
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integrator_set_y(blsys, NV_DATA_S(yy)); |
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integrator_set_ydot(blsys, NV_DATA_S(yp)); |
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|
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/* revaluate the system residuals using the new data */ |
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is_error = 0; |
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relptr = enginedata->rellist; |
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|
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/* CONSOLE_DEBUG("IDA requests residuals of length %lu",NV_LENGTH_S(rr)); */ |
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if(NV_LENGTH_S(rr)!=enginedata->nrels){ |
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ERROR_REPORTER_HERE(ASC_PROG_ERR,"Invalid residuals nrels!=length(rr)"); |
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return -1; /* unrecoverable */ |
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} |
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|
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Asc_SignalHandlerPush(SIGFPE,SIG_IGN); |
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if (setjmp(g_fpe_env)==0) { |
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for(i=0, relptr = enginedata->rellist; |
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i< enginedata->nrels && relptr != NULL; |
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++i, ++relptr |
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){ |
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resid = relman_eval(*relptr, &calc_ok, enginedata->safeeval); |
| 375 |
|
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relname = rel_make_name(blsys->system, *relptr); |
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/* if(calc_ok){ |
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CONSOLE_DEBUG("residual[%d:\"%s\"] = %f",i,relname,resid); |
| 379 |
}else{ |
| 380 |
CONSOLE_DEBUG("residual[%d:\"%s\"] = %f (ERROR)",i,relname,resid); |
| 381 |
}*/ |
| 382 |
ASC_FREE(relname); |
| 383 |
|
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NV_Ith_S(rr,i) = resid; |
| 385 |
if(!calc_ok){ |
| 386 |
/* presumable some output already made? */ |
| 387 |
is_error = 1; |
| 388 |
} |
| 389 |
} |
| 390 |
}else{ |
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CONSOLE_DEBUG("FLOATING POINT ERROR WITH i=%d",i); |
| 392 |
} |
| 393 |
Asc_SignalHandlerPop(SIGFPE,SIG_IGN); |
| 394 |
|
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if(is_error)CONSOLE_DEBUG("SOME ERRORS FOUND IN EVALUATION"); |
| 396 |
return is_error; |
| 397 |
} |
| 398 |
|
| 399 |
/** |
| 400 |
Function to evaluate the product J*v, in the form required for IDA (see IDASpilsSetJacTimesVecFn) |
| 401 |
|
| 402 |
Given tt, yy, yp, rr and v, we need to evaluate and return Jv. |
| 403 |
|
| 404 |
@param tt current value of the independent variable (time, t) |
| 405 |
@param yy current value of the dependent variable vector, y(t). |
| 406 |
@param yp current value of y'(t). |
| 407 |
@param rr current value of the residual vector F(t, y, y'). |
| 408 |
@param v the vector by which the Jacobian must be multiplied to the right. |
| 409 |
@param Jv the output vector computed |
| 410 |
@param c_j the scalar in the system Jacobian, proportional to the inverse of the step size ($ \alpha$ in Eq. (3.5) ). |
| 411 |
@param jac_data pointer to our stuff (blsys in this case, passed into IDA via IDASp*SetJacTimesVecFn.) |
| 412 |
@param tmp1 @see tmp2 |
| 413 |
@param tmp2 (as well as tmp1) pointers to memory allocated for variables of type N_Vector for use here as temporary storage or work space. |
| 414 |
@return 0 on success |
| 415 |
*/ |
| 416 |
int integrator_ida_jvex(realtype tt, N_Vector yy, N_Vector yp, N_Vector rr |
| 417 |
, N_Vector v, N_Vector Jv, realtype c_j |
| 418 |
, void *jac_data, N_Vector tmp1, N_Vector tmp2 |
| 419 |
){ |
| 420 |
IntegratorSystem *blsys; |
| 421 |
IntegratorIdaData *enginedata; |
| 422 |
int i, j, is_error=0; |
| 423 |
struct rel_relation** relptr; |
| 424 |
char *relname, *varname; |
| 425 |
int status; |
| 426 |
double Jv_i; |
| 427 |
|
| 428 |
int *variables; |
| 429 |
double *derivatives; |
| 430 |
var_filter_t filter; |
| 431 |
int count; |
| 432 |
|
| 433 |
CONSOLE_DEBUG("EVALUTING JACOBIAN..."); |
| 434 |
|
| 435 |
blsys = (IntegratorSystem *)jac_data; |
| 436 |
enginedata = integrator_ida_enginedata(blsys); |
| 437 |
|
| 438 |
/* pass the values of everything back to the compiler */ |
| 439 |
integrator_set_t(blsys, (double)tt); |
| 440 |
integrator_set_y(blsys, NV_DATA_S(yy)); |
| 441 |
integrator_set_ydot(blsys, NV_DATA_S(yp)); |
| 442 |
/* no real use for residuals (rr) here, I don't think? */ |
| 443 |
|
| 444 |
/* allocate space for returns from relman_diff2: we *should* be able to use 'tmp1' and 'tmp2' here... */ |
| 445 |
variables = ASC_NEW_ARRAY(int, NV_LENGTH_S(yy) * 2); |
| 446 |
derivatives = ASC_NEW_ARRAY(double, NV_LENGTH_S(yy) * 2); |
| 447 |
|
| 448 |
/* evaluate the derivatives... */ |
| 449 |
/* J = dG_dy = dF_dy + alpha * dF_dyp */ |
| 450 |
|
| 451 |
filter.matchbits = VAR_SVAR; |
| 452 |
filter.matchvalue = VAR_SVAR; |
| 453 |
|
| 454 |
CONSOLE_DEBUG("PRINTING VALUES OF 'v' VECTOR (length %ld)",NV_LENGTH_S(v)); |
| 455 |
for(i=0; i<NV_LENGTH_S(v); ++i){ |
| 456 |
varname = var_make_name(blsys->system, enginedata->varlist[i]); |
| 457 |
if(varname==NULL)varname="UNKNOWN"; |
| 458 |
CONSOLE_DEBUG("v[%d] = '%s' = %f",i,varname,NV_Ith_S(v,i)); |
| 459 |
ASC_FREE(varname); |
| 460 |
} |
| 461 |
|
| 462 |
Asc_SignalHandlerPush(SIGFPE,SIG_IGN); |
| 463 |
if (setjmp(g_fpe_env)==0) { |
| 464 |
for(i=0, relptr = enginedata->rellist; |
| 465 |
i< enginedata->nrels && relptr != NULL; |
| 466 |
++i, ++relptr |
| 467 |
){ |
| 468 |
/* get derivatives for this particular relation */ |
| 469 |
status = relman_diff2(*relptr, &filter, derivatives, variables, &count, enginedata->safeeval); |
| 470 |
for(j=0;i<count;++j){ |
| 471 |
varname = var_make_name(blsys->system, enginedata->varlist[blsys->y_id[variables[i]]]); |
| 472 |
CONSOLE_DEBUG("diff var[%d] is %s",j,varname); |
| 473 |
ASC_FREE(varname); |
| 474 |
} |
| 475 |
|
| 476 |
CONSOLE_DEBUG("Got derivatives against %d matching variables", count); |
| 477 |
|
| 478 |
relname = rel_make_name(blsys->system, *relptr); |
| 479 |
if(!status){ |
| 480 |
CONSOLE_DEBUG("Derivatives for relation %d '%s' OK",i,relname); |
| 481 |
}else{ |
| 482 |
CONSOLE_DEBUG("ERROR calculating derivatives for relation %d '%s'",i,relname); |
| 483 |
break; |
| 484 |
} |
| 485 |
ASC_FREE(relname); |
| 486 |
|
| 487 |
Jv_i = 0; |
| 488 |
for(j=0; j < count; ++j){ |
| 489 |
/* CONSOLE_DEBUG("j = %d, variables[j] = %d, n_y = %ld", j, variables[j], blsys->n_y); */ |
| 490 |
varname = var_make_name(blsys->system, enginedata->varlist[variables[j]]); |
| 491 |
if(varname){ |
| 492 |
CONSOLE_DEBUG("Variable %d '%s' derivative = %f", variables[j],varname,derivatives[j]); |
| 493 |
ASC_FREE(varname); |
| 494 |
}else{ |
| 495 |
CONSOLE_DEBUG("Variable %d (UNKNOWN!): derivative = %f",variables[j],derivatives[j]); |
| 496 |
} |
| 497 |
|
| 498 |
/* this bit is still not right!!! */ |
| 499 |
Jv_i += derivatives[j] * NV_Ith_S(v,blsys->y_id[variables[j]]); |
| 500 |
} |
| 501 |
|
| 502 |
NV_Ith_S(Jv,i) = Jv_i; |
| 503 |
CONSOLE_DEBUG("(J*v)[%d] = %f", i, Jv_i); |
| 504 |
|
| 505 |
if(status){ |
| 506 |
/* presumably some error_reporter will already have been made*/ |
| 507 |
is_error = 1; |
| 508 |
} |
| 509 |
} |
| 510 |
}else{ |
| 511 |
CONSOLE_DEBUG("FLOATING POINT ERROR WITH i=%d",i); |
| 512 |
} |
| 513 |
Asc_SignalHandlerPop(SIGFPE,SIG_IGN); |
| 514 |
|
| 515 |
if(is_error)CONSOLE_DEBUG("SOME ERRORS FOUND IN EVALUATION"); |
| 516 |
|
| 517 |
|
| 518 |
|
| 519 |
return is_error; |
| 520 |
} |
| 521 |
|
| 522 |
/*---------------------------------------------- |
| 523 |
ERROR REPORTING |
| 524 |
*/ |
| 525 |
/** |
| 526 |
Error message reporter function to be passed to IDA. All error messages |
| 527 |
will trigger a call to this function, so we should find everything |
| 528 |
appearing on the console (in the case of Tcl/Tk) or in the errors/warnings |
| 529 |
panel (in the case of PyGTK). |
| 530 |
*/ |
| 531 |
void integrator_ida_error(int error_code |
| 532 |
, const char *module, const char *function |
| 533 |
, char *msg, void *eh_data |
| 534 |
){ |
| 535 |
IntegratorSystem *blsys; |
| 536 |
error_severity_t sev; |
| 537 |
|
| 538 |
/* cast back the IntegratorSystem, just in case we need it */ |
| 539 |
blsys = (IntegratorSystem *)eh_data; |
| 540 |
|
| 541 |
/* severity depends on the sign of the error_code value */ |
| 542 |
if(error_code <= 0){ |
| 543 |
sev = ASC_PROG_ERR; |
| 544 |
}else{ |
| 545 |
sev = ASC_PROG_WARNING; |
| 546 |
} |
| 547 |
|
| 548 |
/* use our all-purpose error reporting to get stuff back to the GUI */ |
| 549 |
error_reporter(sev,module,0,function,"%s (error %d)",msg,error_code); |
| 550 |
} |
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