cvodes_nls.c

/* -----------------------------------------------------------------------------
 * Programmer(s): David J. Gardner @ LLNL
 * -----------------------------------------------------------------------------
 * SUNDIALS Copyright Start
 * Copyright (c) 2002-2024, Lawrence Livermore National Security
 * and Southern Methodist University.
 * All rights reserved.
 *
 * See the top-level LICENSE and NOTICE files for details.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 * SUNDIALS Copyright End
 * -----------------------------------------------------------------------------
 * This the implementation file for the CVODES nonlinear solver interface.
 * ---------------------------------------------------------------------------*/

#include "cvodes_impl.h"
#include "sundials/sundials_math.h"
#include "sundials/sundials_nvector_senswrapper.h"

/* constant macros */
#define ONE SUN_RCONST(1.0)

/* private functions */
static int cvNlsResidual(N_Vector ycor, N_Vector res, void* cvode_mem);
static int cvNlsFPFunction(N_Vector ycor, N_Vector res, void* cvode_mem);

static int cvNlsLSetup(sunbooleantype jbad, sunbooleantype* jcur,
                       void* cvode_mem);
static int cvNlsLSolve(N_Vector delta, void* cvode_mem);
static int cvNlsConvTest(SUNNonlinearSolver NLS, N_Vector ycor, N_Vector del,
                         sunrealtype tol, N_Vector ewt, void* cvode_mem);

/* -----------------------------------------------------------------------------
 * Exported functions
 * ---------------------------------------------------------------------------*/

int CVodeSetNonlinearSolver(void* cvode_mem, SUNNonlinearSolver NLS)
{
  CVodeMem cv_mem;
  int retval;

  /* Return immediately if CVode memory is NULL */
  if (cvode_mem == NULL)
  {
    cvProcessError(NULL, CV_MEM_NULL, __LINE__, __func__, __FILE__, MSGCV_NO_MEM);
    return (CV_MEM_NULL);
  }
  cv_mem = (CVodeMem)cvode_mem;

  /* Return immediately if NLS memory is NULL */
  if (NLS == NULL)
  {
    cvProcessError(NULL, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   "NLS must be non-NULL");
    return (CV_ILL_INPUT);
  }

  /* check for required nonlinear solver functions */
  if (NLS->ops->gettype == NULL || NLS->ops->solve == NULL ||
      NLS->ops->setsysfn == NULL)
  {
    cvProcessError(cv_mem, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   "NLS does not support required operations");
    return (CV_ILL_INPUT);
  }

  /* free any existing nonlinear solver */
  if ((cv_mem->NLS != NULL) && (cv_mem->ownNLS))
  {
    retval = SUNNonlinSolFree(cv_mem->NLS);
  }

  /* set SUNNonlinearSolver pointer */
  cv_mem->NLS = NLS;

  /* Set NLS ownership flag. If this function was called to attach the default
     NLS, CVODE will set the flag to SUNTRUE after this function returns. */
  cv_mem->ownNLS = SUNFALSE;

  /* set the nonlinear system function */
  if (SUNNonlinSolGetType(NLS) == SUNNONLINEARSOLVER_ROOTFIND)
  {
    retval = SUNNonlinSolSetSysFn(cv_mem->NLS, cvNlsResidual);
  }
  else if (SUNNonlinSolGetType(NLS) == SUNNONLINEARSOLVER_FIXEDPOINT)
  {
    retval = SUNNonlinSolSetSysFn(cv_mem->NLS, cvNlsFPFunction);
  }
  else
  {
    cvProcessError(cv_mem, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   "Invalid nonlinear solver type");
    return (CV_ILL_INPUT);
  }

  if (retval != CV_SUCCESS)
  {
    cvProcessError(cv_mem, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   "Setting nonlinear system function failed");
    return (CV_ILL_INPUT);
  }

  /* set convergence test function */
  retval = SUNNonlinSolSetConvTestFn(cv_mem->NLS, cvNlsConvTest, cvode_mem);
  if (retval != CV_SUCCESS)
  {
    cvProcessError(cv_mem, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   "Setting convergence test function failed");
    return (CV_ILL_INPUT);
  }

  /* set max allowed nonlinear iterations */
  retval = SUNNonlinSolSetMaxIters(cv_mem->NLS, NLS_MAXCOR);
  if (retval != CV_SUCCESS)
  {
    cvProcessError(cv_mem, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   "Setting maximum number of nonlinear iterations failed");
    return (CV_ILL_INPUT);
  }

  /* Reset the acnrmcur flag to SUNFALSE */
  cv_mem->cv_acnrmcur = SUNFALSE;

  /* Set the nonlinear system RHS function */
  if (!(cv_mem->cv_f))
  {
    cvProcessError(cv_mem, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   "The ODE RHS function is NULL");
    return (CV_ILL_INPUT);
  }
  cv_mem->nls_f = cv_mem->cv_f;

  return (CV_SUCCESS);
}

/*---------------------------------------------------------------
  CVodeSetNlsRhsFn:

  This routine sets an alternative user-supplied ODE right-hand
  side function to use in the evaluation of nonlinear system
  functions.
  ---------------------------------------------------------------*/
int CVodeSetNlsRhsFn(void* cvode_mem, CVRhsFn f)
{
  CVodeMem cv_mem;

  if (cvode_mem == NULL)
  {
    cvProcessError(NULL, CV_MEM_NULL, __LINE__, __func__, __FILE__, MSGCV_NO_MEM);
    return (CV_MEM_NULL);
  }

  cv_mem = (CVodeMem)cvode_mem;

  if (f) { cv_mem->nls_f = f; }
  else { cv_mem->nls_f = cv_mem->cv_f; }

  return (CV_SUCCESS);
}

/*---------------------------------------------------------------
  CVodeGetNonlinearSystemData:

  This routine provides access to the relevant data needed to
  compute the nonlinear system function.
  ---------------------------------------------------------------*/
int CVodeGetNonlinearSystemData(void* cvode_mem, sunrealtype* tcur,
                                N_Vector* ypred, N_Vector* yn, N_Vector* fn,
                                sunrealtype* gamma, sunrealtype* rl1,
                                N_Vector* zn1, void** user_data)
{
  CVodeMem cv_mem;

  if (cvode_mem == NULL)
  {
    cvProcessError(NULL, CV_MEM_NULL, __LINE__, __func__, __FILE__, MSGCV_NO_MEM);
    return (CV_MEM_NULL);
  }

  cv_mem = (CVodeMem)cvode_mem;

  *tcur      = cv_mem->cv_tn;
  *ypred     = cv_mem->cv_zn[0];
  *yn        = cv_mem->cv_y;
  *fn        = cv_mem->cv_ftemp;
  *gamma     = cv_mem->cv_gamma;
  *rl1       = cv_mem->cv_rl1;
  *zn1       = cv_mem->cv_zn[1];
  *user_data = cv_mem->cv_user_data;

  return (CV_SUCCESS);
}

/* -----------------------------------------------------------------------------
 * Private functions
 * ---------------------------------------------------------------------------*/

int cvNlsInit(CVodeMem cvode_mem)
{
  int retval;

  /* set the linear solver setup wrapper function */
  if (cvode_mem->cv_lsetup)
  {
    retval = SUNNonlinSolSetLSetupFn(cvode_mem->NLS, cvNlsLSetup);
  }
  else { retval = SUNNonlinSolSetLSetupFn(cvode_mem->NLS, NULL); }

  if (retval != CV_SUCCESS)
  {
    cvProcessError(cvode_mem, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   "Setting the linear solver setup function failed");
    return (CV_NLS_INIT_FAIL);
  }

  /* set the linear solver solve wrapper function */
  if (cvode_mem->cv_lsolve)
  {
    retval = SUNNonlinSolSetLSolveFn(cvode_mem->NLS, cvNlsLSolve);
  }
  else { retval = SUNNonlinSolSetLSolveFn(cvode_mem->NLS, NULL); }

  if (retval != CV_SUCCESS)
  {
    cvProcessError(cvode_mem, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   "Setting linear solver solve function failed");
    return (CV_NLS_INIT_FAIL);
  }

  /* initialize nonlinear solver */
  retval = SUNNonlinSolInitialize(cvode_mem->NLS);

  if (retval != CV_SUCCESS)
  {
    cvProcessError(cvode_mem, CV_ILL_INPUT, __LINE__, __func__, __FILE__,
                   MSGCV_NLS_INIT_FAIL);
    return (CV_NLS_INIT_FAIL);
  }

  return (CV_SUCCESS);
}

static int cvNlsLSetup(sunbooleantype jbad, sunbooleantype* jcur, void* cvode_mem)
{
  CVodeMem cv_mem;
  int retval;

  if (cvode_mem == NULL)
  {
    cvProcessError(NULL, CV_MEM_NULL, __LINE__, __func__, __FILE__, MSGCV_NO_MEM);
    return (CV_MEM_NULL);
  }
  cv_mem = (CVodeMem)cvode_mem;

  /* if the nonlinear solver marked the Jacobian as bad update convfail */
  if (jbad) { cv_mem->convfail = CV_FAIL_BAD_J; }

  /* setup the linear solver */
  retval = cv_mem->cv_lsetup(cv_mem, cv_mem->convfail, cv_mem->cv_y,
                             cv_mem->cv_ftemp, &(cv_mem->cv_jcur),
                             cv_mem->cv_vtemp1, cv_mem->cv_vtemp2,
                             cv_mem->cv_vtemp3);
  cv_mem->cv_nsetups++;

  /* update Jacobian status */
  *jcur = cv_mem->cv_jcur;

  cv_mem->cv_forceSetup = SUNFALSE;
  cv_mem->cv_gamrat     = ONE;
  cv_mem->cv_gammap     = cv_mem->cv_gamma;
  cv_mem->cv_crate      = ONE;
  cv_mem->cv_crateS     = ONE;
  cv_mem->cv_nstlp      = cv_mem->cv_nst;

  if (retval < 0) { return (CV_LSETUP_FAIL); }
  if (retval > 0) { return (SUN_NLS_CONV_RECVR); }

  return (CV_SUCCESS);
}

static int cvNlsLSolve(N_Vector delta, void* cvode_mem)
{
  CVodeMem cv_mem;
  int retval;

  if (cvode_mem == NULL)
  {
    cvProcessError(NULL, CV_MEM_NULL, __LINE__, __func__, __FILE__, MSGCV_NO_MEM);
    return (CV_MEM_NULL);
  }
  cv_mem = (CVodeMem)cvode_mem;

  retval = cv_mem->cv_lsolve(cv_mem, delta, cv_mem->cv_ewt, cv_mem->cv_y,
                             cv_mem->cv_ftemp);

  if (retval < 0) { return (CV_LSOLVE_FAIL); }
  if (retval > 0) { return (SUN_NLS_CONV_RECVR); }

  return (CV_SUCCESS);
}

static int cvNlsConvTest(SUNNonlinearSolver NLS, N_Vector ycor, N_Vector delta,
                         sunrealtype tol, N_Vector ewt, void* cvode_mem)
{
  CVodeMem cv_mem;
  int m, retval;
  sunrealtype del;
  sunrealtype dcon;

  if (cvode_mem == NULL)
  {
    cvProcessError(NULL, CV_MEM_NULL, __LINE__, __func__, __FILE__, MSGCV_NO_MEM);
    return (CV_MEM_NULL);
  }
  cv_mem = (CVodeMem)cvode_mem;

  /* compute the norm of the correction */
  del = N_VWrmsNorm(delta, ewt);

  /* get the current nonlinear solver iteration count */
  retval = SUNNonlinSolGetCurIter(NLS, &m);
  if (retval != CV_SUCCESS) { return (CV_MEM_NULL); }

  /* Test for convergence. If m > 0, an estimate of the convergence
     rate constant is stored in crate, and used in the test.        */
  if (m > 0)
  {
    cv_mem->cv_crate = SUNMAX(CRDOWN * cv_mem->cv_crate, del / cv_mem->cv_delp);
  }
  dcon = del * SUNMIN(ONE, cv_mem->cv_crate) / tol;

  if (dcon <= ONE)
  {
    cv_mem->cv_acnrm    = (m == 0) ? del : N_VWrmsNorm(ycor, ewt);
    cv_mem->cv_acnrmcur = SUNTRUE;
    return (CV_SUCCESS); /* Nonlinear system was solved successfully */
  }

  /* check if the iteration seems to be diverging */
  if ((m >= 1) && (del > RDIV * cv_mem->cv_delp))
  {
    return (SUN_NLS_CONV_RECVR);
  }

  /* Save norm of correction and loop again */
  cv_mem->cv_delp = del;

  /* Not yet converged */
  return (SUN_NLS_CONTINUE);
}

static int cvNlsResidual(N_Vector ycor, N_Vector res, void* cvode_mem)
{
  CVodeMem cv_mem;
  int retval;

  if (cvode_mem == NULL)
  {
    cvProcessError(NULL, CV_MEM_NULL, __LINE__, __func__, __FILE__, MSGCV_NO_MEM);
    return (CV_MEM_NULL);
  }
  cv_mem = (CVodeMem)cvode_mem;

  /* update the state based on the current correction */
  N_VLinearSum(ONE, cv_mem->cv_zn[0], ONE, ycor, cv_mem->cv_y);

  /* evaluate the rhs function */
  retval = cv_mem->nls_f(cv_mem->cv_tn, cv_mem->cv_y, cv_mem->cv_ftemp,
                         cv_mem->cv_user_data);
  cv_mem->cv_nfe++;
  if (retval < 0) { return (CV_RHSFUNC_FAIL); }
  if (retval > 0) { return (RHSFUNC_RECVR); }

  /* compute the resiudal */
  N_VLinearSum(cv_mem->cv_rl1, cv_mem->cv_zn[1], ONE, ycor, res);
  N_VLinearSum(-cv_mem->cv_gamma, cv_mem->cv_ftemp, ONE, res, res);

  return (CV_SUCCESS);
}

static int cvNlsFPFunction(N_Vector ycor, N_Vector res, void* cvode_mem)
{
  CVodeMem cv_mem;
  int retval;

  if (cvode_mem == NULL)
  {
    cvProcessError(NULL, CV_MEM_NULL, __LINE__, __func__, __FILE__, MSGCV_NO_MEM);
    return (CV_MEM_NULL);
  }
  cv_mem = (CVodeMem)cvode_mem;

  /* update the state based on the current correction */
  N_VLinearSum(ONE, cv_mem->cv_zn[0], ONE, ycor, cv_mem->cv_y);

  /* evaluate the rhs function */
  retval = cv_mem->nls_f(cv_mem->cv_tn, cv_mem->cv_y, res, cv_mem->cv_user_data);
  cv_mem->cv_nfe++;
  if (retval < 0) { return (CV_RHSFUNC_FAIL); }
  if (retval > 0) { return (RHSFUNC_RECVR); }

  N_VLinearSum(cv_mem->cv_h, res, -ONE, cv_mem->cv_zn[1], res);
  N_VScale(cv_mem->cv_rl1, res, res);

  return (CV_SUCCESS);
}