/
solver_main.c
1159 lines (1011 loc) · 40.9 KB
/
solver_main.c
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/*
* This file is part of OpenModelica.
*
* Copyright (c) 1998-2014, Open Source Modelica Consortium (OSMC),
* c/o Linköpings universitet, Department of Computer and Information Science,
* SE-58183 Linköping, Sweden.
*
* All rights reserved.
*
* THIS PROGRAM IS PROVIDED UNDER THE TERMS OF THE BSD NEW LICENSE OR THE
* GPL VERSION 3 LICENSE OR THE OSMC PUBLIC LICENSE (OSMC-PL) VERSION 1.2.
* ANY USE, REPRODUCTION OR DISTRIBUTION OF THIS PROGRAM CONSTITUTES
* RECIPIENT'S ACCEPTANCE OF THE OSMC PUBLIC LICENSE OR THE GPL VERSION 3,
* ACCORDING TO RECIPIENTS CHOICE.
*
* The OpenModelica software and the OSMC (Open Source Modelica Consortium)
* Public License (OSMC-PL) are obtained from OSMC, either from the above
* address, from the URLs: http://www.openmodelica.org or
* http://www.ida.liu.se/projects/OpenModelica, and in the OpenModelica
* distribution. GNU version 3 is obtained from:
* http://www.gnu.org/copyleft/gpl.html. The New BSD License is obtained from:
* http://www.opensource.org/licenses/BSD-3-Clause.
*
* This program is distributed WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE, EXCEPT AS
* EXPRESSLY SET FORTH IN THE BY RECIPIENT SELECTED SUBSIDIARY LICENSE
* CONDITIONS OF OSMC-PL.
*
*/
/*! \file solver_main.c
*/
#include "omc_config.h"
#include "simulation/simulation_runtime.h"
#include "simulation/results/simulation_result.h"
#include "solver_main.h"
#include "openmodelica_func.h"
#include "initialization/initialization.h"
#include "nonlinearSystem.h"
#include "newtonIteration.h"
#include "dassl.h"
#include "ida_solver.h"
#include "delay.h"
#include "events.h"
#include "util/varinfo.h"
#include "radau.h"
#include "model_help.h"
#include "meta/meta_modelica.h"
#include "simulation/solver/epsilon.h"
#include "simulation/solver/external_input.h"
#include "linearSystem.h"
#include "sym_solver_ssc.h"
#include "irksco.h"
#if !defined(OMC_MINIMAL_RUNTIME)
#include "simulation/solver/embedded_server.h"
#include "simulation/solver/real_time_sync.h"
#endif
#include "simulation/simulation_input_xml.h"
#include "optimization/OptimizerInterface.h"
/*
* #include "dopri45.h"
*/
#include "util/rtclock.h"
#include "util/omc_error.h"
#include "simulation/options.h"
#include <math.h>
#include <string.h>
#include <errno.h>
#include <float.h>
double** work_states;
typedef struct RK4_DATA
{
double** work_states;
int work_states_ndims;
const double *b;
const double *c;
double h;
}RK4_DATA;
static int euler_ex_step(DATA* data, SOLVER_INFO* solverInfo);
static int rungekutta_step_ssc(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo);
static int rungekutta_step(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo);
static int sym_solver_step(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo);
static int radau_lobatto_step(DATA* data, SOLVER_INFO* solverInfo);
#ifdef WITH_IPOPT
static int ipopt_step(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo);
#endif
static void writeOutputVars(char* names, DATA* data);
int solver_main_step(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo)
{
TRACE_PUSH
int retVal;
switch(solverInfo->solverMethod)
{
case S_EULER:
retVal = euler_ex_step(data, solverInfo);
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
TRACE_POP
return retVal;
case S_HEUN:
case S_RUNGEKUTTA:
retVal = rungekutta_step(data, threadData, solverInfo);
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
TRACE_POP
return retVal;
#if !defined(OMC_MINIMAL_RUNTIME)
case S_DASSL:
retVal = dassl_step(data, threadData, solverInfo);
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
TRACE_POP
return retVal;
#endif
#ifdef WITH_IPOPT
case S_OPTIMIZATION:
if ((int)(data->modelData->nStates + data->modelData->nInputVars) > 0){
retVal = ipopt_step(data, threadData, solverInfo);
} else {
solverInfo->solverMethod = S_EULER;
retVal = euler_ex_step(data, solverInfo);
}
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
TRACE_POP
return retVal;
#endif
#ifdef WITH_SUNDIALS
case S_IMPEULER:
case S_TRAPEZOID:
case S_IMPRUNGEKUTTA:
retVal = radau_lobatto_step(data, solverInfo);
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
TRACE_POP
return retVal;
case S_IDA:
retVal = ida_solver_step(data, threadData, solverInfo);
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
TRACE_POP
return retVal;
#endif
case S_ERKSSC:
retVal = rungekutta_step_ssc(data, threadData, solverInfo);
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
TRACE_POP
return retVal;
case S_SYM_SOLVER:
retVal = sym_solver_step(data, threadData, solverInfo);
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
return retVal;
case S_SYM_SOLVER_SSC:
retVal = sym_solver_ssc_step(data, threadData, solverInfo);
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
return retVal;
case S_IRKSCO:
{
retVal = irksco_midpoint_rule(data, threadData, solverInfo);
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = solverInfo->solverStats[0] + solverInfo->solverStatsTmp[0];
return retVal;
}
}
TRACE_POP
return 1;
}
/*! \fn initializeSolverData(DATA* data, SOLVER_INFO* solverInfo)
*
* \param [ref] [data]
* \param [ref] [solverInfo]
*
* This function initializes solverInfo.
*/
int initializeSolverData(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo)
{
TRACE_PUSH
int retValue = 0;
int i;
SIMULATION_INFO *simInfo = data->simulationInfo;
/* initial solverInfo */
solverInfo->currentTime = simInfo->startTime;
solverInfo->currentStepSize = simInfo->stepSize;
solverInfo->laststep = 0;
solverInfo->solverRootFinding = 0;
solverInfo->solverNoEquidistantGrid = 0;
solverInfo->lastdesiredStep = solverInfo->currentTime + solverInfo->currentStepSize;
solverInfo->eventLst = allocList(sizeof(long));
solverInfo->didEventStep = 0;
solverInfo->stateEvents = 0;
solverInfo->sampleEvents = 0;
solverInfo->solverStats = (unsigned int*) calloc(numStatistics, sizeof(unsigned int));
solverInfo->solverStatsTmp = (unsigned int*) calloc(numStatistics, sizeof(unsigned int));
/* if FLAG_NOEQUIDISTANT_GRID is set, choose integrator step method */
if (omc_flag[FLAG_NOEQUIDISTANT_GRID])
{
solverInfo->integratorSteps = 1; /* TRUE */
}
else
{
solverInfo->integratorSteps = 0;
}
/* set tolerance for ZeroCrossings */
/* TODO: Check this! */
/* setZCtol(fmin(simInfo->stepSize, simInfo->tolerance)); */
switch (solverInfo->solverMethod)
{
case S_SYM_SOLVER:
case S_EULER: break;
case S_SYM_SOLVER_SSC:
{
allocateSymSolverSsc(solverInfo, data->modelData->nStates);
break;
}
case S_IRKSCO:
{
allocateIrksco(solverInfo, data->modelData->nStates, data->modelData->nZeroCrossings);
break;
}
case S_ERKSSC:
case S_RUNGEKUTTA:
case S_HEUN:
{
/* Allocate RK work arrays */
static const int rungekutta_s = 4;
static const double rungekutta_b[4] = { 1.0 / 6.0, 1.0 / 3.0, 1.0 / 3.0, 1.0 / 6.0 };
static const double rungekutta_c[4] = { 0.0, 0.5, 0.5, 1.0 };
static const int heun_s = 2;
static const double heun_b[2] = { 1.0 / 2.0, 1.0 / 2.0 };
static const double heun_c[2] = { 0.0, 1.0 };
RK4_DATA* rungeData = (RK4_DATA*) malloc(sizeof(RK4_DATA));
if (solverInfo->solverMethod==S_RUNGEKUTTA) {
rungeData->work_states_ndims = rungekutta_s;
rungeData->b = rungekutta_b;
rungeData->c = rungekutta_c;
} else if (solverInfo->solverMethod==S_HEUN) {
rungeData->work_states_ndims = heun_s;
rungeData->b = heun_b;
rungeData->c = heun_c;
} else if (solverInfo->solverMethod==S_ERKSSC) {
rungeData->h = (omc_flag[FLAG_INITIAL_STEP_SIZE]) ? atof(omc_flagValue[FLAG_INITIAL_STEP_SIZE]) : solverInfo->currentStepSize;
rungeData->work_states_ndims = 5;
} else {
throwStreamPrint(threadData, "Unknown RK solver");
}
rungeData->work_states = (double**) malloc((rungeData->work_states_ndims + 1) * sizeof(double*));
for (i = 0; i < rungeData->work_states_ndims + 1; i++) {
rungeData->work_states[i] = (double*) calloc(data->modelData->nStates, sizeof(double));
}
solverInfo->solverData = rungeData;
break;
}
case S_QSS: break;
#if !defined(OMC_MINIMAL_RUNTIME)
case S_DASSL:
{
/* Initial DASSL solver */
DASSL_DATA* dasslData = (DASSL_DATA*) malloc(sizeof(DASSL_DATA));
retValue = dassl_initial(data, threadData, solverInfo, dasslData);
solverInfo->solverData = dasslData;
break;
}
#endif
#ifdef WITH_IPOPT
case S_OPTIMIZATION:
{
infoStreamPrint(LOG_SOLVER, 0, "Initializing optimizer");
/* solverInfo->solverData = malloc(sizeof(OptData)); */
break;
}
#endif
#ifdef WITH_SUNDIALS
case S_IMPEULER:
case S_TRAPEZOID:
case S_IMPRUNGEKUTTA:
{
int usedImpRKOrder = DEFAULT_IMPRK_ORDER;
if (solverInfo->solverMethod == S_IMPEULER)
usedImpRKOrder = 1;
if (solverInfo->solverMethod == S_TRAPEZOID)
usedImpRKOrder = 2;
/* Check the order if set */
if (omc_flag[FLAG_IMPRK_ORDER])
{
usedImpRKOrder = atoi(omc_flagValue[FLAG_IMPRK_ORDER]);
if (usedImpRKOrder>6 || usedImpRKOrder<1)
{
warningStreamPrint(LOG_STDOUT, 0, "Selected order %d is out of range[1-6]. Use default order %d", usedImpRKOrder, DEFAULT_IMPRK_ORDER);
usedImpRKOrder = DEFAULT_IMPRK_ORDER;
}
}
/* Allocate implicit Runge-Kutta methods */
infoStreamPrint(LOG_SOLVER, 0, "Initializing Runge-Kutta method with order %d", usedImpRKOrder);
solverInfo->solverData = calloc(1, sizeof(KINODE));
allocateKinOde(data, threadData, solverInfo, usedImpRKOrder);
break;
}
case S_IDA:
{
IDA_SOLVER* idaData = NULL;
/* Allocate ida working data */
infoStreamPrint(LOG_SOLVER, 0, "Initializing IDA DAE Solver");
idaData = (IDA_SOLVER*) malloc(sizeof(IDA_SOLVER));
retValue = ida_solver_initial(data, threadData, solverInfo, idaData);
solverInfo->solverData = idaData;
break;
}
#endif
default:
errorStreamPrint(LOG_SOLVER, 0, "Solver %s disabled on this configuration", SOLVER_METHOD_NAME[solverInfo->solverMethod]);
TRACE_POP
return 1;
}
TRACE_POP
return retValue;
}
/*! \fn freeSolver(DATA* data, SOLVER_INFO* solverInfo)
*
* \param [ref] [data]
* \param [ref] [solverInfo]
*
* This function frees solverInfo.
*/
int freeSolverData(DATA* data, SOLVER_INFO* solverInfo)
{
int retValue = 0;
int i;
/* free solver statistics */
free(solverInfo->solverStats);
free(solverInfo->solverStatsTmp);
/* deintialize solver related workspace */
if (solverInfo->solverMethod == S_SYM_SOLVER_SSC)
{
freeSymSolverSsc(solverInfo);
}
else if(solverInfo->solverMethod == S_RUNGEKUTTA || solverInfo->solverMethod == S_HEUN
|| solverInfo->solverMethod == S_ERKSSC)
{
/* free RK work arrays */
for(i = 0; i < ((RK4_DATA*)(solverInfo->solverData))->work_states_ndims + 1; i++)
free(((RK4_DATA*)(solverInfo->solverData))->work_states[i]);
free(((RK4_DATA*)(solverInfo->solverData))->work_states);
free((RK4_DATA*)solverInfo->solverData);
}
else if (solverInfo->solverMethod == S_IRKSCO)
{
freeIrksco(solverInfo);
}
#if !defined(OMC_MINIMAL_RUNTIME)
else if(solverInfo->solverMethod == S_DASSL)
{
/* De-Initial DASSL solver */
dassl_deinitial(solverInfo->solverData);
}
#endif
#ifdef WITH_IPOPT
else if(solverInfo->solverMethod == S_OPTIMIZATION)
{
/* free work arrays */
/*destroyIpopt(solverInfo);*/
}
#endif
#ifdef WITH_SUNDIALS
else if(solverInfo->solverMethod == S_IMPEULER ||
solverInfo->solverMethod == S_TRAPEZOID ||
solverInfo->solverMethod == S_IMPRUNGEKUTTA)
{
/* free work arrays */
freeKinOde(data, solverInfo);
}
else if(solverInfo->solverMethod == S_IDA)
{
/* free work arrays */
ida_solver_deinitial(solverInfo->solverData);
}
#endif
{
/* free other solver memory */
}
return retValue;
}
/*! \fn initializeModel(DATA* data, const char* init_initMethod,
* const char* init_file, double init_time)
*
* \param [ref] [data]
* \param [in] [pInitMethod] user defined initialization method
* \param [in] [pInitFile] extra argument for initialization-method "file"
* \param [in] [initTime] extra argument for initialization-method "file"
*
* This function starts the initialization process of the model .
*/
int initializeModel(DATA* data, threadData_t *threadData, const char* init_initMethod,
const char* init_file, double init_time)
{
TRACE_PUSH
int retValue = 0;
SIMULATION_INFO *simInfo = data->simulationInfo;
if(measure_time_flag)
{
rt_accumulate(SIM_TIMER_PREINIT);
rt_tick(SIM_TIMER_INIT);
rt_tick(SIM_TIMER_TOTAL);
}
copyStartValuestoInitValues(data);
/* read input vars */
data->callback->input_function_init(data, threadData);
externalInputUpdate(data);
data->callback->input_function_updateStartValues(data, threadData);
data->callback->input_function(data, threadData);
data->localData[0]->timeValue = simInfo->startTime;
threadData->currentErrorStage = ERROR_SIMULATION;
/* try */
{
int success = 0;
#if !defined(OMC_EMCC)
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
if(initialization(data, threadData, init_initMethod, init_file, init_time))
{
warningStreamPrint(LOG_STDOUT, 0, "Error in initialization. Storing results and exiting.\nUse -lv=LOG_INIT -w for more information.");
simInfo->stopTime = simInfo->startTime;
retValue = -1;
}
success = 1;
#if !defined(OMC_EMCC)
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
if (!success)
{
retValue = -1;
infoStreamPrint(LOG_ASSERT, 0, "simulation terminated by an assertion at initialization");
}
}
/* adrpo: write the parameter data in the file once again after bound parameters and initialization! */
sim_result.writeParameterData(&sim_result,data,threadData);
infoStreamPrint(LOG_SOLVER, 0, "Wrote parameters to the file after initialization (for output formats that support this)");
/* Initialization complete */
if (measure_time_flag) {
rt_accumulate(SIM_TIMER_INIT);
}
TRACE_POP
return retValue;
}
/*! \fn finishSimulation(DATA* data, SOLVER_INFO* solverInfo)
*
* \param [ref] [data]
* \param [ref] [solverInfo]
*
* This function performs the last step
* and outputs some statistics, this this simulation terminal step.
*/
int finishSimulation(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo, const char* outputVariablesAtEnd)
{
TRACE_PUSH
int retValue = 0;
int ui;
SIMULATION_INFO *simInfo = data->simulationInfo;
/* Last step with terminal()=true */
if(solverInfo->currentTime >= simInfo->stopTime && solverInfo->solverMethod != S_OPTIMIZATION) {
infoStreamPrint(LOG_EVENTS_V, 0, "terminal event at stop time %g", solverInfo->currentTime);
data->simulationInfo->terminal = 1;
updateDiscreteSystem(data, threadData);
/* prevent emit if noeventemit flag is used */
if (!(omc_flag[FLAG_NOEVENTEMIT])) {
sim_result.emit(&sim_result, data, threadData);
}
data->simulationInfo->terminal = 0;
}
if (0 != strcmp("ia", data->simulationInfo->outputFormat)) {
communicateStatus("Finished", 1, solverInfo->currentTime, solverInfo->currentStepSize);
}
/* we have output variables in the command line -output a,b,c */
if(outputVariablesAtEnd)
{
writeOutputVars(strdup(outputVariablesAtEnd), data);
}
if(ACTIVE_STREAM(LOG_STATS))
{
rt_accumulate(SIM_TIMER_TOTAL);
infoStreamPrint(LOG_STATS, 1, "### STATISTICS ###");
infoStreamPrint(LOG_STATS, 1, "timer");
infoStreamPrint(LOG_STATS, 0, "%12gs reading init.xml", rt_accumulated(SIM_TIMER_INIT_XML));
infoStreamPrint(LOG_STATS, 0, "%12gs reading info.xml", rt_accumulated(SIM_TIMER_INFO_XML));
infoStreamPrint(LOG_STATS, 0, "%12gs pre-initialization", rt_accumulated(SIM_TIMER_PREINIT));
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] initialization", rt_accumulated(SIM_TIMER_INIT), rt_accumulated(SIM_TIMER_INIT)/rt_accumulated(SIM_TIMER_TOTAL)*100.0);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] steps", rt_accumulated(SIM_TIMER_STEP), rt_accumulated(SIM_TIMER_STEP)/rt_accumulated(SIM_TIMER_TOTAL)*100.0);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] creating output-file", rt_accumulated(SIM_TIMER_OUTPUT), rt_accumulated(SIM_TIMER_OUTPUT)/rt_accumulated(SIM_TIMER_TOTAL)*100.0);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] event-handling", rt_accumulated(SIM_TIMER_EVENT), rt_accumulated(SIM_TIMER_EVENT)/rt_accumulated(SIM_TIMER_TOTAL)*100.0);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] jacobian calculation", rt_accumulated(SIM_TIMER_JACOBIAN), rt_accumulated(SIM_TIMER_JACOBIAN)/rt_accumulated(SIM_TIMER_TOTAL)*100.0);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] overhead", rt_accumulated(SIM_TIMER_OVERHEAD), rt_accumulated(SIM_TIMER_OVERHEAD)/rt_accumulated(SIM_TIMER_TOTAL)*100.0);
if(S_OPTIMIZATION != solverInfo->solverMethod)
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] simulation", rt_accumulated(SIM_TIMER_TOTAL)-rt_accumulated(SIM_TIMER_OVERHEAD)-rt_accumulated(SIM_TIMER_EVENT)-rt_accumulated(SIM_TIMER_OUTPUT)-rt_accumulated(SIM_TIMER_STEP)-rt_accumulated(SIM_TIMER_INIT)-rt_accumulated(SIM_TIMER_PREINIT), (rt_accumulated(SIM_TIMER_TOTAL)-rt_accumulated(SIM_TIMER_OVERHEAD)-rt_accumulated(SIM_TIMER_EVENT)-rt_accumulated(SIM_TIMER_OUTPUT)-rt_accumulated(SIM_TIMER_STEP)-rt_accumulated(SIM_TIMER_INIT)-rt_accumulated(SIM_TIMER_PREINIT))/rt_accumulated(SIM_TIMER_TOTAL)*100.0);
else
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] optimization", rt_accumulated(SIM_TIMER_TOTAL)-rt_accumulated(SIM_TIMER_OVERHEAD)-rt_accumulated(SIM_TIMER_EVENT)-rt_accumulated(SIM_TIMER_OUTPUT)-rt_accumulated(SIM_TIMER_STEP)-rt_accumulated(SIM_TIMER_INIT)-rt_accumulated(SIM_TIMER_PREINIT), (rt_accumulated(SIM_TIMER_TOTAL)-rt_accumulated(SIM_TIMER_OVERHEAD)-rt_accumulated(SIM_TIMER_EVENT)-rt_accumulated(SIM_TIMER_OUTPUT)-rt_accumulated(SIM_TIMER_STEP)-rt_accumulated(SIM_TIMER_INIT)-rt_accumulated(SIM_TIMER_PREINIT))/rt_accumulated(SIM_TIMER_TOTAL)*100.0);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] total", rt_accumulated(SIM_TIMER_TOTAL), rt_accumulated(SIM_TIMER_TOTAL)/rt_accumulated(SIM_TIMER_TOTAL)*100.0);
messageClose(LOG_STATS);
infoStreamPrint(LOG_STATS, 1, "events");
infoStreamPrint(LOG_STATS, 0, "%5ld state events", solverInfo->stateEvents);
infoStreamPrint(LOG_STATS, 0, "%5ld time events", solverInfo->sampleEvents);
messageClose(LOG_STATS);
if(S_OPTIMIZATION == solverInfo->solverMethod || /* skip solver statistics for optimization */
S_QSS == solverInfo->solverMethod) /* skip also for qss, since not available*/
{
}
else
{
/* save stats before print */
for(ui=0; ui<numStatistics; ui++)
solverInfo->solverStats[ui] += solverInfo->solverStatsTmp[ui];
infoStreamPrint(LOG_STATS, 1, "solver: %s", SOLVER_METHOD_NAME[solverInfo->solverMethod]);
infoStreamPrint(LOG_STATS, 0, "%5d steps taken", solverInfo->solverStats[0]);
infoStreamPrint(LOG_STATS, 0, "%5d calls of functionODE", solverInfo->solverStats[1]);
infoStreamPrint(LOG_STATS, 0, "%5d evaluations of jacobian", solverInfo->solverStats[2]);
infoStreamPrint(LOG_STATS, 0, "%5d error test failures", solverInfo->solverStats[3]);
infoStreamPrint(LOG_STATS, 0, "%5d convergence test failures", solverInfo->solverStats[4]);
messageClose(LOG_STATS);
}
infoStreamPrint(LOG_STATS_V, 1, "function calls");
if (omc_flag[FLAG_DAE_MODE])
{
infoStreamPrint(LOG_STATS_V, 0, "%5ld calls of functionDAE", data->simulationInfo->callStatistics.functionEvalDAE);
}
else
{
infoStreamPrint(LOG_STATS_V, 0, "%5ld calls of functionODE", data->simulationInfo->callStatistics.functionODE);
}
infoStreamPrint(LOG_STATS_V, 0, "%5ld calls of functionAlgebraics", data->simulationInfo->callStatistics.functionAlgebraics);
infoStreamPrint(LOG_STATS_V, 0, "%5ld calls of updateDiscreteSystem", data->simulationInfo->callStatistics.updateDiscreteSystem);
infoStreamPrint(LOG_STATS_V, 0, "%5ld calls of functionZeroCrossingsEquations", data->simulationInfo->callStatistics.functionZeroCrossingsEquations);
infoStreamPrint(LOG_STATS_V, 0, "%5ld calls of functionZeroCrossings", data->simulationInfo->callStatistics.functionZeroCrossings);
messageClose(LOG_STATS_V);
infoStreamPrint(LOG_STATS_V, 1, "linear systems");
for(ui=0; ui<data->modelData->nLinearSystems; ui++)
printLinearSystemSolvingStatistics(data, ui, LOG_STATS_V);
messageClose(LOG_STATS_V);
infoStreamPrint(LOG_STATS_V, 1, "non-linear systems");
for(ui=0; ui<data->modelData->nNonLinearSystems; ui++)
printNonLinearSystemSolvingStatistics(data, ui, LOG_STATS_V);
messageClose(LOG_STATS_V);
messageClose(LOG_STATS);
rt_tick(SIM_TIMER_TOTAL);
}
TRACE_POP
return retValue;
}
/*! \fn solver_main
*
* \param [ref] [data]
* \param [in] [pInitMethod] user defined initialization method
* \param [in] [pOptiMethod] user defined optimization method
* \param [in] [pInitFile] extra argument for initialization-method "file"
* \param [in] [initTime] extra argument for initialization-method "file"
* \param [in] [solverID] selects the ode solver
* \param [in] [outputVariablesAtEnd] ???
*
* This is the main function of the solver, it performs the simulation.
*/
int solver_main(DATA* data, threadData_t *threadData, const char* init_initMethod, const char* init_file,
double init_time, int solverID, const char* outputVariablesAtEnd, const char *argv_0)
{
TRACE_PUSH
int i, retVal = 1, initSolverInfo = 0;
unsigned int ui;
SOLVER_INFO solverInfo;
SIMULATION_INFO *simInfo = data->simulationInfo;
void *dllHandle=NULL;
solverInfo.solverMethod = solverID;
/* do some solver specific checks */
switch(solverInfo.solverMethod)
{
#ifndef WITH_SUNDIALS
case S_IMPEULER:
case S_TRAPEZOID:
case S_IMPRUNGEKUTTA:
warningStreamPrint(LOG_STDOUT, 0, "Sundial/kinsol is needed but not available. Please choose other solver.");
TRACE_POP
return 1;
#endif
#ifndef WITH_IPOPT
case S_OPTIMIZATION:
warningStreamPrint(LOG_STDOUT, 0, "Ipopt is needed but not available.");
TRACE_POP
return 1;
#endif
}
/* first initialize the model then allocate SolverData memory
* due to be able to use the initialized values for the integrator
*/
simInfo->useStopTime = 1;
/* if the given step size is too small redefine it */
if ((simInfo->stepSize < MINIMAL_STEP_SIZE) && (simInfo->stopTime > 0)){
warningStreamPrint(LOG_STDOUT, 0, "The step-size %g is too small. Adjust the step-size to %g.", simInfo->stepSize, MINIMAL_STEP_SIZE);
simInfo->stepSize = MINIMAL_STEP_SIZE;
simInfo->numSteps = round((simInfo->stopTime - simInfo->startTime)/simInfo->stepSize);
}
#if !defined(OMC_EMCC)
MMC_TRY_INTERNAL(simulationJumpBuffer)
#endif
/* initialize external input structure */
externalInputallocate(data);
/* set tolerance for ZeroCrossings */
setZCtol(fmin(data->simulationInfo->stepSize, data->simulationInfo->tolerance));
omc_alloc_interface.collect_a_little();
/* initialize all parts of the model */
retVal = initializeModel(data, threadData, init_initMethod, init_file, init_time);
omc_alloc_interface.collect_a_little();
if(0 == retVal) {
retVal = initializeSolverData(data, threadData, &solverInfo);
initSolverInfo = 1;
}
#if !defined(OMC_MINIMAL_RUNTIME)
dllHandle = embedded_server_load_functions(omc_flagValue[FLAG_EMBEDDED_SERVER]);
omc_real_time_sync_init(threadData, data);
int port = 4841;
/* If an embedded server is specified */
if (dllHandle != NULL) {
if (omc_flag[FLAG_EMBEDDED_SERVER_PORT]) {
port = atoi(omc_flagValue[FLAG_EMBEDDED_SERVER_PORT]);
/* In case of a bad conversion, don't spawn a server on port 0...*/
if (port == 0) {
port = 4841;
}
}
}
data->embeddedServerState = embedded_server_init(data, data->localData[0]->timeValue, solverInfo.currentStepSize, argv_0, omc_real_time_sync_update, port);
#endif
if(0 == retVal) {
retVal = -1;
/* if the model has no time changing variables skip the main loop*/
if(data->modelData->nVariablesReal == 0 &&
data->modelData->nVariablesInteger == 0 &&
data->modelData->nVariablesBoolean == 0 &&
data->modelData->nVariablesString == 0 ) {
/* prevent emit if noeventemit flag is used */
if (!(omc_flag[FLAG_NOEVENTEMIT])) {
sim_result.emit(&sim_result, data, threadData);
}
infoStreamPrint(LOG_SOLVER, 0, "The model has no time changing variables, no integration will be performed.");
solverInfo.currentTime = simInfo->stopTime;
data->localData[0]->timeValue = simInfo->stopTime;
overwriteOldSimulationData(data);
retVal = finishSimulation(data, threadData, &solverInfo, outputVariablesAtEnd);
} else if(S_QSS == solverInfo.solverMethod) {
/* starts the simulation main loop - special solvers */
sim_result.emit(&sim_result,data,threadData);
/* overwrite the whole ring-buffer with initialized values */
overwriteOldSimulationData(data);
infoStreamPrint(LOG_SOLVER, 0, "Start numerical integration (startTime: %g, stopTime: %g)", simInfo->startTime, simInfo->stopTime);
retVal = data->callback->performQSSSimulation(data, threadData, &solverInfo);
omc_alloc_interface.collect_a_little();
/* terminate the simulation */
finishSimulation(data, threadData, &solverInfo, outputVariablesAtEnd);
omc_alloc_interface.collect_a_little();
} else {
/* starts the simulation main loop - standard solver interface */
if(omc_flag[FLAG_SOLVER_STEPS])
data->simulationInfo->solverSteps = 0;
if(solverInfo.solverMethod != S_OPTIMIZATION) {
sim_result.emit(&sim_result,data,threadData);
}
/* overwrite the whole ring-buffer with initialized values */
overwriteOldSimulationData(data);
/* store all values for non-dassl event search */
storeOldValues(data);
infoStreamPrint(LOG_SOLVER, 0, "Start numerical solver from %g to %g", simInfo->startTime, simInfo->stopTime);
retVal = data->callback->performSimulation(data, threadData, &solverInfo);
omc_alloc_interface.collect_a_little();
/* terminate the simulation */
//if (solverInfo.solverMethod == S_SYM_SOLVER_SSC) data->callback->symbolicInlineSystems(data, threadData, 0, 2);
finishSimulation(data, threadData, &solverInfo, outputVariablesAtEnd);
omc_alloc_interface.collect_a_little();
}
}
if (data->real_time_sync.enabled) {
int tMaxLate=0;
const char *unit = prettyPrintNanoSec(data->real_time_sync.maxLate, &tMaxLate);
infoStreamPrint(LOG_RT, 0, "Maximum real-time latency was (positive=missed dealine, negative is slack): %d %s", tMaxLate, unit);
}
#if !defined(OMC_MINIMAL_RUNTIME)
embedded_server_deinit(data->embeddedServerState);
embedded_server_unload_functions(dllHandle);
#endif
#if !defined(OMC_EMCC)
MMC_CATCH_INTERNAL(simulationJumpBuffer)
#endif
/* free external input data */
externalInputFree(data);
/* free SolverInfo memory */
if (initSolverInfo)
{
freeSolverData(data, &solverInfo);
}
TRACE_POP
return retVal;
}
/*************************************** EULER_EXP *********************************/
static int euler_ex_step(DATA* data, SOLVER_INFO* solverInfo)
{
int i;
SIMULATION_DATA *sData = (SIMULATION_DATA*)data->localData[0];
SIMULATION_DATA *sDataOld = (SIMULATION_DATA*)data->localData[1];
modelica_real* stateDer = sDataOld->realVars + data->modelData->nStates;
solverInfo->currentTime = sDataOld->timeValue + solverInfo->currentStepSize;
for(i = 0; i < data->modelData->nStates; i++)
{
sData->realVars[i] = sDataOld->realVars[i] + stateDer[i] * solverInfo->currentStepSize;
}
sData->timeValue = solverInfo->currentTime;
/* save stats */
/* steps */
solverInfo->solverStatsTmp[0] += 1;
/* function ODE evaluation is done directly after this function */
solverInfo->solverStatsTmp[1] += 1;
return 0;
}
/*************************************** EXP_RK_SSC *********************************/
static int rungekutta_step_ssc(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo)
{
// see.
// Solving Stiff Systems of ODEs by Explicit Methods with Conformed Stability
// Domains
// 2016 9th EUROSIM Congress on Modelling and Simulation
// A. E. Novikov...
RK4_DATA *rk = ((RK4_DATA*)(solverInfo->solverData));
const double Atol = data->simulationInfo->tolerance;
const double Rtol = data->simulationInfo->tolerance;
const int nx = data->modelData->nStates;
modelica_real h = rk->h;
double** k = rk->work_states;
int j, i;
double sum;
SIMULATION_DATA *sData = (SIMULATION_DATA*)data->localData[0];
SIMULATION_DATA *sDataOld = (SIMULATION_DATA*)data->localData[1];
modelica_real* stateDer = sData->realVars + nx;
modelica_real* stateDerOld = sDataOld->realVars + nx;
double t = sDataOld->timeValue;
const double targetTime = t + solverInfo->currentStepSize;
const short isMaxStepSizeSet = (short) omc_flagValue[FLAG_MAX_STEP_SIZE];
const double maxStepSize = isMaxStepSizeSet ? atof(omc_flagValue[FLAG_MAX_STEP_SIZE]) : -1;
#if defined(_MSC_VER)
/* handle stupid compilers */
double *x0 = (double*)malloc(nx*sizeof(double));
#else
double x0[nx];
#endif
if(t + h > targetTime)
h = solverInfo->currentStepSize;
memcpy(k[0], stateDerOld, nx*sizeof(double));
memcpy(x0, sDataOld->realVars, nx*sizeof(double));
while(t < targetTime && h > 0){
//printf("\nfrom %g to %g by %g\n", t, targetTime, h);
for(j = 0; j < 5; ++j){
if(j > 0)
memcpy(k[j], stateDer, nx*sizeof(double));
switch(j){
case 0:
//yn + k1/3
for(i = 0; i < nx; ++i)
sData->realVars[i] = x0[i] + h * k[0][i]/3.0;
sData->timeValue = t + h/3.0;
break;
case 1:
//yn + 1/6(k1 + k2)
for(i = 0; i < nx; ++i)
sData->realVars[i] = x0[i] + h/6.0 * (k[0][i] + k[1][i]);
sData->timeValue = t + h/3.0;
break;
case 2:
//yn + 1/8*(k1 + 3*k3)
for(i = 0; i < nx; ++i)
sData->realVars[i] = x0[i] + h/8.0 * (k[0][i] + 3*k[2][i]);
sData->timeValue = t + h/2.0;
break;
case 3:
//yn + 1/2*(k1 - 3*k3 + 4*k4)
for(i = 0; i < nx; ++i)
sData->realVars[i] = x0[i] + h/2.0 * (k[0][i] - 3*k[2][i] + 4*k[3][i]);
sData->timeValue = t + h;
break;
case 4:
//yn + 1/6*(k1 + 4*k3 + k5)
for(i = 0; i < nx; ++i){
sData->realVars[i] = x0[i] + h/6.0 * (k[0][i] + 4*k[3][i] + k[4][i]);
}
sData->timeValue = t + h;
break;
}
//f(yn + ...)
/* read input vars */
externalInputUpdate(data);
data->callback->input_function(data, threadData);
/* eval ode equations */
data->callback->functionODE(data, threadData);
}
t += h;
sData->timeValue = t;
solverInfo->currentTime = t;
/* save stats */
/* steps */
solverInfo->solverStatsTmp[0] += 1;
/* function ODE evaluation is done directly after this */
solverInfo->solverStatsTmp[1] += 4;
//stepsize
for(i = 0, sum = 0.0; i < nx; ++i)
sum = fmax(fabs(k[0][i] + 4*k[3][i] -(4.5*k[2][i] + k[4][i]))/(fabs(k[4][i]) + fabs(k[2][i]) + fabs(k[3][i])+ + fabs(k[0][i]) + Atol), sum);
sum *= 2.0/30.0;
h = fmin(0.9*fmax(pow(sum,1/4.0)/(Atol ), 1e-12)*h + 1e-12, (targetTime - h));
if(isMaxStepSizeSet && h > maxStepSize) h = maxStepSize;
if (h > 0) rk->h = h;
if(t < targetTime){
memcpy(x0, sData->realVars, nx*sizeof(double));
memcpy(k[0], k[4], nx*sizeof(double));
sim_result.emit(&sim_result, data, threadData);
}
}
//assert(sData->timeValue == targetTime);
//assert(solverInfo->currentTime == targetTime);
#if defined(_MSC_VER)
/* handle stupid compilers */
free(x0);
#endif
return 0;
}
/*************************************** SYM_SOLVER *********************************/
static int sym_solver_step(DATA* data, threadData_t *threadData, SOLVER_INFO* solverInfo){
int retVal,i,j;
modelica_integer nStates = data->modelData->nStates;
SIMULATION_DATA *sData = data->localData[0];
SIMULATION_DATA *sDataOld = data->localData[1];
modelica_real* stateDer = sDataOld->realVars + data->modelData->nStates;
if (solverInfo->currentStepSize >= DASSL_STEP_EPS){
/* time */
solverInfo->currentTime = sDataOld->timeValue + solverInfo->currentStepSize;
sData->timeValue = solverInfo->currentTime;
/* update dt */
data->simulationInfo->inlineData->dt = solverInfo->currentStepSize;
/* copy old states to workspace */
memcpy(data->simulationInfo->inlineData->algOldVars, sDataOld->realVars, nStates * sizeof(double));
memcpy(sData->realVars, sDataOld->realVars, nStates * sizeof(double));
/* read input vars */
externalInputUpdate(data);
data->callback->input_function(data, threadData);
retVal = data->callback->symbolicInlineSystems(data, threadData);
if(retVal != 0){
return -1;
}
/* update der(x) */
for(i=0; i<nStates; ++i, ++j)
{
stateDer[i] = (sData->realVars[i]-data->simulationInfo->inlineData->algOldVars[i])/solverInfo->currentStepSize;
}
/* save stats */
/* steps */
solverInfo->solverStatsTmp[0] += 1;
/* function ODE evaluation is done directly after this */
solverInfo->solverStatsTmp[1] += 1;
}
else
/* in case desired step size is too small */
{
infoStreamPrint(LOG_SOLVER, 0, "Desired step to small try next one");
infoStreamPrint(LOG_SOLVER, 0, "Interpolate linear");
/* explicit euler step*/
for(i = 0; i < nStates; i++)
{
sData->realVars[i] = sDataOld->realVars[i] + stateDer[i] * solverInfo->currentStepSize;
}
sData->timeValue = solverInfo->currentTime + solverInfo->currentStepSize;
solverInfo->currentTime = sData->timeValue;
}
return retVal;