-
Notifications
You must be signed in to change notification settings - Fork 298
/
solver_main.c
1251 lines (1091 loc) · 44.1 KB
/
solver_main.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* This file is part of OpenModelica.
*
* Copyright (c) 1998-CurentYear, 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 "cvode_solver.h"
#include "dassl.h"
#include "ida_solver.h"
#include "delay.h"
#include "events.h"
#include "util/parallel_helper.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 "synchronous.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;
case S_CVODE:
retVal = cvode_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;
}
case S_CVODE:
{
CVODE_SOLVER* cvodeData = NULL;
infoStreamPrint(LOG_SOLVER, 0, "Initializing CVODE ODE Solver");
cvodeData = (CVODE_SOLVER*) calloc(1, sizeof(CVODE_SOLVER));
assertStreamPrint(threadData, cvodeData != NULL, "Out of memory");
retValue = cvode_solver_initial(data, threadData, solverInfo, cvodeData, 0 /* not FMI */);
solverInfo->solverData = cvodeData;
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;
freeList(solverInfo->eventLst);
freeSynchronous(data);
/* 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((KINODE*)solverInfo->solverData);
}
else if(solverInfo->solverMethod == S_IDA)
{
/* free work arrays */
ida_solver_deinitial(solverInfo->solverData);
}
else if(solverInfo->solverMethod == S_CVODE)
{
/* free work arrays */
cvode_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;
int usedLocal = 0;
SIMULATION_INFO *simInfo = data->simulationInfo;
if(measure_time_flag)
{
rt_accumulate(SIM_TIMER_PREINIT);
rt_tick(SIM_TIMER_INIT);
}
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;
}
if (!retValue)
{
if (data->simulationInfo->homotopySteps == 0) {
infoStreamPrint(LOG_SUCCESS, 0, "The initialization finished successfully without homotopy method.");
}
else {
usedLocal = data->callback->useHomotopy == 0 || data->callback->useHomotopy == 3;
infoStreamPrint(LOG_SUCCESS, 0, "The initialization finished successfully with %d %shomotopy steps.", data->simulationInfo->homotopySteps, usedLocal? "local ":"");
}
}
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;
double t, total100;
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 ###");
total100 = rt_accumulated(SIM_TIMER_TOTAL)/100.0;
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 [%5.1f%%] pre-initialization", rt_accumulated(SIM_TIMER_PREINIT), rt_accumulated(SIM_TIMER_PREINIT)/total100);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] initialization", rt_accumulated(SIM_TIMER_INIT), rt_accumulated(SIM_TIMER_INIT)/total100);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] steps", rt_accumulated(SIM_TIMER_STEP), rt_accumulated(SIM_TIMER_STEP)/total100);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] solver (excl. callbacks)", rt_accumulated(SIM_TIMER_SOLVER), rt_accumulated(SIM_TIMER_SOLVER)/total100);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] creating output-file", rt_accumulated(SIM_TIMER_OUTPUT), rt_accumulated(SIM_TIMER_OUTPUT)/total100);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] event-handling", rt_accumulated(SIM_TIMER_EVENT), rt_accumulated(SIM_TIMER_EVENT)/total100);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] overhead", rt_accumulated(SIM_TIMER_OVERHEAD), rt_accumulated(SIM_TIMER_OVERHEAD)/total100);
t = 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_SOLVER);
infoStreamPrint(LOG_STATS, 0, "%12gs [%5.1f%%] %s", t, t/total100, S_OPTIMIZATION == solverInfo->solverMethod ? "optimization" : "simulation");
infoStreamPrint(LOG_STATS, 0, "%12gs [100.0%%] total", rt_accumulated(SIM_TIMER_TOTAL));
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]);
infoStreamPrint(LOG_STATS, 0, "%gs time of jacobian evaluation", rt_accumulated(SIM_TIMER_JACOBIAN));
#ifdef USE_PARJAC
infoStreamPrint(LOG_STATS, 0, "%i OpenMP-threads used for jacobian evaluation", omc_get_max_threads());
int chunk_size;
omp_sched_t kind;
omp_get_schedule(&kind, &chunk_size);
infoStreamPrint(LOG_STATS, 0, "Schedule: %i Chunk Size: %i", kind, chunk_size);
#endif
messageClose(LOG_STATS);
}
infoStreamPrint(LOG_STATS_V, 1, "function calls");
if (compiledInDAEMode)
{
infoStreamPrint(LOG_STATS_V, 1, "%5u calls of functionDAE", rt_ncall(SIM_TIMER_DAE));
infoStreamPrint(LOG_STATS_V, 0, "%12gs [%5.1f%%]", rt_accumulated(SIM_TIMER_DAE), rt_accumulated(SIM_TIMER_DAE)/total100);
messageClose(LOG_STATS_V);
}
if (data->simulationInfo->callStatistics.functionODE) {
infoStreamPrint(LOG_STATS_V, 1, "%5ld calls of functionODE", data->simulationInfo->callStatistics.functionODE);
infoStreamPrint(LOG_STATS_V, 0, "%12gs [%5.1f%%]", rt_accumulated(SIM_TIMER_FUNCTION_ODE), rt_accumulated(SIM_TIMER_FUNCTION_ODE)/total100);
messageClose(LOG_STATS_V);
}
if (rt_ncall(SIM_TIMER_RESIDUALS)) {
infoStreamPrint(LOG_STATS_V, 1, "%5d calls of functionODE_residual", rt_ncall(SIM_TIMER_RESIDUALS));
infoStreamPrint(LOG_STATS_V, 0, "%12gs [%5.1f%%]", rt_accumulated(SIM_TIMER_RESIDUALS), rt_accumulated(SIM_TIMER_RESIDUALS)/total100);
messageClose(LOG_STATS_V);
}
if (data->simulationInfo->callStatistics.functionAlgebraics) {
infoStreamPrint(LOG_STATS_V, 1, "%5ld calls of functionAlgebraics", data->simulationInfo->callStatistics.functionAlgebraics);
infoStreamPrint(LOG_STATS_V, 0, "%12gs [%5.1f%%]", rt_accumulated(SIM_TIMER_ALGEBRAICS), rt_accumulated(SIM_TIMER_ALGEBRAICS)/total100);
messageClose(LOG_STATS_V);
}
infoStreamPrint(LOG_STATS_V, 1, "%5d evaluations of jacobian", rt_ncall(SIM_TIMER_JACOBIAN));
infoStreamPrint(LOG_STATS_V, 0, "%12gs [%5.1f%%]", rt_accumulated(SIM_TIMER_JACOBIAN), rt_accumulated(SIM_TIMER_JACOBIAN)/total100);
messageClose(LOG_STATS_V);
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, 1, "%5ld calls of functionZeroCrossings", data->simulationInfo->callStatistics.functionZeroCrossings);
infoStreamPrint(LOG_STATS_V, 0, "%12gs [%5.1f%%]", rt_accumulated(SIM_TIMER_ZC), rt_accumulated(SIM_TIMER_ZC)/total100);
messageClose(LOG_STATS_V);
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;
/* Use minStepSize if stepSize is getting too small, but
* allow stepSize to be zero if startTime == stopTime.
*/
if ((simInfo->stepSize < simInfo->minStepSize) && (simInfo->stopTime > simInfo->startTime)){
warningStreamPrint(LOG_STDOUT, 0, "The step-size %g is too small. Adjust the step-size to %g.", simInfo->stepSize, simInfo->minStepSize);
simInfo->stepSize = simInfo->minStepSize;
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 solver data */
/* For the DAEmode we need to initialize solverData before the initialization,
* since the solver is used to obtain consistent values also via updateDiscreteSystem
*/
retVal = initializeSolverData(data, threadData, &solverInfo);
initSolverInfo = 1;
/* initialize all parts of the model */
if (0 == retVal){
retVal = initializeModel(data, threadData, init_initMethod, init_file, init_time);
omc_alloc_interface.collect_a_little();
}
#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);
/* If an embedded server is specified */
if (dllHandle != NULL) {
infoStreamPrint(LOG_STDOUT, 0, "The embedded server is initialized.");
}
wait_for_step(data->embeddedServerState);
#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);
}
if (!retVal)
infoStreamPrint(LOG_SUCCESS, 0, "The simulation finished successfully.");
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;
if (measure_time_flag) rt_tick(SIM_TIMER_SOLVER);
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;
if (measure_time_flag) rt_accumulate(SIM_TIMER_SOLVER);
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 */