Removing trapezoid solver (#14286)

- Solver trapezoid was deprecated in #9596 and marked for future removal.
- Solver is replaced by GBODE with simulation flags '-s=gbode -gbm=trapezoid -gbctrl=const'

Author: AnHeuermann

OMCompiler/SimulationRuntime/c/simulation/solver/gbode_util.c

@@ -868,15 +868,14 @@ void replacementString(enum GB_METHOD gbMethod, modelica_boolean constant)
 /**
  * @brief Display deprecation warning for integration methods replaced by GBODE.
  *
- * Deprecated methods: impeuler, trapezoid, imprungekutta, rungekuttaSsc
+ * Deprecated methods: impeuler, imprungekutta, rungekuttaSsc
  *
  * @param solverMethod  Integration method.
  */
 void deprecationWarningGBODE(enum SOLVER_METHOD method)
 {
   switch (method) {
     case S_IMPEULER:
-    case S_TRAPEZOID:
     case S_IMPRUNGEKUTTA:
     case S_ERKSSC:
       break;
@@ -889,9 +888,6 @@ void deprecationWarningGBODE(enum SOLVER_METHOD method)
     case S_IMPEULER:
       replacementString(RK_IMPL_EULER, TRUE);
       break;
-    case S_TRAPEZOID:
-      replacementString(RK_TRAPEZOID, TRUE);
-      break;
     case S_IMPRUNGEKUTTA:
       replacementString(RK_RADAU_IA_2, TRUE);
       break;

OMCompiler/SimulationRuntime/c/simulation/solver/solver_main.c

@@ -144,7 +144,6 @@ int solver_main_step(DATA* data, threadData_t *threadData, SOLVER_INFO* solverIn
 #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])
@@ -294,14 +293,12 @@ int initializeSolverData(DATA* data, threadData_t *threadData, SOLVER_INFO* solv
 #endif
 #ifdef WITH_SUNDIALS
   case S_IMPEULER:
-  case S_TRAPEZOID:
   case S_IMPRUNGEKUTTA:
   {
     int usedImpRKOrder = DEFAULT_IMPRK_ORDER;
-    if (solverInfo->solverMethod == S_IMPEULER)
+    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])
@@ -399,7 +396,6 @@ int freeSolverData(DATA* data, SOLVER_INFO* solverInfo)
 #endif
 #ifdef WITH_SUNDIALS
   case S_IMPEULER:
-  case S_TRAPEZOID:
   case S_IMPRUNGEKUTTA:
     /* free  work arrays */
     freeKinOde((KINODE*)solverInfo->solverData);
@@ -695,7 +691,6 @@ int solver_main(DATA* data, threadData_t *threadData, const char* init_initMetho
   {
 #ifndef WITH_SUNDIALS
   case S_IMPEULER:
-  case S_TRAPEZOID:
   case S_IMPRUNGEKUTTA:
     warningStreamPrint(OMC_LOG_STDOUT, 0, "Sundial/kinsol is needed but not available. Please choose other solver.");
     TRACE_POP

OMCompiler/SimulationRuntime/c/util/simulation_options.c

@@ -224,7 +224,7 @@ const char *FLAG_DESC[FLAG_MAX+1] = {
   /* FLAG_IIT */                          "[double] value specifies a time for the initialization of the model",
   /* FLAG_ILS */                          "[int (default 3)] number of lambda steps for homotopy methods",
   /* FLAG_IMPRK_ORDER */                  "[int (default 5)] value specifies the integration order of the implicit Runge-Kutta method. Valid values: 1-6",
-  /* FLAG_IMPRK_LS */                     "selects the linear solver of the integration methods: impeuler, trapezoid and imprungekuta",
+  /* FLAG_IMPRK_LS */                     "selects the linear solver of the integration methods: impeuler and imprungekuta",
   /* FLAG_INITIAL_STEP_SIZE */            "value specifies an initial step size for supported solver",
   /* FLAG_INPUT_CSV */                    "value specifies an csv-file with inputs for the simulation/optimization of the model",
   /* FLAG_INPUT_FILE_STATES */            "value specifies an file with states start values for the optimization of the model",
@@ -439,7 +439,7 @@ const char *FLAG_DETAILED_DESC[FLAG_MAX+1] = {
   /* FLAG_IMPRK_ORDER */
   "  Value specifies the integration order of the implicit Runge-Kutta method. Valid values: 1 to 6. Default order is 5.",
   /* FLAG_IMPRK_LS */
-  "  Selects the linear solver of the integration methods impeuler, trapezoid and imprungekuta:\n\n"
+  "  Selects the linear solver of the integration methods impeuler and imprungekuta:\n\n"
   "  * iterativ - default, sparse iterativ linear solver with fallback case to dense solver\n"
   "  * dense - dense linear solver, SUNDIALS default method",
   /* FLAG_INITIAL_STEP_SIZE */
@@ -1121,7 +1121,6 @@ const char *SOLVER_METHOD_NAME[S_MAX] = {
   /* S_EULER */         "euler",
   /* S_RUNGEKUTTA */    "rungekutta",
   /* S_IMPEULER */      "impeuler",
-  /* S_TRAPEZOID */     "trapezoid",
   /* S_IMPRUNGEKUTTA */ "imprungekutta",
   /* S_GBODE */         "gbode",
   /* S_DASSL */         "dassl",

OMCompiler/SimulationRuntime/c/util/simulation_options.h

@@ -325,7 +325,6 @@ enum SOLVER_METHOD
   S_EULER,
   S_RUNGEKUTTA,
   S_IMPEULER,
-  S_TRAPEZOID,
   S_IMPRUNGEKUTTA,
   S_GBODE,
   S_DASSL,

doc/UsersGuide/source/solving.rst

@@ -149,9 +149,6 @@ lot more using the following simulation flags:
   old: -s=impeuler
   new: -s=gbode -gbm=impl_euler -gbctrl=const
 
-  old: -s=trapezoid
-  new: -s=gbode -gbm=trapezoid -gbctrl=const
-
   old: -s=imprungekutta
   new -s=gbode -gbm=(one of the lobatto or radau or gauss RK methods) -gbctrl=const
 
@@ -179,7 +176,6 @@ with the simflag :ref:`-impRKLS <simflag-imprkls>`. The step-size is
 determined as for the basic explicit solvers.
 
 - impeuler  - order 1
-- trapezoid - order 2
 - imprungekutta - Based on Radau IIA and Lobatto IIIA defined by its
   Butcher tableau where the order can be adjusted by :ref:`-impRKorder <simflag-imprkorder>`.
 

testsuite/simulation/modelica/solver/problem1-trapezoid.mos

@@ -4,7 +4,7 @@
 // cflags: -d=-newInst
 
 loadFile("testSolverPackage.mo"); getErrorString();
-simulate(testSolver.problem1, stopTime=2e-6, numberOfIntervals=1000, method="trapezoid"); getErrorString();
+simulate(testSolver.problem1, stopTime=2e-6, numberOfIntervals=1000, method="gbode", simflags="-gbm=trapezoid -gbctrl=const"); getErrorString();
 
 res := OpenModelica.Scripting.compareSimulationResults("testSolver.problem1_res.mat",
   getEnvironmentVar("REFERENCEFILES")+"/solver/testSolver.problem1.mat",
@@ -48,13 +48,8 @@ getErrorString();
 // ""
 // record SimulationResult
 //     resultFile = "testSolver.problem1_res.mat",
-//     simulationOptions = "startTime = 0.0, stopTime = 2e-06, numberOfIntervals = 1000, tolerance = 1e-06, method = 'trapezoid', fileNamePrefix = 'testSolver.problem1', options = '', outputFormat = 'mat', variableFilter = '.*', cflags = '', simflags = ''",
-//     messages = "LOG_STDOUT        | warning | Integration method 'trapezoid' is deprecated and will be removed in a future version of OpenModelica.
-// |                 | info    | | Use integration method GBODE with method 'trapezoid' and constant step size instead:
-// |                 | |       | | | Choose integration method 'gbode' in Simulation Setup->General and additional simulation flags '-gbm=trapezoid -gbctrl=const' in Simulation Setup->Simulation Flags.
-// |                 | |       | | | or
-// |                 | |       | | | Simulation flags '-s=gbode -gbm=trapezoid -gbctrl=const'.
-// |                 | |       | | See OpenModelica User's Guide section on GBODE for more details: https://www.openmodelica.org/doc/OpenModelicaUsersGuide/latest/solving.html#gbode
+//     simulationOptions = "startTime = 0.0, stopTime = 2e-06, numberOfIntervals = 1000, tolerance = 1e-06, method = 'gbode', fileNamePrefix = 'testSolver.problem1', options = '', outputFormat = 'mat', variableFilter = '.*', cflags = '', simflags = '-gbm=trapezoid -gbctrl=const'",
+//     messages = "LOG_STDOUT        | warning | Numerical Jacobians without coloring are currently not supported by GBODE. Colored numerical Jacobian will be used.
 // LOG_SUCCESS       | info    | The initialization finished successfully without homotopy method.
 // LOG_SUCCESS       | info    | The simulation finished successfully.
 // "

testsuite/simulation/modelica/solver/problem2-trapezoid.mos

@@ -1,11 +1,11 @@
-// name: problem2-lobatto2
+// name: problem2-trapezoid
 // status: correct
 // teardown_command: rm -f testSolver.problem2* output.log
 // cflags: -d=-newInst
 
 stopTime := 321.8122;
 loadFile("testSolverPackage.mo"); getErrorString();
-simulate(testSolver.problem2, stopTime=stopTime, numberOfIntervals=3000, method="trapezoid", tolerance=1e-12); getErrorString();
+simulate(testSolver.problem2, stopTime=stopTime, numberOfIntervals=3000, method="gbode", tolerance=1e-12, simflags="-gbm=trapezoid -gbctrl=const"); getErrorString();
 
 res := OpenModelica.Scripting.compareSimulationResults("testSolver.problem2_res.mat",
   getEnvironmentVar("REFERENCEFILES")+"/solver/testSolver.problem2.mat",
@@ -56,13 +56,8 @@ val(der(y[8]), stopTime);
 // ""
 // record SimulationResult
 //     resultFile = "testSolver.problem2_res.mat",
-//     simulationOptions = "startTime = 0.0, stopTime = 321.8122, numberOfIntervals = 3000, tolerance = 1e-12, method = 'trapezoid', fileNamePrefix = 'testSolver.problem2', options = '', outputFormat = 'mat', variableFilter = '.*', cflags = '', simflags = ''",
-//     messages = "LOG_STDOUT        | warning | Integration method 'trapezoid' is deprecated and will be removed in a future version of OpenModelica.
-// |                 | info    | | Use integration method GBODE with method 'trapezoid' and constant step size instead:
-// |                 | |       | | | Choose integration method 'gbode' in Simulation Setup->General and additional simulation flags '-gbm=trapezoid -gbctrl=const' in Simulation Setup->Simulation Flags.
-// |                 | |       | | | or
-// |                 | |       | | | Simulation flags '-s=gbode -gbm=trapezoid -gbctrl=const'.
-// |                 | |       | | See OpenModelica User's Guide section on GBODE for more details: https://www.openmodelica.org/doc/OpenModelicaUsersGuide/latest/solving.html#gbode
+//     simulationOptions = "startTime = 0.0, stopTime = 321.8122, numberOfIntervals = 3000, tolerance = 1e-12, method = 'gbode', fileNamePrefix = 'testSolver.problem2', options = '', outputFormat = 'mat', variableFilter = '.*', cflags = '', simflags = '-gbm=trapezoid -gbctrl=const'",
+//     messages = "LOG_STDOUT        | warning | Numerical Jacobians without coloring are currently not supported by GBODE. Colored numerical Jacobian will be used.
 // LOG_SUCCESS       | info    | The initialization finished successfully without homotopy method.
 // LOG_SUCCESS       | info    | The simulation finished successfully.
 // "