Actual source code: tsimpl.h
petsc-3.11.2 2019-05-18
1: #ifndef __TSIMPL_H
4: #include <petscts.h>
5: #include <petsc/private/petscimpl.h>
7: /*
8: Timesteping context.
9: General DAE: F(t,U,U_t) = 0, required Jacobian is G'(U) where G(U) = F(t,U,U0+a*U)
10: General ODE: U_t = F(t,U) <-- the right-hand-side function
11: Linear ODE: U_t = A(t) U <-- the right-hand-side matrix
12: Linear (no time) ODE: U_t = A U <-- the right-hand-side matrix
13: */
15: /*
16: Maximum number of monitors you can run with a single TS
17: */
18: #define MAXTSMONITORS 10
20: PETSC_EXTERN PetscBool TSRegisterAllCalled;
21: PETSC_EXTERN PetscErrorCode TSRegisterAll(void);
22: PETSC_EXTERN PetscErrorCode TSAdaptRegisterAll(void);
24: PETSC_EXTERN PetscErrorCode TSRKRegisterAll(void);
25: PETSC_EXTERN PetscErrorCode TSARKIMEXRegisterAll(void);
26: PETSC_EXTERN PetscErrorCode TSRosWRegisterAll(void);
27: PETSC_EXTERN PetscErrorCode TSGLLERegisterAll(void);
28: PETSC_EXTERN PetscErrorCode TSGLLEAdaptRegisterAll(void);
30: typedef struct _TSOps *TSOps;
32: struct _TSOps {
33: PetscErrorCode (*snesfunction)(SNES,Vec,Vec,TS);
34: PetscErrorCode (*snesjacobian)(SNES,Vec,Mat,Mat,TS);
35: PetscErrorCode (*setup)(TS);
36: PetscErrorCode (*step)(TS);
37: PetscErrorCode (*solve)(TS);
38: PetscErrorCode (*interpolate)(TS,PetscReal,Vec);
39: PetscErrorCode (*evaluatewlte)(TS,NormType,PetscInt*,PetscReal*);
40: PetscErrorCode (*evaluatestep)(TS,PetscInt,Vec,PetscBool*);
41: PetscErrorCode (*setfromoptions)(PetscOptionItems*,TS);
42: PetscErrorCode (*destroy)(TS);
43: PetscErrorCode (*view)(TS,PetscViewer);
44: PetscErrorCode (*reset)(TS);
45: PetscErrorCode (*linearstability)(TS,PetscReal,PetscReal,PetscReal*,PetscReal*);
46: PetscErrorCode (*load)(TS,PetscViewer);
47: PetscErrorCode (*rollback)(TS);
48: PetscErrorCode (*getstages)(TS,PetscInt*,Vec**);
49: PetscErrorCode (*adjointstep)(TS);
50: PetscErrorCode (*adjointsetup)(TS);
51: PetscErrorCode (*adjointintegral)(TS);
52: PetscErrorCode (*forwardsetup)(TS);
53: PetscErrorCode (*forwardstep)(TS);
54: PetscErrorCode (*forwardintegral)(TS);
55: PetscErrorCode (*getsolutioncomponents)(TS,PetscInt*,Vec*);
56: PetscErrorCode (*getauxsolution)(TS,Vec*);
57: PetscErrorCode (*gettimeerror)(TS,PetscInt,Vec*);
58: PetscErrorCode (*settimeerror)(TS,Vec);
59: PetscErrorCode (*startingmethod) (TS);
60: };
62: /*
63: TSEvent - Abstract object to handle event monitoring
64: */
65: typedef struct _n_TSEvent *TSEvent;
67: typedef struct _TSTrajectoryOps *TSTrajectoryOps;
69: struct _TSTrajectoryOps {
70: PetscErrorCode (*view)(TSTrajectory,PetscViewer);
71: PetscErrorCode (*reset)(TSTrajectory);
72: PetscErrorCode (*destroy)(TSTrajectory);
73: PetscErrorCode (*set)(TSTrajectory,TS,PetscInt,PetscReal,Vec);
74: PetscErrorCode (*get)(TSTrajectory,TS,PetscInt,PetscReal*);
75: PetscErrorCode (*setfromoptions)(PetscOptionItems*,TSTrajectory);
76: PetscErrorCode (*setup)(TSTrajectory,TS);
77: };
79: /* TSHistory is an helper object that allows inquiring
80: the TSTrajectory by time and not by the step number only */
81: typedef struct _n_TSHistory* TSHistory;
83: struct _p_TSTrajectory {
84: PETSCHEADER(struct _TSTrajectoryOps);
85: TSHistory tsh; /* associates times to unique step ids */
86: /* stores necessary data to reconstruct states and derivatives via Lagrangian interpolation */
87: struct {
88: PetscInt order; /* interpolation order */
89: Vec *W; /* work vectors */
90: PetscScalar *L; /* workspace for Lagrange basis */
91: PetscReal *T; /* Lagrange times (stored) */
92: Vec *WW; /* just an array of pointers */
93: PetscBool *TT; /* workspace for Lagrange */
94: PetscReal *TW; /* Lagrange times (workspace) */
96: /* caching */
97: PetscBool caching;
98: struct {
99: PetscObjectId id;
100: PetscObjectState state;
101: PetscReal time;
102: PetscInt step;
103: } Ucached;
104: struct {
105: PetscObjectId id;
106: PetscObjectState state;
107: PetscReal time;
108: PetscInt step;
109: } Udotcached;
110: } lag;
111: Vec U,Udot; /* used by TSTrajectory{Get|Restore}UpdatedHistoryVecs */
112: PetscBool solution_only; /* whether we dump just the solution or also the stages */
113: PetscBool adjoint_solve_mode; /* whether we will use the Trajectory inside a TSAdjointSolve() or not */
114: PetscViewer monitor;
115: PetscInt setupcalled; /* true if setup has been called */
116: PetscInt recomps; /* counter for recomputations in the adjoint run */
117: PetscInt diskreads,diskwrites; /* counters for disk checkpoint reads and writes */
118: char **names; /* the name of each variable; each process has only the local names */
119: PetscBool keepfiles; /* keep the files generated during the run after the run is complete */
120: char *dirname,*filetemplate; /* directory name and file name template for disk checkpoints */
121: char *dirfiletemplate; /* complete directory and file name template for disk checkpoints */
122: PetscErrorCode (*transform)(void*,Vec,Vec*);
123: PetscErrorCode (*transformdestroy)(void*);
124: void* transformctx;
125: void *data;
126: };
128: typedef struct _TS_RHSSplitLink *TS_RHSSplitLink;
129: struct _TS_RHSSplitLink {
130: TS ts;
131: char *splitname;
132: IS is;
133: TS_RHSSplitLink next;
134: PetscLogEvent event;
135: };
137: struct _p_TS {
138: PETSCHEADER(struct _TSOps);
139: TSProblemType problem_type;
140: TSEquationType equation_type;
142: DM dm;
143: Vec vec_sol; /* solution vector in first and second order equations */
144: Vec vec_dot; /* time derivative vector in second order equations */
145: TSAdapt adapt;
146: TSAdaptType default_adapt_type;
147: TSEvent event;
149: /* ---------------- User (or PETSc) Provided stuff ---------------------*/
150: PetscErrorCode (*monitor[MAXTSMONITORS])(TS,PetscInt,PetscReal,Vec,void*);
151: PetscErrorCode (*monitordestroy[MAXTSMONITORS])(void**);
152: void *monitorcontext[MAXTSMONITORS];
153: PetscInt numbermonitors;
154: PetscErrorCode (*adjointmonitor[MAXTSMONITORS])(TS,PetscInt,PetscReal,Vec,PetscInt,Vec*,Vec*,void*);
155: PetscErrorCode (*adjointmonitordestroy[MAXTSMONITORS])(void**);
156: void *adjointmonitorcontext[MAXTSMONITORS];
157: PetscInt numberadjointmonitors;
159: PetscErrorCode (*prestep)(TS);
160: PetscErrorCode (*prestage)(TS,PetscReal);
161: PetscErrorCode (*poststage)(TS,PetscReal,PetscInt,Vec*);
162: PetscErrorCode (*postevaluate)(TS);
163: PetscErrorCode (*poststep)(TS);
164: PetscErrorCode (*functiondomainerror)(TS,PetscReal,Vec,PetscBool*);
166: /* ---------------------- Sensitivity Analysis support -----------------*/
167: TSTrajectory trajectory; /* All solutions are kept here for the entire time integration process */
168: Vec *vecs_sensi; /* one vector for each cost function */
169: Vec *vecs_sensip;
170: PetscInt numcost; /* number of cost functions */
171: Vec vec_costintegral;
172: PetscInt adjointsetupcalled;
173: PetscInt adjoint_steps;
174: PetscInt adjoint_max_steps;
175: PetscBool adjoint_solve; /* immediately call TSAdjointSolve() after TSSolve() is complete */
176: PetscBool costintegralfwd; /* cost integral is evaluated in the forward run if true */
177: Vec vec_costintegrand; /* workspace for Adjoint computations */
178: Mat Jacp;
179: void *rhsjacobianpctx;
180: void *costintegrandctx;
181: Vec *vecs_drdy;
182: Vec *vecs_drdp;
184: PetscErrorCode (*rhsjacobianp)(TS,PetscReal,Vec,Mat,void*);
185: PetscErrorCode (*costintegrand)(TS,PetscReal,Vec,Vec,void*);
186: PetscErrorCode (*drdyfunction)(TS,PetscReal,Vec,Vec*,void*);
187: PetscErrorCode (*drdpfunction)(TS,PetscReal,Vec,Vec*,void*);
189: /* specific to forward sensitivity analysis */
190: Mat mat_sensip; /* matrix storing forward sensitivities */
191: Vec *vecs_integral_sensip; /* one vector for each integral */
192: PetscInt num_parameters;
193: PetscInt num_initialvalues;
194: void *vecsrhsjacobianpctx;
195: PetscInt forwardsetupcalled;
196: PetscBool forward_solve;
197: PetscErrorCode (*vecsrhsjacobianp)(TS,PetscReal,Vec,Vec*,void*);
199: /* ---------------------- IMEX support ---------------------------------*/
200: /* These extra slots are only used when the user provides both Implicit and RHS */
201: Mat Arhs; /* Right hand side matrix */
202: Mat Brhs; /* Right hand side preconditioning matrix */
203: Vec Frhs; /* Right hand side function value */
205: /* This is a general caching scheme to avoid recomputing the Jacobian at a place that has been previously been evaluated.
206: * The present use case is that TSComputeRHSFunctionLinear() evaluates the Jacobian once and we don't want it to be immeditely re-evaluated.
207: */
208: struct {
209: PetscReal time; /* The time at which the matrices were last evaluated */
210: PetscObjectId Xid; /* Unique ID of solution vector at which the Jacobian was last evaluated */
211: PetscObjectState Xstate; /* State of the solution vector */
212: MatStructure mstructure; /* The structure returned */
213: /* Flag to unshift Jacobian before calling the IJacobian or RHSJacobian functions. This is useful
214: * if the user would like to reuse (part of) the Jacobian from the last evaluation. */
215: PetscBool reuse;
216: PetscReal scale,shift;
217: } rhsjacobian;
219: struct {
220: PetscReal shift; /* The derivative of the lhs wrt to Xdot */
221: } ijacobian;
223: /* --------------------Nonlinear Iteration------------------------------*/
224: SNES snes;
225: PetscBool usessnes; /* Flag set by each TSType to indicate if the type actually uses a SNES;
226: this works around the design flaw that a SNES is ALWAYS created with TS even when it is not needed.*/
227: PetscInt ksp_its; /* total number of linear solver iterations */
228: PetscInt snes_its; /* total number of nonlinear solver iterations */
229: PetscInt num_snes_failures;
230: PetscInt max_snes_failures;
232: /* --- Data that is unique to each particular solver --- */
233: PetscInt setupcalled; /* true if setup has been called */
234: void *data; /* implementationspecific data */
235: void *user; /* user context */
237: /* ------------------ Parameters -------------------------------------- */
238: PetscInt max_steps; /* max number of steps */
239: PetscReal max_time; /* max time allowed */
241: /* --------------------------------------------------------------------- */
243: PetscBool steprollback; /* flag to indicate that the step was rolled back */
244: PetscBool steprestart; /* flag to indicate that the timestepper has to discard any history and restart */
245: PetscInt steps; /* steps taken so far in all successive calls to TSSolve() */
246: PetscReal ptime; /* time at the start of the current step (stage time is internal if it exists) */
247: PetscReal time_step; /* current time increment */
248: PetscReal ptime_prev; /* time at the start of the previous step */
249: PetscReal ptime_prev_rollback; /* time at the start of the 2nd previous step to recover from rollback */
250: PetscReal solvetime; /* time at the conclusion of TSSolve() */
252: TSConvergedReason reason;
253: PetscBool errorifstepfailed;
254: PetscInt reject,max_reject;
255: TSExactFinalTimeOption exact_final_time;
257: PetscReal atol,rtol; /* Relative and absolute tolerance for local truncation error */
258: Vec vatol,vrtol; /* Relative and absolute tolerance in vector form */
259: PetscReal cfltime,cfltime_local;
261: PetscBool testjacobian;
262: PetscBool testjacobiantranspose;
263: /* ------------------- Default work-area management ------------------ */
264: PetscInt nwork;
265: Vec *work;
267: /* ---------------------- RHS splitting support ---------------------------------*/
268: PetscInt num_rhs_splits;
269: TS_RHSSplitLink tsrhssplit;
270: };
272: struct _TSAdaptOps {
273: PetscErrorCode (*choose)(TSAdapt,TS,PetscReal,PetscInt*,PetscReal*,PetscBool*,PetscReal*,PetscReal*,PetscReal*);
274: PetscErrorCode (*destroy)(TSAdapt);
275: PetscErrorCode (*reset)(TSAdapt);
276: PetscErrorCode (*view)(TSAdapt,PetscViewer);
277: PetscErrorCode (*setfromoptions)(PetscOptionItems*,TSAdapt);
278: PetscErrorCode (*load)(TSAdapt,PetscViewer);
279: };
281: struct _p_TSAdapt {
282: PETSCHEADER(struct _TSAdaptOps);
283: void *data;
284: PetscErrorCode (*checkstage)(TSAdapt,TS,PetscReal,Vec,PetscBool*);
285: struct {
286: PetscInt n; /* number of candidate schemes, including the one currently in use */
287: PetscBool inuse_set; /* the current scheme has been set */
288: const char *name[16]; /* name of the scheme */
289: PetscInt order[16]; /* classical order of each scheme */
290: PetscInt stageorder[16]; /* stage order of each scheme */
291: PetscReal ccfl[16]; /* stability limit relative to explicit Euler */
292: PetscReal cost[16]; /* relative measure of the amount of work required for each scheme */
293: } candidates;
294: PetscBool always_accept;
295: PetscReal safety; /* safety factor relative to target error/stability goal */
296: PetscReal reject_safety; /* extra safety factor if the last step was rejected */
297: PetscReal clip[2]; /* admissible time step decrease/increase factors */
298: PetscReal dt_min,dt_max; /* admissible minimum and maximum time step */
299: PetscReal scale_solve_failed; /* scale step by this factor if solver (linear or nonlinear) fails. */
300: PetscReal matchstepfac[2]; /* factors to control the behaviour of matchstep */
301: NormType wnormtype;
302: PetscViewer monitor;
303: PetscInt timestepjustdecreased_delay; /* number of timesteps after a decrease in the timestep before the timestep can be increased */
304: PetscInt timestepjustdecreased;
305: };
307: typedef struct _p_DMTS *DMTS;
308: typedef struct _DMTSOps *DMTSOps;
309: struct _DMTSOps {
310: TSRHSFunction rhsfunction;
311: TSRHSJacobian rhsjacobian;
313: TSIFunction ifunction;
314: PetscErrorCode (*ifunctionview)(void*,PetscViewer);
315: PetscErrorCode (*ifunctionload)(void**,PetscViewer);
317: TSIJacobian ijacobian;
318: PetscErrorCode (*ijacobianview)(void*,PetscViewer);
319: PetscErrorCode (*ijacobianload)(void**,PetscViewer);
321: TSI2Function i2function;
322: TSI2Jacobian i2jacobian;
324: TSSolutionFunction solution;
325: TSForcingFunction forcing;
327: PetscErrorCode (*destroy)(DMTS);
328: PetscErrorCode (*duplicate)(DMTS,DMTS);
329: };
331: struct _p_DMTS {
332: PETSCHEADER(struct _DMTSOps);
333: void *rhsfunctionctx;
334: void *rhsjacobianctx;
336: void *ifunctionctx;
337: void *ijacobianctx;
339: void *i2functionctx;
340: void *i2jacobianctx;
342: void *solutionctx;
343: void *forcingctx;
345: void *data;
347: /* This is NOT reference counted. The DM on which this context was first created is cached here to implement one-way
348: * copy-on-write. When DMGetDMTSWrite() sees a request using a different DM, it makes a copy. Thus, if a user
349: * only interacts directly with one level, e.g., using TSSetIFunction(), then coarse levels of a multilevel item
350: * integrator are built, then the user changes the routine with another call to TSSetIFunction(), it automatically
351: * propagates to all the levels. If instead, they get out a specific level and set the function on that level,
352: * subsequent changes to the original level will no longer propagate to that level.
353: */
354: DM originaldm;
355: };
357: PETSC_EXTERN PetscErrorCode DMGetDMTS(DM,DMTS*);
358: PETSC_EXTERN PetscErrorCode DMGetDMTSWrite(DM,DMTS*);
359: PETSC_EXTERN PetscErrorCode DMCopyDMTS(DM,DM);
360: PETSC_EXTERN PetscErrorCode DMTSView(DMTS,PetscViewer);
361: PETSC_EXTERN PetscErrorCode DMTSLoad(DMTS,PetscViewer);
362: PETSC_EXTERN PetscErrorCode DMTSCopy(DMTS,DMTS);
364: typedef enum {TSEVENT_NONE,TSEVENT_LOCATED_INTERVAL,TSEVENT_PROCESSING,TSEVENT_ZERO,TSEVENT_RESET_NEXTSTEP} TSEventStatus;
366: struct _n_TSEvent {
367: PetscScalar *fvalue; /* value of event function at the end of the step*/
368: PetscScalar *fvalue_prev; /* value of event function at start of the step (left end-point of event interval) */
369: PetscReal ptime_prev; /* time at step start (left end-point of event interval) */
370: PetscReal ptime_end; /* end time of step (when an event interval is detected, ptime_end is fixed to the time at step end during event processing) */
371: PetscReal ptime_right; /* time on the right end-point of the event interval */
372: PetscScalar *fvalue_right; /* value of event function at the right end-point of the event interval */
373: PetscInt *side; /* Used for detecting repetition of end-point, -1 => left, +1 => right */
374: PetscReal timestep_prev; /* previous time step */
375: PetscReal timestep_posteventinterval; /* time step immediately after the event interval */
376: PetscBool *zerocrossing; /* Flag to signal zero crossing detection */
377: PetscErrorCode (*eventhandler)(TS,PetscReal,Vec,PetscScalar*,void*); /* User event handler function */
378: PetscErrorCode (*postevent)(TS,PetscInt,PetscInt[],PetscReal,Vec,PetscBool,void*); /* User post event function */
379: void *ctx; /* User context for event handler and post even functions */
380: PetscInt *direction; /* Zero crossing direction: 1 -> Going positive, -1 -> Going negative, 0 -> Any */
381: PetscBool *terminate; /* 1 -> Terminate time stepping, 0 -> continue */
382: PetscInt nevents; /* Number of events to handle */
383: PetscInt nevents_zero; /* Number of event zero detected */
384: PetscInt *events_zero; /* List of events that have reached zero */
385: PetscReal *vtol; /* Vector tolerances for event zero check */
386: TSEventStatus status; /* Event status */
387: PetscInt iterctr; /* Iteration counter */
388: PetscViewer monitor;
389: /* Struct to record the events */
390: struct {
391: PetscInt ctr; /* recorder counter */
392: PetscReal *time; /* Event times */
393: PetscInt *stepnum; /* Step numbers */
394: PetscInt *nevents; /* Number of events occuring at the event times */
395: PetscInt **eventidx; /* Local indices of the events in the event list */
396: } recorder;
397: PetscInt recsize; /* Size of recorder stack */
398: PetscInt refct; /* reference count */
399: };
401: PETSC_EXTERN PetscErrorCode TSEventInitialize(TSEvent,TS,PetscReal,Vec);
402: PETSC_EXTERN PetscErrorCode TSEventDestroy(TSEvent*);
403: PETSC_EXTERN PetscErrorCode TSEventHandler(TS);
404: PETSC_EXTERN PetscErrorCode TSAdjointEventHandler(TS);
406: PETSC_EXTERN PetscLogEvent TS_AdjointStep;
407: PETSC_EXTERN PetscLogEvent TS_Step;
408: PETSC_EXTERN PetscLogEvent TS_PseudoComputeTimeStep;
409: PETSC_EXTERN PetscLogEvent TS_FunctionEval;
410: PETSC_EXTERN PetscLogEvent TS_JacobianEval;
411: PETSC_EXTERN PetscLogEvent TS_ForwardStep;
413: typedef enum {TS_STEP_INCOMPLETE, /* vec_sol, ptime, etc point to beginning of step */
414: TS_STEP_PENDING, /* vec_sol advanced, but step has not been accepted yet */
415: TS_STEP_COMPLETE /* step accepted and ptime, steps, etc have been advanced */
416: } TSStepStatus;
418: struct _n_TSMonitorLGCtx {
419: PetscDrawLG lg;
420: PetscBool semilogy;
421: PetscInt howoften; /* when > 0 uses step % howoften, when negative only final solution plotted */
422: PetscInt ksp_its,snes_its;
423: char **names;
424: char **displaynames;
425: PetscInt ndisplayvariables;
426: PetscInt *displayvariables;
427: PetscReal *displayvalues;
428: PetscErrorCode (*transform)(void*,Vec,Vec*);
429: PetscErrorCode (*transformdestroy)(void*);
430: void *transformctx;
431: };
433: struct _n_TSMonitorSPCtx{
434: PetscDrawSP sp;
435: PetscInt howoften; /* when > 0 uses step % howoften, when negative only final solution plotted */
436: PetscInt ksp_its, snes_its;
437: };
439: struct _n_TSMonitorEnvelopeCtx {
440: Vec max,min;
441: };
443: /*
444: Checks if the user provide a TSSetIFunction() but an explicit method is called; generate an error in that case
445: */
446: PETSC_STATIC_INLINE PetscErrorCode TSCheckImplicitTerm(TS ts)
447: {
448: TSIFunction ifunction;
449: DM dm;
450: PetscErrorCode ierr;
453: TSGetDM(ts,&dm);
454: DMTSGetIFunction(dm,&ifunction,NULL);
455: if (ifunction) SETERRQ(PetscObjectComm((PetscObject)ts),PETSC_ERR_ARG_INCOMP,"You are attempting to use an explicit ODE integrator but provided an implicit function definition with TSSetIFunction()");
456: return(0);
457: }
459: PETSC_EXTERN PetscErrorCode TSGetRHSMats_Private(TS,Mat*,Mat*);
460: /* this is declared here as TSHistory is not public */
461: PETSC_EXTERN PetscErrorCode TSAdaptHistorySetTSHistory(TSAdapt,TSHistory,PetscBool);
463: PETSC_INTERN PetscErrorCode TSTrajectoryReconstruct_Private(TSTrajectory,TS,PetscReal,Vec,Vec);
465: PETSC_EXTERN PetscLogEvent TSTrajectory_Set;
466: PETSC_EXTERN PetscLogEvent TSTrajectory_Get;
467: PETSC_EXTERN PetscLogEvent TSTrajectory_GetVecs;
468: PETSC_EXTERN PetscLogEvent TSTrajectory_DiskWrite;
469: PETSC_EXTERN PetscLogEvent TSTrajectory_DiskRead;
471: struct _n_TSMonitorDrawCtx {
472: PetscViewer viewer;
473: Vec initialsolution;
474: PetscBool showinitial;
475: PetscInt howoften; /* when > 0 uses step % howoften, when negative only final solution plotted */
476: PetscBool showtimestepandtime;
477: };
478: #endif