Actual source code: tsimpl.h
petsc-3.9.3 2018-07-02
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 (*destroy)(TSTrajectory);
72: PetscErrorCode (*set)(TSTrajectory,TS,PetscInt,PetscReal,Vec);
73: PetscErrorCode (*get)(TSTrajectory,TS,PetscInt,PetscReal*);
74: PetscErrorCode (*setfromoptions)(PetscOptionItems*,TSTrajectory);
75: PetscErrorCode (*setup)(TSTrajectory,TS);
76: };
78: struct _p_TSTrajectory {
79: PETSCHEADER(struct _TSTrajectoryOps);
80: PetscViewer monitor;
81: PetscInt setupcalled; /* true if setup has been called */
82: PetscInt recomps; /* counter for recomputations in the adjoint run */
83: PetscInt diskreads,diskwrites; /* counters for disk checkpoint reads and writes */
84: char **names; /* the name of each variable; each process has only the local names */
85: PetscBool keepfiles; /* keep the files generated during the run after the run is complete */
86: char *dirname,*filetemplate; /* directory name and file name template for disk checkpoints */
87: char *dirfiletemplate; /* complete directory and file name template for disk checkpoints */
88: PetscErrorCode (*transform)(void*,Vec,Vec*);
89: PetscErrorCode (*transformdestroy)(void*);
90: void* transformctx;
91: void *data;
92: };
94: struct _p_TS {
95: PETSCHEADER(struct _TSOps);
96: TSProblemType problem_type;
97: TSEquationType equation_type;
99: DM dm;
100: Vec vec_sol; /* solution vector in first and second order equations */
101: Vec vec_dot; /* time derivative vector in second order equations */
102: TSAdapt adapt;
103: TSAdaptType default_adapt_type;
104: TSEvent event;
106: /* ---------------- User (or PETSc) Provided stuff ---------------------*/
107: PetscErrorCode (*monitor[MAXTSMONITORS])(TS,PetscInt,PetscReal,Vec,void*);
108: PetscErrorCode (*monitordestroy[MAXTSMONITORS])(void**);
109: void *monitorcontext[MAXTSMONITORS];
110: PetscInt numbermonitors;
111: PetscErrorCode (*adjointmonitor[MAXTSMONITORS])(TS,PetscInt,PetscReal,Vec,PetscInt,Vec*,Vec*,void*);
112: PetscErrorCode (*adjointmonitordestroy[MAXTSMONITORS])(void**);
113: void *adjointmonitorcontext[MAXTSMONITORS];
114: PetscInt numberadjointmonitors;
116: PetscErrorCode (*prestep)(TS);
117: PetscErrorCode (*prestage)(TS,PetscReal);
118: PetscErrorCode (*poststage)(TS,PetscReal,PetscInt,Vec*);
119: PetscErrorCode (*postevaluate)(TS);
120: PetscErrorCode (*poststep)(TS);
121: PetscErrorCode (*functiondomainerror)(TS,PetscReal,Vec,PetscBool*);
123: /* ---------------------- Sensitivity Analysis support -----------------*/
124: TSTrajectory trajectory; /* All solutions are kept here for the entire time integration process */
125: Vec *vecs_sensi; /* one vector for each cost function */
126: Vec *vecs_sensip;
127: PetscInt numcost; /* number of cost functions */
128: Vec vec_costintegral;
129: PetscInt adjointsetupcalled;
130: PetscInt adjoint_steps;
131: PetscInt adjoint_max_steps;
132: PetscBool adjoint_solve; /* immediately call TSAdjointSolve() after TSSolve() is complete */
133: PetscBool costintegralfwd; /* cost integral is evaluated in the forward run if true */
134: Vec vec_costintegrand; /* workspace for Adjoint computations */
135: Mat Jacp;
136: void *rhsjacobianpctx;
137: void *costintegrandctx;
138: Vec *vecs_drdy;
139: Vec *vecs_drdp;
141: PetscErrorCode (*rhsjacobianp)(TS,PetscReal,Vec,Mat,void*);
142: PetscErrorCode (*costintegrand)(TS,PetscReal,Vec,Vec,void*);
143: PetscErrorCode (*drdyfunction)(TS,PetscReal,Vec,Vec*,void*);
144: PetscErrorCode (*drdpfunction)(TS,PetscReal,Vec,Vec*,void*);
146: /* specific to forward sensitivity analysis */
147: Mat mat_sensip; /* matrix storing forward sensitivities */
148: Vec *vecs_integral_sensip; /* one vector for each integral */
149: PetscInt num_parameters;
150: PetscInt num_initialvalues;
151: void *vecsrhsjacobianpctx;
152: PetscInt forwardsetupcalled;
153: PetscBool forward_solve;
154: PetscErrorCode (*vecsrhsjacobianp)(TS,PetscReal,Vec,Vec*,void*);
156: /* ---------------------- IMEX support ---------------------------------*/
157: /* These extra slots are only used when the user provides both Implicit and RHS */
158: Mat Arhs; /* Right hand side matrix */
159: Mat Brhs; /* Right hand side preconditioning matrix */
160: Vec Frhs; /* Right hand side function value */
162: /* This is a general caching scheme to avoid recomputing the Jacobian at a place that has been previously been evaluated.
163: * The present use case is that TSComputeRHSFunctionLinear() evaluates the Jacobian once and we don't want it to be immeditely re-evaluated.
164: */
165: struct {
166: PetscReal time; /* The time at which the matrices were last evaluated */
167: PetscObjectId Xid; /* Unique ID of solution vector at which the Jacobian was last evaluated */
168: PetscObjectState Xstate; /* State of the solution vector */
169: MatStructure mstructure; /* The structure returned */
170: /* Flag to unshift Jacobian before calling the IJacobian or RHSJacobian functions. This is useful
171: * if the user would like to reuse (part of) the Jacobian from the last evaluation. */
172: PetscBool reuse;
173: PetscReal scale,shift;
174: } rhsjacobian;
176: struct {
177: PetscReal shift; /* The derivative of the lhs wrt to Xdot */
178: } ijacobian;
180: /* --------------------Nonlinear Iteration------------------------------*/
181: SNES snes;
182: PetscBool usessnes; /* Flag set by each TSType to indicate if the type actually uses a SNES;
183: this works around the design flaw that a SNES is ALWAYS created with TS even when it is not needed.*/
184: PetscInt ksp_its; /* total number of linear solver iterations */
185: PetscInt snes_its; /* total number of nonlinear solver iterations */
186: PetscInt num_snes_failures;
187: PetscInt max_snes_failures;
189: /* --- Data that is unique to each particular solver --- */
190: PetscInt setupcalled; /* true if setup has been called */
191: void *data; /* implementationspecific data */
192: void *user; /* user context */
194: /* ------------------ Parameters -------------------------------------- */
195: PetscInt max_steps; /* max number of steps */
196: PetscReal max_time; /* max time allowed */
198: /* --------------------------------------------------------------------- */
200: PetscBool steprollback; /* flag to indicate that the step was rolled back */
201: PetscBool steprestart; /* flag to indicate that the timestepper has to discard any history and restart */
202: PetscInt steps; /* steps taken so far in all successive calls to TSSolve() */
203: PetscReal ptime; /* time at the start of the current step (stage time is internal if it exists) */
204: PetscReal time_step; /* current time increment */
205: PetscReal ptime_prev; /* time at the start of the previous step */
206: PetscReal ptime_prev_rollback; /* time at the start of the 2nd previous step to recover from rollback */
207: PetscReal solvetime; /* time at the conclusion of TSSolve() */
209: TSConvergedReason reason;
210: PetscBool errorifstepfailed;
211: PetscInt reject,max_reject;
212: TSExactFinalTimeOption exact_final_time;
214: PetscReal atol,rtol; /* Relative and absolute tolerance for local truncation error */
215: Vec vatol,vrtol; /* Relative and absolute tolerance in vector form */
216: PetscReal cfltime,cfltime_local;
218: PetscBool testjacobian;
219: PetscBool testjacobiantranspose;
220: /* ------------------- Default work-area management ------------------ */
221: PetscInt nwork;
222: Vec *work;
223: };
225: struct _TSAdaptOps {
226: PetscErrorCode (*choose)(TSAdapt,TS,PetscReal,PetscInt*,PetscReal*,PetscBool*,PetscReal*,PetscReal*,PetscReal*);
227: PetscErrorCode (*destroy)(TSAdapt);
228: PetscErrorCode (*reset)(TSAdapt);
229: PetscErrorCode (*view)(TSAdapt,PetscViewer);
230: PetscErrorCode (*setfromoptions)(PetscOptionItems*,TSAdapt);
231: PetscErrorCode (*load)(TSAdapt,PetscViewer);
232: };
234: struct _p_TSAdapt {
235: PETSCHEADER(struct _TSAdaptOps);
236: void *data;
237: PetscErrorCode (*checkstage)(TSAdapt,TS,PetscReal,Vec,PetscBool*);
238: struct {
239: PetscInt n; /* number of candidate schemes, including the one currently in use */
240: PetscBool inuse_set; /* the current scheme has been set */
241: const char *name[16]; /* name of the scheme */
242: PetscInt order[16]; /* classical order of each scheme */
243: PetscInt stageorder[16]; /* stage order of each scheme */
244: PetscReal ccfl[16]; /* stability limit relative to explicit Euler */
245: PetscReal cost[16]; /* relative measure of the amount of work required for each scheme */
246: } candidates;
247: PetscBool always_accept;
248: PetscReal safety; /* safety factor relative to target error/stability goal */
249: PetscReal reject_safety; /* extra safety factor if the last step was rejected */
250: PetscReal clip[2]; /* admissible time step decrease/increase factors */
251: PetscReal dt_min,dt_max; /* admissible minimum and maximum time step */
252: PetscReal scale_solve_failed; /* scale step by this factor if solver (linear or nonlinear) fails. */
253: NormType wnormtype;
254: PetscViewer monitor;
255: PetscInt timestepjustincreased;
256: };
258: typedef struct _p_DMTS *DMTS;
259: typedef struct _DMTSOps *DMTSOps;
260: struct _DMTSOps {
261: TSRHSFunction rhsfunction;
262: TSRHSJacobian rhsjacobian;
264: TSIFunction ifunction;
265: PetscErrorCode (*ifunctionview)(void*,PetscViewer);
266: PetscErrorCode (*ifunctionload)(void**,PetscViewer);
268: TSIJacobian ijacobian;
269: PetscErrorCode (*ijacobianview)(void*,PetscViewer);
270: PetscErrorCode (*ijacobianload)(void**,PetscViewer);
272: TSI2Function i2function;
273: TSI2Jacobian i2jacobian;
275: TSSolutionFunction solution;
276: TSForcingFunction forcing;
278: PetscErrorCode (*destroy)(DMTS);
279: PetscErrorCode (*duplicate)(DMTS,DMTS);
280: };
282: struct _p_DMTS {
283: PETSCHEADER(struct _DMTSOps);
284: void *rhsfunctionctx;
285: void *rhsjacobianctx;
287: void *ifunctionctx;
288: void *ijacobianctx;
290: void *i2functionctx;
291: void *i2jacobianctx;
293: void *solutionctx;
294: void *forcingctx;
296: void *data;
298: /* This is NOT reference counted. The DM on which this context was first created is cached here to implement one-way
299: * copy-on-write. When DMGetDMTSWrite() sees a request using a different DM, it makes a copy. Thus, if a user
300: * only interacts directly with one level, e.g., using TSSetIFunction(), then coarse levels of a multilevel item
301: * integrator are built, then the user changes the routine with another call to TSSetIFunction(), it automatically
302: * propagates to all the levels. If instead, they get out a specific level and set the function on that level,
303: * subsequent changes to the original level will no longer propagate to that level.
304: */
305: DM originaldm;
306: };
308: PETSC_EXTERN PetscErrorCode DMGetDMTS(DM,DMTS*);
309: PETSC_EXTERN PetscErrorCode DMGetDMTSWrite(DM,DMTS*);
310: PETSC_EXTERN PetscErrorCode DMCopyDMTS(DM,DM);
311: PETSC_EXTERN PetscErrorCode DMTSView(DMTS,PetscViewer);
312: PETSC_EXTERN PetscErrorCode DMTSLoad(DMTS,PetscViewer);
313: PETSC_EXTERN PetscErrorCode DMTSCopy(DMTS,DMTS);
315: typedef enum {TSEVENT_NONE,TSEVENT_LOCATED_INTERVAL,TSEVENT_PROCESSING,TSEVENT_ZERO,TSEVENT_RESET_NEXTSTEP} TSEventStatus;
317: struct _n_TSEvent {
318: PetscScalar *fvalue; /* value of event function at the end of the step*/
319: PetscScalar *fvalue_prev; /* value of event function at start of the step (left end-point of event interval) */
320: PetscReal ptime_prev; /* time at step start (left end-point of event interval) */
321: 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) */
322: PetscReal ptime_right; /* time on the right end-point of the event interval */
323: PetscScalar *fvalue_right; /* value of event function at the right end-point of the event interval */
324: PetscInt *side; /* Used for detecting repetition of end-point, -1 => left, +1 => right */
325: PetscReal timestep_prev; /* previous time step */
326: PetscReal timestep_orig; /* initial time step */
327: PetscBool *zerocrossing; /* Flag to signal zero crossing detection */
328: PetscErrorCode (*eventhandler)(TS,PetscReal,Vec,PetscScalar*,void*); /* User event handler function */
329: PetscErrorCode (*postevent)(TS,PetscInt,PetscInt[],PetscReal,Vec,PetscBool,void*); /* User post event function */
330: void *ctx; /* User context for event handler and post even functions */
331: PetscInt *direction; /* Zero crossing direction: 1 -> Going positive, -1 -> Going negative, 0 -> Any */
332: PetscBool *terminate; /* 1 -> Terminate time stepping, 0 -> continue */
333: PetscInt nevents; /* Number of events to handle */
334: PetscInt nevents_zero; /* Number of event zero detected */
335: PetscInt *events_zero; /* List of events that have reached zero */
336: PetscReal *vtol; /* Vector tolerances for event zero check */
337: TSEventStatus status; /* Event status */
338: PetscInt iterctr; /* Iteration counter */
339: PetscViewer monitor;
340: /* Struct to record the events */
341: struct {
342: PetscInt ctr; /* recorder counter */
343: PetscReal *time; /* Event times */
344: PetscInt *stepnum; /* Step numbers */
345: PetscInt *nevents; /* Number of events occuring at the event times */
346: PetscInt **eventidx; /* Local indices of the events in the event list */
347: } recorder;
348: PetscInt recsize; /* Size of recorder stack */
349: PetscInt refct; /* reference count */
350: };
352: PETSC_EXTERN PetscErrorCode TSEventInitialize(TSEvent,TS,PetscReal,Vec);
353: PETSC_EXTERN PetscErrorCode TSEventDestroy(TSEvent*);
354: PETSC_EXTERN PetscErrorCode TSEventHandler(TS);
355: PETSC_EXTERN PetscErrorCode TSAdjointEventHandler(TS);
357: PETSC_EXTERN PetscLogEvent TS_AdjointStep;
358: PETSC_EXTERN PetscLogEvent TS_Step;
359: PETSC_EXTERN PetscLogEvent TS_PseudoComputeTimeStep;
360: PETSC_EXTERN PetscLogEvent TS_FunctionEval;
361: PETSC_EXTERN PetscLogEvent TS_JacobianEval;
362: PETSC_EXTERN PetscLogEvent TS_ForwardStep;
364: typedef enum {TS_STEP_INCOMPLETE, /* vec_sol, ptime, etc point to beginning of step */
365: TS_STEP_PENDING, /* vec_sol advanced, but step has not been accepted yet */
366: TS_STEP_COMPLETE /* step accepted and ptime, steps, etc have been advanced */
367: } TSStepStatus;
369: struct _n_TSMonitorLGCtx {
370: PetscDrawLG lg;
371: PetscBool semilogy;
372: PetscInt howoften; /* when > 0 uses step % howoften, when negative only final solution plotted */
373: PetscInt ksp_its,snes_its;
374: char **names;
375: char **displaynames;
376: PetscInt ndisplayvariables;
377: PetscInt *displayvariables;
378: PetscReal *displayvalues;
379: PetscErrorCode (*transform)(void*,Vec,Vec*);
380: PetscErrorCode (*transformdestroy)(void*);
381: void *transformctx;
382: };
384: struct _n_TSMonitorEnvelopeCtx {
385: Vec max,min;
386: };
388: /*
389: Checks if the user provide a TSSetIFunction() but an explicit method is called; generate an error in that case
390: */
391: PETSC_STATIC_INLINE PetscErrorCode TSCheckImplicitTerm(TS ts)
392: {
393: TSIFunction ifunction;
394: DM dm;
395: PetscErrorCode ierr;
398: TSGetDM(ts,&dm);
399: DMTSGetIFunction(dm,&ifunction,NULL);
400: 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()");
401: return(0);
402: }
404: PETSC_EXTERN PetscLogEvent TSTrajectory_Set;
405: PETSC_EXTERN PetscLogEvent TSTrajectory_Get;
406: PETSC_EXTERN PetscLogEvent TSTrajectory_DiskWrite;
407: PETSC_EXTERN PetscLogEvent TSTrajectory_DiskRead;
409: struct _n_TSMonitorDrawCtx {
410: PetscViewer viewer;
411: Vec initialsolution;
412: PetscBool showinitial;
413: PetscInt howoften; /* when > 0 uses step % howoften, when negative only final solution plotted */
414: PetscBool showtimestepandtime;
415: };
416: #endif