/* Code for timestepping with additive Runge-Kutta IMEX method Notes: The general system is written as F(t,U,Udot) = G(t,U) where F represents the stiff part of the physics and G represents the non-stiff part. */ #include /*I "petscts.h" I*/ #include static TSARKIMEXType TSARKIMEXDefault = TSARKIMEX3; static PetscBool TSARKIMEXRegisterAllCalled; static PetscBool TSARKIMEXPackageInitialized; static PetscErrorCode TSExtrapolate_ARKIMEX(TS, PetscReal, Vec); typedef struct _ARKTableau *ARKTableau; struct _ARKTableau { char *name; PetscInt order; /* Classical approximation order of the method */ PetscInt s; /* Number of stages */ PetscBool stiffly_accurate; /* The implicit part is stiffly accurate*/ PetscBool FSAL_implicit; /* The implicit part is FSAL*/ PetscBool explicit_first_stage; /* The implicit part has an explicit first stage*/ PetscInt pinterp; /* Interpolation order */ PetscReal *At, *bt, *ct; /* Stiff tableau */ PetscReal *A, *b, *c; /* Non-stiff tableau */ PetscReal *bembedt, *bembed; /* Embedded formula of order one less (order-1) */ PetscReal *binterpt, *binterp; /* Dense output formula */ PetscReal ccfl; /* Placeholder for CFL coefficient relative to forward Euler */ }; typedef struct _ARKTableauLink *ARKTableauLink; struct _ARKTableauLink { struct _ARKTableau tab; ARKTableauLink next; }; static ARKTableauLink ARKTableauList; typedef struct { ARKTableau tableau; Vec *Y; /* States computed during the step */ Vec *YdotI; /* Time derivatives for the stiff part */ Vec *YdotRHS; /* Function evaluations for the non-stiff part */ Vec *Y_prev; /* States computed during the previous time step */ Vec *YdotI_prev; /* Time derivatives for the stiff part for the previous time step*/ Vec *YdotRHS_prev; /* Function evaluations for the non-stiff part for the previous time step*/ Vec Ydot0; /* Holds the slope from the previous step in FSAL case */ Vec Ydot; /* Work vector holding Ydot during residual evaluation */ Vec Z; /* Ydot = shift(Y-Z) */ PetscScalar *work; /* Scalar work */ PetscReal scoeff; /* shift = scoeff/dt */ PetscReal stage_time; PetscBool imex; PetscBool extrapolate; /* Extrapolate initial guess from previous time-step stage values */ TSStepStatus status; /* context for sensitivity analysis */ Vec *VecsDeltaLam; /* Increment of the adjoint sensitivity w.r.t IC at stage */ Vec *VecsSensiTemp; /* Vectors to be multiplied with Jacobian transpose */ Vec *VecsSensiPTemp; /* Temporary Vectors to store JacobianP-transpose-vector product */ } TS_ARKIMEX; /*MC TSARKIMEXARS122 - Second order ARK IMEX scheme. This method has one explicit stage and one implicit stage. Options Database Key: . -ts_arkimex_type ars122 - set arkimex type to ars122 Level: advanced References: . * - U. Ascher, S. Ruuth, R. J. Spiteri, Implicit explicit Runge Kutta methods for time dependent Partial Differential Equations. Appl. Numer. Math. 25, (1997). .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEXA2 - Second order ARK IMEX scheme with A-stable implicit part. This method has an explicit stage and one implicit stage, and has an A-stable implicit scheme. This method was provided by Emil Constantinescu. Options Database Key: . -ts_arkimex_type a2 - set arkimex type to a2 Level: advanced .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEXL2 - Second order ARK IMEX scheme with L-stable implicit part. This method has two implicit stages, and L-stable implicit scheme. Options Database Key: . -ts_arkimex_type l2 - set arkimex type to l2 Level: advanced References: . * - L. Pareschi, G. Russo, Implicit Explicit Runge Kutta schemes and applications to hyperbolic systems with relaxations. Journal of Scientific Computing Volume: 25, Issue: 1, October, 2005. .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEX1BEE - First order backward Euler represented as an ARK IMEX scheme with extrapolation as error estimator. This is a 3-stage method. This method is aimed at starting the integration of implicit DAEs when explicit first-stage ARK methods are used. Options Database Key: . -ts_arkimex_type 1bee - set arkimex type to 1bee Level: advanced .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEX2C - Second order ARK IMEX scheme with L-stable implicit part. This method has one explicit stage and two implicit stages. The implicit part is the same as in TSARKIMEX2D and TSARKIMEX2E, but the explicit part has a larger stability region on the negative real axis. This method was provided by Emil Constantinescu. Options Database Key: . -ts_arkimex_type 2c - set arkimex type to 2c Level: advanced .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEX2D - Second order ARK IMEX scheme with L-stable implicit part. This method has one explicit stage and two implicit stages. The stability function is independent of the explicit part in the infinity limit of the implicit component. This method was provided by Emil Constantinescu. Options Database Key: . -ts_arkimex_type 2d - set arkimex type to 2d Level: advanced .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEX2E - Second order ARK IMEX scheme with L-stable implicit part. This method has one explicit stage and two implicit stages. It is is an optimal method developed by Emil Constantinescu. Options Database Key: . -ts_arkimex_type 2e - set arkimex type to 2e Level: advanced .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEXPRSSP2 - Second order SSP ARK IMEX scheme. This method has three implicit stages. References: . * - L. Pareschi, G. Russo, Implicit Explicit Runge Kutta schemes and applications to hyperbolic systems with relaxations. Journal of Scientific Computing Volume: 25, Issue: 1, October, 2005. This method is referred to as SSP2-(3,3,2) in https://arxiv.org/abs/1110.4375 Options Database Key: . -ts_arkimex_type prssp2 - set arkimex type to prssp2 Level: advanced .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEX3 - Third order ARK IMEX scheme with L-stable implicit part. This method has one explicit stage and three implicit stages. Options Database Key: . -ts_arkimex_type 3 - set arkimex type to 3 Level: advanced References: . * - Kennedy and Carpenter 2003. .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEXARS443 - Third order ARK IMEX scheme. This method has one explicit stage and four implicit stages. Options Database Key: . -ts_arkimex_type ars443 - set arkimex type to ars443 Level: advanced References: + * - U. Ascher, S. Ruuth, R. J. Spiteri, Implicit explicit Runge Kutta methods for time dependent Partial Differential Equations. Appl. Numer. Math. 25, (1997). - * - This method is referred to as ARS(4,4,3) in https://arxiv.org/abs/1110.4375 .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEXBPR3 - Third order ARK IMEX scheme. This method has one explicit stage and four implicit stages. Options Database Key: . -ts_arkimex_type bpr3 - set arkimex type to bpr3 Level: advanced References: . * - This method is referred to as ARK3 in https://arxiv.org/abs/1110.4375 .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEX4 - Fourth order ARK IMEX scheme with L-stable implicit part. This method has one explicit stage and four implicit stages. Options Database Key: . -ts_arkimex_type 4 - set arkimex type to4 Level: advanced References: . * - Kennedy and Carpenter 2003. .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*MC TSARKIMEX5 - Fifth order ARK IMEX scheme with L-stable implicit part. This method has one explicit stage and five implicit stages. Options Database Key: . -ts_arkimex_type 5 - set arkimex type to 5 Level: advanced References: . * - Kennedy and Carpenter 2003. .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEXSetType()` M*/ /*@C TSARKIMEXRegisterAll - Registers all of the additive Runge-Kutta implicit-explicit methods in `TSARKIMEX` Not Collective, but should be called by all processes which will need the schemes to be registered Level: advanced .seealso: [](ch_ts), `TS`, `TSARKIMEX`, `TSARKIMEXRegisterDestroy()` @*/ PetscErrorCode TSARKIMEXRegisterAll(void) { PetscFunctionBegin; if (TSARKIMEXRegisterAllCalled) PetscFunctionReturn(PETSC_SUCCESS); TSARKIMEXRegisterAllCalled = PETSC_TRUE; { const PetscReal A[3][3] = { {0.0, 0.0, 0.0}, {0.0, 0.0, 0.0}, {0.0, 0.5, 0.0} }, At[3][3] = {{1.0, 0.0, 0.0}, {0.0, 0.5, 0.0}, {0.0, 0.5, 0.5}}, b[3] = {0.0, 0.5, 0.5}, bembedt[3] = {1.0, 0.0, 0.0}; PetscCall(TSARKIMEXRegister(TSARKIMEX1BEE, 2, 3, &At[0][0], b, NULL, &A[0][0], b, NULL, bembedt, bembedt, 1, b, NULL)); } { const PetscReal A[2][2] = { {0.0, 0.0}, {0.5, 0.0} }, At[2][2] = {{0.0, 0.0}, {0.0, 0.5}}, b[2] = {0.0, 1.0}, bembedt[2] = {0.5, 0.5}; /* binterpt[2][2] = {{1.0,-1.0},{0.0,1.0}}; second order dense output has poor stability properties and hence it is not currently in use*/ PetscCall(TSARKIMEXRegister(TSARKIMEXARS122, 2, 2, &At[0][0], b, NULL, &A[0][0], b, NULL, bembedt, bembedt, 1, b, NULL)); } { const PetscReal A[2][2] = { {0.0, 0.0}, {1.0, 0.0} }, At[2][2] = {{0.0, 0.0}, {0.5, 0.5}}, b[2] = {0.5, 0.5}, bembedt[2] = {0.0, 1.0}; /* binterpt[2][2] = {{1.0,-0.5},{0.0,0.5}} second order dense output has poor stability properties and hence it is not currently in use*/ PetscCall(TSARKIMEXRegister(TSARKIMEXA2, 2, 2, &At[0][0], b, NULL, &A[0][0], b, NULL, bembedt, bembedt, 1, b, NULL)); } { /* const PetscReal us2 = 1.0-1.0/PetscSqrtReal((PetscReal)2.0); Direct evaluation: 0.2928932188134524755992. Used below to ensure all values are available at compile time */ const PetscReal A[2][2] = { {0.0, 0.0}, {1.0, 0.0} }, At[2][2] = {{0.2928932188134524755992, 0.0}, {1.0 - 2.0 * 0.2928932188134524755992, 0.2928932188134524755992}}, b[2] = {0.5, 0.5}, bembedt[2] = {0.0, 1.0}, binterpt[2][2] = {{(0.2928932188134524755992 - 1.0) / (2.0 * 0.2928932188134524755992 - 1.0), -1 / (2.0 * (1.0 - 2.0 * 0.2928932188134524755992))}, {1 - (0.2928932188134524755992 - 1.0) / (2.0 * 0.2928932188134524755992 - 1.0), -1 / (2.0 * (1.0 - 2.0 * 0.2928932188134524755992))}}, binterp[2][2] = {{1.0, -0.5}, {0.0, 0.5}}; PetscCall(TSARKIMEXRegister(TSARKIMEXL2, 2, 2, &At[0][0], b, NULL, &A[0][0], b, NULL, bembedt, bembedt, 2, binterpt[0], binterp[0])); } { /* const PetscReal s2 = PetscSqrtReal((PetscReal)2.0), Direct evaluation: 1.414213562373095048802. Used below to ensure all values are available at compile time */ const PetscReal A[3][3] = { {0, 0, 0}, {2 - 1.414213562373095048802, 0, 0}, {0.5, 0.5, 0} }, At[3][3] = {{0, 0, 0}, {1 - 1 / 1.414213562373095048802, 1 - 1 / 1.414213562373095048802, 0}, {1 / (2 * 1.414213562373095048802), 1 / (2 * 1.414213562373095048802), 1 - 1 / 1.414213562373095048802}}, bembedt[3] = {(4. - 1.414213562373095048802) / 8., (4. - 1.414213562373095048802) / 8., 1 / (2. * 1.414213562373095048802)}, binterpt[3][2] = {{1.0 / 1.414213562373095048802, -1.0 / (2.0 * 1.414213562373095048802)}, {1.0 / 1.414213562373095048802, -1.0 / (2.0 * 1.414213562373095048802)}, {1.0 - 1.414213562373095048802, 1.0 / 1.414213562373095048802}}; PetscCall(TSARKIMEXRegister(TSARKIMEX2C, 2, 3, &At[0][0], NULL, NULL, &A[0][0], NULL, NULL, bembedt, bembedt, 2, binterpt[0], NULL)); } { /* const PetscReal s2 = PetscSqrtReal((PetscReal)2.0), Direct evaluation: 1.414213562373095048802. Used below to ensure all values are available at compile time */ const PetscReal A[3][3] = { {0, 0, 0}, {2 - 1.414213562373095048802, 0, 0}, {0.75, 0.25, 0} }, At[3][3] = {{0, 0, 0}, {1 - 1 / 1.414213562373095048802, 1 - 1 / 1.414213562373095048802, 0}, {1 / (2 * 1.414213562373095048802), 1 / (2 * 1.414213562373095048802), 1 - 1 / 1.414213562373095048802}}, bembedt[3] = {(4. - 1.414213562373095048802) / 8., (4. - 1.414213562373095048802) / 8., 1 / (2. * 1.414213562373095048802)}, binterpt[3][2] = {{1.0 / 1.414213562373095048802, -1.0 / (2.0 * 1.414213562373095048802)}, {1.0 / 1.414213562373095048802, -1.0 / (2.0 * 1.414213562373095048802)}, {1.0 - 1.414213562373095048802, 1.0 / 1.414213562373095048802}}; PetscCall(TSARKIMEXRegister(TSARKIMEX2D, 2, 3, &At[0][0], NULL, NULL, &A[0][0], NULL, NULL, bembedt, bembedt, 2, binterpt[0], NULL)); } { /* Optimal for linear implicit part */ /* const PetscReal s2 = PetscSqrtReal((PetscReal)2.0), Direct evaluation: 1.414213562373095048802. Used below to ensure all values are available at compile time */ const PetscReal A[3][3] = { {0, 0, 0}, {2 - 1.414213562373095048802, 0, 0}, {(3 - 2 * 1.414213562373095048802) / 6, (3 + 2 * 1.414213562373095048802) / 6, 0} }, At[3][3] = {{0, 0, 0}, {1 - 1 / 1.414213562373095048802, 1 - 1 / 1.414213562373095048802, 0}, {1 / (2 * 1.414213562373095048802), 1 / (2 * 1.414213562373095048802), 1 - 1 / 1.414213562373095048802}}, bembedt[3] = {(4. - 1.414213562373095048802) / 8., (4. - 1.414213562373095048802) / 8., 1 / (2. * 1.414213562373095048802)}, binterpt[3][2] = {{1.0 / 1.414213562373095048802, -1.0 / (2.0 * 1.414213562373095048802)}, {1.0 / 1.414213562373095048802, -1.0 / (2.0 * 1.414213562373095048802)}, {1.0 - 1.414213562373095048802, 1.0 / 1.414213562373095048802}}; PetscCall(TSARKIMEXRegister(TSARKIMEX2E, 2, 3, &At[0][0], NULL, NULL, &A[0][0], NULL, NULL, bembedt, bembedt, 2, binterpt[0], NULL)); } { /* Optimal for linear implicit part */ const PetscReal A[3][3] = { {0, 0, 0}, {0.5, 0, 0}, {0.5, 0.5, 0} }, At[3][3] = {{0.25, 0, 0}, {0, 0.25, 0}, {1. / 3, 1. / 3, 1. / 3}}; PetscCall(TSARKIMEXRegister(TSARKIMEXPRSSP2, 2, 3, &At[0][0], NULL, NULL, &A[0][0], NULL, NULL, NULL, NULL, 0, NULL, NULL)); } { const PetscReal A[4][4] = { {0, 0, 0, 0}, {1767732205903. / 2027836641118., 0, 0, 0}, {5535828885825. / 10492691773637., 788022342437. / 10882634858940., 0, 0}, {6485989280629. / 16251701735622., -4246266847089. / 9704473918619., 10755448449292. / 10357097424841., 0} }, At[4][4] = {{0, 0, 0, 0}, {1767732205903. / 4055673282236., 1767732205903. / 4055673282236., 0, 0}, {2746238789719. / 10658868560708., -640167445237. / 6845629431997., 1767732205903. / 4055673282236., 0}, {1471266399579. / 7840856788654., -4482444167858. / 7529755066697., 11266239266428. / 11593286722821., 1767732205903. / 4055673282236.}}, bembedt[4] = {2756255671327. / 12835298489170., -10771552573575. / 22201958757719., 9247589265047. / 10645013368117., 2193209047091. / 5459859503100.}, binterpt[4][2] = {{4655552711362. / 22874653954995., -215264564351. / 13552729205753.}, {-18682724506714. / 9892148508045., 17870216137069. / 13817060693119.}, {34259539580243. / 13192909600954., -28141676662227. / 17317692491321.}, {584795268549. / 6622622206610., 2508943948391. / 7218656332882.}}; PetscCall(TSARKIMEXRegister(TSARKIMEX3, 3, 4, &At[0][0], NULL, NULL, &A[0][0], NULL, NULL, bembedt, bembedt, 2, binterpt[0], NULL)); } { const PetscReal A[5][5] = { {0, 0, 0, 0, 0}, {1. / 2, 0, 0, 0, 0}, {11. / 18, 1. / 18, 0, 0, 0}, {5. / 6, -5. / 6, .5, 0, 0}, {1. / 4, 7. / 4, 3. / 4, -7. / 4, 0} }, At[5][5] = {{0, 0, 0, 0, 0}, {0, 1. / 2, 0, 0, 0}, {0, 1. / 6, 1. / 2, 0, 0}, {0, -1. / 2, 1. / 2, 1. / 2, 0}, {0, 3. / 2, -3. / 2, 1. / 2, 1. / 2}}, *bembedt = NULL; PetscCall(TSARKIMEXRegister(TSARKIMEXARS443, 3, 5, &At[0][0], NULL, NULL, &A[0][0], NULL, NULL, bembedt, bembedt, 0, NULL, NULL)); } { const PetscReal A[5][5] = { {0, 0, 0, 0, 0}, {1, 0, 0, 0, 0}, {4. / 9, 2. / 9, 0, 0, 0}, {1. / 4, 0, 3. / 4, 0, 0}, {1. / 4, 0, 3. / 5, 0, 0} }, At[5][5] = {{0, 0, 0, 0, 0}, {.5, .5, 0, 0, 0}, {5. / 18, -1. / 9, .5, 0, 0}, {.5, 0, 0, .5, 0}, {.25, 0, .75, -.5, .5}}, *bembedt = NULL; PetscCall(TSARKIMEXRegister(TSARKIMEXBPR3, 3, 5, &At[0][0], NULL, NULL, &A[0][0], NULL, NULL, bembedt, bembedt, 0, NULL, NULL)); } { const PetscReal A[6][6] = { {0, 0, 0, 0, 0, 0}, {1. / 2, 0, 0, 0, 0, 0}, {13861. / 62500., 6889. / 62500., 0, 0, 0, 0}, {-116923316275. / 2393684061468., -2731218467317. / 15368042101831., 9408046702089. / 11113171139209., 0, 0, 0}, {-451086348788. / 2902428689909., -2682348792572. / 7519795681897., 12662868775082. / 11960479115383., 3355817975965. / 11060851509271., 0, 0}, {647845179188. / 3216320057751., 73281519250. / 8382639484533., 552539513391. / 3454668386233., 3354512671639. / 8306763924573., 4040. / 17871., 0} }, At[6][6] = {{0, 0, 0, 0, 0, 0}, {1. / 4, 1. / 4, 0, 0, 0, 0}, {8611. / 62500., -1743. / 31250., 1. / 4, 0, 0, 0}, {5012029. / 34652500., -654441. / 2922500., 174375. / 388108., 1. / 4, 0, 0}, {15267082809. / 155376265600., -71443401. / 120774400., 730878875. / 902184768., 2285395. / 8070912., 1. / 4, 0}, {82889. / 524892., 0, 15625. / 83664., 69875. / 102672., -2260. / 8211, 1. / 4}}, bembedt[6] = {4586570599. / 29645900160., 0, 178811875. / 945068544., 814220225. / 1159782912., -3700637. / 11593932., 61727. / 225920.}, binterpt[6][3] = {{6943876665148. / 7220017795957., -54480133. / 30881146., 6818779379841. / 7100303317025.}, {0, 0, 0}, {7640104374378. / 9702883013639., -11436875. / 14766696., 2173542590792. / 12501825683035.}, {-20649996744609. / 7521556579894., 174696575. / 18121608., -31592104683404. / 5083833661969.}, {8854892464581. / 2390941311638., -12120380. / 966161., 61146701046299. / 7138195549469.}, {-11397109935349. / 6675773540249., 3843. / 706., -17219254887155. / 4939391667607.}}; PetscCall(TSARKIMEXRegister(TSARKIMEX4, 4, 6, &At[0][0], NULL, NULL, &A[0][0], NULL, NULL, bembedt, bembedt, 3, binterpt[0], NULL)); } { const PetscReal A[8][8] = { {0, 0, 0, 0, 0, 0, 0, 0}, {41. / 100, 0, 0, 0, 0, 0, 0, 0}, {367902744464. / 2072280473677., 677623207551. / 8224143866563., 0, 0, 0, 0, 0, 0}, {1268023523408. / 10340822734521., 0, 1029933939417. / 13636558850479., 0, 0, 0, 0, 0}, {14463281900351. / 6315353703477., 0, 66114435211212. / 5879490589093., -54053170152839. / 4284798021562., 0, 0, 0, 0}, {14090043504691. / 34967701212078., 0, 15191511035443. / 11219624916014., -18461159152457. / 12425892160975., -281667163811. / 9011619295870., 0, 0, 0}, {19230459214898. / 13134317526959., 0, 21275331358303. / 2942455364971., -38145345988419. / 4862620318723., -1. / 8, -1. / 8, 0, 0}, {-19977161125411. / 11928030595625., 0, -40795976796054. / 6384907823539., 177454434618887. / 12078138498510., 782672205425. / 8267701900261., -69563011059811. / 9646580694205., 7356628210526. / 4942186776405., 0} }, At[8][8] = {{0, 0, 0, 0, 0, 0, 0, 0}, {41. / 200., 41. / 200., 0, 0, 0, 0, 0, 0}, {41. / 400., -567603406766. / 11931857230679., 41. / 200., 0, 0, 0, 0, 0}, {683785636431. / 9252920307686., 0, -110385047103. / 1367015193373., 41. / 200., 0, 0, 0, 0}, {3016520224154. / 10081342136671., 0, 30586259806659. / 12414158314087., -22760509404356. / 11113319521817., 41. / 200., 0, 0, 0}, {218866479029. / 1489978393911., 0, 638256894668. / 5436446318841., -1179710474555. / 5321154724896., -60928119172. / 8023461067671., 41. / 200., 0, 0}, {1020004230633. / 5715676835656., 0, 25762820946817. / 25263940353407., -2161375909145. / 9755907335909., -211217309593. / 5846859502534., -4269925059573. / 7827059040749., 41. / 200, 0}, {-872700587467. / 9133579230613., 0, 0, 22348218063261. / 9555858737531., -1143369518992. / 8141816002931., -39379526789629. / 19018526304540., 32727382324388. / 42900044865799., 41. / 200.}}, bembedt[8] = {-975461918565. / 9796059967033., 0, 0, 78070527104295. / 32432590147079., -548382580838. / 3424219808633., -33438840321285. / 15594753105479., 3629800801594. / 4656183773603., 4035322873751. / 18575991585200.}, binterpt[8][3] = {{-17674230611817. / 10670229744614., 43486358583215. / 12773830924787., -9257016797708. / 5021505065439.}, {0, 0, 0}, {0, 0, 0}, {65168852399939. / 7868540260826., -91478233927265. / 11067650958493., 26096422576131. / 11239449250142.}, {15494834004392. / 5936557850923., -79368583304911. / 10890268929626., 92396832856987. / 20362823103730.}, {-99329723586156. / 26959484932159., -12239297817655. / 9152339842473., 30029262896817. / 10175596800299.}, {-19024464361622. / 5461577185407., 115839755401235. / 10719374521269., -26136350496073. / 3983972220547.}, {-6511271360970. / 6095937251113., 5843115559534. / 2180450260947., -5289405421727. / 3760307252460.}}; PetscCall(TSARKIMEXRegister(TSARKIMEX5, 5, 8, &At[0][0], NULL, NULL, &A[0][0], NULL, NULL, bembedt, bembedt, 3, binterpt[0], NULL)); } PetscFunctionReturn(PETSC_SUCCESS); } /*@C TSARKIMEXRegisterDestroy - Frees the list of schemes that were registered by `TSARKIMEXRegister()`. Not Collective Level: advanced .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXRegister()`, `TSARKIMEXRegisterAll()` @*/ PetscErrorCode TSARKIMEXRegisterDestroy(void) { ARKTableauLink link; PetscFunctionBegin; while ((link = ARKTableauList)) { ARKTableau t = &link->tab; ARKTableauList = link->next; PetscCall(PetscFree6(t->At, t->bt, t->ct, t->A, t->b, t->c)); PetscCall(PetscFree2(t->bembedt, t->bembed)); PetscCall(PetscFree2(t->binterpt, t->binterp)); PetscCall(PetscFree(t->name)); PetscCall(PetscFree(link)); } TSARKIMEXRegisterAllCalled = PETSC_FALSE; PetscFunctionReturn(PETSC_SUCCESS); } /*@C TSARKIMEXInitializePackage - This function initializes everything in the `TSARKIMEX` package. It is called from `TSInitializePackage()`. Level: developer .seealso: [](ch_ts), `PetscInitialize()`, `TSARKIMEXFinalizePackage()` @*/ PetscErrorCode TSARKIMEXInitializePackage(void) { PetscFunctionBegin; if (TSARKIMEXPackageInitialized) PetscFunctionReturn(PETSC_SUCCESS); TSARKIMEXPackageInitialized = PETSC_TRUE; PetscCall(TSARKIMEXRegisterAll()); PetscCall(PetscRegisterFinalize(TSARKIMEXFinalizePackage)); PetscFunctionReturn(PETSC_SUCCESS); } /*@C TSARKIMEXFinalizePackage - This function destroys everything in the `TSARKIMEX` package. It is called from `PetscFinalize()`. Level: developer .seealso: [](ch_ts), `PetscFinalize()`, `TSARKIMEXInitializePackage()` @*/ PetscErrorCode TSARKIMEXFinalizePackage(void) { PetscFunctionBegin; TSARKIMEXPackageInitialized = PETSC_FALSE; PetscCall(TSARKIMEXRegisterDestroy()); PetscFunctionReturn(PETSC_SUCCESS); } /*@C TSARKIMEXRegister - register a `TSARKIMEX` scheme by providing the entries in the Butcher tableau and optionally embedded approximations and interpolation Not Collective, but the same schemes should be registered on all processes on which they will be used Input Parameters: + name - identifier for method . order - approximation order of method . s - number of stages, this is the dimension of the matrices below . At - Butcher table of stage coefficients for stiff part (dimension s*s, row-major) . bt - Butcher table for completing the stiff part of the step (dimension s; NULL to use the last row of At) . ct - Abscissa of each stiff stage (dimension s, NULL to use row sums of At) . A - Non-stiff stage coefficients (dimension s*s, row-major) . b - Non-stiff step completion table (dimension s; NULL to use last row of At) . c - Non-stiff abscissa (dimension s; NULL to use row sums of A) . bembedt - Stiff part of completion table for embedded method (dimension s; NULL if not available) . bembed - Non-stiff part of completion table for embedded method (dimension s; NULL to use bembedt if provided) . pinterp - Order of the interpolation scheme, equal to the number of columns of binterpt and binterp . binterpt - Coefficients of the interpolation formula for the stiff part (dimension s*pinterp) - binterp - Coefficients of the interpolation formula for the non-stiff part (dimension s*pinterp; NULL to reuse binterpt) Level: advanced Note: Several `TSARKIMEX` methods are provided, this function is only needed to create new methods. .seealso: [](ch_ts), `TSARKIMEX`, `TSType`, `TS` @*/ PetscErrorCode TSARKIMEXRegister(TSARKIMEXType name, PetscInt order, PetscInt s, const PetscReal At[], const PetscReal bt[], const PetscReal ct[], const PetscReal A[], const PetscReal b[], const PetscReal c[], const PetscReal bembedt[], const PetscReal bembed[], PetscInt pinterp, const PetscReal binterpt[], const PetscReal binterp[]) { ARKTableauLink link; ARKTableau t; PetscInt i, j; PetscFunctionBegin; PetscCall(TSARKIMEXInitializePackage()); PetscCall(PetscNew(&link)); t = &link->tab; PetscCall(PetscStrallocpy(name, &t->name)); t->order = order; t->s = s; PetscCall(PetscMalloc6(s * s, &t->At, s, &t->bt, s, &t->ct, s * s, &t->A, s, &t->b, s, &t->c)); PetscCall(PetscArraycpy(t->At, At, s * s)); PetscCall(PetscArraycpy(t->A, A, s * s)); if (bt) PetscCall(PetscArraycpy(t->bt, bt, s)); else for (i = 0; i < s; i++) t->bt[i] = At[(s - 1) * s + i]; if (b) PetscCall(PetscArraycpy(t->b, b, s)); else for (i = 0; i < s; i++) t->b[i] = t->bt[i]; if (ct) PetscCall(PetscArraycpy(t->ct, ct, s)); else for (i = 0; i < s; i++) for (j = 0, t->ct[i] = 0; j < s; j++) t->ct[i] += At[i * s + j]; if (c) PetscCall(PetscArraycpy(t->c, c, s)); else for (i = 0; i < s; i++) for (j = 0, t->c[i] = 0; j < s; j++) t->c[i] += A[i * s + j]; t->stiffly_accurate = PETSC_TRUE; for (i = 0; i < s; i++) if (t->At[(s - 1) * s + i] != t->bt[i]) t->stiffly_accurate = PETSC_FALSE; t->explicit_first_stage = PETSC_TRUE; for (i = 0; i < s; i++) if (t->At[i] != 0.0) t->explicit_first_stage = PETSC_FALSE; /*def of FSAL can be made more precise*/ t->FSAL_implicit = (PetscBool)(t->explicit_first_stage && t->stiffly_accurate); if (bembedt) { PetscCall(PetscMalloc2(s, &t->bembedt, s, &t->bembed)); PetscCall(PetscArraycpy(t->bembedt, bembedt, s)); PetscCall(PetscArraycpy(t->bembed, bembed ? bembed : bembedt, s)); } t->pinterp = pinterp; PetscCall(PetscMalloc2(s * pinterp, &t->binterpt, s * pinterp, &t->binterp)); PetscCall(PetscArraycpy(t->binterpt, binterpt, s * pinterp)); PetscCall(PetscArraycpy(t->binterp, binterp ? binterp : binterpt, s * pinterp)); link->next = ARKTableauList; ARKTableauList = link; PetscFunctionReturn(PETSC_SUCCESS); } /* The step completion formula is x1 = x0 - h bt^T YdotI + h b^T YdotRHS This function can be called before or after ts->vec_sol has been updated. Suppose we have a completion formula (bt,b) and an embedded formula (bet,be) of different order. We can write x1e = x0 - h bet^T YdotI + h be^T YdotRHS = x1 + h bt^T YdotI - h b^T YdotRHS - h bet^T YdotI + h be^T YdotRHS = x1 - h (bet - bt)^T YdotI + h (be - b)^T YdotRHS so we can evaluate the method with different order even after the step has been optimistically completed. */ static PetscErrorCode TSEvaluateStep_ARKIMEX(TS ts, PetscInt order, Vec X, PetscBool *done) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; ARKTableau tab = ark->tableau; PetscScalar *w = ark->work; PetscReal h; PetscInt s = tab->s, j; PetscFunctionBegin; switch (ark->status) { case TS_STEP_INCOMPLETE: case TS_STEP_PENDING: h = ts->time_step; break; case TS_STEP_COMPLETE: h = ts->ptime - ts->ptime_prev; break; default: SETERRQ(PetscObjectComm((PetscObject)ts), PETSC_ERR_PLIB, "Invalid TSStepStatus"); } if (order == tab->order) { if (ark->status == TS_STEP_INCOMPLETE) { if (!ark->imex && tab->stiffly_accurate) { /* Only the stiffly accurate implicit formula is used */ PetscCall(VecCopy(ark->Y[s - 1], X)); } else { /* Use the standard completion formula (bt,b) */ PetscCall(VecCopy(ts->vec_sol, X)); for (j = 0; j < s; j++) w[j] = h * tab->bt[j]; PetscCall(VecMAXPY(X, s, w, ark->YdotI)); if (ark->imex) { /* Method is IMEX, complete the explicit formula */ for (j = 0; j < s; j++) w[j] = h * tab->b[j]; PetscCall(VecMAXPY(X, s, w, ark->YdotRHS)); } } } else PetscCall(VecCopy(ts->vec_sol, X)); if (done) *done = PETSC_TRUE; PetscFunctionReturn(PETSC_SUCCESS); } else if (order == tab->order - 1) { if (!tab->bembedt) goto unavailable; if (ark->status == TS_STEP_INCOMPLETE) { /* Complete with the embedded method (bet,be) */ PetscCall(VecCopy(ts->vec_sol, X)); for (j = 0; j < s; j++) w[j] = h * tab->bembedt[j]; PetscCall(VecMAXPY(X, s, w, ark->YdotI)); for (j = 0; j < s; j++) w[j] = h * tab->bembed[j]; PetscCall(VecMAXPY(X, s, w, ark->YdotRHS)); } else { /* Rollback and re-complete using (bet-be,be-b) */ PetscCall(VecCopy(ts->vec_sol, X)); for (j = 0; j < s; j++) w[j] = h * (tab->bembedt[j] - tab->bt[j]); PetscCall(VecMAXPY(X, tab->s, w, ark->YdotI)); for (j = 0; j < s; j++) w[j] = h * (tab->bembed[j] - tab->b[j]); PetscCall(VecMAXPY(X, s, w, ark->YdotRHS)); } if (done) *done = PETSC_TRUE; PetscFunctionReturn(PETSC_SUCCESS); } unavailable: if (done) *done = PETSC_FALSE; else SETERRQ(PetscObjectComm((PetscObject)ts), PETSC_ERR_SUP, "ARKIMEX '%s' of order %" PetscInt_FMT " cannot evaluate step at order %" PetscInt_FMT ". Consider using -ts_adapt_type none or a different method that has an embedded estimate.", tab->name, tab->order, order); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSARKIMEXTestMassIdentity(TS ts, PetscBool *id) { Vec Udot, Y1, Y2; TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscReal norm; PetscFunctionBegin; PetscCall(VecDuplicate(ts->vec_sol, &Udot)); PetscCall(VecDuplicate(ts->vec_sol, &Y1)); PetscCall(VecDuplicate(ts->vec_sol, &Y2)); PetscCall(TSComputeIFunction(ts, ts->ptime, ts->vec_sol, Udot, Y1, ark->imex)); PetscCall(VecSetRandom(Udot, NULL)); PetscCall(TSComputeIFunction(ts, ts->ptime, ts->vec_sol, Udot, Y2, ark->imex)); PetscCall(VecAXPY(Y2, -1.0, Y1)); PetscCall(VecAXPY(Y2, -1.0, Udot)); PetscCall(VecNorm(Y2, NORM_2, &norm)); if (norm < 100.0 * PETSC_MACHINE_EPSILON) { *id = PETSC_TRUE; } else { *id = PETSC_FALSE; PetscCall(PetscInfo((PetscObject)ts, "IFunction(Udot = random) - IFunction(Udot = 0) is not near Udot, %g, suspect mass matrix implied in IFunction() is not the identity as required\n", (double)norm)); } PetscCall(VecDestroy(&Udot)); PetscCall(VecDestroy(&Y1)); PetscCall(VecDestroy(&Y2)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSRollBack_ARKIMEX(TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; ARKTableau tab = ark->tableau; const PetscInt s = tab->s; const PetscReal *bt = tab->bt, *b = tab->b; PetscScalar *w = ark->work; Vec *YdotI = ark->YdotI, *YdotRHS = ark->YdotRHS; PetscInt j; PetscReal h; PetscFunctionBegin; switch (ark->status) { case TS_STEP_INCOMPLETE: case TS_STEP_PENDING: h = ts->time_step; break; case TS_STEP_COMPLETE: h = ts->ptime - ts->ptime_prev; break; default: SETERRQ(PetscObjectComm((PetscObject)ts), PETSC_ERR_PLIB, "Invalid TSStepStatus"); } for (j = 0; j < s; j++) w[j] = -h * bt[j]; PetscCall(VecMAXPY(ts->vec_sol, s, w, YdotI)); for (j = 0; j < s; j++) w[j] = -h * b[j]; PetscCall(VecMAXPY(ts->vec_sol, s, w, YdotRHS)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSStep_ARKIMEX(TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; ARKTableau tab = ark->tableau; const PetscInt s = tab->s; const PetscReal *At = tab->At, *A = tab->A, *ct = tab->ct, *c = tab->c; PetscScalar *w = ark->work; Vec *Y = ark->Y, *YdotI = ark->YdotI, *YdotRHS = ark->YdotRHS, Ydot = ark->Ydot, Ydot0 = ark->Ydot0, Z = ark->Z; PetscBool extrapolate = ark->extrapolate; TSAdapt adapt; SNES snes; PetscInt i, j, its, lits; PetscInt rejections = 0; PetscBool stageok, accept = PETSC_TRUE; PetscReal next_time_step = ts->time_step; PetscFunctionBegin; if (ark->extrapolate && !ark->Y_prev) { PetscCall(VecDuplicateVecs(ts->vec_sol, tab->s, &ark->Y_prev)); PetscCall(VecDuplicateVecs(ts->vec_sol, tab->s, &ark->YdotI_prev)); PetscCall(VecDuplicateVecs(ts->vec_sol, tab->s, &ark->YdotRHS_prev)); } if (!ts->steprollback) { if (ts->equation_type >= TS_EQ_IMPLICIT) { /* Save the initial slope for the next step */ PetscCall(VecCopy(YdotI[s - 1], Ydot0)); } if (ark->extrapolate && !ts->steprestart) { /* Save the Y, YdotI, YdotRHS for extrapolation initial guess */ for (i = 0; i < s; i++) { PetscCall(VecCopy(Y[i], ark->Y_prev[i])); PetscCall(VecCopy(YdotRHS[i], ark->YdotRHS_prev[i])); PetscCall(VecCopy(YdotI[i], ark->YdotI_prev[i])); } } } if (ts->equation_type >= TS_EQ_IMPLICIT && tab->explicit_first_stage && ts->steprestart) { TS ts_start; if (PetscDefined(USE_DEBUG)) { PetscBool id = PETSC_FALSE; PetscCall(TSARKIMEXTestMassIdentity(ts, &id)); PetscCheck(id, PetscObjectComm((PetscObject)ts), PETSC_ERR_ARG_INCOMP, "This scheme requires an identity mass matrix, however the TSIFunction you provide does not utilize an identity mass matrix"); } PetscCall(TSClone(ts, &ts_start)); PetscCall(TSSetSolution(ts_start, ts->vec_sol)); PetscCall(TSSetTime(ts_start, ts->ptime)); PetscCall(TSSetMaxSteps(ts_start, ts->steps + 1)); PetscCall(TSSetMaxTime(ts_start, ts->ptime + ts->time_step)); PetscCall(TSSetExactFinalTime(ts_start, TS_EXACTFINALTIME_STEPOVER)); PetscCall(TSSetTimeStep(ts_start, ts->time_step)); PetscCall(TSSetType(ts_start, TSARKIMEX)); PetscCall(TSARKIMEXSetFullyImplicit(ts_start, PETSC_TRUE)); PetscCall(TSARKIMEXSetType(ts_start, TSARKIMEX1BEE)); PetscCall(TSRestartStep(ts_start)); PetscCall(TSSolve(ts_start, ts->vec_sol)); PetscCall(TSGetTime(ts_start, &ts->ptime)); PetscCall(TSGetTimeStep(ts_start, &ts->time_step)); { /* Save the initial slope for the next step */ TS_ARKIMEX *ark_start = (TS_ARKIMEX *)ts_start->data; PetscCall(VecCopy(ark_start->YdotI[ark_start->tableau->s - 1], Ydot0)); } ts->steps++; /* Set the correct TS in SNES */ /* We'll try to bypass this by changing the method on the fly */ { PetscCall(TSGetSNES(ts, &snes)); PetscCall(TSSetSNES(ts, snes)); } PetscCall(TSDestroy(&ts_start)); } ark->status = TS_STEP_INCOMPLETE; while (!ts->reason && ark->status != TS_STEP_COMPLETE) { PetscReal t = ts->ptime; PetscReal h = ts->time_step; for (i = 0; i < s; i++) { ark->stage_time = t + h * ct[i]; PetscCall(TSPreStage(ts, ark->stage_time)); if (At[i * s + i] == 0) { /* This stage is explicit */ PetscCheck(i == 0 || ts->equation_type < TS_EQ_IMPLICIT, PetscObjectComm((PetscObject)ts), PETSC_ERR_SUP, "Explicit stages other than the first one are not supported for implicit problems"); PetscCall(VecCopy(ts->vec_sol, Y[i])); for (j = 0; j < i; j++) w[j] = h * At[i * s + j]; PetscCall(VecMAXPY(Y[i], i, w, YdotI)); for (j = 0; j < i; j++) w[j] = h * A[i * s + j]; PetscCall(VecMAXPY(Y[i], i, w, YdotRHS)); } else { ark->scoeff = 1. / At[i * s + i]; /* Ydot = shift*(Y-Z) */ PetscCall(VecCopy(ts->vec_sol, Z)); for (j = 0; j < i; j++) w[j] = h * At[i * s + j]; PetscCall(VecMAXPY(Z, i, w, YdotI)); for (j = 0; j < i; j++) w[j] = h * A[i * s + j]; PetscCall(VecMAXPY(Z, i, w, YdotRHS)); if (extrapolate && !ts->steprestart) { /* Initial guess extrapolated from previous time step stage values */ PetscCall(TSExtrapolate_ARKIMEX(ts, c[i], Y[i])); } else { /* Initial guess taken from last stage */ PetscCall(VecCopy(i > 0 ? Y[i - 1] : ts->vec_sol, Y[i])); } PetscCall(TSGetSNES(ts, &snes)); PetscCall(SNESSolve(snes, NULL, Y[i])); PetscCall(SNESGetIterationNumber(snes, &its)); PetscCall(SNESGetLinearSolveIterations(snes, &lits)); ts->snes_its += its; ts->ksp_its += lits; PetscCall(TSGetAdapt(ts, &adapt)); PetscCall(TSAdaptCheckStage(adapt, ts, ark->stage_time, Y[i], &stageok)); if (!stageok) { /* We are likely rejecting the step because of solver or function domain problems so we should not attempt to * use extrapolation to initialize the solves on the next attempt. */ extrapolate = PETSC_FALSE; goto reject_step; } } if (ts->equation_type >= TS_EQ_IMPLICIT) { if (i == 0 && tab->explicit_first_stage) { PetscCheck(tab->stiffly_accurate, PetscObjectComm((PetscObject)ts), PETSC_ERR_SUP, "TSARKIMEX %s is not stiffly accurate and therefore explicit-first stage methods cannot be used if the equation is implicit because the slope cannot be evaluated", ark->tableau->name); PetscCall(VecCopy(Ydot0, YdotI[0])); /* YdotI = YdotI(tn-1) */ } else { PetscCall(VecAXPBYPCZ(YdotI[i], -ark->scoeff / h, ark->scoeff / h, 0, Z, Y[i])); /* YdotI = shift*(X-Z) */ } } else { if (i == 0 && tab->explicit_first_stage) { PetscCall(VecZeroEntries(Ydot)); PetscCall(TSComputeIFunction(ts, t + h * ct[i], Y[i], Ydot, YdotI[i], ark->imex)); /* YdotI = -G(t,Y,0) */ PetscCall(VecScale(YdotI[i], -1.0)); } else { PetscCall(VecAXPBYPCZ(YdotI[i], -ark->scoeff / h, ark->scoeff / h, 0, Z, Y[i])); /* YdotI = shift*(X-Z) */ } if (ark->imex) { PetscCall(TSComputeRHSFunction(ts, t + h * c[i], Y[i], YdotRHS[i])); } else { PetscCall(VecZeroEntries(YdotRHS[i])); } } PetscCall(TSPostStage(ts, ark->stage_time, i, Y)); } ark->status = TS_STEP_INCOMPLETE; PetscCall(TSEvaluateStep_ARKIMEX(ts, tab->order, ts->vec_sol, NULL)); ark->status = TS_STEP_PENDING; PetscCall(TSGetAdapt(ts, &adapt)); PetscCall(TSAdaptCandidatesClear(adapt)); PetscCall(TSAdaptCandidateAdd(adapt, tab->name, tab->order, 1, tab->ccfl, (PetscReal)tab->s, PETSC_TRUE)); PetscCall(TSAdaptChoose(adapt, ts, ts->time_step, NULL, &next_time_step, &accept)); ark->status = accept ? TS_STEP_COMPLETE : TS_STEP_INCOMPLETE; if (!accept) { /* Roll back the current step */ PetscCall(TSRollBack_ARKIMEX(ts)); ts->time_step = next_time_step; goto reject_step; } ts->ptime += ts->time_step; ts->time_step = next_time_step; break; reject_step: ts->reject++; accept = PETSC_FALSE; if (!ts->reason && ++rejections > ts->max_reject && ts->max_reject >= 0) { ts->reason = TS_DIVERGED_STEP_REJECTED; PetscCall(PetscInfo(ts, "Step=%" PetscInt_FMT ", step rejections %" PetscInt_FMT " greater than current TS allowed, stopping solve\n", ts->steps, rejections)); } } PetscFunctionReturn(PETSC_SUCCESS); } /* This adjoint step function assumes the partitioned ODE system has an identity mass matrix and thus can be represented in the form Udot = H(t,U) + G(t,U) This corresponds to F(t,U,Udot) = Udot-H(t,U). The complete adjoint equations are (shift*I - dHdu) lambda_s[i] = 1/at[i][i] ( (b_i dGdU + bt[i] dHdU) lambda_{n+1} + dGdU \sum_{j=i+1}^s a[j][i] lambda_s[j] + dHdU \sum_{j=i+1}^s at[j][i] lambda_s[j]), i = s-1,...,0 lambda_n = lambda_{n+1} + \sum_{j=1}^s lambda_s[j] mu_{n+1}[i] = h (at[i][i] dHdP lambda_s[i] + (b_i dGdP + bt[i] dHdP) lambda_{n+1} + dGdP \sum_{j=i+1}^s a[j][i] lambda_s[j] + dHdP \sum_{j=i+1}^s at[j][i] lambda_s[j]), i = s-1,...,0 mu_n = mu_{n+1} + \sum_{j=1}^s mu_{n+1}[j] where shift = 1/(at[i][i]*h) If at[i][i] is 0, the first equation falls back to lambda_s[i] = h ( (b_i dGdU + bt[i] dHdU) lambda_{n+1} + dGdU \sum_{j=i+1}^s a[j][i] lambda_s[j] + dHdU \sum_{j=i+1}^s at[j][i] lambda_s[j]) */ static PetscErrorCode TSAdjointStep_ARKIMEX(TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; ARKTableau tab = ark->tableau; const PetscInt s = tab->s; const PetscReal *At = tab->At, *A = tab->A, *ct = tab->ct, *c = tab->c, *b = tab->b, *bt = tab->bt; PetscScalar *w = ark->work; Vec *Y = ark->Y, Ydot = ark->Ydot, *VecsDeltaLam = ark->VecsDeltaLam, *VecsSensiTemp = ark->VecsSensiTemp, *VecsSensiPTemp = ark->VecsSensiPTemp; Mat Jex, Jim, Jimpre; PetscInt i, j, nadj; PetscReal t = ts->ptime, stage_time_ex; PetscReal adjoint_time_step = -ts->time_step; /* always positive since ts->time_step is negative */ KSP ksp; PetscFunctionBegin; ark->status = TS_STEP_INCOMPLETE; PetscCall(SNESGetKSP(ts->snes, &ksp)); PetscCall(TSGetRHSMats_Private(ts, &Jex, NULL)); PetscCall(TSGetIJacobian(ts, &Jim, &Jimpre, NULL, NULL)); for (i = s - 1; i >= 0; i--) { ark->stage_time = t - adjoint_time_step * (1.0 - ct[i]); stage_time_ex = t - adjoint_time_step * (1.0 - c[i]); if (At[i * s + i] == 0) { // This stage is explicit ark->scoeff = 0.; } else { ark->scoeff = -1. / At[i * s + i]; // this makes shift=ark->scoeff/ts->time_step positive since ts->time_step is negative } PetscCall(TSComputeSNESJacobian(ts, Y[i], Jim, Jimpre)); PetscCall(TSComputeRHSJacobian(ts, stage_time_ex, Y[i], Jex, Jex)); if (ts->vecs_sensip) { PetscCall(TSComputeIJacobianP(ts, ark->stage_time, Y[i], Ydot, ark->scoeff / adjoint_time_step, ts->Jacp, PETSC_TRUE)); // get dFdP (-dHdP), Ydot not really used since mass matrix is identity PetscCall(TSComputeRHSJacobianP(ts, stage_time_ex, Y[i], ts->Jacprhs)); // get dGdP } for (nadj = 0; nadj < ts->numcost; nadj++) { /* Build RHS (stored in VecsDeltaLam) for first-order adjoint */ if (s - i - 1 > 0) { /* Temp = -\sum_{j=i+1}^s at[j][i] lambda_s[j] */ for (j = i + 1; j < s; j++) w[j - i - 1] = -At[j * s + i]; PetscCall(VecSet(VecsSensiTemp[nadj], 0)); PetscCall(VecMAXPY(VecsSensiTemp[nadj], s - i - 1, w, &VecsDeltaLam[nadj * s + i + 1])); /* (shift I - dHdU) Temp */ PetscCall(MatMultTranspose(Jim, VecsSensiTemp[nadj], VecsDeltaLam[nadj * s + i])); /* cancel out shift Temp where shift=-scoeff/h */ PetscCall(VecAXPY(VecsDeltaLam[nadj * s + i], ark->scoeff / adjoint_time_step, VecsSensiTemp[nadj])); if (ts->vecs_sensip) { /* - dHdP Temp */ PetscCall(MatMultTranspose(ts->Jacp, VecsSensiTemp[nadj], VecsSensiPTemp[nadj])); /* mu_n += h dHdP Temp */ PetscCall(VecAXPY(ts->vecs_sensip[nadj], -adjoint_time_step, VecsSensiPTemp[nadj])); } /* Temp = \sum_{j=i+1}^s a[j][i] lambda_s[j] */ for (j = i + 1; j < s; j++) w[j - i - 1] = A[j * s + i]; PetscCall(VecSet(VecsSensiTemp[nadj], 0)); PetscCall(VecMAXPY(VecsSensiTemp[nadj], s - i - 1, w, &VecsDeltaLam[nadj * s + i + 1])); /* dGdU Temp */ PetscCall(MatMultTransposeAdd(Jex, VecsSensiTemp[nadj], VecsDeltaLam[nadj * s + i], VecsDeltaLam[nadj * s + i])); if (ts->vecs_sensip) { /* dGdP Temp */ PetscCall(MatMultTranspose(ts->Jacprhs, VecsSensiTemp[nadj], VecsSensiPTemp[nadj])); /* mu_n += h dGdP Temp */ PetscCall(VecAXPY(ts->vecs_sensip[nadj], adjoint_time_step, VecsSensiPTemp[nadj])); } } else { PetscCall(VecSet(VecsDeltaLam[nadj * s + i], 0)); // make sure it is initialized } if (bt[i]) { // bt[i] dHdU lambda_{n+1} /* (shift I - dHdU)^T lambda_{n+1} */ PetscCall(MatMultTranspose(Jim, ts->vecs_sensi[nadj], VecsSensiTemp[nadj])); /* -bt[i] (shift I - dHdU)^T lambda_{n+1} */ PetscCall(VecAXPY(VecsDeltaLam[nadj * s + i], -bt[i], VecsSensiTemp[nadj])); /* cancel out -bt[i] shift lambda_{n+1} */ PetscCall(VecAXPY(VecsDeltaLam[nadj * s + i], -bt[i] * ark->scoeff / adjoint_time_step, ts->vecs_sensi[nadj])); if (ts->vecs_sensip) { /* -dHdP lambda_{n+1} */ PetscCall(MatMultTranspose(ts->Jacp, ts->vecs_sensi[nadj], VecsSensiPTemp[nadj])); /* mu_n += h bt[i] dHdP lambda_{n+1} */ PetscCall(VecAXPY(ts->vecs_sensip[nadj], -bt[i] * adjoint_time_step, VecsSensiPTemp[nadj])); } } if (b[i]) { // b[i] dGdU lambda_{n+1} /* dGdU lambda_{n+1} */ PetscCall(MatMultTranspose(Jex, ts->vecs_sensi[nadj], VecsSensiTemp[nadj])); /* b[i] dGdU lambda_{n+1} */ PetscCall(VecAXPY(VecsDeltaLam[nadj * s + i], b[i], VecsSensiTemp[nadj])); if (ts->vecs_sensip) { /* dGdP lambda_{n+1} */ PetscCall(MatMultTranspose(ts->Jacprhs, ts->vecs_sensi[nadj], VecsSensiPTemp[nadj])); /* mu_n += h b[i] dGdP lambda_{n+1} */ PetscCall(VecAXPY(ts->vecs_sensip[nadj], b[i] * adjoint_time_step, VecsSensiPTemp[nadj])); } } /* Build LHS for first-order adjoint */ if (At[i * s + i] == 0) { // This stage is explicit PetscCall(VecScale(VecsDeltaLam[nadj * s + i], adjoint_time_step)); } else { KSP ksp; KSPConvergedReason kspreason; PetscCall(SNESGetKSP(ts->snes, &ksp)); PetscCall(KSPSetOperators(ksp, Jim, Jimpre)); PetscCall(VecScale(VecsDeltaLam[nadj * s + i], 1. / At[i * s + i])); PetscCall(KSPSolveTranspose(ksp, VecsDeltaLam[nadj * s + i], VecsDeltaLam[nadj * s + i])); PetscCall(KSPGetConvergedReason(ksp, &kspreason)); if (kspreason < 0) { ts->reason = TSADJOINT_DIVERGED_LINEAR_SOLVE; PetscCall(PetscInfo(ts, "Step=%" PetscInt_FMT ", %" PetscInt_FMT "th cost function, transposed linear solve fails, stopping 1st-order adjoint solve\n", ts->steps, nadj)); } if (ts->vecs_sensip) { /* -dHdP lambda_s[i] */ PetscCall(MatMultTranspose(ts->Jacp, VecsDeltaLam[nadj * s + i], VecsSensiPTemp[nadj])); /* mu_n += h at[i][i] dHdP lambda_s[i] */ PetscCall(VecAXPY(ts->vecs_sensip[nadj], -At[i * s + i] * adjoint_time_step, VecsSensiPTemp[nadj])); } } } } for (j = 0; j < s; j++) w[j] = 1.0; for (nadj = 0; nadj < ts->numcost; nadj++) // no need to do this for mu's PetscCall(VecMAXPY(ts->vecs_sensi[nadj], s, w, &VecsDeltaLam[nadj * s])); ark->status = TS_STEP_COMPLETE; PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSInterpolate_ARKIMEX(TS ts, PetscReal itime, Vec X) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscInt s = ark->tableau->s, pinterp = ark->tableau->pinterp, i, j; PetscReal h; PetscReal tt, t; PetscScalar *bt, *b; const PetscReal *Bt = ark->tableau->binterpt, *B = ark->tableau->binterp; PetscFunctionBegin; PetscCheck(Bt && B, PetscObjectComm((PetscObject)ts), PETSC_ERR_SUP, "TSARKIMEX %s does not have an interpolation formula", ark->tableau->name); switch (ark->status) { case TS_STEP_INCOMPLETE: case TS_STEP_PENDING: h = ts->time_step; t = (itime - ts->ptime) / h; break; case TS_STEP_COMPLETE: h = ts->ptime - ts->ptime_prev; t = (itime - ts->ptime) / h + 1; /* In the interval [0,1] */ break; default: SETERRQ(PetscObjectComm((PetscObject)ts), PETSC_ERR_PLIB, "Invalid TSStepStatus"); } PetscCall(PetscMalloc2(s, &bt, s, &b)); for (i = 0; i < s; i++) bt[i] = b[i] = 0; for (j = 0, tt = t; j < pinterp; j++, tt *= t) { for (i = 0; i < s; i++) { bt[i] += h * Bt[i * pinterp + j] * tt; b[i] += h * B[i * pinterp + j] * tt; } } PetscCall(VecCopy(ark->Y[0], X)); PetscCall(VecMAXPY(X, s, bt, ark->YdotI)); PetscCall(VecMAXPY(X, s, b, ark->YdotRHS)); PetscCall(PetscFree2(bt, b)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSExtrapolate_ARKIMEX(TS ts, PetscReal c, Vec X) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscInt s = ark->tableau->s, pinterp = ark->tableau->pinterp, i, j; PetscReal h, h_prev, t, tt; PetscScalar *bt, *b; const PetscReal *Bt = ark->tableau->binterpt, *B = ark->tableau->binterp; PetscFunctionBegin; PetscCheck(Bt && B, PetscObjectComm((PetscObject)ts), PETSC_ERR_SUP, "TSARKIMEX %s does not have an interpolation formula", ark->tableau->name); PetscCall(PetscCalloc2(s, &bt, s, &b)); h = ts->time_step; h_prev = ts->ptime - ts->ptime_prev; t = 1 + h / h_prev * c; for (j = 0, tt = t; j < pinterp; j++, tt *= t) { for (i = 0; i < s; i++) { bt[i] += h * Bt[i * pinterp + j] * tt; b[i] += h * B[i * pinterp + j] * tt; } } PetscCheck(ark->Y_prev, PetscObjectComm((PetscObject)ts), PETSC_ERR_SUP, "Stages from previous step have not been stored"); PetscCall(VecCopy(ark->Y_prev[0], X)); PetscCall(VecMAXPY(X, s, bt, ark->YdotI_prev)); PetscCall(VecMAXPY(X, s, b, ark->YdotRHS_prev)); PetscCall(PetscFree2(bt, b)); PetscFunctionReturn(PETSC_SUCCESS); } /*------------------------------------------------------------*/ static PetscErrorCode TSARKIMEXTableauReset(TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; ARKTableau tab = ark->tableau; PetscFunctionBegin; if (!tab) PetscFunctionReturn(PETSC_SUCCESS); PetscCall(PetscFree(ark->work)); PetscCall(VecDestroyVecs(tab->s, &ark->Y)); PetscCall(VecDestroyVecs(tab->s, &ark->YdotI)); PetscCall(VecDestroyVecs(tab->s, &ark->YdotRHS)); PetscCall(VecDestroyVecs(tab->s, &ark->Y_prev)); PetscCall(VecDestroyVecs(tab->s, &ark->YdotI_prev)); PetscCall(VecDestroyVecs(tab->s, &ark->YdotRHS_prev)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSReset_ARKIMEX(TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscFunctionBegin; PetscCall(TSARKIMEXTableauReset(ts)); PetscCall(VecDestroy(&ark->Ydot)); PetscCall(VecDestroy(&ark->Ydot0)); PetscCall(VecDestroy(&ark->Z)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSAdjointReset_ARKIMEX(TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; ARKTableau tab = ark->tableau; PetscFunctionBegin; PetscCall(VecDestroyVecs(tab->s * ts->numcost, &ark->VecsDeltaLam)); PetscCall(VecDestroyVecs(ts->numcost, &ark->VecsSensiTemp)); PetscCall(VecDestroyVecs(ts->numcost, &ark->VecsSensiPTemp)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSARKIMEXGetVecs(TS ts, DM dm, Vec *Z, Vec *Ydot) { TS_ARKIMEX *ax = (TS_ARKIMEX *)ts->data; PetscFunctionBegin; if (Z) { if (dm && dm != ts->dm) { PetscCall(DMGetNamedGlobalVector(dm, "TSARKIMEX_Z", Z)); } else *Z = ax->Z; } if (Ydot) { if (dm && dm != ts->dm) { PetscCall(DMGetNamedGlobalVector(dm, "TSARKIMEX_Ydot", Ydot)); } else *Ydot = ax->Ydot; } PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSARKIMEXRestoreVecs(TS ts, DM dm, Vec *Z, Vec *Ydot) { PetscFunctionBegin; if (Z) { if (dm && dm != ts->dm) PetscCall(DMRestoreNamedGlobalVector(dm, "TSARKIMEX_Z", Z)); } if (Ydot) { if (dm && dm != ts->dm) PetscCall(DMRestoreNamedGlobalVector(dm, "TSARKIMEX_Ydot", Ydot)); } PetscFunctionReturn(PETSC_SUCCESS); } /* This defines the nonlinear equation that is to be solved with SNES G(U) = F[t0+Theta*dt, U, (U-U0)*shift] = 0 */ static PetscErrorCode SNESTSFormFunction_ARKIMEX(SNES snes, Vec X, Vec F, TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; DM dm, dmsave; Vec Z, Ydot; PetscReal shift = ark->scoeff / ts->time_step; PetscFunctionBegin; PetscCall(SNESGetDM(snes, &dm)); PetscCall(TSARKIMEXGetVecs(ts, dm, &Z, &Ydot)); PetscCall(VecAXPBYPCZ(Ydot, -shift, shift, 0, Z, X)); /* Ydot = shift*(X-Z) */ dmsave = ts->dm; ts->dm = dm; PetscCall(TSComputeIFunction(ts, ark->stage_time, X, Ydot, F, ark->imex)); ts->dm = dmsave; PetscCall(TSARKIMEXRestoreVecs(ts, dm, &Z, &Ydot)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode SNESTSFormJacobian_ARKIMEX(SNES snes, Vec X, Mat A, Mat B, TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; DM dm, dmsave; Vec Ydot; PetscReal shift = ark->scoeff / ts->time_step; PetscFunctionBegin; PetscCall(SNESGetDM(snes, &dm)); PetscCall(TSARKIMEXGetVecs(ts, dm, NULL, &Ydot)); /* ark->Ydot has already been computed in SNESTSFormFunction_ARKIMEX (SNES guarantees this) */ dmsave = ts->dm; ts->dm = dm; PetscCall(TSComputeIJacobian(ts, ark->stage_time, X, Ydot, shift, A, B, ark->imex)); ts->dm = dmsave; PetscCall(TSARKIMEXRestoreVecs(ts, dm, NULL, &Ydot)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSGetStages_ARKIMEX(TS ts, PetscInt *ns, Vec *Y[]) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscFunctionBegin; if (ns) *ns = ark->tableau->s; if (Y) *Y = ark->Y; PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode DMCoarsenHook_TSARKIMEX(DM fine, DM coarse, void *ctx) { PetscFunctionBegin; PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode DMRestrictHook_TSARKIMEX(DM fine, Mat restrct, Vec rscale, Mat inject, DM coarse, void *ctx) { TS ts = (TS)ctx; Vec Z, Z_c; PetscFunctionBegin; PetscCall(TSARKIMEXGetVecs(ts, fine, &Z, NULL)); PetscCall(TSARKIMEXGetVecs(ts, coarse, &Z_c, NULL)); PetscCall(MatRestrict(restrct, Z, Z_c)); PetscCall(VecPointwiseMult(Z_c, rscale, Z_c)); PetscCall(TSARKIMEXRestoreVecs(ts, fine, &Z, NULL)); PetscCall(TSARKIMEXRestoreVecs(ts, coarse, &Z_c, NULL)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode DMSubDomainHook_TSARKIMEX(DM dm, DM subdm, void *ctx) { PetscFunctionBegin; PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode DMSubDomainRestrictHook_TSARKIMEX(DM dm, VecScatter gscat, VecScatter lscat, DM subdm, void *ctx) { TS ts = (TS)ctx; Vec Z, Z_c; PetscFunctionBegin; PetscCall(TSARKIMEXGetVecs(ts, dm, &Z, NULL)); PetscCall(TSARKIMEXGetVecs(ts, subdm, &Z_c, NULL)); PetscCall(VecScatterBegin(gscat, Z, Z_c, INSERT_VALUES, SCATTER_FORWARD)); PetscCall(VecScatterEnd(gscat, Z, Z_c, INSERT_VALUES, SCATTER_FORWARD)); PetscCall(TSARKIMEXRestoreVecs(ts, dm, &Z, NULL)); PetscCall(TSARKIMEXRestoreVecs(ts, subdm, &Z_c, NULL)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSARKIMEXTableauSetUp(TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; ARKTableau tab = ark->tableau; PetscFunctionBegin; PetscCall(PetscMalloc1(tab->s, &ark->work)); PetscCall(VecDuplicateVecs(ts->vec_sol, tab->s, &ark->Y)); PetscCall(VecDuplicateVecs(ts->vec_sol, tab->s, &ark->YdotI)); PetscCall(VecDuplicateVecs(ts->vec_sol, tab->s, &ark->YdotRHS)); if (ark->extrapolate) { PetscCall(VecDuplicateVecs(ts->vec_sol, tab->s, &ark->Y_prev)); PetscCall(VecDuplicateVecs(ts->vec_sol, tab->s, &ark->YdotI_prev)); PetscCall(VecDuplicateVecs(ts->vec_sol, tab->s, &ark->YdotRHS_prev)); } PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSSetUp_ARKIMEX(TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; DM dm; SNES snes; PetscFunctionBegin; PetscCall(TSARKIMEXTableauSetUp(ts)); PetscCall(VecDuplicate(ts->vec_sol, &ark->Ydot)); PetscCall(VecDuplicate(ts->vec_sol, &ark->Ydot0)); PetscCall(VecDuplicate(ts->vec_sol, &ark->Z)); PetscCall(TSGetDM(ts, &dm)); PetscCall(DMCoarsenHookAdd(dm, DMCoarsenHook_TSARKIMEX, DMRestrictHook_TSARKIMEX, ts)); PetscCall(DMSubDomainHookAdd(dm, DMSubDomainHook_TSARKIMEX, DMSubDomainRestrictHook_TSARKIMEX, ts)); PetscCall(TSGetSNES(ts, &snes)); PetscFunctionReturn(PETSC_SUCCESS); } /*------------------------------------------------------------*/ static PetscErrorCode TSAdjointSetUp_ARKIMEX(TS ts) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; ARKTableau tab = ark->tableau; PetscFunctionBegin; PetscCall(VecDuplicateVecs(ts->vecs_sensi[0], tab->s * ts->numcost, &ark->VecsDeltaLam)); PetscCall(VecDuplicateVecs(ts->vecs_sensi[0], ts->numcost, &ark->VecsSensiTemp)); if (ts->vecs_sensip) { PetscCall(VecDuplicateVecs(ts->vecs_sensip[0], ts->numcost, &ark->VecsSensiPTemp)); } if (PetscDefined(USE_DEBUG)) { PetscBool id = PETSC_FALSE; PetscCall(TSARKIMEXTestMassIdentity(ts, &id)); PetscCheck(id, PetscObjectComm((PetscObject)ts), PETSC_ERR_ARG_INCOMP, "Adjoint ARKIMEX requires an identity mass matrix, however the TSIFunction you provide does not utilize an identity mass matrix"); } PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSSetFromOptions_ARKIMEX(TS ts, PetscOptionItems *PetscOptionsObject) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscFunctionBegin; PetscOptionsHeadBegin(PetscOptionsObject, "ARKIMEX ODE solver options"); { ARKTableauLink link; PetscInt count, choice; PetscBool flg; const char **namelist; for (link = ARKTableauList, count = 0; link; link = link->next, count++) ; PetscCall(PetscMalloc1(count, (char ***)&namelist)); for (link = ARKTableauList, count = 0; link; link = link->next, count++) namelist[count] = link->tab.name; PetscCall(PetscOptionsEList("-ts_arkimex_type", "Family of ARK IMEX method", "TSARKIMEXSetType", (const char *const *)namelist, count, ark->tableau->name, &choice, &flg)); if (flg) PetscCall(TSARKIMEXSetType(ts, namelist[choice])); PetscCall(PetscFree(namelist)); flg = (PetscBool)!ark->imex; PetscCall(PetscOptionsBool("-ts_arkimex_fully_implicit", "Solve the problem fully implicitly", "TSARKIMEXSetFullyImplicit", flg, &flg, NULL)); ark->imex = (PetscBool)!flg; PetscCall(PetscOptionsBool("-ts_arkimex_initial_guess_extrapolate", "Extrapolate the initial guess for the stage solution from stage values of the previous time step", "", ark->extrapolate, &ark->extrapolate, NULL)); } PetscOptionsHeadEnd(); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSView_ARKIMEX(TS ts, PetscViewer viewer) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscBool iascii; PetscFunctionBegin; PetscCall(PetscObjectTypeCompare((PetscObject)viewer, PETSCVIEWERASCII, &iascii)); if (iascii) { ARKTableau tab = ark->tableau; TSARKIMEXType arktype; char buf[512]; PetscBool flg; PetscCall(TSARKIMEXGetType(ts, &arktype)); PetscCall(TSARKIMEXGetFullyImplicit(ts, &flg)); PetscCall(PetscViewerASCIIPrintf(viewer, " ARK IMEX %s\n", arktype)); PetscCall(PetscFormatRealArray(buf, sizeof(buf), "% 8.6f", tab->s, tab->ct)); PetscCall(PetscViewerASCIIPrintf(viewer, " Stiff abscissa ct = %s\n", buf)); PetscCall(PetscFormatRealArray(buf, sizeof(buf), "% 8.6f", tab->s, tab->c)); PetscCall(PetscViewerASCIIPrintf(viewer, "Fully implicit: %s\n", flg ? "yes" : "no")); PetscCall(PetscViewerASCIIPrintf(viewer, "Stiffly accurate: %s\n", tab->stiffly_accurate ? "yes" : "no")); PetscCall(PetscViewerASCIIPrintf(viewer, "Explicit first stage: %s\n", tab->explicit_first_stage ? "yes" : "no")); PetscCall(PetscViewerASCIIPrintf(viewer, "FSAL property: %s\n", tab->FSAL_implicit ? "yes" : "no")); PetscCall(PetscViewerASCIIPrintf(viewer, " Nonstiff abscissa c = %s\n", buf)); } PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSLoad_ARKIMEX(TS ts, PetscViewer viewer) { SNES snes; TSAdapt adapt; PetscFunctionBegin; PetscCall(TSGetAdapt(ts, &adapt)); PetscCall(TSAdaptLoad(adapt, viewer)); PetscCall(TSGetSNES(ts, &snes)); PetscCall(SNESLoad(snes, viewer)); /* function and Jacobian context for SNES when used with TS is always ts object */ PetscCall(SNESSetFunction(snes, NULL, NULL, ts)); PetscCall(SNESSetJacobian(snes, NULL, NULL, NULL, ts)); PetscFunctionReturn(PETSC_SUCCESS); } /*@C TSARKIMEXSetType - Set the type of `TSARKIMEX` scheme Logically Collective Input Parameters: + ts - timestepping context - arktype - type of `TSARKIMEX` scheme Options Database Key: . -ts_arkimex_type <1bee,a2,l2,ars122,2c,2d,2e,prssp2,3,bpr3,ars443,4,5> - set `TSARKIMEX` scheme type Level: intermediate .seealso: [](ch_ts), `TSARKIMEXGetType()`, `TSARKIMEX`, `TSARKIMEXType`, `TSARKIMEX1BEE`, `TSARKIMEXA2`, `TSARKIMEXL2`, `TSARKIMEXARS122`, `TSARKIMEX2C`, `TSARKIMEX2D`, `TSARKIMEX2E`, `TSARKIMEXPRSSP2`, `TSARKIMEX3`, `TSARKIMEXBPR3`, `TSARKIMEXARS443`, `TSARKIMEX4`, `TSARKIMEX5` @*/ PetscErrorCode TSARKIMEXSetType(TS ts, TSARKIMEXType arktype) { PetscFunctionBegin; PetscValidHeaderSpecific(ts, TS_CLASSID, 1); PetscValidCharPointer(arktype, 2); PetscTryMethod(ts, "TSARKIMEXSetType_C", (TS, TSARKIMEXType), (ts, arktype)); PetscFunctionReturn(PETSC_SUCCESS); } /*@C TSARKIMEXGetType - Get the type of `TSARKIMEX` scheme Logically Collective Input Parameter: . ts - timestepping context Output Parameter: . arktype - type of `TSARKIMEX` scheme Level: intermediate .seealso: [](ch_ts), `TSARKIMEX`c, `TSARKIMEXGetType()` @*/ PetscErrorCode TSARKIMEXGetType(TS ts, TSARKIMEXType *arktype) { PetscFunctionBegin; PetscValidHeaderSpecific(ts, TS_CLASSID, 1); PetscUseMethod(ts, "TSARKIMEXGetType_C", (TS, TSARKIMEXType *), (ts, arktype)); PetscFunctionReturn(PETSC_SUCCESS); } /*@ TSARKIMEXSetFullyImplicit - Solve both parts of the equation implicitly, including the part that is normally solved explicitly Logically Collective Input Parameters: + ts - timestepping context - flg - `PETSC_TRUE` for fully implicit Level: intermediate .seealso: [](ch_ts), `TSARKIMEX`, `TSARKIMEXGetType()`, `TSARKIMEXGetFullyImplicit()` @*/ PetscErrorCode TSARKIMEXSetFullyImplicit(TS ts, PetscBool flg) { PetscFunctionBegin; PetscValidHeaderSpecific(ts, TS_CLASSID, 1); PetscValidLogicalCollectiveBool(ts, flg, 2); PetscTryMethod(ts, "TSARKIMEXSetFullyImplicit_C", (TS, PetscBool), (ts, flg)); PetscFunctionReturn(PETSC_SUCCESS); } /*@ TSARKIMEXGetFullyImplicit - Inquires if both parts of the equation are solved implicitly Logically Collective Input Parameter: . ts - timestepping context Output Parameter: . flg - `PETSC_TRUE` for fully implicit Level: intermediate .seealso: [](ch_ts), `TSARKIMEXGetType()`, `TSARKIMEXSetFullyImplicit()` @*/ PetscErrorCode TSARKIMEXGetFullyImplicit(TS ts, PetscBool *flg) { PetscFunctionBegin; PetscValidHeaderSpecific(ts, TS_CLASSID, 1); PetscValidBoolPointer(flg, 2); PetscUseMethod(ts, "TSARKIMEXGetFullyImplicit_C", (TS, PetscBool *), (ts, flg)); PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSARKIMEXGetType_ARKIMEX(TS ts, TSARKIMEXType *arktype) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscFunctionBegin; *arktype = ark->tableau->name; PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSARKIMEXSetType_ARKIMEX(TS ts, TSARKIMEXType arktype) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscBool match; ARKTableauLink link; PetscFunctionBegin; if (ark->tableau) { PetscCall(PetscStrcmp(ark->tableau->name, arktype, &match)); if (match) PetscFunctionReturn(PETSC_SUCCESS); } for (link = ARKTableauList; link; link = link->next) { PetscCall(PetscStrcmp(link->tab.name, arktype, &match)); if (match) { if (ts->setupcalled) PetscCall(TSARKIMEXTableauReset(ts)); ark->tableau = &link->tab; if (ts->setupcalled) PetscCall(TSARKIMEXTableauSetUp(ts)); ts->default_adapt_type = ark->tableau->bembed ? TSADAPTBASIC : TSADAPTNONE; PetscFunctionReturn(PETSC_SUCCESS); } } SETERRQ(PetscObjectComm((PetscObject)ts), PETSC_ERR_ARG_UNKNOWN_TYPE, "Could not find '%s'", arktype); } static PetscErrorCode TSARKIMEXSetFullyImplicit_ARKIMEX(TS ts, PetscBool flg) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscFunctionBegin; ark->imex = (PetscBool)!flg; PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSARKIMEXGetFullyImplicit_ARKIMEX(TS ts, PetscBool *flg) { TS_ARKIMEX *ark = (TS_ARKIMEX *)ts->data; PetscFunctionBegin; *flg = (PetscBool)!ark->imex; PetscFunctionReturn(PETSC_SUCCESS); } static PetscErrorCode TSDestroy_ARKIMEX(TS ts) { PetscFunctionBegin; PetscCall(TSReset_ARKIMEX(ts)); if (ts->dm) { PetscCall(DMCoarsenHookRemove(ts->dm, DMCoarsenHook_TSARKIMEX, DMRestrictHook_TSARKIMEX, ts)); PetscCall(DMSubDomainHookRemove(ts->dm, DMSubDomainHook_TSARKIMEX, DMSubDomainRestrictHook_TSARKIMEX, ts)); } PetscCall(PetscFree(ts->data)); PetscCall(PetscObjectComposeFunction((PetscObject)ts, "TSARKIMEXGetType_C", NULL)); PetscCall(PetscObjectComposeFunction((PetscObject)ts, "TSARKIMEXSetType_C", NULL)); PetscCall(PetscObjectComposeFunction((PetscObject)ts, "TSARKIMEXSetFullyImplicit_C", NULL)); PetscCall(PetscObjectComposeFunction((PetscObject)ts, "TSARKIMEXGetFullyImplicit_C", NULL)); PetscFunctionReturn(PETSC_SUCCESS); } /* ------------------------------------------------------------ */ /*MC TSARKIMEX - ODE and DAE solver using additive Runge-Kutta IMEX schemes These methods are intended for problems with well-separated time scales, especially when a slow scale is strongly nonlinear such that it is expensive to solve with a fully implicit method. The user should provide the stiff part of the equation using `TSSetIFunction()` and the non-stiff part with `TSSetRHSFunction()`. Level: beginner Notes: The default is `TSARKIMEX3`, it can be changed with `TSARKIMEXSetType()` or -ts_arkimex_type If the equation is implicit or a DAE, then `TSSetEquationType()` needs to be set accordingly. Refer to the manual for further information. Methods with an explicit stage can only be used with ODE in which the stiff part G(t,X,Xdot) has the form Xdot + Ghat(t,X). Consider trying `TSROSW` if the stiff part is linear or weakly nonlinear. .seealso: [](ch_ts), `TSCreate()`, `TS`, `TSSetType()`, `TSARKIMEXSetType()`, `TSARKIMEXGetType()`, `TSARKIMEXSetFullyImplicit()`, `TSARKIMEXGetFullyImplicit()`, `TSARKIMEX1BEE`, `TSARKIMEX2C`, `TSARKIMEX2D`, `TSARKIMEX2E`, `TSARKIMEX3`, `TSARKIMEXL2`, `TSARKIMEXA2`, `TSARKIMEXARS122`, `TSARKIMEX4`, `TSARKIMEX5`, `TSARKIMEXPRSSP2`, `TSARKIMEXARS443`, `TSARKIMEXBPR3`, `TSARKIMEXType`, `TSARKIMEXRegister()`, `TSType` M*/ PETSC_EXTERN PetscErrorCode TSCreate_ARKIMEX(TS ts) { TS_ARKIMEX *ark; PetscFunctionBegin; PetscCall(TSARKIMEXInitializePackage()); ts->ops->reset = TSReset_ARKIMEX; ts->ops->adjointreset = TSAdjointReset_ARKIMEX; ts->ops->destroy = TSDestroy_ARKIMEX; ts->ops->view = TSView_ARKIMEX; ts->ops->load = TSLoad_ARKIMEX; ts->ops->setup = TSSetUp_ARKIMEX; ts->ops->adjointsetup = TSAdjointSetUp_ARKIMEX; ts->ops->step = TSStep_ARKIMEX; ts->ops->interpolate = TSInterpolate_ARKIMEX; ts->ops->evaluatestep = TSEvaluateStep_ARKIMEX; ts->ops->rollback = TSRollBack_ARKIMEX; ts->ops->setfromoptions = TSSetFromOptions_ARKIMEX; ts->ops->snesfunction = SNESTSFormFunction_ARKIMEX; ts->ops->snesjacobian = SNESTSFormJacobian_ARKIMEX; ts->ops->getstages = TSGetStages_ARKIMEX; ts->ops->adjointstep = TSAdjointStep_ARKIMEX; ts->usessnes = PETSC_TRUE; PetscCall(PetscNew(&ark)); ts->data = (void *)ark; ark->imex = PETSC_TRUE; ark->VecsDeltaLam = NULL; ark->VecsSensiTemp = NULL; ark->VecsSensiPTemp = NULL; PetscCall(PetscObjectComposeFunction((PetscObject)ts, "TSARKIMEXGetType_C", TSARKIMEXGetType_ARKIMEX)); PetscCall(PetscObjectComposeFunction((PetscObject)ts, "TSARKIMEXSetType_C", TSARKIMEXSetType_ARKIMEX)); PetscCall(PetscObjectComposeFunction((PetscObject)ts, "TSARKIMEXSetFullyImplicit_C", TSARKIMEXSetFullyImplicit_ARKIMEX)); PetscCall(PetscObjectComposeFunction((PetscObject)ts, "TSARKIMEXGetFullyImplicit_C", TSARKIMEXGetFullyImplicit_ARKIMEX)); PetscCall(TSARKIMEXSetType(ts, TSARKIMEXDefault)); PetscFunctionReturn(PETSC_SUCCESS); }