simulator.hh

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// -*- mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-
// vi: set et ts=4 sw=4 sts=4:
/*
  This file is part of the Open Porous Media project (OPM).
 
  OPM is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 2 of the License, or
  (at your option) any later version.
 
  OPM is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
 
  You should have received a copy of the GNU General Public License
  along with OPM.  If not, see <http://www.gnu.org/licenses/>.
 
  Consult the COPYING file in the top-level source directory of this
  module for the precise wording of the license and the list of
  copyright holders.
*/
#ifndef EWOMS_SIMULATOR_HH
#define EWOMS_SIMULATOR_HH
 
#if HAVE_MPI
#define RESERVOIR_COUPLING_ENABLED
#endif
#ifdef RESERVOIR_COUPLING_ENABLED
#include <opm/simulators/flow/rescoup/ReservoirCouplingMaster.hpp>
#include <opm/simulators/flow/rescoup/ReservoirCouplingSlave.hpp>
#endif
 
#include <dune/common/parallel/mpihelper.hh>
 
#include <opm/models/discretization/common/fvbaseproperties.hh>
 
#include <opm/models/io/restart.hpp>
 
#include <opm/models/utils/basicproperties.hh>
#include <opm/models/utils/parametersystem.hpp>
#include <opm/models/utils/propertysystem.hh>
#include <opm/models/utils/simulatorutils.hpp>
#include <opm/models/utils/timer.hpp>
#include <opm/models/utils/timerguard.hh>
 
#include <opm/simulators/utils/DeferredLoggingErrorHelpers.hpp>
 
#include <algorithm>
#include <cassert>
#include <iostream>
#include <limits>
#include <memory>
#include <string>
#include <vector>
 
namespace Opm {
 
    // required as std::max is not constexpr for float128 / quads.
    template <typename T>
    static constexpr T constexpr_max(T a, T b) {
        return (a > b) ? a : b;
    }

template <class TypeTag>
class Simulator
{
    using Scalar = GetPropType<TypeTag, Properties::Scalar>;
    using Vanguard = GetPropType<TypeTag, Properties::Vanguard>;
    using GridView = GetPropType<TypeTag, Properties::GridView>;
    using Model = GetPropType<TypeTag, Properties::Model>;
    using Problem = GetPropType<TypeTag, Properties::Problem>;
 
    using MPIComm = typename Dune::MPIHelper::MPICommunicator;
    using Communication = Dune::Communication<MPIComm>;
 
    // \Note: too small eps can not rule out confusion from the rounding errors, as we use 1.e-9 as a minimum.
    static constexpr Scalar eps =
        constexpr_max(std::numeric_limits<Scalar>::epsilon(), static_cast<Scalar>(1.0e-9));
 
public:
    // do not allow to copy simulators around
    Simulator(const Simulator&) = delete;
 
    explicit Simulator(bool verbose = true)
        : Simulator(Communication(), verbose)
    {
    }
 
    explicit Simulator(Communication comm, bool verbose = true)
    {
        TimerGuard setupTimerGuard(setupTimer_);
 
        setupTimer_.start();
 
        verbose_ = verbose && comm.rank() == 0;
 
        timeStepIdx_ = 0;
        startTime_ = 0.0;
        time_ = 0.0;
        endTime_ = Parameters::Get<Parameters::EndTime<Scalar>>();
        timeStepSize_ = Parameters::Get<Parameters::InitialTimeStepSize<Scalar>>();
        assert(timeStepSize_ > 0);
        const std::string& predetTimeStepFile =
            Parameters::Get<Parameters::PredeterminedTimeStepsFile>();
        if (!predetTimeStepFile.empty()) {
            forcedTimeSteps_ = readTimeStepFile<Scalar>(predetTimeStepFile);
        }
 
        episodeIdx_ = 0;
        episodeStartTime_ = 0;
        episodeLength_ = std::numeric_limits<Scalar>::max();
 
        finished_ = false;
 
        if (verbose_) {
            std::cout << "Allocating the simulation vanguard\n" << std::flush;
        }
 
        {
            OPM_BEGIN_PARALLEL_TRY_CATCH();
            vanguard_ = std::make_unique<Vanguard>(*this);
            OPM_END_PARALLEL_TRY_CATCH("Allocating the simulation vanguard failed: ", comm);
        }
 
        if (verbose_) {
            std::cout << "Distributing the vanguard's data\n" << std::flush;
        }
 
        {
            OPM_BEGIN_PARALLEL_TRY_CATCH();
            vanguard_->loadBalance();
            OPM_END_PARALLEL_TRY_CATCH("Could not distribute the vanguard data: ", comm);
        }
 
        // Only relevant for CpGrid and serial runs.
        if (verbose_) {
            std::cout << "Adding LGRs, if any, in serial run\n" << std::flush;
        }
 
        {
            OPM_BEGIN_PARALLEL_TRY_CATCH();
            vanguard_->addLgrs();
            OPM_END_PARALLEL_TRY_CATCH("Adding LGRs to the simulation vanguard in serial run failed: ", comm);
        }
 
        if (verbose_) {
            std::cout << "Allocating the model\n" << std::flush;
        }
 
        {
            OPM_BEGIN_PARALLEL_TRY_CATCH();
            model_ = std::make_unique<Model>(*this);
            OPM_END_PARALLEL_TRY_CATCH("Could not allocate model: ", comm);
        }
 
        if (verbose_) {
            std::cout << "Allocating the problem\n" << std::flush;
        }
 
        {
            OPM_BEGIN_PARALLEL_TRY_CATCH();
            problem_ = std::make_unique<Problem>(*this);
            OPM_END_PARALLEL_TRY_CATCH("Could not allocate the problem: ", comm);
        }
 
        if (verbose_) {
            std::cout << "Initializing the model\n" << std::flush;
        }
 
        {
            OPM_BEGIN_PARALLEL_TRY_CATCH();
            model_->finishInit();
            OPM_END_PARALLEL_TRY_CATCH("Could not initialize the model: ", comm);
        }
 
        if (verbose_) {
            std::cout << "Initializing the problem\n" << std::flush;
        }
 
        {
            OPM_BEGIN_PARALLEL_TRY_CATCH();
            problem_->finishInit();
            OPM_END_PARALLEL_TRY_CATCH("Could not initialize the problem: ", comm);
        }
 
        setupTimer_.stop();
 
        if (verbose_) {
            std::cout << "Simulator successfully set up\n" << std::flush;
        }
    }

    static void registerParameters()
    {
        Parameters::Register<Parameters::EndTime<Scalar>>
            ("The simulation time at which the simulation is finished [s]");
        Parameters::Register<Parameters::InitialTimeStepSize<Scalar>>
            ("The size of the initial time step [s]");
        Parameters::Register<Parameters::RestartTime<Scalar>>
            ("The simulation time at which a restart should be attempted [s]");
        Parameters::Register<Parameters::PredeterminedTimeStepsFile>
            ("A file with a list of predetermined time step sizes "
             "(one time step per line)");
 
        Vanguard::registerParameters();
        Model::registerParameters();
        Problem::registerParameters();
    }

    Vanguard& vanguard()
    { return *vanguard_; }

    const Vanguard& vanguard() const
    { return *vanguard_; }

    const GridView& gridView() const
    { return vanguard_->gridView(); }

    Model& model()
    { return *model_; }

    const Model& model() const
    { return *model_; }

    Problem& problem()
    { return *problem_; }

    const Problem& problem() const
    { return *problem_; }

    void setStartTime(Scalar t)
    { startTime_ = t; }

    Scalar startTime() const
    { return startTime_; }

    void setTime(Scalar t)
    { time_ = t; }

    void setTime(Scalar t, unsigned stepIdx)
    {
        time_ = t;
        timeStepIdx_ = stepIdx;
    }

    Scalar time() const
    { return time_; }

    void setEndTime(Scalar t)
    { endTime_ = t; }

    Scalar endTime() const
    { return endTime_; }

    const Timer& setupTimer() const
    { return setupTimer_; }

    const Timer& executionTimer() const
    { return executionTimer_; }
 
    Timer& executionTimer()
    { return executionTimer_; }

    const Timer& prePostProcessTimer() const
    { return prePostProcessTimer_; }

    const Timer& linearizeTimer() const
    { return linearizeTimer_; }

    const Timer& solveTimer() const
    { return solveTimer_; }

    const Timer& updateTimer() const
    { return updateTimer_; }

    const Timer& writeTimer() const
    { return writeTimer_; }

    void setTimeStepSize(Scalar value)
    { timeStepSize_ = value; }

    void setTimeStepIndex(unsigned value)
    { timeStepIdx_ = value; }

    Scalar timeStepSize() const
    { return timeStepSize_; }

    int timeStepIndex() const
    { return timeStepIdx_; }

    void setFinished(bool yesno = true)
    { finished_ = yesno; }

    bool finished() const
    {
        assert(timeStepSize_ >= 0.0);
        return finished_ || (this->time() * (1.0 + eps) >= endTime());
    }

    bool willBeFinished() const
    {
        return finished_ || (this->time() + timeStepSize_) * (1.0 + eps) >= endTime();
    }

    Scalar maxTimeStepSize() const
    {
        if (finished()) {
            return 0.0;
        }
 
        return std::min(episodeMaxTimeStepSize(),
                        std::max<Scalar>(0.0, endTime() - this->time()));
    }

    void startNextEpisode(Scalar episodeStartTime, Scalar episodeLength)
    {
        ++episodeIdx_;
        episodeStartTime_ = episodeStartTime;
        episodeLength_ = episodeLength;
    }

    void startNextEpisode(Scalar len = std::numeric_limits<Scalar>::max())
    {
        ++episodeIdx_;
        episodeStartTime_ = startTime_ + time_;
        episodeLength_ = len;
    }

    void setEpisodeIndex(int episodeIdx)
    { episodeIdx_ = episodeIdx; }

    int episodeIndex() const
    { return episodeIdx_; }

    Scalar episodeStartTime() const
    { return episodeStartTime_; }

    void setEpisodeLength(Scalar dt)
    { episodeLength_ = dt; }

    Scalar episodeLength() const
    { return episodeLength_; }

    bool episodeStarts() const
    {
        return this->time() <= (episodeStartTime_ - startTime()) * (1 + eps);
    }

    bool episodeIsOver() const
    {
        return this->time() >= (episodeStartTime_ - startTime() + episodeLength()) * (1 - eps);
    }

    bool episodeWillBeOver() const
    {
        return this->time() + timeStepSize()
            >=  (episodeStartTime_ - startTime() + episodeLength()) * (1 - eps);
    }

    Scalar episodeMaxTimeStepSize() const
    {
        // if the current episode is over and the simulation
        // wants to give it some extra time, we will return
        // the time step size it suggested instead of trying
        // to align it to the end of the episode.
        if (episodeIsOver()) {
            return 0.0;
        }
 
        // make sure that we don't exceed the end of the
        // current episode.
        return std::max<Scalar>(0.0,
                                (episodeStartTime() + episodeLength()) -
                                (this->time() + this->startTime()));
    }
 
    /*
     * \}
     */

    void run()
    {
        // create TimerGuard objects to hedge for exceptions
        TimerGuard setupTimerGuard(setupTimer_);
        TimerGuard executionTimerGuard(executionTimer_);
        TimerGuard prePostProcessTimerGuard(prePostProcessTimer_);
        TimerGuard writeTimerGuard(writeTimer_);
 
        setupTimer_.start();
        const Scalar restartTime = Parameters::Get<Parameters::RestartTime<Scalar>>();
        if (restartTime > -1e30) {
            // try to restart a previous simulation
            time_ = restartTime;
 
            OPM_BEGIN_PARALLEL_TRY_CATCH();
            Restart res;
            res.deserializeBegin(*this, time_);
 
            if (verbose_) {
                std::cout << "Deserialize from file '" << res.fileName() << "'\n" << std::flush;
            }
 
            this->deserialize(res);
            problem_->deserialize(res);
            model_->deserialize(res);
            res.deserializeEnd();
            OPM_END_PARALLEL_TRY_CATCH("Deserialization failed: ",
                                       Dune::MPIHelper::getCommunication());
            if (verbose_) {
                std::cout << "Deserialization done."
                          << " Simulator time: " << time() << humanReadableTime(time())
                          << " Time step index: " << timeStepIndex()
                          << " Episode index: " << episodeIndex()
                          << "\n" << std::flush;
            }
        }
        else {
            // if no restart is done, apply the initial solution
            if (verbose_) {
                std::cout << "Applying the initial solution of the \"" << problem_->name()
                          << "\" problem\n" << std::flush;
            }
 
            const Scalar oldTimeStepSize = timeStepSize_;
            const int oldTimeStepIdx = timeStepIdx_;
            timeStepSize_ = 0.0;
            timeStepIdx_ = -1;
 
            {
                OPM_BEGIN_PARALLEL_TRY_CATCH();
                model_->applyInitialSolution();
                OPM_END_PARALLEL_TRY_CATCH("Apply initial solution failed: ",
                                           Dune::MPIHelper::getCommunication());
            }
 
            // write initial condition
            if (problem_->shouldWriteOutput()) {
                OPM_BEGIN_PARALLEL_TRY_CATCH();
                problem_->writeOutput(true);
                OPM_END_PARALLEL_TRY_CATCH("Write output failed: ",
                                           Dune::MPIHelper::getCommunication());
            }
 
            timeStepSize_ = oldTimeStepSize;
            timeStepIdx_ = oldTimeStepIdx;
        }
        setupTimer_.stop();
 
        executionTimer_.start();
        bool episodeBegins = episodeIsOver() || (timeStepIdx_ == 0);
        // do the time steps
        while (!finished()) {
            prePostProcessTimer_.start();
            if (episodeBegins) {
                // notify the problem that a new episode has just been
                // started.
                {
                    OPM_BEGIN_PARALLEL_TRY_CATCH();
                    problem_->beginEpisode();
                    OPM_END_PARALLEL_TRY_CATCH("Begin episode failed: ",
                                               Dune::MPIHelper::getCommunication());
                }
 
                if (finished()) {
                    // the problem can chose to terminate the simulation in
                    // beginEpisode(), so we have handle this case.
                    OPM_BEGIN_PARALLEL_TRY_CATCH();
                    problem_->endEpisode();
                    OPM_END_PARALLEL_TRY_CATCH("End episode failed: ",
                                               Dune::MPIHelper::getCommunication());
                    prePostProcessTimer_.stop();
 
                    break;
                }
            }
            episodeBegins = false;
 
            if (verbose_) {
                std::cout << "Begin time step " << timeStepIndex() + 1 << ". "
                          << "Start time: " << this->time() << " seconds" << humanReadableTime(this->time())
                          << ", step size: " << timeStepSize() << " seconds" << humanReadableTime(timeStepSize())
                          << "\n";
            }
 
            // pre-process the current solution
            {
                OPM_BEGIN_PARALLEL_TRY_CATCH();
                problem_->beginTimeStep();
                OPM_END_PARALLEL_TRY_CATCH("Begin timestep failed: ",
                                            Dune::MPIHelper::getCommunication());
            }
 
            if (finished()) {
                // the problem can choose to terminate the simulation in
                // beginTimeStep(), so we have handle this case.
                OPM_BEGIN_PARALLEL_TRY_CATCH();
                problem_->endTimeStep();
                problem_->endEpisode();
                OPM_END_PARALLEL_TRY_CATCH("Finish failed: ",
                                            Dune::MPIHelper::getCommunication());
                prePostProcessTimer_.stop();
 
                break;
            }
            prePostProcessTimer_.stop();
 
            try {
                // execute the time integration scheme
                problem_->timeIntegration();
            }
            catch (...) {
                // exceptions in the time integration might be recoverable. clean up in
                // case they are
                const auto& pmodel = problem_->model();
                prePostProcessTimer_ += pmodel.prePostProcessTimer();
                linearizeTimer_ += pmodel.linearizeTimer();
                solveTimer_ += pmodel.solveTimer();
                updateTimer_ += pmodel.updateTimer();
 
                throw;
            }
 
            const auto& pmodel = problem_->model();
            prePostProcessTimer_ += pmodel.prePostProcessTimer();
            linearizeTimer_ += pmodel.linearizeTimer();
            solveTimer_ += pmodel.solveTimer();
            updateTimer_ += pmodel.updateTimer();
 
            // post-process the current solution
            prePostProcessTimer_.start();
            {
                OPM_BEGIN_PARALLEL_TRY_CATCH();
                problem_->endTimeStep();
                OPM_END_PARALLEL_TRY_CATCH("End timestep failed: ",
                                            Dune::MPIHelper::getCommunication());
            }
            prePostProcessTimer_.stop();
 
            // write the result to disk
            writeTimer_.start();
            if (problem_->shouldWriteOutput()) {
                OPM_BEGIN_PARALLEL_TRY_CATCH();
                problem_->writeOutput(true);
                OPM_END_PARALLEL_TRY_CATCH("Write output failed: ",
                                            Dune::MPIHelper::getCommunication());
            }
            writeTimer_.stop();
 
            // do the next time integration
            const Scalar oldDt = timeStepSize();
            {
                OPM_BEGIN_PARALLEL_TRY_CATCH();
                problem_->advanceTimeLevel();
                OPM_END_PARALLEL_TRY_CATCH("Advance time level failed: ",
                                            Dune::MPIHelper::getCommunication());
            }
 
            if (verbose_) {
                std::cout << "Time step " << timeStepIndex() + 1 << " done. "
                          << "CPU time: " << executionTimer_.realTimeElapsed()
                          << " seconds" << humanReadableTime(executionTimer_.realTimeElapsed())
                          << ", end time: " << this->time() + oldDt << " seconds"
                          << humanReadableTime(this->time() + oldDt)
                          << ", step size: " << oldDt << " seconds" << humanReadableTime(oldDt)
                          << "\n" << std::flush;
            }
 
            // advance the simulated time by the current time step size
            time_ += oldDt;
            ++timeStepIdx_;
 
            prePostProcessTimer_.start();
            // notify the problem if an episode is finished
            if (episodeIsOver()) {
                // Notify the problem about the end of the current episode...
                OPM_BEGIN_PARALLEL_TRY_CATCH();
                problem_->endEpisode();
                OPM_END_PARALLEL_TRY_CATCH("End episode failed: ",
                                            Dune::MPIHelper::getCommunication());
                episodeBegins = true;
            }
            else {
                Scalar dt;
                if (timeStepIdx_ < static_cast<int>(forcedTimeSteps_.size())) {
                    // use the next time step size from the input file
                    dt = forcedTimeSteps_[timeStepIdx_];
                }
                else {
                    // ask the problem to provide the next time step size
                    dt = std::min(maxTimeStepSize(), problem_->nextTimeStepSize());
                }
                assert(finished() || dt > 0);
                setTimeStepSize(dt);
            }
            prePostProcessTimer_.stop();
 
            // write restart file if mandated by the problem
            writeTimer_.start();
            if (problem_->shouldWriteRestartFile()) {
                OPM_BEGIN_PARALLEL_TRY_CATCH();
                serialize();
                OPM_END_PARALLEL_TRY_CATCH("Serialize failed: ",
                                            Dune::MPIHelper::getCommunication());
            }
            writeTimer_.stop();
        }
        executionTimer_.stop();
 
        {
            OPM_BEGIN_PARALLEL_TRY_CATCH();
            problem_->finalize();
            OPM_END_PARALLEL_TRY_CATCH("Finalize failed: ",
                                        Dune::MPIHelper::getCommunication());
        }
    }
 
#ifdef RESERVOIR_COUPLING_ENABLED
    ReservoirCouplingMaster<Scalar>* reservoirCouplingMaster() const
    {
        return reservoirCouplingMaster_;
    }
    ReservoirCouplingSlave<Scalar>* reservoirCouplingSlave() const
    {
        return reservoirCouplingSlave_;
    }
    void setReservoirCouplingMaster(ReservoirCouplingMaster<Scalar> *reservoirCouplingMaster)
    {
        this->reservoirCouplingMaster_ = reservoirCouplingMaster;
    }
    void setReservoirCouplingSlave(ReservoirCouplingSlave<Scalar> *reservoirCouplingSlave)
    {
        this->reservoirCouplingSlave_ = reservoirCouplingSlave;
    }
#endif


    void serialize()
    {
        using Restarter = Restart;
        Restarter res;
        res.serializeBegin(*this);
        if (gridView().comm().rank() == 0) {
            std::cout << "Serialize to file '" << res.fileName() << "'"
                      << ", next time step size: " << timeStepSize()
                      << "\n" << std::flush;
        }
 
        this->serialize(res);
        problem_->serialize(res);
        model_->serialize(res);
        res.serializeEnd();
    }

    template <class Restarter>
    void serialize(Restarter& restarter)
    {
        restarter.serializeSectionBegin("Simulator");
        restarter.serializeStream()
            << episodeIdx_ << " "
            << episodeStartTime_ << " "
            << episodeLength_ << " "
            << startTime_ << " "
            << time_ << " "
            << timeStepIdx_ << " ";
        restarter.serializeSectionEnd();
    }

    template <class Restarter>
    void deserialize(Restarter& restarter)
    {
        restarter.deserializeSectionBegin("Simulator");
        restarter.deserializeStream()
            >> episodeIdx_
            >> episodeStartTime_
            >> episodeLength_
            >> startTime_
            >> time_
            >> timeStepIdx_;
        restarter.deserializeSectionEnd();
    }
 
    template<class Serializer>
    void serializeOp(Serializer& serializer)
    {
        serializer(*vanguard_);
        serializer(*model_);
        serializer(*problem_);
        serializer(episodeIdx_);
        serializer(episodeStartTime_);
        serializer(episodeLength_);
        serializer(startTime_);
        serializer(time_);
        serializer(timeStepIdx_);
    }
 
private:
    std::unique_ptr<Vanguard> vanguard_;
    std::unique_ptr<Model> model_;
    std::unique_ptr<Problem> problem_;
 
    int episodeIdx_;
    Scalar episodeStartTime_;
    Scalar episodeLength_;
 
    Timer setupTimer_;
    Timer executionTimer_;
    Timer prePostProcessTimer_;
    Timer linearizeTimer_;
    Timer solveTimer_;
    Timer updateTimer_;
    Timer writeTimer_;
 
    std::vector<Scalar> forcedTimeSteps_;
    Scalar startTime_;
    Scalar time_;
    Scalar endTime_;
 
    Scalar timeStepSize_;
    int timeStepIdx_;
 
    bool finished_;
    bool verbose_;
 
#ifdef RESERVOIR_COUPLING_ENABLED
    ReservoirCouplingMaster<Scalar> *reservoirCouplingMaster_ = nullptr;
    ReservoirCouplingSlave<Scalar> *reservoirCouplingSlave_ = nullptr;
#endif
 
};
 
namespace Properties {
template<class TypeTag>
struct Simulator<TypeTag, TTag::NumericModel>
{ using type = ::Opm::Simulator<TypeTag>; };
}
 
} // namespace Opm
 
#endif