common/timeloop.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:
//
// SPDX-FileCopyrightInfo: Copyright © DuMux Project contributors, see AUTHORS.md in root folder
// SPDX-License-Identifier: GPL-3.0-or-later
//
#ifndef DUMUX_TIME_LOOP_HH
#define DUMUX_TIME_LOOP_HH
 
#include <algorithm>
#include <queue>
#include <iomanip>
#include <chrono>
#include <type_traits>
#include <initializer_list>
#include <optional>
 
#include <dune/common/float_cmp.hh>
#include <dune/common/timer.hh>
 
#include <dune/common/parallel/communication.hh>
 
#include <dune/common/parallel/mpihelper.hh>
#include <dune/common/exceptions.hh>
 
#include <dumux/common/typetraits/typetraits.hh>
#include <dumux/common/parameters.hh>
#include <dumux/io/format.hh>
 
namespace Dumux {
 
 
#ifndef DOXYGEN
namespace Detail::TimeLoop {
 
template<typename Scalar, typename R, typename P>
Scalar toSeconds(std::chrono::duration<R, P> duration)
{
    using Second = std::chrono::duration<Scalar, std::ratio<1>>;
    return std::chrono::duration_cast<Second>(duration).count();
}
 
template<typename Scalar, typename T, std::enable_if_t<std::is_floating_point_v<T>, bool> = true>
Scalar toSeconds(T duration)
{ return static_cast<Scalar>(duration); }
 
// overload for nice static_assert message in case of unuspported type
template<typename Scalar, typename T, std::enable_if_t<!std::is_floating_point_v<T>, bool> = true>
Scalar toSeconds(T duration)
{ static_assert(AlwaysFalse<T>::value, "Given type not supported for representation of time values"); }
 
} // namespace Detail::TimeLoop
#endif // DOXYGEN
 
template<class S>
class TimeLoopBase
{
public:
    using Scalar = S;
 
    virtual ~TimeLoopBase() {};
 
    virtual Scalar time() const = 0;
 
    virtual Scalar timeStepSize() const = 0;
 
    virtual Scalar maxTimeStepSize() const = 0;
 
    virtual void advanceTimeStep() = 0;
 
    virtual void setTimeStepSize(Scalar dt) = 0;
 
    template<class Rep, class Period>
    void setTimeStepSize(std::chrono::duration<Rep, Period> dt)
    { setTimeStepSize(Detail::TimeLoop::toSeconds<Scalar>(dt)); }
 
    virtual bool finished() const = 0;
};
 
template <class Scalar>
class TimeLoop : public TimeLoopBase<Scalar>
{
public:
    TimeLoop(Scalar startTime, Scalar dt, Scalar tEnd, bool verbose = true)
    : timer_(false)
    {
        reset(startTime, dt, tEnd, verbose);
    }
 
    template<class Rep1, class Period1,
             class Rep2, class Period2,
             class Rep3, class Period3>
    TimeLoop(std::chrono::duration<Rep1, Period1> startTime,
             std::chrono::duration<Rep2, Period2> dt,
             std::chrono::duration<Rep3, Period3> tEnd,
             bool verbose = true)
    : TimeLoop(
        Detail::TimeLoop::toSeconds<Scalar>(startTime),
        Detail::TimeLoop::toSeconds<Scalar>(dt),
        Detail::TimeLoop::toSeconds<Scalar>(tEnd),
        verbose
    ){}
 
    void start()
    {
        timer_.start();
    }
 
    double stop()
    {
        return timer_.stop();
    }
 
    void resetTimer()
    {
        timer_.reset();
    }
 
    template<class Rep1, class Period1,
             class Rep2, class Period2,
             class Rep3, class Period3>
    void reset(std::chrono::duration<Rep1, Period1> startTime,
               std::chrono::duration<Rep2, Period2> dt,
               std::chrono::duration<Rep3, Period3> tEnd,
               bool verbose = true)
    {
        reset(
            Detail::TimeLoop::toSeconds<Scalar>(startTime),
            Detail::TimeLoop::toSeconds<Scalar>(dt),
            Detail::TimeLoop::toSeconds<Scalar>(tEnd)
        );
    }
 
    void reset(Scalar startTime, Scalar dt, Scalar tEnd, bool verbose = true)
    {
        verbose_ =
            verbose &&
            Dune::MPIHelper::getCommunication().rank() == 0;
 
        startTime_ = startTime;
        time_ = startTime;
        endTime_ = tEnd;
 
        previousTimeStepSize_ = 0.0;
        userSetMaxTimeStepSize_ = std::numeric_limits<Scalar>::max();
        timeStepIdx_ = 0;
        finished_ = false;
        timeAfterLastTimeStep_ = 0.0;
        timeStepWallClockTime_ = 0.0;
 
        // ensure that dt is not greater than tEnd-startTime
        setTimeStepSize(dt);
 
        timer_.stop();
        timer_.reset();
    }
 
    void advanceTimeStep() override
    {
        timeStepIdx_++;
        time_ += timeStepSize_;
        previousTimeStepSize_ = timeStepSize_;
 
        // compute how long the last time step took
        const auto cpuTime = wallClockTime();
        timeStepWallClockTime_ = cpuTime - timeAfterLastTimeStep_;
        timeAfterLastTimeStep_ = cpuTime;
 
        // ensure that using current dt we don't exceed tEnd in next time step
        setTimeStepSize(timeStepSize_);
    }
 
    template<class ScalarOrDuration>
    void setTime(ScalarOrDuration t)
    { time_ = Detail::TimeLoop::toSeconds<Scalar>(t); }
 
    template<class ScalarOrDuration>
    void setTime(ScalarOrDuration t, int stepIdx)
    {
        time_ = Detail::TimeLoop::toSeconds<Scalar>(t);
        timeStepIdx_ = stepIdx;
    }
 
    Scalar time() const final
    { return time_; }
 
    Scalar endTime() const
    { return endTime_; }
 
    void setEndTime(Scalar t)
    {
        endTime_ = t;
        if (verbose_)
            std::cout << Fmt::format("Set new end time to t = {:.5g} seconds.\n", t);
    }
 
    double wallClockTime() const
    { return timer_.elapsed(); }
 
    using TimeLoopBase<Scalar>::setTimeStepSize;
    void setTimeStepSize(Scalar dt) final
    {
        using std::min;
        timeStepSize_ = min(dt, maxTimeStepSize());
        // Warn if dt is so small w.r.t. current time that it renders float addition meaningless
        // For instance, consider (may depend on architecture):
        //     double cien = 100;
        //     double mil = 1000;
        //     if (cien + 1e-14 == cien) std::cout << "Will not be printed" << std::endl;
        //     if (mil + 1e-14 == mil) std::cout << "Will be printed" << std::endl;
        if (!finished() && (time_ + timeStepSize_ == time_))
            std::cerr << Fmt::format("You have set a very small timestep size (dt = {:.5g}).", timeStepSize_)
                      << " This might lead to numerical problems!\n";
    }
 
    template<class ScalarOrDuration>
    void setMaxTimeStepSize(ScalarOrDuration maxDt)
    {
        userSetMaxTimeStepSize_ = Detail::TimeLoop::toSeconds<Scalar>(maxDt);
        setTimeStepSize(timeStepSize_);
    }
 
    Scalar timeStepSize() const final
    { return timeStepSize_; }
 
    int timeStepIndex() const
    { return timeStepIdx_; }
 
    Scalar previousTimeStepSize() const
    { return previousTimeStepSize_; }
 
    void setFinished(bool finished = true)
    { finished_ = finished; }
 
    bool finished() const override
    {
        return finished_ || (endTime_ - time_) < baseEps_*(time_ - startTime_);
    }
 
    bool willBeFinished() const
    {
        return finished() || (endTime_ - time_ - timeStepSize_) < baseEps_*timeStepSize_;
    }
 
    Scalar maxTimeStepSize() const override
    {
        if (finished())
            return 0.0;
 
        using std::min; using std::max;
        return min(userSetMaxTimeStepSize_, max<Scalar>(0.0, endTime_ - time_));
    }
 
    void reportTimeStep() const
    {
        if (verbose_)
        {
            const auto cpuTime = wallClockTime();
            using std::round;
            const auto percent = round( (time_ - startTime_) / (endTime_ - startTime_) * 100 );
            std::cout << Fmt::format("[{:3.0f}%] ", percent)
                      << Fmt::format("Time step {} done in {:.2g} seconds. ", timeStepIdx_, timeStepWallClockTime_)
                      << Fmt::format("Wall clock time: {:.5g}, time: {:.5g}, time step size: {:.5g}\n", cpuTime, time_, previousTimeStepSize_);
        }
    }
 
    template< class Communicator = Dune::Communication<typename Dune::MPIHelper::MPICommunicator> >
    void finalize(const Communicator& comm = Dune::MPIHelper::getCommunication())
    {
        auto cpuTime = timer_.stop();
 
        if (verbose_)
            std::cout << Fmt::format("Simulation took {:.5g} seconds on {} processes.\n", cpuTime, comm.size());
 
        if (comm.size() > 1)
            cpuTime = comm.sum(cpuTime);
 
        if (verbose_)
            std::cout << Fmt::format("The cumulative CPU time was {:.5g} seconds.\n", cpuTime);
    }
 
    bool verbose() const
    { return verbose_; }
 
    void setVerbose(bool verbose = true)
    { verbose_ = verbose; }
 
    /*
     * @}
     */
 
protected:
    static constexpr Scalar baseEps_ = 1e-10;
 
    Dune::Timer timer_;
    Scalar time_;
    Scalar endTime_;
    Scalar startTime_;
 
    Scalar timeStepSize_;
    Scalar previousTimeStepSize_;
    Scalar userSetMaxTimeStepSize_;
    Scalar timeAfterLastTimeStep_, timeStepWallClockTime_;
    int timeStepIdx_;
    bool finished_;
    bool verbose_;
};
 
// always fall back to floating-point representation
template<class Rep1, class Period1,
         class Rep2, class Period2,
         class Rep3, class Period3>
TimeLoop(std::chrono::duration<Rep1, Period1>,
         std::chrono::duration<Rep2, Period2>,
         std::chrono::duration<Rep3, Period3>,
         bool verbose = true) -> TimeLoop<std::conditional_t<
    std::is_floating_point_v<std::common_type_t<Rep1, Rep2, Rep3>>,
    std::common_type_t<Rep1, Rep2, Rep3>,
    double
>>;
 
template <class Scalar>
class CheckPointTimeLoop : public TimeLoop<Scalar>
{
    class CheckPointType {
        static constexpr std::size_t manualIdx = 0;
        static constexpr std::size_t periodicIdx = 1;
 
    public:
        bool isPeriodic() const { return set_[periodicIdx]; }
        bool isManual() const { return set_[manualIdx]; }
        bool isAny() const { return set_.any(); }
 
        CheckPointType& withPeriodic(bool value) { set_[periodicIdx] = value; return *this; }
        CheckPointType& withManual(bool value) { set_[manualIdx] = value; return *this; }
 
    private:
        std::bitset<2> set_;
    };
 
public:
    template<class... Args>
    CheckPointTimeLoop(Args&&... args)
    : TimeLoop<Scalar>(std::forward<Args>(args)...)
    {
        periodicCheckPoints_ = false;
        deltaPeriodicCheckPoint_ = 0.0;
        lastPeriodicCheckPoint_ = this->startTime_;
        isCheckPoint_ = false;
    }
 
    void advanceTimeStep() override
    {
        const auto dt = this->timeStepSize();
        const auto newTime = this->time()+dt;
 
        const auto cpType = nextCheckPointType_(newTime);
        if (cpType.isManual()) checkPoints_.pop();
        if (cpType.isPeriodic()) lastPeriodicCheckPoint_ += deltaPeriodicCheckPoint_;
        isCheckPoint_ = cpType.isAny();
 
        const auto previousTimeStepSize = this->previousTimeStepSize();
 
        // advance the time step like in the parent class
        TimeLoop<Scalar>::advanceTimeStep();
 
        // if this is a check point we might have reduced the time step to reach this check point
        // reset the time step size to the time step size before this time step
        if (!this->willBeFinished())
        {
            using std::max;
            if (isCheckPoint_)
                this->setTimeStepSize(max(dt, previousTimeStepSize));
 
            // if there is a check point soon check if the time step after the next time step would be smaller
            // than 20% of the next time step, if yes increase the suggested next time step to exactly reach the check point
            // (in the limits of the maximum time step size)
            auto nextDt = this->timeStepSize();
            const auto threshold = 0.2*nextDt;
            const auto nextTime = this->time() + nextDt;
 
            const auto nextDtToCheckPoint = maxDtToCheckPoint_(nextTime);
            if (nextDtToCheckPoint > Scalar{0} && Dune::FloatCmp::le(nextDtToCheckPoint, threshold))
                nextDt += nextDtToCheckPoint;
 
            assert(nextDt > 0.0);
            this->setTimeStepSize(nextDt);
        }
    }
 
    Scalar maxTimeStepSize() const override
    {
        using std::min;
        const auto maxCheckPointDt = timeStepSizeToNextCheckPoint();
        const auto maxDtParent = TimeLoop<Scalar>::maxTimeStepSize();
        return min(maxDtParent, maxCheckPointDt);
    }
 
    template<class ScalarOrDuration1, class ScalarOrDuration2 = Scalar>
    void setPeriodicCheckPoint(ScalarOrDuration1 interval, ScalarOrDuration2 offset = 0.0)
    {
        setPeriodicCheckPoint_(
            Detail::TimeLoop::toSeconds<Scalar>(interval),
            Detail::TimeLoop::toSeconds<Scalar>(offset)
        );
    }
 
    void disablePeriodicCheckPoints()
    { periodicCheckPoints_ = false; }
 
    void removeAllCheckPoints()
    {
        periodicCheckPoints_ = false;
        while (!checkPoints_.empty())
            checkPoints_.pop();
    }
 
    bool isCheckPoint() const
    { return isCheckPoint_; }
 
    template<class ScalarOrDuration>
    void setCheckPoint(ScalarOrDuration t)
    {
        // set the check point
        setCheckPoint_(Detail::TimeLoop::toSeconds<Scalar>(t));
 
        // make sure we respect this check point on the next time step
        this->setTimeStepSize(this->timeStepSize());
    }
 
    template<class ScalarOrDuration>
    void setCheckPoint(const std::initializer_list<ScalarOrDuration>& checkPoints)
    { setCheckPoint(checkPoints.begin(), checkPoints.end()); }
 
    template<class ScalarOrDuration>
    [[deprecated("Use setCheckpoint(begin, end) instead. Will be removed after release 3.9.")]]
    void setCheckPoint(const std::vector<ScalarOrDuration>& checkPoints)
    { setCheckPoint(checkPoints.begin(), checkPoints.end()); }
 
    template<class ForwardIterator>
    void setCheckPoint(ForwardIterator first, ForwardIterator last)
    {
        // set the check points
        for (; first != last; ++first)
            setCheckPoint_(Detail::TimeLoop::toSeconds<Scalar>(*first));
 
        // make sure we respect this check point on the next time step
        this->setTimeStepSize(this->timeStepSize());
    }
 
    Scalar timeStepSizeToNextCheckPoint() const
    { return maxDtToCheckPoint_(this->time()); }
 
private:
    bool fuzzyEqual_(const Scalar t0, const Scalar t1) const
    { return Dune::FloatCmp::eq(t0, t1, this->baseEps_*this->timeStepSize()); }
 
    void setPeriodicCheckPoint_(Scalar interval, Scalar offset = 0.0)
    {
        using std::signbit;
        if (signbit(interval))
            DUNE_THROW(Dune::InvalidStateException, "Interval has to be positive!");
 
        periodicCheckPoints_ = true;
        deltaPeriodicCheckPoint_ = interval;
        lastPeriodicCheckPoint_ = offset;
        while (lastPeriodicCheckPoint_ + interval - this->time() < 1e-14*interval)
            lastPeriodicCheckPoint_ += interval;
 
        if (this->verbose())
            std::cout << Fmt::format("Enabled periodic check points every {:.5g} seconds ", interval)
                      << Fmt::format("with the next check point at {:.5g} seconds.\n", lastPeriodicCheckPoint_ + interval);
 
        // check if the current time point is a periodic check point
        if (nextCheckPointType_(this->time() + deltaPeriodicCheckPoint_).isPeriodic())
            isCheckPoint_ = true;
 
        // make sure we respect this check point on the next time step
        this->setTimeStepSize(this->timeStepSize());
    }
 
    void setCheckPoint_(Scalar t)
    {
        if (Dune::FloatCmp::le(t - this->time(), 0.0, this->timeStepSize()*this->baseEps_))
        {
            if (this->verbose())
                std::cerr << Fmt::format("Couldn't insert checkpoint at t = {:.5g} ", t)
                          << Fmt::format("because that's not in the future! (current simulation time is {:.5g})\n", this->time());
            return;
        }
 
        if (!checkPoints_.empty())
        {
            if (t <= checkPoints_.back())
            {
                if (this->verbose())
                    std::cerr << Fmt::format("Couldn't insert checkpoint at t = {:.5g} ", t)
                              << Fmt::format("because it's earlier than or equal to the last check point (t = {:.5g}) in the queue.\n", checkPoints_.back())
                              << "Checkpoints can only be inserted in ascending order." << std::endl;
                return;
            }
        }
 
        checkPoints_.push(t);
        if (this->verbose())
            std::cout << Fmt::format("Set check point at t = {:.5g} seconds.\n", t);
    }
 
    CheckPointType nextCheckPointType_(Scalar t)
    {
        return CheckPointType{}
            .withPeriodic(periodicCheckPoints_ && fuzzyEqual_(t - lastPeriodicCheckPoint_, deltaPeriodicCheckPoint_))
            .withManual(!checkPoints_.empty() && fuzzyEqual_(t - checkPoints_.front(), 0.0));
    }
 
    Scalar maxDtToCheckPoint_(Scalar t) const
    {
        static constexpr auto unset = std::numeric_limits<Scalar>::max();
        const auto dtToPeriodic = dtToNextPeriodicCheckPoint_(t);
        const auto dtToManual = dtToNextManualCheckPoint_(t);
 
        using std::min;
        return min(
            dtToPeriodic.value_or(unset),
            dtToManual.value_or(unset)
        );
    }
 
    std::optional<Scalar> dtToNextPeriodicCheckPoint_(Scalar t) const
    {
        if (periodicCheckPoints_)
            return lastPeriodicCheckPoint_ + deltaPeriodicCheckPoint_ - t;
        return {};
    }
 
    std::optional<Scalar> dtToNextManualCheckPoint_(Scalar t) const
    {
        if (!checkPoints_.empty())
            return checkPoints_.front() - t;
        return {};
    }
 
    bool periodicCheckPoints_;
    Scalar deltaPeriodicCheckPoint_;
    Scalar lastPeriodicCheckPoint_;
    std::queue<Scalar> checkPoints_;
    bool isCheckPoint_;
};
 
template<class... Args>
CheckPointTimeLoop(Args&&... args) -> CheckPointTimeLoop<
    typename decltype(TimeLoop{std::forward<Args>(args)...})::Scalar
>;
 
} // end namespace Dumux
 
#endif