ISTLSolver.hpp

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/*
  Copyright 2016 IRIS AS
  Copyright 2019, 2020 Equinor ASA
  Copyright 2020 SINTEF Digital, Mathematics and Cybernetics
 
  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 3 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/>.
*/
 
#ifndef OPM_ISTLSOLVER_HEADER_INCLUDED
#define OPM_ISTLSOLVER_HEADER_INCLUDED
 
#include <dune/istl/owneroverlapcopy.hh>
#include <dune/istl/solver.hh>
 
#include <opm/common/CriticalError.hpp>
#include <opm/common/ErrorMacros.hpp>
#include <opm/common/Exceptions.hpp>
#include <opm/common/TimingMacros.hpp>
 
#include <opm/models/discretization/common/fvbaseproperties.hh>
#include <opm/models/common/multiphasebaseproperties.hh>
#include <opm/models/utils/parametersystem.hpp>
#include <opm/models/utils/propertysystem.hh>
#include <opm/simulators/flow/BlackoilModelParameters.hpp>
#include <opm/simulators/flow/FlowBaseVanguard.hpp>
#include <opm/simulators/flow/FlowBaseProblemProperties.hpp>
#include <opm/simulators/linalg/ExtractParallelGridInformationToISTL.hpp>
#include <opm/simulators/linalg/FlowLinearSolverParameters.hpp>
#include <opm/simulators/linalg/matrixblock.hh>
#include <opm/simulators/linalg/istlsparsematrixadapter.hh>
#include <opm/simulators/linalg/PreconditionerWithUpdate.hpp>
#include <opm/simulators/linalg/WellOperators.hpp>
#include <opm/simulators/linalg/WriteSystemMatrixHelper.hpp>
#include <opm/simulators/linalg/findOverlapRowsAndColumns.hpp>
#include <opm/simulators/linalg/getQuasiImpesWeights.hpp>
#include <opm/simulators/linalg/setupPropertyTree.hpp>
#include <opm/simulators/linalg/AbstractISTLSolver.hpp>
#include <opm/simulators/linalg/printlinearsolverparameter.hpp>
 
#include <any>
#include <cstddef>
#include <functional>
#include <memory>
#include <set>
#include <sstream>
#include <string>
#include <tuple>
#include <vector>
 
namespace Opm::Properties {
 
namespace TTag {
struct FlowIstlSolver {
    using InheritsFrom = std::tuple<FlowIstlSolverParams>;
};
}
 
template <class TypeTag, class MyTypeTag>
struct WellModel;
 
template<class TypeTag>
struct SparseMatrixAdapter<TypeTag, TTag::FlowIstlSolver>
{
private:
    using Scalar = GetPropType<TypeTag, Properties::Scalar>;
    enum { numEq = getPropValue<TypeTag, Properties::NumEq>() };
    using Block = MatrixBlock<Scalar, numEq, numEq>;
 
public:
    using type = typename Linear::IstlSparseMatrixAdapter<Block>;
};
 
} // namespace Opm::Properties
 
namespace Opm
{
 
 
namespace detail
{
 
template<class Matrix, class Vector, class Comm>
struct FlexibleSolverInfo
{
    using AbstractSolverType = Dune::InverseOperator<Vector, Vector>;
    using AbstractOperatorType = Dune::AssembledLinearOperator<Matrix, Vector, Vector>;
    using AbstractPreconditionerType = Dune::PreconditionerWithUpdate<Vector, Vector>;
 
    void create(const Matrix& matrix,
                bool parallel,
                const PropertyTree& prm,
                std::size_t pressureIndex,
                std::function<Vector()> weightCalculator,
                const bool forceSerial,
                Comm* comm);
 
    std::unique_ptr<AbstractSolverType> solver_;
    std::unique_ptr<AbstractOperatorType> op_;
    std::unique_ptr<LinearOperatorExtra<Vector,Vector>> wellOperator_;
    AbstractPreconditionerType* pre_ = nullptr;
    std::size_t interiorCellNum_ = 0;
};
 
 
#ifdef HAVE_MPI
void copyParValues(std::any& parallelInformation, std::size_t size,
                   Dune::OwnerOverlapCopyCommunication<int,int>& comm);
#endif
 
template<class Matrix>
void makeOverlapRowsInvalid(Matrix& matrix,
                            const std::vector<int>& overlapRows);
 
template<class Matrix, class Grid>
std::unique_ptr<Matrix> blockJacobiAdjacency(const Grid& grid,
                                             const std::vector<int>& cell_part,
                                             std::size_t nonzeroes,
                                             const std::vector<std::set<int>>& wellConnectionsGraph);
}
 
    template <class TypeTag>
    class ISTLSolver : public AbstractISTLSolver<TypeTag>
    {
    protected:
        using GridView = GetPropType<TypeTag, Properties::GridView>;
        using Scalar = GetPropType<TypeTag, Properties::Scalar>;
        using SparseMatrixAdapter = GetPropType<TypeTag, Properties::SparseMatrixAdapter>;
        using Vector = GetPropType<TypeTag, Properties::GlobalEqVector>;
        using Indices = GetPropType<TypeTag, Properties::Indices>;
        using WellModel = GetPropType<TypeTag, Properties::WellModel>;
        using Simulator = GetPropType<TypeTag, Properties::Simulator>;
        using Matrix = typename SparseMatrixAdapter::IstlMatrix;
        using ThreadManager = GetPropType<TypeTag, Properties::ThreadManager>;
        using ElementContext = GetPropType<TypeTag, Properties::ElementContext>;
        using AbstractSolverType = Dune::InverseOperator<Vector, Vector>;
        using AbstractOperatorType = Dune::AssembledLinearOperator<Matrix, Vector, Vector>;
        using AbstractPreconditionerType = Dune::PreconditionerWithUpdate<Vector, Vector>;
        using WellModelOperator = WellModelAsLinearOperator<WellModel, Vector, Vector>;
        using ElementMapper = GetPropType<TypeTag, Properties::ElementMapper>;
        constexpr static std::size_t pressureIndex = GetPropType<TypeTag, Properties::Indices>::pressureSwitchIdx;
 
        enum { enablePolymerMolarWeight = getPropValue<TypeTag, Properties::EnablePolymerMW>() };
        constexpr static bool isIncompatibleWithCprw = enablePolymerMolarWeight;
 
#if HAVE_MPI
        using CommunicationType = Dune::OwnerOverlapCopyCommunication<int,int>;
#else
        using CommunicationType = Dune::Communication<int>;
#endif
 
    public:
        using AssembledLinearOperatorType = Dune::AssembledLinearOperator< Matrix, Vector, Vector >;
 
        static void registerParameters()
        {
            FlowLinearSolverParameters::registerParameters();
        }
 
        ISTLSolver(const Simulator& simulator,
                   const FlowLinearSolverParameters& parameters,
                   bool forceSerial = false)
            : simulator_(simulator),
              iterations_( 0 ),
              matrix_(nullptr),
              parameters_{parameters},
              forceSerial_(forceSerial)
        {
            initialize();
        }
 
        explicit ISTLSolver(const Simulator& simulator)
            : simulator_(simulator),
              iterations_( 0 ),
              solveCount_(0),
              matrix_(nullptr)
        {
            parameters_.resize(1);
            parameters_[0].init(simulator_.vanguard().eclState().getSimulationConfig().useCPR());
            initialize();
        }
 
        void initialize()
        {
            OPM_TIMEBLOCK(IstlSolver);
 
            if (isIncompatibleWithCprw) {
                // Polymer injectivity is incompatible with the CPRW linear solver.
                if (parameters_[0].linsolver_ == "cprw" || parameters_[0].linsolver_ == "hybrid") {
                    OPM_THROW(std::runtime_error,
                              "The polymer injectivity model is incompatible with the CPRW linear solver.\n"
                              "Choose a different option, for example --linear-solver=ilu0");
                }
            }
 
            if (parameters_[0].linsolver_ == "hybrid") {
                // Experimental hybrid configuration.
                // When chosen, will set up two solvers, one with CPRW
                // and the other with ILU0 preconditioner. More general
                // options may be added later.
                prm_.clear();
                parameters_.clear();
                {
                    FlowLinearSolverParameters para;
                    para.init(false);
                    para.linsolver_ = "cprw";
                    parameters_.push_back(para);
                    prm_.push_back(setupPropertyTree(parameters_[0],
                                                     Parameters::IsSet<Parameters::LinearSolverMaxIter>(),
                                                     Parameters::IsSet<Parameters::LinearSolverReduction>()));
                }
                {
                    FlowLinearSolverParameters para;
                    para.init(false);
                    para.linsolver_ = "ilu0";
                    parameters_.push_back(para);
                    prm_.push_back(setupPropertyTree(parameters_[1],
                                                     Parameters::IsSet<Parameters::LinearSolverMaxIter>(),
                                                     Parameters::IsSet<Parameters::LinearSolverReduction>()));
                }
                // ------------
            } else {
                assert(parameters_.size() == 1);
                assert(prm_.empty());
 
                // Do a normal linear solver setup.
                if (parameters_[0].is_nldd_local_solver_) {
                    prm_.push_back(setupPropertyTree(parameters_[0],
                                                     Parameters::IsSet<Parameters::NlddLocalLinearSolverMaxIter>(),
                                                     Parameters::IsSet<Parameters::NlddLocalLinearSolverReduction>()));
                }
                else {
                    prm_.push_back(setupPropertyTree(parameters_[0],
                                                     Parameters::IsSet<Parameters::LinearSolverMaxIter>(),
                                                     Parameters::IsSet<Parameters::LinearSolverReduction>()));
                }
            }
            flexibleSolver_.resize(prm_.size());
 
            const bool on_io_rank = (simulator_.gridView().comm().rank() == 0);
#if HAVE_MPI
            comm_.reset( new CommunicationType( simulator_.vanguard().grid().comm() ) );
#endif
            extractParallelGridInformationToISTL(simulator_.vanguard().grid(), parallelInformation_);
 
            // For some reason simulator_.model().elementMapper() is not initialized at this stage
            //const auto& elemMapper = simulator_.model().elementMapper(); //does not work.
            // Set it up manually
            ElementMapper elemMapper(simulator_.vanguard().gridView(), Dune::mcmgElementLayout());
            detail::findOverlapAndInterior(simulator_.vanguard().grid(), elemMapper, overlapRows_, interiorRows_);
            useWellConn_ = Parameters::Get<Parameters::MatrixAddWellContributions>();
            const bool ownersFirst = Parameters::Get<Parameters::OwnerCellsFirst>();
            if (!ownersFirst) {
                const std::string msg = "The linear solver no longer supports --owner-cells-first=false.";
                if (on_io_rank) {
                    OpmLog::error(msg);
                }
                OPM_THROW_NOLOG(std::runtime_error, msg);
            }
 
            const int interiorCellNum_ = detail::numMatrixRowsToUseInSolver(simulator_.vanguard().grid(), true);
            for (auto& f : flexibleSolver_) {
                f.interiorCellNum_ = interiorCellNum_;
            }
 
#if HAVE_MPI
            if (isParallel()) {
                const std::size_t size = simulator_.vanguard().grid().leafGridView().size(0);
                detail::copyParValues(parallelInformation_, size, *comm_);
            }
#endif
 
            // Print parameters to PRT/DBG logs.
            detail::printLinearSolverParameters(parameters_, activeSolverNum_, prm_,  simulator_.gridView().comm());
        }
 
        // nothing to clean here
        void eraseMatrix() override
        {
        }
 
        void setActiveSolver(const int num) override
        {
            if (num > static_cast<int>(prm_.size()) - 1) {
                OPM_THROW(std::logic_error, "Solver number " + std::to_string(num) + " not available.");
            }
            activeSolverNum_ = num;
            if (simulator_.gridView().comm().rank() == 0) {
                OpmLog::debug("Active solver = " + std::to_string(activeSolverNum_)
                              + " (" + parameters_[activeSolverNum_].linsolver_ + ")");
            }
        }
 
        int numAvailableSolvers() const override
        {
            return flexibleSolver_.size();
        }
 
        void initPrepare(const Matrix& M, Vector& b)
        {
            const bool firstcall = (matrix_ == nullptr);
 
            // update matrix entries for solvers.
            if (firstcall) {
                // model will not change the matrix object. Hence simply store a pointer
                // to the original one with a deleter that does nothing.
                // Outch! We need to be able to scale the linear system! Hence const_cast
                matrix_ = const_cast<Matrix*>(&M);
 
                useWellConn_ = Parameters::Get<Parameters::MatrixAddWellContributions>();
                // setup sparsity pattern for jacobi matrix for preconditioner (only used for openclSolver)
            } else {
                // Pointers should not change
                if ( &M != matrix_ ) {
                        OPM_THROW(std::logic_error,
                                  "Matrix objects are expected to be reused when reassembling!");
                }
            }
            rhs_ = &b;
 
            // TODO: check all solvers, not just one.
            if (isParallel() && prm_[activeSolverNum_].template get<std::string>("preconditioner.type") != "ParOverILU0") {
                detail::makeOverlapRowsInvalid(getMatrix(), overlapRows_);
            }
        }
 
        void prepare(const SparseMatrixAdapter& M, Vector& b) override
        {
            prepare(M.istlMatrix(), b);
        }
 
        void prepare(const Matrix& M, Vector& b) override
        {
            OPM_TIMEBLOCK(istlSolverPrepare);
            try {
                initPrepare(M,b);
 
                prepareFlexibleSolver();
            } OPM_CATCH_AND_RETHROW_AS_CRITICAL_ERROR("This is likely due to a faulty linear solver JSON specification. Check for errors related to missing nodes.");
        }
 
 
        void setResidual(Vector& /* b */) override
        {
            // rhs_ = &b; // Must be handled in prepare() instead.
        }
 
        void getResidual(Vector& b) const override
        {
            b = *rhs_;
        }
 
        void setMatrix(const SparseMatrixAdapter& /* M */) override
        {
            // matrix_ = &M.istlMatrix(); // Must be handled in prepare() instead.
        }
 
        int getSolveCount() const override {
            return solveCount_;
        }
 
        void resetSolveCount() {
            solveCount_ = 0;
        }
 
        bool solve(Vector& x) override
        {
            OPM_TIMEBLOCK(istlSolverSolve);
            ++solveCount_;
            // Write linear system if asked for.
            const int verbosity = prm_[activeSolverNum_].get("verbosity", 0);
            const bool write_matrix = verbosity > 10;
            if (write_matrix) {
                Helper::writeSystem(simulator_, //simulator is only used to get names
                                    getMatrix(),
                                    *rhs_,
                                    comm_.get());
            }
 
            // Solve system.
            Dune::InverseOperatorResult result;
            {
                OPM_TIMEBLOCK(flexibleSolverApply);
                assert(flexibleSolver_[activeSolverNum_].solver_);
                flexibleSolver_[activeSolverNum_].solver_->apply(x, *rhs_, result);
            }
 
            iterations_ = result.iterations;
 
            // Check convergence, iterations etc.
            return checkConvergence(result);
        }
 
 
 
        int iterations () const override { return iterations_; }
 
        const std::any& parallelInformation() const { return parallelInformation_; }
 
        const CommunicationType* comm() const override { return comm_.get(); }
 
        void setDomainIndex(const int index)
        {
            domainIndex_ = index;
        }
 
        bool isNlddLocalSolver() const
        {
            return parameters_[activeSolverNum_].is_nldd_local_solver_;
        }
 
    protected:
#if HAVE_MPI
        using Comm = Dune::OwnerOverlapCopyCommunication<int, int>;
#endif
 
        bool checkConvergence(const Dune::InverseOperatorResult& result) const
        {
            return AbstractISTLSolver<TypeTag>::checkConvergence(result, parameters_[activeSolverNum_]);
        }
 
        bool isParallel() const {
#if HAVE_MPI
            return !forceSerial_ && comm_->communicator().size() > 1;
#else
            return false;
#endif
        }
 
        void prepareFlexibleSolver()
        {
            OPM_TIMEBLOCK(flexibleSolverPrepare);
            if (shouldCreateSolver()) {
                if (!useWellConn_) {
                    if (isNlddLocalSolver()) {
                        auto wellOp = std::make_unique<DomainWellModelAsLinearOperator<WellModel, Vector, Vector>>(simulator_.problem().wellModel());
                        wellOp->setDomainIndex(domainIndex_);
                        flexibleSolver_[activeSolverNum_].wellOperator_ = std::move(wellOp);
                    }
                    else {
                        auto wellOp = std::make_unique<WellModelOperator>(simulator_.problem().wellModel());
                        flexibleSolver_[activeSolverNum_].wellOperator_ = std::move(wellOp);
                    }
                }
                std::function<Vector()> weightCalculator = this->getWeightsCalculator(prm_[activeSolverNum_], getMatrix(), pressureIndex);
                OPM_TIMEBLOCK(flexibleSolverCreate);
                flexibleSolver_[activeSolverNum_].create(getMatrix(),
                                                         isParallel(),
                                                         prm_[activeSolverNum_],
                                                         pressureIndex,
                                                         weightCalculator,
                                                         forceSerial_,
                                                         comm_.get());
            }
            else
            {
                OPM_TIMEBLOCK(flexibleSolverUpdate);
                flexibleSolver_[activeSolverNum_].pre_->update();
            }
        }
 
 
        bool shouldCreateSolver() const
        {
            // Decide if we should recreate the solver or just do
            // a minimal preconditioner update.
            if (flexibleSolver_.empty()) {
                return true;
            }
            if (!flexibleSolver_[activeSolverNum_].solver_) {
                return true;
            }
 
            if (flexibleSolver_[activeSolverNum_].pre_->hasPerfectUpdate()) {
                return false;
            }
 
            // For AMG based preconditioners, the hierarchy depends on the matrix values
            // so it is recreated at certain intervals
            if (this->parameters_[activeSolverNum_].cpr_reuse_setup_ == 0) {
                // Always recreate solver.
                return true;
            }
            if (this->parameters_[activeSolverNum_].cpr_reuse_setup_ == 1) {
                // Recreate solver on the first iteration of every timestep.
                const int newton_iteration = this->simulator_.model().newtonMethod().numIterations();
                return newton_iteration == 0;
            }
            if (this->parameters_[activeSolverNum_].cpr_reuse_setup_ == 2) {
                // Recreate solver if the last solve used more than 10 iterations.
                return this->iterations() > 10;
            }
            if (this->parameters_[activeSolverNum_].cpr_reuse_setup_ == 3) {
                // Never recreate the solver
                return false;
            }
            if (this->parameters_[activeSolverNum_].cpr_reuse_setup_ == 4) {
                // Recreate solver every 'step' solve calls.
                const int step = this->parameters_[activeSolverNum_].cpr_reuse_interval_;
                const bool create = ((solveCount_ % step) == 0);
                return create;
            }
            // If here, we have an invalid parameter.
            const bool on_io_rank = (simulator_.gridView().comm().rank() == 0);
            std::string msg = "Invalid value: " + std::to_string(this->parameters_[activeSolverNum_].cpr_reuse_setup_)
                + " for --cpr-reuse-setup parameter, run with --help to see allowed values.";
            if (on_io_rank) {
                OpmLog::error(msg);
            }
            throw std::runtime_error(msg);
 
            return false;
        }
 
 
        // Weights to make approximate pressure equations.
        // Calculated from the storage terms (only) of the
        // conservation equations, ignoring all other terms.
        std::function<Vector()> getWeightsCalculator(const PropertyTree& prm,
                                                     const Matrix& matrix,
                                                     std::size_t pressIndex) const
        {
            std::function<Vector()> weightsCalculator;
 
            using namespace std::string_literals;
 
            auto preconditionerType = prm.get("preconditioner.type"s, "cpr"s);
            if (preconditionerType == "cpr" || preconditionerType == "cprt"
                || preconditionerType == "cprw" || preconditionerType == "cprwt") {
                const bool transpose = preconditionerType == "cprt" || preconditionerType == "cprwt";
                const auto weightsType = prm.get("preconditioner.weight_type"s, "quasiimpes"s);
                if (weightsType == "quasiimpes") {
                    // weights will be created as default in the solver
                    // assignment p = pressureIndex prevent compiler warning about
                    // capturing variable with non-automatic storage duration
                    weightsCalculator = [matrix, transpose, pressIndex]() {
                        return Amg::getQuasiImpesWeights<Matrix, Vector>(matrix,
                                                                         pressIndex,
                                                                         transpose);
                    };
                } else if ( weightsType == "trueimpes" ) {
                    weightsCalculator =
                        [this, pressIndex]
                        {
                            Vector weights(rhs_->size());
                            ElementContext elemCtx(simulator_);
                            Amg::getTrueImpesWeights(pressIndex, weights,
                                                             simulator_.vanguard().gridView(),
                                                             elemCtx, simulator_.model(),
                                                             ThreadManager::threadId());
                            return weights;
                        };
                } else if  (weightsType == "trueimpesanalytic" ) {
                    weightsCalculator =
                        [this, pressIndex]
                        {
                            Vector weights(rhs_->size());
                            ElementContext elemCtx(simulator_);
                            Amg::getTrueImpesWeightsAnalytic(pressIndex, weights,
                                                             simulator_.vanguard().gridView(),
                                                             elemCtx, simulator_.model(),
                                                             ThreadManager::threadId());
                            return weights;
                        };
                } else {
                    OPM_THROW(std::invalid_argument,
                              "Weights type " + weightsType +
                              "not implemented for cpr."
                              " Please use quasiimpes, trueimpes or trueimpesanalytic.");
                }
            }
            return weightsCalculator;
        }
 
 
        Matrix& getMatrix()
        {
            return *matrix_;
        }
 
        const Matrix& getMatrix() const
        {
            return *matrix_;
        }
 
        const Simulator& simulator_;
        mutable int iterations_;
        mutable int solveCount_;
        std::any parallelInformation_;
 
        // non-const to be able to scale the linear system
        Matrix* matrix_;
        Vector *rhs_;
 
        int activeSolverNum_ = 0;
        std::vector<detail::FlexibleSolverInfo<Matrix,Vector,CommunicationType>> flexibleSolver_;
        std::vector<int> overlapRows_;
        std::vector<int> interiorRows_;
 
        int domainIndex_ = -1;
 
        bool useWellConn_;
 
        std::vector<FlowLinearSolverParameters> parameters_;
        bool forceSerial_ = false;
        std::vector<PropertyTree> prm_;
 
        std::shared_ptr< CommunicationType > comm_;
    }; // end ISTLSolver
 
} // namespace Opm
 
#endif // OPM_ISTLSOLVER_HEADER_INCLUDED