Merge pull request #872 from saurabhkgp21/implicitEulerParaller

ImplictiEulerExtrapolation parallel

src/algorithms.jl

@@ -53,14 +53,15 @@ struct ImplicitEulerExtrapolation{CS,AD,F,F2} <: OrdinaryDiffEqImplicitExtrapola
   max_order::Int
   min_order::Int
   init_order::Int
+  threading::Bool
 end
 
 
 ImplicitEulerExtrapolation(;chunk_size=0,autodiff=true,diff_type=Val{:forward},
                           linsolve=DEFAULT_LINSOLVE,
-                          max_order=10,min_order=1,init_order=5) =
+                          max_order=10,min_order=1,init_order=5,threading=true) =
                           ImplicitEulerExtrapolation{chunk_size,autodiff,
-                          typeof(linsolve),typeof(diff_type)}(linsolve,max_order,min_order,init_order)
+                          typeof(linsolve),typeof(diff_type)}(linsolve,max_order,min_order,init_order,threading)
 
 struct ExtrapolationMidpointDeuflhard <: OrdinaryDiffEqExtrapolationVarOrderVarStepAlgorithm
   n_min::Int # Minimal extrapolation order

src/caches/extrapolation_caches.jl

@@ -70,10 +70,12 @@ end
 @cache mutable struct ImplicitEulerExtrapolationCache{uType,rateType,arrayType,dtType,JType,WType,F,JCType,GCType,uNoUnitsType,TFType,UFType} <: OrdinaryDiffEqMutableCache
   uprev::uType
   u_tmp::uType
+  u_tmps::Array{uType,1}
   utilde::uType
   tmp::uType
   atmp::uNoUnitsType
   k_tmp::rateType
+  k_tmps::Array{rateType,1}
   dtpropose::dtType
   T::arrayType
   cur_order::Int
@@ -89,7 +91,8 @@ end
   tf::TFType
   uf::UFType
   linsolve_tmp::rateType
-  linsolve::F
+  linsolve_tmps::Array{rateType,1}
+  linsolve::Array{F,1}
   jac_config::JCType
   grad_config::GCType
 end
@@ -121,10 +124,21 @@ end
 
 function alg_cache(alg::ImplicitEulerExtrapolation,u,rate_prototype,uEltypeNoUnits,uBottomEltypeNoUnits,tTypeNoUnits,uprev,uprev2,f,t,dt,reltol,p,calck,::Type{Val{true}})
   u_tmp = similar(u)
+  u_tmps = Array{typeof(u_tmp),1}(undef, Threads.nthreads())
+
+  for i=1:Threads.nthreads()
+    u_tmps[i] = zero(u_tmp)
+  end
+
   utilde = similar(u)
   tmp = similar(u)
-  k = zero(rate_prototype)
   k_tmp = zero(rate_prototype)
+  k_tmps = Array{typeof(k_tmp),1}(undef, Threads.nthreads())
+
+  for i=1:Threads.nthreads()
+    k_tmps[i] = zero(rate_prototype)
+  end
+
   cur_order = max(alg.init_order, alg.min_order)
   dtpropose = zero(dt)
   T = Array{typeof(u),2}(undef, alg.max_order, alg.max_order)
@@ -143,22 +157,36 @@ function alg_cache(alg::ImplicitEulerExtrapolation,u,rate_prototype,uEltypeNoUni
   du2 = zero(rate_prototype)
 
   if DiffEqBase.has_jac(f) && !DiffEqBase.has_Wfact(f) && f.jac_prototype !== nothing
-    W = WOperator(f, dt, true)
+    W_el = WOperator(f, dt, true)
     J = nothing # is J = W.J better?
   else
     J = false .* vec(rate_prototype) .* vec(rate_prototype)' # uEltype?
-    W = similar(J)
+    W_el = similar(J)
+  end
+  W = Array{typeof(W_el),1}(undef, Threads.nthreads())
+  for i=1:Threads.nthreads()
+    W[i] = zero(W_el)
   end
   tf = DiffEqDiffTools.TimeGradientWrapper(f,uprev,p)
   uf = DiffEqDiffTools.UJacobianWrapper(f,t,p)
   linsolve_tmp = zero(rate_prototype)
-  linsolve = alg.linsolve(Val{:init},uf,u)
+  linsolve_tmps = Array{typeof(linsolve_tmp),1}(undef, Threads.nthreads())
+
+  for i=1:Threads.nthreads()
+    linsolve_tmps[i] = zero(rate_prototype)
+  end
+
+  linsolve_el = alg.linsolve(Val{:init},uf,u)
+  linsolve = Array{typeof(linsolve_el),1}(undef, Threads.nthreads())
+  for i=1:Threads.nthreads()
+    linsolve[i] = alg.linsolve(Val{:init},uf,u)
+  end
   grad_config = build_grad_config(alg,f,tf,du1,t)
   jac_config = build_jac_config(alg,f,uf,du1,uprev,u,du1,du2)
 
 
-  ImplicitEulerExtrapolationCache(uprev,u_tmp,utilde,tmp,atmp,k_tmp,dtpropose,T,cur_order,work,A,step_no,
-    du1,du2,J,W,tf,uf,linsolve_tmp,linsolve,jac_config,grad_config)
+  ImplicitEulerExtrapolationCache(uprev,u_tmp,u_tmps,utilde,tmp,atmp,k_tmp,k_tmps,dtpropose,T,cur_order,work,A,step_no,
+    du1,du2,J,W,tf,uf,linsolve_tmp,linsolve_tmps,linsolve,jac_config,grad_config)
 end
 
 

src/derivative_utils.jl

@@ -392,6 +392,57 @@ function calc_W!(integrator, cache::OrdinaryDiffEqMutableCache, dtgamma, repeat_
   return nothing
 end
 
+function calc_W!(integrator, cache::OrdinaryDiffEqMutableCache, dtgamma, repeat_step, W_index::Int, W_transform=false)
+  @unpack t,dt,uprev,u,f,p = integrator
+  @unpack J,W = cache
+  alg = unwrap_alg(integrator, true)
+  mass_matrix = integrator.f.mass_matrix
+  is_compos = integrator.alg isa CompositeAlgorithm
+  isnewton = alg isa NewtonAlgorithm
+
+  if W_transform && DiffEqBase.has_Wfact_t(f)
+    f.Wfact_t(W[W_index], u, p, dtgamma, t)
+    is_compos && (integrator.eigen_est = opnorm(LowerTriangular(W[W_index]), Inf) + inv(dtgamma)) # TODO: better estimate
+    return nothing
+  elseif !W_transform && DiffEqBase.has_Wfact(f)
+    f.Wfact(W[W_index], u, p, dtgamma, t)
+    if is_compos
+      opn = opnorm(LowerTriangular(W[W_index]), Inf)
+      integrator.eigen_est = (opn + one(opn)) / dtgamma # TODO: better estimate
+    end
+    return nothing
+  end
+
+  # fast pass
+  # we only want to factorize the linear operator once
+  new_jac = true
+  new_W = true
+  if (f isa ODEFunction && islinear(f.f)) || (integrator.alg isa SplitAlgorithms && f isa SplitFunction && islinear(f.f1.f))
+    new_jac = false
+    @goto J2W # Jump to W calculation directly, because we already have J
+  end
+
+  # check if we need to update J or W
+  W_dt = isnewton ? cache.nlsolver.cache.W_dt : dt # TODO: RosW
+  new_jac = isnewton ? do_newJ(integrator, alg, cache, repeat_step) : true
+  new_W = isnewton ? do_newW(integrator, cache.nlsolver, new_jac, W_dt) : true
+
+  # calculate W
+  if DiffEqBase.has_jac(f) && f.jac_prototype !== nothing && !ArrayInterface.isstructured(f.jac_prototype)
+    isnewton || DiffEqBase.update_coefficients!(W[W_index],uprev,p,t) # we will call `update_coefficients!` in NLNewton
+    @label J2W
+    W[W_index].transform = W_transform; set_gamma!(W[W_index], dtgamma)
+  else # concrete W using jacobian from `calc_J!`
+    new_jac && calc_J!(integrator, cache, is_compos)
+    new_W && jacobian2W!(W[W_index], mass_matrix, dtgamma, J, W_transform)
+  end
+  if isnewton
+    set_new_W!(cache.nlsolver, new_W) && DiffEqBase.set_W_dt!(cache.nlsolver, dt)
+  end
+  new_W && (integrator.destats.nw += 1)
+  return nothing
+end
+
 function calc_W!(nlsolver, integrator, cache::OrdinaryDiffEqMutableCache, dtgamma, repeat_step, W_transform=false)
   @unpack t,dt,uprev,u,f,p = integrator
   @unpack J,W = nlsolver.cache

src/perform_step/extrapolation_perform_step.jl

@@ -249,27 +249,39 @@ function perform_step!(integrator,cache::ImplicitEulerExtrapolationCache,repeat_
   @unpack t,dt,uprev,u,f,p = integrator
   @unpack u_tmp,k_tmp,T,utilde,atmp,dtpropose,cur_order,A = cache
   @unpack J,W,uf,tf,linsolve_tmp,jac_config = cache
+  @unpack u_tmps, k_tmps, linsolve_tmps = cache
 
   max_order = min(size(T)[1],cur_order+1)
 
-  for i in 1:max_order
-    dt_temp = dt/(2^(i-1)) # Romberg sequence
-    calc_W!(integrator, cache, dt_temp, repeat_step)
-    k_tmp = copy(integrator.fsalfirst)
-    u_tmp = copy(uprev)
-    for j in 1:2^(i-1)
-        linsolve_tmp = dt_temp*k_tmp
-        cache.linsolve(vec(k_tmp), W, vec(linsolve_tmp), !repeat_step)
-        @.. k_tmp = -k_tmp
-        @.. u_tmp = u_tmp + k_tmp
-        f(k_tmp, u_tmp,p,t+j*dt_temp)
-    end
+  let max_order=max_order, uprev=uprev, dt=dt, p=p, t=t, T=T, W=W,
+      integrator=integrator, cache=cache, repeat_step = repeat_step,
+      k_tmps=k_tmps, u_tmps=u_tmps
+    Threads.@threads for i in 1:2
+      startIndex = (i == 1) ? 1 : max_order
+      endIndex = (i == 1) ? max_order - 1 : max_order
+      for index in startIndex:endIndex
+        dt_temp = dt/(2^(index-1)) # Romberg sequence
+        calc_W!(integrator, cache, dt_temp, repeat_step, Threads.threadid())
+        k_tmps[Threads.threadid()] = copy(integrator.fsalfirst)
+        u_tmps[Threads.threadid()] = copy(uprev)
+        for j in 1:2^(index-1)
+            @.. linsolve_tmps[Threads.threadid()] = dt_temp*k_tmps[Threads.threadid()]
+            cache.linsolve[Threads.threadid()](vec(k_tmps[Threads.threadid()]), W[Threads.threadid()], vec(linsolve_tmps[Threads.threadid()]), !repeat_step)
+            @.. k_tmps[Threads.threadid()] = -k_tmps[Threads.threadid()]
+            @.. u_tmps[Threads.threadid()] = u_tmps[Threads.threadid()] + k_tmps[Threads.threadid()]
+            f(k_tmps[Threads.threadid()], u_tmps[Threads.threadid()],p,t+j*dt_temp)
+        end
 
-    @.. T[i,1] = u_tmp
-    for j in 2:i
-      @.. T[i,j] = ((2^(j-1))*T[i,j-1] - T[i-1,j-1])/((2^(j-1)) - 1)
+        @.. T[index,1] = u_tmps[Threads.threadid()]
+      end
+    end
+    for i in 2:max_order
+      for j in 2:i
+        @.. T[i,j] = ((2^(j-1))*T[i,j-1] - T[i-1,j-1])/((2^(j-1)) - 1)
+      end
     end
   end
+
   integrator.dt = dt
 
   if integrator.opts.adaptive
@@ -332,23 +344,33 @@ function perform_step!(integrator,cache::ImplicitEulerExtrapolationConstantCache
 
   max_order = min(size(T)[1], cur_order+1)
 
-  for i in 1:max_order
-    dt_temp = dt/(2^(i-1)) # Romberg sequence
-    W = calc_W!(integrator, cache, dt_temp, repeat_step)
-    k_copy = integrator.fsalfirst
-    u_tmp = uprev
-    for j in 1:2^(i-1)
-        k = _reshape(W\-_vec(dt_temp*k_copy), axes(uprev))
-        integrator.destats.nsolve += 1
-        u_tmp = u_tmp + k
-        k_copy = f(u_tmp, p, t+j*dt_temp)
+  let max_order=max_order, dt=dt, integrator=integrator, cache=cache, repeat_step=repeat_step,
+    uprev=uprev, T=T
+    Threads.@threads for i in 1:2
+      startIndex = (i==1) ? 1 : max_order
+      endIndex = (i==1) ? max_order-1 : max_order
+      for index in startIndex:endIndex
+        dt_temp = dt/(2^(index-1)) # Romberg sequence
+        W = calc_W!(integrator, cache, dt_temp, repeat_step)
+        k_copy = integrator.fsalfirst
+        u_tmp = uprev
+        for j in 1:2^(index-1)
+            k = _reshape(W\-_vec(dt_temp*k_copy), axes(uprev))
+            integrator.destats.nsolve += 1
+            u_tmp = u_tmp + k
+            k_copy = f(u_tmp, p, t+j*dt_temp)
+        end
+        T[index,1] = u_tmp
+      end
     end
-    T[i,1] = u_tmp
-    # Richardson Extrapolation
-    for j in 2:i
-      T[i,j] = ((2^(j-1))*T[i,j-1] - T[i-1,j-1])/((2^(j-1)) - 1)
+
+    for i=2:max_order
+      for j=2:i
+        T[i,j] = ((2^(j-1))*T[i,j-1] - T[i-1,j-1])/((2^(j-1)) - 1)
+      end
     end
   end
+
   integrator.destats.nf += 2^(max_order) - 1
   integrator.dt = dt
 
@@ -391,9 +413,9 @@ function perform_step!(integrator,cache::ImplicitEulerExtrapolationConstantCache
 
   # Use extrapolated value of u
   integrator.u = T[cache.cur_order, cache.cur_order]
-  k = f(integrator.u, p, t+dt)
+  k_temp = f(integrator.u, p, t+dt)
   integrator.destats.nf += 1
-  integrator.fsallast = k
+  integrator.fsallast = k_temp
   integrator.k[1] = integrator.fsalfirst
   integrator.k[2] = integrator.fsallast
 end