Discrete adjoint for dynamic FSI using multizone driver

Common/include/geometry/dual_grid/CPoint.hpp

@@ -60,6 +60,9 @@ class CPoint {
   su2activevector Volume;                 /*!< \brief Volume or Area of the control volume in 3D and 2D. */
   su2activevector Volume_n;               /*!< \brief Volume at time n. */
   su2activevector Volume_nM1;             /*!< \brief Volume at time n-1. */
+  su2activevector Volume_Old;             /*!< \brief Old containers for Volume. */
+  su2activevector Volume_n_Old;           /*!< \brief Old containers for Volume at time n. */
+  su2activevector Volume_nM1_Old;         /*!< \brief Old containers for Volume at time n-1. */
   su2activevector Periodic_Volume;        /*!< \brief Missing component of volume or area of a control volume on a periodic marker in 3D and 2D. */
 
   su2vector<bool> Domain;                 /*!< \brief Indicates if a point must be computed or belong to another boundary */
@@ -544,6 +547,31 @@ class CPoint {
    */
   void SetVolume_nM1();
 
+  /*!
+   * \brief Set the volume of the control volume at time n using n-1.
+   */
+  void SetVolume_n_from_OldnM1();
+
+  /*!
+   * \brief Set the volume of the control volume at current time using time n.
+   */
+  void SetVolume_from_Oldn();
+
+  /*!
+   * \brief Set the Volume to Volume_Old.
+   */
+  void SetVolume_Old();
+
+  /*!
+   * \brief Set the Volume_n to Volume_n_Old.
+   */
+  void SetVolume_n_Old();
+
+    /*!
+   * \brief Set the Volume_nM1 to Volume_nM1_Old.
+   */
+  void SetVolume_nM1_Old();
+
   /*!
    * \brief Set the parent control volume of an agglomerated control volume.
    * \param[in] iPoint - Index of the point.

Common/src/CConfig.cpp

@@ -4873,16 +4873,10 @@ void CConfig::SetPostprocessing(SU2_COMPONENT val_software, unsigned short val_i
     Kind_Linear_Solver = Kind_DiscAdj_Linear_Solver;
     Kind_Linear_Solver_Prec = Kind_DiscAdj_Linear_Prec;
 
-    if (TimeMarching != TIME_MARCHING::STEADY) {
+    if (Time_Domain) {
 
       Restart_Flow = false;
 
-      if (GetKind_GridMovement() != RIGID_MOTION &&
-          GetKind_GridMovement() != NO_MOVEMENT) {
-        SU2_MPI::Error(string("Dynamic mesh movement currently only supported for the discrete adjoint solver for\n") +
-                       string("GRID_MOVEMENT = RIGID_MOTION."), CURRENT_FUNCTION);
-      }
-
       if (Unst_AdjointIter- long(nTimeIter) < 0){
         SU2_MPI::Error(string("Invalid iteration number requested for unsteady adjoint.\n" ) +
                        string("Make sure EXT_ITER is larger or equal than UNST_ADJOINT_ITER."),

Common/src/geometry/dual_grid/CPoint.cpp

@@ -66,6 +66,11 @@ void CPoint::FullAllocation(unsigned short imesh, const CConfig *config) {
   if (config->GetTime_Marching() != TIME_MARCHING::STEADY) {
     Volume_n.resize(npoint) = su2double(0.0);
     Volume_nM1.resize(npoint) = su2double(0.0);
+    if (config->GetDynamic_Grid() && config->GetDiscrete_Adjoint()) {
+      Volume_Old.resize(npoint) = su2double(0.0);
+      Volume_n_Old.resize(npoint) = su2double(0.0);
+      Volume_nM1_Old.resize(npoint) = su2double(0.0);
+    }
   }
 
   if(config->GetAD_Mode() && config->GetMultizone_Problem()) {
@@ -163,6 +168,31 @@ void CPoint::SetVolume_nM1() {
   parallelCopy(Volume_n.size(), Volume_n.data(), Volume_nM1.data());
 }
 
+void CPoint::SetVolume_Old() {
+  assert(Volume_Old.size() == Volume.size());
+  parallelCopy(Volume.size(), Volume.data(), Volume_Old.data());
+}
+
+void CPoint::SetVolume_n_Old() {
+  assert(Volume_n_Old.size() == Volume_n.size());
+  parallelCopy(Volume_n.size(), Volume_n.data(), Volume_n_Old.data());
+}
+
+void CPoint::SetVolume_nM1_Old() {
+  assert(Volume_nM1_Old.size() == Volume_nM1.size());
+  parallelCopy(Volume_nM1.size(), Volume_nM1.data(), Volume_nM1_Old.data());
+}
+
+void CPoint::SetVolume_n_from_OldnM1() {
+  assert(Volume_n.size() == Volume_nM1_Old.size());
+  parallelCopy(Volume_nM1_Old.size(), Volume_nM1_Old.data(), Volume_n.data());
+}
+
+void CPoint::SetVolume_from_Oldn() {
+  assert(Volume.size() == Volume_n_Old.size());
+  parallelCopy(Volume_n_Old.size(), Volume_n_Old.data(), Volume.data());
+}
+
 void CPoint::SetCoord_n() {
   assert(Coord_n.size() == Coord.size());
   parallelCopy(Coord.size(), Coord.data(), Coord_n.data());

SU2_CFD/include/drivers/CDiscAdjMultizoneDriver.hpp

@@ -98,6 +98,7 @@ class CDiscAdjMultizoneDriver : public CMultizoneDriver {
   COutput** direct_output;              /*!< \brief Array of pointers to the direct outputs. */
   vector<unsigned short> direct_nInst;  /*!< \brief Total number of instances in the direct problem. */
   vector<unsigned long> nInnerIter;     /*!< \brief Number of inner iterations for each zone. */
+  unsigned long wrt_sol_freq = std::numeric_limits<unsigned long>::max(); /*!< \brief File output frequency. */
 
   su2vector<bool> Has_Deformation;  /*!< \brief True if iZone has mesh deformation (used for
                                                 lazy evaluation of TRANSFER tape section). */
@@ -138,6 +139,11 @@ class CDiscAdjMultizoneDriver : public CMultizoneDriver {
 
 protected:
 
+  /*!
+   * \brief Preprocess the multizone iteration
+   */
+  void Preprocess(unsigned long TimeIter) override;
+
   /*!
    * \brief [Overload] Run an discrete adjoint update of all solvers within multiple zones.
    */
@@ -149,12 +155,23 @@ class CDiscAdjMultizoneDriver : public CMultizoneDriver {
    */
   bool Iterate(unsigned short iZone, unsigned long iInnerIter, bool KrylovMode = false);
 
+  /*!
+   * \brief Run inner iterations using a Krylov method (GMRES atm).
+   */
+  void KrylovInnerIters(unsigned short iZone);
+
+  /*!
+   * \brief Evaluate the gradient of the objective function and add to "External".
+   * \return "True" if the gradient is numerically 0.
+   */
+  bool EvaluateObjectiveFunctionGradient();
+
   /*!
    * \brief Evaluate sensitivites for the current adjoint solution and output files.
-   * \param[in] iOuterIter - Current outer iteration.
-   * \param[in] StopCalc - Final iteration flag (converged or reached max number of iters).
+   * \param[in] Iter - Current outer or time iteration.
+   * \param[in] force_writing - Force file output.
    */
-  void EvaluateSensitivities(unsigned long iOuterIter, bool StopCalc);
+  void EvaluateSensitivities(unsigned long Iter, bool force_writing);
 
   /*!
    * \brief Setup the matrix of cross-terms. Allocate necessary memory and initialize to zero.
@@ -217,6 +234,11 @@ class CDiscAdjMultizoneDriver : public CMultizoneDriver {
    */
   void Add_Solution_To_External(unsigned short iZone);
 
+  /*!
+   * \brief Puts dual time derivative vector to External.
+   */
+  void Set_External_To_DualTimeDer();
+
   /*!
    * \brief Add External_Old vector to Solution.
    * \param[in] iZone - Zone index.

SU2_CFD/include/drivers/CDriver.hpp

@@ -661,6 +661,8 @@ class CDriver {
    */
   void SetSourceTerm_DispAdjoint(unsigned short iMarker, unsigned long iVertex, passivedouble val_AdjointX,
                                  passivedouble val_AdjointY, passivedouble val_AdjointZ);
+  void SetSourceTerm_VelAdjoint(unsigned short iMarker, unsigned long iVertex, passivedouble val_AdjointX,
+                                 passivedouble val_AdjointY, passivedouble val_AdjointZ);
 
   /*!
    * \brief Set the position of the heat source.

SU2_CFD/include/iteration/CDiscAdjFEAIteration.hpp

@@ -86,26 +86,19 @@ class CDiscAdjFEAIteration final : public CIteration {
                   unsigned short val_iInst) override;
 
   /*!
-   * \brief Perform a single iteration of the adjoint mean flow system.
-   * \param[in] output - Pointer to the COutput class.
-   * \param[in] integration - Container vector with all the integration methods.
+   * \brief Perform a single iteration of the adjoint FEA problem.
    * \param[in] geometry - Geometrical definition of the problem.
    * \param[in] solver - Container vector with all the solutions.
-   * \param[in] numerics - Description of the numerical method (the way in which the equations are solved).
    * \param[in] config - Definition of the particular problem.
-   * \param[in] surface_movement - Surface movement classes of the problem.
-   * \param[in] grid_movement - Volume grid movement classes of the problem.
-   * \param[in] FFDBox - FFD FFDBoxes of the problem.
    * \param[in] val_iZone - Index of the zone.
    * \param[in] val_iInst - Index of the instance.
+   * \param[in] CrossTerm - Boolean for CrossTerm.
    */
-  void Iterate(COutput* output, CIntegration**** integration, CGeometry**** geometry, CSolver***** solver,
-               CNumerics****** numerics, CConfig** config, CSurfaceMovement** surface_movement,
-               CVolumetricMovement*** grid_movement, CFreeFormDefBox*** FFDBox, unsigned short val_iZone,
-               unsigned short val_iInst) override;
+  void IterateDiscAdj(CGeometry**** geometry, CSolver***** solver, CConfig** config,
+                      unsigned short val_iZone, unsigned short val_iInst, bool CrossTerm) override;
 
   /*!
-   * \brief Monitors the convergence and other metrics for the discrete adjoint mean flow system.
+   * \brief Monitors the convergence and other metrics for the discrete adjoint FEA problem.
    * \param[in] output - Pointer to the COutput class.
    * \param[in] integration - Container vector with all the integration methods.
    * \param[in] geometry - Geometrical definition of the problem.
@@ -124,12 +117,16 @@ class CDiscAdjFEAIteration final : public CIteration {
                unsigned short val_iInst) override;
 
   /*!
-   * \brief Postprocesses the discrete adjoint mean flow system before heading to another physics system or the next
-   * iteration. \param[in] output - Pointer to the COutput class. \param[in] integration - Container vector with all the
-   * integration methods. \param[in] geometry - Geometrical definition of the problem. \param[in] solver - Container
-   * vector with all the solutions. \param[in] numerics - Description of the numerical method (the way in which the
-   * equations are solved). \param[in] config - Definition of the particular problem. \param[in] surface_movement -
-   * Surface movement classes of the problem. \param[in] grid_movement - Volume grid movement classes of the problem.
+   * \brief Postprocesses the discrete adjoint FEA problem before heading to another physics system or the next
+   * iteration.
+   * \param[in] output - Pointer to the COutput class.
+   * \param[in] integration - Container vector with all the integration methods.
+   * \param[in] geometry - Geometrical definition of the problem.
+   * \param[in] solver - Container vector with all the solutions.
+   * \param[in] numerics - Description of the numerical method (the way in which the equations are solved).
+   * \param[in] config - Definition of the particular problem.
+   * \param[in] surface_movement - Surface movement classes of the problem.
+   * \param[in] grid_movement - Volume grid movement classes of the problem.
    * \param[in] FFDBox - FFD FFDBoxes of the problem.
    * \param[in] val_iZone - Index of the zone.
    * \param[in] val_iInst - Index of the instance.
@@ -158,9 +155,8 @@ class CDiscAdjFEAIteration final : public CIteration {
    * \param[in] iZone - Index of the zone.
    * \param[in] iInst - Index of the zone.
    */
-  void RegisterOutput(CSolver***** solver, CGeometry**** geometry, CConfig** config, unsigned short iZone,
-                      unsigned short iInst);
-  using CIteration::RegisterOutput;
+  void RegisterOutput(CSolver***** solver, CGeometry**** geometry, CConfig** config,
+                      unsigned short iZone, unsigned short iInst) override;
 
   /*!
    * \brief Initializes the adjoints of the output variables of the FEM iteration.

SU2_CFD/include/iteration/CDiscAdjFluidIteration.hpp

@@ -83,22 +83,15 @@ class CDiscAdjFluidIteration final : public CIteration {
 
   /*!
    * \brief Perform a single iteration of the adjoint fluid system.
-   * \param[in] output - Pointer to the COutput class.
-   * \param[in] integration - Container vector with all the integration methods.
    * \param[in] geometry - Geometrical definition of the problem.
    * \param[in] solver - Container vector with all the solutions.
-   * \param[in] numerics - Description of the numerical method (the way in which the equations are solved).
    * \param[in] config - Definition of the particular problem.
-   * \param[in] surface_movement - Surface movement classes of the problem.
-   * \param[in] grid_movement - Volume grid movement classes of the problem.
-   * \param[in] FFDBox - FFD FFDBoxes of the problem.
    * \param[in] val_iZone - Index of the zone.
-   * \param[in] val_iInst - Index of the instance
+   * \param[in] val_iInst - Index of the instance.
+   * \param[in] CrossTerm - Boolean for CrossTerm.
    */
-  void Iterate(COutput* output, CIntegration**** integration, CGeometry**** geometry, CSolver***** solver,
-               CNumerics****** numerics, CConfig** config, CSurfaceMovement** surface_movement,
-               CVolumetricMovement*** grid_movement, CFreeFormDefBox*** FFDBox, unsigned short val_iZone,
-               unsigned short val_iInst) override;
+  void IterateDiscAdj(CGeometry**** geometry, CSolver***** solver, CConfig** config,
+                      unsigned short val_iZone, unsigned short val_iInst, bool CrossTerm) override;
 
   /*!
    * \brief Updates the containers for the discrete adjoint fluid system.
@@ -169,7 +162,7 @@ class CDiscAdjFluidIteration final : public CIteration {
    * \param[in] iZone - Index of the zone.
    * \param[in] iInst - Index of the instance.
    */
-  void RegisterOutput(CSolver***** solver, CGeometry**** geometry, CConfig** config, COutput* output,
+  void RegisterOutput(CSolver***** solver, CGeometry**** geometry, CConfig** config,
                       unsigned short iZone, unsigned short iInst) override;
 
   /*!

SU2_CFD/include/iteration/CDiscAdjHeatIteration.hpp

@@ -57,7 +57,7 @@ class CDiscAdjHeatIteration final : public CIteration {
   explicit CDiscAdjHeatIteration(const CConfig *config) : CIteration(config) {}
 
   /*!
-   * \brief Perform a single iteration of the adjoint fluid system.
+   * \brief Perform a single iteration of the adjoint heat problem.
    * \param[in] output - Pointer to the COutput class.
    * \param[in] integration - Container vector with all the integration methods.
    * \param[in] geometry - Geometrical definition of the problem.
@@ -76,26 +76,19 @@ class CDiscAdjHeatIteration final : public CIteration {
                   unsigned short val_iInst) override;
 
   /*!
-   * \brief Perform a single iteration of the adjoint fluid system.
-   * \param[in] output - Pointer to the COutput class.
-   * \param[in] integration - Container vector with all the integration methods.
+   * \brief Perform a single iteration of the adjoint heat problem.
    * \param[in] geometry - Geometrical definition of the problem.
    * \param[in] solver - Container vector with all the solutions.
-   * \param[in] numerics - Description of the numerical method (the way in which the equations are solved).
    * \param[in] config - Definition of the particular problem.
-   * \param[in] surface_movement - Surface movement classes of the problem.
-   * \param[in] grid_movement - Volume grid movement classes of the problem.
-   * \param[in] FFDBox - FFD FFDBoxes of the problem.
    * \param[in] val_iZone - Index of the zone.
-   * \param[in] val_iInst - Index of the instance layer.
+   * \param[in] val_iInst - Index of the instance.
+   * \param[in] CrossTerm - Boolean for CrossTerm.
    */
-  void Iterate(COutput* output, CIntegration**** integration, CGeometry**** geometry, CSolver***** solver,
-               CNumerics****** numerics, CConfig** config, CSurfaceMovement** surface_movement,
-               CVolumetricMovement*** grid_movement, CFreeFormDefBox*** FFDBox, unsigned short val_iZone,
-               unsigned short val_iInst) override;
+  void IterateDiscAdj(CGeometry**** geometry, CSolver***** solver, CConfig** config,
+                      unsigned short val_iZone, unsigned short val_iInst, bool CrossTerm) override;
 
   /*!
-   * \brief Perform a single iteration of the adjoint fluid system.
+   * \brief Perform a single iteration of the adjoint heat problem.
    * \param[in] output - Pointer to the COutput class.
    * \param[in] integration - Container vector with all the integration methods.
    * \param[in] geometry - Geometrical definition of the problem.
@@ -114,7 +107,7 @@ class CDiscAdjHeatIteration final : public CIteration {
               unsigned short val_iInst) override;
 
   /*!
-   * \brief Monitors the convergence and other metrics for the discrete adjoint fluid system.
+   * \brief Monitors the convergence and other metrics for the discrete adjoint heat problem.
    */
   bool Monitor(COutput* output, CIntegration**** integration, CGeometry**** geometry, CSolver***** solver,
                CNumerics****** numerics, CConfig** config, CSurfaceMovement** surface_movement,
@@ -152,7 +145,7 @@ class CDiscAdjHeatIteration final : public CIteration {
    * \param[in] iZone - Index of the zone.
    * \param[in] val_iInst - Index of the instance layer.
    */
-  void RegisterOutput(CSolver***** solver, CGeometry**** geometry, CConfig** config, COutput* output,
+  void RegisterOutput(CSolver***** solver, CGeometry**** geometry, CConfig** config,
                       unsigned short iZone, unsigned short iInst) override;
 
   /*!

SU2_CFD/include/iteration/CFEAIteration.hpp

@@ -56,6 +56,8 @@ class CFEAIteration : public CIteration {
    * \param[in] surface_movement - Surface movement classes of the problem.
    * \param[in] grid_movement - Volume grid movement classes of the problem.
    * \param[in] FFDBox - FFD FFDBoxes of the problem.
+   * \param[in] val_iZone - Index of the zone.
+   * \param[in] val_iInst - Index of the instance layer.
    */
   void Iterate(COutput* output, CIntegration**** integration, CGeometry**** geometry, CSolver***** solver,
                CNumerics****** numerics, CConfig** config, CSurfaceMovement** surface_movement,

SU2_CFD/include/iteration/CFEMFluidIteration.hpp

@@ -71,6 +71,8 @@ class CFEMFluidIteration : public CFluidIteration {
    * \param[in] surface_movement - Surface movement classes of the problem.
    * \param[in] grid_movement - Volume grid movement classes of the problem.
    * \param[in] FFDBox - FFD FFDBoxes of the problem.
+   * \param[in] val_iZone - Index of the zone.
+   * \param[in] val_iInst - Index of the instance layer.
    */
   void Iterate(COutput* output, CIntegration**** integration, CGeometry**** geometry, CSolver***** solver,
                CNumerics****** numerics, CConfig** config, CSurfaceMovement** surface_movement,

SU2_CFD/include/iteration/CFluidIteration.hpp

@@ -63,6 +63,8 @@ class CFluidIteration : public CIteration {
    * \param[in] surface_movement - Surface movement classes of the problem.
    * \param[in] grid_movement - Volume grid movement classes of the problem.
    * \param[in] FFDBox - FFD FFDBoxes of the problem.
+   * \param[in] val_iZone - Index of the zone.
+   * \param[in] val_iInst - Index of the instance layer.
    */
   void Iterate(COutput* output, CIntegration**** integration, CGeometry**** geometry, CSolver***** solver,
                CNumerics****** numerics, CConfig** config, CSurfaceMovement** surface_movement,

SU2_CFD/include/iteration/CHeatIteration.hpp

@@ -54,6 +54,8 @@ class CHeatIteration : public CFluidIteration {
    * \param[in] surface_movement - Surface movement classes of the problem.
    * \param[in] grid_movement - Volume grid movement classes of the problem.
    * \param[in] FFDBox - FFD FFDBoxes of the problem.
+   * \param[in] val_iZone - Index of the zone.
+   * \param[in] val_iInst - Index of the instance layer.
    */
   void Iterate(COutput* output, CIntegration**** integration, CGeometry**** geometry, CSolver***** solver,
                CNumerics****** numerics, CConfig** config, CSurfaceMovement** surface_movement,