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436 lines
14 KiB
436 lines
14 KiB
//==============================================================================
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//
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// Copyright (c) 2002-
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// Authors:
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// * Dave Parker <david.parker@comlab.ox.ac.uk> (University of Oxford, formerly University of Birmingham)
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//
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//------------------------------------------------------------------------------
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//
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// This file is part of PRISM.
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//
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// PRISM is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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// PRISM is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with PRISM; if not, write to the Free Software Foundation,
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// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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//
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//==============================================================================
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// includes
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#include "PrismHybrid.h"
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#include <math.h>
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#include <util.h>
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#include <cudd.h>
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#include <dd.h>
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#include <odd.h>
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#include <dv.h>
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#include "sparse.h"
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#include "hybrid.h"
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#include "PrismHybridGlob.h"
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#include "jnipointer.h"
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#include "prism.h"
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#include "ExportIterations.h"
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#include <new>
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#include <memory>
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// local prototypes
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static void jor_rec(HDDNode *hdd, int level, int row_offset, int col_offset, bool transpose);
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static void jor_rm(RMSparseMatrix *rmsm, int row_offset, int col_offset);
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static void jor_cmsr(CMSRSparseMatrix *cmsrsm, int row_offset, int col_offset);
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// globals (used by local functions)
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static HDDNode *zero;
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static int num_levels;
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static bool compact_sm;
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static double *sm_dist;
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static int sm_dist_shift;
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static int sm_dist_mask;
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static double *soln = NULL, *soln2 = NULL;
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//------------------------------------------------------------------------------
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// solve the linear equation system Ax=b with Jacobi/JOR
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JNIEXPORT jlong __jlongpointer JNICALL Java_hybrid_PrismHybrid_PH_1JOR
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(
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JNIEnv *env,
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jclass cls,
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jlong __jlongpointer _odd, // odd
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jlong __jlongpointer rv, // row vars
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jint num_rvars,
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jlong __jlongpointer cv, // col vars
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jint num_cvars,
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jlong __jlongpointer _a, // matrix A
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jlong __jlongpointer _b, // vector b (if null, assume all zero)
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jlong __jlongpointer _init, // init soln
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jboolean transpose, // transpose A? (i.e. solve xA=b not Ax=b?)
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jboolean row_sums, // use row sums for diags instead? (strictly speaking: negative sum of non-diagonal row elements)
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jdouble omega // omega (over-relaxation parameter)
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)
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{
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// cast function parameters
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ODDNode *odd = jlong_to_ODDNode(_odd); // odd
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DdNode **rvars = jlong_to_DdNode_array(rv); // row vars
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DdNode **cvars = jlong_to_DdNode_array(cv); // col vars
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DdNode *a = jlong_to_DdNode(_a); // matrix A
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DdNode *b = jlong_to_DdNode(_b); // vector b
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DdNode *init = jlong_to_DdNode(_init); // init soln
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// mtbdds
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DdNode *reach = NULL, *diags = NULL, *id = NULL;
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// model stats
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int n;
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// flags
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bool compact_d, compact_b;
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// matrix mtbdd
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HDDMatrix *hddm = NULL;
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HDDNode *hdd = NULL;
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// vectors
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double *diags_vec = NULL, *b_vec = NULL, *tmpsoln = NULL;
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DistVector *diags_dist = NULL, *b_dist = NULL;
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// timing stuff
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long start1, start2, start3, stop;
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double time_taken, time_for_setup, time_for_iters;
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// misc
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int i, iters;
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double x, sup_norm, kb, kbt;
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bool done;
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// exception handling around whole function
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try {
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// start clocks
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start1 = start2 = util_cpu_time();
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// get number of states
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n = odd->eoff + odd->toff;
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// get reachable states
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reach = odd->dd;
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// make local copy of a
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Cudd_Ref(a);
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// remove and keep diagonal entries of matrix A
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id = DD_Identity(ddman, rvars, cvars, num_rvars);
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Cudd_Ref(reach);
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id = DD_And(ddman, id, reach);
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Cudd_Ref(id);
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Cudd_Ref(a);
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diags = DD_Apply(ddman, APPLY_TIMES, id, a);
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Cudd_Ref(id);
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a = DD_ITE(ddman, id, DD_Constant(ddman, 0), a);
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// build hdd for matrix
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PH_PrintToMainLog(env, "\nBuilding hybrid MTBDD matrix... ");
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hddm = build_hdd_matrix(a, rvars, cvars, num_rvars, odd, true, transpose);
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hdd = hddm->top;
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zero = hddm->zero;
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num_levels = hddm->num_levels;
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kb = hddm->mem_nodes;
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kbt = kb;
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PH_PrintToMainLog(env, "[levels=%d, nodes=%d] ", hddm->num_levels, hddm->num_nodes);
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PH_PrintMemoryToMainLog(env, "[", kb, "]\n");
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// add sparse matrices
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PH_PrintToMainLog(env, "Adding explicit sparse matrices... ");
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add_sparse_matrices(hddm, compact, false, transpose);
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compact_sm = hddm->compact_sm;
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if (compact_sm) {
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sm_dist = hddm->dist;
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sm_dist_shift = hddm->dist_shift;
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sm_dist_mask = hddm->dist_mask;
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}
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kb = hddm->mem_sm;
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kbt += kb;
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PH_PrintToMainLog(env, "[levels=%d, num=%d%s] ", hddm->l_sm, hddm->num_sm, compact_sm?", compact":"");
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PH_PrintMemoryToMainLog(env, "[", kb, "]\n");
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// get vector of diags, either by extracting from mtbdd or
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// by doing (negative, non-diagonal) row sums of original A matrix (and then setting to 1 if sum is 0)
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PH_PrintToMainLog(env, "Creating vector for diagonals... ");
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if (!row_sums) {
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diags = DD_MaxAbstract(ddman, diags, cvars, num_cvars);
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diags_vec = mtbdd_to_double_vector(ddman, diags, rvars, num_rvars, odd);
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} else {
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diags_vec = hdd_negative_row_sums(hddm, n, transpose);
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}
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// if any of the diagonals are zero, set them to one - avoids division by zero errors later
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// strictly speaking, such matrices shouldn't work for this iterative method
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// but they do occur, e.g. for steady-state computation of a bscc, this fixes it
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for (i = 0; i < n; i++) diags_vec[i] = (diags_vec[i] == 0) ? 1.0 : diags_vec[i];
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// try and convert to compact form if required
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compact_d = false;
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if (compact) {
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if ((diags_dist = double_vector_to_dist(diags_vec, n))) {
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compact_d = true;
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delete[] diags_vec; diags_vec = NULL;
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}
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}
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kb = (!compact_d) ? n*8.0/1024.0 : (diags_dist->num_dist*8.0+n*2.0)/1024.0;
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kbt += kb;
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if (compact_d) PH_PrintToMainLog(env, "[dist=%d, compact] ", diags_dist->num_dist);
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PH_PrintMemoryToMainLog(env, "[", kb, "]\n");
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// invert diagonal
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if (!compact_d) {
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for (i = 0; i < n; i++) diags_vec[i] = 1.0 / diags_vec[i];
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} else {
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for (i = 0; i < diags_dist->num_dist; i++) diags_dist->dist[i] = 1.0 / diags_dist->dist[i];
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}
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// build b vector (if present)
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if (b != NULL) {
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PH_PrintToMainLog(env, "Creating vector for RHS... ");
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b_vec = mtbdd_to_double_vector(ddman, b, rvars, num_rvars, odd);
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// try and convert to compact form if required
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compact_b = false;
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if (compact) {
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if ((b_dist = double_vector_to_dist(b_vec, n))) {
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compact_b = true;
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delete[] b_vec; b_vec = NULL;
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}
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}
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kb = (!compact_b) ? n*8.0/1024.0 : (b_dist->num_dist*8.0+n*2.0)/1024.0;
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kbt += kb;
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if (compact_b) PH_PrintToMainLog(env, "[dist=%d, compact] ", b_dist->num_dist);
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PH_PrintMemoryToMainLog(env, "[", kb, "]\n");
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}
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// create solution/iteration vectors
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PH_PrintToMainLog(env, "Allocating iteration vectors... ");
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soln = mtbdd_to_double_vector(ddman, init, rvars, num_rvars, odd);
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soln2 = new double[n];
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kb = n*8.0/1024.0;
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kbt += 2*kb;
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PH_PrintMemoryToMainLog(env, "[2 x ", kb, "]\n");
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// print total memory usage
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PH_PrintMemoryToMainLog(env, "TOTAL: [", kbt, "]\n");
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std::unique_ptr<ExportIterations> iterationExport;
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if (PH_GetFlagExportIterations()) {
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std::string title("PH_JOR (");
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title += (omega == 1.0)?"Jacobi": ("JOR omega=" + std::to_string(omega));
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title += ")";
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iterationExport.reset(new ExportIterations(title.c_str()));
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iterationExport->exportVector(soln, n, 0);
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}
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// get setup time
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stop = util_cpu_time();
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time_for_setup = (double)(stop - start2)/1000;
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start2 = stop;
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start3 = stop;
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// start iterations
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iters = 0;
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done = false;
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PH_PrintToMainLog(env, "\nStarting iterations...\n");
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while (!done && iters < max_iters) {
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iters++;
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// matrix multiply
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// initialise vector
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if (b == NULL) {
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for (i = 0; i < n; i++) { soln2[i] = 0.0; }
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} else if (!compact_b) {
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for (i = 0; i < n; i++) { soln2[i] = b_vec[i]; }
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} else {
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for (i = 0; i < n; i++) { soln2[i] = b_dist->dist[b_dist->ptrs[i]]; }
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}
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// do matrix vector multiply bit
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jor_rec(hdd, 0, 0, 0, transpose);
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// divide by diagonal
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if (!compact_d) {
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for (i = 0; i < n; i++) { soln2[i] *= diags_vec[i]; }
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} else {
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for (i = 0; i < n; i++) { soln2[i] *= diags_dist->dist[diags_dist->ptrs[i]]; }
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}
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// do over-relaxation if necessary
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if (omega != 1) {
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for (i = 0; i < n; i++) {
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soln2[i] = ((1-omega) * soln[i]) + (omega * soln2[i]);
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}
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}
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if (iterationExport)
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iterationExport->exportVector(soln2, n, 0);
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// check convergence
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sup_norm = 0.0;
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for (i = 0; i < n; i++) {
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x = fabs(soln2[i] - soln[i]);
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if (term_crit == TERM_CRIT_RELATIVE) {
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x /= soln2[i];
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}
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if (x > sup_norm) sup_norm = x;
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}
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if (sup_norm < term_crit_param) {
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done = true;
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}
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// print occasional status update
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if ((util_cpu_time() - start3) > UPDATE_DELAY) {
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PH_PrintToMainLog(env, "Iteration %d: max %sdiff=%f", iters, (term_crit == TERM_CRIT_RELATIVE)?"relative ":"", sup_norm);
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PH_PrintToMainLog(env, ", %.2f sec so far\n", ((double)(util_cpu_time() - start2)/1000));
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start3 = util_cpu_time();
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}
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// prepare for next iteration
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tmpsoln = soln;
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soln = soln2;
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soln2 = tmpsoln;
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}
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// stop clocks
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stop = util_cpu_time();
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time_for_iters = (double)(stop - start2)/1000;
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time_taken = (double)(stop - start1)/1000;
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// print iters/timing info
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PH_PrintToMainLog(env, "\n%s: %d iterations in %.2f seconds (average %.6f, setup %.2f)\n", (omega == 1.0)?"Jacobi":"JOR", iters, time_taken, time_for_iters/iters, time_for_setup);
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// if the iterative method didn't terminate, this is an error
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if (!done) { delete[] soln; soln = NULL; PH_SetErrorMessage("Iterative method did not converge within %d iterations.\nConsider using a different numerical method or increasing the maximum number of iterations", iters); }
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// catch exceptions: register error, free memory
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} catch (std::bad_alloc e) {
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PH_SetErrorMessage("Out of memory");
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if (soln) delete[] soln;
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soln = 0;
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}
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// free memory
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if (a) Cudd_RecursiveDeref(ddman, a);
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if (id) Cudd_RecursiveDeref(ddman, id);
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if (diags) Cudd_RecursiveDeref(ddman, diags);
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if (hddm) delete hddm;
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if (diags_vec) delete[] diags_vec;
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if (diags_dist) delete diags_dist;
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if (b_vec) delete[] b_vec;
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if (b_dist) delete b_dist;
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if (soln2) delete[] soln2;
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return ptr_to_jlong(soln);
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}
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//------------------------------------------------------------------------------
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static void jor_rec(HDDNode *hdd, int level, int row_offset, int col_offset, bool transpose)
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{
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HDDNode *e, *t;
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// if it's the zero node
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if (hdd == zero) {
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return;
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}
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// or if we've reached a submatrix
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// (check for non-null ptr but, equivalently, we could just check if level==l_sm)
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else if (hdd->sm.ptr) {
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if (!compact_sm) {
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jor_rm((RMSparseMatrix *)hdd->sm.ptr, row_offset, col_offset);
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} else {
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jor_cmsr((CMSRSparseMatrix *)hdd->sm.ptr, row_offset, col_offset);
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}
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return;
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}
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// or if we've reached the bottom
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else if (level == num_levels) {
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//printf("(%d,%d)=%f\n", row_offset, col_offset, hdd->type.val);
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soln2[row_offset] -= soln[col_offset] * hdd->type.val;
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return;
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}
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// otherwise recurse
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e = hdd->type.kids.e;
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if (e != zero) {
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if (!transpose) {
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jor_rec(e->type.kids.e, level+1, row_offset, col_offset, transpose);
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jor_rec(e->type.kids.t, level+1, row_offset, col_offset+e->off.val, transpose);
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} else {
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jor_rec(e->type.kids.e, level+1, row_offset, col_offset, transpose);
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jor_rec(e->type.kids.t, level+1, row_offset+e->off.val, col_offset, transpose);
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}
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}
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t = hdd->type.kids.t;
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if (t != zero) {
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if (!transpose) {
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jor_rec(t->type.kids.e, level+1, row_offset+hdd->off.val, col_offset, transpose);
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jor_rec(t->type.kids.t, level+1, row_offset+hdd->off.val, col_offset+t->off.val, transpose);
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} else {
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jor_rec(t->type.kids.e, level+1, row_offset, col_offset+hdd->off.val, transpose);
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jor_rec(t->type.kids.t, level+1, row_offset+t->off.val, col_offset+hdd->off.val, transpose);
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}
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}
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}
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//-----------------------------------------------------------------------------------
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static void jor_rm(RMSparseMatrix *rmsm, int row_offset, int col_offset)
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{
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int i2, j2, l2, h2;
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int sm_n = rmsm->n;
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int sm_nnz = rmsm->nnz;
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double *sm_non_zeros = rmsm->non_zeros;
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unsigned char *sm_row_counts = rmsm->row_counts;
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int *sm_row_starts = (int *)rmsm->row_counts;
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bool sm_use_counts = rmsm->use_counts;
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unsigned int *sm_cols = rmsm->cols;
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// loop through rows of submatrix
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l2 = sm_nnz; h2 = 0;
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for (i2 = 0; i2 < sm_n; i2++) {
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// loop through entries in this row
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if (!sm_use_counts) { l2 = sm_row_starts[i2]; h2 = sm_row_starts[i2+1]; }
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else { l2 = h2; h2 += sm_row_counts[i2]; }
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for (j2 = l2; j2 < h2; j2++) {
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soln2[row_offset + i2] -= soln[col_offset + sm_cols[j2]] * sm_non_zeros[j2];
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//printf("(%d,%d)=%f\n", row_offset + i2, col_offset + sm_cols[j2], sm_non_zeros[j2]);
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}
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}
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}
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//-----------------------------------------------------------------------------------
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static void jor_cmsr(CMSRSparseMatrix *cmsrsm, int row_offset, int col_offset)
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{
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int i2, j2, l2, h2;
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int sm_n = cmsrsm->n;
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int sm_nnz = cmsrsm->nnz;
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unsigned char *sm_row_counts = cmsrsm->row_counts;
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int *sm_row_starts = (int *)cmsrsm->row_counts;
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bool sm_use_counts = cmsrsm->use_counts;
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unsigned int *sm_cols = cmsrsm->cols;
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// loop through rows of submatrix
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l2 = sm_nnz; h2 = 0;
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for (i2 = 0; i2 < sm_n; i2++) {
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// loop through entries in this row
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if (!sm_use_counts) { l2 = sm_row_starts[i2]; h2 = sm_row_starts[i2+1]; }
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else { l2 = h2; h2 += sm_row_counts[i2]; }
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for (j2 = l2; j2 < h2; j2++) {
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soln2[row_offset + i2] -= soln[col_offset + (int)(sm_cols[j2] >> sm_dist_shift)] * sm_dist[(int)(sm_cols[j2] & sm_dist_mask)];
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//printf("(%d,%d)=%f\n", row_offset + i2, col_offset + (int)(sm_cols[j2] >> sm_dist_shift), sm_dist[(int)(sm_cols[j2] & sm_dist_mask)]);
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}
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}
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}
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//------------------------------------------------------------------------------
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