1 // Copyright (c) 2017-2022, Lawrence Livermore National Security, LLC and other CEED contributors. 2 // All Rights Reserved. See the top-level LICENSE and NOTICE files for details. 3 // 4 // SPDX-License-Identifier: BSD-2-Clause 5 // 6 // This file is part of CEED: http://github.com/ceed 7 8 #ifndef libceed_fluids_examples_navier_stokes_h 9 #define libceed_fluids_examples_navier_stokes_h 10 11 #include <ceed.h> 12 #include <petscts.h> 13 #include <stdbool.h> 14 15 #include "./include/petsc_ops.h" 16 #include "qfunctions/newtonian_types.h" 17 #include "qfunctions/stabilization_types.h" 18 19 // ----------------------------------------------------------------------------- 20 // PETSc Version 21 // ----------------------------------------------------------------------------- 22 #if PETSC_VERSION_LT(3, 19, 0) 23 #error "PETSc v3.19 or later is required" 24 #endif 25 26 // ----------------------------------------------------------------------------- 27 // Enums 28 // ----------------------------------------------------------------------------- 29 // Translate PetscMemType to CeedMemType 30 static inline CeedMemType MemTypeP2C(PetscMemType mem_type) { return PetscMemTypeDevice(mem_type) ? CEED_MEM_DEVICE : CEED_MEM_HOST; } 31 32 // Advection - Wind Options 33 typedef enum { 34 WIND_ROTATION = 0, 35 WIND_TRANSLATION = 1, 36 } WindType; 37 static const char *const WindTypes[] = {"rotation", "translation", "WindType", "WIND_", NULL}; 38 39 // Advection - Bubble Types 40 typedef enum { 41 BUBBLE_SPHERE = 0, // dim=3 42 BUBBLE_CYLINDER = 1, // dim=2 43 } BubbleType; 44 static const char *const BubbleTypes[] = {"sphere", "cylinder", "BubbleType", "BUBBLE_", NULL}; 45 46 // Advection - Bubble Continuity Types 47 typedef enum { 48 BUBBLE_CONTINUITY_SMOOTH = 0, // Original continuous, smooth shape 49 BUBBLE_CONTINUITY_BACK_SHARP = 1, // Discontinuous, sharp back half shape 50 BUBBLE_CONTINUITY_THICK = 2, // Define a finite thickness 51 } BubbleContinuityType; 52 static const char *const BubbleContinuityTypes[] = {"smooth", "back_sharp", "thick", "BubbleContinuityType", "BUBBLE_CONTINUITY_", NULL}; 53 54 // Euler - test cases 55 typedef enum { 56 EULER_TEST_ISENTROPIC_VORTEX = 0, 57 EULER_TEST_1 = 1, 58 EULER_TEST_2 = 2, 59 EULER_TEST_3 = 3, 60 EULER_TEST_4 = 4, 61 EULER_TEST_5 = 5, 62 } EulerTestType; 63 static const char *const EulerTestTypes[] = {"isentropic_vortex", "test_1", "test_2", "test_3", "test_4", "test_5", 64 "EulerTestType", "EULER_TEST_", NULL}; 65 66 // Stabilization methods 67 static const char *const StabilizationTypes[] = {"none", "SU", "SUPG", "StabilizationType", "STAB_", NULL}; 68 69 // Test mode type 70 typedef enum { 71 TESTTYPE_NONE = 0, 72 TESTTYPE_SOLVER = 1, 73 TESTTYPE_TURB_SPANSTATS = 2, 74 } TestType; 75 static const char *const TestTypes[] = {"none", "solver", "turb_spanstats", "TestType", "TESTTYPE_", NULL}; 76 77 // Test mode type 78 typedef enum { 79 SGS_MODEL_NONE = 0, 80 SGS_MODEL_DATA_DRIVEN = 1, 81 } SGSModelType; 82 static const char *const SGSModelTypes[] = {"none", "data_driven", "SGSModelType", "SGS_MODEL_", NULL}; 83 84 // ----------------------------------------------------------------------------- 85 // Structs 86 // ----------------------------------------------------------------------------- 87 // Structs declarations 88 typedef struct AppCtx_private *AppCtx; 89 typedef struct CeedData_private *CeedData; 90 typedef struct User_private *User; 91 typedef struct Units_private *Units; 92 typedef struct SimpleBC_private *SimpleBC; 93 typedef struct Physics_private *Physics; 94 95 // Application context from user command line options 96 struct AppCtx_private { 97 // libCEED arguments 98 char ceed_resource[PETSC_MAX_PATH_LEN]; // libCEED backend 99 PetscInt degree; 100 PetscInt q_extra; 101 // Solver arguments 102 MatType amat_type; 103 PetscBool pmat_pbdiagonal; 104 // Post-processing arguments 105 PetscInt checkpoint_interval; 106 PetscInt viz_refine; 107 PetscInt cont_steps; 108 PetscReal cont_time; 109 char cont_file[PETSC_MAX_PATH_LEN]; 110 char cont_time_file[PETSC_MAX_PATH_LEN]; 111 char output_dir[PETSC_MAX_PATH_LEN]; 112 PetscBool add_stepnum2bin; 113 PetscBool checkpoint_vtk; 114 // Problem type arguments 115 PetscFunctionList problems; 116 char problem_name[PETSC_MAX_PATH_LEN]; 117 // Test mode arguments 118 TestType test_type; 119 PetscScalar test_tol; 120 char test_file_path[PETSC_MAX_PATH_LEN]; 121 // Turbulent spanwise statistics 122 PetscBool turb_spanstats_enable; 123 PetscInt turb_spanstats_collect_interval; 124 PetscInt turb_spanstats_viewer_interval; 125 PetscViewer turb_spanstats_viewer; 126 PetscViewerFormat turb_spanstats_viewer_format; 127 // Wall forces 128 struct { 129 PetscInt num_wall; 130 PetscInt *walls; 131 PetscViewer viewer; 132 PetscViewerFormat viewer_format; 133 PetscBool header_written; 134 } wall_forces; 135 // Subgrid Stress Model 136 SGSModelType sgs_model_type; 137 // Differential Filtering 138 PetscBool diff_filter_monitor; 139 }; 140 141 // libCEED data struct 142 struct CeedData_private { 143 CeedVector x_coord, q_data; 144 CeedBasis basis_x, basis_xc, basis_q, basis_x_sur, basis_q_sur, basis_xc_sur; 145 CeedElemRestriction elem_restr_x, elem_restr_q, elem_restr_qd_i; 146 CeedOperator op_setup_vol; 147 OperatorApplyContext op_ics_ctx; 148 CeedQFunction qf_setup_vol, qf_ics, qf_rhs_vol, qf_ifunction_vol, qf_setup_sur, qf_apply_inflow, qf_apply_inflow_jacobian, qf_apply_outflow, 149 qf_apply_outflow_jacobian, qf_apply_freestream, qf_apply_freestream_jacobian; 150 }; 151 152 typedef struct { 153 DM dm; 154 PetscSF sf; // For communicating child data to parents 155 OperatorApplyContext op_stats_collect_ctx, op_proj_rhs_ctx; 156 PetscInt num_comp_stats; 157 Vec Child_Stats_loc, Parent_Stats_loc; 158 KSP ksp; // For the L^2 projection solve 159 CeedScalar span_width; // spanwise width of the child domain 160 PetscBool do_mms_test; 161 OperatorApplyContext mms_error_ctx; 162 CeedContextFieldLabel solution_time_label, previous_time_label; 163 } Span_Stats; 164 165 typedef struct { 166 DM dm; 167 PetscInt num_comp; 168 OperatorApplyContext l2_rhs_ctx; 169 KSP ksp; 170 } *NodalProjectionData; 171 172 typedef struct { 173 DM dm_sgs; 174 PetscInt num_comp_sgs; 175 OperatorApplyContext op_nodal_evaluation_ctx, op_sgs_apply_ctx; 176 CeedVector sgs_nodal_ceed; 177 } *SGS_DD_Data; 178 179 typedef struct { 180 DM dm_filter; 181 CeedInt num_comp_filter; 182 OperatorApplyContext op_rhs_ctx; 183 KSP ksp; 184 } *DiffFilterData; 185 186 // PETSc user data 187 struct User_private { 188 MPI_Comm comm; 189 DM dm; 190 DM dm_viz; 191 Mat interp_viz; 192 Ceed ceed; 193 Units units; 194 Vec M_inv, Q_loc, Q_dot_loc; 195 Physics phys; 196 AppCtx app_ctx; 197 CeedVector q_ceed, q_dot_ceed, g_ceed, coo_values_amat, coo_values_pmat, x_ceed; 198 CeedOperator op_rhs_vol, op_ifunction_vol, op_ifunction, op_ijacobian; 199 OperatorApplyContext op_rhs_ctx, op_strong_bc_ctx; 200 bool matrices_set_up; 201 CeedScalar time_bc_set; 202 Span_Stats spanstats; 203 NodalProjectionData grad_velo_proj; 204 SGS_DD_Data sgs_dd_data; 205 DiffFilterData diff_filter; 206 }; 207 208 // Units 209 struct Units_private { 210 // fundamental units 211 PetscScalar meter; 212 PetscScalar kilogram; 213 PetscScalar second; 214 PetscScalar Kelvin; 215 // derived units 216 PetscScalar Pascal; 217 PetscScalar J_per_kg_K; 218 PetscScalar m_per_squared_s; 219 PetscScalar W_per_m_K; 220 PetscScalar Joule; 221 }; 222 223 // Boundary conditions 224 struct SimpleBC_private { 225 PetscInt num_wall, // Number of faces with wall BCs 226 wall_comps[5], // An array of constrained component numbers 227 num_comps, 228 num_slip[3], // Number of faces with slip BCs 229 num_inflow, num_outflow, num_freestream; 230 PetscInt walls[16], slips[3][16], inflows[16], outflows[16], freestreams[16]; 231 PetscBool user_bc; 232 }; 233 234 // Struct that contains all enums and structs used for the physics of all problems 235 struct Physics_private { 236 WindType wind_type; 237 BubbleType bubble_type; 238 BubbleContinuityType bubble_continuity_type; 239 EulerTestType euler_test; 240 StabilizationType stab; 241 PetscBool implicit; 242 StateVariable state_var; 243 PetscBool has_curr_time; 244 PetscBool has_neumann; 245 CeedContextFieldLabel solution_time_label; 246 CeedContextFieldLabel stg_solution_time_label; 247 CeedContextFieldLabel timestep_size_label; 248 CeedContextFieldLabel ics_time_label; 249 CeedContextFieldLabel ijacobian_time_shift_label; 250 }; 251 252 typedef struct { 253 CeedQFunctionUser qfunction; 254 const char *qfunction_loc; 255 CeedQFunctionContext qfunction_context; 256 } ProblemQFunctionSpec; 257 258 // Problem specific data 259 typedef struct ProblemData_private ProblemData; 260 struct ProblemData_private { 261 CeedInt dim, q_data_size_vol, q_data_size_sur, jac_data_size_sur; 262 CeedScalar dm_scale; 263 ProblemQFunctionSpec setup_vol, setup_sur, ics, apply_vol_rhs, apply_vol_ifunction, apply_vol_ijacobian, apply_inflow, apply_outflow, 264 apply_freestream, apply_inflow_jacobian, apply_outflow_jacobian, apply_freestream_jacobian; 265 bool non_zero_time; 266 PetscErrorCode (*bc)(PetscInt, PetscReal, const PetscReal[], PetscInt, PetscScalar[], void *); 267 void *bc_ctx; 268 PetscBool bc_from_ics, use_strong_bc_ceed; 269 PetscErrorCode (*print_info)(ProblemData *, AppCtx); 270 }; 271 272 extern int FreeContextPetsc(void *); 273 274 // ----------------------------------------------------------------------------- 275 // Set up problems 276 // ----------------------------------------------------------------------------- 277 // Set up function for each problem 278 extern PetscErrorCode NS_GAUSSIAN_WAVE(ProblemData *problem, DM dm, void *ctx, SimpleBC bc); 279 extern PetscErrorCode NS_CHANNEL(ProblemData *problem, DM dm, void *ctx, SimpleBC bc); 280 extern PetscErrorCode NS_BLASIUS(ProblemData *problem, DM dm, void *ctx, SimpleBC bc); 281 extern PetscErrorCode NS_NEWTONIAN_IG(ProblemData *problem, DM dm, void *ctx, SimpleBC bc); 282 extern PetscErrorCode NS_DENSITY_CURRENT(ProblemData *problem, DM dm, void *ctx, SimpleBC bc); 283 extern PetscErrorCode NS_EULER_VORTEX(ProblemData *problem, DM dm, void *ctx, SimpleBC bc); 284 extern PetscErrorCode NS_SHOCKTUBE(ProblemData *problem, DM dm, void *ctx, SimpleBC bc); 285 extern PetscErrorCode NS_ADVECTION(ProblemData *problem, DM dm, void *ctx, SimpleBC bc); 286 extern PetscErrorCode NS_ADVECTION2D(ProblemData *problem, DM dm, void *ctx, SimpleBC bc); 287 288 // Print function for each problem 289 extern PetscErrorCode PRINT_NEWTONIAN(ProblemData *problem, AppCtx app_ctx); 290 291 extern PetscErrorCode PRINT_EULER_VORTEX(ProblemData *problem, AppCtx app_ctx); 292 293 extern PetscErrorCode PRINT_SHOCKTUBE(ProblemData *problem, AppCtx app_ctx); 294 295 extern PetscErrorCode PRINT_ADVECTION(ProblemData *problem, AppCtx app_ctx); 296 297 extern PetscErrorCode PRINT_ADVECTION2D(ProblemData *problem, AppCtx app_ctx); 298 299 // ----------------------------------------------------------------------------- 300 // libCEED functions 301 // ----------------------------------------------------------------------------- 302 // Utility function - essential BC dofs are encoded in closure indices as -(i+1). 303 PetscInt Involute(PetscInt i); 304 305 // Utility function to create local CEED restriction 306 PetscErrorCode CreateRestrictionFromPlex(Ceed ceed, DM dm, CeedInt height, DMLabel domain_label, CeedInt value, CeedElemRestriction *elem_restr); 307 308 // Utility function to get Ceed Restriction for each domain 309 PetscErrorCode GetRestrictionForDomain(Ceed ceed, DM dm, CeedInt height, DMLabel domain_label, PetscInt value, CeedInt Q, CeedInt q_data_size, 310 CeedElemRestriction *elem_restr_q, CeedElemRestriction *elem_restr_x, CeedElemRestriction *elem_restr_qd_i); 311 312 // Utility function to create CEED Composite Operator for the entire domain 313 PetscErrorCode CreateOperatorForDomain(Ceed ceed, DM dm, SimpleBC bc, CeedData ceed_data, Physics phys, CeedOperator op_apply_vol, 314 CeedOperator op_apply_ijacobian_vol, CeedInt height, CeedInt P_sur, CeedInt Q_sur, CeedInt q_data_size_sur, 315 CeedInt jac_data_size_sur, CeedOperator *op_apply, CeedOperator *op_apply_ijacobian); 316 317 PetscErrorCode SetupLibceed(Ceed ceed, CeedData ceed_data, DM dm, User user, AppCtx app_ctx, ProblemData *problem, SimpleBC bc); 318 319 // ----------------------------------------------------------------------------- 320 // Time-stepping functions 321 // ----------------------------------------------------------------------------- 322 // Compute mass matrix for explicit scheme 323 PetscErrorCode ComputeLumpedMassMatrix(Ceed ceed, DM dm, CeedData ceed_data, Vec M); 324 325 // RHS (Explicit time-stepper) function setup 326 PetscErrorCode RHS_NS(TS ts, PetscReal t, Vec Q, Vec G, void *user_data); 327 328 // Implicit time-stepper function setup 329 PetscErrorCode IFunction_NS(TS ts, PetscReal t, Vec Q, Vec Q_dot, Vec G, void *user_data); 330 331 // User provided TS Monitor 332 PetscErrorCode TSMonitor_NS(TS ts, PetscInt step_no, PetscReal time, Vec Q, void *ctx); 333 334 // TS: Create, setup, and solve 335 PetscErrorCode TSSolve_NS(DM dm, User user, AppCtx app_ctx, Physics phys, Vec *Q, PetscScalar *f_time, TS *ts); 336 337 // Update Boundary Values when time has changed 338 PetscErrorCode UpdateBoundaryValues(User user, Vec Q_loc, PetscReal t); 339 340 // ----------------------------------------------------------------------------- 341 // Setup DM 342 // ----------------------------------------------------------------------------- 343 // Create mesh 344 PetscErrorCode CreateDM(MPI_Comm comm, ProblemData *problem, MatType, VecType, DM *dm); 345 346 // Set up DM 347 PetscErrorCode SetUpDM(DM dm, ProblemData *problem, PetscInt degree, SimpleBC bc, Physics phys); 348 349 // Refine DM for high-order viz 350 PetscErrorCode VizRefineDM(DM dm, User user, ProblemData *problem, SimpleBC bc, Physics phys); 351 352 // ----------------------------------------------------------------------------- 353 // Process command line options 354 // ----------------------------------------------------------------------------- 355 // Register problems to be available on the command line 356 PetscErrorCode RegisterProblems_NS(AppCtx app_ctx); 357 358 // Process general command line options 359 PetscErrorCode ProcessCommandLineOptions(MPI_Comm comm, AppCtx app_ctx, SimpleBC bc); 360 361 // ----------------------------------------------------------------------------- 362 // Miscellaneous utility functions 363 // ----------------------------------------------------------------------------- 364 PetscErrorCode ICs_FixMultiplicity(DM dm, CeedData ceed_data, User user, Vec Q_loc, Vec Q, CeedScalar time); 365 366 PetscErrorCode DMPlexInsertBoundaryValues_NS(DM dm, PetscBool insert_essential, Vec Q_loc, PetscReal time, Vec face_geom_FVM, Vec cell_geom_FVM, 367 Vec grad_FVM); 368 369 // Compare reference solution values with current test run for CI 370 PetscErrorCode RegressionTests_NS(AppCtx app_ctx, Vec Q); 371 372 // Get error for problems with exact solutions 373 PetscErrorCode GetError_NS(CeedData ceed_data, DM dm, User user, Vec Q, PetscScalar final_time); 374 375 // Post-processing 376 PetscErrorCode PostProcess_NS(TS ts, CeedData ceed_data, DM dm, ProblemData *problem, User user, Vec Q, PetscScalar final_time); 377 378 // -- Gather initial Q values in case of continuation of simulation 379 PetscErrorCode SetupICsFromBinary(MPI_Comm comm, AppCtx app_ctx, Vec Q); 380 381 // Record boundary values from initial condition 382 PetscErrorCode SetBCsFromICs_NS(DM dm, Vec Q, Vec Q_loc); 383 384 // Versioning token for binary checkpoints 385 extern const PetscInt FLUIDS_FILE_TOKEN; 386 387 // Create appropriate mass qfunction based on number of components N 388 PetscErrorCode CreateMassQFunction(Ceed ceed, CeedInt N, CeedInt q_data_size, CeedQFunction *qf); 389 390 PetscErrorCode ComputeL2Projection(Vec source_vec, Vec target_vec, OperatorApplyContext rhs_matop_ctx, KSP ksp); 391 392 PetscErrorCode NodalProjectionDataDestroy(NodalProjectionData context); 393 394 PetscErrorCode PHASTADatFileOpen(const MPI_Comm comm, const char path[PETSC_MAX_PATH_LEN], const PetscInt char_array_len, PetscInt dims[2], 395 FILE **fp); 396 397 PetscErrorCode PHASTADatFileGetNRows(const MPI_Comm comm, const char path[PETSC_MAX_PATH_LEN], PetscInt *nrows); 398 399 PetscErrorCode PHASTADatFileReadToArrayReal(const MPI_Comm comm, const char path[PETSC_MAX_PATH_LEN], PetscReal array[]); 400 401 // ----------------------------------------------------------------------------- 402 // Turbulence Statistics Collection Functions 403 // ----------------------------------------------------------------------------- 404 405 PetscErrorCode TurbulenceStatisticsSetup(Ceed ceed, User user, CeedData ceed_data, ProblemData *problem); 406 PetscErrorCode TSMonitor_TurbulenceStatistics(TS ts, PetscInt steps, PetscReal solution_time, Vec Q, void *ctx); 407 PetscErrorCode TurbulenceStatisticsDestroy(User user, CeedData ceed_data); 408 409 // ----------------------------------------------------------------------------- 410 // Data-Driven Subgrid Stress (DD-SGS) Modeling Functions 411 // ----------------------------------------------------------------------------- 412 413 PetscErrorCode SGS_DD_ModelSetup(Ceed ceed, User user, CeedData ceed_data, ProblemData *problem); 414 PetscErrorCode SGS_DD_DataDestroy(SGS_DD_Data sgs_dd_data); 415 PetscErrorCode SGS_DD_ModelApplyIFunction(User user, const Vec Q_loc, Vec G_loc); 416 PetscErrorCode VelocityGradientProjectionSetup(Ceed ceed, User user, CeedData ceed_data, ProblemData *problem); 417 PetscErrorCode VelocityGradientProjectionApply(User user, Vec Q_loc, Vec VelocityGradient); 418 PetscErrorCode GridAnisotropyTensorProjectionSetupApply(Ceed ceed, User user, CeedData ceed_data, CeedElemRestriction *elem_restr_grid_aniso, 419 CeedVector *grid_aniso_vector); 420 PetscErrorCode GridAnisotropyTensorCalculateCollocatedVector(Ceed ceed, User user, CeedData ceed_data, CeedElemRestriction *elem_restr_grid_aniso, 421 CeedVector *aniso_colloc_ceed, PetscInt *num_comp_aniso); 422 423 // ----------------------------------------------------------------------------- 424 // Boundary Condition Related Functions 425 // ----------------------------------------------------------------------------- 426 427 // Setup StrongBCs that use QFunctions 428 PetscErrorCode SetupStrongBC_Ceed(Ceed ceed, CeedData ceed_data, DM dm, User user, ProblemData *problem, SimpleBC bc, CeedInt Q_sur, 429 CeedInt q_data_size_sur); 430 431 PetscErrorCode FreestreamBCSetup(ProblemData *problem, DM dm, void *ctx, NewtonianIdealGasContext newtonian_ig_ctx, const StatePrimitive *reference); 432 PetscErrorCode OutflowBCSetup(ProblemData *problem, DM dm, void *ctx, NewtonianIdealGasContext newtonian_ig_ctx, const StatePrimitive *reference); 433 434 // ----------------------------------------------------------------------------- 435 // Differential Filtering Functions 436 // ----------------------------------------------------------------------------- 437 438 PetscErrorCode DifferentialFilterSetup(Ceed ceed, User user, CeedData ceed_data, ProblemData *problem); 439 PetscErrorCode DifferentialFilterDataDestroy(DiffFilterData diff_filter); 440 PetscErrorCode TSMonitor_DifferentialFilter(TS ts, PetscInt steps, PetscReal solution_time, Vec Q, void *ctx); 441 PetscErrorCode DifferentialFilterApply(User user, const PetscReal solution_time, const Vec Q, Vec Filtered_Solution); 442 443 #endif // libceed_fluids_examples_navier_stokes_h 444