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Add Modelica code to ThermalFluid Benchmark #949

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cf61446
Add Modelica code to ThermalFluid Benchmark
ChrisRackauckas Jun 4, 2024
2c17ccd
Setup the OpenModelica code
ChrisRackauckas Jun 4, 2024
60865ce
Fix OMJulia version
ChrisRackauckas Jun 4, 2024
a3aa807
ci: install OpenModelica for benchmarks that require it
thazhemadam Jun 4, 2024
9354fd2
add other codes
ChrisRackauckas Jun 4, 2024
5405f9c
Merge branch 'ChrisRackauckas-patch-1' of https://github.com/SciML/Sc…
ChrisRackauckas Jun 4, 2024
0ebae9e
Fix initial conditions
ChrisRackauckas Jun 4, 2024
8e1b00c
Add ODE solver
ChrisRackauckas Jun 4, 2024
df5cb8a
log scale
ChrisRackauckas Jun 4, 2024
a0498dd
Update benchmarks/ModelingToolkit/ThermalFluid.jmd
ChrisRackauckas Jun 5, 2024
3125bf8
Create DymolaTiming.mos
ChrisRackauckas Jun 5, 2024
75e3e73
typo
ChrisRackauckas Jun 5, 2024
d2d81e7
Find what stalled
ChrisRackauckas Jun 5, 2024
27c3007
Update benchmarks/ModelingToolkit/ThermalFluid.jmd
ChrisRackauckas Jun 5, 2024
0e66427
add missing dependencies
ChrisRackauckas Jun 5, 2024
57e4890
Update benchmarks/ModelingToolkit/ThermalFluid.jmd
ChrisRackauckas Jun 5, 2024
efe919d
Update ThermalFluid.jmd
ChrisRackauckas Jun 5, 2024
c1d8595
Update ThermalFluid.jmd
ChrisRackauckas Jun 5, 2024
0a13232
Cut MTKSystem on the high end
ChrisRackauckas Jun 5, 2024
4b925bc
See if this fixes forward diff
ChrisRackauckas Jun 6, 2024
f6e41d6
dumb
ChrisRackauckas Jun 6, 2024
0938bf4
debug
thazhemadam Jun 10, 2024
4f3316b
Update benchmarks/ModelingToolkit/ThermalFluid.jmd
ChrisRackauckas Jun 10, 2024
ba9e550
Update benchmarks/ModelingToolkit/DhnControl.mo
ChrisRackauckas Jun 11, 2024
5e9257f
ci: debug
thazhemadam Jun 11, 2024
d9fc3b9
Update ThermalFluid.jmd
ChrisRackauckas Jun 11, 2024
603ead1
ci: use a rootfs image with openmodelica preinstalled
thazhemadam Jun 12, 2024
863ff82
trigger tests
thazhemadam Jun 12, 2024
238d9d2
force syncing in OpenModelica calls
ChrisRackauckas Jun 12, 2024
d898b21
Update ThermalFluid.jmd
ChrisRackauckas Jun 13, 2024
72553d5
Update ThermalFluid.jmd
ChrisRackauckas Jun 14, 2024
83f0d70
Merge branch 'master' into ChrisRackauckas-patch-1
ChrisRackauckas Jun 14, 2024
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27 changes: 27 additions & 0 deletions .buildkite/build_benchmark.sh
Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
set -euo pipefail

JULIAHUBREGISTRY_BENCHMARK_TARGETS=(benchmarks/ModelingToolkit/)
OPENMODELICA_BENCHMARK_TARGETS=(benchmarks/ModelingToolkit/)

if [[ "${JULIAHUBREGISTRY_BENCHMARK_TARGETS[*]}" =~ "${1}" ]]; then
echo "--- :julia: Adding JuliaHubRegistry"
Expand All @@ -13,6 +14,32 @@ if [[ "${JULIAHUBREGISTRY_BENCHMARK_TARGETS[*]}" =~ "${1}" ]]; then
julia -e 'using Pkg; Pkg.Registry.add(); Pkg.Registry.status()'
fi

if [[ "${OPENMODELICA_BENCHMARK_TARGETS[*]}" =~ "${1}" ]]; then
echo "--- :toolbox: Installing OpenModelica"
sudo apt-get update
sudo apt-get install --yes ca-certificates curl gnupg
sudo curl -fsSL http://build.openmodelica.org/apt/openmodelica.asc | gpg --dearmor -o /usr/share/keyrings/openmodelica-keyring.gpg

echo "deb [arch=amd64 signed-by=/usr/share/keyrings/openmodelica-keyring.gpg] https://build.openmodelica.org/apt \
$(cat /etc/os-release | grep "\(UBUNTU\\|DEBIAN\\|VERSION\)_CODENAME" | sort | cut -d= -f 2 | head -1) stable" \
| sudo tee /etc/apt/sources.list.d/openmodelica.list

sudo apt update
sudo apt install --yes --no-install-recommends omc
sudo apt install --yes libomccpp

useradd -m openmodelicauser
# echo $PATH
whoami
ls -al $(which julia)
ls -l /etc/passwd /etc/group
chmod 644 /etc/passwd
chmod 644 /etc/group
ls -l /etc/passwd /etc/group
chmod u+ws /bin/su
su openmodelicauser --session-command whoami
fi

# Instantiate, to install the overall project dependencies, and `build()` for conda
echo "--- :julia: Instantiate"
julia --project=. -e 'using Pkg; Pkg.instantiate(); Pkg.build()'
Expand Down
3 changes: 1 addition & 2 deletions .buildkite/launch_benchmarks.yml.signature
Original file line number Diff line number Diff line change
@@ -1,2 +1 @@
Salted__�1�����6�H� �z)��-h�}[$>�W���^������f�ώfvc
L��x�9�n�S�m��Ý(e^��Fg��u�����qD��C
Salted__���O�������*��Ԏ�J�>X:p��L`�8��x��*)ޡ�Y� �r�wj�O�C��U�~^�¥M�VɃ�S�v�E%�
Expand Down
5 changes: 3 additions & 2 deletions .buildkite/run_benchmark.yml
Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,9 @@ steps:
- JuliaCI/julia#v1:
version: "1.10"
- staticfloat/sandbox:
rootfs_url: "https://github.com/ven-k/Placeholder/releases/download/v0.23.0/aws_uploader.x86_64.tar.gz"
rootfs_treehash: "d46b35aa927024de8729d63fde18442a0a590e62"
rootfs_url: "https://github.com/ven-k/Placeholder/releases/download/v0.30.0/super_set_image.x86_64.tar.gz"
rootfs_treehash: "088a99926b4bfde227ddcf49f239ed484f013cbf"
uid: 1000
workspaces:
# Include the julia we just downloaded
- "/cache/julia-buildkite-plugin:/cache/julia-buildkite-plugin"
Expand Down
305 changes: 305 additions & 0 deletions benchmarks/ModelingToolkit/DhnControl.mo

Large diffs are not rendered by default.

53 changes: 53 additions & 0 deletions benchmarks/ModelingToolkit/DymolaTiming.mos
Original file line number Diff line number Diff line change
@@ -0,0 +1,53 @@
import Modelica.Utilities.Streams.print;
import DhnControl.TimingFunctions.tic;
dir = "ThermalFluid_Benchmark"
// Load the test model file
openModel(dir + "DhnControl.mo");
testFolder = "DhnControl.Test.";
testModels = {
"test_preinsulated_470_5",
"test_preinsulated_470_10",
"test_preinsulated_470_20",
"test_preinsulated_470_40",
"test_preinsulated_470_60",
"test_preinsulated_470_80",
"test_preinsulated_470_160",
"test_preinsulated_470_320",
"test_preinsulated_470_480",
"test_preinsulated_470_640",
"test_preinsulated_470_800",
"test_preinsulated_470_960",
"test_preinsulated_470_1280"
};

outputFile = dir + "benchmark_results.txt"

// Clear the output file at the beginning
print("", fileName=outputFile);
// Loop over each test model
for i in 1:size(testModels, 1) loop
testName = testFolder + testModels[i];

// Start the timer
startTime := tic();

// Translate the model
translateModel(testName);

translateEndTime := tic();
// Simulate the model
simulateModel(testName);

// Stop the timer
endTime := tic();

// Calculate the elapsed time
translationTime := translateEndTime - startTime;
simulationTime := endTime - startTime;

// Prepare the output string
outputString = "Test: " + testModels[i] + ", " + String(translationTime) + ", " + String(simulationTime);

// Print the test name and simulation time to the output file
print(outputString, fileName=outputFile);
end for;
6 changes: 6 additions & 0 deletions benchmarks/ModelingToolkit/Project.toml
Original file line number Diff line number Diff line change
Expand Up @@ -5,18 +5,24 @@ JuliaSimCompiler = "0.1.9"
JuliaSimCompilerRuntime = "1.0.0"
LinearSolve = "2.30.0"
ModelingToolkit = "9.15.0"
OMJulia = "0.3.1"
OrdinaryDiffEq = "6.80.0"
Polynomials = "4.0.8"
PreferenceTools = "0.1.2"
SciMLBenchmarks = "0.1.3"
Symbolics = "5.28.0"

[deps]
BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
CSV = "336ed68f-0bac-5ca0-87d4-7b16caf5d00b"
CairoMakie = "13f3f980-e62b-5c42-98c6-ff1f3baf88f0"
DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
JuliaSimCompiler = "8391cb6b-4921-5777-4e45-fd9aab8cb88d"
JuliaSimCompilerRuntime = "9cbdfd5a-25c0-4dde-8b55-206f91b28bd9"
LinearSolve = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae"
ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
OMJulia = "0f4fe800-344e-11e9-2949-fb537ad918e1"
OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
Polynomials = "f27b6e38-b328-58d1-80ce-0feddd5e7a45"
PreferenceTools = "ba661fbb-e901-4445-b070-854aec6bfbc5"
SciMLBenchmarks = "31c91b34-3c75-11e9-0341-95557aab0344"
Expand Down
149 changes: 128 additions & 21 deletions benchmarks/ModelingToolkit/ThermalFluid.jmd
Original file line number Diff line number Diff line change
@@ -1,16 +1,22 @@
---
title: Thermal Fluid ODE Compilation and Perf
author: Libor Kudela, Yingbo Ma, Chris Elrod
author: Libor Kudela, Yingbo Ma, Chris Elrod, Chris Rackauckas
---

This is a 1D advection-diffusion-source PDE that uses a second order upwind scheme.
This is a 1D advection-diffusion-source PDE that uses a second order upwind scheme.

```julia
using Pkg
# Rev fixes precompilation https://github.com/hzgzh/XSteam.jl/pull/2
Pkg.add(Pkg.PackageSpec(;name="XSteam", rev="f2a1c589054cfd6bba307985a3a534b6f5a1863b"))

using ModelingToolkit, JuliaSimCompiler, Symbolics, XSteam, Polynomials, BenchmarkTools, CairoMakie
using OMJulia, OrdinaryDiffEq
```

## Setup Julia Code

```julia
# o o o o o o o < heat capacitors
# | | | | | | | < heat conductors
# o o o o o o o
Expand Down Expand Up @@ -53,7 +59,7 @@ end
#Taylor-aris dispersion model
function Dxx_coeff(u, d, T)
Re = abs(u) * d / kin_visc_T(T) + 0.1
if Re < 1000
if Re < 1000.0
(d^2 / 4) * u^2 / 48 / 0.14e-6
else
d * u * (1.17e9 * Re^(-2.5) + 0.41)
Expand All @@ -63,9 +69,9 @@ end
@register_symbolic Nusselt(Re, Pr, f)
#Nusselt number model
function Nusselt(Re, Pr, f)
if Re <= 2300
if Re <= 2300.0
3.66
elseif Re <= 3100
elseif Re <= 3100.0
3.5239 * (Re / 1000)^4 - 45.158 * (Re / 1000)^3 + 212.13 * (Re / 1000)^2 - 427.45 * (Re / 1000) + 316.08
else
f / 8 * ((Re - 1000) * Pr) / (1 + 12.7 * (f / 8)^(1 / 2) * (Pr^(2 / 3) - 1))
Expand Down Expand Up @@ -242,8 +248,6 @@ function TestBenchPreinsulated(; name, L=1.0, dn=0.05, t_layer=[0.0056, 0.013],
compose(ODESystem(eqs, t, [], []; name=name), subs)
end



function build_system(fsys, N)
N >= 4 || throw("Problem sizes smaller than 4 not supported; received $N.")
@named testbench = TestBenchPreinsulated(; L=470, N, dn=0.3127, t_layer=[0.0056, 0.058])
Expand Down Expand Up @@ -278,6 +282,33 @@ function build_run_problem(fsys, N; target=JuliaSimCompiler.JuliaTarget())
t_ss, t_fode, t_run
end

function test_speed(fsys, N; solver=FBDF(), target=JuliaSimCompiler.JuliaTarget())
tspan = (0.0, 19*3600)
t_total = @elapsed begin
@named testbench = TestBenchPreinsulated(L=470, N=N, dn=0.3127, t_layer=[0.0056, 0.058])
sys = structural_simplify(fsys(testbench))
if target === JuliaSimCompiler.JuliaTarget()
prob = ODEProblem(sys, [], tspan, sparse=true)
else
prob = ODEProblem(sys, target, [], tspan, sparse=true)
end
prob.u0 .= 12.0
solve(prob, solver, reltol=1e-6, abstol=1e-6, saveat=100);
end
end
```

```julia
N_x = [5, 10, 20, 40, 60, 80, 160, 320, 480, 640, 800, 960, 1280];
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N_states = 4 .* N_x; # x-axis for plots
ss_times = Matrix{Float64}(undef, length(N_x), 2);
times = Matrix{NTuple{2,Float64}}(undef, length(N_x), 4);
total_times = Matrix{Float64}(undef, length(N_x), 6);
```

## Time Julia

```julia
using JuliaSimCompiler: IRSystem
const MTKSystem = identity
const CBackend = JuliaSimCompiler.CTarget();
Expand All @@ -288,41 +319,117 @@ const LLVMBackend = JuliaSimCompiler.llvm.LLVMTarget();
@time build_run_problem(IRSystem, 4; target=CBackend)
@time build_run_problem(IRSystem, 4; target=LLVMBackend)

N_x = [5, 10, 20, 40, 60, 80, 160, 320, 480, 640, 800, 960];
N_states = 4 .* N_x; # x-axis for plots
@show "Start Julia Timings"

ss_times = Matrix{Float64}(undef, length(N_x), 2);
times = Matrix{NTuple{2,Float64}}(undef, length(N_x), 4);
for (i, N_x_i) in enumerate(N_x)
@show i
ss_times[i, 1], sys_mtk = build_system(MTKSystem, N_x_i)
ss_times[i, 2], sys_jsir = build_system(IRSystem, N_x_i)
times[i, 1] = compile_run_problem(sys_mtk)
times[i, 2] = compile_run_problem(sys_jsir)
times[i, 3] = compile_run_problem(sys_jsir, target=CBackend)
times[i, 4] = compile_run_problem(sys_jsir, target=LLVMBackend)
@show N_x_i, ss_times[i, :], times[i, :]

if N_x_i >= 480
total_times[i, 1] = NaN
else
total_times[i, 1] = test_speed(MTKSystem, N_x_i)
end
total_times[i, 2] = test_speed(IRSystem, N_x_i)
total_times[i, 3] = test_speed(IRSystem, N_x_i, target=CBackend)
total_times[i, 4] = test_speed(IRSystem, N_x_i, target=LLVMBackend)

@show N_x_i, ss_times[i, :], times[i, :], total_times[i, :]
end
```

## Time OpenModelica

```julia
using OMJulia, CSV, DataFrames
mod = OMJulia.OMCSession();
OMJulia.sendExpression(mod, "getVersion()")
modelicafile = "../../benchmarks/ModelingToolkit/DhnControl.mo"
resultfile = "modelica_res.csv"

@show "Start OpenModelica Timings"

for N in N_x
@show N
totaltime = @elapsed res = begin
ModelicaSystem(mod, modelicafile, "DhnControl.Test.test_preinsulated_470_$N")
sendExpression(mod, "simulate(DhnControl.Test.test_preinsulated_470_$N)")
end
#runtime = res["timeTotal"]
@assert res["messages"][1:11] == "LOG_SUCCESS"
total_times[i, 5] = totaltime
end

OMJulia.quit(mod)
# Just to see if other parts are working
total_times[:, 5] = total_times[:, 1]
```

## Time Dymola

f = Figure();
let ax = Axis(f[1, 1]; title="Structural Simplify Time")
for (j, label) in enumerate(("MTK", "JSIR"))
Dymola requires a license server and thus cannot be hosted. This was run locally for the
following times:

```julia
translation_and_total_times = [1.802 1.921
1.78 1.846
1.84 1.877
2.028 2.075
2.221 2.283
2.409 2.496
3.189 3.427
4.758 5.577
6.39 8.128
8.052 11.026
9.707 14.393
11.411 17.752
15.094 27.268]
total_times[:, 6] = translation_and_total_times[1:length(N_x),2]
```

## Generate Final Plots

```julia
f = Figure(size = (800, 1200));
let ax = Axis(f[1, 1]; yscale = log10, xscale = log10, title="Structural Simplify Time")
names = ["MTK", "JSIR"]
_lines = map(enumerate(names)) do (j, label)
ts = @view(ss_times[:, j])
lines!(N_states, ts; label)
lines!(N_states, ts)
end
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axislegend(ax)
Legend(f[1,2], _lines, names)
end
for (i, timecat) in enumerate(("ODEProblem + f!", "Run"))
title = timecat * " Time"
ax = Axis(f[i+1, 1]; title)
for (j, label) in enumerate(("MTK", "JSIR - Julia", "JSIR - C", "JSIR - LLVM"))
ax = Axis(f[i+1, 1]; yscale = log10, xscale = log10, title)
names = ["MTK", "JSIR - Julia", "JSIR - C", "JSIR - LLVM"]
_lines = map(enumerate(names)) do (j, label)
ts = getindex.(@view(times[:, j]), i)
lines!(N_states, ts; label)
lines!(N_states, ts)
end
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axislegend(ax)
Legend(f[i+1,2], _lines, names)
end
f
```

```julia
f2 = Figure(size = (800, 400));
title = "Total Time: Thermal Fluid Benchmark"
ax = Axis(f2[1, 1]; yscale = log10, xscale = log10, title)
names = ["MTK", "JSIR - Julia", "JSIR - C", "JSIR - LLVM", "OpenModelica", "Dymola"]
_lines = map(enumerate(names)) do (j, label)
ts = @view(total_times[:, j])
lines!(N_states, ts)
end
Legend(f2[1,2], _lines, names)
f2
```

## Appendix

```julia, echo = false
Expand Down