Merge pull request #113 from avik-pal/ap/polyester_mode

Add Polyester ForwardDiff support

Project.toml

@@ -1,7 +1,7 @@
 name = "SimpleNonlinearSolve"
 uuid = "727e6d20-b764-4bd8-a329-72de5adea6c7"
 authors = ["SciML"]
-version = "1.0.4"
+version = "1.1.0"
 
 [deps]
 ADTypes = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
@@ -17,8 +17,14 @@ Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 SciMLBase = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
 StaticArraysCore = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
 
+[extensions]
+SimpleNonlinearSolvePolyesterForwardDiffExt = "PolyesterForwardDiff"
+
+[weakdeps]
+PolyesterForwardDiff = "98d1487c-24ca-40b6-b7ab-df2af84e126b"
+
 [compat]
-ADTypes = "0.2"
+ADTypes = "0.2.6"
 ArrayInterface = "7"
 ConcreteStructs = "0.2"
 DiffEqBase = "6.126"

ext/SimpleNonlinearSolvePolyesterForwardDiffExt.jl

@@ -0,0 +1,19 @@
+module SimpleNonlinearSolvePolyesterForwardDiffExt
+
+using SimpleNonlinearSolve, PolyesterForwardDiff
+
+@inline SimpleNonlinearSolve.__is_extension_loaded(::Val{:PolyesterForwardDiff}) = true
+
+@inline function SimpleNonlinearSolve.__polyester_forwarddiff_jacobian!(f!::F, y, J, x,
+        chunksize) where {F}
+    PolyesterForwardDiff.threaded_jacobian!(f!, y, J, x, chunksize)
+    return J
+end
+
+@inline function SimpleNonlinearSolve.__polyester_forwarddiff_jacobian!(f::F, J, x,
+        chunksize) where {F}
+    PolyesterForwardDiff.threaded_jacobian!(f, J, x, chunksize)
+    return J
+end
+
+end

src/SimpleNonlinearSolve.jl

@@ -9,7 +9,7 @@ import PrecompileTools: @compile_workload, @setup_workload, @recompile_invalidat
     import DiffEqBase: AbstractNonlinearTerminationMode,
         AbstractSafeNonlinearTerminationMode, AbstractSafeBestNonlinearTerminationMode,
         NonlinearSafeTerminationReturnCode, get_termination_mode,
-        NONLINEARSOLVE_DEFAULT_NORM
+        NONLINEARSOLVE_DEFAULT_NORM, _get_tolerance
     using FiniteDiff, ForwardDiff
     import ForwardDiff: Dual
     import MaybeInplace: @bb, setindex_trait, CanSetindex, CannotSetindex
@@ -23,6 +23,8 @@ abstract type AbstractSimpleNonlinearSolveAlgorithm <: AbstractNonlinearAlgorith
 abstract type AbstractBracketingAlgorithm <: AbstractSimpleNonlinearSolveAlgorithm end
 abstract type AbstractNewtonAlgorithm <: AbstractSimpleNonlinearSolveAlgorithm end
 
+@inline __is_extension_loaded(::Val) = false
+
 include("utils.jl")
 
 ## Nonlinear Solvers

src/nlsolve/halley.jl

@@ -12,15 +12,15 @@ A low-overhead implementation of Halley's Method.
 
 ### Keyword Arguments
 
-  - `autodiff`: determines the backend used for the Hessian. Defaults to
-    `AutoForwardDiff()`. Valid choices are `AutoForwardDiff()` or `AutoFiniteDiff()`.
+  - `autodiff`: determines the backend used for the Hessian. Defaults to `nothing`. Valid
+    choices are `AutoForwardDiff()` or `AutoFiniteDiff()`.
 
 !!! warning
 
     Inplace Problems are currently not supported by this method.
 """
 @kwdef @concrete struct SimpleHalley <: AbstractNewtonAlgorithm
-    autodiff = AutoForwardDiff()
+    autodiff = nothing
 end
 
 function SciMLBase.__solve(prob::NonlinearProblem, alg::SimpleHalley, args...;
@@ -33,6 +33,7 @@ function SciMLBase.__solve(prob::NonlinearProblem, alg::SimpleHalley, args...;
     fx = _get_fx(prob, x)
     T = eltype(x)
 
+    autodiff = __get_concrete_autodiff(prob, alg.autodiff; polyester = Val(false))
     abstol, reltol, tc_cache = init_termination_cache(abstol, reltol, fx, x,
         termination_condition)
 
@@ -50,17 +51,20 @@ function SciMLBase.__solve(prob::NonlinearProblem, alg::SimpleHalley, args...;
 
     for i in 1:maxiters
         # Hessian Computation is unfortunately type unstable
-        fx, dfx, d2fx = compute_jacobian_and_hessian(alg.autodiff, prob, fx, x)
+        fx, dfx, d2fx = compute_jacobian_and_hessian(autodiff, prob, fx, x)
         setindex_trait(x) === CannotSetindex() && (A = dfx)
 
-        aᵢ = dfx \ _vec(fx)
+        # Factorize Once and Reuse
+        dfx_fact = factorize(dfx)
+
+        aᵢ = dfx_fact \ _vec(fx)
         A_ = _vec(A)
         @bb A_ = d2fx × aᵢ
         A = _restructure(A, A_)
 
         @bb Aaᵢ = A × aᵢ
         @bb A .*= -1
-        bᵢ = dfx \ Aaᵢ
+        bᵢ = dfx_fact \ Aaᵢ
 
         cᵢ_ = _vec(cᵢ)
         @bb @. cᵢ_ = (aᵢ * aᵢ) / (-aᵢ + (T(0.5) * bᵢ))

src/nlsolve/raphson.jl

@@ -1,6 +1,6 @@
 """
     SimpleNewtonRaphson(autodiff)
-    SimpleNewtonRaphson(; autodiff = AutoForwardDiff())
+    SimpleNewtonRaphson(; autodiff = nothing)
 
 A low-overhead implementation of Newton-Raphson. This method is non-allocating on scalar
 and static array problems.
@@ -14,10 +14,11 @@ and static array problems.
 ### Keyword Arguments
 
   - `autodiff`: determines the backend used for the Jacobian. Defaults to
-    `AutoForwardDiff()`. Valid choices are `AutoForwardDiff()` or `AutoFiniteDiff()`.
+    `nothing`. Valid choices are `AutoPolyesterForwardDiff()`, `AutoForwardDiff()` or
+    `AutoFiniteDiff()`.
 """
 @kwdef @concrete struct SimpleNewtonRaphson <: AbstractNewtonAlgorithm
-    autodiff = AutoForwardDiff()
+    autodiff = nothing
 end
 
 const SimpleGaussNewton = SimpleNewtonRaphson
@@ -27,14 +28,15 @@ function SciMLBase.__solve(prob::Union{NonlinearProblem, NonlinearLeastSquaresPr
         maxiters = 1000, termination_condition = nothing, alias_u0 = false, kwargs...)
     x = __maybe_unaliased(prob.u0, alias_u0)
     fx = _get_fx(prob, x)
+    autodiff = __get_concrete_autodiff(prob, alg.autodiff)
     @bb xo = copy(x)
-    J, jac_cache = jacobian_cache(alg.autodiff, prob.f, fx, x, prob.p)
+    J, jac_cache = jacobian_cache(autodiff, prob.f, fx, x, prob.p)
 
     abstol, reltol, tc_cache = init_termination_cache(abstol, reltol, fx, x,
         termination_condition)
 
     for i in 1:maxiters
-        fx, dfx = value_and_jacobian(alg.autodiff, prob.f, fx, x, prob.p, jac_cache; J)
+        fx, dfx = value_and_jacobian(autodiff, prob.f, fx, x, prob.p, jac_cache; J)
 
         if i == 1
             iszero(fx) && build_solution(prob, alg, x, fx; retcode = ReturnCode.Success)

src/nlsolve/trustRegion.jl

@@ -10,7 +10,8 @@ scalar and static array problems.
 ### Keyword Arguments
 
   - `autodiff`: determines the backend used for the Jacobian. Defaults to
-    `AutoForwardDiff()`. Valid choices are `AutoForwardDiff()` or `AutoFiniteDiff()`.
+    `nothing`. Valid choices are `AutoPolyesterForwardDiff()`, `AutoForwardDiff()` or
+    `AutoFiniteDiff()`.
   - `max_trust_radius`: the maximum radius of the trust region. Defaults to
     `max(norm(f(u0)), maximum(u0) - minimum(u0))`.
   - `initial_trust_radius`: the initial trust region radius. Defaults to
@@ -37,7 +38,7 @@ scalar and static array problems.
     row, `max_shrink_times` is exceeded, the algorithm returns. Defaults to `32`.
 """
 @kwdef @concrete struct SimpleTrustRegion <: AbstractNewtonAlgorithm
-    autodiff = AutoForwardDiff()
+    autodiff = nothing
     max_trust_radius = 0.0
     initial_trust_radius = 0.0
     step_threshold = 0.0001
@@ -61,11 +62,12 @@ function SciMLBase.__solve(prob::NonlinearProblem, alg::SimpleTrustRegion, args.
     t₁ = T(alg.shrink_factor)
     t₂ = T(alg.expand_factor)
     max_shrink_times = alg.max_shrink_times
+    autodiff = __get_concrete_autodiff(prob, alg.autodiff)
 
     fx = _get_fx(prob, x)
     @bb xo = copy(x)
-    J, jac_cache = jacobian_cache(alg.autodiff, prob.f, fx, x, prob.p)
-    fx, ∇f = value_and_jacobian(alg.autodiff, prob.f, fx, x, prob.p, jac_cache; J)
+    J, jac_cache = jacobian_cache(autodiff, prob.f, fx, x, prob.p)
+    fx, ∇f = value_and_jacobian(autodiff, prob.f, fx, x, prob.p, jac_cache; J)
 
     abstol, reltol, tc_cache = init_termination_cache(abstol, reltol, fx, x,
         termination_condition)
@@ -116,7 +118,7 @@ function SciMLBase.__solve(prob::NonlinearProblem, alg::SimpleTrustRegion, args.
             # Take the step.
             @bb @. xo = x
 
-            fx, ∇f = value_and_jacobian(alg.autodiff, prob.f, fx, x, prob.p, jac_cache; J)
+            fx, ∇f = value_and_jacobian(autodiff, prob.f, fx, x, prob.p, jac_cache; J)
 
             # Update the trust region radius.
             (r > η₃) && (norm(δ) ≈ Δ) && (Δ = min(t₂ * Δ, Δₘₐₓ))

src/utils.jl

@@ -26,15 +26,6 @@ Return the maximum of `a` and `b` if `x1 > x0`, otherwise return the minimum.
 """
 __max_tdir(a, b, x0, x1) = ifelse(x1 > x0, max(a, b), min(a, b))
 
-__cvt_real(::Type{T}, ::Nothing) where {T} = nothing
-__cvt_real(::Type{T}, x) where {T} = real(T(x))
-
-_get_tolerance(η, ::Type{T}) where {T} = __cvt_real(T, η)
-function _get_tolerance(::Nothing, ::Type{T}) where {T}
-    η = real(oneunit(T)) * (eps(real(one(T))))^(4 // 5)
-    return _get_tolerance(η, T)
-end
-
 __standard_tag(::Nothing, x) = ForwardDiff.Tag(SimpleNonlinearSolveTag(), eltype(x))
 __standard_tag(tag::ForwardDiff.Tag, _) = tag
 __standard_tag(tag, x) = ForwardDiff.Tag(tag, eltype(x))
@@ -60,6 +51,12 @@ function __get_jacobian_config(ad::AutoForwardDiff{CS}, f!, y, x) where {CS}
     return ForwardDiff.JacobianConfig(f!, y, x, ck, tag)
 end
 
+function __get_jacobian_config(ad::AutoPolyesterForwardDiff{CS}, args...) where {CS}
+    x = last(args)
+    return (CS === nothing || CS ≤ 0) ? __pick_forwarddiff_chunk(x) :
+           ForwardDiff.Chunk{CS}()
+end
+
 """
     value_and_jacobian(ad, f, y, x, p, cache; J = nothing)
 
@@ -81,6 +78,9 @@ function value_and_jacobian(ad, f::F, y, x::X, p, cache; J = nothing) where {F,
             FiniteDiff.finite_difference_jacobian!(J, _f, x, cache)
             _f(y, x)
             return y, J
+        elseif ad isa AutoPolyesterForwardDiff
+            __polyester_forwarddiff_jacobian!(_f, y, J, x, cache)
+            return y, J
         else
             throw(ArgumentError("Unsupported AD method: $(ad)"))
         end
@@ -100,19 +100,30 @@ function value_and_jacobian(ad, f::F, y, x::X, p, cache; J = nothing) where {F,
         elseif ad isa AutoFiniteDiff
             J_fd = FiniteDiff.finite_difference_jacobian(_f, x, cache)
             return _f(x), J_fd
+        elseif ad isa AutoPolyesterForwardDiff
+            __polyester_forwarddiff_jacobian!(_f, J, x, cache)
+            return _f(x), J
         else
             throw(ArgumentError("Unsupported AD method: $(ad)"))
         end
     end
 end
 
+# Declare functions
+function __polyester_forwarddiff_jacobian! end
+
 function value_and_jacobian(ad, f::F, y, x::Number, p, cache; J = nothing) where {F}
     if DiffEqBase.has_jac(f)
         return f(x, p), f.jac(x, p)
     elseif ad isa AutoForwardDiff
         T = typeof(__standard_tag(ad.tag, x))
         out = f(ForwardDiff.Dual{T}(x, one(x)), p)
         return ForwardDiff.value(out), ForwardDiff.extract_derivative(T, out)
+    elseif ad isa AutoPolyesterForwardDiff
+        # Just use ForwardDiff
+        T = typeof(__standard_tag(nothing, x))
+        out = f(ForwardDiff.Dual{T}(x, one(x)), p)
+        return ForwardDiff.value(out), ForwardDiff.extract_derivative(T, out)
     elseif ad isa AutoFiniteDiff
         _f = Base.Fix2(f, p)
         return _f(x), FiniteDiff.finite_difference_derivative(_f, x, ad.fdtype)
@@ -132,7 +143,7 @@ function jacobian_cache(ad, f::F, y, x::X, p) where {F, X <: AbstractArray}
         J = similar(y, length(y), length(x))
         if DiffEqBase.has_jac(f)
             return J, nothing
-        elseif ad isa AutoForwardDiff
+        elseif ad isa AutoForwardDiff || ad isa AutoPolyesterForwardDiff
             return J, __get_jacobian_config(ad, _f, y, x)
         elseif ad isa AutoFiniteDiff
             return J, FiniteDiff.JacobianCache(copy(x), copy(y), copy(y), ad.fdtype)
@@ -146,6 +157,10 @@ function jacobian_cache(ad, f::F, y, x::X, p) where {F, X <: AbstractArray}
         elseif ad isa AutoForwardDiff
             J = ArrayInterface.can_setindex(x) ? similar(y, length(y), length(x)) : nothing
             return J, __get_jacobian_config(ad, _f, x)
+        elseif ad isa AutoPolyesterForwardDiff
+            @assert ArrayInterface.can_setindex(x) "PolyesterForwardDiff requires mutable inputs. Use AutoForwardDiff instead."
+            J = similar(y, length(y), length(x))
+            return J, __get_jacobian_config(ad, _f, x)
         elseif ad isa AutoFiniteDiff
             return nothing, FiniteDiff.JacobianCache(copy(x), copy(y), copy(y), ad.fdtype)
         else
@@ -350,3 +365,19 @@ end
     (alias || !ArrayInterface.can_setindex(typeof(x))) && return x
     return deepcopy(x)
 end
+
+# Decide which AD backend to use
+@inline __get_concrete_autodiff(prob, ad::ADTypes.AbstractADType; kwargs...) = ad
+@inline function __get_concrete_autodiff(prob, ::Nothing; polyester::Val{P} = Val(true),
+        kwargs...) where {P}
+    if ForwardDiff.can_dual(eltype(prob.u0))
+        if P && __is_extension_loaded(Val(:PolyesterForwardDiff)) &&
+           !(prob.u0 isa Number) && ArrayInterface.can_setindex(prob.u0)
+            return AutoPolyesterForwardDiff()
+        else
+            return AutoForwardDiff()
+        end
+    else
+        return AutoFiniteDiff()
+    end
+end

test/Project.toml

@@ -7,6 +7,7 @@ LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 LinearSolve = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae"
 NonlinearProblemLibrary = "b7050fa9-e91f-4b37-bcee-a89a063da141"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
+PolyesterForwardDiff = "98d1487c-24ca-40b6-b7ab-df2af84e126b"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 SafeTestsets = "1bc83da4-3b8d-516f-aca4-4fe02f6d838f"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"

test/basictests.jl

@@ -1,5 +1,6 @@
 using AllocCheck, BenchmarkTools, LinearSolve, SimpleNonlinearSolve, StaticArrays, Random,
     LinearAlgebra, Test, ForwardDiff, DiffEqBase
+import PolyesterForwardDiff
 
 _nameof(x) = applicable(nameof, x) ? nameof(x) : _nameof(typeof(x))
 
@@ -29,20 +30,21 @@ const TERMINATION_CONDITIONS = [
 @testset "$(alg)" for alg in (SimpleNewtonRaphson, SimpleTrustRegion)
     # Eval else the alg is type unstable
     @eval begin
-        function benchmark_nlsolve_oop(f, u0, p = 2.0; autodiff = AutoForwardDiff())
+        function benchmark_nlsolve_oop(f, u0, p = 2.0; autodiff = nothing)
             prob = NonlinearProblem{false}(f, u0, p)
             return solve(prob, $(alg)(; autodiff), abstol = 1e-9)
         end
 
-        function benchmark_nlsolve_iip(f, u0, p = 2.0; autodiff = AutoForwardDiff())
+        function benchmark_nlsolve_iip(f, u0, p = 2.0; autodiff = nothing)
             prob = NonlinearProblem{true}(f, u0, p)
             return solve(prob, $(alg)(; autodiff), abstol = 1e-9)
         end
     end
 
     @testset "AutoDiff: $(_nameof(autodiff))" for autodiff in (AutoFiniteDiff(),
-        AutoForwardDiff())
+        AutoForwardDiff(), AutoPolyesterForwardDiff())
         @testset "[OOP] u0: $(typeof(u0))" for u0 in ([1.0, 1.0], @SVector[1.0, 1.0], 1.0)
+            u0 isa SVector && autodiff isa AutoPolyesterForwardDiff && continue
             sol = benchmark_nlsolve_oop(quadratic_f, u0; autodiff)
             @test SciMLBase.successful_retcode(sol)
             @test all(abs.(sol.u .* sol.u .- 2) .< 1e-9)
@@ -103,7 +105,7 @@ end
 # --- SimpleHalley tests ---
 
 @testset "SimpleHalley" begin
-    function benchmark_nlsolve_oop(f, u0, p = 2.0; autodiff = AutoForwardDiff())
+    function benchmark_nlsolve_oop(f, u0, p = 2.0; autodiff = nothing)
         prob = NonlinearProblem{false}(f, u0, p)
         return solve(prob, SimpleHalley(; autodiff), abstol = 1e-9)
     end