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Merged
andrew-platt merged 5 commits into from
Apr 24, 2025
Merged

Cleanup LIDAR code #2761

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411bcf8
Lidar cleanup
bjonkman Sep 16, 2024
1cfd03f
lidar: more cleanup
bjonkman Oct 1, 2024
c957577
Lidar + ServoDyn
bjonkman Oct 1, 2024
19c3619
FAST.Farm: fix lidar init inputs
bjonkman Oct 1, 2024
af0d1e4
fix types files
bjonkman Apr 17, 2025
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5 changes: 5 additions & 0 deletions modules/aerodyn/src/AeroDyn_Inflow.f90
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Expand Up @@ -392,6 +392,11 @@ subroutine ADI_InitInflowWind(Root, i_IW, u_AD, o_AD, IW, dt, InitOutData, errSt
! the average values for the entire wind profile must be calculated and stored (we don't know if OLAF
! is used until after AD_Init below).
InitInData%BoxExceedAllow = .true.

!bjj: what about these initialization inputs?
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@andrew-platt andrew-platt Apr 24, 2025

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Good question. I don't know offhand. Thanks for adding the comment -- hopefully we get around to addressing it a some point.

! InitInData%HubPosition
! InitInData%RadAvg

CALL InflowWind_Init( InitInData, IW%u, IW%p, &
IW%x, IW%xd, IW%z, IW%OtherSt, &
IW%y, IW%m, dt, InitOutData, errStat2, errMsg2 )
Expand Down
4 changes: 1 addition & 3 deletions modules/awae/src/AWAE.f90
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Expand Up @@ -909,9 +909,7 @@ subroutine AWAE_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitO
IfW_InitInp%RootName = TRIM(p%OutFileRoot)//'.IfW'
IfW_InitInp%FilePassingMethod = 0_IntKi ! Read IfW input file from disk
IfW_InitInp%InputFileName = InitInp%InputFileData%InflowFile
IfW_InitInp%lidar%Tmax = 0.0_ReKi
IfW_InitInp%lidar%HubPosition = 0.0_ReKi
IfW_InitInp%lidar%SensorType = SensorType_None
IfW_InitInp%HubPosition = 0.0_ReKi
IfW_InitInp%Use4Dext = .false.
IfW_InitInp%MHK = MHK_None
IfW_InitInp%WtrDpth = 0.0_ReKi
Expand Down
27 changes: 5 additions & 22 deletions modules/inflowwind/src/InflowWind.f90
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Expand Up @@ -186,23 +186,8 @@ SUBROUTINE InflowWind_Init( InitInp, InputGuess, p, ContStates, DiscStates, Cons
endif

! initialize sensor data:
p%lidar%SensorType = InputFileData%SensorType
IF (InputFileData%SensorType /= SensorType_None) THEN
p%lidar%NumBeam = InputFileData%NumBeam
p%lidar%RotorApexOffsetPos = InputFileData%RotorApexOffsetPos
p%lidar%LidRadialVel = InputFileData%LidRadialVel
p%lidar%NumPulseGate = InputFileData%NumPulseGate
p%lidar%FocalDistanceX = InputFileData%FocalDistanceX ! these are allocatable. Should allocate then copy
p%lidar%FocalDistanceY = InputFileData%FocalDistanceY
p%lidar%FocalDistanceZ = InputFileData%FocalDistanceZ
p%lidar%MeasurementInterval= InputFileData%MeasurementInterval
p%lidar%PulseSpacing = InputFileData%PulseSpacing
p%lidar%URefLid = InputFileData%URefLid
p%lidar%ConsiderHubMotion = InputFileData%ConsiderHubMotion

CALL Lidar_Init( InitInp, InputGuess, p, ContStates, DiscStates, ConstrStateGuess, OtherStates, &
y, m, TimeInterval, InitOutData, TmpErrStat, TmpErrMsg ); if (Failed()) return
endif
CALL Lidar_Init( InitInp, InputFileData, InputGuess, p, y, m, TimeInterval, TmpErrStat, TmpErrMsg )
if (Failed()) return

! If a summary file was requested, open it.
IF ( InputFileData%SumPrint ) THEN
Expand All @@ -216,7 +201,7 @@ SUBROUTINE InflowWind_Init( InitInp, InputGuess, p, ContStates, DiscStates, Cons
! Allocate the array for passing points
CALL AllocAry( InputGuess%PositionXYZ, 3, InitInp%NumWindPoints, "Array of positions at which to find wind velocities", TmpErrStat, TmpErrMsg ); if (Failed()) return
InputGuess%PositionXYZ = 0.0_ReKi
InputGuess%HubPosition = 0.0_ReKi
InputGuess%HubPosition = InitInp%HubPosition
CALL Eye(InputGuess%HubOrientation,TmpErrStat,TmpErrMsg); if (Failed()) return

! Allocate the array for passing velocities out
Expand Down Expand Up @@ -619,12 +604,10 @@ SUBROUTINE InflowWind_CalcOutput( Time, InputData, p, &
! return sensor values
IF (p%lidar%SensorType /= SensorType_None) THEN

CALL Lidar_CalcOutput(Time, InputData, p, &
ContStates, DiscStates, ConstrStates, OtherStates, &
OutputData, m, TmpErrStat, TmpErrMsg )
CALL Lidar_CalcOutput(Time, InputData, p, OutputData, m, TmpErrStat, TmpErrMsg )
CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )

END IF
END IF


!-----------------------------
Expand Down
4 changes: 2 additions & 2 deletions modules/inflowwind/src/InflowWind.txt
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Expand Up @@ -76,7 +76,7 @@ typedef ^ ^ ReKi PulseSpacin
typedef ^ ^ ReKi MeasurementInterval - - - "Time between each measurement" s
typedef ^ ^ ReKi URefLid - - - "Reference average wind speed for the lidar" m/s
typedef ^ ^ LOGICAL LidRadialVel - - - "TRUE => return radial component, FALSE => return 'x' direction estimate" -
typedef ^ ^ IntKi ConsiderHubMotion - - - "Flag whether or not the hub motion's impact on the Lidar measurement will be considered [0 for no, 1 for yes]" -
typedef ^ ^ IntKi ConsiderHubMotion - - - "whether or not the hub motion's impact on the Lidar measurement will be considered" -
typedef ^ ^ Grid3D_InitInputType FF - - - "scaling data" -


Expand All @@ -92,14 +92,14 @@ typedef ^ ^ IntKi FilePassing
typedef ^ ^ FileInfoType PassedFileInfo - - - "If we don't use the input file, pass everything through this [FilePassingMethod = 1]" -
typedef ^ ^ InflowWind_InputFile PassedFileData - - - "If we don't use the input file, pass everything through this [FilePassingMethod = 2]" -
typedef ^ ^ LOGICAL OutputAccel - .FALSE. - "Flag to output wind acceleration" -
typedef ^ ^ Lidar_InitInputType lidar - - - "InitInput for lidar data" -
typedef ^ ^ Grid4D_InitInputType FDext - - - "InitInput for 4D external wind data" -
typedef ^ ^ ReKi RadAvg - - - "Radius (from hub) used for averaging wind speed" -
typedef ^ ^ IntKi MHK - - - "MHK turbine type switch" -
typedef ^ ^ ReKi WtrDpth - - - "Water depth" m
typedef ^ ^ ReKi MSL2SWL - - - "Mean sea level to still water level" m
typedef ^ ^ LOGICAL BoxExceedAllow - .FALSE. - "Flag to allow Extrapolation winds outside box starting at this index (for OLAF wakes and LidarSim)" -
typedef ^ ^ LOGICAL LidarEnabled - .false. - "Enable LiDAR for this instance of InflowWind? (FAST.Farm, ADI, and InflowWind driver/library are not compatible)" -
typedef ^ ^ ReKi HubPosition {3} - - "initial position of the hub (lidar mounted on hub) [0,0,HubHeight]" "m"


# Init Output
Expand Down
52 changes: 17 additions & 35 deletions modules/inflowwind/src/InflowWind_Subs.f90
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Expand Up @@ -504,18 +504,14 @@ SUBROUTINE InflowWind_ParseInputFileInfo( InputFileData, InFileInfo, PriPath, In
CALL ParseVar( InFileInfo, CurLine, "NumBeam", InputFileData%NumBeam, TmpErrStat, TmpErrMsg, UnEc )
if (Failed()) return

! Before proceeding, make sure that NumBeam makes sense
IF ((InputFileData%SensorType == 1) .and. (InputFileData%NumBeam < 1 .OR. InputFileData%NumBeam > 5)) THEN
CALL SetErrStat( ErrID_Fatal, 'NumBeam must be greater than or equal to one and less than 6.', &
ErrStat, ErrMsg, RoutineName )
RETURN
ELSE
! Allocate space for the output location arrays:
CALL AllocAry( InputFileData%FocalDistanceX, InputFileData%NumBeam, 'FocalDistanceX', TmpErrStat, TmpErrMsg ); CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
CALL AllocAry( InputFileData%FocalDistanceY, InputFileData%NumBeam, 'FocalDistanceY', TmpErrStat, TmpErrMsg ); CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
CALL AllocAry( InputFileData%FocalDistanceZ, InputFileData%NumBeam, 'FocalDistanceZ', TmpErrStat, TmpErrMsg ); CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
if (Failed()) return
ENDIF
! Before proceeding, make sure that NumBeam makes sense for array allocation
InputFileData%NumBeam = MAX(InputFileData%NumBeam, 1)

! Allocate space for the output location arrays:
CALL AllocAry( InputFileData%FocalDistanceX, InputFileData%NumBeam, 'FocalDistanceX', TmpErrStat, TmpErrMsg ); CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
CALL AllocAry( InputFileData%FocalDistanceY, InputFileData%NumBeam, 'FocalDistanceY', TmpErrStat, TmpErrMsg ); CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
CALL AllocAry( InputFileData%FocalDistanceZ, InputFileData%NumBeam, 'FocalDistanceZ', TmpErrStat, TmpErrMsg ); CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
if (Failed()) return

! Focal Distance X
CALL ParseAry( InFileInfo, CurLine, 'FocalDistanceX', InputFileData%FocalDistanceX, InputFileData%NumBeam, TmpErrStat, TmpErrMsg, UnEc )
Expand Down Expand Up @@ -647,7 +643,7 @@ SUBROUTINE InflowWind_ValidateInput( InitInp, InputFileData, ErrStat, ErrMsg )
return
end if

if (InitInp%lidar%SensorType /= SensorType_None) then
if (InputFileData%SensorType /= SensorType_None) then
call SetErrStat(ErrID_Fatal, 'InflowWind can not perform linearization with the lidar module enabled.', ErrStat, ErrMsg, RoutineName)
return
end if
Expand Down Expand Up @@ -1177,7 +1173,7 @@ SUBROUTINE SetOutParam(OutList, p, ErrStat, ErrMsg )
! Passed variables

CHARACTER(ChanLen), INTENT(IN) :: OutList(:) !< The list of user-requested outputs
TYPE(InflowWind_ParameterType), INTENT(INOUT) :: p !< The module parameters
TYPE(InflowWind_ParameterType), INTENT(INOUT) :: p !< The module parameters
INTEGER(IntKi), INTENT(OUT) :: ErrStat !< The error status code
CHARACTER(*), INTENT(OUT) :: ErrMsg !< The error message, if an error occurred

Expand Down Expand Up @@ -1288,17 +1284,9 @@ SUBROUTINE SetOutParam(OutList, p, ErrStat, ErrMsg )
InvalidOutput(WindAccZ) = .TRUE.
end if

if (p%lidar%SensorType /= SensorType_None) then
IF (p%lidar%SensorType == SensorType_SinglePoint) THEN
DO I=p%lidar%NumBeam+1,5
InvalidOutput( WindMeas(I) ) = .TRUE.
END DO
ELSE
DO I=p%lidar%NumPulseGate+1,5
InvalidOutput( WindMeas(I) ) = .TRUE.
END DO
END IF
endif
do I=p%lidar%NumMeasurements+1,SIZE(WindMeas)
InvalidOutput( WindMeas(I) ) = .TRUE.
end do

! ................. End of validity checking .................

Expand Down Expand Up @@ -1521,16 +1509,10 @@ SUBROUTINE SetAllOuts( p, y, m, ErrStat, ErrMsg )


!FIXME: Add in Wind1Dir etc. -- although those can be derived outside of FAST.
if (p%lidar%SensorType /= SensorType_None) then
IF ( p%lidar%SensorType == SensorType_SinglePoint) THEN
DO I = 1,MIN(5, p%lidar%NumBeam )
m%AllOuts( WindMeas(I) ) = y%lidar%LidSpeed(I)
END DO
ELSE
DO I = 1,MIN(5, p%lidar%NumPulseGate )
m%AllOuts( WindMeas(I) ) = y%lidar%LidSpeed(I)
END DO
END IF
if (ALLOCATED(y%lidar%LidSpeed)) then
DO I = 1,MIN(SIZE(WindMeas), SIZE(y%lidar%LidSpeed) )
m%AllOuts( WindMeas(I) ) = y%lidar%LidSpeed(I)
END DO
endif

END SUBROUTINE SetAllOuts
Expand Down
14 changes: 5 additions & 9 deletions modules/inflowwind/src/InflowWind_Types.f90
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Expand Up @@ -94,7 +94,7 @@ MODULE InflowWind_Types
REAL(ReKi) :: MeasurementInterval = 0.0_ReKi !< Time between each measurement [s]
REAL(ReKi) :: URefLid = 0.0_ReKi !< Reference average wind speed for the lidar [m/s]
LOGICAL :: LidRadialVel = .false. !< TRUE => return radial component, FALSE => return 'x' direction estimate [-]
INTEGER(IntKi) :: ConsiderHubMotion = 0_IntKi !< Flag whether or not the hub motion's impact on the Lidar measurement will be considered [0 for no, 1 for yes] [-]
INTEGER(IntKi) :: ConsiderHubMotion = 0_IntKi !< whether or not the hub motion's impact on the Lidar measurement will be considered [-]
TYPE(Grid3D_InitInputType) :: FF !< scaling data [-]
END TYPE InflowWind_InputFile
! =======================
Expand All @@ -111,14 +111,14 @@ MODULE InflowWind_Types
TYPE(FileInfoType) :: PassedFileInfo !< If we don't use the input file, pass everything through this [FilePassingMethod = 1] [-]
TYPE(InflowWind_InputFile) :: PassedFileData !< If we don't use the input file, pass everything through this [FilePassingMethod = 2] [-]
LOGICAL :: OutputAccel = .FALSE. !< Flag to output wind acceleration [-]
TYPE(Lidar_InitInputType) :: lidar !< InitInput for lidar data [-]
TYPE(Grid4D_InitInputType) :: FDext !< InitInput for 4D external wind data [-]
REAL(ReKi) :: RadAvg = 0.0_ReKi !< Radius (from hub) used for averaging wind speed [-]
INTEGER(IntKi) :: MHK = 0_IntKi !< MHK turbine type switch [-]
REAL(ReKi) :: WtrDpth = 0.0_ReKi !< Water depth [m]
REAL(ReKi) :: MSL2SWL = 0.0_ReKi !< Mean sea level to still water level [m]
LOGICAL :: BoxExceedAllow = .FALSE. !< Flag to allow Extrapolation winds outside box starting at this index (for OLAF wakes and LidarSim) [-]
LOGICAL :: LidarEnabled = .false. !< Enable LiDAR for this instance of InflowWind? (FAST.Farm, ADI, and InflowWind driver/library are not compatible) [-]
REAL(ReKi) , DIMENSION(1:3) :: HubPosition = 0.0_ReKi !< initial position of the hub (lidar mounted on hub) [0,0,HubHeight] [m]
END TYPE InflowWind_InitInputType
! =======================
! ========= InflowWind_InitOutputType =======
Expand Down Expand Up @@ -511,9 +511,6 @@ subroutine InflowWind_CopyInitInput(SrcInitInputData, DstInitInputData, CtrlCode
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
DstInitInputData%OutputAccel = SrcInitInputData%OutputAccel
call Lidar_CopyInitInput(SrcInitInputData%lidar, DstInitInputData%lidar, CtrlCode, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
call InflowWind_IO_CopyGrid4D_InitInputType(SrcInitInputData%FDext, DstInitInputData%FDext, CtrlCode, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
Expand All @@ -523,6 +520,7 @@ subroutine InflowWind_CopyInitInput(SrcInitInputData, DstInitInputData, CtrlCode
DstInitInputData%MSL2SWL = SrcInitInputData%MSL2SWL
DstInitInputData%BoxExceedAllow = SrcInitInputData%BoxExceedAllow
DstInitInputData%LidarEnabled = SrcInitInputData%LidarEnabled
DstInitInputData%HubPosition = SrcInitInputData%HubPosition
end subroutine

subroutine InflowWind_DestroyInitInput(InitInputData, ErrStat, ErrMsg)
Expand All @@ -538,8 +536,6 @@ subroutine InflowWind_DestroyInitInput(InitInputData, ErrStat, ErrMsg)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call InflowWind_DestroyInputFile(InitInputData%PassedFileData, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call Lidar_DestroyInitInput(InitInputData%lidar, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call InflowWind_IO_DestroyGrid4D_InitInputType(InitInputData%FDext, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
end subroutine
Expand All @@ -560,14 +556,14 @@ subroutine InflowWind_PackInitInput(RF, Indata)
call NWTC_Library_PackFileInfoType(RF, InData%PassedFileInfo)
call InflowWind_PackInputFile(RF, InData%PassedFileData)
call RegPack(RF, InData%OutputAccel)
call Lidar_PackInitInput(RF, InData%lidar)
call InflowWind_IO_PackGrid4D_InitInputType(RF, InData%FDext)
call RegPack(RF, InData%RadAvg)
call RegPack(RF, InData%MHK)
call RegPack(RF, InData%WtrDpth)
call RegPack(RF, InData%MSL2SWL)
call RegPack(RF, InData%BoxExceedAllow)
call RegPack(RF, InData%LidarEnabled)
call RegPack(RF, InData%HubPosition)
if (RegCheckErr(RF, RoutineName)) return
end subroutine

Expand All @@ -587,14 +583,14 @@ subroutine InflowWind_UnPackInitInput(RF, OutData)
call NWTC_Library_UnpackFileInfoType(RF, OutData%PassedFileInfo) ! PassedFileInfo
call InflowWind_UnpackInputFile(RF, OutData%PassedFileData) ! PassedFileData
call RegUnpack(RF, OutData%OutputAccel); if (RegCheckErr(RF, RoutineName)) return
call Lidar_UnpackInitInput(RF, OutData%lidar) ! lidar
call InflowWind_IO_UnpackGrid4D_InitInputType(RF, OutData%FDext) ! FDext
call RegUnpack(RF, OutData%RadAvg); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%MHK); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%WtrDpth); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%MSL2SWL); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%BoxExceedAllow); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%LidarEnabled); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%HubPosition); if (RegCheckErr(RF, RoutineName)) return
end subroutine

subroutine InflowWind_CopyInitOutput(SrcInitOutputData, DstInitOutputData, CtrlCode, ErrStat, ErrMsg)
Expand Down
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