Merged dev into f/lidar

cmake/OpenfastFortranOptions.cmake

@@ -71,6 +71,13 @@ macro(set_fast_fortran)
   elseif(${CMAKE_Fortran_COMPILER_ID} MATCHES "^Intel")
     set_fast_intel_fortran()
   endif()
+
+  # If double precision option enabled, set preprocessor define to use
+  # real64 for ReKi reals
+  if (DOUBLE_PRECISION)
+    add_definitions(-DOPENFAST_DOUBLE_PRECISION)
+  endif()
+
 endmacro(set_fast_fortran)
 
 #
@@ -113,11 +120,10 @@ macro(set_fast_gfortran)
   #   and https://github.com/OpenFAST/openfast/pull/595
   set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -fstack-reuse=none")
 
-  # Deal with Double/Single precision
+  # If double precision, make constants double precision
   if (DOUBLE_PRECISION)
-    add_definitions(-DOPENFAST_DOUBLE_PRECISION)
-    set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -fdefault-real-8")
-  endif (DOUBLE_PRECISION)
+    set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -fdefault-real-8 -fdefault-double-8")
+  endif()
 
   # debug flags
   if(CMAKE_BUILD_TYPE MATCHES Debug)
@@ -156,21 +162,21 @@ endmacro(set_fast_intel_fortran)
 #
 macro(set_fast_intel_fortran_posix)
   set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -fpic -fpp")
-  # Deal with Double/Single precision
-  if (DOUBLE_PRECISION)
-    add_definitions(-DOPENFAST_DOUBLE_PRECISION)
-    if("${CMAKE_Fortran_COMPILER_VERSION}" VERSION_GREATER "19")
-      set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -r8 -double-size 128")
-    else()
-      set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -r8 -double_size 128")
-    endif()
-  endif (DOUBLE_PRECISION)
 
   # debug flags
   if(CMAKE_BUILD_TYPE MATCHES Debug)
     set( CMAKE_Fortran_FLAGS_DEBUG "${CMAKE_Fortran_FLAGS_DEBUG} -check all,noarg_temp_created -traceback -init=huge,infinity" )
   endif()
 
+  # If double precision, make real and double constants 64 bits
+  if (DOUBLE_PRECISION)
+    if("${CMAKE_Fortran_COMPILER_VERSION}" VERSION_GREATER "19")
+      set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -real-size 64 -double-size 64")
+    else()
+      set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -real_size 64 -double_size 64")
+    endif()
+  endif()
+
   # OPENMP
   if (OPENMP)
      set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -qopenmp")
@@ -206,15 +212,14 @@ macro(set_fast_intel_fortran_windows)
   # - 5268: 132 column limit
   set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} /Qdiag-disable:5199,5268 /fpp")
 
-  # Deal with Double/Single precision
+  # If double precision, make constants double precision
   if (DOUBLE_PRECISION)
-    add_definitions(-DOPENFAST_DOUBLE_PRECISION)
     if("${CMAKE_Fortran_COMPILER_VERSION}" VERSION_GREATER "19")
-      set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} /real-size:64 /double-size:128")
+      set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} /real-size:64 /double-size:64")
     else()
-      set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} /real_size:64 /double_size:128")
+      set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} /real_size:64 /double_size:64")
     endif()
-  endif (DOUBLE_PRECISION)
+  endif()
 
   # increase the default 2MB stack size to 16 MB
   MATH(EXPR stack_size "16 * 1024 * 1024")

docs/source/testing/regression_test.rst

@@ -68,7 +68,7 @@ The following packages are required for regression testing:
 - Python 3.7+
 - Numpy
 - CMake and CTest (Optional)
-- Bokeh 1.4 (Optional)
+- Bokeh 2.4+ (Optional)
 
 .. _python_driver:
 
@@ -85,17 +85,15 @@ executing with the help option:
 
     >>>$ python manualRegressionTest.py -h
     usage: manualRegressionTest.py [-h] [-p [Plotting-Flag]] [-n [No-Execution]]
-                                [-v [Verbose-Flag]] [-case [Case-Name]]
-                                OpenFAST System-Name Compiler-Id Test-Tolerance
+                                [-v [Verbose-Flag]] [-case [Case-Name]] [-module [Module-Name]]
+                                Executable-Name Relative-Tolerance Absolute-Tolerance
 
-    Executes OpenFAST and a regression test for a single test case.
+    Executes OpenFAST or driver and a regression test for a single test case.
 
     positional arguments:
-    OpenFAST              path to the OpenFAST executable
-    System-Name           current system's name: [Darwin,Linux,Windows]
-    Compiler-Id           compiler's id: [Intel,GNU]
-    Test-Tolerance        tolerance defining pass or failure in the regression
-                            test
+    Executable-Name       path to the executable
+    Relative-Tolerance    Relative tolerance to allow the solution to deviate; expressed as order of magnitudes less than baseline.
+    Absolute-Tolerance    Absolute tolerance to allow small values to pass; expressed as order of magnitudes less than baseline.
 
     optional arguments:
     -h, --help            show this help message and exit
@@ -106,6 +104,8 @@ executing with the help option:
     -v [Verbose-Flag], -verbose [Verbose-Flag]
                             bool to include verbose system output
     -case [Case-Name]     single case name to execute
+    -module [Module-Name], -mod [Module-Name]
+                            name of module to execute
 
 .. note::
 
@@ -351,17 +351,15 @@ included Python driver.
     cd reg_tests
     python manualRegressionTest.py -h
     # usage: manualRegressionTest.py [-h] [-p [Plotting-Flag]] [-n [No-Execution]]
-    #                                [-v [Verbose-Flag]] [-case [Case-Name]]
-    #                                OpenFAST System-Name Compiler-Id Test-Tolerance
+    #                                [-v [Verbose-Flag]] [-case [Case-Name]] [-module [Module-Name]]
+    #                                Executable-Name Relative-Tolerance Absolute-Tolerance
     # 
-    # Executes OpenFAST and a regression test for a single test case.
+    # Executes OpenFAST or driver and a regression test for a single test case.
     # 
     # positional arguments:
-    #   OpenFAST              path to the OpenFAST executable
-    #   System-Name           current system's name: [Darwin,Linux,Windows]
-    #   Compiler-Id           compiler's id: [Intel,GNU]
-    #   Test-Tolerance        tolerance defining pass or failure in the regression
-    #                         test
+    # Executable-Name       path to the executable
+    # Relative-Tolerance    Relative tolerance to allow the solution to deviate; expressed as order of magnitudes less than baseline.
+    # Absolute-Tolerance    Absolute tolerance to allow small values to pass; expressed as order of magnitudes less than baseline.
     # 
     # optional arguments:
     #   -h, --help            show this help message and exit
@@ -372,12 +370,10 @@ included Python driver.
     #   -v [Verbose-Flag], -verbose [Verbose-Flag]
     #                         bool to include verbose system output
     #   -case [Case-Name]     single case name to execute
+    #   -module [Module-Name], -mod [Module-Name]
+    #                         name of module to execute
 
-    python manualRegressionTest.py \
-        ..\build\bin\openfast_x64_Double.exe \
-        Windows \
-        Intel \
-        1e-5
+    python manualRegressionTest.py ..\build\bin\openfast_x64_Double.exe 2.0 1.9
 
 .. _reg_test_windows:
 

docs/source/testing/regression_test_windows.rst

@@ -84,7 +84,7 @@ Windows with Visual Studio regression test
 
     b) Change your working directory to ``openfast\reg_tests``
 
-    c) Type: ``python manualRegressionTest.py ..\build\bin\openfast_x64_Double.exe Windows Intel 1e-5`` 
+    c) Type: ``python manualRegressionTest.py ..\build\bin\openfast_x64_Double.exe 2.0 1.9`` 
          You should see this: ``executing AWT_YFix_WSt``
 
     d) The tests will continue to execute one-by-one until you finally see something like this:

docs/source/user/aerodyn-olaf/OLAFTheory.rst

@@ -241,7 +241,7 @@ approach using the following steps:
 
    .. math::
       \begin{aligned}
-         \Gamma_{ll,j} =\frac{1}{2} C_{l,j}(\alpha_j) \frac{\left[ (\vec{v}_j  \cdot \vec{N})^2 +  (\vec{v}_j  \cdot \vec{T})^2\right]^2\,dA}{
+         \Gamma_{ll,j} =\frac{1}{2} C_{l,j}(\alpha_j) \frac{\left[ (\vec{v}_j  \cdot \vec{N})^2 +  (\vec{v}_j  \cdot \vec{T})^2\right]\,dA}{
          \sqrt{\left[(\vec{v}_j\times \vec{dl})\cdot\vec{N}\right]^2 + \left[(\vec{v}_j\times \vec{dl})\cdot\vec{T}\right]^2}
          }   %\label{eq:}
       ,\quad\text{with}
@@ -278,11 +278,13 @@ approach using the following steps:
 No-flow-through Method
 ^^^^^^^^^^^^^^^^^^^^^^
 
-A Weissinger-L-based representation (:cite:`olaf-Weissinger47_1`)
-of the lifting surface is also
-available (:cite:`olaf-Bagai94_1,olaf-Gupta06_1,olaf-Ribera07_1`). In this
-method, the circulation is solved by satisfying a no-flow through
-condition at the 1/4-chord points.  It is selected with **CircSolvMethod=[2]**.
+A no-flow-through circulation solving method
+(sometimes called Weissinger-L-based method)
+might be implemented in the future
+(:cite:`olaf-Weissinger47_1,olaf-Bagai94_1,olaf-Gupta06_1,olaf-Ribera07_1`).
+In this method, the circulation is solved by satisfying a no-flow through
+condition at the 1/4-chord points.  
+It would be selected with **CircSolvMethod=[2]** but is currently no implemented.
 
 Prescribed Circulation
 ^^^^^^^^^^^^^^^^^^^^^^

docs/source/user/api_change.rst

@@ -9,6 +9,18 @@ The changes are tabulated according to the module input file, line number, and f
 The line number corresponds to the resulting line number after all changes are implemented.
 Thus, be sure to implement each in order so that subsequent line numbers are correct.
 
+OpenFAST v3.4.0 to OpenFAST dev 
+----------------------------------
+
+============================================= ==== ================= ========================================================================================================================================================================================================
+Modified in OpenFAST `dev`
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+Module                                        Line  Flag Name        Example Value
+============================================= ==== ================= ========================================================================================================================================================================================================
+ServoDyn-StructCtrl                            6   StC_DOF_MODE      2   StC_DOF_MODE - DOF mode (switch) {0: No StC or TLCD DOF; 1: StC_X_DOF, StC_Y_DOF, and/or StC_Z_DOF (three independent StC DOFs); 2: StC_XY_DOF (Omni-Directional StC); 3: TLCD; 4: Prescribed force/moment time series; 5: Force determined by external DLL}
+============================================= ==== ================= ========================================================================================================================================================================================================
+
+
 
 OpenFAST v3.4.1 to OpenFAST v3.4.1 
 ----------------------------------
@@ -22,7 +34,7 @@ OpenFAST v3.3.0 to OpenFAST v3.4.0
 ----------------------------------
 
 ============================================= ==== ================= ========================================================================================================================================================================================================
-Added in OpenFAST `dev`
+Added in OpenFAST `3.4.0`
 -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 Module                                        Line  Flag Name        Example Value
 ============================================= ==== ================= ========================================================================================================================================================================================================

docs/source/user/servodyn-stc/ExampleFiles/NRELOffshrBsline5MW_StC.dat

@@ -3,7 +3,7 @@ Input file for tuned mass damper, module by Matt Lackner, Meghan Glade, and Semy
 ---------------------- SIMULATION CONTROL --------------------------------------
 True          Echo         - Echo input data to <RootName>.ech (flag)
 ---------------------- StC DEGREES OF FREEDOM ----------------------------------
-          2   StC_DOF_MODE - DOF mode (switch) {0: No StC or TLCD DOF; 1: StC_X_DOF, StC_Y_DOF, and/or StC_Z_DOF (three independent StC DOFs); 2: StC_XY_DOF (Omni-Directional StC); 3: TLCD; 4: Prescribed force/moment time series}
+          2   StC_DOF_MODE - DOF mode (switch) {0: No StC or TLCD DOF; 1: StC_X_DOF, StC_Y_DOF, and/or StC_Z_DOF (three independent StC DOFs); 2: StC_XY_DOF (Omni-Directional StC); 3: TLCD; 4: Prescribed force/moment time series; 5: Force determined by external DLL}
 true          StC_X_DOF    - DOF on or off for StC X (flag) [Used only when StC_DOF_MODE=1]
 true          StC_Y_DOF    - DOF on or off for StC Y (flag) [Used only when StC_DOF_MODE=1]
 FALSE         StC_Z_DOF    - DOF on or off for StC Z (flag) [Used only when StC_DOF_MODE=1]

docs/source/user/servodyn-stc/StC_input.rst

@@ -107,7 +107,7 @@ StC Degrees of Freedom
 
    DOF mode   {0: No StC or TLCD DOF; 1: StC_X_DOF, StC_Y_DOF, and/or StC_Z_DOF
    (three independent StC DOFs); 2: StC_XY_DOF (Omni-Directional StC); 3: TLCD;
-   4: Prescribed force/moment time series}
+   4: Prescribed force/moment time series; 5: Force determined by external DLL}
 
 
 **StC_X_DOF** [flag]
@@ -310,7 +310,8 @@ StructCtrl Control
 
 **StC_CMODE** [switch]
 
-   Control mode   {0:none; 1: Semi-Active Control Mode; 2: Active Control Mode}
+   Control mode   {0:none; 1: Semi-Active Control Mode; 2: Active Control Mode}.
+   When using StC_DOF_MODE==5, StC_CMODE must be 2.
 
 **StC_SA_MODE** [-]
 
@@ -425,7 +426,8 @@ when* **StC_DOF_MODE==4**.
 
 **PrescribedForcesCoord** [switch]
 
-   Prescribed forces are in global or local coordinates   {1: global; 2: local}
+   Prescribed forces are in global or local coordinates  {1: global; 2: local}.  
+   When using StC_DOF_MODE==5, PrescribedForcesCoord must be 1.
 
 **PrescribedForcesFile** [-]
 

docs/source/user/subdyn/input_files.rst

@@ -602,7 +602,7 @@ Output: Summary and Outfile
 In this section of the input file, the user sets flags and switches for
 the desired output behavior.
 
-Specifying **SDSum** = TRUE causes SubDyn to generate a summary file
+Specifying **SumPrint** = TRUE causes SubDyn to generate a summary file
 with name **OutRootName**.SD.sum*. **OutRootName** is either
 specified in the SUBDYN section of the driver input file when running
 SubDyn in stand-alone mode, or in the FAST input file when running a

docs/source/user/subdyn/output_files.rst

@@ -27,7 +27,7 @@ Summary File
 ------------
 
 SubDyn generates a summary file with the naming convention,
-**OutRootName.SD.sum** if the **SDSum** parameter is set to TRUE.
+**OutRootName.SD.sum** if the **SumPrint** parameter is set to TRUE.
 This file summarizes key information about the substructure model,
 including:
 

docs/source/user/subdyn/theory.rst

@@ -2572,7 +2572,7 @@ Output: nodal motions
 
 **Fixed-bottom case**
 
-.. math:: :label:
+.. math:: :label: nodalMotionFixed
 
         \bar{U}_R  &= T_I U_{TP} 
         ,\qquad
@@ -2597,7 +2597,7 @@ The meshes :math:`y_2` and :math:`y_3` are identical (Guyan displacements comput
 
 **Floating case**
 
-.. math:: :label:
+.. math:: :label: nodalMotionFloating
 
         \bar{U}_R  &= U_{R,\text{rigid}}
         ,\qquad
@@ -2646,7 +2646,13 @@ where :math:`P` is a point belonging to the R- or L-set of nodes.
 Outputs to file:
 ~~~~~~~~~~~~~~~~
 
-**Motions**: nodal motions written to file are in global coordinates, and for the floating case they contain the elastic motion :math:`\bar{U}_L  = U_{L,\text{rigid}} + \Phi_m q_m +  U_{L,\text{SIM}}` (whereas these elastic motions are not returned to the glue code)
+**Motions**: nodal motions written to file are in global coordinates.
+For the fixed-bottom case, they are :math:`\bar{U}_L  = \bar{\Phi}_R \bar{U}_R +     \Phi_m q_m + U_{L,\text{SIM}}`
+(see Eq. :eq:`nodalMotionFixed`).
+For the floating case, they are     :math:`\bar{U}_L  = U_{L,\text{rigid}} + R_{b2g}(\Phi_m q_m +  U_{L,\text{SIM}})`.
+Note that the outputs for the floating case contains the elastic motions (similar to what is returned to MoorDyn), whereas these motions are not returned to the glue code for HydroDyn (see the "0" present in Eq. :eq:`nodalMotionFloating`). 
+
+
 
 
 **Loads**: Nodal loads are written to file in the element coordinate system. The procedure are the same for fixed-bottom and floating cases. 

glue-codes/fast-farm/src/FAST_Farm_Subs.f90

@@ -1112,7 +1112,19 @@ SUBROUTINE Farm_ReadPrimaryFile( InputFile, p, WD_InitInp, AWAE_InitInp, SC_Init
            AWAE_InitInp%Mod_Projection=1
       endif
    endif
-
+   !----------------------- WAKE-ADDED TURBULENCE ------------------------------------------
+   ! Read WAT variables
+   WD_InitInp%WAT_k_Def  =1.0_ReKi
+   WD_InitInp%WAT_k_Grad =1.0_ReKi
+   WD_InitInp%WAT = .false.   ! initialize to false to avoid segfault
+   !CALL ReadCom( UnIn, InputFile, 'Section Header: Wake-added turbulence', ErrStat2, ErrMsg2, UnEc )
+   !CALL ReadVar( UnIn, InputFile, WD_InitInp%WAT, "WAT", "Switch for turning on and off wake-added turbulence", ErrStat2, ErrMsg2, UnEc); if(failed()) return
+   !CALL ReadCom( UnIn, InputFile, 'dummy predef', ErrStat2, ErrMsg2, UnEc )
+   !CALL ReadCom( UnIn, InputFile, 'dummy user', ErrStat2, ErrMsg2, UnEc )
+   !CALL ReadCom( UnIn, InputFile, 'dummy userdx', ErrStat2, ErrMsg2, UnEc )
+   !CALL ReadVarWDefault( UnIn, InputFile, WD_InitInp%WAT_k_Def,  "WAT_k_Def,     "Calibrated parameter for the influence of the wake deficit in the wake-added Turbulence (-) [>=0.0] or DEFAULT [DEFAULT=1.44]", 1.44_ReKi, ErrStat2, ErrMsg2, UnEc); if(failed()) return
+   !CALL ReadVarWDefault( UnIn, InputFile, WD_InitInp%WAT_k_Grad, "WAT_k_Grad",   "Calibrated parameter for the influence of the radial velocity gradient of the wake deficit in the wake-added Turbulence (-) [>=0.0] or DEFAULT [DEFAULT=0.84]",  0.84_ReKi, ErrStat2, ErrMsg2, UnEc); if(failed()) return
+   !IF ( PathIsRelative( p%File ) )p%File = TRIM(PriPath)//TRIM(p%File)
 
    !---------------------- VISUALIZATION --------------------------------------------------
    CALL ReadCom( UnIn, InputFile, 'Section Header: Visualization', ErrStat2, ErrMsg2, UnEc )
@@ -1500,16 +1512,23 @@ SUBROUTINE Farm_ValidateInput( p, WD_InitInp, AWAE_InitInp, SC_InitInp, ErrStat,
       END IF
    END IF
 
-   IF (WD_InitInp%FilterInit < 0  ) CALL SetErrStat(ErrID_Fatal,'FilterInit needs to >= 0',ErrStat,ErrMsg,RoutineName)
-   IF (AWAE_InitInp%Mod_Meander < MeanderMod_Uniform .or. AWAE_InitInp%Mod_Meander > MeanderMod_WndwdJinc) THEN
-      call SetErrStat(ErrID_Fatal,'Spatial filter model for wake meandering, Mod_Meander, must be 1 (uniform), 2 (truncated jinc), 3 (windowed jinc) or DEFAULT.',ErrStat,ErrMsg,RoutineName)
-   END IF
+
 
    IF (AWAE_InitInp%C_Meander < 1.0_Reki) THEN
       CALL SetErrStat(ErrID_Fatal,'C_Meander parameter must not be less than 1.',ErrStat,ErrMsg,RoutineName)
    END IF
+
+   ! --- CURL
+   IF (WD_InitInp%FilterInit < 0  ) CALL SetErrStat(ErrID_Fatal,'FilterInit needs to >= 0',ErrStat,ErrMsg,RoutineName)
+   IF (AWAE_InitInp%Mod_Meander < MeanderMod_Uniform .or. AWAE_InitInp%Mod_Meander > MeanderMod_WndwdJinc) THEN
+      call SetErrStat(ErrID_Fatal,'Spatial filter model for wake meandering, Mod_Meander, must be 1 (uniform), 2 (truncated jinc), 3 (windowed jinc) or DEFAULT.',ErrStat,ErrMsg,RoutineName)
+   END IF
    IF (.not.(ANY((/1,2/)==AWAE_InitInp%Mod_Projection))) CALL SetErrStat(ErrID_Fatal,'Mod_Projection needs to be 1 or 2',ErrStat,ErrMsg,RoutineName)
 
+   ! --- WAT      
+   IF (WD_InitInp%WAT_k_Def  <= 0.0_Reki) CALL SetErrStat(ErrID_Fatal,'WAT_k_Def  parameter must be positive.',ErrStat,ErrMsg,RoutineName)
+   IF (WD_InitInp%WAT_k_Grad <= 0.0_Reki) CALL SetErrStat(ErrID_Fatal,'WAT_k_Grad parameter must be positive.',ErrStat,ErrMsg,RoutineName)
+
    !--- OUTPUT ---
    IF ( p%n_ChkptTime < 1_IntKi   ) CALL SetErrStat( ErrID_Fatal, 'ChkptTime must be greater than 0 seconds.', ErrStat, ErrMsg, RoutineName )
    IF (p%TStart < 0.0_ReKi) CALL SetErrStat(ErrID_Fatal,'TStart must not be negative.',ErrStat,ErrMsg,RoutineName)