Merge dev and update r-test

docs/source/user/api_change.rst

@@ -13,16 +13,57 @@ Thus, be sure to implement each in order so that subsequent line numbers are cor
 OpenFAST v3.2.0 to OpenFAST `dev`
 ----------------------------------
 
-============================================= ==== =============== ========================================================================================================================================================================================================
+============================================= ==== ================= ======================================================================================================================================================================================================
 Added in OpenFAST dev 
 ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 Module                                        Line  Flag Name        Example Value
+============================================= ==== ================= ======================================================================================================================================================================================================
+AeroDyn driver                                54\* WrVTK_Type        1           WrVTK_Type         - VTK visualization data type: (switch) {1=surfaces; 2=lines; 3=both}
+FAST.Farm                                     9    ModWaveField      2           Mod_WaveField      Wave field handling (-) (switch) {1: use individual HydroDyn inputs without adjustment, 2: adjust wave phases based on turbine offsets from farm origin}
+FAST.Farm                                     10   Mod_SharedMooring 0           Mod_SharedMooring  Shared mooring system model (switch) {0: None, 3=MoorDyn}}
+FAST.Farm                                     13   na                ------ SHARED MOORING SYSTEM ------ [used only for Mod_SharedMoor>0]
+FAST.Farm                                     14   SharedMoorFile    ""          SharedMoorFile     Name of file containing shared mooring system input parameters (quoted string) [used only when Mod_SharedMooring > 0]
+FAST.Farm                                     15   DT_Mooring        0.04        DT_Mooring         Time step for farm-level mooring coupling with each turbine (s) [used only when Mod_SharedMooring > 0]
+============================================= ==== ================= ======================================================================================================================================================================================================
+
+\*Exact line number depends on number of entries in various preceeding tables.
+
+
 ============================================= ==== =============== ========================================================================================================================================================================================================
-AeroDyn driver                                54\* WrVTK_Type      1           WrVTK_Type    - VTK visualization data type: (switch) {1=surfaces; 2=lines; 3=both}
+Modified in OpenFAST dev 
+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+Module                                        Line  Flag Name        Example Value
+============================================= ==== =============== ========================================================================================================================================================================================================
+MoorDyn\&                                     5    na                Name     Diam      MassDen       EA    BA/-zeta    EI    Cd      Ca     CdAx   CaAx
+MoorDyn\&                                     6    na                (-)       (m)      (kg/m)        (N)    (N-s/-)    (-)   (-)     (-)    (-)    (-)
+MoorDyn\&                                     7    na                main     0.0766    113.35     7.536E8     -1.0      0    2.0     0.8    0.4   0.25
+MoorDyn\&                                     8\*  na                ---------------------- POINTS --------------------------------
+MoorDyn\&                                     9\*  na                ID     Attachment   X          Y         Z      M      V       CdA   CA
+MoorDyn\&                                     10\* na                (-)    (-)         (m)        (m)       (m)    (kg)   (m^3)   (m^2)  (-)
+MoorDyn\&                                     11\* na                1      Fixed     418.8      725.383   -200.0     0      0       0     0
+MoorDyn\&                                     17\* na                ---------------------- LINES --------------------------------------
+MoorDyn\&                                     18\* na                ID      LineType   AttachA   AttachB  UnstrLen  NumSegs   Outputs
+MoorDyn\&                                     19\* na                (-)       (-)       (-)       (-)         (m)      (-)         (-)
+MoorDyn\&                                     20\* na                1         main       1         4        835.35      20          -
+============================================= ==== =============== ========================================================================================================================================================================================================
+
+\&MoorDyn has undergone an extensive revision that leaves few lines unchanged. We recommend looking at a sample input file for the 5MW_OC4Semi_WSt_WavesWN regression test for reference rather than line by line changes in the above tables.
+
+
+============================================= ==== =============== ========================================================================================================================================================================================================
+Removed in OpenFAST dev 
+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+Module                                        Line  Flag Name        Example Value
+============================================= ==== =============== ========================================================================================================================================================================================================
+MoorDyn\&                                     5    NTypes            1        NTypes    - number of LineTypes
+MoorDyn\&                                     10\* NConnects         6        NConnects - number of connections including anchors and fairleads
+MoorDyn\&                                     20\* NLines            3        NLines    - number of line objects
 ============================================= ==== =============== ========================================================================================================================================================================================================
 
 \*Exact line number depends on number of entries in various preceeding tables.
 
+\&MoorDyn has undergone an extensive revision that leaves few lines unchanged. We recommend looking at a sample input file for the 5MW_OC4Semi_WSt_WavesWN regression test for reference rather than line by line changes in the above tables.
+
 
 OpenFAST v3.1.0 to OpenFAST v3.2.0
 ----------------------------------

docs/source/user/fast.farm/InputFiles.rst

@@ -34,6 +34,8 @@ sections:
 
 -  Super Controller
 
+-  Shared Moorings
+
 -  Ambient Wind
 
 -  Wind Turbines
@@ -95,6 +97,15 @@ ambient wind data as defined by the FAST.Farm interface to the
 **[Mod_AmbWind=3]**. The distinct Ambient Wind subsections below pertain
 to each option.
 
+**Mod_WaveField** [switch] indicates how the wave field should be treated.  The
+two options are: 1) use individual HydroDyn inputs at each turbine without
+adjustment, 2) adjust wave phases based on turbine offsets from wind farm
+origin.
+
+**Mod_SharedMooring** [switch] indicates if a farm level mooring line system
+interconnects turbines.  There are presently two options: 0) No shared moorings,
+3) MoorDyn.
+
 Super Controller
 ~~~~~~~~~~~~~~~~
 
@@ -108,6 +119,25 @@ turbine controllers defined in the style of the DISCON dynamic library
 of the DNV GL’s Bladed wind turbine software package, with minor
 modification. See :numref:`FF:sec:SupCon` for more information.
 
+Shared Moorings
+~~~~~~~~~~~~~~~
+
+Shared mooring lines running between platforms introduce a coupling between the
+platforms that operates on the same time scales as a platform's interaction with
+a regular mooring system (typically resolved at a time step of 10--30 ms in
+OpenFAST simulations).  See :numref:`MoorDyn` for more information.
+
+**SharedMoorFile** [quoted string] sets the name and location of the MoorDyn
+input file for the mooring lines in the wind farm. It is only used if
+**Mod_SharedMooring** = 3.  **The file name must be in quotations** and can
+contain an absolute or a relative path.  The mooring lines then connect to each
+of the wind turbines in the farm.  See `MoorDyn with FAST.Farm
+<https://moordyn.readthedocs.io/en/latest/usage.html#moordyn-with-fast-farm>`_
+documentation for details on the input file at the farm level.
+
+**DT_Mooring** (sec) sets the timestep for the shared mooring connections with
+MoorDyn. 
+
 .. _FF:Input:VTK:
 
 Ambient Wind: Precursor in Visualization Toolkit Format

docs/source/user/fast.farm/examples/FAST.Farm--input.dat

@@ -6,8 +6,13 @@ FATAL      AbortLevel    Error level when simulation should abort (string) {"WAR
 2000.0     TMax          Total run time (s) [>=0.0]
 False      UseSC         Use a super controller? (flag)
 1          Mod_AmbWind   Ambient wind model (-) (switch) {1: high-fidelity precursor in VTK format, 2: one InflowWind module, 3: multiple instances of InflowWind module}
+2                  Mod_WaveField      Wave field handling (-) (switch) {1: use individual HydroDyn inputs without adjustment, 2: adjust wave phases based on turbine offsets from farm origin}
+0                  Mod_SharedMooring  Shared mooring system model (switch) {0: None, 3=MoorDyn}}
 --- SUPER CONTROLLER --- [used only for UseSC=True]
 "SC_DLL.dll" SC_FileName Name/location of the dynamic library {.dll [Windows] or .so [Linux]} containing the Super Controller algorithms (quoted string)
+--- SHARED MOORING SYSTEM --- [used only for Mod_SharedMoor>0]
+""                 SharedMoorFile     Name of file containing shared mooring system input parameters (quoted string) [used only when Mod_SharedMooring > 0]
+0.04	           DT_Mooring         Time step for farm-level mooring coupling with each turbine (s) [used only when Mod_SharedMooring > 0]
 --- AMBIENT WIND: PRECURSOR IN VTK FORMAT --- [used only for Mod_AmbWind=1]
 2.0        DT_Low-VTK    Time step for low-resolution wind data input files; will be used as the global FAST.Farm time step (s) [>0.0]
 0.5        DT_High-VTK   Time step for high-resolution wind data input files (s) [>0.0] "/AmbWind/steady" WindFilePath Path name to wind data files from precursor (string)

docs/source/user/index.rst

@@ -52,6 +52,7 @@ Documentation covers usage of models, underlying theory, and in some cases modul
    ElastoDyn <elastodyn/index.rst>
    HydroDyn <hydrodyn/index.rst>
    InflowWind <inflowwind/index.rst>
+   MoorDyn <moordyn/index.rst>
    ServoDyn <servodyn/index.rst>
    Structural Control <servodyn-stc/StC_index.rst>
    TurbSim <turbsim/index.rst>

docs/source/user/moordyn/index.rst

@@ -0,0 +1,12 @@
+.. _MoorDyn:
+
+MoorDyn Users Guide
+====================
+
+A standalone C++ version of MoorDyn is also available outside the OpenFAST
+repository.  The documentation for the C++ version covers the input file format
+(`MoorDyn usage <https://moordyn.readthedocs.io/en/latest/usage.html>`_, specifically the section for V2)
+usage of MoorDyn at the FAST.Farm level
+(`MoorDyn with FAST.Farm <https://moordyn.readthedocs.io/en/latest/usage.html#moordyn-with-fast-farm>`_),
+and links to publications with the relevant theory.
+

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

@@ -44,6 +44,8 @@ MODULE FASTWrapper
 
    PUBLIC :: FWrap_t0                             !  call to compute outputs at t0 [and initialize some more variables]
    PUBLIC :: FWrap_Increment                      !  call to update states to n+1 and compute outputs at n+1
+   PUBLIC :: FWrap_SetInputs  
+   PUBLIC :: FWrap_CalcOutput  
 
 
 CONTAINS
@@ -140,6 +142,7 @@ SUBROUTINE FWrap_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, Init
          !.... multi-turbine options ....
       ExternInitData%TurbineID = InitInp%TurbNum
       ExternInitData%TurbinePos = InitInp%p_ref_Turbine
+      ExternInitData%WaveFieldMod = InitInp%WaveFieldMod
 
       ExternInitData%FarmIntegration = .true.
       ExternInitData%RootName = InitInp%RootName
@@ -286,11 +289,11 @@ end subroutine cleanup
 END SUBROUTINE FWrap_Init
 !----------------------------------------------------------------------------------------------------------------------------------
 ! this routine sets the parameters for the FAST Wrapper module. It does not set p%n_FAST_low because we need to initialize FAST first.
-subroutine FWrap_SetParameters(InitInp, p, dt_FAST, InitInp_dt_low, ErrStat, ErrMsg)
+subroutine FWrap_SetParameters(InitInp, p, dt_FAST, dt_caller, ErrStat, ErrMsg)
    TYPE(FWrap_InitInputType),       INTENT(IN   )  :: InitInp     !< Input data for initialization routine
    TYPE(FWrap_ParameterType),       INTENT(INOUT)  :: p           !< Parameters
    REAL(DbKi),                      INTENT(IN   )  :: dt_FAST     !< time step for FAST
-   REAL(DbKi),                      INTENT(IN   )  :: InitInp_dt_low  !< time step for FAST.Farm
+   REAL(DbKi),                      INTENT(IN   )  :: dt_caller  !< time step that FWrap will be called at by FAST.Farm (if MooringMod>0, this will be smaller than DT_low)
 
    INTEGER(IntKi),                  INTENT(  OUT)  :: ErrStat     !< Error status of the operation
    CHARACTER(*),                    INTENT(  OUT)  :: ErrMsg      !< Error message if ErrStat /= ErrID_None
@@ -317,22 +320,22 @@ subroutine FWrap_SetParameters(InitInp, p, dt_FAST, InitInp_dt_low, ErrStat, Err
 
 
    ! p%n_FAST_low has to be set AFTER we initialize FAST, because we need to know what the FAST time step is going to be.    
-   IF ( EqualRealNos( dt_FAST, InitInp_dt_low ) ) THEN
+   IF ( EqualRealNos( dt_FAST, dt_caller ) ) THEN
       p%n_FAST_low = 1
    ELSE
-      IF ( dt_FAST > InitInp_dt_low ) THEN
+      IF ( dt_FAST > dt_caller ) THEN
          ErrStat = ErrID_Fatal
          ErrMsg = "The FAST time step ("//TRIM(Num2LStr(dt_FAST))// &
-                    " s) cannot be larger than FAST.Farm time step ("//TRIM(Num2LStr(InitInp_dt_low))//" s)."
+                    " s) cannot be larger than FAST.Farm time step ("//TRIM(Num2LStr(dt_caller))//" s)."
       ELSE
             ! calculate the number of subcycles:
-         p%n_FAST_low = NINT( InitInp_dt_low / dt_FAST )
+         p%n_FAST_low = NINT( dt_caller / dt_FAST )
 
             ! let's make sure the FAST DT is an exact integer divisor of the global (FAST.Farm) time step:
-         IF ( .NOT. EqualRealNos( InitInp_dt_low, dt_FAST * p%n_FAST_low )  ) THEN
+         IF ( .NOT. EqualRealNos( dt_caller, dt_FAST * p%n_FAST_low )  ) THEN
             ErrStat = ErrID_Fatal
             ErrMsg  = "The FASTWrapper module time step ("//TRIM(Num2LStr(dt_FAST))// &
-                      " s) must be an integer divisor of the FAST.Farm time step ("//TRIM(Num2LStr(InitInp_dt_low))//" s)."
+                      " s) must be an integer divisor of the FAST.Farm or farm-level mooring time step ("//TRIM(Num2LStr(dt_caller))//" s)."
          END IF
 
       END IF
@@ -411,7 +414,7 @@ END SUBROUTINE FWrap_End
 SUBROUTINE FWrap_Increment( t, n, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg )
 !..................................................................................................................................
 
-   REAL(DbKi),                       INTENT(IN   ) :: t               !< Current simulation time in seconds
+   REAL(DbKi),                       INTENT(IN   ) :: t               !< Current simulation time in seconds (no longer used, since inputs are set elsewhere)
    INTEGER(IntKi),                   INTENT(IN   ) :: n               !< Current step of the simulation: t = n*Interval
    TYPE(FWrap_InputType),            INTENT(INOUT) :: u               !< Inputs at t (not changed, but possibly copied)
    TYPE(FWrap_ParameterType),        INTENT(IN   ) :: p               !< Parameters
@@ -451,20 +454,20 @@ SUBROUTINE FWrap_Increment( t, n, u, p, x, xd, z, OtherState, y, m, ErrStat, Err
    !ELSE
    !   
          ! set the inputs needed for FAST
-      call FWrap_SetInputs(u, m, t)
+      !call FWrap_SetInputs(u, m, t)   <<< moved up into FAST.Farm FARM_UpdateStates
 
-      ! call FAST p%n_FAST_low times:
-      do n_ss = 1, p%n_FAST_low
-         n_FAST = n*p%n_FAST_low + n_ss - 1
+      ! call FAST p%n_FAST_low times   (p%n_FAST_low is simply the number of steps to make per wrapper call. It is affected by MooringMod)
+      do n_ss = 1, p%n_FAST_low 
+         n_FAST = n*p%n_FAST_low + n_ss - 1    
 
          CALL FAST_Solution_T( t_initial, n_FAST, m%Turbine, ErrStat2, ErrMsg2 )                  
             call setErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
             if (ErrStat >= AbortErrLev) return
 
       end do ! n_ss
 
-      call FWrap_CalcOutput(p, u, y, m, ErrStat2, ErrMsg2)
-         call setErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
+      !call FWrap_CalcOutput(p, u, y, m, ErrStat2, ErrMsg2)               <<< moved up into FAST.Farm FARM_UpdateStates
+      !   call setErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
 
    !END IF
 

glue-codes/fast-farm/src/FASTWrapper_Registry.txt

@@ -22,6 +22,7 @@ typedef      ^            InitInputType CHARACTER(1024)  FASTInFile
 typedef      ^            InitInputType       ReKi       dr                        -      -      -   "Radial increment of radial finite-difference grid"      m
 typedef      ^            InitInputType       DbKi       tmax                      -      -      -   "Simulation length"      s
 typedef      ^            InitInputType       ReKi       p_ref_Turbine            {3}     -      -   "Undisplaced global coordinates of this turbine"      m
+typedef      ^            InitInputType       IntKi      WaveFieldMod              -      -      -   "Wave field handling (-) (switch) 0: use individual HydroDyn inputs without adjustment, 1: adjust wave phases based on turbine offsets from farm origin"   -
 typedef      ^            InitInputType       IntKi      n_high_low                -      -      -   "Number of high-resolution time steps per low-resolution time step"      -
 typedef      ^            InitInputType       DbKi       dt_high                   -      -      -   "High-resolution time step"     s
 typedef      ^            InitInputType       ReKi       p_ref_high               {3}     -      -   "Position of the origin of the high-resolution spatial domain for this turbine"      m
@@ -43,6 +44,7 @@ typedef      ^            InitInputType       SiKi       fromSC
 # Define outputs from the initialization routine here:
 #typedef   ^               InitOutputType CHARACTER(ChanLen) WriteOutputHdr  {:} - -   "Names of the output-to-file channels" -
 #typedef   ^               InitOutputType CHARACTER(ChanLen) WriteOutputUnt  {:} - -   "Units of the output-to-file channels" -
+typedef   ^               InitOutputType DbKi               PtfmInit         {6} - -   "Initial platform position/rotation vector - surge,sway,heave,roll,pitch,yaw - needed for mooring module initInp"      -
 typedef   ^               InitOutputType ProgDesc           Ver              -  - -   "This module's name, version, and date"      -