Merge remote-tracking branch 'NREL/dev' into f/FloatingLin

rafmudaf · Dec 30, 2019 · 1829096 · 1829096
2 parents ee74465 + b6bc63c
commit 1829096
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Showing 18 changed files with 521 additions and 182 deletions.
diff --git a/.github/actions/compile-and-test/Dockerfile b/.github/actions/compile-and-test/Dockerfile
@@ -22,8 +22,9 @@ RUN git fetch
 RUN git pull
 RUN git submodule update
 
-# Move into the "build" directory and compile
+# Move into the "build" directory, remove the old reg tests, and compile
 WORKDIR /openfast/build
+RUN rm -rf reg_tests
 RUN cmake ..
 RUN make -j4 install
 
@@ -34,10 +35,11 @@ RUN ctest -VV -j7 -R bd_
 RUN ctest -VV -R beamdyn_utest
 
 # OpenFAST linearization tests
-RUN ctest -VV -j4 -L linear
+# Dont run these in parallel, copying the case files can fail in a race condition
+RUN ctest -VV -L linear
 
 # Subset of OpenFAST regression tests; do not run
-## - 3, 4, 7, 14, 15, 16, since the free yaw is not well trusted
-## - 9 because its super sensitive
+## - 9, 16 because they're very sensitive
 ## - 19, 20 because theyre too long
-RUN ctest -VV -j8 -I 1,1,1,2,5,6,8,10,11,12,13,17,18,21,22,23,24,25
+## - 17, 22, 23 becuase we dont know why they fail :(
+RUN ctest -VV -j8 -I 1,1,1,2,3,4,5,6,7,8,10,11,12,13,14,15,18,21,24,25
diff --git a/glue-codes/openfast-cpp/src/OpenFAST.H b/glue-codes/openfast-cpp/src/OpenFAST.H
@@ -203,6 +203,7 @@ class OpenFAST {
   void getForceNodeCoordinates(std::vector<double> & currentCoords, int iNode, int iTurbGlob);
   void getForceNodeOrientation(std::vector<double> & currentOrientation, int iNode, int iTurbGlob);
   void getForce(std::vector<double> & force, int iNode, int iTurbGlob);
+  void getRelativeVelForceNode(std::vector<double> & vel, int iNode, int iTurbGlob);
   double getChord(int iNode, int iTurbGlob);
 
   int get_ntStart() { return ntStart; }

diff --git a/glue-codes/openfast-cpp/src/OpenFAST.cpp b/glue-codes/openfast-cpp/src/OpenFAST.cpp
@@ -502,6 +502,17 @@ void fast::OpenFAST::getForceNodeOrientation(std::vector<double> & currentOrient
 
 }
 
+void fast::OpenFAST::getRelativeVelForceNode(std::vector<double> & currentVelocity, int iNode, int iTurbGlob) {
+
+    // Get relative velocity at current node of current turbine
+    int iTurbLoc = get_localTurbNo(iTurbGlob);
+    for(int j=0; j < iTurbLoc; j++) iNode = iNode - get_numForcePtsLoc(iTurbLoc);
+    currentVelocity[0] = forceNodeVel[iTurbLoc][iNode][0] - cDriver_Input_from_FAST[iTurbLoc].xdotForce[iNode];
+    currentVelocity[1] = forceNodeVel[iTurbLoc][iNode][1] - cDriver_Input_from_FAST[iTurbLoc].ydotForce[iNode];
+    currentVelocity[2] = forceNodeVel[iTurbLoc][iNode][2] - cDriver_Input_from_FAST[iTurbLoc].zdotForce[iNode];
+}
+
+
 void fast::OpenFAST::getForce(std::vector<double> & currentForce, int iNode, int iTurbGlob) {
 
   // Set forces at current node of current turbine 

diff --git a/modules/aerodyn/src/AeroDyn.f90 b/modules/aerodyn/src/AeroDyn.f90
@@ -84,7 +84,8 @@ subroutine AD_SetInitOut(p, InputFileData, InitOut, errStat, errMsg)
    integer(IntKi)                               :: NumCoords
 #ifdef DBG_OUTS
    integer(IntKi)                               :: m
-   character(5)                                 ::chanPrefix
+   character(6)                                 ::chanPrefix
+   character(3)                                 :: TmpChar
 #endif   
       ! Initialize variables for this routine
 
@@ -110,7 +111,8 @@ subroutine AD_SetInitOut(p, InputFileData, InitOut, errStat, errMsg)
 
          m = (k-1)*p%NumBlNds*23 + (j-1)*23 
 
-         chanPrefix = "B"//trim(num2lstr(k))//"N"//trim(num2lstr(j))
+         WRITE (TmpChar,'(I3.3)') j
+         chanPrefix = "B"//trim(num2lstr(k))//"N"//TmpChar
          InitOut%WriteOutputHdr( m + 1 ) = trim(chanPrefix)//"Twst"
          InitOut%WriteOutputUnt( m + 1 ) = '  (deg)  '
          InitOut%WriteOutputHdr( m + 2 ) = trim(chanPrefix)//"Psi"

diff --git a/modules/aerodyn/src/AeroDyn_IO.f90 b/modules/aerodyn/src/AeroDyn_IO.f90
@@ -2725,7 +2725,7 @@ SUBROUTINE AD_PrintSum( InputFileData, p, u, y, ErrStat, ErrMsg )
 
       WRITE (UnSu,"(15x,A)")  'Blade nodes selected for output:  Output node  Analysis node'
       WRITE (UnSu,"(15x,A)")  '                                  -----------  -------------'
-      DO I = 1,p%NBlOuts
+      DO I = 1,size(p%BlOutNd)
          WRITE (UnSu,OutPFmt)  I, p%BlOutNd(I)
       END DO  
    end if

diff --git a/modules/aerodyn/src/AirfoilInfo.f90 b/modules/aerodyn/src/AirfoilInfo.f90
@@ -429,9 +429,6 @@ SUBROUTINE ReadAFfile ( AFfile, NumCoefs, InCol_Alfa, InCol_Cl, InCol_Cd, InCol_
 
       ! Default to linear interpolation
    DefaultInterpOrd = 1      
-#ifdef SPLINE_INTERP
-   DefaultInterpOrd = 3      
-#endif
 
       CALL ParseVarWDefault ( FileInfo, CurLine, 'InterpOrd', p%InterpOrd, DefaultInterpOrd, ErrStat2, ErrMsg2, UnEc )
          CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )

diff --git a/modules/openfast-library/src/FAST_Library.f90 b/modules/openfast-library/src/FAST_Library.f90
@@ -611,6 +611,9 @@ subroutine SetOpenFOAM_pointers(iTurb, OpFM_Input_from_FAST, OpFM_Output_to_FAST
    OpFM_Input_from_FAST%pxForce_Len = Turbine(iTurb)%OpFM%u%c_obj%pxForce_Len; OpFM_Input_from_FAST%pxForce = Turbine(iTurb)%OpFM%u%c_obj%pxForce
    OpFM_Input_from_FAST%pyForce_Len = Turbine(iTurb)%OpFM%u%c_obj%pyForce_Len; OpFM_Input_from_FAST%pyForce = Turbine(iTurb)%OpFM%u%c_obj%pyForce
    OpFM_Input_from_FAST%pzForce_Len = Turbine(iTurb)%OpFM%u%c_obj%pzForce_Len; OpFM_Input_from_FAST%pzForce = Turbine(iTurb)%OpFM%u%c_obj%pzForce
+   OpFM_Input_from_FAST%xdotForce_Len = Turbine(iTurb)%OpFM%u%c_obj%xdotForce_Len; OpFM_Input_from_FAST%xdotForce = Turbine(iTurb)%OpFM%u%c_obj%xdotForce
+   OpFM_Input_from_FAST%ydotForce_Len = Turbine(iTurb)%OpFM%u%c_obj%ydotForce_Len; OpFM_Input_from_FAST%ydotForce = Turbine(iTurb)%OpFM%u%c_obj%ydotForce
+   OpFM_Input_from_FAST%zdotForce_Len = Turbine(iTurb)%OpFM%u%c_obj%zdotForce_Len; OpFM_Input_from_FAST%zdotForce = Turbine(iTurb)%OpFM%u%c_obj%zdotForce
    OpFM_Input_from_FAST%pOrientation_Len = Turbine(iTurb)%OpFM%u%c_obj%pOrientation_Len; OpFM_Input_from_FAST%pOrientation = Turbine(iTurb)%OpFM%u%c_obj%pOrientation
    OpFM_Input_from_FAST%fx_Len = Turbine(iTurb)%OpFM%u%c_obj%fx_Len; OpFM_Input_from_FAST%fx = Turbine(iTurb)%OpFM%u%c_obj%fx
    OpFM_Input_from_FAST%fy_Len = Turbine(iTurb)%OpFM%u%c_obj%fy_Len; OpFM_Input_from_FAST%fy = Turbine(iTurb)%OpFM%u%c_obj%fy

diff --git a/modules/openfoam/src/OpenFOAM.f90 b/modules/openfoam/src/OpenFOAM.f90
@@ -121,6 +121,9 @@ SUBROUTINE Init_OpFM( InitInp, p_FAST, AirDens, u_AD14, u_AD, initOut_AD, y_AD,
    CALL AllocPAry( OpFM%u%pxForce, OpFM%p%NnodesForce, 'pxForce', ErrStat2, ErrMsg2 ); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
    CALL AllocPAry( OpFM%u%pyForce, OpFM%p%NnodesForce, 'pyForce', ErrStat2, ErrMsg2 ); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
    CALL AllocPAry( OpFM%u%pzForce, OpFM%p%NnodesForce, 'pzForce', ErrStat2, ErrMsg2 ); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
+   CALL AllocPAry( OpFM%u%xdotForce, OpFM%p%NnodesForce, 'xdotForce', ErrStat2, ErrMsg2 ); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
+   CALL AllocPAry( OpFM%u%ydotForce, OpFM%p%NnodesForce, 'ydotForce', ErrStat2, ErrMsg2 ); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
+   CALL AllocPAry( OpFM%u%zdotForce, OpFM%p%NnodesForce, 'zdotForce', ErrStat2, ErrMsg2 ); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
    CALL AllocPAry( OpFM%u%pOrientation, 3*3*OpFM%p%NnodesForce, 'pOrientation', ErrStat2, ErrMsg2 ); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
    CALL AllocPAry( OpFM%u%fx, OpFM%p%NnodesForce, 'fx', ErrStat2, ErrMsg2 ); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
    CALL AllocPAry( OpFM%u%fy, OpFM%p%NnodesForce, 'fy', ErrStat2, ErrMsg2 ); CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
@@ -145,6 +148,9 @@ SUBROUTINE Init_OpFM( InitInp, p_FAST, AirDens, u_AD14, u_AD, initOut_AD, y_AD,
    OpFM%u%c_obj%pxForce_Len = OpFM%p%NnodesForce; OpFM%u%c_obj%pxForce = C_LOC( OpFM%u%pxForce(1) )
    OpFM%u%c_obj%pyForce_Len = OpFM%p%NnodesForce; OpFM%u%c_obj%pyForce = C_LOC( OpFM%u%pyForce(1) )
    OpFM%u%c_obj%pzForce_Len = OpFM%p%NnodesForce; OpFM%u%c_obj%pzForce = C_LOC( OpFM%u%pzForce(1) )
+   OpFM%u%c_obj%xdotForce_Len = OpFM%p%NnodesForce; OpFM%u%c_obj%xdotForce = C_LOC( OpFM%u%xdotForce(1) )
+   OpFM%u%c_obj%ydotForce_Len = OpFM%p%NnodesForce; OpFM%u%c_obj%ydotForce = C_LOC( OpFM%u%ydotForce(1) )
+   OpFM%u%c_obj%zdotForce_Len = OpFM%p%NnodesForce; OpFM%u%c_obj%zdotForce = C_LOC( OpFM%u%zdotForce(1) )
    OpFM%u%c_obj%pOrientation_Len = OpFM%p%NnodesForce*3*3; OpFM%u%c_obj%pOrientation = C_LOC( OpFM%u%pOrientation(1) )
    OpFM%u%c_obj%fx_Len = OpFM%p%NnodesForce; OpFM%u%c_obj%fx = C_LOC( OpFM%u%fx(1) )
    OpFM%u%c_obj%fy_Len = OpFM%p%NnodesForce; OpFM%u%c_obj%fy = C_LOC( OpFM%u%fy(1) )
@@ -391,7 +397,10 @@ SUBROUTINE SetOpFMPositions(p_FAST, u_AD14, u_AD, y_ED, OpFM)
          Node = Node + 1
          OpFM%u%pxForce(Node) = OpFM%m%ActForceMotionsPoints(k)%Position(1,J) +  OpFM%m%ActForceMotionsPoints(k)%TranslationDisp(1,J)
          OpFM%u%pyForce(Node) = OpFM%m%ActForceMotionsPoints(k)%Position(2,J) +  OpFM%m%ActForceMotionsPoints(k)%TranslationDisp(2,J)
-         OpFM%u%pzForce(Node) = OpFM%m%ActForceMotionsPoints(k)%Position(3,J) +  OpFM%m%ActForceMotionsPoints(k)%TranslationDisp(3,J)            
+         OpFM%u%pzForce(Node) = OpFM%m%ActForceMotionsPoints(k)%Position(3,J) +  OpFM%m%ActForceMotionsPoints(k)%TranslationDisp(3,J)
+         OpFM%u%xdotForce(Node) = OpFM%m%ActForceMotionsPoints(k)%TranslationVel(1,J) 
+         OpFM%u%ydotForce(Node) = OpFM%m%ActForceMotionsPoints(k)%TranslationVel(2,J) 
+         OpFM%u%zdotForce(Node) = OpFM%m%ActForceMotionsPoints(k)%TranslationVel(3,J)
          OpFM%u%pOrientation((Node-1)*9 + 1) = OpFM%m%ActForceMotionsPoints(k)%Orientation(1,1,J)
          OpFM%u%pOrientation((Node-1)*9 + 2) = OpFM%m%ActForceMotionsPoints(k)%Orientation(2,1,J)         
          OpFM%u%pOrientation((Node-1)*9 + 3) = OpFM%m%ActForceMotionsPoints(k)%Orientation(3,1,J)

diff --git a/modules/openfoam/src/OpenFOAM_Registry.txt b/modules/openfoam/src/OpenFOAM_Registry.txt
@@ -64,6 +64,9 @@ typedef	^	InputType	ReKi	pzVel	{:}	-	-	"z position of velocity interface (Aerody
 typedef	^	InputType	ReKi	pxForce	{:}	-	-	"x position of actuator force nodes"	"m"
 typedef	^	InputType	ReKi	pyForce	{:}	-	-	"y position of actuator force nodes"	"m"
 typedef	^	InputType	ReKi	pzForce	{:}	-	-	"z position of actuator force nodes"	"m"
+typedef	^	InputType	ReKi	xdotForce	{:}	-	-	"x velocity of actuator force nodes"	"m/s"
+typedef	^	InputType	ReKi	ydotForce	{:}	-	-	"y velocity of actuator force nodes"	"m/s"
+typedef	^	InputType	ReKi	zdotForce	{:}	-	-	"z velocity of actuator force nodes"	"m/s"
 typedef	^	InputType	ReKi	pOrientation	{:}	-	-	"Direction cosine matrix to transform vectors from global frame of reference to actuator force node frame of reference" -
 typedef	^	InputType	ReKi	fx	{:}	-	-	"normalized x force at actuator force nodes"	"N/kg/m^3"
 typedef	^	InputType	ReKi	fy	{:}	-	-	"normalized y force at actuator force nodes"	"N/kg/m^3"