Merge pull request OpenFAST#1949 from OpenFAST/rc-3.5.2

Release 3.5.2

CMakeLists.txt

@@ -67,7 +67,10 @@ endif()
 option(BUILD_TESTING "Build the testing tree." OFF)
 if(BUILD_TESTING)
   option(CODECOVERAGE "Enable infrastructure for measuring code coverage." OFF)
-  set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -DUNIT_TEST")
+  option(BUILD_UNIT_TESTING "Enable unit testing" ON)
+  if(BUILD_UNIT_TESTING)
+    set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -DUNIT_TEST")
+  endif()
 endif()
 
 # Setup Fortran Compiler options based on architecture/compiler
@@ -276,8 +279,10 @@ if(BUILD_TESTING)
   add_subdirectory(reg_tests)
 
   # unit tests
-  if(NOT (${CMAKE_Fortran_COMPILER_ID} STREQUAL "Flang"))
-    add_subdirectory(unit_tests)
+  if(BUILD_UNIT_TESTING)
+    if(NOT (${CMAKE_Fortran_COMPILER_ID} STREQUAL "Flang"))
+      add_subdirectory(unit_tests)
+    endif()
   endif()
 endif()
 

docs/changelogs/v3.5.2.md

@@ -0,0 +1,70 @@
+**Feature or improvement description**
+Pull request to merge `rc-3.5.2` into `main` and create a tagged release for v3.5.2.
+
+See the milestone and project pages for additional information
+
+    https://github.com/OpenFAST/openfast/milestone/12
+
+Test results, if applicable
+See GitHub Actions
+
+### Release checklist:
+- [ ] Update the documentation version in docs/conf.py
+- [ ] Update the versions in docs/source/user/api_change.rst
+- [ ] Verify readthedocs builds correctly
+- [ ] Create a tag in OpenFAST
+- [ ] Create a merge commit in r-test and add a corresponding tag
+- [ ] Compile executables for Windows builds
+    - [ ] FAST_SFunc.mexw64
+    - [ ] OpenFAST-Simulink_x64.dll
+    - [ ] openfast_x64.exe
+    - [ ] DISCON.dll (x64)
+    - [ ] AeroDyn_Driver
+    - [ ] AeroDyn_Inflow_C_Binding
+    - [ ] BeamDyn_Driver
+    - [ ] HydroDyn_Driver
+    - [ ] HydroDyn_C_Binding (x64)
+    - [ ] InflowWind_Driver
+    - [ ] IfW_C_Binding (x64)
+    - [ ] MoorDyn_Driver
+    - [ ] FAST.Farm (x64)
+
+# Changelog
+
+## General
+
+### Build systems
+
+#1948 Pass Python_EXECUTABLE to pfunit, add error check on Python version
+
+
+## Module changes
+
+### AeroDyn
+
+#1913 ADI: memory leak in ADI_UpdateStates
+
+### AWAE
+
+#1963 FAST.Farm, Mod_AmbWind=3: add error if HR grid not centered on turbine in Y dimension
+
+### HydroDyn
+
+#1872 Fix segfault in HD when no outputs specified
+
+
+
+## Regression tests
+
+#1886  Update floating MHK case input files
+
+
+
+## Input file changes
+
+No input files change with this release, as this only includes minor bugfixes.
+
+Full list of changes: https://openfast.readthedocs.io/en/main/source/user/api_change.html
+
+Full input file sets: https://github.com/OpenFAST/r-test/tree/v3.5.2 (example input files from the regression testing)
+

docs/conf.py

@@ -130,7 +130,7 @@ def runDoxygen(sourcfile, doxyfileIn, doxyfileOut):
 # The short X.Y version.
 version = u'3.5'
 # The full version, including alpha/beta/rc tags.
-release = u'v3.5.1'
+release = u'v3.5.2'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

docs/source/testing/unit_test.rst

@@ -12,7 +12,8 @@ Unit testing in OpenFAST modules is accomplished through `pFUnit <https://github
 This framework provides a Fortran abstraction to the popular
 `xUnit <https://en.wikipedia.org/wiki/XUnit>`__ structure. pFUnit is compiled
 along with OpenFAST through CMake when the CMake variable ``BUILD_TESTING`` is
-turned on.
+turned on (default off) and the CMake variable ``BUILD_UNIT_TESTING`` is on
+(turned on by default when ``BUILD_TEST`` is on).
 
 The BeamDyn and NWTC Library modules contain some sample unit tests and should
 serve as a reference for future development and testing.
@@ -21,7 +22,7 @@ Dependencies
 ------------
 The following packages are required for unit testing:
 
-- Python 3.7+
+- Python 3.7+, <3.12
 - CMake
 - pFUnit - Included in OpenFAST repo through a git-submodule
 

docs/source/user/api_change.rst

@@ -9,10 +9,16 @@ 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 v3.5.1 to OpenFAST v3.5.2 
+----------------------------------
+
+No input file changes were made.
+
+
 OpenFAST v3.5.0 to OpenFAST v3.5.1 
 ----------------------------------
 
-No input files changes were made.  Some input files now include additional
+No input file changes were made.  Some input files now include additional
 output channels:  AeroDyn nodal outputs for another coordinate system, new
 MoorDyn output names (Connect changed to Point).
 

modules/aerodyn/src/AeroDyn_Inflow.f90

@@ -228,10 +228,15 @@ subroutine ADI_UpdateStates( t, n, u, utimes, p, x, xd, z, OtherState, m, errSta
    ! Get state variables at next step: INPUT at step nt - 1, OUTPUT at step nt
    call AD_UpdateStates(t, n, u_AD(:), utimes(:), p%AD, x%AD, xd%AD, z%AD, OtherState%AD, m%AD, errStat2, errMsg2); if(Failed()) return
 
+   call CleanUp()
+
 contains
 
    subroutine CleanUp()
       !call ADI_DestroyConstrState(z_guess, errStat2, errMsg2); if(Failed()) return
+      do it=1,size(utimes)
+         call AD_DestroyInput(u_AD(it), errStat2, errMsg2); if(Failed()) return
+      enddo
    end subroutine
 
    logical function Failed()

modules/aerodyn/src/FVW.f90

@@ -757,6 +757,7 @@ end subroutine RollBackPreviousTimeStep
 
    subroutine CleanUp()
       call FVW_DestroyConstrState(z_guess, ErrStat2, ErrMsg2); if(Failed()) return
+      call FVW_DestroyInput(uInterp, ErrStat2, ErrMsg2); if(Failed()) return
    end subroutine
 
    logical function Failed()

modules/awae/src/AWAE.f90

@@ -799,7 +799,7 @@ subroutine AWAE_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitO
 
    type(AWAE_InitInputType),       intent(in   ) :: InitInp       !< Input data for initialization routine
    type(AWAE_InputType),           intent(  out) :: u             !< An initial guess for the input; input mesh must be defined
-   type(AWAE_ParameterType),       intent(  out) :: p             !< Parameters
+   type(AWAE_ParameterType),target,intent(  out) :: p             !< Parameters
    type(AWAE_ContinuousStateType), intent(  out) :: x             !< Initial continuous states
    type(AWAE_DiscreteStateType),   intent(  out) :: xd            !< Initial discrete states
    type(AWAE_ConstraintStateType), intent(  out) :: z             !< Initial guess of the constraint states
@@ -821,7 +821,7 @@ subroutine AWAE_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitO
    character(ErrMsgLen)                          :: errMsg2       ! temporary error message
    character(*), parameter                       :: RoutineName = 'AWAE_Init'
    type(InflowWind_InitInputType)                :: IfW_InitInp
-   type(InflowWind_InitOutputType)               :: IfW_InitOut
+   type(InflowWind_InitOutputType), target       :: IfW_InitOut
       ! Initialize variables for this routine
 
    errStat = ErrID_None
@@ -1053,25 +1053,32 @@ subroutine AWAE_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitO
          do nt = 1,p%NumTurbines
 
             IfW_InitInp%TurbineID          = nt
-
+            call WrScr(NewLine//'Initializing high-resolution grid for Turbine '//trim(Num2Lstr(nt)))
             call InflowWind_Init( IfW_InitInp, m%u_IfW_High, p%IfW(nt), x%IfW(nt), xd%IfW(nt), z%IfW(nt), OtherState%IfW(nt), m%y_IfW_High, m%IfW(nt), Interval, IfW_InitOut, ErrStat2, ErrMsg2 )
                call SetErrStat ( errStat2, errMsg2, errStat, errMsg, RoutineName )
-            if (errStat2 >= AbortErrLev) then
+            if (errStat >= AbortErrLev) then
                return
             end if
 
+            ! Check that the high resolution grid placement is correct
+            !     The InflowWind grid location is exactly centered on the TurbPos location in the Y direction.  The high resolution grid
+            !     must exactly match the sizing and location of the InflowWind grid.  We are only going to check the Y and Z locations
+            !     for now and throw an error if these don't match appropriately.
+            call CheckModAmb3Boundaries()
+
          end do
+         if (errStat >= AbortErrLev) return
 
       end if
 
          ! Set the position inputs once for the low-resolution grid
       m%u_IfW_Low%PositionXYZ = p%Grid_low
-         ! Set the hub position and orientation to pass to IfW (IfW always calculates hub and disk avg vel)
+         ! Set the hub position and orientation to pass to IfW (FIXME: IfW always calculates hub and disk avg vel. Change this after IfW pointers fully enabled.)
       m%u_IfW_Low%HubPosition =  (/ p%X0_low + 0.5*p%nX_low*p%dX_low, p%Y0_low + 0.5*p%nY_low*p%dY_low, p%Z0_low + 0.5*p%nZ_low*p%dZ_low /)
       call Eye(m%u_IfW_Low%HubOrientation,ErrStat2,ErrMsg2)
 
          ! Initialize the high-resolution grid inputs and outputs
-       IF ( .NOT. ALLOCATED( m%u_IfW_High%PositionXYZ ) ) THEN
+      IF ( .NOT. ALLOCATED( m%u_IfW_High%PositionXYZ ) ) THEN
          call AllocAry(m%u_IfW_High%PositionXYZ, 3, p%nX_high*p%nY_high*p%nZ_high, 'm%u_IfW_High%PositionXYZ', ErrStat2, ErrMsg2)
             call SetErrStat ( errStat2, errMsg2, errStat, errMsg, RoutineName )
          call AllocAry(m%y_IfW_High%VelocityUVW, 3, p%nX_high*p%nY_high*p%nZ_high, 'm%y_IfW_High%VelocityUVW', ErrStat2, ErrMsg2)
@@ -1258,6 +1265,93 @@ subroutine AWAE_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitO
 
 
 
+contains
+   subroutine CheckModAmb3Boundaries()
+      real(ReKi)                       :: Dxyz
+      real(ReKi)                       :: ff_lim(2)
+      real(ReKi)                       :: hr_lim(2)
+      real(ReKi),          parameter   :: GridTol = 1.0E-3  ! Tolerance from IfW for checking the high-res grid (Mod_AmbWind=3 only).
+      type(FlowFieldType), pointer     :: ff                ! alias to shorten notation to fullfield
+      type(WindFileDat),   pointer     :: wfi               ! alias to shorten notation to WindFileInfo
+      character(1024)                  :: tmpMsg
+
+      ff  => p%IfW(nt)%FlowField 
+      wfi => IfW_InitOut%WindFileInfo
+
+      tmpMsg = NewLine//NewLine//'Turbine '//trim(Num2LStr(nt))//' -- Mod_AmbWind=3 requires the FAST.Farm high-res grid '// &
+               'is entirely contained within the flow-field from InflowWind. '//NewLine//' Try setting:'//NewLine
+
+      ! check Z limits, if ZRange is limited (we don't care what kind of wind)
+      if (wfi%ZRange_Limited) then
+         ! flow field limits (with grid tolerance)
+         ff_lim(1) = p%WT_Position(3,nt) + wfi%ZRange(1) - GridTol
+         ff_lim(2) = p%WT_Position(3,nt) + wfi%ZRange(2) + GridTol
+         ! high-res Z limits
+         hr_lim(1) = p%Z0_High(nt)
+         hr_lim(2) = p%Z0_High(nt) + (real(p%nZ_high,ReKi)-1.0_ReKi)*p%dZ_high(nt)
+         if ((hr_lim(1) < ff_lim(1))   .or.  &
+             (hr_lim(2) > ff_lim(2)) ) then
+            ErrStat2 = ErrID_Fatal
+            ErrMsg2  = trim(tmpMsg)// &
+                       '    Z0_high = '//trim(Num2LStr(p%WT_Position(3,nt)+wfi%ZRange(1)))
+            if (allocated(ff%Grid3D%Vel)) then
+               Dxyz = abs(wfi%ZRange(2)-wfi%ZRange(1))/(real(p%nZ_high,ReKi)-1.0_ReKi)
+               ErrMsg2=trim(ErrMsg2)//NewLine//'    dZ_High = '//trim(Num2LStr(Dxyz))
+               call SetErrStat ( errStat2, errMsg2, errStat, errMsg, RoutineName )
+            endif
+            ErrMsg2=NewLine//' for Turbine '//trim(Num2LStr(nt))
+         endif
+      endif
+
+      ! check FlowField Y limits if range limited.  Depends on orientation of winds.
+      if (wfi%YRange_Limited) then
+         ! wind X aligned with high-res X
+         if ((.not. ff%RotateWindBox) .or. EqualRealNos(abs(ff%PropagationDir),Pi)) then
+            ! flow field limits (with grid tolerance)
+            ff_lim(1) = p%WT_Position(2,nt) + wfi%YRange(1) - GridTol
+            ff_lim(2) = p%WT_Position(2,nt) + wfi%YRange(2) + GridTol
+            ! high-res Y limits
+            hr_lim(1) = p%Y0_High(nt)
+            hr_lim(2) = p%Y0_High(nt) + (real(p%nY_high,ReKi)-1.0_ReKi)*p%dY_high(nt)
+            if ((hr_lim(1) < ff_lim(1))   .or.  &
+                (hr_lim(2) > ff_lim(2)) ) then
+               ErrStat2 = ErrID_Fatal
+               ErrMsg2  = trim(tmpMsg)// &
+                          '    Y0_high = '//trim(Num2LStr(p%WT_Position(2,nt)+wfi%YRange(1)))
+               if (allocated(ff%Grid3D%Vel)) then
+                  Dxyz = abs(wfi%YRange(2)-wfi%YRange(1))/(real(p%nY_high,ReKi)-1.0_ReKi)
+                  ErrMsg2=trim(ErrMsg2)//NewLine//'    dY_High = '//trim(Num2LStr(Dxyz))
+                  call SetErrStat ( errStat2, errMsg2, errStat, errMsg, RoutineName )
+               endif
+               ErrMsg2=NewLine//' for Turbine '//trim(Num2LStr(nt))
+            endif
+
+         ! wind X aligned with high-res Y
+         elseif (EqualRealNos(abs(ff%PropagationDir),PiBy2)) then
+            ! flow field limits (with grid tolerance)
+            ff_lim(1) = p%WT_Position(1,nt) + wfi%YRange(1) - GridTol
+            ff_lim(2) = p%WT_Position(1,nt) + wfi%YRange(2) + GridTol
+            ! high-res X limits
+            hr_lim(1) = p%X0_High(nt)
+            hr_lim(2) = p%X0_High(nt) + (real(p%nX_high,ReKi)-1.0_ReKi)*p%dX_high(nt)
+            if ((hr_lim(1) < ff_lim(1))   .or.  &
+                (hr_lim(2) > ff_lim(2)) ) then
+               ErrStat2 = ErrID_Fatal
+               ErrMsg2  = trim(tmpMsg)// &
+                          '    X0_high = '//trim(Num2LStr(p%WT_Position(1,nt)+wfi%YRange(1)))
+               if (allocated(ff%Grid3D%Vel)) then
+                  Dxyz = abs(wfi%YRange(2)-wfi%YRange(1))/(real(p%nX_high,ReKi)-1.0_ReKi)
+                  ErrMsg2=trim(ErrMsg2)//NewLine//'    dX_High = '//trim(Num2LStr(Dxyz))
+                  call SetErrStat ( errStat2, errMsg2, errStat, errMsg, RoutineName )
+               endif
+               ErrMsg2=NewLine//' for Turbine '//trim(Num2LStr(nt))
+            endif
+         elseif (.not. EqualRealNos(ff%PropagationDir,0.0_ReKi))  then        ! wind not aligned with X or Y.  This is not allowed at present
+            ErrStat2 = ErrID_Fatal
+            ErrMsg2  = NewLine//NewLine//'Turbine '//trim(Num2LStr(nt))//' -- Mod_AmbWind=3 requires InflowWind propagation direction alignment with X or Y (0, 90, 180, 270 degrees).'
+         endif
+      endif
+   end subroutine CheckModAmb3Boundaries
 
 
 end subroutine AWAE_Init

modules/hydrodyn/src/HydroDyn_Input.f90

@@ -3105,7 +3105,18 @@ SUBROUTINE HydroDynInput_ProcessInitData( InitInp, Interval, InputFileData, ErrS
       IF (ErrStat >= AbortErrLev ) RETURN
 
       DEALLOCATE(foundMask)
-
+
+   ELSE
+
+      ! Set number of outputs to zero
+      InputFileData%NumOuts = 0
+      InputFileData%Waves2%NumOuts = 0
+      InputFileData%Morison%NumOuts = 0
+
+      ! Allocate outlist with zero length
+      call AllocAry(InputFileData%OutList, 0, "InputFileData%OutList", ErrStat2, ErrMsg2); 
+      call SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
+
    END IF
       ! Now that we have the sub-lists organized, lets do some additional validation.
 

unit_tests/CMakeLists.txt

@@ -23,6 +23,15 @@ project(OpenFAST_UnitTest Fortran)
 
 include(CTest)
 
+if(NOT ${Python_Interpreter_FOUND})
+  message(FATAL_ERROR "CMake did not find a Python interpreter. Python is required for unit tests." )
+endif()
+if (${Python_VERSION} VERSION_GREATER_EQUAL "3.12.0")
+  message(FATAL_ERROR "Unit testing with pfunit not currently possible with Python 3.12 or greater." )
+endif()
+
+
+
 ### pfunit
 include(ExternalProject)
 
@@ -41,6 +50,7 @@ ExternalProject_Add(pfunit
   CMAKE_ARGS 
     -DCMAKE_INSTALL_PREFIX=${PROJECT_BINARY_DIR}/pfunit
     -DCMAKE_Fortran_COMPILER=${CMAKE_Fortran_COMPILER}
+    -DPYTHON_EXECUTABLE=${Python_EXECUTABLE}
     -DROBUST=OFF
   BUILD_BYPRODUCTS 
     ${PFUNIT_LIB_PATH}