Merge branch 'rc-3.5.3' into m/rc-3.5.3_to_dev-unstable

modules/hydrodyn/src/HydroDyn.f90

@@ -2619,39 +2619,35 @@ SUBROUTINE HD_Perturb_x( p, n, perturb_sign, x, dx )
 
 
    ! local variables
-   integer(intKi)                                      :: i, offset1, offset2, n2
+   integer(intKi)                                      :: i, j, k
 
    if ( p%totalStates == 0 ) return
 
    !Note: All excitation states for all bodies are stored 1st, then all radiation states
    dx = p%dx(n)
-   offset1 = 1
-   if ( n <= p%totalExctnStates ) then
-
-      ! Find body index for exctn states
-      do i=1,p%nWAMITObj 
-         offset2 = offset1 + p%WAMIT(i)%SS_Exctn%numStates
-         if ( n >= offset1 .and. n < offset2) then
-            n2 = n - offset1 + 1
-            x%WAMIT(i)%SS_Exctn%x( n2 ) = x%WAMIT(i)%SS_Exctn%x( n2 ) + dx * perturb_sign 
-            exit
+   k = 1
+
+   ! Find body index for exctn states
+   do i = 1, p%nWAMITObj 
+      do j = 1, p%WAMIT(i)%SS_Exctn%numStates
+         if (n == k) then
+            x%WAMIT(i)%SS_Exctn%x(j) = x%WAMIT(i)%SS_Exctn%x(j) + dx * perturb_sign 
+            return
          end if
-         offset1 = offset2
+         k = k + 1
       end do
+   end do
 
-   else
-      offset1 = p%totalExctnStates + 1
-      ! Find body index for rdtn states
-      do i=1,p%nWAMITObj
-         offset2 = offset1 + p%WAMIT(i)%SS_Exctn%numStates
-         if ( n >= offset1 .and. n < offset2) then
-            n2 = n - offset1 + 1
-            x%WAMIT(i)%SS_Rdtn%x( n2 ) = x%WAMIT(i)%SS_Rdtn%x( n2 ) + dx * perturb_sign 
-            exit
+   ! Find body index for rdtn states
+   do i = 1, p%nWAMITObj
+      do j = 1, p%WAMIT(i)%SS_Rdtn%numStates
+         if (n == k) then
+            x%WAMIT(i)%SS_Rdtn%x(j) = x%WAMIT(i)%SS_Rdtn%x(j) + dx * perturb_sign 
+            return
          end if
-         offset1 = offset2
+         k = k + 1
       end do
-   end if
+   end do
 
 END SUBROUTINE HD_Perturb_x
 

modules/moordyn/src/MoorDyn_IO.f90

@@ -139,7 +139,7 @@ SUBROUTINE setupBathymetry(inputString, defaultDepth, BathGrid, BathGrid_Xs, Bat
 
       INTEGER(IntKi)                   :: ErrStat4
       CHARACTER(120)                   :: ErrMsg4         
-      CHARACTER(120)                   :: Line2
+      CHARACTER(4096)                   :: Line2
 
       CHARACTER(20)                    :: nGridX_string  ! string to temporarily hold the nGridX string from Line2
       CHARACTER(20)                    :: nGridY_string  ! string to temporarily hold the nGridY string from Line3
@@ -182,7 +182,7 @@ SUBROUTINE setupBathymetry(inputString, defaultDepth, BathGrid, BathGrid_Xs, Bat
          READ(UnCoef,*,IOSTAT=ErrStat4) nGridY_string, nGridY  ! read in the third line as the number of y values in the BathGrid
 
          ! Allocate the bathymetry matrix and associated grid x and y values
-         ALLOCATE(BathGrid(nGridX, nGridY), STAT=ErrStat4)
+         ALLOCATE(BathGrid(nGridY, nGridX), STAT=ErrStat4)
          ALLOCATE(BathGrid_Xs(nGridX), STAT=ErrStat4)
          ALLOCATE(BathGrid_Ys(nGridY), STAT=ErrStat4)
 
@@ -567,7 +567,7 @@ SUBROUTINE MDIO_ProcessOutList(OutList, p, m, y, InitOut, ErrStat, ErrMsg )
           END IF
 
         ! Point case                            
-        ELSE IF (let1(1:1) == 'P') THEN    ! Look for P?xxx or Point?xxx
+        ELSE IF (let1(1:1) == 'P' .OR. let1(1:1) == 'C') THEN    ! Look for P?xxx or Point?xxx (C?xxx and Con?xxx for backwards compatability)
           p%OutParam(I)%OType = 2                ! Point object type
           qVal = let2                            ! quantity type string
 
@@ -605,7 +605,7 @@ SUBROUTINE MDIO_ProcessOutList(OutList, p, m, y, InitOut, ErrStat, ErrMsg )
         ! error
         ELSE
           CALL DenoteInvalidOutput(p%OutParam(I)) ! flag as invalid
-          CALL WrScr('Warning: invalid output specifier '//trim(OutListTmp)//'.  Must start with L, C, R, or B')
+          CALL WrScr('Warning: invalid output specifier '//trim(OutListTmp)//'.  Must start with L, R, or B')
           CYCLE
         END IF
 

modules/moordyn/src/MoorDyn_Misc.f90

@@ -885,7 +885,7 @@ SUBROUTINE getDepthFromBathymetry(BathymetryGrid, BathGrid_Xs, BathGrid_Ys, Line
       else
          dc_dx = 0.0_DbKi   ! maybe this should raise an error
       end if
-      if ( dx > 0.0 ) then
+      if ( dy > 0.0 ) then
          dc_dy = (cx1-cx0)/dy
       else
          dc_dy = 0.0_DbKi   ! maybe this should raise an error
@@ -1300,8 +1300,7 @@ SUBROUTINE setupWaterKin(WaterKinString, p, Tmax, ErrStat, ErrMsg)
       REAL(SiKi)                       :: t, Frac
       CHARACTER(1024)                  :: FileName             ! Name of MoorDyn input file  
       CHARACTER(120)                   :: Line
-!      CHARACTER(120)                   :: Line2  
-      CHARACTER(120)                   :: entries2  
+      CHARACTER(4096)                  :: entries2  
       INTEGER(IntKi)                   :: coordtype
 
       INTEGER(IntKi)                   :: NStepWave    ! 

reg_tests/CTestList.cmake

@@ -345,12 +345,17 @@ of_regression_aeroacoustic("IEA_LB_RWT-AeroAcoustics"  "openfast;aerodyn15;aeroa
 #of_regression_linear("Fake5MW_AeroLin_B1_UA4_DBEMT3"  "-highpass=0.05"  "openfast;linear;elastodyn;aerodyn")
 #of_regression_linear("Fake5MW_AeroLin_B3_UA6"         "-highpass=0.05"  "openfast;linear;elastodyn;aerodyn")
 of_regression_linear("WP_Stationary_Linear"           ""                "openfast;linear;elastodyn")
-of_regression_linear("Ideal_Beam_Fixed_Free_Linear"   "-highpass=0.05"  "openfast;linear;beamdyn")
-of_regression_linear("Ideal_Beam_Free_Free_Linear"    "-highpass=0.05"  "openfast;linear;beamdyn")
+of_regression_linear("Ideal_Beam_Fixed_Free_Linear"   "-highpass=0.10"  "openfast;linear;beamdyn")
+of_regression_linear("Ideal_Beam_Free_Free_Linear"    "-highpass=0.10"  "openfast;linear;beamdyn")
+#of_regression_linear("5MW_Land_Linear_Aero"           "-highpass=0.05"  "openfast;linear;elastodyn;servodyn;aerodyn")
 of_regression_linear("5MW_Land_BD_Linear"             ""                "openfast;linear;beamdyn;servodyn")
-of_regression_linear("5MW_OC4Semi_Linear"             ""                "openfast;linear;hydrodyn;servodyn")
+#of_regression_linear("5MW_Land_BD_Linear_Aero"        "-highpass=0.05"  "openfast;linear;beamdyn;servodyn;aerodyn")
+of_regression_linear("5MW_OC4Semi_Linear"             ""                "openfast;linear;hydrodyn;servodyn;map")
+of_regression_linear("5MW_OC4Semi_MD_Linear"          ""                "openfast;linear;hydrodyn;servodyn;moordyn")
 of_regression_linear("StC_test_OC4Semi_Linear_Nac"    ""                "openfast;linear;servodyn;stc")
 of_regression_linear("StC_test_OC4Semi_Linear_Tow"    ""                "openfast;linear;servodyn;stc")
+of_regression_linear("WP_Stationary_Linear"           ""                "openfast;linear;elastodyn")
+of_regression_linear("5MW_OC3Spar_Linear"             ""                "openfast;linear;map;hydrodyn")
 
 # FAST Farm regression tests
 if(BUILD_FASTFARM)

reg_tests/executeOpenfastLinearRegressionCase.py

@@ -340,46 +340,56 @@ def ApplyHighPass(freq,zeta):
                 newError(Err)
 
     # --- Compare individual matrices/vectors
-    KEYS= ['A','B','C','D','dUdu','dUdy']
-    KEYS+=['x','y','u','xdot']
+    KEYS= ['A','B','C','D','dUdu','dUdy', 'x','y','u','xdot']
     for k,v in fbas.items():
         if k in KEYS and v is not None:
             if verbose:
                 print(errPrefix+'key:', k)
+
             # Arrays
-            Mloc=np.atleast_2d(floc[k])
-            Mbas=np.atleast_2d(fbas[k])
+            Mloc = np.atleast_2d(floc[k])
+            Mbas = np.atleast_2d(fbas[k])
 
             # --- Compare dimensions
             try:
                 np.testing.assert_equal(Mloc.shape, Mbas.shape)
                 dimEqual=True
             except Exception as e:
-                Err = 'Different dimensions for variable `{}`.\n'.format(k)
-                Err+= '\tNew:{}\n'.format(Mloc.shape)
-                Err+= '\tRef:{}\n'.format(Mbas.shape)
-                Err+= '\tLinfile: {}.\n'.format(local_file2)
+                Err = f'Different dimensions for variable `{k}`.\n'
+                Err+= f'\tNew: {Mloc.shape}\n'
+                Err+= f'\tRef: {Mbas.shape}\n'
+                Err+= f'\tLinfile: {local_file2}.\n'
                 newError(Err)
                 dimEqual=False
 
             if not dimEqual:
                 # We don't compare elements if shapes are different
                 continue
+
+            # Get matrix of which M elements are in/not in tolerance
+            M_diff_in_tol = np.isclose(Mloc, Mbas, rtol=rtol, atol=atol)
 
-            # We for loop below to get the first element that mismatch
-            # Otherwise, do: np.testing.assert_allclose(floc[k], fbas[k], rtol=rtol, atol=atol)
-            for i in range(Mbas.shape[0]):
-                for j in range(Mbas.shape[1]):
-                    # Old method:
-                    #if not isclose(Mloc[i,j], Mbas[i,j], rtol=rtol, atol=atol):
-                    #    sElem = 'Element [{},{}], new : {}, baseline: {}'.format(i+1,j+1,Mloc[i,j], Mbas[i,j])
-                    #    raise Exception('Failed to compare variable `{}`, {} \n\tLinfile: {}.'.format(k, sElem, local_file)) #, e.args[0]))
-                    try:
-                        np.testing.assert_allclose(Mloc[i,j], Mbas[i,j], rtol=rtol, atol=atol)
-                    except Exception as e:
-                        sElem = 'Element [{},{}], new : {}, baseline: {}'.format(i+1,j+1,Mloc[i,j], Mbas[i,j])
-                        Err=errPrefix+'Failed to compare variable `{}`, {} \n\tLinfile: {}.\n\tException: {}'.format(k, sElem, local_file2, indent(e.args[0]))
-                        ElemErrors.append(Err)
+            # Loop through indices of elements not in tolerance
+            for (i,j) in zip(*np.where(M_diff_in_tol == False)):
+                try:
+                    # Redo compare to get error message
+                    np.testing.assert_allclose(Mloc[i,j], Mbas[i,j], rtol=rtol, atol=atol)
+                except Exception as e:
+                    sElem = f'Element [{i+1},{j+1}], new: {Mloc[i,j]}, baseline: {Mbas[i,j]}'
+                    if k in ['dXdx', 'A', 'dXdu', 'B']:
+                        sElem += '\n\t\t  row: ' + fbas['x_info']['Description'][i]
+                    if k in ['dYdx', 'C', 'dYdu', 'D']:
+                        sElem += '\n\t\t  row: ' + fbas['y_info']['Description'][i]
+                    if k in ['dUdu', 'dUdy']:
+                        sElem += '\n\t\t  row: ' + fbas['u_info']['Description'][i]
+                    if k in ['dXdx', 'A', 'dYdx', 'C']:
+                        sElem += '\n\t\t  col: ' + fbas['x_info']['Description'][j]
+                    if k in ['dXdu', 'B', 'dYdu', 'D', 'dUdu']:
+                        sElem += '\n\t\t  col: ' + fbas['u_info']['Description'][j]
+                    if k in ['dUdy']:
+                        sElem += '\n\t\t  col: ' + fbas['y_info']['Description'][j]
+                    Err = errPrefix + f'Failed to compare variable `{k}`, {sElem} \n\tLinfile: {local_file2}.\n\tException: {indent(e.args[0])}'
+                    ElemErrors.append(Err)
     return Errors, ElemErrors
 
 

reg_tests/lib/fast_linearization_file.py

@@ -84,17 +84,17 @@ def readOP(fid, n, name=''):
             OP=[]
             Var = {'RotatingFrame': [], 'DerivativeOrder': [], 'Description': []}
             colNames=fid.readline().strip()
-            dummy=   fid.readline().strip()
+            fid.readline().strip()
             bHasDeriv= colNames.find('Derivative Order')>=0
             for i, line in enumerate(fid):
-                sp=line.strip().split()
-                if sp[1].find(',')>=0:
+                sp = line.strip().split()
+                if sp[1].find(',') >= 0:
                     #  Most likely this OP has three values (e.g. orientation angles)
                     # For now we discard the two other values
-                    OP.append(float(sp[1][:-1]))
+                    OP.append(np.float32(sp[1][:-1]))
                     iRot=4
                 else:
-                    OP.append(float(sp[1]))
+                    OP.append(np.float32(sp[1]))
                     iRot=2
                 Var['RotatingFrame'].append(sp[iRot])
                 if bHasDeriv:
@@ -109,23 +109,23 @@ def readOP(fid, n, name=''):
             return OP, Var
 
         def readMat(fid, n, m, name=''):
-            pattern = re.compile(r"[\*]+")
-            vals=[pattern.sub(' inf ', fid.readline().strip() ).split() for i in np.arange(n)]
-            vals = np.array(vals)
+
+            # Read rows from file, raise exception on failure
             try:
-                vals = np.array(vals).astype(float) # This could potentially fail
+                vals = np.genfromtxt(fid, dtype=np.float64, max_rows=n)
             except:
                 raise Exception('Failed to convert into an array of float the matrix `{}`\n\tin linfile: {}'.format(name, self.filename))
+
+            # Raise exception if actual matrix shape does not match expected shape
             if vals.shape[0]!=n or vals.shape[1]!=m:
                 shape1 = vals.shape
                 shape2 = (n,m)
                 raise Exception('Shape of matrix `{}` has wrong dimension ({} instead of {})\n\tin linfile: {}'.format(name, shape1, shape2, name, self.filename))
 
-            nNaN = sum(np.isnan(vals.ravel()))
-            nInf = sum(np.isinf(vals.ravel()))
-            if nInf>0:
+            # Raise exceptions if any elements are NaN or infinity
+            if np.any(np.isnan(vals.ravel())):
                 raise Exception('Some ill-formated/infinite values (e.g. `*******`) were found in the matrix `{}`\n\tin linflile: {}'.format(name, self.filename))
-            if nNaN>0:
+            if np.any(np.isinf(vals.ravel())):
                 raise Exception('Some NaN values were found in the matrix `{}`\n\tin linfile: `{}`.'.format(name, self.filename))
             return vals
 
@@ -142,15 +142,15 @@ def readMat(fid, n, m, name=''):
             ny  = int(extractVal(self['header'],'Number of outputs:'          ))
             bJac = extractVal(self['header'],'Jacobians included in this file?')
             try:
-                self['Azimuth'] = float(extractVal(self['header'],'Azimuth:'))
+                self['Azimuth'] = np.float32(extractVal(self['header'],'Azimuth:'))
             except:
                 self['Azimuth'] = None
             try:
-                self['RotSpeed'] = float(extractVal(self['header'],'Rotor Speed:')) # rad/s
+                self['RotSpeed'] = np.float32(extractVal(self['header'],'Rotor Speed:')) # rad/s
             except:
                 self['RotSpeed'] = None
             try:
-                self['WindSpeed'] = float(extractVal(self['header'],'Wind Speed:'))
+                self['WindSpeed'] = np.float32(extractVal(self['header'],'Wind Speed:'))
             except:
                 self['WindSpeed'] = None