FF: add visualization of shared mooring lines

Author: andrew-platt

docs/source/user/api_change.rst

@@ -38,18 +38,19 @@ SubDyn                                        56\*
 SubDyn                                        57\*    NSpringPropSets  0                         - Number of spring properties
 SubDyn                                        58\*                                             PropSetID   k11     k12     k13     k14     k15     k16     k22     k23     k24     k25     k26     k33     k34     k35     k36     k44      k45      k46      k55      k56      k66
 SubDyn                                        59\*                                             (-)      (N/m)   (N/m)   (N/m)  (N/rad) (N/rad) (N/rad)  (N/m)   (N/m)  (N/rad) (N/rad) (N/rad)  (N/m)  (N/rad) (N/rad) (N/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad)  
-FAST.Farm                                     47      RotorDiamRef         125           RotorDiamRef       - Reference turbine rotor diameter for wake calculations (m) [>0.0]
-FAST.Farm                                     57      k_vAmb               DEFAULT       k_vAmb        - Calibrated parameters for the influence of the ambient turbulence in the eddy viscosity (set of 5 parameters: k, FMin, DMin, DMax, Exp) (-) [>=0.0, >=0.0 and <=1.0, >=0.0, >DMin, >0.0] or DEFAULT [DEFAULT=0.05, 1.0, 0.0, 1.0, 0.01]
-FAST.Farm                                     58      kvShr                DEFAULT       k_vShr        - Calibrated parameters for the influence of the shear layer in the eddy viscosity (set of 5 parameters: k, FMin, DMin, DMax, Exp) (-) [>=0.0, >=0.0 and <=1.0, >=0.0, >DMin, >0.0] or DEFAULT [DEFAULT=0.016, 0.2, 3.0, 25.0, 0.1]
-FAST.Farm                                     59-66   --removed--
-FAST.Farm                                     71                           --- WAKE-ADDED TURBULENCE ---
-FAST.Farm                                     72       WAT                 2                  WAT                - Switch between wake-added turbulence box options {0: no wake added turbulence, 1: predefined turbulence box, 2: user defined turbulence box} (switch)
-FAST.Farm                                     73       WAT_BoxFile         "../WAT_MannBoxDB/FFDB_D100_512x512x64.u" WAT_BoxFile  - Filepath to the file containing the u-component of the turbulence box (either predefined or user-defined) (quoted string)
-FAST.Farm                                     74       WAT_NxNyNz          512, 512, 64       WAT_NxNyNz         - Number of points in the x, y, and z directions of the WAT_BoxFile [used only if WAT=2, derived value if WAT=1] (-)
-FAST.Farm                                     75       WAT_DxDyDz          5.0, 5.0, 5.0      WAT_DxDyDz         - Distance (in meters) between points in the x, y, and z directions of the WAT_BoxFile [used only if WAT=2, derived value if WAT=1] (m)
-FAST.Farm                                     76       WAT_ScaleBox        default            WAT_ScaleBox       - Flag to scale the input turbulence box to zero mean and unit standard deviation at every node [DEFAULT=False] (flag)
-FAST.Farm                                     77       WAT_k_Def           default            WAT_k_Def          - Calibrated parameters for the influence of the maximum wake deficit on wake-added turbulence (set of 5 parameters: k_Def, FMin, DMin, DMax, Exp) (-) [>=0.0, >=0.0 and <=1.0, >=0.0, >DMin, >0.0] or DEFAULT [DEFAULT=[0.6, 0.0, 0.0, 2.0, 1.0 ]]
-FAST.Farm                                     78       WAT_k_Grad          default            WAT_k_Grad         - Calibrated parameters for the influence of the radial velocity gradient of the wake deficit on wake-added turbulence (set of 5 parameters: k_Grad, FMin, DMin, DMax, Exp) (-) [>=0.0, >=0.0 and <=1.0, >=0.0, >DMin, >0.0] or DEFAULT [DEFAULT=[3.0, 0.0, 0.0, 12.0, 0.65]                   
+FAST.Farm                                     16      WrMooringVis         true              WrMooringVis       - Write shared mooring visualization, at DT_Mooring timestep (-) [only used for Mod_SharedMooring=3]
+FAST.Farm                                     48      RotorDiamRef         125           RotorDiamRef       - Reference turbine rotor diameter for wake calculations (m) [>0.0]
+FAST.Farm                                     58      k_vAmb               DEFAULT       k_vAmb        - Calibrated parameters for the influence of the ambient turbulence in the eddy viscosity (set of 5 parameters: k, FMin, DMin, DMax, Exp) (-) [>=0.0, >=0.0 and <=1.0, >=0.0, >DMin, >0.0] or DEFAULT [DEFAULT=0.05, 1.0, 0.0, 1.0, 0.01]
+FAST.Farm                                     59      kvShr                DEFAULT       k_vShr        - Calibrated parameters for the influence of the shear layer in the eddy viscosity (set of 5 parameters: k, FMin, DMin, DMax, Exp) (-) [>=0.0, >=0.0 and <=1.0, >=0.0, >DMin, >0.0] or DEFAULT [DEFAULT=0.016, 0.2, 3.0, 25.0, 0.1]
+FAST.Farm                                     60-66   --removed--
+FAST.Farm                                     72                           --- WAKE-ADDED TURBULENCE ---
+FAST.Farm                                     73       WAT                 2                  WAT                - Switch between wake-added turbulence box options {0: no wake added turbulence, 1: predefined turbulence box, 2: user defined turbulence box} (switch)
+FAST.Farm                                     74       WAT_BoxFile         "../WAT_MannBoxDB/FFDB_D100_512x512x64.u" WAT_BoxFile  - Filepath to the file containing the u-component of the turbulence box (either predefined or user-defined) (quoted string)
+FAST.Farm                                     75       WAT_NxNyNz          512, 512, 64       WAT_NxNyNz         - Number of points in the x, y, and z directions of the WAT_BoxFile [used only if WAT=2, derived value if WAT=1] (-)
+FAST.Farm                                     76       WAT_DxDyDz          5.0, 5.0, 5.0      WAT_DxDyDz         - Distance (in meters) between points in the x, y, and z directions of the WAT_BoxFile [used only if WAT=2, derived value if WAT=1] (m)
+FAST.Farm                                     77       WAT_ScaleBox        default            WAT_ScaleBox       - Flag to scale the input turbulence box to zero mean and unit standard deviation at every node [DEFAULT=False] (flag)
+FAST.Farm                                     78       WAT_k_Def           default            WAT_k_Def          - Calibrated parameters for the influence of the maximum wake deficit on wake-added turbulence (set of 5 parameters: k_Def, FMin, DMin, DMax, Exp) (-) [>=0.0, >=0.0 and <=1.0, >=0.0, >DMin, >0.0] or DEFAULT [DEFAULT=[0.6, 0.0, 0.0, 2.0, 1.0 ]]
+FAST.Farm                                     79       WAT_k_Grad          default            WAT_k_Grad         - Calibrated parameters for the influence of the radial velocity gradient of the wake deficit on wake-added turbulence (set of 5 parameters: k_Grad, FMin, DMin, DMax, Exp) (-) [>=0.0, >=0.0 and <=1.0, >=0.0, >DMin, >0.0] or DEFAULT [DEFAULT=[3.0, 0.0, 0.0, 12.0, 0.65]                   
 AeroDyn                                       80\*     NacArea             0, 0, 0            NacArea            - Projected area of the nacelle in X, Y, Z in the nacelle coordinate system (m^2)
 AeroDyn                                       81\*     NacCd               0, 0, 0            NacCd              - Drag coefficient for the nacelle areas defined above (-)
 AeroDyn                                       82\*     NacDragAC           0, 0, 0            NacDragAC          - Position of aerodynamic center of nacelle drag in nacelle coordinates (m)

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

@@ -138,6 +138,10 @@ documentation for details on the input file at the farm level.
 **DT_Mooring** (sec) sets the timestep for the shared mooring connections with
 MoorDyn. 
 
+**WrMooringVis** [swithch]   Write shared mooring line visualization, at
+DT_Mooring timestep
+
+
 .. _FF:Input:VTK:
 
 Ambient Wind: Precursor in Visualization Toolkit Format

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

@@ -643,6 +643,7 @@ SUBROUTINE Farm_ReadPrimaryFile( InputFile, p, WD_InitInp, AWAE_InitInp, SC_Init
    CALL ReadVar( UnIn, InputFile, p%MD_FileName, "MD_FileName", "Name/location of the dynamic library {.dll [Windows] or .so [Linux]} containing the Super Controller algorithms (quoated string)", ErrStat2, ErrMsg2, UnEc); if (Failed()) return
    IF ( PathIsRelative( p%MD_FileName ) ) p%MD_FileName = TRIM(PriPath)//TRIM(p%MD_FileName)
    CALL ReadVar( UnIn, InputFile, p%DT_mooring, "DT_Mooring", "Time step for farm-levem mooring coupling with each turbine [used only when Mod_SharedMooring > 0] (s) [>0.0]", ErrStat2, ErrMsg2, UnEc); if (Failed()) return
+   CALL ReadVar( UnIn, InputFile, p%WrMooringVis, "MooringVis","Write shared mooring visualization, at DT_Mooring timestep (-) [only used for Mod_SharedMooring=3]", ErrStat2, ErrMsg2, UnEc); if (Failed()) return
 
    !---------------------- AMBIENT WIND: PRECURSOR IN VTK FORMAT ---------------------------------------------
    CALL ReadCom( UnIn, InputFile, 'Section Header: Ambient Wind: Precursor in VTK Format', ErrStat2, ErrMsg2, UnEc ); if (Failed()) return

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

@@ -41,6 +41,7 @@ typedef  ^               ParameterType         LOGICAL         UseSC           -
 typedef  ^               ParameterType         ReKi            WT_Position   {:}{:} - - "X-Y-Z position of each wind turbine; index 1 = XYZ; index 2 = turbine number" meters
 typedef  ^               ParameterType         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  ^               ParameterType         IntKi           MooringMod      -    - - "Mod_SharedMooring is a flag for array-level mooring. (switch) {0: none, 3: yes/MoorDyn}" -
+typedef  ^               ParameterType         logical         WrMooringVis    -    - - "Write shared mooring visualization (-) [only used for Mod_SharedMooring=3]" -
 typedef  ^               ParameterType         CHARACTER(1024) MD_FileName    -    - -  "Name/location of the farm-level MoorDyn input file" -
 typedef  ^               ParameterType         DbKi            DT_mooring      -    - - "Time step for farm-levem mooring coupling with each turbine [used only when Mod_SharedMooring > 0]"  seconds
 typedef  ^               ParameterType         IntKi           n_mooring       -    - - "Number of FAST and MoorDyn time steps per FAST.Farm timestep when mooring > 0" -
@@ -157,6 +158,9 @@ typedef    ^    ^                 DbKi                      InputTimes   {:}  -
 typedef    ^    ^                 MD_OutputType             y             -   -         -   "System outputs"
 typedef    ^    ^                 MD_MiscVarType            m             -   -         -   "Misc/optimization variables"
 typedef    ^    ^                 logical                   IsInitialized -   .FALSE.   -   "Has MD_Init been called"
+typedef    ^    ^                 IntKi                     VTK_count     -   0         -   "Counter for VTK output of shared moorings"
+typedef    ^    ^                 IntKi                     VTK_TWidth    -   -         -   "width for VTK_count field in output name"
+typedef    ^    ^                 character(1024)           VTK_OutFileRoot   -   -         -   "Rootfilename for VTK output"
 # ..... WAT InflowWind data ............................................................................................
 typedef    ^    WAT_IfW_data      InflowWind_ContinuousStateType  x             -   -         -   "Continuous states"
 typedef    ^    ^                 InflowWind_DiscreteStateType    xd            -   -         -   "Discrete states"

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

@@ -783,6 +783,7 @@ SUBROUTINE Farm_InitMD( farm, ErrStat, ErrMsg )
    type(MD_InitInputType)                         :: MD_InitInp
    type(MD_InitOutputType)                        :: MD_InitOut
 
+   character(1025)                                :: Path, FileRoot                  ! for vtk outputs
    INTEGER(IntKi)                                 :: nt                              ! loop counter for rotor number
    INTEGER(IntKi)                                 :: ErrStat2                        ! Temporary Error status
    CHARACTER(ErrMsgLen)                           :: ErrMsg2                         ! Temporary Error message
@@ -844,6 +845,14 @@ SUBROUTINE Farm_InitMD( farm, ErrStat, ErrMsg )
    MD_InitInp%rhoW      = 1025.0
    MD_InitInp%WtrDepth  =    0.0   !TODO: eventually connect this to a global depth input variable <<<
 
+   ! Visualization of shared moorings
+   if (farm%p%WrMooringVis) then
+      MD_InitInp%VisMeshes=.true.
+      farm%MD%VTK_Count = 0
+      call GetPath ( MD_InitInp%RootName, Path, FileRoot ) ! the returned DVR_Outs%VTK_OutFileRoot includes a file separator character at the end
+      farm%MD%VTK_OutFileRoot = trim(Path)//PathSep//'vtk'//PathSep//trim(FileRoot)
+      farm%MD%VTK_TWidth = 5        !FIXME: this should be set based on sim length
+   endif
 
    ! allocate MoorDyn inputs (assuming size 2 for linear interpolation/extrapolation... >
    ALLOCATE( farm%MD%Input( 2 ), farm%MD%InputTimes( 2 ), STAT = ErrStat2 )
@@ -1006,7 +1015,7 @@ subroutine FARM_MD_Increment(t, n, farm, ErrStat, ErrMsg)
 
       end if
    end do
-   
+
 
 contains
    logical function Failed()
@@ -1657,7 +1666,7 @@ subroutine FARM_CalcOutput(t, farm, ErrStat, ErrMsg)
    INTEGER(IntKi),           INTENT(  OUT) :: ErrStat                         !< Error status
    CHARACTER(*),             INTENT(  OUT) :: ErrMsg                          !< Error message
 
-   INTEGER(IntKi)                          :: nt                    
+   INTEGER(IntKi)                          :: nt,j
    INTEGER(IntKi)                          :: ErrStat2                        ! Temporary Error status
    CHARACTER(ErrMsgLen)                    :: ErrMsg2                         ! Temporary Error message
    CHARACTER(*),   PARAMETER               :: RoutineName = 'FARM_CalcOutput'
@@ -1755,6 +1764,31 @@ subroutine FARM_CalcOutput(t, farm, ErrStat, ErrMsg)
    call Farm_WriteOutput(n, t, farm, ErrStat2, ErrMsg2)
       call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
 
+   !.......................................................................................
+   ! Write shared moorings visualization
+   !.......................................................................................
+
+   ! Write visualization meshes
+   if (farm%p%MooringMod == 3) then
+      if (farm%MD%p%VisMeshes) then
+         if (allocated(farm%MD%y%VisLinesMesh)) then
+            do j=1,size(farm%MD%y%VisLinesMesh)
+               if (farm%MD%y%VisLinesMesh(j)%Committed) then
+                  call MeshWrVTK((/0.0_ReKi,0.0_ReKi,0.0_ReKi/), farm%MD%y%VisLinesMesh(j), trim(farm%MD%VTK_OutFileRoot)//'.MD_Line'//trim(Num2LStr(j)), farm%MD%VTK_count, .false., ErrSTat2, ErrMsg2, farm%MD%VTK_tWidth )
+               endif
+            enddo
+         endif
+         if (allocated(farm%MD%y%VisRodsMesh)) then
+            do j=1,size(farm%MD%y%VisRodsMesh)
+               if (farm%MD%y%VisRodsMesh(j)%Committed) then
+                  call MeshWrVTK((/0.0_ReKi,0.0_ReKi,0.0_ReKi/), farm%MD%y%VisRodsMesh(j), trim(farm%MD%VTK_OutFileRoot)//'.MD_Rod'//trim(Num2LStr(j)), farm%MD%VTK_count, .false., ErrSTat2, ErrMsg2, farm%MD%VTK_tWidth )
+               endif
+            enddo
+         endif
+         farm%MD%VTK_Count = farm%MD%VTK_Count + 1
+      endif
+   endif
+
  !  write(*,*) 'Total Farm_CO-serial took '//trim(num2lstr(omp_get_wtime()-tm1))//' seconds.' 
 
 end subroutine FARM_CalcOutput

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

@@ -60,6 +60,7 @@ MODULE FAST_Farm_Types
     REAL(ReKi) , DIMENSION(:,:), ALLOCATABLE  :: WT_Position      !< X-Y-Z position of each wind turbine; index 1 = XYZ; index 2 = turbine number [meters]
     INTEGER(IntKi)  :: WaveFieldMod = 0_IntKi      !< Wave field handling (-) (switch) {0: use individual HydroDyn inputs without adjustment, 1: adjust wave phases based on turbine offsets from farm origin} [-]
     INTEGER(IntKi)  :: MooringMod = 0_IntKi      !< Mod_SharedMooring is a flag for array-level mooring. (switch) {0: none, 3: yes/MoorDyn} [-]
+    LOGICAL  :: WrMooringVis = .false.      !< Write shared mooring visualization (-) [only used for Mod_SharedMooring=3] [-]
     CHARACTER(1024)  :: MD_FileName      !< Name/location of the farm-level MoorDyn input file [-]
     REAL(DbKi)  :: DT_mooring = 0.0_R8Ki      !< Time step for farm-levem mooring coupling with each turbine [used only when Mod_SharedMooring > 0] [seconds]
     INTEGER(IntKi)  :: n_mooring = 0_IntKi      !< Number of FAST and MoorDyn time steps per FAST.Farm timestep when mooring > 0 [-]
@@ -185,6 +186,9 @@ MODULE FAST_Farm_Types
     TYPE(MD_OutputType)  :: y      !< System outputs [-]
     TYPE(MD_MiscVarType)  :: m      !< Misc/optimization variables [-]
     LOGICAL  :: IsInitialized = .FALSE.      !< Has MD_Init been called [-]
+    INTEGER(IntKi)  :: VTK_count = 0      !< Counter for VTK output of shared moorings [-]
+    INTEGER(IntKi)  :: VTK_TWidth = 0_IntKi      !< width for VTK_count field in output name [-]
+    character(1024)  :: VTK_OutFileRoot      !< Rootfilename for VTK output [-]
   END TYPE MD_Data
 ! =======================
 ! =========  WAT_IfW_data  =======
@@ -249,6 +253,7 @@ subroutine Farm_CopyParam(SrcParamData, DstParamData, CtrlCode, ErrStat, ErrMsg)
    end if
    DstParamData%WaveFieldMod = SrcParamData%WaveFieldMod
    DstParamData%MooringMod = SrcParamData%MooringMod
+   DstParamData%WrMooringVis = SrcParamData%WrMooringVis
    DstParamData%MD_FileName = SrcParamData%MD_FileName
    DstParamData%DT_mooring = SrcParamData%DT_mooring
    DstParamData%n_mooring = SrcParamData%n_mooring
@@ -452,6 +457,7 @@ subroutine Farm_PackParam(RF, Indata)
    call RegPackAlloc(RF, InData%WT_Position)
    call RegPack(RF, InData%WaveFieldMod)
    call RegPack(RF, InData%MooringMod)
+   call RegPack(RF, InData%WrMooringVis)
    call RegPack(RF, InData%MD_FileName)
    call RegPack(RF, InData%DT_mooring)
    call RegPack(RF, InData%n_mooring)
@@ -534,6 +540,7 @@ subroutine Farm_UnPackParam(RF, OutData)
    call RegUnpackAlloc(RF, OutData%WT_Position); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%WaveFieldMod); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%MooringMod); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%WrMooringVis); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%MD_FileName); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%DT_mooring); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%n_mooring); if (RegCheckErr(RF, RoutineName)) return
@@ -1257,6 +1264,9 @@ subroutine Farm_CopyMD_Data(SrcMD_DataData, DstMD_DataData, CtrlCode, ErrStat, E
    call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
    if (ErrStat >= AbortErrLev) return
    DstMD_DataData%IsInitialized = SrcMD_DataData%IsInitialized
+   DstMD_DataData%VTK_count = SrcMD_DataData%VTK_count
+   DstMD_DataData%VTK_TWidth = SrcMD_DataData%VTK_TWidth
+   DstMD_DataData%VTK_OutFileRoot = SrcMD_DataData%VTK_OutFileRoot
 end subroutine
 
 subroutine Farm_DestroyMD_Data(MD_DataData, ErrStat, ErrMsg)
@@ -1326,6 +1336,9 @@ subroutine Farm_PackMD_Data(RF, Indata)
    call MD_PackOutput(RF, InData%y) 
    call MD_PackMisc(RF, InData%m) 
    call RegPack(RF, InData%IsInitialized)
+   call RegPack(RF, InData%VTK_count)
+   call RegPack(RF, InData%VTK_TWidth)
+   call RegPack(RF, InData%VTK_OutFileRoot)
    if (RegCheckErr(RF, RoutineName)) return
 end subroutine
 
@@ -1361,6 +1374,9 @@ subroutine Farm_UnPackMD_Data(RF, OutData)
    call MD_UnpackOutput(RF, OutData%y) ! y 
    call MD_UnpackMisc(RF, OutData%m) ! m 
    call RegUnpack(RF, OutData%IsInitialized); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%VTK_count); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%VTK_TWidth); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%VTK_OutFileRoot); if (RegCheckErr(RF, RoutineName)) return
 end subroutine
 
 subroutine Farm_CopyWAT_IfW_data(SrcWAT_IfW_dataData, DstWAT_IfW_dataData, CtrlCode, ErrStat, ErrMsg)