Merge pull request #2038 from andrew-platt/f/MoreLinearRegTests

Add linearization regression tests

.github/workflows/automated-dev-tests.yml

@@ -21,6 +21,7 @@ env:
   C_COMPILER: gcc-12
   GCOV_EXE: gcov-12
   CMAKE_BUILD_PARALLEL_LEVEL: 8
+  CTEST_PARALLEL_LEVEL: 2
 
 
 jobs:
@@ -35,7 +36,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout
-        uses: actions/checkout@main
+        uses: actions/checkout@v4
         with:
           submodules: recursive
       - name: Setup Python
@@ -86,7 +87,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout
-        uses: actions/checkout@main
+        uses: actions/checkout@v4
         with:
           submodules: recursive
       - name: Install dependencies
@@ -121,7 +122,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout
-        uses: actions/checkout@main
+        uses: actions/checkout@v4
         with:
           submodules: recursive
       - name: Setup Python
@@ -167,7 +168,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout
-        uses: actions/checkout@main
+        uses: actions/checkout@v4
         with:
           submodules: recursive
       - name: Setup Python
@@ -337,7 +338,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout
-        uses: actions/checkout@main
+        uses: actions/checkout@v4
         with:
           submodules: recursive
       - name: Setup Python
@@ -382,7 +383,7 @@ jobs:
           ctest -VV -R "^ua_" 
 
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-uadriver
@@ -441,7 +442,7 @@ jobs:
       - name: Run SubDyn tests
         uses: ./.github/actions/tests-module-subdyn
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-module-drivers
@@ -499,7 +500,7 @@ jobs:
       - name: Run VersionInfo tests
         uses: ./.github/actions/tests-module-version
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-modules-debug
@@ -542,7 +543,7 @@ jobs:
         run: |
           ctest -VV -L "cpp|python|fastlib"
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-interfaces
@@ -589,12 +590,12 @@ jobs:
       - name: Run 5MW tests
         working-directory: ${{runner.workspace}}/openfast/build
         run: |
-          ctest -VV -j4 \
+          ctest -VV \
           -L openfast \
           -LE "cpp|linear|python|fastlib" \
           -E "5MW_OC4Semi_WSt_WavesWN|5MW_OC3Mnpl_DLL_WTurb_WavesIrr|5MW_OC4Jckt_DLL_WTurb_WavesIrr_MGrowth|5MW_OC3Trpd_DLL_WSt_WavesReg|5MW_Land_BD_DLL_WTurb"
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-OF
@@ -644,7 +645,7 @@ jobs:
         run: |
           ctest -VV -L openfast -LE "cpp|linear|python" -R 5MW_OC4Semi_WSt_WavesWN
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-OF-5MW_OC4Semi_WSt_WavesWN
@@ -694,7 +695,7 @@ jobs:
         run: |
           ctest -VV -L openfast -LE "cpp|linear|python" -R 5MW_OC3Mnpl_DLL_WTurb_WavesIrr
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-OF-5MW_OC3Mnpl_DLL_WTurb_WavesIrr
@@ -744,7 +745,7 @@ jobs:
         run: |
           ctest -VV -L openfast -LE "cpp|linear|python" -R 5MW_OC4Jckt_DLL_WTurb_WavesIrr_MGrowth
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-OF-5MW_OC4Jckt_DLL_WTurb_WavesIrr_MGrowth
@@ -794,7 +795,7 @@ jobs:
         run: |
           ctest -VV -L openfast -LE "cpp|linear|python" -R 5MW_OC3Trpd_DLL_WSt_WavesReg
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-OF-5MW_OC3Trpd_DLL_WSt_WavesReg
@@ -844,7 +845,7 @@ jobs:
         run: |
           ctest -VV -L openfast -LE "cpp|linear|python" -R 5MW_Land_BD_DLL_WTurb
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-OF-5MW_Land_BD_DLL_WTurb
@@ -892,9 +893,9 @@ jobs:
       - name: Run OpenFAST linearization tests
         working-directory: ${{runner.workspace}}/openfast/build
         run: |
-          ctest -VV -j4 -L linear
+          ctest -VV -L linear
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-OF-linearization
@@ -946,7 +947,7 @@ jobs:
           set OMP_NUM_THREADS=2
           ctest -VV -L fastfarm --verbose
       - name: Failing test artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: rtest-FF

modules/hydrodyn/src/HydroDyn.f90

@@ -3567,39 +3567,35 @@ 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
 

reg_tests/CTestList.cmake

@@ -314,10 +314,14 @@ of_regression_linear("Fake5MW_AeroLin_B3_UA6"        "openfast;linear;elastodyn"
 of_regression_linear("WP_Stationary_Linear"         "openfast;linear;elastodyn")
 of_regression_linear("Ideal_Beam_Fixed_Free_Linear" "openfast;linear;beamdyn")
 of_regression_linear("Ideal_Beam_Free_Free_Linear"  "openfast;linear;beamdyn")
+of_regression_linear("5MW_Land_Linear_Aero"         "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"      "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("5MW_OC3Spar_Linear"           "openfast;linear;map;hydrodyn")
 
 # FAST Farm regression tests
 if(BUILD_FASTFARM)

reg_tests/executeOpenfastLinearRegressionCase.py

@@ -237,22 +237,20 @@ def indent(msg, sindent='\t'):
             else:
 
                 #if verbose:
-                print(CasePrefix+'freq_ref:', np.around(freq_bas[:8]    ,5), '[Hz]')
-                print(CasePrefix+'freq_new:', np.around(freq_loc[:8]    ,5),'[Hz]')
-                print(CasePrefix+'damp_ref:', np.around(zeta_bas[:8]*100,5), '[%]')
-                print(CasePrefix+'damp_new:', np.around(zeta_loc[:8]*100,5), '[%]')
+                print(CasePrefix+'freq_ref:', np.around(freq_bas[:10]    ,5), '[Hz]')
+                print(CasePrefix+'freq_new:', np.around(freq_loc[:10]    ,5), '[Hz]')
+                print(CasePrefix+'damp_ref:', np.around(zeta_bas[:10]*100,5), '[%]')
+                print(CasePrefix+'damp_new:', np.around(zeta_loc[:10]*100,5), '[%]')
 
                 try:
                     np.testing.assert_allclose(freq_loc[:10], freq_bas[:10], rtol=rtol_f, atol=atol_f)
                 except Exception as e:
                     raise Exception('Failed to compare A-matrix frequencies\n\tLinfile: {}.\n\tException: {}'.format(local_file, indent(e.args[0])))
 
-
                 if caseName=='Ideal_Beam_Free_Free_Linear':
-                    # The free-free case is a bit weird, smae frequencies but dampings are +/- a value
-                    zeta_loc=np.abs(zeta_loc)
-                    zeta_bas=np.abs(zeta_bas)
-
+                    # The free-free case is a bit weird, same frequencies but damping values are +/- a value
+                    zeta_loc = np.abs(zeta_loc)
+                    zeta_bas = np.abs(zeta_bas)
 
                 try:
                     # Note: damping ratios in [%]
@@ -263,40 +261,50 @@ def indent(msg, sindent='\t'):
 
 
         # --- 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(CasePrefix+'key:', k)
-                # Arrays
-                Mloc=np.atleast_2d(floc[k])
-                Mbas=np.atleast_2d(fbas[k])
-
-                # --- Compare dimensions
+            if k not in KEYS or v is None:
+                continue
+            if verbose:
+                print(CasePrefix+'key:', k)
+            # Arrays
+            Mloc=np.atleast_2d(floc[k])
+            Mbas=np.atleast_2d(fbas[k])
+
+            # --- Compare dimensions
+            try:
+                np.testing.assert_equal(Mloc.shape, Mbas.shape)
+            except Exception as e:
+                Err = 'Different dimensions for variable `{k}`.\n'
+                Err += f'\tNew:{Mloc.shape}\n'
+                Err += f'\tRef:{Mbas.shape}\n'
+                Err += f'\tLinfile: {local_file}.\n'
+                raise Exception(Err)
+
+            # Get boolean matrix where Mloc is within tolerance of Mbas
+            M_in_tol = np.isclose(Mloc, Mbas, rtol=rtol, atol=atol)
+
+            # Loop through elements where Mloc is not within tolerance of Mbas
+            # Retest to get error message
+            for n, (i,j) in enumerate(zip(*np.where(M_in_tol == False)), 1):
                 try:
-                    np.testing.assert_equal(Mloc.shape, Mbas.shape)
+                    np.testing.assert_allclose(Mloc[i,j], Mbas[i,j], rtol=rtol, atol=atol)
                 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_file)
-                    raise Exception(Err)
-
-
-                # 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])
-                            raise Exception('Failed to compare variable `{}`, {} \n\tLinfile: {}.\n\tException: {}'.format(k, sElem, local_file, indent(e.args[0])))
+                    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]
+                    raise Exception('Failed to compare matrix `{}`, {} \n\tLinfile: {}.\n\tException: {}'.format(k, sElem, local_file, indent(e.args[0])))
+
 
 except Exception as e:
     exitWithError(e.args[0])