Merge OpenFAST/dev + HD/SeaSt code cleanup

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

@@ -46,7 +46,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4 jinja2==3.0
+          pip install numpy "Bokeh>=2.4"
       - name: Setup workspace
         run: cmake -E make_directory ${{runner.workspace}}/openfast/build
       - name: Configure build
@@ -90,7 +90,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4 jinja2==3.0
+          pip install numpy "Bokeh>=2.4"
       - name: Setup workspace
         run: cmake -E make_directory ${{runner.workspace}}/openfast/build
       - name: Configure build
@@ -132,7 +132,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4 jinja2==3.0
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev  # gcovr
       - name: Setup workspace
@@ -182,7 +182,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Build OpenFAST C-Interfaces
@@ -218,7 +218,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Build OpenFAST glue-code
@@ -249,7 +249,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Build FAST.Farm
@@ -287,7 +287,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Run AeroDyn tests
@@ -332,7 +332,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4 jinja2==3.0
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Configure Tests
@@ -387,13 +387,13 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Run Interface / API tests
         working-directory: ${{runner.workspace}}/openfast/build
         run: |
-          ctest -VV -L "cpp|python" -j ${{env.NUM_PROCS}}
+          ctest -VV -L "cpp|python|fastlib" -j ${{env.NUM_PROCS}}
       - name: Failing test artifacts
         uses: actions/upload-artifact@v2
         if: failure()
@@ -424,7 +424,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Configure Tests
@@ -436,7 +436,7 @@ jobs:
         run: |
           ctest -VV -j8 \
           -L openfast \
-          -LE "cpp|linear|python" \
+          -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@v2
@@ -471,7 +471,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4 jinja2==3.0
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Configure Tests
@@ -515,7 +515,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Configure Tests
@@ -559,7 +559,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Configure Tests
@@ -603,7 +603,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Configure Tests
@@ -647,7 +647,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4 jinja2==3.0
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Configure Tests
@@ -691,7 +691,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Configure Tests
@@ -735,7 +735,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install numpy Bokeh==1.4
+          pip install numpy "Bokeh>=2.4"
           sudo apt-get update -y
           sudo apt-get install -y libhdf5-dev libopenmpi-dev libyaml-cpp-dev
       - name: Configure Tests

cmake/OpenfastFortranOptions.cmake

@@ -101,6 +101,7 @@ macro(set_fast_gfortran)
   if(NOT WIN32)
     set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -fpic ")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpic")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fpic")
   endif(NOT WIN32)
 
   # Fix free-form compilation for OpenFAST

docs/source/testing/regression_test.rst

@@ -40,6 +40,7 @@ configuration as described in the following sections.
 
 In both modes of execution a directory is created in the build directory
 called ``reg_tests`` where all of the input files for the test cases are copied
+(but not overwritten) 
 and all of the locally generated outputs are stored. Ultimately, both CTest and
 the manual execution program call a series of Python scripts and libraries in
 ``reg_tests`` and ``reg_tests/lib``. One such script is ``lib/pass_fail.py``

docs/source/user/aerodyn/examples/ad_primary_example.dat

@@ -76,7 +76,7 @@ True          SumPrint            - Generate a summary file listing input option
           1,          3,          4,          6    BlOutNd             - Blade nodes whose values will be output  (-)
           0   NTwOuts             - Number of tower node outputs [0 - 9]  (-)
           1   TwOutNd             - Tower nodes whose values will be output  (-)
-                   OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
+              OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
 "B1N1VDisx, B1N1VDisy, B1N1VDisz" ! disturbed wind velocity at Blade 1, Node 1
 "B1N2VDisx, B1N2VDisy, B1N2VDisz" ! disturbed wind velocity at Blade 1, Node 2
 "B1N3VDisx, B1N3VDisy, B1N3VDisz" ! disturbed wind velocity at Blade 1, Node 3
@@ -91,7 +91,7 @@ END of OutList section (the word "END" must appear in the first 3 columns of the
 ====== Outputs for all blade stations (same ending as above for B1N1.... =========================== [optional section]
           1   BldNd_BladesOut     - Number of blades to output all node information at.  Up to number of blades on turbine. (-)
 "All"         BldNd_BlOutNd       - Future feature will allow selecting a portion of the nodes to output.  Not implemented yet. (-)
-                  OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
+              OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
 "Fx, Fy"                   
 "Vx, Vy"                   
 "Vrel"                     
@@ -103,3 +103,4 @@ END of OutList section (the word "END" must appear in the first 3 columns of the
 "Vindy"                    
 "Alpha"                    
 END (the word "END" must appear in the first 3 columns of this last OutList line in the optional nodal output section)
+====================================================================================================

docs/source/user/beamdyn/examples/bd_primary_nrel_5mw.inp

@@ -78,7 +78,7 @@ True          RotStates        - Orient states in the rotating frame during line
 ---------------------- PITCH ACTUATOR PARAMETERS -------------------------------
 False         UsePitchAct - Whether a pitch actuator should be used (flag)
         200   PitchJ      - Pitch actuator inertia (kg-m^2) [used only when UsePitchAct is true]
-      2E+07   PitchK      - Pitch actuator stiffness (kg-m^2/s^2) [used only when UsePitchAct is true]
+   20000000   PitchK      - Pitch actuator stiffness (kg-m^2/s^2) [used only when UsePitchAct is true]
      500000   PitchC      - Pitch actuator damping (kg-m^2/s) [used only when UsePitchAct is true]
 ---------------------- OUTPUTS -------------------------------------------------
 True          SumPrint       - Print summary data to "<RootName>.sum" (flag)
@@ -92,17 +92,18 @@ True          SumPrint       - Print summary data to "<RootName>.sum" (flag)
 "N1Mxl,N1Myl,N1Mzl"          
 "TipTDxr, TipTDyr, TipTDzr"  
 "TipRDxr, TipRDyr, TipRDzr"  
-END of input file (the word "END" must appear in the first 3 columns of the last OutList line)
+END of OutList section (the word "END" must appear in the first 3 columns of the last OutList line)
 ====== Outputs for all blade stations (same ending as above for B1N1.... =========================== (optional section)
-   "All"          BldNd_BlOutNd       - Future feature will allow selecting a portion of the nodes to output.  Not implemented yet. (-)
+"All"         BldNd_BlOutNd       - Future feature will allow selecting a portion of the nodes to output.  Not implemented yet. (-)
                   OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
-"TDxr, TDyr, TDzr"
-"TVxr, TVyr, TVzr"
-"TAxr, TAyr, TAzr"
-"RDxr, RDyr, RDzr"
-"RVxr, RVyr, RVzr"
-"RAxr, RAyr, RAzr"
-"Fxr, Fyr, Fzr"
+"TDxr, TDyr, TDzr"           
+"TVxr, TVyr, TVzr"           
+"TAxr, TAyr, TAzr"           
+"RDxr, RDyr, RDzr"           
+"RVxr, RVyr, RVzr"           
+"RAxr, RAyr, RAzr"           
+"Fxr, Fyr, Fzr"              
 "TipTDxr, TipTDyr, TipTDzr"  
 "TipRDxr, TipRDyr, TipRDzr"  
-END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
+END (the word "END" must appear in the first 3 columns of this last OutList line in the optional nodal output section)
+--------------------------------------------------------------------------------

modules/hydrodyn/python-lib/hydrodyn_library.py

@@ -421,6 +421,7 @@ def check_error(self):
     def check_input_motions(self,nodePos,nodeVel,nodeAcc):
         # make sure number of nodes didn't change for some reason
         if self._initNumNodePts != self.numNodePts:
+            # @ANDY TODO: `time` is not available here so this would be a runtime error
             print(f"At time {time}, the number of node points changed from initial value of {self._initNumNodePts}.  This is not permitted during the simulation.")
             self.hydrodyn_end()
             raise Exception("\nError in calling HydroDyn library.")
@@ -594,7 +595,7 @@ def __init__(self,filename,chan_names,chan_units):
         # write file header
         t_string=datetime.datetime.now()
         dt_string=datetime.date.today()
-        self.OutFile.write(f"## This file was generated by InflowWind_Driver on {dt_string.strftime('%b-%d-%Y')} at {t_string.strftime('%H:%M:%S')}\n")
+        self.OutFile.write(f"## This file was generated by HydroDyn_Driver on {dt_string.strftime('%b-%d-%Y')} at {t_string.strftime('%H:%M:%S')}\n")
         self.OutFile.write(f"## This file contains output channels requested from the OutList section of the input file")
         self.OutFile.write(f"{filename}\n")
         self.OutFile.write("#\n")

modules/hydrodyn/src/Conv_Radiation.f90

@@ -114,11 +114,6 @@ SUBROUTINE Conv_Rdtn_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval,
       ! For now, this is the only model we have implemented
       RdtnFrmAM = .FALSE.
 
-         ! Initialize the NWTC Subroutine Library
-
-      CALL NWTC_Init(  )
-
-
 
          !    If HighFreq is greater than
          !   RdtnOmegaMax, Abort because RdtnDT must be reduced in order to have

modules/hydrodyn/src/HydroDyn_Input.f90

@@ -180,7 +180,7 @@ SUBROUTINE HydroDyn_ParseInput( InputFileName, OutRootName, defWtrDens, defWtrDp
    CHARACTER(   2)                              :: strI                 ! string version of the loop counter
    INTEGER                                      :: UnEc                 ! The local unit number for this module's echo file
    CHARACTER(1024)                              :: EchoFile             ! Name of HydroDyn echo file
-   CHARACTER(1024)                              :: Line                 ! String to temporarially hold value of read line
+   CHARACTER(MaxFileInfoLineLen)                :: Line                 ! String to temporarially hold value of read line
    real(ReKi), ALLOCATABLE                      :: tmpVec1(:), tmpVec2(:) ! Temporary arrays for WAMIT data
    integer(IntKi)                               :: startIndx, endIndx   ! indices into working arrays
    INTEGER, ALLOCATABLE                         :: tmpArray(:)          ! Temporary array storage of the joint output list

modules/hydrodyn/src/Morison.f90

@@ -1897,9 +1897,6 @@ SUBROUTINE Morison_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, In
    errMsg  = ""               
 
 
-
-      ! Initialize the NWTC Subroutine Library         
-   CALL NWTC_Init(  )
 
       ! Define parameters here:  
    p%DT         = Interval

modules/hydrodyn/src/WAMIT.f90

@@ -182,7 +182,7 @@ SUBROUTINE WAMIT_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, Init
       LOGICAL                                :: NewPer                               ! When .TRUE., indicates that the period has just changed.
       LOGICAL                                :: ZeroFreq                             ! When .TRUE., indicates that the zero    -frequency limit of added mass is contained within the WAMIT output files.
 
-      CHARACTER(1024)                        :: Line                                 ! String to temporarily hold the value of a line within a WAMIT output file.
+      CHARACTER(MaxFileInfoLineLen)          :: Line                                 ! String to temporarily hold the value of a line within a WAMIT output file.
 
       TYPE(FFT_DataType)                     :: FFT_Data                             ! the instance of the FFT module we're using
       integer(IntKi)                         :: iSub, jSub                           ! indices into the 6x6 sub-matrices used to redimensionalize the WAMIT data (Needed because NBodyMod=1 could have WAMIT matrices which are 6N x 6N)
@@ -217,11 +217,6 @@ SUBROUTINE WAMIT_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, Init
       ErrMsg   = ""               
       InitOut%NULLVAL = 0 ! set to avoid compiler warnings about INTENT(OUT) not getting set
 
-
-         ! Initialize the NWTC Subroutine Library (set pi constants)
-
-      CALL NWTC_Init(  )
-
          ! Copy Output Init data from Waves Module Init call
 
       p%NStepWave    = InitInp%NStepWave