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Cleanup HydroDyn and SeaState code #1864

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merged 53 commits into from
Nov 17, 2023
Merged

Cleanup HydroDyn and SeaState code #1864

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b46e9bd
Cleanup HD InitInputs and some VS build projects
bjonkman Oct 30, 2023
1d1a6f0
SeaSt/HD: remove extra copies of `WaveTime`
bjonkman Oct 30, 2023
9a1c41b
SeaSt: remove extra copies of `WaveElevC0`
bjonkman Oct 30, 2023
02b049b
SeaSt: remove extra copies of `WaveDirArr`
bjonkman Oct 30, 2023
e3a00f7
HD: replace pointers to individual arrays with pointer to WaveField
bjonkman Oct 30, 2023
24c4c8e
HD: removed commented-out subroutines
bjonkman Oct 30, 2023
ca755c2
SeaSt: remove extra `WaveDynP` pointers
bjonkman Oct 31, 2023
c332e92
SeaSt: remove extra `PWaveAccMCF0` pointers
bjonkman Oct 31, 2023
06c79dd
SeaSt: remove extra `WaveAccMCF` pointers
bjonkman Oct 31, 2023
9d59f19
SeaSt: remove extra `PWaveVel0` pointers
bjonkman Oct 31, 2023
1cd3397
SeaSt: remove extra `PWaveDynP0` pointers
bjonkman Oct 31, 2023
36b5b95
SeaSt: remove extra `PWaveAcc0` pointers
bjonkman Oct 31, 2023
73ef856
SeaSt: remove extra `WaveElev1` and `WaveElev2` pointers
bjonkman Oct 31, 2023
82aa4dc
SeaSt: fix bug in ca755c20
bjonkman Oct 31, 2023
0d14ff3
SeaSt: remove extra `WaveAcc` pointers
bjonkman Oct 31, 2023
b8c7001
SeaSt: remove extra `WaveVel` pointers
bjonkman Oct 31, 2023
5923994
SeaSt: remove extra `WaveElev0` pointers
bjonkman Oct 31, 2023
a72a35d
SeaSt: remove extra `WaveElevC` pointers
bjonkman Oct 31, 2023
e0e9fea
SeaSt: remove extra copies of `EffWtrDpth`
bjonkman Oct 31, 2023
7d60227
HD/SeaSt: remove extra copies of `MSL2SWL`
bjonkman Oct 31, 2023
eb93c94
HD/SeaSt: remove extra `WaveStMod` copies
bjonkman Nov 1, 2023
2dd9c06
HD C bindings: fix HD initializations
bjonkman Nov 1, 2023
976e9a7
Fix MSL2SWL input to IceDyn
bjonkman Nov 1, 2023
3aa1690
HD/SeaSt: remove extra `WtrDens` and `RhoXg` copies
bjonkman Nov 1, 2023
c4da885
HD/SeaSt: `WaveDir`, `WaveDirMin`, `WaveDirMax`, and `WaveMultiDir`
bjonkman Nov 1, 2023
3109eaa
SeaSt: remove unused `WaveElev` pointer
bjonkman Nov 2, 2023
37ac2fe
HD: remove unused SS Excitation & Radiation driver codes
bjonkman Nov 2, 2023
49344ea
HD: remove unnecessary `WaveElev0`, `WaveElevC`, and `WaveElev1` vars
bjonkman Nov 2, 2023
b6f6b51
HD/SeaSt: move `MCFD` to WaveField data structure
bjonkman Nov 2, 2023
bc1de35
HD/SeaSt: move WvLowCOff & WvHiCOff to WaveField
bjonkman Nov 2, 2023
ec98379
HD/SeaSt: WvLowCOffD, WvHiCOffD, WvLowCOffS, WvHiCOffS cleanup
bjonkman Nov 2, 2023
a8e2e9c
HD/SeaSt: `WaveDOmega` now in WaveField type
bjonkman Nov 3, 2023
0296905
HD/SeaSt: cleanup `WaveDirMod` usage
bjonkman Nov 3, 2023
4923a59
HD/SeaSt: `WtrDpth` level 1
bjonkman Nov 6, 2023
2bda79f
HD/SeaSt: cleanup SeaSt_Interp
bjonkman Nov 6, 2023
ee52170
SeaSt: use `WtrDpth` and `EffWtrDpth`
bjonkman Nov 6, 2023
9add32c
HD: use `EffWtrDpth` from WaveField instead of modified `WtrDpth`
bjonkman Nov 6, 2023
3ec0b5f
HD/SeaSt: cleanup `WaveMod`
bjonkman Nov 7, 2023
f86ffc0
SeaSt: remove extra `WaveSeed` arrays
bjonkman Nov 7, 2023
827f2d2
HD: additional cleanup of MSL2SWL
bjonkman Nov 7, 2023
ea8b3e6
SeaSt: cleanup `WvDiffQTFF` and `WvSumQTFF`
bjonkman Nov 8, 2023
fc08556
SeaState: Fix typo in message about adjusting WvHiCoff based on WaveDT
luwang00 Nov 8, 2023
dca5165
HD/SeaSt: `NStepWave` and `NStepWave2` stored in WaveField
bjonkman Nov 8, 2023
5f68c31
HD/SeaSt: remove unused variables
bjonkman Nov 8, 2023
76202a1
SeaSt: remove extra copy of `Z_Depth`
bjonkman Nov 8, 2023
a16dae5
SeaSt: fix bug in SeaSt driver from dca516
bjonkman Nov 8, 2023
df658dc
SeaSt: remove extra HalfWidth parameters
bjonkman Nov 9, 2023
ff7a7b9
SeaSt: cleanup file read of WavePkShp and WaveMod
bjonkman Nov 9, 2023
09bdd38
HD/SeaSt: cleanup unused variables
bjonkman Nov 9, 2023
b159e92
Merge branch 'dev' into f/WaveField_cleanup
bjonkman Nov 9, 2023
5c34683
HD: fix potential memory issue if no outputs were requested
bjonkman Nov 9, 2023
e1c1c4e
HD: fix bug in ff7a7b
bjonkman Nov 9, 2023
67c77c4
HD/SeaSt: Address review comments
bjonkman Nov 16, 2023
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3 changes: 0 additions & 3 deletions modules/hydrodyn/CMakeLists.txt
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Expand Up @@ -68,9 +68,6 @@ if(APPLE OR UNIX)
endif()


#add_executable(ss_radiation
# src/SS_Radiation_DriverCode.f90)
#target_link_libraries(ss_radiation hydrodynlib nwtclibs)

install(TARGETS hydrodynlib hydrodyn_driver hydrodyn_driver_subs hydrodyn_c_binding
EXPORT "${CMAKE_PROJECT_NAME}Libraries"
Expand Down
3 changes: 1 addition & 2 deletions modules/hydrodyn/src/Conv_Radiation.f90
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Expand Up @@ -340,7 +340,7 @@ SUBROUTINE Conv_Rdtn_Init( InitInp, u, p, x, xd, z, OtherState, y, m, InitOut, E
m%LastIndRdtn = 0
OtherState%IndRdtn = 0

! bjj: these initializations don't matter, but I don't like seeing the compilation warning in IVF:
! bjj: these initializations don't matter, but I don't like seeing the compilation warning in Intel Fortran:
x%DummyContState = 0.0
z%DummyConstrState = 0.0
y%F_Rdtn = 0.0
Expand Down Expand Up @@ -632,7 +632,6 @@ SUBROUTINE Conv_Rdtn_UpdateDiscState( Time, n, u, p, x, xd, z, OtherState, m, Er
! with the newest values:
! NOTE: When IndRdtn > LastIndRdtn, IndRdtn will equal LastIndRdtn + 1 if DT <= RdtnDT;
! When IndRdtn > LastIndRdtn, IndRdtn will be greater than LastIndRdtn + 1 if DT > RdtnDT.
!BJJ: this needs a better check so that it is ALWAYS done (MATLAB/Simulink could possibly avoid this step by starting at Time>0, OR there may be some numerical issues where this is NOT EXACTLY zero)

IF ( OtherState%IndRdtn < (p%NStepRdtn) ) THEN
DO J = 1,6*p%NBody ! Loop through all platform DOFs
Expand Down
110 changes: 27 additions & 83 deletions modules/hydrodyn/src/HydroDyn.f90
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36 changes: 3 additions & 33 deletions modules/hydrodyn/src/HydroDyn.txt
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Expand Up @@ -35,7 +35,6 @@ typedef ^ ^ ReKi
typedef ^ ^ ReKi AddCLin {:}{:}{:} - - "Additional stiffness matrix" -
typedef ^ ^ ReKi AddBLin {:}{:}{:} - - "Additional linear damping matrix" -
typedef ^ ^ ReKi AddBQuad {:}{:}{:} - - "Additional quadratic damping (drag) matrix" -
typedef ^ ^ SeaSt_InitInputType SeaState - - - "Initialization data for SeaState module" -
typedef ^ ^ CHARACTER(1024) PotFile {:} - - "The name of the root potential flow file (without extension for WAMIT, complete name for FIT)" -
typedef ^ ^ INTEGER nWAMITObj - - - "number of WAMIT input files. If NBodyMod = 1 then nPotFiles will be 1 even if NBody > 1" -
typedef ^ ^ INTEGER vecMultiplier - - - "multiplier for the WAMIT vectors and matrices. If NBodyMod=1 then this = NBody, else 1" -
Expand Down Expand Up @@ -72,36 +71,11 @@ typedef ^ ^ FileInfoTyp
typedef ^ ^ CHARACTER(1024) OutRootName - - - "Supplied by Driver: The name of the root file (without extension) including the full path" -
typedef ^ ^ Logical Linearize - .FALSE. - "Flag that tells this module if the glue code wants to linearize." -
typedef ^ ^ ReKi Gravity - - - "Supplied by Driver: Gravitational acceleration" "(m/s^2)"
typedef ^ ^ ReKi WtrDens - - - "Water density from the driver; may be overwritten " "(kg/m^3)"
typedef ^ ^ ReKi WtrDpth - - - "Water depth from the driver; may be overwritten " "m"
typedef ^ ^ ReKi MSL2SWL - - - "Mean sea level to still water level from the driver; may be overwritten" "m"
typedef ^ ^ DbKi TMax - - - "Supplied by Driver: The total simulation time" "(sec)"
typedef ^ ^ ReKi PtfmLocationX - - - "Supplied by Driver: X coordinate of platform location in the wave field" "m"
typedef ^ ^ ReKi PtfmLocationY - - - "Supplied by Driver: Y coordinate of platform location in the wave field" "m"
typedef ^ ^ logical VisMeshes - .false. - "Output visualization meshes" -
#
typedef ^ ^ INTEGER NStepWave - 0 - "Total number of frequency components = total number of time steps in the incident wave" -
typedef ^ ^ INTEGER NStepWave2 - 0 - "NStepWave / 2" -
typedef ^ ^ SiKi RhoXg - - - "= WtrDens*Gravity" -
typedef ^ ^ INTEGER WaveMod - - - "Incident wave kinematics model {0: none=still water, 1: plane progressive (regular), 2: JONSWAP/Pierson-Moskowitz spectrum (irregular), 3: white-noise spectrum, 4: user-defind spectrum from routine UserWaveSpctrm (irregular), 5: GH BLADED }" -
typedef ^ ^ INTEGER WaveStMod - - - "Model for stretching incident wave kinematics to instantaneous free surface {0: none=no stretching, 1: vertical stretching, 2: extrapolation stretching, 3: Wheeler stretching}" -
typedef ^ ^ INTEGER WaveDirMod - - - "Directional wave spreading function {0: none, 1: COS2S} [only used if WaveMod=6]" -
typedef ^ ^ SiKi WvLowCOff - - - "Low cut-off frequency or lower frequency limit of the wave spectrum beyond which the wave spectrum is zeroed. [used only when WaveMod=2,3,4]" (rad/s)
typedef ^ ^ SiKi WvHiCOff - - - "High cut-off frequency or upper frequency limit of the wave spectrum beyond which the wave spectrum is zeroed. [used only when WaveMod=2,3,4]" (rad/s)
typedef ^ ^ SiKi WvLowCOffD - - - "Minimum frequency used in the difference methods [Ignored if all difference methods = 0]" (rad/s)
typedef ^ ^ SiKi WvHiCOffD - - - "Maximum frequency used in the difference methods [Ignored if all difference methods = 0]" (rad/s)
typedef ^ ^ SiKi WvLowCOffS - - - "Minimum frequency used in the sum-QTF method [Ignored if SumQTF = 0]" (rad/s)
typedef ^ ^ SiKi WvHiCOffS - - - "Maximum frequency used in the sum-QTF method [Ignored if SumQTF = 0]" (rad/s)
typedef ^ ^ LOGICAL InvalidWithSSExctn - - - "Whether SeaState configuration is invalid with HydroDyn's state-space excitation (ExctnMod=2)" (-)
typedef ^ ^ SiKi WaveElev0 {:} - - "Instantaneous elevation time-series of incident waves at the platform reference point" (meters)
typedef ^ ^ SiKi WaveElevC {:}{:}{:} - - "Discrete Fourier transform of the instantaneous elevation of incident waves at all grid points. First column is real part, second column is imaginary part" (meters)
typedef ^ ^ SiKi WaveDirMin - - - "Minimum wave direction." (degrees)
typedef ^ ^ SiKi WaveDirMax - - - "Maximum wave direction." (degrees)
typedef ^ ^ SiKi WaveDir - - - "Incident wave propagation heading direction" (degrees)
typedef ^ ^ LOGICAL WaveMultiDir - - - "Indicates the waves are multidirectional -- set by HydroDyn_Input" -
typedef ^ ^ SiKi WaveDOmega - - - "Frequency step for incident wave calculations" (rad/s)
typedef ^ ^ SiKi MCFD - - - "Diameter of MacCamy-Fuchs members" (meters)
typedef ^ ^ SeaSt_WaveFieldType *WaveField - - - "Pointer to SeaState wave field" -
typedef ^ ^ LOGICAL InvalidWithSSExctn - - - "Whether SeaState configuration is invalid with HydroDyn's state-space excitation (ExctnMod=2)" (-)
typedef ^ ^ SeaSt_WaveFieldType *WaveField - - - "Pointer to SeaState wave field" -
#
#
# Define outputs from the initialization routine here:
Expand Down Expand Up @@ -151,7 +125,6 @@ typedef ^ MiscVarType MeshType
typedef ^ ^ HD_ModuleMapType HD_MeshMap - - -
typedef ^ ^ INTEGER Decimate - - - "The output decimation counter" -
typedef ^ ^ DbKi LastOutTime - - - "Last time step which was written to the output file (sec)" -
typedef ^ ^ INTEGER LastIndWave - - - "The last index used in the wave kinematics arrays, used to optimize interpolation" -
typedef ^ ^ ReKi F_PtfmAdd {:} - - "The total forces and moments due to additional pre-load, stiffness, and damping" -
typedef ^ ^ ReKi F_Hydro {6} - - "The total hydrodynamic forces and moments integrated about the (0,0,0) platform reference point" -
typedef ^ ^ ReKi F_Waves {:} - - "The total waves forces on a WAMIT body calculated by first and second order methods (WAMIT and WAMIT2 modules)" -
Expand All @@ -175,9 +148,6 @@ typedef ^ ^ INTEGER
typedef ^ ^ INTEGER totalStates - - - "Number of excitation and radiation states for all WAMIT bodies" -
typedef ^ ^ INTEGER totalExctnStates - - - "Number of excitation states for all WAMIT bodies" -
typedef ^ ^ INTEGER totalRdtnStates - - - "Number of radiation states for all WAMIT bodies" -
typedef ^ ^ SiKi WaveTime {*} - - "Array of time samples, (sec)" -
typedef ^ ^ INTEGER NStepWave - - - "Number of data points in the wave kinematics arrays" -
typedef ^ ^ ReKi WtrDpth - - - "Water depth" (m)
typedef ^ ^ ReKi AddF0 {:}{:} - - "Additional pre-load forces and moments (N,N,N,N-m,N-m,N-m)" -
typedef ^ ^ ReKi AddCLin {:}{:}{:} - - "Additional stiffness matrix" -
typedef ^ ^ ReKi AddBLin {:}{:}{:} - - "Additional linear damping matrix" -
Expand All @@ -196,8 +166,8 @@ typedef ^ ^ Integer
typedef ^ ^ R8Ki du {:} - - "vector that determines size of perturbation for u (inputs)" -
typedef ^ ^ R8Ki dx {:} - - "vector that determines size of perturbation for x (continuous states)" -
typedef ^ ^ Integer Jac_ny - - - "number of outputs in jacobian matrix" -
typedef ^ ParameterType LOGICAL PointsToSeaState - .TRUE. - "Flag that determines if the data contains pointers to SeaState module or if new copies (from restart)" -
typedef ^ ^ logical VisMeshes - .false. - "Output visualization meshes" -
typedef ^ ^ SeaSt_WaveFieldType *WaveField - - - "Pointer to SeaState wave field" -
#
#
# ..... Inputs ....................................................................................................................
Expand Down
40 changes: 9 additions & 31 deletions modules/hydrodyn/src/HydroDyn_C_Binding.f90
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Expand Up @@ -353,6 +353,12 @@ SUBROUTINE HydroDyn_C_Init( OutRootName_C,
SeaSt%InitInp%defMSL2SWL = REAL(defMSL2SWL_C, ReKi) ! use values from SeaState
SeaSt%InitInp%TMax = REAL(TMax_C, DbKi)

! Platform reference position
! This is only specified as an (X,Y) position (no Z).
SeaSt%InitInp%PtfmLocationX = REAL(PtfmRefPtPositionX_C, ReKi)
SeaSt%InitInp%PtfmLocationY = REAL(PtfmRefPtPositionY_C, ReKi)


! Wave elevation output
! Wave elevations can be exported for a set of points (grid or any other layout).
! This feature is used only in the driver codes for exporting for visualization
Expand Down Expand Up @@ -398,41 +404,13 @@ SUBROUTINE HydroDyn_C_Init( OutRootName_C,

! Values passed in
HD%InitInp%Gravity = REAL(Gravity_C, ReKi)
HD%InitInp%WtrDens = REAL(defWtrDens_C, ReKi) ! use values from SeaState
HD%InitInp%WtrDpth = REAL(defWtrDpth_C, ReKi) ! use values from SeaState
HD%InitInp% MSL2SWL = REAL(defMSL2SWL_C, ReKi) ! use values from SeaState
HD%InitInp%TMax = REAL(TMax_C, DbKi)

! Transfer data from SeaState
! Need to set up other module's InitInput data here because we will also need to clean up SeaState data and would rather not defer that cleanup
HD%InitInp%NStepWave = SeaSt%InitOutData%NStepWave
HD%InitInp%NStepWave2 = SeaSt%InitOutData%NStepWave2
HD%InitInp%RhoXg = SeaSt%InitOutData%RhoXg
HD%InitInp%WaveMod = SeaSt%InitOutData%WaveMod
HD%InitInp%WaveStMod = SeaSt%InitOutData%WaveStMod
HD%InitInp%WaveDirMod = SeaSt%InitOutData%WaveDirMod
HD%InitInp%WvLowCOff = SeaSt%InitOutData%WvLowCOff
HD%InitInp%WvHiCOff = SeaSt%InitOutData%WvHiCOff
HD%InitInp%WvLowCOffD = SeaSt%InitOutData%WvLowCOffD
HD%InitInp%WvHiCOffD = SeaSt%InitOutData%WvHiCOffD
HD%InitInp%WvLowCOffS = SeaSt%InitOutData%WvLowCOffS
HD%InitInp%WvHiCOffS = SeaSt%InitOutData%WvHiCOffS
HD%InitInp%InvalidWithSSExctn = SeaSt%InitOutData%InvalidWithSSExctn

HD%InitInp%WaveDirMin = SeaSt%InitOutData%WaveDirMin
HD%InitInp%WaveDirMax = SeaSt%InitOutData%WaveDirMax
HD%InitInp%WaveDir = SeaSt%InitOutData%WaveDir
HD%InitInp%WaveMultiDir = SeaSt%InitOutData%WaveMultiDir
HD%InitInp%WaveDOmega = SeaSt%InitOutData%WaveDOmega
HD%InitInp%MCFD = SeaSt%InitOutData%MCFD

if(associated(SeaSt%InitOutData%WaveField )) HD%InitInp%WaveField => SeaSt%InitOutData%WaveField

! Platform reference position
! The HD model uses this for building the moddel. This is only specified as an (X,Y)
! position (no Z).
HD%InitInp%PtfmLocationX = REAL(PtfmRefPtPositionX_C, ReKi)
HD%InitInp%PtfmLocationY = REAL(PtfmRefPtPositionY_C, ReKi)
HD%InitInp%WaveField => SeaSt%InitOutData%WaveField ! can be set regardless of association(); if not associated, HD shouldn't work


!-------------------------------------------------------------
Expand Down Expand Up @@ -700,15 +678,15 @@ subroutine CheckDepth(ErrStat3,ErrMsg3)
real(ReKi) :: tmpZpos !< temporary z-position
ErrStat3 = ErrID_None
ErrMsg3 = ""
tmpZpos=-0.001_ReKi*abs(HD%p%WtrDpth) ! Initial comparison value close to surface
tmpZpos=-0.001_ReKi*abs(HD%p%WaveField%EffWtrDpth) ! Initial comparison value close to surface
if ( NumNodePts == 1 .and. HD%u(1)%Morison%Mesh%Committed ) then
do i=1,HD%u(1)%Morison%Mesh%Nnodes
! Find lowest Morison node
if (HD%u(1)%Morison%Mesh%Position(3,i) < tmpZpos) then
tmpZpos = HD%u(1)%Morison%Mesh%Position(3,i)
endif
enddo
if (tmpZpos < -abs(HD%p%WtrDpth)*0.9_ReKi) then ! within 10% of the seafloor
if (tmpZpos < -abs(HD%p%WaveField%EffWtrDpth)*0.9_ReKi) then ! within 10% of the seafloor
ErrStat3 = ErrID_Severe
ErrMsg3 = "Inconsistent model"//NewLine//" -- Single library input node for simulating rigid floating structure."// &
NewLine//" -- Lowest Morison node is is in lowest 10% of water depth indicating fixed bottom structure from HydroDyn."// &
Expand Down
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