Add RM1 MHK Multi-Rotor examples to regression test suite

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

@@ -469,6 +469,61 @@ jobs:
         run: |
           ctest -VV \
           -L openfast -L offshore \
+          -LE "cpp|linear|python|fastlib|multirotor"
+      - name: Failing test artifacts
+        uses: actions/upload-artifact@v4
+        if: failure()
+        with:
+          name: rtest-OF-offshore
+          path: |
+            ${{github.workspace}}/build/reg_tests/glue-codes/openfast
+            !${{github.workspace}}/build/reg_tests/glue-codes/openfast/5MW_Baseline
+            !${{github.workspace}}/build/reg_tests/glue-codes/openfast/AOC
+            !${{github.workspace}}/build/reg_tests/glue-codes/openfast/AWT27
+            !${{github.workspace}}/build/reg_tests/glue-codes/openfast/SWRT
+            !${{github.workspace}}/build/reg_tests/glue-codes/openfast/UAE_VI
+            !${{github.workspace}}/build/reg_tests/glue-codes/openfast/WP_Baseline
+
+  rtest-OF-multirotor:
+    runs-on: ubuntu-24.04
+    needs: build-all-release
+    steps:
+      - name: Restore workspace from artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: build-all-release
+      - name: Untar workspace
+        run: |
+          tar -xf workspace.tar -C${{github.workspace}}
+          rm workspace.tar
+      - name: List files in workspace
+        run: ls
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.11'
+      - name: Install dependencies
+        working-directory: ${{github.workspace}}
+        run: |
+          pip install -r requirements.txt
+          pip install glue-codes/python/.   # Installs the interface library
+          sudo apt-get update -y
+          sudo apt-get install -y libopenblas-dev libopenblas-openmp-dev
+          sudo apt-get install -y libhdf5-dev libnetcdf-dev libopenmpi-dev libyaml-cpp-dev
+      - name: Configure Tests
+        working-directory: ${{github.workspace}}/build
+        run: |
+          cmake \
+            -DPython_ROOT_DIR:PATH=${{env.pythonLocation}} \
+            -DBUILD_TESTING:BOOL=ON \
+            -DCTEST_PLOT_ERRORS:BOOL=ON \
+            ${GITHUB_WORKSPACE}
+          cmake --build . --target regression_test_controllers
+      - name: Run 5MW tests
+        working-directory: ${{github.workspace}}/build
+        run: |
+          ctest -VV \
+          -L openfast -L multirotor \
           -LE "cpp|linear|python|fastlib"
       - name: Failing test artifacts
         uses: actions/upload-artifact@v4
@@ -484,7 +539,6 @@ jobs:
             !${{github.workspace}}/build/reg_tests/glue-codes/openfast/UAE_VI
             !${{github.workspace}}/build/reg_tests/glue-codes/openfast/WP_Baseline
 
-
   rtest-OF-linearization:
     runs-on: ubuntu-24.04
     needs: build-all-release

modules/aerodyn/src/AeroDyn.f90

@@ -2439,6 +2439,9 @@ subroutine RotCavtCrit(u, p, m, errStat, errMsg)
    errStat = ErrID_None
    errMsg  = ''
 
+   ! Skip the cavitation check if no wake mod
+   if ( p%Wake_Mod == WakeMod_none ) return
+
    do iR = 1,size(p%rotors)
       if ( p%rotors(iR)%CavitCheck ) then  ! Calculate the cavitation number for the airfoil at the node in quesiton, and compare to the critical cavitation number based on the vapour pressure and submerged depth       
          do j = 1,p%rotors(iR)%numBlades  ! Loop through all blades

modules/aerodyn/src/AeroDyn_Inflow_C_Binding_Types.f90

@@ -33,7 +33,7 @@ MODULE AeroDyn_Inflow_C_Binding_Types
 !---------------------------------------------------------------------------------------------------------------------------------
 USE NWTC_Library
 IMPLICIT NONE
-    INTEGER(IntKi), PUBLIC, PARAMETER  :: NumPtsDiskAvg = 144      ! Number of points for disk average velocity calculations [-]
+    INTEGER(IntKi), PUBLIC, PARAMETER  :: NumPtsDiskAvg                    = 144      ! Number of points for disk average velocity calculations [-]
 ! =========  DiskAvgVelData  =======
   TYPE, PUBLIC :: DiskAvgVelData
     REAL(ReKi) , DIMENSION(1:3,1:NumPtsDiskAvg)  :: DiskWindPosRel = 0.0_ReKi      !< Position points for disk average sampling, relative to hub [-]
@@ -70,7 +70,8 @@ MODULE AeroDyn_Inflow_C_Binding_Types
     TYPE(MeshType) , DIMENSION(:), ALLOCATABLE  :: BldMesh      !< Mesh for motions/loads of external nodes at each blade (sized by number of blades on the rotor) [-]
   END TYPE MeshByBladeType
 ! =======================
-CONTAINS
+
+contains
 
 subroutine ADI_cbind_CopyDiskAvgVelData(SrcDiskAvgVelDataData, DstDiskAvgVelDataData, CtrlCode, ErrStat, ErrMsg)
    type(DiskAvgVelData), intent(in) :: SrcDiskAvgVelDataData
@@ -576,5 +577,7 @@ subroutine ADI_cbind_UnPackMeshByBladeType(RF, OutData)
       end do
    end if
 end subroutine
+
 END MODULE AeroDyn_Inflow_C_Binding_Types
+
 !ENDOFREGISTRYGENERATEDFILE

modules/openfast-library/src/FAST_Subs.f90

@@ -1992,8 +1992,6 @@ SUBROUTINE ValidateInputData(p, m_FAST, ErrStat, ErrMsg)
 
    IF (p%MHK /= MHK_None .and. p%MHK /= MHK_FixedBottom .and. p%MHK /= MHK_Floating) CALL SetErrStat( ErrID_Fatal, 'MHK switch is invalid. Set MHK to 0, 1, or 2 in the FAST input file.', ErrStat, ErrMsg, RoutineName )
 
-   IF (p%MHK /= MHK_None .and. p%Linearize) CALL SetErrStat( ErrID_Warn, 'Linearization is not fully implemented for an MHK turbine (buoyancy not included in perturbations, and added mass not included anywhere).', ErrStat, ErrMsg, RoutineName )
-
    IF (p%MHK /= MHK_None .and. p%CompSeaSt == Module_SeaSt .and. p%CompInflow /= Module_IfW) CALL SetErrStat( ErrID_Fatal, 'InflowWind must be activated for MHK turbines when SeaState is used.', ErrStat, ErrMsg, RoutineName )
 
    IF (p%Gravity < 0.0_ReKi) CALL SetErrStat( ErrID_Fatal, 'Gravity must not be negative.', ErrStat, ErrMsg, RoutineName )

modules/seastate/src/SeaState.f90

@@ -712,7 +712,7 @@ SUBROUTINE SeaSt_CalcOutput( Time, u, p, x, xd, z, OtherState, y, m, ErrStat, Er
       REAL(SiKi)                           :: WaveAcc(3,p%NWaveKin)
       REAL(SiKi)                           :: WaveAccMCF(3,p%NWaveKin)
       REAL(SiKi)                           :: WaveDynP(p%NWaveKin)
-      REAL(ReKi)                           :: AllOuts(MaxOutPts)
+      REAL(ReKi)                           :: AllOuts(0:MaxOutPts)
       real(ReKi)                           :: positionXYZ(3), positionXY(2)
 
       REAL(SiKi)                           :: zeta

modules/seastate/src/SeaState_Output.f90

@@ -490,7 +490,7 @@ subroutine SeaStOut_MapOutputs(  p, WaveElev, WaveElev1, WaveElev2, WaveVel, Wav
    REAL(SiKi),                         intent( in    )  :: WaveAcc(:,:)   ! Instantaneous first order elevation of incident waves at each of the NWaveElev points where the incident wave elevations can be output (meters)   
    REAL(SiKi),                         intent( in    )  :: WaveAccMCF(:,:) ! Instantaneous first order elevation of incident waves at each of the NWaveElev points where the incident wave elevations can be output (meters)   
    REAL(SiKi),                         intent( in    )  :: WaveDynP(:)    ! Instantaneous second order elevation of incident waves at each of the NWaveElev points where the incident wave elevations can be output (meters)   
-   REAL(ReKi),                         intent(   out )  :: AllOuts(MaxOutpts)
+   REAL(ReKi),                         intent(   out )  :: AllOuts(0:MaxOutpts)
    INTEGER(IntKi),                     intent(   out )  :: ErrStat        ! Error status of the operation
    CHARACTER(*),                       intent(   out )  :: ErrMsg         ! Error message if ErrStat /= ErrID_None
 
@@ -916,21 +916,16 @@ SUBROUTINE SetOutParam(OutList, p, ErrStat, ErrMsg )
 
       Indx = FindValidChannelIndx(OutList(I), ValidParamAry, p%OutParam(I)%SignM)
 
-      IF ( Indx > 0 ) THEN ! we found the channel name
-         IF ( InvalidOutput( ParamIndxAry(Indx) ) ) THEN  ! but, it isn't valid for these settings
-            p%OutParam(I)%Indx  = 0                 ! pick any valid channel (I just picked "Time=0" here because it's universal)
-            p%OutParam(I)%Units = "INVALID"
-            p%OutParam(I)%SignM = 0
-         ELSE
-            p%OutParam(I)%Indx  = ParamIndxAry(Indx)
-            p%OutParam(I)%Units = ParamUnitsAry(Indx) ! it's a valid output
-         END IF
-      ELSE ! this channel isn't valid
+      ! If channel has no index or is invalid
+      IF ( Indx <= 0 .or. InvalidOutput( ParamIndxAry(Indx) ) ) THEN
          p%OutParam(I)%Indx  = 0                    ! pick any valid channel (I just picked "Time=0" here because it's universal)
          p%OutParam(I)%Units = "INVALID"
          p%OutParam(I)%SignM = 0                    ! multiply all results by zero
-
          CALL SetErrStat(ErrID_Warn, TRIM(p%OutParam(I)%Name)//" is not an available output channel.",ErrStat,ErrMsg,RoutineName)
+      ELSE
+         ! Channel is invalid
+         p%OutParam(I)%Indx  = ParamIndxAry(Indx)
+         p%OutParam(I)%Units = ParamUnitsAry(Indx) ! it's a valid output
       END IF
 
    END DO

reg_tests/CTestList.cmake

@@ -338,7 +338,7 @@ of_regression("5MW_ITIBarge_DLL_WTurb_WavesIrr"        "openfast;elastodyn;aerod
 of_regression("5MW_TLP_DLL_WTurb_WavesIrr_WavesMulti"  "openfast;elastodyn;aerodyn;servodyn;hydrodyn;map;offshore")
 of_regression("5MW_OC3Spar_DLL_WTurb_WavesIrr"         "openfast;elastodyn;aerodyn;servodyn;hydrodyn;map;offshore")
 of_regression("5MW_OC4Semi_WSt_WavesWN"                "openfast;elastodyn;aerodyn;servodyn;hydrodyn;moordyn;offshore")
-# of_regression("5MW_OC4Semi_WSt_WavesWN_MR"             "openfast;elastodyn;aerodyn;servodyn;hydrodyn;moordyn;multirotor;offshore")
+of_regression("5MW_MRSemi_DLL_WSt_WavesIrr"            "openfast;elastodyn;aerodyn;servodyn;hydrodyn;moordyn;offshore;subdyn;olaf;multirotor")
 of_regression("5MW_Land_BD_DLL_WTurb"                  "openfast;beamdyn;aerodyn;servodyn")
 of_regression("5MW_Land_BD_DLL_WTurb_StC"              "openfast;beamdyn;aerodyn;servodyn;stc")
 of_regression("5MW_Land_BD_Init"                       "openfast;beamdyn;aerodyn;servodyn")
@@ -349,6 +349,7 @@ of_regression("StC_test_OC4Semi"                       "openfast;servodyn;hydrod
 of_regression("StC_test_OC4Semi_blade2"                "openfast;servodyn;hydrodyn;moordyn;offshore;stc")
 of_regression("MHK_RM1_Fixed"                          "openfast;elastodyn;aerodyn;mhk;offshore")
 of_regression("MHK_RM1_Floating"                       "openfast;elastodyn;aerodyn;hydrodyn;moordyn;mhk;offshore")
+of_regression("MHK_RM1_Floating_MR"                    "openfast;elastodyn;aerodyn;servodyn;hydrodyn;moordyn;multirotor;offshore")
 of_regression("MHK_RM1_Floating_wNacDrag"              "openfast;elastodyn;aerodyn;hydrodyn;moordyn;mhk;offshore")
 of_regression("Tailfin_FreeYaw1DOF_PolarBased"         "openfast;elastodyn;aerodyn")
 of_regression("Tailfin_FreeYaw1DOF_Unsteady"           "openfast;elastodyn;aerodyn")
@@ -401,7 +402,7 @@ of_regression_linear("StC_test_OC4Semi_Linear_Tow"    ""                "openfas
 of_regression_linear("WP_Stationary_Linear"           ""                "openfast;linear;elastodyn")
 of_regression_linear("5MW_OC3Spar_Linear"             ""                "openfast;linear;map;hydrodyn")
 of_regression_linear("5MW_OC3Mnpl_Linear"             ""                "openfast;linear;hydrodyn;servodyn;moordyn")
-# of_regression_linear("MHK_RM1_Floating_Linear"        "-highpass=0.05"  "openfast;linear;elastodyn;aerodyn;hydrodyn;moordyn;mhk")
+of_regression_linear("MHK_RM1_Floating_MR_Linear"     "-highpass=0.05"  "openfast;linear;elastodyn;aerodyn;servodyn;hydrodyn;moordyn;multirotor;offshore;mhk")
 
 # FAST Farm regression tests
 if(BUILD_FASTFARM)

reg_tests/executeOpenfastLinearRegressionCase.py

@@ -442,12 +442,12 @@ def freqFileClose(file_freq_ref,file_freq_new):
     exitWithError('See errors below: \n'+'\n'.join(Errors))
 
 # If able to import openfast_toolbox, generate input file for visualization
-try:
-    import openfast_toolbox.linearization as lin
-    CDDOP, MBCOP = lin.getCampbellDataOP(caseInputFile, writeModes=True, verbose=True)
-    vizfile = lin.writeVizFile(caseInputFile, verbose=True, VTKLinModes=1, VTKLinScale=10, VTKModes="1", VTKLinTim=2)
-except ImportError as e:
-    pass
+# try:
+#     import openfast_toolbox.linearization as lin
+#     CDDOP, MBCOP = lin.getCampbellDataOP(caseInputFile, writeModes=True, verbose=True)
+#     vizfile = lin.writeVizFile(caseInputFile, verbose=True, VTKLinModes=1, VTKLinScale=10, VTKModes="1", VTKLinTim=2)
+# except ImportError as e:
+#     pass
 
 # passing case
 sys.exit(0)