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- remove unnecessary lidar allocatable arrays in SrvoDyn InitInp type
- remove unused URefLid from ServoDyn InitInp; the value that is passed to the controller was never initialized and doesn't make sense for a controller to use anyway.
- allocate lidar arrays for controller based on number of beams and pulse gates instead of type of lidar
- initialize error status in BladedInterface_End routine
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@bjonkman
bjonkman committed Oct 1, 2024
1 parent 0422e77 commit f6618c4
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Showing 6 changed files with 46 additions and 199 deletions.
40 changes: 4 additions & 36 deletions modules/openfast-library/src/FAST_Subs.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -1544,45 +1544,13 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, SED, BD, S
END IF

IF ( p_FAST%CompInflow == Module_IfW ) THEN ! assign the number of gates to ServD
if (allocated(IfW%y%lidar%LidSpeed)) then ! make sure we have the array allocated before setting it
CALL AllocAry(Init%InData_SrvD%LidSpeed, size(IfW%y%lidar%LidSpeed), 'Init%InData_SrvD%LidSpeed', errStat2, ErrMsg2)
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
IF (ErrStat >= AbortErrLev) THEN
CALL Cleanup()
RETURN
END IF
Init%InData_SrvD%LidSpeed = IfW%y%lidar%LidSpeed
endif
if (allocated(IfW%y%lidar%MsrPositionsX)) then ! make sure we have the array allocated before setting it
CALL AllocAry(Init%InData_SrvD%MsrPositionsX, size(IfW%y%lidar%MsrPositionsX), 'Init%InData_SrvD%MsrPositionsX', errStat2, ErrMsg2)
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
IF (ErrStat >= AbortErrLev) THEN
CALL Cleanup()
RETURN
END IF
Init%InData_SrvD%MsrPositionsX = IfW%y%lidar%MsrPositionsX
endif
if (allocated(IfW%y%lidar%MsrPositionsY)) then ! make sure we have the array allocated before setting it
CALL AllocAry(Init%InData_SrvD%MsrPositionsY, size(IfW%y%lidar%MsrPositionsY), 'Init%InData_SrvD%MsrPositionsY', errStat2, ErrMsg2)
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
IF (ErrStat >= AbortErrLev) THEN
CALL Cleanup()
RETURN
END IF
Init%InData_SrvD%MsrPositionsY = IfW%y%lidar%MsrPositionsY
endif
if (allocated(IfW%y%lidar%MsrPositionsZ)) then ! make sure we have the array allocated before setting it
CALL AllocAry(Init%InData_SrvD%MsrPositionsZ, size(IfW%y%lidar%MsrPositionsZ), 'Init%InData_SrvD%MsrPositionsZ', errStat2, ErrMsg2)
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
IF (ErrStat >= AbortErrLev) THEN
CALL Cleanup()
RETURN
END IF
Init%InData_SrvD%MsrPositionsZ = IfW%y%lidar%MsrPositionsZ
endif
Init%InData_SrvD%SensorType = IfW%p%lidar%SensorType
Init%InData_SrvD%NumBeam = IfW%p%lidar%NumBeam
Init%InData_SrvD%NumPulseGate = IfW%p%lidar%NumPulseGate
else
Init%InData_SrvD%SensorType = 0
Init%InData_SrvD%NumBeam = 0
Init%InData_SrvD%NumPulseGate = 0
END IF


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10 changes: 5 additions & 5 deletions modules/servodyn/src/BladedInterface.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -867,7 +867,10 @@ SUBROUTINE BladedInterface_End(u, p, m, xd, ErrStat, ErrMsg)
INTEGER(IntKi) :: ErrStat2 ! The error status code
CHARACTER(ErrMsgLen) :: ErrMsg2 ! The error message, if an error occurred

! call DLL final time, but skip if we've never called it
ErrStat = ErrID_None
ErrMsg = ""

! call DLL final time, but skip if we've never called it
if (allocated(m%dll_data%avrSWAP)) then
IF ( m%dll_data%SimStatus /= GH_DISCON_STATUS_INITIALISING ) THEN
m%dll_data%SimStatus = GH_DISCON_STATUS_FINALISING
Expand All @@ -877,10 +880,7 @@ SUBROUTINE BladedInterface_End(u, p, m, xd, ErrStat, ErrMsg)
end if

CALL FreeDynamicLib( p%DLL_Trgt, ErrStat2, ErrMsg2 ) ! this doesn't do anything #ifdef STATIC_DLL_LOAD because p%DLL_Trgt is 0 (NULL)
IF (ErrStat2 /= ErrID_None) THEN
ErrStat = MAX(ErrStat, ErrStat2)
ErrMsg = TRIM(ErrMsg)//NewLine//TRIM(ErrMsg2)
END IF
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, 'BladedInterface_End')

END SUBROUTINE BladedInterface_End
!==================================================================================================================================
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70 changes: 22 additions & 48 deletions modules/servodyn/src/BladedInterface_EX.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -374,66 +374,40 @@ end subroutine InitStCCtrl

subroutine InitLidarMeas()
integer :: I,J
if (p%NumBeam == 0) return ! Nothing to set
integer :: nPts

nPts = p%NumBeam * p%NumPulseGate

if (nPts == 0) return ! Nothing to set
! Allocate arrays for inputs -- these may have been set in ServoDyn already
if (allocated(InitInp%LidSpeed)) then ! make sure we have the array allocated before setting it
if (.not. allocated(u%LidSpeed)) then
CALL AllocAry(u%LidSpeed, size(InitInp%LidSpeed), 'u%LidSpeed', errStat2, ErrMsg2)
if (Failed()) return
endif
u%LidSpeed = InitInp%LidSpeed
if (.not. allocated(u%LidSpeed)) then
CALL AllocAry(u%LidSpeed, nPts, 'u%LidSpeed', errStat2, ErrMsg2); if (Failed()) return
endif
if (allocated(InitInp%MsrPositionsX)) then ! make sure we have the array allocated before setting it
if (.not. allocated(u%MsrPositionsX)) then
CALL AllocAry(u%MsrPositionsX, size(InitInp%MsrPositionsX), 'u%MsrPositionsX', errStat2, ErrMsg2)
if (Failed()) return
endif
u%MsrPositionsX = InitInp%MsrPositionsX
if (.not. allocated(u%MsrPositionsX)) then
CALL AllocAry(u%MsrPositionsX, nPts, 'u%MsrPositionsX', errStat2, ErrMsg2); if (Failed()) return
endif
if (allocated(InitInp%MsrPositionsY)) then ! make sure we have the array allocated before setting it
if (.not. allocated(u%MsrPositionsY)) then
CALL AllocAry(u%MsrPositionsY, size(InitInp%MsrPositionsY), 'u%MsrPositionsY', errStat2, ErrMsg2)
if (Failed()) return
endif
u%MsrPositionsY = InitInp%MsrPositionsY
if (.not. allocated(u%MsrPositionsY)) then
CALL AllocAry(u%MsrPositionsY, nPts, 'u%MsrPositionsY', errStat2, ErrMsg2); if (Failed()) return
endif
if (allocated(InitInp%MsrPositionsZ)) then ! make sure we have the array allocated before setting it
if (.not. allocated(u%MsrPositionsZ)) then
CALL AllocAry(u%MsrPositionsZ, size(InitInp%MsrPositionsZ), 'u%MsrPositionsZ', errStat2, ErrMsg2)
if (Failed()) return
endif
u%MsrPositionsZ = InitInp%MsrPositionsZ
if (.not. allocated(u%MsrPositionsZ)) then
CALL AllocAry(u%MsrPositionsZ, nPts, 'u%MsrPositionsZ', errStat2, ErrMsg2)
if (Failed()) return
endif
! Write summary info to summary file
if (UnSum > 0) then
if (p%SensorType > 0) then ! Set these here rather than overwrite every loop step in SensorType 1 or 3
if (p%SensorType > 0) then
J=LidarMsr_StartIdx
call WrSumInfoRcvd( J+0, '','Lidar input: Sensor Type')
call WrSumInfoRcvd( J+1, '','Lidar input: Number of Beams')
call WrSumInfoRcvd( J+2, '','Lidar input: Number of Pulse Gates')
call WrSumInfoRcvd( J+3, '','Lidar input: Reference average wind speed for the lidar')
endif
if (p%SensorType == 1) THEN
do I=1,min(p%NumBeam,(LidarMsr_MaxChan-4)/4) ! Don't overstep the end for the lidar measure group
J=LidarMsr_StartIdx + 4 + (I-1)
call WrSumInfoRcvd( J+0, '','Lidar input: Measured Wind Speeds ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+p%NumBeam*1, '','Lidar input: Measurement Points X ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+p%NumBeam*2, '','Lidar input: Measurement Points Y ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+p%NumBeam*3, '','Lidar input: Measurement Points Z ('//trim(Num2LStr(I))//')')
enddo
elseif (p%SensorType == 2) THEN
J=LidarMsr_StartIdx
call WrSumInfoRcvd( J+4, '','Lidar input: Measured Wind Speeds')
call WrSumInfoRcvd( J+5, '','Lidar input: Measurement Points X')
call WrSumInfoRcvd( J+6, '','Lidar input: Measurement Points Y')
call WrSumInfoRcvd( J+7, '','Lidar input: Measurement Points Z')
elseif (p%SensorType == 3) THEN
do I=1,min(p%NumPulseGate,(LidarMsr_MaxChan-4)/4) ! Don't overstep the end for the lidar measure group

do I=1,min(nPts,(LidarMsr_MaxChan-4)/4) ! Don't overstep the end for the lidar measure group
J=LidarMsr_StartIdx + 4 + (I-1)
call WrSumInfoRcvd( J+0, '','Lidar input: Measured Wind Speeds ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+p%NumPulseGate*1, '','Lidar input: Measurement Points X ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+p%NumPulseGate*2, '','Lidar input: Measurement Points Y ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+p%NumPulseGate*3, '','Lidar input: Measurement Points Z ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+0, '','Lidar input: Measured Wind Speeds ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+nPts*1, '','Lidar input: Measurement Points X ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+nPts*2, '','Lidar input: Measurement Points Y ('//trim(Num2LStr(I))//')')
call WrSumInfoRcvd( J+nPts*3, '','Lidar input: Measurement Points Z ('//trim(Num2LStr(I))//')')
enddo
endif
endif
Expand Down Expand Up @@ -561,7 +535,7 @@ subroutine SetEXavrSWAP_LidarSensors()
dll_data%avrswap(LidarMsr_StartIdx) = real(p%SensorType,SiKi) ! Sensor Type
dll_data%avrswap(LidarMsr_StartIdx+1) = real(p%NumBeam,SiKi) ! Number of Beams
dll_data%avrswap(LidarMsr_StartIdx+2) = real(p%NumPulseGate,SiKi) ! Number of Pulse Gates
dll_data%avrswap(LidarMsr_StartIdx+3) = p%URefLid ! Reference average wind speed for the lidar
dll_data%avrswap(LidarMsr_StartIdx+3) = 0.0_SiKi ! Reference average wind speed for the lidar (this was never set, plus it doesn't really make sense that the controller would need it)

nPts = SIZE(u%MsrPositionsX)
do I=1,min(nPts,(LidarMsr_MaxChan-4)/4) ! Don't overstep the end for the lidar measure group
Expand Down
34 changes: 15 additions & 19 deletions modules/servodyn/src/ServoDyn.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -134,14 +134,13 @@ SUBROUTINE SrvD_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitO
INTEGER(IntKi) :: i ! loop counter
INTEGER(IntKi) :: j ! loop counter
INTEGER(IntKi) :: K ! loop counter
INTEGER(IntKi) :: nPts ! number of linear wind-speed points
INTEGER(IntKi) :: UnSum ! Summary file unit
INTEGER(IntKi) :: ErrStat2 ! temporary Error status of the operation
CHARACTER(ErrMsgLen) :: ErrMsg2 ! temporary Error message if ErrStat /= ErrID_None

character(*), parameter :: RoutineName = 'SrvD_Init'



! Initialize variables

ErrStat = ErrID_None
Expand Down Expand Up @@ -347,6 +346,19 @@ SUBROUTINE SrvD_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitO
end if
END IF

nPts = InitInp%NumBeam * InitInp%NumPulseGate
if (nPts > 0 .and. p%UseBladedInterface) then
CALL AllocAry( u%LidSpeed, nPts, 'u%LidSpeed', ErrStat2, ErrMsg2 ); if (Failed()) return;
CALL AllocAry( u%MsrPositionsX, nPts, 'u%MsrPositionsX', ErrStat2, ErrMsg2 ); if (Failed()) return;
CALL AllocAry( u%MsrPositionsY, nPts, 'u%MsrPositionsY', ErrStat2, ErrMsg2 ); if (Failed()) return;
CALL AllocAry( u%MsrPositionsZ, nPts, 'u%MsrPositionsZ', ErrStat2, ErrMsg2 ); if (Failed()) return;

u%LidSpeed = 0.0_SiKi
u%MsrPositionsX = 0.0_ReKi
u%MsrPositionsY = 0.0_ReKi
u%MsrPositionsZ = 0.0_ReKi
end if

u%BlPitch = p%BlPitchInit(1:p%NumBl)

u%Yaw = p%YawNeut
Expand Down Expand Up @@ -387,22 +399,7 @@ SUBROUTINE SrvD_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitO
u%RotPwr = 0.
u%HorWindV = 0.
u%YawAngle = 0.
if (allocated(InitInp%LidSpeed)) then ! Must allocate
allocate(u%LidSpeed(size(InitInp%LidSpeed)))
u%LidSpeed = 0.
endif
if (allocated(InitInp%MsrPositionsX)) then
allocate(u%MsrPositionsX(size(InitInp%MsrPositionsX)))
u%MsrPositionsX = 0.
endif
if (allocated(InitInp%MsrPositionsY)) then
allocate(u%MsrPositionsY(size(InitInp%MsrPositionsY)))
u%MsrPositionsY = 0.
endif
if (allocated(InitInp%MsrPositionsZ)) then
allocate(u%MsrPositionsZ(size(InitInp%MsrPositionsZ)))
u%MsrPositionsZ = 0.
endif

m%dll_data%ElecPwr_prev = 0.
m%dll_data%GenTrq_prev = 0.

Expand Down Expand Up @@ -504,7 +501,6 @@ SUBROUTINE SrvD_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitO
p%SensorType = InitInp%SensorType
p%NumBeam = InitInp%NumBeam
p%NumPulseGate = InitInp%NumPulseGate
p%URefLid = InitInp%URefLid !bjj: not sure why you would need to store this variable in SeroDyn or why the controller would use it

CALL BladedInterface_Init(u, p, m, xd, y, InputFileData, InitInp, StC_CtrlChanInitInfo, UnSum, ErrStat2, ErrMsg2 )
if (Failed()) return;
Expand Down
7 changes: 0 additions & 7 deletions modules/servodyn/src/ServoDyn_Registry.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -57,14 +57,9 @@ typedef ^ InitInputType IntKi InterpOrder - - - "Interpolation order from glue c
typedef ^ InitInputType ReKi fromSCGlob {:} - - "Initial global inputs to the controller [from the supercontroller]" -
typedef ^ InitInputType ReKi fromSC {:} - - "Initial turbine specific inputs to the controller [from the supercontroller]" -
#initial inputs of lidar parameters
typedef ^ InitInputType ReKi LidSpeed {:} - - "Number of Lidar measurement distances" -
typedef ^ InitInputType ReKi MsrPositionsX {:} - - "Lidar X direction measurement points" m
typedef ^ InitInputType ReKi MsrPositionsY {:} - - "Lidar Y direction measurement points" m
typedef ^ InitInputType ReKi MsrPositionsZ {:} - - "Lidar Z direction measurement points" m
typedef ^ InitInputType IntKi SensorType - - - "Lidar sensor type" -
typedef ^ InitInputType IntKi NumBeam - - - "Number of beams" -
typedef ^ InitInputType IntKi NumPulseGate - - - "Number of pulse gates" -
typedef ^ InitInputType ReKi URefLid - - - "Reference average wind speed for the lidar" m/s

# Define outputs from the initialization routine here:
typedef ^ InitOutputType CHARACTER(ChanLen) WriteOutputHdr {:} - - "Names of the output-to-file channels" -
Expand Down Expand Up @@ -241,7 +236,6 @@ typedef ^ BladedDLLType ReKi MsrPositionsZ {:} - - "Lidar Z direction meas
typedef ^ BladedDLLType IntKi SensorType - - - "Lidar sensor type" -
typedef ^ BladedDLLType IntKi NumBeam - - - "Number of beams" -
typedef ^ BladedDLLType IntKi NumPulseGate - - - "Number of pulse gates" -
typedef ^ BladedDLLType IntKi URefLid - - - "Reference average wind speed for the lidar" m/s
## these are PARAMETERS sent to the DLL (THEIR VALUES SHOULD NOT CHANGE DURING SIMULATION):
typedef ^ BladedDLLType DbKi DLL_DT - - - "interval for calling DLL (integer multiple number of DT)" s
typedef ^ BladedDLLType CHARACTER(1024) DLL_InFile - - - "Name of input file used in DLL" -
Expand Down Expand Up @@ -490,7 +484,6 @@ typedef ^ ParameterType Integer Jac_Idx_SStC_y {:}{:} - - "the start and
typedef ^ ParameterType IntKi SensorType - - - "Lidar sensor type" -
typedef ^ ParameterType IntKi NumBeam - - - "Number of beams" -
typedef ^ ParameterType IntKi NumPulseGate - - - "Number of pulse gates" -
typedef ^ ParameterType ReKi URefLid - - - "Reference average wind speed for the lidar - bjj: not sure why we have this variable" m/s



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