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Small improvements for -VTKLin visualization outputs #1199

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merged 6 commits into from
Sep 8, 2022
Merged

Small improvements for -VTKLin visualization outputs #1199

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23d2330
Lin: create VTK directory on restart (user might have deleted it)
ebranlard Jul 28, 2022
157cfac
Lin: unifying some code for VTKLinTim=1,2 and adding screen output
ebranlard Jul 28, 2022
2ee8b4a
Lin: surface mesh outputs without AD using basic geometries, adding c…
ebranlard Jul 28, 2022
71940d8
Lin: default rectangular cross section for BD and ED. Using FPS for V…
ebranlard Jul 29, 2022
b5c4491
Lin: minor update to error handling in SetVTKDefaultBladeParams
andrew-platt Sep 7, 2022
1a1091f
Lin: close default vtk circle shape
andrew-platt Sep 7, 2022
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166 changes: 116 additions & 50 deletions modules/openfast-library/src/FAST_Subs.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -3308,6 +3308,7 @@ SUBROUTINE SetVTKParameters(p_FAST, InitOutData_ED, InitOutData_AD, InitInData_H
INTEGER(IntKi) :: ErrStat2
CHARACTER(ErrMsgLen) :: ErrMsg2
CHARACTER(*), PARAMETER :: RoutineName = 'SetVTKParameters'
INTEGER(IntKi) :: rootNode, cylNode, tipNode


ErrStat = ErrID_None
Expand Down Expand Up @@ -3417,51 +3418,44 @@ SUBROUTINE SetVTKParameters(p_FAST, InitOutData_ED, InitOutData_AD, InitInData_H
call move_alloc( InitOutData_AD%rotors(1)%BladeShape(k)%AirfoilCoords, p_FAST%VTK_Surface%BladeShape(k)%AirfoilCoords )
end do
ELSE
#ifndef USE_DEFAULT_BLADE_SURFACE
call setErrStat(ErrID_Fatal,'Cannot do surface visualization without airfoil coordinates defined in AeroDyn.',ErrStat,ErrMsg,RoutineName)
return
END IF
ELSE
call setErrStat(ErrID_Fatal,'Cannot do surface visualization without using AeroDyn.',ErrStat,ErrMsg,RoutineName)
return
END IF
#else
! AD used without airfoil coordinates specified
call WrScr('Using generic blade surfaces for AeroDyn (S809 airfoil, assumed chord, twist, AC). ')

rootNode = 1

DO K=1,NumBl
tipNode = AD%Input(1)%rotors(1)%BladeMotion(K)%NNodes
cylNode = min(3,AD%Input(1)%rotors(1)%BladeMotion(K)%Nnodes)

call SetVTKDefaultBladeParams(AD%Input(1)%rotors(1)%BladeMotion(K), p_FAST%VTK_Surface%BladeShape(K), tipNode, rootNode, cylNode, ErrStat2, ErrMsg2)
call SetVTKDefaultBladeParams(AD%Input(1)%rotors(1)%BladeMotion(K), p_FAST%VTK_Surface%BladeShape(K), tipNode, rootNode, cylNode, 1, ErrStat2, ErrMsg2)
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
IF (ErrStat >= AbortErrLev) RETURN
END DO
END IF

ELSE IF ( p_FAST%CompElast == Module_BD ) THEN
call WrScr('Using generic blade surfaces for BeamDyn (rectangular airfoil, constant chord). ') ! TODO make this an option
rootNode = 1
DO K=1,NumBl
tipNode = BD%y(k)%BldMotion%NNodes
cylNode = min(3,BD%y(k)%BldMotion%NNodes)

call SetVTKDefaultBladeParams(BD%y(k)%BldMotion, p_FAST%VTK_Surface%BladeShape(K), tipNode, rootNode, cylNode, ErrStat2, ErrMsg2)
call SetVTKDefaultBladeParams(BD%y(k)%BldMotion, p_FAST%VTK_Surface%BladeShape(K), tipNode, rootNode, cylNode, 4, ErrStat2, ErrMsg2)
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
IF (ErrStat >= AbortErrLev) RETURN
END DO
ELSE
call WrScr('Using generic blade surfaces for ElastoDyn (rectangular airfoil, constant chord). ') ! TODO make this an option
DO K=1,NumBl
rootNode = ED%y%BladeLn2Mesh(K)%NNodes
tipNode = ED%y%BladeLn2Mesh(K)%NNodes-1
cylNode = min(2,ED%y%BladeLn2Mesh(K)%NNodes)

call SetVTKDefaultBladeParams(ED%y%BladeLn2Mesh(K), p_FAST%VTK_Surface%BladeShape(K), tipNode, rootNode, cylNode, ErrStat2, ErrMsg2)
call SetVTKDefaultBladeParams(ED%y%BladeLn2Mesh(K), p_FAST%VTK_Surface%BladeShape(K), tipNode, rootNode, cylNode, 4, ErrStat2, ErrMsg2)
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
IF (ErrStat >= AbortErrLev) RETURN
END DO
END IF
#endif


!.......................
Expand Down Expand Up @@ -3498,13 +3492,14 @@ SUBROUTINE SetVTKParameters(p_FAST, InitOutData_ED, InitOutData_AD, InitInData_H
END SUBROUTINE SetVTKParameters
!----------------------------------------------------------------------------------------------------------------------------------
!> This subroutine comes up with some default airfoils for blade surfaces for a given blade mesh, M.
SUBROUTINE SetVTKDefaultBladeParams(M, BladeShape, tipNode, rootNode, cylNode, ErrStat, ErrMsg)
SUBROUTINE SetVTKDefaultBladeParams(M, BladeShape, tipNode, rootNode, cylNode, iShape, ErrStat, ErrMsg)

TYPE(MeshType), INTENT(IN ) :: M !< The Mesh the defaults should be calculated for
TYPE(FAST_VTK_BLSurfaceType), INTENT(INOUT) :: BladeShape !< BladeShape to set to default values
INTEGER(IntKi), INTENT(IN ) :: rootNode !< Index of root node (innermost node) for this mesh
INTEGER(IntKi), INTENT(IN ) :: tipNode !< Index of tip node (outermost node) for this mesh
INTEGER(IntKi), INTENT(IN ) :: cylNode !< Index of last node to have a cylinder shape
INTEGER(IntKi), INTENT(IN ) :: iShape !< 1: S809, 2: circle, 3: square, 4: rectangle
INTEGER(IntKi), INTENT( OUT) :: ErrStat !< Error status of the operation
CHARACTER(*), INTENT( OUT) :: ErrMsg !< Error message if ErrStat /= ErrID_None

Expand All @@ -3516,15 +3511,53 @@ SUBROUTINE SetVTKDefaultBladeParams(M, BladeShape, tipNode, rootNode, cylNode, E
INTEGER(IntKi) :: ErrStat2
CHARACTER(ErrMsgLen) :: ErrMsg2
CHARACTER(*), PARAMETER :: RoutineName = 'SetVTKDefaultBladeParams'
integer :: N ! Number of points for airfoil
real, allocatable, dimension(:) :: xc, yc ! Coordinate of airfoil

!Note: jmj does not like this default option
ErrStat = ErrID_None
ErrMsg = ''

integer, parameter :: N = 66
select case (iShape)
case (1)
N=66
call AllocAry(xc, N, 'xc', Errstat2, ErrMsg2)
call AllocAry(yc, N, 'yc', Errstat2, ErrMsg2)
call SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName); if (ErrStat >= AbortErrLev) return
xc=(/ 1.0,0.996203,0.98519,0.967844,0.945073,0.917488,0.885293,0.848455,0.80747,0.763042,0.715952,0.667064,0.617331,0.56783,0.519832,0.474243,0.428461,0.382612,0.33726,0.29297,0.250247,0.209576,0.171409,0.136174,0.104263,0.076035,0.051823,0.03191,0.01659,0.006026,0.000658,0.000204,0.0,0.000213,0.001045,0.001208,0.002398,0.009313,0.02323,0.04232,0.065877,0.093426,0.124111,0.157653,0.193738,0.231914,0.271438,0.311968,0.35337,0.395329,0.438273,0.48192,0.527928,0.576211,0.626092,0.676744,0.727211,0.776432,0.823285,0.86663,0.905365,0.938474,0.965086,0.984478,0.996141,1.0 /)
yc=(/ 0.0,0.000487,0.002373,0.00596,0.011024,0.017033,0.023458,0.03028,0.037766,0.045974,0.054872,0.064353,0.074214,0.084095,0.093268,0.099392,0.10176,0.10184,0.10007,0.096703,0.091908,0.085851,0.078687,0.07058,0.061697,0.052224,0.042352,0.032299,0.02229,0.012615,0.003723,0.001942,-0.00002,-0.001794,-0.003477,-0.003724,-0.005266,-0.011499,-0.020399,-0.030269,-0.040821,-0.051923,-0.063082,-0.07373,-0.083567,-0.092442,-0.099905,-0.105281,-0.108181,-0.108011,-0.104552,-0.097347,-0.086571,-0.073979,-0.060644,-0.047441,-0.0351,-0.024204,-0.015163,-0.008204,-0.003363,-0.000487,0.000743,0.000775,0.00029,0.0 /)
case (2)
! Circle
N=21
call AllocAry(xc, N, 'xc', Errstat2, ErrMsg2)
call AllocAry(yc, N, 'yc', Errstat2, ErrMsg2)
call SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName); if (ErrStat >= AbortErrLev) return
do i=1,N
angle = (i-1)*TwoPi/(N-1)
xc(i) = (cos(angle)+1)/2 ! between 0 and 1, 0.5 substracted later
yc(i) = (sin(angle)+1)/2-0.5 ! between -0.5 and 0.5
enddo
case (3)
! Square
N=5
call AllocAry(xc, N, 'xc', Errstat2, ErrMsg2)
call AllocAry(yc, N, 'yc', Errstat2, ErrMsg2)
call SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName); if (ErrStat >= AbortErrLev) return
xc = (/1.0 , 0.0 , 0.0 , 1.0 , 1.0/) ! between 0 and 1, 0.5 substracted later
yc = (/-0.5 , -0.5 , 0.5 , 0.5 , -0.5/) ! between -0.5 and 0.5
case (4)
! Rectangle
N=5
call AllocAry(xc, N, 'xc', Errstat2, ErrMsg2)
call AllocAry(yc, N, 'yc', Errstat2, ErrMsg2)
call SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName); if (ErrStat >= AbortErrLev) return
xc = (/1.0 , 0.0 , 0.0 , 1.0 , 1.0/) ! between 0 and 1, 0.5 substracted later
yc = (/-0.25 , -0.25 , 0.25 , 0.25 , 0.0/) ! between 0.25 and 0.25
case default
call SetErrStat(ErrID_Fatal, 'Unknown iShape specfied for VTK default shapes',ErrStat,ErrMsg,RoutineName)
return
end select

! default airfoil shape coordinates; uses S809 values from http://wind.nrel.gov/airfoils/Shapes/S809_Shape.html:
real, parameter, dimension(N) :: xc=(/ 1.0,0.996203,0.98519,0.967844,0.945073,0.917488,0.885293,0.848455,0.80747,0.763042,0.715952,0.667064,0.617331,0.56783,0.519832,0.474243,0.428461,0.382612,0.33726,0.29297,0.250247,0.209576,0.171409,0.136174,0.104263,0.076035,0.051823,0.03191,0.01659,0.006026,0.000658,0.000204,0.0,0.000213,0.001045,0.001208,0.002398,0.009313,0.02323,0.04232,0.065877,0.093426,0.124111,0.157653,0.193738,0.231914,0.271438,0.311968,0.35337,0.395329,0.438273,0.48192,0.527928,0.576211,0.626092,0.676744,0.727211,0.776432,0.823285,0.86663,0.905365,0.938474,0.965086,0.984478,0.996141,1.0 /)
real, parameter, dimension(N) :: yc=(/ 0.0,0.000487,0.002373,0.00596,0.011024,0.017033,0.023458,0.03028,0.037766,0.045974,0.054872,0.064353,0.074214,0.084095,0.093268,0.099392,0.10176,0.10184,0.10007,0.096703,0.091908,0.085851,0.078687,0.07058,0.061697,0.052224,0.042352,0.032299,0.02229,0.012615,0.003723,0.001942,-0.00002,-0.001794,-0.003477,-0.003724,-0.005266,-0.011499,-0.020399,-0.030269,-0.040821,-0.051923,-0.063082,-0.07373,-0.083567,-0.092442,-0.099905,-0.105281,-0.108181,-0.108011,-0.104552,-0.097347,-0.086571,-0.073979,-0.060644,-0.047441,-0.0351,-0.024204,-0.015163,-0.008204,-0.003363,-0.000487,0.000743,0.000775,0.00029,0.0 /)

call AllocAry(BladeShape%AirfoilCoords, 2, N, M%NNodes, 'BladeShape%AirfoilCoords', ErrStat2, ErrMsg2)
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
IF (ErrStat >= AbortErrLev) RETURN
Expand All @@ -3535,6 +3568,25 @@ SUBROUTINE SetVTKDefaultBladeParams(M, BladeShape, tipNode, rootNode, cylNode, E
bladeLengthFract = 0.22*bladeLength
bladeLengthFract2 = bladeLength-bladeLengthFract != 0.78*bladeLength


! Circle, square or rectangle, constant chord
if (iShape>1) then
chord = bladeLength*0.04 ! chord set to 4% of blade length
DO i=1,M%Nnodes
posLength = TwoNorm( M%Position(:,i) - M%Position(:,rootNode) )
DO j=1,N
! normalized x,y coordinates for airfoil
x = yc(j)
y = xc(j) - 0.5
! x,y coordinates for cylinder
BladeShape%AirfoilCoords(1,j,i) = chord*x
BladeShape%AirfoilCoords(2,j,i) = chord*y
END DO
enddo
return ! We exit this routine
endif

! Assumed chord/twist/AC distribution for a blade
DO i=1,M%Nnodes
posLength = TwoNorm( M%Position(:,i) - M%Position(:,rootNode) )

Expand Down Expand Up @@ -7263,6 +7315,9 @@ SUBROUTINE FAST_RestoreForVTKModeShape_T(t_initial, p_FAST, y_FAST, m_FAST, ED,
CHARACTER(ErrMsgLen) :: ErrMsg2
CHARACTER(*), PARAMETER :: RoutineName = 'FAST_RestoreForVTKModeShape_T'
CHARACTER(1024) :: VTK_RootName
CHARACTER(1024) :: VTK_RootDir
CHARACTER(1024) :: vtkroot
CHARACTER(1024) :: sInfo !< String used for formatted screen output


ErrStat = ErrID_None
Expand All @@ -7283,15 +7338,25 @@ SUBROUTINE FAST_RestoreForVTKModeShape_T(t_initial, p_FAST, y_FAST, m_FAST, ED,

VTK_RootName = p_FAST%VTK_OutFileRoot

select case (p_FAST%VTK_modes%VTKLinTim)
case (1)

do iMode = 1,p_FAST%VTK_modes%VTKLinModes
ModeNo = p_FAST%VTK_modes%VTKModes(iMode)

call GetTimeConstants(p_FAST%VTK_modes%DampedFreq_Hz(ModeNo), p_FAST%VTK_fps, nt, dt, p_FAST%VTK_tWidth )
if (nt > 500) cycle
! Creating VTK folder in case user deleted it.
! We have to extract the vtk root dir again because p_FAST%VTK_OutFileRoot contains the full basename
call GetPath ( p_FAST%OutFileRoot, VTK_RootDir, vtkroot )
VTK_RootDir = trim(VTK_RootDir) // 'vtk'
call MKDIR( trim(VTK_RootDir) )


do iMode = 1,p_FAST%VTK_modes%VTKLinModes
ModeNo = p_FAST%VTK_modes%VTKModes(iMode)
call GetTimeConstants(p_FAST%VTK_modes%DampedFreq_Hz(ModeNo), p_FAST%VTK_fps, p_FAST%VTK_modes%VTKLinTim, nt, dt, p_FAST%VTK_tWidth )
write(sInfo, '(A,I4,A,F12.4,A,I4,A,I0)') 'Mode',ModeNo,', Freq=', p_FAST%VTK_modes%DampedFreq_Hz(ModeNo),'Hz, NLinTimes=',NLinTimes,', nt=',nt
call WrScr(trim(sInfo))
if (nt > 500) then
call WrScr(' Skipping mode '//trim(num2lstr(ModeNo))//' due to low frequency.')
cycle
endif

select case (p_FAST%VTK_modes%VTKLinTim)
case (1)
p_FAST%VTK_OutFileRoot = trim(VTK_RootName)//'.Mode'//trim(num2lstr(ModeNo))
y_FAST%VTK_count = 1 ! we are skipping the reference meshes by starting at 1
do iLinTime = 1,NLinTimes
Expand Down Expand Up @@ -7320,15 +7385,7 @@ SUBROUTINE FAST_RestoreForVTKModeShape_T(t_initial, p_FAST, y_FAST, m_FAST, ED,
call WriteVTK(m_FAST%Lin%LinTimes(iLinTime), p_FAST, y_FAST, MeshMapData, ED, BD, AD, IfW, OpFM, HD, SD, ExtPtfm, SrvD, MAPp, FEAM, MD, Orca, IceF, IceD)

end do ! iLinTime
end do ! iMode

case (2)

do iMode = 1,p_FAST%VTK_modes%VTKLinModes
ModeNo = p_FAST%VTK_modes%VTKModes(iMode)

call GetTimeConstants(p_FAST%VTK_modes%DampedFreq_Hz(ModeNo), p_FAST%VTK_fps, nt, dt, p_FAST%VTK_tWidth )
if (nt > 500) cycle
case (2)

do iLinTime = 1,NLinTimes
p_FAST%VTK_OutFileRoot = trim(VTK_RootName)//'.Mode'//trim(num2lstr(ModeNo))//'.LinTime'//trim(num2lstr(iLinTime))
Expand Down Expand Up @@ -7359,19 +7416,22 @@ SUBROUTINE FAST_RestoreForVTKModeShape_T(t_initial, p_FAST, y_FAST, m_FAST, ED,

call WriteVTK(m_FAST%Lin%LinTimes(iLinTime)+tprime, p_FAST, y_FAST, MeshMapData, ED, BD, AD, IfW, OpFM, HD, SD, ExtPtfm, SrvD, MAPp, FEAM, MD, Orca, IceF, IceD)

end do
end do ! it
end do ! iLinTime

end select ! VTKLinTim=1 or 2

end do ! iMode


end do ! iLinTime
end do ! iMode

end select

END SUBROUTINE FAST_RestoreForVTKModeShape_T
!----------------------------------------------------------------------------------------------------------------------------------
SUBROUTINE GetTimeConstants(DampedFreq_Hz, VTK_fps, nt, dt, VTK_tWidth )
SUBROUTINE GetTimeConstants(DampedFreq_Hz, VTK_fps, VTKLinTim, nt, dt, VTK_tWidth)
REAL(R8Ki), INTENT(IN ) :: DampedFreq_Hz
REAL(DbKi), INTENT(IN ) :: VTK_fps
INTEGER(IntKi), INTENT(IN ) :: VTKLinTim
INTEGER(IntKi), INTENT( OUT) :: nt !< number of steps
REAL(DbKi), INTENT( OUT) :: dt !< time step
INTEGER(IntKi), INTENT( OUT) :: VTK_tWidth
Expand All @@ -7380,21 +7440,27 @@ SUBROUTINE GetTimeConstants(DampedFreq_Hz, VTK_fps, nt, dt, VTK_tWidth )
INTEGER(IntKi) :: NCycles
INTEGER(IntKi), PARAMETER :: MinFrames = 5

if (DampedFreq_Hz <= 0.0_DbKi) then
if (DampedFreq_Hz <= 1e-4_DbKi) then
nt = huge(nt)
dt = epsilon(dt)
VTK_tWidth = 1
return
end if

nt = 1
NCycles = 0
do while (nt<MinFrames)
NCycles = NCycles + 1
cycle_time = NCycles * 1.0_DbKi / DampedFreq_Hz
if (VTKLinTim==1) then
nt = 1
NCycles = 0
do while (nt<MinFrames)
NCycles = NCycles + 1
cycle_time = NCycles * 1.0_DbKi / DampedFreq_Hz

nt = NINT( max(1.0_DbKi, VTK_fps) * cycle_time )
end do
nt = NINT( max(1.0_DbKi, VTK_fps) * cycle_time )
end do
else
! All simulation will use VTK_fps
cycle_time = 1.0_DbKi / DampedFreq_Hz
nt = NINT(VTK_fps)
endif

dt = cycle_time / nt

Expand Down Expand Up @@ -7642,7 +7708,7 @@ SUBROUTINE ReadModeShapeFile(p_FAST, InputFile, ErrStat, ErrMsg, checkpointOnly)
! overwrite these based on inputs:

if (p_FAST%VTK_modes%VTKLinTim == 2) then
p_FAST%VTK_modes%VTKLinPhase = 0 ! "Phase when making one animation for all LinTimes together (used only when VTKLinTim=1)" -
!p_FAST%VTK_modes%VTKLinPhase = 0 ! "Phase when making one animation for all LinTimes together (used only when VTKLinTim=1)" -

if (VTKLinTimes1) then
p_FAST%VTK_modes%VTKNLinTimes = 1
Expand Down