Lidar bug fix + other minor changes

glue-codes/simulink/src/FAST_SFunc.c

@@ -189,9 +189,6 @@ static void mdlInitializeSizes(SimStruct *S)
              InitInputAry[i] = AdditionalInitInputs[i + 1];
           }
        }
-       else{
-          InitInputAry[0] = SensorType_None; // tell it not to use lidar (shouldn't be necessary, but we'll cover our bases)
-       }
 
        // set this before possibility of error in Fortran library:
 

modules/hydrodyn/src/HydroDyn_Input.f90

@@ -385,11 +385,11 @@ SUBROUTINE HydroDyn_ParseInput( InputFileName, OutRootName, FileInfo_In, InputFi
          ! read the table entries AxCoefID, AxCd, AxCa, AxCp, AxFdMod, AxVnCOff, AxFDLoFSc in the HydroDyn input file
          ! Try reading in 7 entries first
          call ParseAry( FileInfo_In, CurLine, ' axial coefficients line '//trim( Int2LStr(I)), tmpReArray, size(tmpReArray), ErrStat2, ErrMsg2, UnEc )
-         if ( ErrStat2 /= 0 ) then ! Try reading in 5 entries
+         if ( ErrStat2 /= ErrID_None ) then ! Try reading in 5 entries
             tmpReArray(6) = -1.0  ! AxVnCoff
             tmpReArray(7) =  1.0  ! AxFDLoFSc
             call ParseAry( FileInfo_In, CurLine, ' axial coefficients line '//trim( Int2LStr(I)), tmpReArray(1:5), 5, ErrStat2, ErrMsg2, UnEc )
-            if ( ErrStat2 /= 0 ) then ! Try reading in 4 entries
+            if ( ErrStat2 /= ErrID_None ) then ! Try reading in 4 entries
                tmpReArray(5) =  0.0  ! AxFdMod
                call ParseAry( FileInfo_In, CurLine, ' axial coefficients line '//trim( Int2LStr(I)), tmpReArray(1:4), 4, ErrStat2, ErrMsg2, UnEc )
                if (Failed())  return;

modules/hydrodyn/src/YawOffset.f90

@@ -18,7 +18,7 @@ MODULE YawOffset
    MODULE PROCEDURE GetRotAngsD
 END INTERFACE GetRotAngs
 
-INTERFACE WrapToPi
+INTERFACE WrapToPi  ! See NWTC_Num.f90:: mpi2pi()
    MODULE PROCEDURE WrapToPiR
    MODULE PROCEDURE WrapToPiD
 END INTERFACE WrapToPi
@@ -238,31 +238,31 @@ FUNCTION WrapTo180R(angle)
 
    REAL(SiKi),    INTENT(IN) :: angle
    REAL(SiKi)                :: WrapTo180R
-   WrapTo180R = modulo(angle + 180.0, 360.0) - 180.0
+   WrapTo180R = modulo(angle + 180.0_SiKi, 360.0_SiKi) - 180.0_SiKi
 
 END FUNCTION WrapTo180R
 
 FUNCTION WrapTo180D(angle)
 
    REAL(R8Ki),    INTENT(IN) :: angle
    REAL(R8Ki)                :: WrapTo180D
-   WrapTo180D = modulo(angle + 180.0, 360.0) - 180.0
+   WrapTo180D = modulo(angle + 180.0_R8Ki, 360.0_R8Ki) - 180.0_R8Ki
 
 END FUNCTION WrapTo180D
 
 FUNCTION WrapToPiR(angle)
 
    REAL(SiKi),    INTENT(IN) :: angle
    REAL(SiKi)                :: WrapToPiR
-   WrapToPiR = modulo(angle + PI, TwoPi) - PI
+   WrapToPiR = modulo(angle + Pi_R4, TwoPi_R4) - Pi_R4
 
 END FUNCTION WrapToPiR
 
 FUNCTION WrapToPiD(angle)
 
    REAL(R8Ki),    INTENT(IN) :: angle
    REAL(R8Ki)                :: WrapToPiD
-   WrapToPiD = modulo(angle + PI, TwoPi) - PI
+   WrapToPiD = modulo(angle + Pi_R8, TwoPi_R8) - Pi_R8
 
 END FUNCTION WrapToPiD
 

modules/inflowwind/src/InflowWind_Subs.f90

@@ -490,22 +490,18 @@ SUBROUTINE InflowWind_ParseInputFileInfo( InputFileData, InFileInfo, PriPath, In
 
       ! LIDAR Sensor Type
    CALL ParseVar( InFileInfo, CurLine, "SensorType", InputFileData%SensorType, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    IF (Failed()) RETURN
 
      ! Number of Range Gates
    CALL ParseVar( InFileInfo, CurLine, "NumPulseGate", InputFileData%NumPulseGate, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    IF (Failed()) RETURN
 
      ! Pulse Gate Spacing
    CALL ParseVar( InFileInfo, CurLine, "PulseSpacing", InputFileData%PulseSpacing, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    IF (Failed()) RETURN
 
      ! NumBeam: Number of points to output the lidar measured wind velocity (1 to 5)
    CALL ParseVar( InFileInfo, CurLine, "NumBeam", InputFileData%NumBeam, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    if (Failed()) return
 
      ! Before proceeding, make sure that NumBeam makes sense
@@ -515,53 +511,42 @@ SUBROUTINE InflowWind_ParseInputFileInfo( InputFileData, InFileInfo, PriPath, In
       RETURN   
    ELSE   
             ! Allocate space for the output location arrays:
-      CALL AllocAry( InputFileData%FocalDistanceX, InputFileData%NumBeam, 'NumBeam', TmpErrStat, TmpErrMsg )
-      CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
-      CALL AllocAry( InputFileData%FocalDistanceY, InputFileData%NumBeam, 'NumBeam', TmpErrStat, TmpErrMsg )
-      CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
-      CALL AllocAry( InputFileData%FocalDistanceZ, InputFileData%NumBeam, 'NumBeam', TmpErrStat, TmpErrMsg )
-      CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
+      CALL AllocAry( InputFileData%FocalDistanceX, InputFileData%NumBeam, 'FocalDistanceX', TmpErrStat, TmpErrMsg ); CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
+      CALL AllocAry( InputFileData%FocalDistanceY, InputFileData%NumBeam, 'FocalDistanceY', TmpErrStat, TmpErrMsg ); CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
+      CALL AllocAry( InputFileData%FocalDistanceZ, InputFileData%NumBeam, 'FocalDistanceZ', TmpErrStat, TmpErrMsg ); CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
       if (Failed()) return
    ENDIF
 
     ! Focal Distance X
    CALL ParseAry( InFileInfo, CurLine, 'FocalDistanceX', InputFileData%FocalDistanceX, InputFileData%NumBeam, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    if (Failed()) return
 
     ! Focal Distance Y
    CALL ParseAry( InFileInfo, CurLine, 'FocalDistanceY', InputFileData%FocalDistanceY, InputFileData%NumBeam, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    if (Failed()) return
 
     ! Focal Distance Z
    CALL ParseAry( InFileInfo, CurLine, 'FocalDistanceZ', InputFileData%FocalDistanceZ, InputFileData%NumBeam, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    if (Failed()) return
 
     ! Rotor Apex Offset Position
-   CALL ParseAry( InFileInfo, CurLine, "RotorApexOffsetPos", InputFileData%RotorApexOffsetPos, 1, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
+   CALL ParseAry( InFileInfo, CurLine, "RotorApexOffsetPos", InputFileData%RotorApexOffsetPos, size(InputFileData%RotorApexOffsetPos), TmpErrStat, TmpErrMsg, UnEc )
    IF (Failed()) RETURN
 
     ! URefIni
    CALL ParseVar( InFileInfo, CurLine, "URefLid", InputFileData%URefLid, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    IF (Failed()) RETURN 
 
     ! Measurement Interval
    CALL ParseVar( InFileInfo, CurLine, "MeasurementInterval", InputFileData%MeasurementInterval, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    IF (Failed()) RETURN
 
     ! Lidar Radial Vel
-   CALL ParseLoVar( InFileInfo, CurLine, "LidRadialVel", InputFileData%LidRadialVel, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
+   CALL ParseVar( InFileInfo, CurLine, "LidRadialVel", InputFileData%LidRadialVel, TmpErrStat, TmpErrMsg, UnEc )
    IF (Failed()) RETURN
 
     ! Consider Hub Motion
    CALL ParseVar( InFileInfo, CurLine, "ConsiderHubMotion", InputFileData%ConsiderHubMotion, TmpErrStat, TmpErrMsg, UnEc )
-   CALL SetErrStat( TmpErrStat, TmpErrMsg, ErrStat, ErrMsg, RoutineName )
    IF (Failed()) RETURN
 
 

modules/inflowwind/src/Lidar.f90

@@ -336,10 +336,9 @@ SUBROUTINE Lidar_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMs
 
    REAL(ReKi)                                            :: Distance(3)          ! distance vector between input measurement and lidar positions
 
-   REAL(ReKi)                                            ::  LidPosition(3)      ! Lidar Position 
-   REAL(ReKi)                                            ::  LidPosition_N(3)    !Transformed Lidar Position
-   REAL(ReKi)                                            ::  LidarMsrPosition(3)    !Transformed Lidar Position
-   REAL(ReKi)                                            ::  MeasurementCurrentStep
+   REAL(ReKi)                                            :: LidPosition(3)      ! Lidar Position 
+   REAL(ReKi)                                            :: LidarMsrPosition(3)    !Transformed Lidar Position
+   REAL(ReKi)                                            :: MeasurementCurrentStep
 
 
    REAL(ReKi)                                            :: PositionXYZ(3,2)
@@ -366,13 +365,9 @@ SUBROUTINE Lidar_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMs
       RETURN
    ENDIF
 
+   LidPosition = p%lidar%LidPosition + p%lidar%RotorApexOffsetPos ! lidar offset-from-rotor-apex position
    IF (p%lidar%ConsiderHubMotion == 1) THEN
-      LidPosition_N =  (/ u%lidar%HubDisplacementX, u%lidar%HubDisplacementY, u%lidar%HubDisplacementZ /) & ! rotor apex position (absolute)
-                                                + p%lidar%RotorApexOffsetPos            ! lidar offset-from-rotor-apex position
-      LidPosition   =  p%lidar%LidPosition + LidPosition_N
-   ELSE 
-      LidPosition_N =  p%lidar%RotorApexOffsetPos
-      LidPosition   =  p%lidar%LidPosition + LidPosition_N
+      LidPosition = LidPosition + (/ u%lidar%HubDisplacementX, u%lidar%HubDisplacementY, u%lidar%HubDisplacementZ /)  ! rotor apex position (absolute)
    END IF
 
    IF (p%lidar%SensorType == SensorType_None) RETURN

modules/map/src/bstring/bstraux.c

@@ -35,7 +35,7 @@
 #include "config.h"
 #endif
 
-#ifdef _MSC_VER
+#if defined _MSC_VER && !defined _CRT_SECURE_NO_WARNINGS
 #define _CRT_SECURE_NO_WARNINGS
 #endif
 

modules/map/src/bstring/bstrlib.c

@@ -39,7 +39,7 @@
 #include "config.h"
 #endif
 
-#if defined (_MSC_VER)
+#if defined _MSC_VER && !defined _CRT_SECURE_NO_WARNINGS
 /* These warnings from MSVC++ are totally pointless. */
 # define _CRT_SECURE_NO_WARNINGS
 #endif

modules/map/src/mapapi.h

@@ -35,6 +35,10 @@ extern "C"
 {
 #endif
 
+#if defined _MSC_VER && !defined _CRT_SECURE_NO_WARNINGS
+#define _CRT_SECURE_NO_WARNINGS
+#endif
+
 // Some redefinitions from MAP_Types.h, so the API does not need to exposes the
 // internal data structures.
 typedef struct MAP_InputType* MAP_Input_t;

modules/nwtc-library/src/ModMesh.f90

@@ -3396,7 +3396,7 @@ SUBROUTINE CreateInputPointMesh(mesh, posInit, orientInit, errStat, errMsg, hasM
       endif
       if (hasMotion) then
          mesh%Orientation      = mesh%RefOrientation
-         mesh%TranslationDisp  = 0.0_ReKi
+         mesh%TranslationDisp  = 0.0_R8Ki
          mesh%TranslationVel   = 0.0_ReKi
          mesh%RotationVel      = 0.0_ReKi
       endif

modules/nwtc-library/src/NWTC_Num.f90

@@ -6482,22 +6482,21 @@ FUNCTION TaitBryanYXZExtractR8(M) result(theta)
 
 
    END FUNCTION TaitBryanYXZExtractR8
-
-
-      FUNCTION TaitBryanYXZConstructR4(theta) result(M)
-            ! this function creates a rotation matrix, M, from a 1-2-3 rotation
-      ! sequence of the 3 TaitBryan angles, theta_x, theta_y, and theta_z, in radians.
-      ! M represents a change of basis (from global to local coordinates; 
-      ! not a physical rotation of the body). it is the inverse of TaitBryanYXZExtract().
-      ! 
-      ! M = R(theta_z) * R(theta_x) * R(theta_y)
-      !   = [ cz sz 0 |  [ 1   0   0 |    [ cy  0 -sy | 
-      !     |-sz cz 0 |* | 0  cx  sx |  * |  0  1   0 | 
-      !     |  0  0 1 ]  | 0 -sx  cx ]    | sy  0  cy ] 
-      !   = [ cy*cz+sy*sx*sz   cx*sz    cy*sx*sz-cz*sy |
-      !     |cz*sy*sx-cy*sz   cx*cz    cy*cz*sx+sy*sz |
-      !     |cx*sy           -sx             cx*cy    ]
-      ! where cz = cos(theta_z), sz = sin(theta_z), cy = cos(theta_y), etc.
+!=======================================================================
+!> this function creates a rotation matrix, M, from a 1-2-3 rotation
+!! sequence of the 3 TaitBryan angles, theta_x, theta_y, and theta_z, in radians.
+!! M represents a change of basis (from global to local coordinates; 
+!! not a physical rotation of the body). it is the inverse of TaitBryanYXZExtract().
+!! 
+!! M = R(theta_z) * R(theta_x) * R(theta_y)
+!!   = [ cz sz 0 |  [ 1   0   0 |    [ cy  0 -sy | 
+!!     |-sz cz 0 |* | 0  cx  sx |  * |  0  1   0 | 
+!!     |  0  0 1 ]  | 0 -sx  cx ]    | sy  0  cy ] 
+!!   = [ cy*cz+sy*sx*sz   cx*sz    cy*sx*sz-cz*sy |
+!!     |cz*sy*sx-cy*sz   cx*cz    cy*cz*sx+sy*sz |
+!!     |cx*sy           -sx             cx*cy    ]
+!! where cz = cos(theta_z), sz = sin(theta_z), cy = cos(theta_y), etc.
+   PURE FUNCTION TaitBryanYXZConstructR4(theta) result(M)
 
       REAL(SiKi)             :: M(3,3)    !< rotation matrix, M 
       REAL(SiKi), INTENT(IN) :: theta(3)  !< the 3 rotation angles: \f$\theta_x, \theta_y, \theta_z\f$
@@ -6531,8 +6530,8 @@ FUNCTION TaitBryanYXZConstructR4(theta) result(M)
       M(3,3) =   cy*cx   
 
    END FUNCTION TaitBryanYXZConstructR4
-   
-   FUNCTION TaitBryanYXZConstructR8(theta) result(M)
+!=======================================================================
+   PURE FUNCTION TaitBryanYXZConstructR8(theta) result(M)
 
       ! this function creates a rotation matrix, M, from a 1-2-3 rotation
       ! sequence of the 3 TaitBryan angles, theta_x, theta_y, and theta_z, in radians.
@@ -6580,7 +6579,6 @@ FUNCTION TaitBryanYXZConstructR8(theta) result(M)
       M(3,3) =   cy*cx               
 
    END FUNCTION TaitBryanYXZConstructR8
-
 
 !=======================================================================
 !> This routine takes an array of time values such as that returned from