Release v2.0.0 (PR OpenFAST#185)

Merge openfast/dev into openfast/master

Author: rafmudaf

.gitignore

@@ -27,16 +27,16 @@
 *.exe
 *.out
 *.app
+__pycache__/*
 *.pyc
 
-# CMake specific files
-build/**/*
-install/*
-ctest-build/*
+# Build specific files
+build*/
+install/
+vs-build/
 
-# vs-build specific folders and files
-vs-build/*
-
-
-build
+# OS and IDE specific files
 .DS_Store
+.vscode
+.atom
+.fortls

.gitmodules

@@ -1,7 +1,6 @@
 [submodule "reg_tests/r-test"]
 	path = reg_tests/r-test
 	url = https://github.com/openfast/r-test.git
-	branch = dev
 [submodule "unit_tests/pfunit"]
 	path = unit_tests/pfunit
-	url = https://git.code.sf.net/p/pfunit/code
+	url = https://github.com/Goddard-Fortran-Ecosystem/pFUnit.git

.travis.yml

@@ -0,0 +1,74 @@
+# Travis CI configuration
+#
+# Environment info
+# https://docs.travis-ci.com/user/reference/overview/
+# https://docs.travis-ci.com/user/reference/osx/
+# https://docs.travis-ci.com/user/reference/trusty/
+
+language: c
+
+os:
+    - linux
+    - osx
+
+# linux configuration; container-based environments (default for linux) require the following setup block
+addons:
+  apt:
+    packages:
+      - gfortran
+      - libblas-dev
+      - liblapack-dev
+
+env:
+    - FC=/usr/local/bin/gfortran-7; DOUBLE_PRECISION=ON
+    - FC=/usr/local/bin/gfortran-7; DOUBLE_PRECISION=OFF
+    - FC=/usr/bin/gfortran; DOUBLE_PRECISION=ON
+    - FC=/usr/bin/gfortran; DOUBLE_PRECISION=OFF
+
+# mac configuration
+before_install:
+    # first uninstall a conflicting package
+    - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew cask uninstall oclint; fi
+
+    # install required packages
+    - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew update; fi
+    - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew upgrade python; fi
+    - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew install gcc@7; fi
+    # - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew install cmake; fi  # cmake is already installed in the default mac image
+
+    # common configuration
+    - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then pyenv shell 3.6.3; fi
+    - pip3 install numpy
+
+install:
+    - mkdir build && cd build
+    - cmake .. -DBUILD_TESTING=ON -DDOUBLE_PRECISION=$DOUBLE_PRECISION
+    - make -j 8 install
+
+matrix:
+  exclude:
+    - os: linux
+      env: FC=/usr/local/bin/gfortran-7; DOUBLE_PRECISION=ON
+    - os: linux
+      env: FC=/usr/local/bin/gfortran-7; DOUBLE_PRECISION=OFF
+    - os: osx
+      env: FC=/usr/bin/gfortran; DOUBLE_PRECISION=ON
+    - os: osx
+      env: FC=/usr/bin/gfortran; DOUBLE_PRECISION=OFF
+
+script:
+    # beamdyn unit tests
+    - if [[ "$DOUBLE_PRECISION" == "ON" ]]; then ctest -R beamdyn_utest; fi
+
+    # beamdyn regression tests
+    - if [[ "$DOUBLE_PRECISION" == "ON" ]]; then ctest -R bd_; fi
+
+    # subset of openfast regression tests
+    # do not run
+    # - 3, 4, 7, 15, 16, 17 since the free yaw is not well trusted
+    # - 20, 21 because theyre too long
+    # THIS IS COMMENTED UNTIL TESTS CAN RELIABLY DETERMINE REGRESSION
+    # CURRENTLY, TESTS FAIL WITH VERY MINOR DIFFERENCES
+    # - ctest -VV -j 18 -I 1,1,1,2,5,6,8,9,10,11,12,13,14,18,19,22,23,24,25,26
+    # - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then ctest -j 18 -I 1,1,1,2,5,6,8,9,10,11,12,13,14,18,19,22,23,24,25,26 ; fi
+

CMakeLists.txt

@@ -17,8 +17,8 @@
 cmake_minimum_required(VERSION 2.8.12)
 project(OpenFAST CXX C Fortran)
 
-include(${CMAKE_SOURCE_DIR}/cmake/FastCmakeUtils.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/FastFortranOptions.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/OpenfastCmakeUtils.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/OpenfastFortranOptions.cmake)
 
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 
@@ -39,7 +39,7 @@ option(DOUBLE_PRECISION "Treat REAL as double precision" on)
 option(USE_DLL_INTERFACE "Enable runtime loading of dynamic libraries" on)
 option(FPE_TRAP_ENABLED "Enable FPE trap in compiler options" off)
 option(ORCA_DLL_LOAD "Enable OrcaFlex Library Load" off)
-option(BUILD_FAST_CPP_API "Enable building FAST - C++ API" off)
+option(BUILD_OPENFAST_CPP_API "Enable building OpenFAST - C++ API" off)
 
 # Setup Fortran Compiler options based on architecture/compiler
 set_fast_fortran()
@@ -53,8 +53,18 @@ if (FPE_TRAP_ENABLED)
 endif (FPE_TRAP_ENABLED)
 
 # Setup dependencies
-find_package(BLAS REQUIRED)
-find_package(LAPACK REQUIRED)
+if (CMAKE_Fortran_COMPILER_ID STREQUAL "Intel")
+  find_package(MKL)
+endif()
+if (MKL_FOUND)
+  include_directories(${MKL_INCLUDE_DIRS})
+  set(BLAS_LIBRARIES ${MKL_LIBRARIES})
+  set(LAPACK_LIBRARIES ${MKL_LIBRARIES})
+  set(CMAKE_Fortran_IMPLICIT_LINK_LIBRARIES "ifport;ifcore;imf;svml;m;ipgo;intlc;c;irc_s;dl;c")
+else()
+  find_package(BLAS REQUIRED)
+  find_package(LAPACK REQUIRED)
+endif()
 
 ########################################################################
 # Test option configuration
@@ -65,14 +75,14 @@ if(BUILD_TESTING)
 endif()
 
 ########################################################################
-# Build rules for FAST Registry
+# Build rules for OpenFAST Registry
 #
-add_subdirectory(modules-local/fast-registry)
+add_subdirectory(modules-local/openfast-registry)
 
 ########################################################################
-# FAST Core modules
+# OpenFAST Core modules
 #
-set(FAST_MODULES_LOCAL
+set(OPENFAST_MODULES_LOCAL
   nwtc-library
   inflowwind
   aerodyn
@@ -87,35 +97,35 @@ set(FAST_MODULES_LOCAL
   openfoam
   supercontroller
   turbsim
-  fast-library
+  openfast-library
   )
 
 ########################################################################
-# FAST External modules
+# OpenFAST External modules
 #
-set(FAST_MODULES_EXTERNAL
+set(OPENFAST_MODULES_EXTERNAL
   feamooring
   moordyn
   icedyn
   icefloe
   map
   )
 
-set(FAST_REGISTRY_INCLUDES "" CACHE INTERNAL "Registry includes paths")
-set_registry_includes("modules-local" ${FAST_MODULES_LOCAL})
-set_registry_includes("modules-ext" ${FAST_MODULES_EXTERNAL})
-# Fix non-standard path addition to FAST_REGISTRY_INCLUDES in icefloe module
-set(FAST_REGISTRY_INCLUDES
-  ${FAST_REGISTRY_INCLUDES} -I ${CMAKE_SOURCE_DIR}/modules-ext/icefloe/src/interfaces/FAST/
+set(OPENFAST_REGISTRY_INCLUDES "" CACHE INTERNAL "Registry includes paths")
+set_registry_includes("modules-local" ${OPENFAST_MODULES_LOCAL})
+set_registry_includes("modules-ext" ${OPENFAST_MODULES_EXTERNAL})
+# Fix non-standard path addition to OPENFAST_REGISTRY_INCLUDES in icefloe module
+set(OPENFAST_REGISTRY_INCLUDES
+  ${OPENFAST_REGISTRY_INCLUDES} -I ${CMAKE_SOURCE_DIR}/modules-ext/icefloe/src/interfaces/FAST/
   CACHE INTERNAL "Registry includes paths")
 
-foreach(IDIR IN ITEMS ${FAST_MODULES_LOCAL})
+foreach(IDIR IN ITEMS ${OPENFAST_MODULES_LOCAL})
   add_subdirectory("${CMAKE_SOURCE_DIR}/modules-local/${IDIR}")
-endforeach(IDIR IN ITEMS ${FAST_MODULES_LOCAL})
+endforeach(IDIR IN ITEMS ${OPENFAST_MODULES_LOCAL})
 
-foreach(IDIR IN ITEMS ${FAST_MODULES_EXTERNAL})
+foreach(IDIR IN ITEMS ${OPENFAST_MODULES_EXTERNAL})
   add_subdirectory("${CMAKE_SOURCE_DIR}/modules-ext/${IDIR}")
-endforeach(IDIR IN ITEMS ${FAST_MODULES_EXTERNAL})
+endforeach(IDIR IN ITEMS ${OPENFAST_MODULES_EXTERNAL})
 
 add_subdirectory(glue-codes)
 
@@ -134,7 +144,7 @@ include(CMakePackageConfigHelpers)
 set(INCLUDE_INSTALL_DIR include/)
 set(LIB_INSTALL_DIR lib/)
 set(FTNMOD_INSTALL_DIR include/openfast/)
-if (BUILD_FAST_CPP_API)
+if (BUILD_OPENFAST_CPP_API)
   set(OpenFAST_HAS_CXX_API TRUE)
 else()
   set(OpenFAST_HAS_CXX_API FALSE)
@@ -150,12 +160,9 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/OpenFASTConfig.cmake
 
 ########################################################################
 # Configure the default install path to openfast/install
-string(FIND ${CMAKE_Fortran_MODULE_DIRECTORY} "build/ftnmods" found)
-if(${found} GREATER 0)
-  string(REPLACE "build/ftnmods" "install" install_path ${CMAKE_Fortran_MODULE_DIRECTORY})
-  if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
-    set(CMAKE_INSTALL_PREFIX ${install_path} CACHE PATH "..." FORCE)
-  endif()
+if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+  set(CMAKE_INSTALL_PREFIX "${CMAKE_SOURCE_DIR}/install" CACHE PATH
+    "OpenFAST install directory" FORCE)
 endif()
 
 # Option configuration
@@ -172,4 +179,4 @@ endif()
 option(BUILD_DOCUMENTATION "Build documentation." OFF)
 if(BUILD_DOCUMENTATION)
   add_subdirectory(docs)
-endif()
+endif()

README.md

@@ -1,50 +1,70 @@
 # OpenFAST
 
-Updated on 2017-03-17
+OpenFAST is an open-source wind turbine simulation tool which builds on FAST v8. OpenFAST was created with the goal of being a community model developed and used by research laboratories, academia, and industry. It is managed by a dedicated team at the National Renewable Energy Lab. Our objective is to ensure that OpenFAST is sustainable software that is well tested and well documented.
 
-## Overview
+**OpenFAST is under active development**.
 
-OpenFAST is an open-source wind turbine simulation tool that was established with the FAST v8 code as its starting point (see below).  OpenFAST was created with the goal of being a community model, with developers and users from research laboratories, academia, and industry.  Our objective is to ensure that OpenFAST is sustainable software that is well tested and well documented.  **OpenFAST is under development**; our team at NREL is now establishing online documentation and automated unit/regression testing.  During this transition period, users can find FAST v8 documentation at <https://nwtc.nrel.gov/>.
+### FAST v8 - OpenFAST v0.1.0
 
-## FAST v8
-
-(modified from <https://nwtc.nrel.gov/FAST>)
+The transition from FAST v8 to OpenFAST v0.1.0 represents the effort to better support an open-source developer community around FAST-based aero-hydro-servo-elastic engineering models of wind-turbines and wind-plants. OpenFAST is the next generation of FAST analysis tools. More inforation is available in the [transition notes](http://openfast.readthedocs.io/en/latest/source/user/fast_to_openfast.html).
 
 FAST v8 is a computer-aided engineering tool for simulating the coupled dynamic response of wind turbines. FAST joins aerodynamics models, hydrodynamics models for offshore structures, control and electrical system (servo) dynamics models, and structural (elastic) dynamics models to enable coupled nonlinear aero-hydro-servo-elastic simulation in the time domain. The FAST tool enables the analysis of a range of wind turbine configurations, including two- or three-blade horizontal-axis rotor, pitch or stall regulation, rigid or teetering hub, upwind or downwind rotor, and lattice or tubular tower. The wind turbine can be modeled on land or offshore on fixed-bottom or floating substructures. FAST is based on advanced engineering models derived from fundamental laws, but with appropriate simplifications and assumptions, and supplemented where applicable with computational solutions and test data.
 
 The aerodynamic models use wind-inflow data and solve for the rotor-wake effects and blade-element aerodynamic loads, including dynamic stall. The hydrodynamics models simulate the regular or irregular incident waves and currents and solve for the hydrostatic, radiation, diffraction, and viscous loads on the offshore substructure. The control and electrical system models simulate the controller logic, sensors, and actuators of the blade-pitch, generator-torque, nacelle-yaw, and other control devices, as well as the generator and power-converter components of the electrical drive. The structural-dynamics models apply the control and electrical system reactions, apply the aerodynamic and hydrodynamic loads, adds gravitational loads, and simulate the elasticity of the rotor, drivetrain, and support structure. Coupling between all models is achieved through a modular interface and coupler.
 
-## OpenFAST Documentation 
-We are creating a Sphinx-based documentation site at <http://openfast.readthedocs.io>.  
+### Documentation
+Web based documentation is available at <http://openfast.readthedocs.io>.
+
+This documentation is stored and maintained alongside the source code. It is compiled into html with Sphinx, so it is tied to a particular version of OpenFAST. [readthedocs](http://openfast.readthedocs.io) compiles various versions of the documentation automatically upon new commits:
+* `latest` - The latest commit on the `master` branch
+* `stable` - Corresponds to the last tagged release
+* `dev` - The latest commit on the `dev` branch
+
+These can be toggled with the `v: latest` button in the lower left corner of the docs site.
+
+### Obtaining OpenFAST
+
+OpenFAST is hosted entirely on GitHub so you are in the [right place](https://github.com/OpenFAST/OpenFAST)! The repository is structured with various branches following the "git-flow" convention:
+* `master`
+* `dev`
 
-Documentation for FAST v8 and its modules may be found at <https://nwtc.nrel.gov/>, while we are building the new site.
+The `master` branch is stable, well tested, and represents the most up to date released version of OpenFAST. The latest commit on `master` contains a tag with version info and brief release notes. The tag history can be obtained with the `git tag` command and viewed in more detail on [GitHub Releases](https://github.com/OpenFAST/openfast/releases). For general use, the `master` branch is highly recommended.
 
-## Obtaining OpenFAST
+The `dev` branch is generally stable and tested, but not static. It contains new features, bug fixes, and documentation updates that have not been compiled into a production release. Before proceeding with new development, it is recommended to explore the `dev` branch. This branch is updated regularly through pull requests, so be sure to `git fetch` often and check [outstanding pull requests](https://github.com/OpenFAST/openfast/pulls).
 
-You are in the [right place](https://github.com/OpenFAST/OpenFAST)! For those not familiar with git and github, there are many resources, e.g.,
+For those not familiar with git and GitHub, there are many resources, e.g.,
 
 * <https://guides.github.com>
 * <https://try.github.io>
 * <https://help.github.com/categories/bootcamp/>
 * <https://desktop.github.com/>
+* <http://nvie.com/posts/a-successful-git-branching-model/>
 
-## Compiling, Using & Developing OpenFAST
+### Compilation, Usage, and Development
 
-Details for compiling, using, and developing OpenFAST on Linux-based and Windows machines are being established at <http://openfast.readthedocs.io>.
+Details for compiling [compiling](http://openfast.readthedocs.io/en/latest/source/install/index.html),
+[using](http://openfast.readthedocs.io/en/latest/source/user/index.html), and
+[developing](http://openfast.readthedocs.io/en/latest/source/dev/index.html)
+OpenFAST on Linux-based and Windows machines are available at
+<http://openfast.readthedocs.io>.
 
-## OpenFAST Help
 
-Please use [github issues](https://github.com/OpenFAST/OpenFAST/issues) to:
+### Nightly Testing
+
+The `dev` branch is automatically compiled and run through the test suite nightly. The results are publicly available through the [CDash Dashboard](http://my.cdash.org/index.php?project=OpenFAST&date=).
 
-* ask usage questions,
-* report bugs,
-* request code enhancements.
+### Help
+
+Please use [github issues](https://github.com/OpenFAST/OpenFAST/issues) to:
+* ask usage questions
+* report bugs
+* request code enhancements
 
 For other questions regarding OpenFAST, please contact [Mike Sprague](mailto:michael.a.sprague@nrel.gov).
 
 Users and developers may also be interested in the NREL National Wind Technology Center (NWTC) [phpBB Forum](https://wind.nrel.gov/forum/wind/).
 
-## OpenFAST Support
+### Acknowledgments 
 
 OpenFAST is being maintained and developed by researchers and software engineers at the [National Renewable Energy Laboratory](http://www.nrel.gov/) (NREL), with support from the US Department of Energy's Wind Energy Technology Office.  NREL gratefully acknowledges development contributions from the following organizations:
 

cmake/FindMKL.cmake

@@ -0,0 +1,45 @@
+#
+# Copyright 2016 National Renewable Energy Laboratory
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+# find_path(MKL_INCLUDE_DIRS
+#   mkl.h
+#   HINTS $ENV{MKLROOT}
+#   PATH_SUFFIXES include)
+
+find_library(MKL_IFACE_LIB
+  NAMES mkl_intel_lp64 libmkl_intel_lp64.a mkl_intel_lp64_dll.lib
+  PATHS $ENV{MKLROOT}/lib $ENV{MKLROOT}/lib/intel64 $ENV{INTEL}/mkl/lib/intel64 $ENV{INTEL}/mkl/lib/intel64_win)
+
+find_library(MKL_SEQ_LIB
+  NAMES mkl_sequential libmkl_sequential.a mkl_sequential.lib
+  PATHS $ENV{MKLROOT}/lib $ENV{MKLROOT}/lib/intel64 $ENV{INTEL}/mkl/lib/intel64 $ENV{INTEL}/mkl/lib/intel64_win)
+
+find_library(MKL_CORE_LIB
+  NAMES mkl_core libmkl_core.a mkl_core_dll.lib
+  PATHS $ENV{MKLROOT}/lib $ENV{MKLROOT}/lib/intel64 $ENV{INTEL}/mkl/lib/intel64 $ENV{INTEL}/mkl/lib/intel64_win)
+
+if (MKL_IFACE_LIB AND MKL_SEQ_LIB AND MKL_CORE_LIB)
+  set(MKL_LIBRARIES ${MKL_IFACE_LIB} ${MKL_SEQ_LIB} ${MKL_CORE_LIB})
+else()
+  set(MKL_LIBRARIES "")
+  set(MKL_INCLUDE_DIRS "")
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(MKL DEFAULT_MSG
+  MKL_LIBRARIES MKL_IFACE_LIB MKL_SEQ_LIB MKL_CORE_LIB) # MKL_INCLUDE_DIRS)
+mark_as_advanced(
+  MKL_INCLUDE_DIRS MKL_LIBRARIES MKL_IFACE_LIB MKL_SEQ_LIB MKL_CORE_LIB)