aerodyn_inflow.hpp

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#pragma once
 
#include <array>
#include <cmath>
#include <numbers>
#include <numeric>
#include <span>
#include <stdexcept>
#include <string>
#include <vector>
 
#include "math/quaternion_operations.hpp"
#include "vendor/dylib/dylib.hpp"
 
namespace kynema::util {
 
struct ErrorHandling {
    enum class ErrorLevel : uint8_t {
        kNone = 0,
        kInfo = 1,
        kWarning = 2,
        kSevereError = 3,
        kFatalError = 4
    };
 
    static constexpr size_t kErrorMessagesLength{1025U};  //< Max error message length
    int abort_error_level{
        static_cast<int>(ErrorLevel::kFatalError)  //< Error level at which to abort
    };
    int error_status{0};                                     //< Error status
    std::array<char, kErrorMessagesLength> error_message{};  //< Error message buffer
 
    void CheckError() const {
        if (error_status >= abort_error_level) {
            throw std::runtime_error(error_message.data());
        }
    }
};
 
struct FluidProperties {
    float density{1.225F};                 //< Air density (kg/m^3)
    float kinematic_viscosity{1.464E-5F};  //< Kinematic viscosity (m^2/s)
    float sound_speed{335.F};              //< Speed of sound in the working fluid (m/s)
    float vapor_pressure{1700.F};          //< Vapor pressure of the working fluid (Pa)
};
 
struct EnvironmentalConditions {
    float gravity{9.81F};          //< Gravitational acceleration (m/s^2)
    float atm_pressure{103500.F};  //< Atmospheric pressure (Pa)
    float water_depth{30.F};       //< Water depth (m)
    float msl_offset{0.F};         //< Mean sea level to still water level offset (m)
};
 
struct TurbineConfig {
    struct BladeInitialState {
        std::array<double, 7> root_initial_position{
        };  //< Initial root position of the blade (1 per blade)
        std::vector<std::array<double, 7>>
            node_initial_positions;  //< Initial node positions of the blade
 
        BladeInitialState(std::span<double, 7> root, std::span<const std::array<double, 7>> nodes) {
            std::ranges::copy(root, std::begin(root_initial_position));
            node_initial_positions.assign(std::begin(nodes), std::end(nodes));
        }
    };
 
    bool is_horizontal_axis{true};                           //< Is a horizontal axis turbine?
    std::array<float, 3> reference_position{0.F, 0.F, 0.F};  //< Reference position of the turbine
    std::array<double, 7> hub_initial_position{};            //< Initial hub position
    std::array<double, 7> nacelle_initial_position{};        //< Initial nacelle position
    std::vector<BladeInitialState>
        blade_initial_states;  //< Initial root and node positions of blades (size = n_blades)
 
    TurbineConfig(
        bool is_hawt, std::span<const float, 3> ref_pos, std::span<const double, 7> hub_pos,
        std::span<const double, 7> nacelle_pos, std::span<const BladeInitialState> blade_states
    )
        : is_horizontal_axis(is_hawt) {
        std::ranges::copy(ref_pos, std::begin(reference_position));
        std::ranges::copy(hub_pos, std::begin(hub_initial_position));
        std::ranges::copy(nacelle_pos, std::begin(nacelle_initial_position));
        blade_initial_states.assign(std::begin(blade_states), std::end(blade_states));
        // Make sure the initial states are valid
        Validate();
    }
 
    void Validate() const {
        // Check if there are any blades defined
        if (blade_initial_states.empty()) {
            throw std::runtime_error("No blades defined. At least one blade is required.");
        }
 
        // Check if there are any nodes defined for each blade
        for (const auto& blade : blade_initial_states) {
            if (blade.node_initial_positions.empty()) {
                throw std::runtime_error(
                    "No nodes defined for a blade. At least one node is required."
                );
            }
        }
    }
 
    [[nodiscard]] size_t NumberOfBlades() const { return blade_initial_states.size(); }
};
 
inline void SetPositionAndOrientation(
    std::span<const double, 7> data, std::span<float, 3> position,
    std::array<std::array<double, 3>, 3>& orientation
) {
    // Set position (first 3 elements)
    for (auto i : std::views::iota(0U, 3U)) {
        position[i] = static_cast<float>(data[i]);
    }
 
    // Set orientation (converts last 4 elements i.e. quaternion -> 3x3 rotation matrix)
    orientation = math::QuaternionToRotationMatrix({data[3], data[4], data[5], data[6]});
}
 
struct MeshData {
    int32_t n_points;                            //< Number of mesh points (nodes)
    std::vector<std::array<float, 3>> position;  //< N x 3 array [x, y, z]
    std::vector<std::array<std::array<double, 3>, 3>>
        orientation;                             //< N x 9 array [r11, r12, ..., r33]
    std::vector<std::array<float, 6>> velocity;  //< N x 6 array [u, v, w, p, q, r]
    std::vector<std::array<float, 6>>
        acceleration;  //< N x 6 array [u_dot, v_dot, w_dot, p_dot, q_dot, r_dot]
    std::vector<std::array<float, 6>> load;  //< N x 6 array [Fx, Fy, Fz, Mx, My, Mz]
 
    MeshData(size_t n_nodes)
        : n_points(static_cast<int32_t>(n_nodes)),
          position(n_nodes, std::array{0.F, 0.F, 0.F}),
          orientation(
              n_nodes,
              std::array{std::array{0., 0., 0.}, std::array{0., 0., 0.}, std::array{0., 0., 0.}}
          ),
          velocity(n_nodes, std::array{0.F, 0.F, 0.F, 0.F, 0.F, 0.F}),
          acceleration(n_nodes, std::array{0.F, 0.F, 0.F, 0.F, 0.F, 0.F}),
          load(n_nodes, std::array{0.F, 0.F, 0.F, 0.F, 0.F, 0.F}) {}
 
    MeshData(
        size_t n_mesh_pts, std::span<const std::array<double, 7>> pos,
        std::span<const std::array<float, 6>> vel, std::span<const std::array<float, 6>> acc,
        std::span<const std::array<float, 6>> ld
    )
        : n_points(static_cast<int32_t>(n_mesh_pts)),
          position(n_mesh_pts, std::array{0.F, 0.F, 0.F}),
          orientation(
              n_mesh_pts,
              std::array{std::array{0., 0., 0.}, std::array{0., 0., 0.}, std::array{0., 0., 0.}}
          ) {
        velocity.assign(std::begin(vel), std::end(vel));
        acceleration.assign(std::begin(acc), std::end(acc));
        load.assign(std::begin(ld), std::end(ld));
        // Set mesh position and orientation from 7x1 array [x, y, z, qw, qx, qy, qz]
        for (auto i : std::views::iota(0U, NumberOfMeshPoints())) {
            SetPositionAndOrientation(pos[i], position[i], orientation[i]);
        }
 
        // Make sure the mesh data is valid
        Validate();
    }
 
    void Validate() const {
        // Check we have at least one node
        if (n_points <= 0) {
            throw std::invalid_argument("Number of mesh points must be at least 1");
        }
 
        // Check all vectors are the same size as the number of mesh points
        auto check_vector_size = [](const auto& vec, size_t exp_size, const std::string& vec_name) {
            if (vec.size() != exp_size) {
                throw std::invalid_argument(vec_name + " vector size does not match n_mesh_points");
            }
        };
 
        const auto expected_size = NumberOfMeshPoints();
        check_vector_size(position, expected_size, "Position");
        check_vector_size(orientation, expected_size, "Orientation");
        check_vector_size(velocity, expected_size, "Velocity");
        check_vector_size(acceleration, expected_size, "Acceleration");
        check_vector_size(load, expected_size, "Loads");
    }
 
    [[nodiscard]] size_t NumberOfMeshPoints() const { return static_cast<size_t>(n_points); }
 
    // Updates the values at the given point number
    void SetValues(
        size_t point_number, std::span<const double, 7> pos, std::span<const double, 6> vel,
        std::span<const double, 6> acc
    ) {
        if (point_number >= static_cast<size_t>(n_points)) {
            throw std::out_of_range("point number out of range.");
        }
        SetPositionAndOrientation(
            pos, this->position[point_number], this->orientation[point_number]
        );
        std::ranges::copy(vel, std::begin(velocity[point_number]));
        std::ranges::copy(acc, std::begin(acceleration[point_number]));
    }
};
 
struct TurbineData {
    int32_t n_blades;             //< Number of blades
    MeshData hub;                 //< Hub data (1 point)
    MeshData nacelle;             //< Nacelle data (1 point)
    MeshData blade_roots;         //< Blade roots data (n_blades points)
    MeshData blade_nodes;         //< Blade nodes data (sum of nodes per blade)
    std::array<float, 3> hh_vel;  // Hub height wind velocity
 
    std::vector<int32_t> blade_nodes_to_blade_num_mapping;
 
    std::vector<std::vector<size_t>> node_indices_by_blade;
 
    TurbineData(const TurbineConfig& tc)
        : n_blades(static_cast<int32_t>(tc.NumberOfBlades())),
          hub(1),
          nacelle(1),
          blade_roots(tc.NumberOfBlades()),
          blade_nodes(CalculateTotalBladeNodes(tc)),
          hh_vel({0.F, 0.F, 0.F}),
          node_indices_by_blade(tc.NumberOfBlades()) {
        // Initialize hub and nacelle data
        InitializeHubAndNacelle(tc);
 
        // Initialize blade data
        InitializeBlades(tc);
 
        // Make sure the turbine data is valid
        Validate();
    }
 
    void Validate() const {
        // Check if the number of blades is valid
        if (n_blades < 1) {
            throw std::runtime_error("Invalid number of blades. Must be at least 1.");
        }
 
        // Validate hub and nacelle data - should have exactly one mesh point each
        if (hub.NumberOfMeshPoints() != 1 || nacelle.NumberOfMeshPoints() != 1) {
            throw std::runtime_error("Hub and nacelle should have exactly one mesh point each.");
        }
 
        // Check if the number of blade roots matches the number of blades
        if (blade_roots.NumberOfMeshPoints() != NumberOfBlades()) {
            throw std::runtime_error("Number of blade roots does not match number of blades.");
        }
 
        // Check if the blade nodes to blade number mapping is valid - should be the same size
        if (blade_nodes_to_blade_num_mapping.size() != blade_nodes.NumberOfMeshPoints()) {
            throw std::runtime_error("Blade node to blade number mapping size mismatch.");
        }
 
        // Check if the node indices by blade are valid - should be same size as number of blades
        if (node_indices_by_blade.size() != NumberOfBlades()) {
            throw std::runtime_error("Node indices by blade size mismatch.");
        }
 
        // Check if the total number of blade nodes is valid - should be the same as the number of
        // aggregrated blade nodes
        size_t total_nodes = 0;
        for (const auto& bl : node_indices_by_blade) {
            total_nodes += bl.size();
        }
        if (total_nodes != blade_nodes.NumberOfMeshPoints()) {
            throw std::runtime_error("Total number of blade nodes mismatch.");
        }
    }
 
    [[nodiscard]] size_t NumberOfBlades() const { return static_cast<size_t>(n_blades); }
 
    void SetBladeNodeMotion(
        size_t blade_number, size_t node_number, const std::array<double, 7>& position,
        const std::array<double, 6>& velocity, const std::array<double, 6>& acceleration
    ) {
        // Check if the blade and node numbers are within the valid range
        if (blade_number >= NumberOfBlades() ||
            node_number >= node_indices_by_blade[blade_number].size()) {
            throw std::out_of_range("Blade or node number out of range.");
        }
 
        // Rotation to convert blade orientation
        const auto r_x2z = math::RotationVectorToQuaternion({0., std::numbers::pi / 2., 0.});
 
        // Original orientation
        const std::array<double, 4> r{position[3], position[4], position[5], position[6]};
 
        // Converted orientation
        const auto r_adi = math::QuaternionCompose(r, r_x2z);
 
        // Position with new orientation
        const std::array<double, 7> position_new{position[0], position[1], position[2], r_adi[0],
                                                 r_adi[1],    r_adi[2],    r_adi[3]};
 
        const size_t node_index = node_indices_by_blade[blade_number][node_number];
        blade_nodes.SetValues(node_index, position_new, velocity, acceleration);
    }
 
    void SetBladeRootMotion(
        size_t blade_number, const std::array<double, 7>& position,
        const std::array<double, 6>& velocity, const std::array<double, 6>& acceleration
    ) {
        if (blade_number >= static_cast<size_t>(n_blades)) {
            throw std::out_of_range("Blade number out of range.");
        }
 
        // Rotation to convert blade orientation
        const auto r_x2z = math::RotationVectorToQuaternion({0., std::numbers::pi / 2., 0.});
 
        // Original orientation
        const auto r = std::array{position[3], position[4], position[5], position[6]};
 
        // Converted orientation
        const auto r_adi = math::QuaternionCompose(r, r_x2z);
 
        // Position with new orientation
        const auto position_new = std::array{position[0], position[1], position[2], r_adi[0],
                                             r_adi[1],    r_adi[2],    r_adi[3]};
 
        blade_roots.SetValues(blade_number, position_new, velocity, acceleration);
    }
 
    void SetHubMotion(
        const std::array<double, 7>& position, const std::array<double, 6>& velocity,
        const std::array<double, 6>& acceleration
    ) {
        this->hub.SetValues(0, position, velocity, acceleration);
    }
 
    void SetNacelleMotion(
        const std::array<double, 7>& position, const std::array<double, 6>& velocity,
        const std::array<double, 6>& acceleration
    ) {
        this->nacelle.SetValues(0, position, velocity, acceleration);
    }
 
    [[nodiscard]] std::array<double, 6> GetBladeNodeLoad(size_t blade_number, size_t node_number)
        const {
        if (blade_number >= static_cast<size_t>(n_blades) ||
            node_number >= node_indices_by_blade[blade_number].size()) {
            throw std::out_of_range("Blade or node number out of range.");
        }
 
        // Get the loads for this blade and node
        const size_t node_index = node_indices_by_blade[blade_number][node_number];
        const auto loads = blade_nodes.load[node_index];
 
        return std::array<double, 6>{
            static_cast<double>(loads[0]), static_cast<double>(loads[1]),
            static_cast<double>(loads[2]), static_cast<double>(loads[3]),
            static_cast<double>(loads[4]), static_cast<double>(loads[5]),
        };
    }
 
private:
    static size_t CalculateTotalBladeNodes(const TurbineConfig& tc) {
        return std::accumulate(
            tc.blade_initial_states.begin(), tc.blade_initial_states.end(), size_t{0},
            [](size_t sum, const auto& blade) {
                return sum + blade.node_initial_positions.size();
            }
        );
    }
 
    void InitializeHubAndNacelle(const TurbineConfig& tc) {
        SetPositionAndOrientation(tc.hub_initial_position, hub.position[0], hub.orientation[0]);
        SetPositionAndOrientation(
            tc.nacelle_initial_position, nacelle.position[0], nacelle.orientation[0]
        );
    }
 
    void InitializeBlades(const TurbineConfig& tc) {
        size_t i_blade{0};
        size_t i_node_total{0};
 
        // Initialize blade roots and nodes
        for (const auto& blade : tc.blade_initial_states) {
            // Initialize blade root
            this->SetBladeRootMotion(
                i_blade, blade.root_initial_position, std::array<double, 6>{0., 0., 0., 0., 0., 0.},
                std::array<double, 6>{0., 0., 0., 0., 0., 0.}
            );
 
            // Initialize blade nodes
            size_t i_node{0};
            for (const auto& position : blade.node_initial_positions) {
                node_indices_by_blade[i_blade].emplace_back(i_node_total);
                blade_nodes_to_blade_num_mapping.emplace_back(static_cast<int32_t>(i_blade + 1));
 
                this->SetBladeNodeMotion(
                    i_blade, i_node, position,
                    std::array<double, 6>{0., 0., 0., 0., 0., 0.},  // velocity
                    std::array<double, 6>{0., 0., 0., 0., 0., 0.}   // acceleration
                );
                ++i_node;
                ++i_node_total;
            }
            ++i_blade;
        }
    }
};
 
struct SimulationControls {
    enum class DebugLevel : std::uint8_t {
        kNone = 0,        //< No debug output
        kSummary = 1,     //< Some summary info
        kDetailed = 2,    //< Above + all position/orientation info
        kInputFiles = 3,  //< Above + input files (if directly passed)
        kAll = 4,         //< Above + meshes
    };
 
    enum class OutputFormat : std::uint8_t {
        kNone = 0,         //< Disable write output
        kText = 1,         //< Write text file
        kBinary = 2,       //< Write binary file
        kText_Binary = 3,  //< Write text file and binary file
    };
 
    static constexpr size_t kDefaultStringLength{1025};  //< Max length for output filenames
 
    // Input file handling
    std::string aerodyn_input;     //< Path to AeroDyn input file
    std::string inflowwind_input;  //< Path to InflowWind input file
 
    // Interpolation order (must be either 1: linear, or 2: quadratic)
    int interpolation_order{1};  //< Interpolation order - linear by default
 
    // Initial time related variables
    double time_step{0.1};          //< Simulation timestep (s)
    double max_time{600.};          //< Maximum simulation time (s)
    double total_elapsed_time{0.};  //< Total elapsed time (s)
    int n_time_steps{0};            //< Number of time steps
 
    // Flags
    bool transpose_DCM{true};                   //< Flag to transpose the direction cosine matrix
    bool point_load_output{true};               //< Flag to output point loads
    DebugLevel debug_level{DebugLevel::kNone};  //< Debug level (0-4)
 
    // Outputs
    OutputFormat output_format{OutputFormat::kNone};  //< File format for writing outputs
    std::string output_root_name{"ADI_out"};          //< Root name for output files
    double output_time_step{0.1};                     //< Time step for outputs to file
    size_t n_channels{0};                             //< Number of channels returned
};
 
struct VTKSettings {
    enum class WriteType : std::uint8_t {
        kNone = 0,       //< Disable VTK output
        kInit = 1,       //< Data at initialization
        kAnimation = 2,  //< Animation
    };
 
    enum class OutputType : std::uint8_t {
        kSurface = 1,       //< Surfaces
        kLine = 2,          //< Lines
        kSurface_Line = 3,  //< Both surfaces and lines
    };
 
    std::string output_dir_name{"ADI_vtk"};     //< VTK output directory name
    WriteType write_vtk{WriteType::kNone};      //< Flag to write VTK output
    OutputType vtk_type{OutputType::kLine};     //< Type of VTK output
    double vtk_dt{0.};                          //< VTK output time step
    std::array<float, 6> vtk_nacelle_dimensions{//< Nacelle dimensions for VTK rendering
                                                -2.5F, -2.5F, 0.F, 10.F, 5.F, 5.F
    };
    float vtk_hub_radius{1.5F};  //< Hub radius for VTK rendering
};
 
class AeroDynInflowLibrary {
public:
    AeroDynInflowLibrary(
        const std::string& shared_lib_path = "aerodyn_inflow_c_binding.dll",
        ErrorHandling eh = ErrorHandling{}, FluidProperties fp = FluidProperties{},
        EnvironmentalConditions ec = EnvironmentalConditions{},
        SimulationControls sc = SimulationControls{}, VTKSettings vtk = VTKSettings{}
    )
        : lib_{shared_lib_path, util::dylib::no_filename_decorations},
          error_handling_{eh},
          air_{fp},
          env_conditions_{ec},
          sim_controls_{std::move(sc)},
          vtk_settings_{std::move(vtk)} {}
 
    [[nodiscard]] const ErrorHandling& GetErrorHandling() const { return error_handling_; }
    [[nodiscard]] const EnvironmentalConditions& GetEnvironmentalConditions() const {
        return env_conditions_;
    }
    [[nodiscard]] const FluidProperties& GetFluidProperties() const { return air_; }
    [[nodiscard]] const SimulationControls& GetSimulationControls() const { return sim_controls_; }
    [[nodiscard]] const VTKSettings& GetVTKSettings() const { return vtk_settings_; }
 
    void Initialize(std::span<const TurbineConfig> turbine_configs) {
        PreInitialize(turbine_configs.size());
        SetupRotors(turbine_configs);
        FinalizeInitialization();
        is_initialized_ = true;
    }
 
    void PreInitialize(size_t n_turbines) {
        auto ADI_C_PreInit =
            lib_.get_function<void(int*, int*, int*, int*, int*, char*)>("ADI_C_PreInit");
 
        // Convert bool and other types to int32_t for Fortran compatibility
        auto debug_level_int = static_cast<int32_t>(sim_controls_.debug_level);
        auto transpose_dcm_int = sim_controls_.transpose_DCM ? 1 : 0;
        auto n_turbines_int = static_cast<int32_t>(n_turbines);
        auto point_load_output_int = sim_controls_.point_load_output ? 1 : 0;
 
        ADI_C_PreInit(
            &n_turbines_int,                      // input: Number of turbines
            &transpose_dcm_int,                   // input: Transpose DCM?
            &point_load_output_int,               // input: output point loads?
            &debug_level_int,                     // input: Debug level
            &error_handling_.error_status,        // output: Error status
            error_handling_.error_message.data()  // output: Error message
        );
 
        error_handling_.CheckError();
    }
 
    void SetupRotors(std::span<const TurbineConfig> turbine_configs) {
        auto ADI_C_SetupRotor = lib_.get_function<
            void(int*, int*, const float*, float*, double*, float*, double*, int*, float*, double*, int*, float*, double*, int*, int*, char*)>(
            "ADI_C_SetupRotor"
        );
 
        // Loop through turbine configurations
        int32_t turbine_number{0};
        for (const auto& tc : turbine_configs) {
            // Turbine number is 1 indexed i.e. 1, 2, 3, ...
            ++turbine_number;
 
            // Convert bool -> int32_t to pass to the Fortran routine
            int32_t is_horizontal_axis_int = tc.is_horizontal_axis ? 1 : 0;
 
            // Validate the turbine config
            tc.Validate();
 
            // Create new turbine data to store the updates
            // Note: TurbineData and MeshData are validated during construction, so no need to
            // perform additional checks here
            turbines.emplace_back(tc);
            auto& td = turbines.back();
 
            // Call setup rotor for each turbine
            ADI_C_SetupRotor(
                &turbine_number,                      // input: current turbine number
                &is_horizontal_axis_int,              // input: 1: HAWT, 0: VAWT or cross-flow
                tc.reference_position.data(),         // input: turbine reference position
                td.hub.position[0].data(),            // input: initial hub position
                td.hub.orientation[0][0].data(),      // input: initial hub orientation
                td.nacelle.position[0].data(),        // input: initial nacelle position
                td.nacelle.orientation[0][0].data(),  // input: initial nacelle orientation
                &td.n_blades,                         // input: number of blades
                td.blade_roots.position[0].data(),    // input: initial blade root positions
                td.blade_roots.orientation[0].data()->data(
                ),                                        // input: initial blade root orientation
                &td.blade_nodes.n_points,                 // input: number of mesh points
                td.blade_nodes.position[0].data(),        // input: initial node positions
                td.blade_nodes.orientation[0][0].data(),  // input: initial node orientation
                td.blade_nodes_to_blade_num_mapping.data(
                ),                                    // input: blade node to blade number mapping
                &error_handling_.error_status,        // output: Error status
                error_handling_.error_message.data()  // output: Error message buffer
            );
 
            error_handling_.CheckError();
        }
    }
 
    void FinalizeInitialization() {
        auto ADI_C_Init = lib_.get_function<
            void(int*, char**, int*, int*, char**, int*, const char*, const char*, float*, float*, float*, float*, float*, float*, float*, float*, int*, double*, double*, int*, int*, int*, double*, float*, float*, int*, double*, int*, char*, char*, int*, char*)>(
            "ADI_C_Init"
        );
 
        // Convert bool -> int32_t to pass to the Fortran routine
        int32_t is_aerodyn_input_passed_as_string = 0;     // AeroDyn input is path to file
        int32_t is_inflowwind_input_passed_as_string = 0;  // InflowWind input is path to file
        int32_t store_HH_wind_speed_int = 1;
 
        // Primary input file will be passed as path to the file
        char* aerodyn_input_pointer{sim_controls_.aerodyn_input.data()};
        auto aerodyn_input_length = static_cast<int32_t>(sim_controls_.aerodyn_input.size());
 
        char* inflowwind_input_pointer{sim_controls_.inflowwind_input.data()};
        auto inflowwind_input_length = static_cast<int32_t>(sim_controls_.inflowwind_input.size());
 
        // Channel name and channel unit string arrays
        std::string channel_names_c(20 * 8000 + 1, ' ');  //< Output channel names
        std::string channel_units_c(20 * 8000 + 1, ' ');  //< Output channel units
 
        // Number of output channels (set by ADI_C_Init)
        int32_t n_channels{0};
 
        // Write output format as integer for Fortran routine
        auto output_format = static_cast<int32_t>(sim_controls_.output_format);
 
        // VTK write type and output type as integers
        auto write_vtk = static_cast<int32_t>(vtk_settings_.write_vtk);
        auto vtk_type = static_cast<int32_t>(vtk_settings_.vtk_type);
 
        ADI_C_Init(
            &is_aerodyn_input_passed_as_string,           // input: AD input is passed
            &aerodyn_input_pointer,                       // input: AD input file as string
            &aerodyn_input_length,                        // input: AD input file string length
            &is_inflowwind_input_passed_as_string,        // input: IfW input is passed
            &inflowwind_input_pointer,                    // input: IfW input file as string
            &inflowwind_input_length,                     // input: IfW input file string length
            sim_controls_.output_root_name.c_str(),       // input: rootname for ADI file writing
            vtk_settings_.output_dir_name.c_str(),        // input: VTK output directory name
            &env_conditions_.gravity,                     // input: gravity
            &air_.density,                                // input: air density
            &air_.kinematic_viscosity,                    // input: kinematic viscosity
            &air_.sound_speed,                            // input: speed of sound
            &env_conditions_.atm_pressure,                // input: atmospheric pressure
            &air_.vapor_pressure,                         // input: vapor pressure
            &env_conditions_.water_depth,                 // input: water depth
            &env_conditions_.msl_offset,                  // input: MSL to SWL offset
            &sim_controls_.interpolation_order,           // input: interpolation order
            &sim_controls_.time_step,                     // input: time step
            &sim_controls_.max_time,                      // input: maximum simulation time
            &store_HH_wind_speed_int,                     // input: store HH wind speed
            &write_vtk,                                   // input: write VTK output
            &vtk_type,                                    // input: VTK output type
            &vtk_settings_.vtk_dt,                        // input: VTK output time step
            vtk_settings_.vtk_nacelle_dimensions.data(),  // input: VTK nacelle dimensions
            &vtk_settings_.vtk_hub_radius,                // input: VTK hub radius
            &output_format,                               // input: output format
            &sim_controls_.output_time_step,              // input: output time step
            &n_channels,                                  // output: number of channels
            channel_names_c.data(),                       // output: output channel names
            channel_units_c.data(),                       // output: output channel units
            &error_handling_.error_status,                // output: error status
            error_handling_.error_message.data()          // output: error message buffer
        );
 
        // Allocate vector of output channel values
        sim_controls_.n_channels = static_cast<size_t>(n_channels);
        channel_values = std::vector<float>(sim_controls_.n_channels, 0.F);
        channel_names.resize(sim_controls_.n_channels);
        channel_units.resize(sim_controls_.n_channels);
        std::string tmp;
        for (auto i : std::views::iota(0U, sim_controls_.n_channels)) {
            tmp = channel_names_c.substr(20UL * i, 20);
            tmp.erase(tmp.find_last_not_of(' ') + 1);
            channel_names[i] = tmp;
            tmp = channel_units_c.substr(20UL * i, 20);
            tmp.erase(tmp.find_last_not_of(' ') + 1);
            channel_units[i] = tmp;
        }
 
        error_handling_.CheckError();
        is_initialized_ = true;
    }
 
    void SetRotorMotion() {
        auto
            ADI_C_SetRotorMotion =
                lib_
                    .get_function<
                        void(int*, const float*, const double*, const float*, const float*, const float*, const double*, const float*, const float*, const float*, const double*, const float*, const float*, const int*, const float*, const double*, const float*, const float*, int*, char*)>(
                        "ADI_C_SetRotorMotion"
                    );
 
        // Loop through turbines and set the rotor motion
        int32_t turbine_number{0};
        for (const auto& td : turbines) {
            // Turbine number is 1 indexed i.e. 1, 2, 3, ...
            ++turbine_number;
            ADI_C_SetRotorMotion(
                &turbine_number,                          // input: current turbine number
                td.hub.position[0].data(),                // input: hub positions
                td.hub.orientation[0][0].data(),          // input: hub orientations
                td.hub.velocity[0].data(),                // input: hub velocities
                td.hub.acceleration[0].data(),            // input: hub accelerations
                td.nacelle.position[0].data(),            // input: nacelle positions
                td.nacelle.orientation[0][0].data(),      // input: nacelle orientations
                td.nacelle.velocity[0].data(),            // input: nacelle velocities
                td.nacelle.acceleration[0].data(),        // input: nacelle accelerations
                td.blade_roots.position[0].data(),        // input: root positions
                td.blade_roots.orientation[0][0].data(),  // input: root orientations
                td.blade_roots.velocity[0].data(),        // input: root velocities
                td.blade_roots.acceleration[0].data(),    // input: root accelerations
                &td.blade_nodes.n_points,                 // input: number of mesh points
                td.blade_nodes.position[0].data(),        // input: mesh positions
                td.blade_nodes.orientation[0][0].data(),  // input: mesh orientations
                td.blade_nodes.velocity[0].data(),        // input: mesh velocities
                td.blade_nodes.acceleration[0].data(),    // input: mesh accelerations
                &error_handling_.error_status,            // output: error status
                error_handling_.error_message.data()      // output: error message buffer
            );
 
            error_handling_.CheckError();
        }
    }
 
    void CalculateOutput(double time) {
        auto ADI_C_CalcOutput =
            lib_.get_function<void(double*, float*, int*, char*)>("ADI_C_CalcOutput");
 
        ADI_C_CalcOutput(
            &time,                                // input: time at which to calculate output forces
            channel_values.data(),                // output: output channel values
            &error_handling_.error_status,        // output: error status
            error_handling_.error_message.data()  // output: error message buffer
        );
 
        error_handling_.CheckError();
 
        auto ADI_C_GetRotorLoads =
            lib_.get_function<void(int*, int*, float*, float*, int*, char*)>("ADI_C_GetRotorLoads");
 
        // Loop through turbines and get the rotor loads
        int32_t turbine_number{0};
        for (auto& td : turbines) {
            // Turbine number is 1 indexed i.e. 1, 2, 3, ...
            ++turbine_number;
 
            ADI_C_GetRotorLoads(
                &turbine_number,                      // input: current turbine number
                &td.blade_nodes.n_points,             // input: number of mesh points
                td.blade_nodes.load[0].data(),        // output: mesh force/moment array
                td.hh_vel.data(),                     // output: hub height wind velocity array
                &error_handling_.error_status,        // output: error status
                error_handling_.error_message.data()  // output: error message buffer
            );
 
            error_handling_.CheckError();
        }
    }
 
    void UpdateStates(double current_time, double next_time) {
        auto ADI_C_UpdateStates =
            lib_.get_function<void(double*, double*, int*, char*)>("ADI_C_UpdateStates");
 
        ADI_C_UpdateStates(
            &current_time,                        // input: current time
            &next_time,                           // input: next time step
            &error_handling_.error_status,        // output: error status
            error_handling_.error_message.data()  // output: error message buffer
        );
 
        error_handling_.CheckError();
    }
 
    void Finalize() {
        auto ADI_C_End = lib_.get_function<void(int*, char*)>("ADI_C_End");
 
        ADI_C_End(
            &error_handling_.error_status,        // output: error status
            error_handling_.error_message.data()  // output: error message buffer
        );
 
        error_handling_.CheckError();
        is_initialized_ = false;
    }
 
    std::vector<TurbineData> turbines;       //< Turbine data (1 per turbine)
    std::vector<std::string> channel_names;  //< Output channel names
    std::vector<std::string> channel_units;  //< Output channel units
    std::vector<float> channel_values;       //< Output channel values
 
private:
    bool is_initialized_{false};              //< Flag to check if the library is initialized
    util::dylib lib_;                         //< Dynamic library object for AeroDyn Inflow
    ErrorHandling error_handling_;            //< Error handling settings
    FluidProperties air_;                     //< Properties of the working fluid (air)
    EnvironmentalConditions env_conditions_;  //< Environmental conditions
    SimulationControls sim_controls_;         //< Simulation control settings
    VTKSettings vtk_settings_;                //< VTK output settings
};
 
}  // namespace kynema::util