ESP: The Engineering Sketch Pad Rev 1.21 -- July 2022 ****************************************************************** * THESE DIRECTIONS ARE ONLY REQUIRED IF YOU WILL BE BUILDING ESP * * THEY ARE NOT NEEDED IS YOU USE A PRE-BUILT DISTRIBUTION * ****************************************************************** 0. Preamble Windows 7 & 8 are no longer supported, only Windows 10 is tested (we have not begun testing against Windows 11). This also means that older versions of MS Visual Studio are no longer being tested either. Only MSVS versions 2017 and up are fully supported. This ESP release no longer works with Python 2.7. The minimum supported version is now Python 3.8. Also, we now only support OpenCASCADE at Rev 7.4 or higher. And these must be the versions taken from the ESP website (and not from elsewhere). At this point we recommend 7.6.0. It is advisable to unblock browser tabs on the web browser in use. The training material is no longer part of this distribution. The last training was given for Rev 1.19 and can be found at the ESP website at http://acdl.mit.edu/ESP/Training, which is in 2 parts. The first is on ESP geometry construction and is found in the ESP subdirectory and the second on analysis is found in the CAPS subdirectory. The PDFs and MP4s of the lectures can be found in the (sub)subdirectory "lectures". Do NOT apply the overlays -- they are specifically for ESP 1.19. Apple notes: (1) You CANNOT download the distributions using a browser. For instructions on how to get ESP see MACdownloads.txt on the web site. (2) You must have XQuartz at a minimum release of 2.8.1 for some supplied executables to function. (3) Big Sur and Monterey are now fully tested. (4) Apple M1 computers are natively supported but require Rosetta2 for the running of some legacy CAPS apps. Rosetta2 can be installed by executing the following command: "softwareupdate --install-rosetta". (5) M1 builds must be done in a "native" shell. That is, typing "arch" must return "arm64". (6) If Safari blocks a pop-up (for example, the flowchart in ESP), you can press the rectangular button in the Smart Search field and allow the file to be seen. 1. Prerequisites The most significant prerequisite for this software is OpenCASCADE. This ESP release only supports the prebuilt versions marked 7.4.1 and 7.6.0, which are available at http://acdl.mit.edu/ESP. Please DO NOT report any problems with any other versions of OpenCASCADE, much effort has been spent in "hardening" the OpenCASCADE code. It is advised that all ESP users update to 7.4.1/7.6.0 because of better robustness and performance. If you are still on a LINUX box with a version of gcc less than 4.8, you will have to upgrade to a newer OS or version of gcc. Another prerequisite is a WebGL/Websocket capable Browser. In general these include Mozilla's FireFox, Google Chrome and Apple's Safari. Internet Explorer and legacy versions of Edge are NOT supported because of a problem in their Websockets implementation. The "Chromium" version of Microsoft Edge is fully supported. Also, note that there have been some reports of problems with Intel Graphics and some WebGL Browsers. For LINUX, "zlib" development is required. CAPS has a dependency on UDUNITS2, and potentially on Python and other applications. See Section 2.3. 1.1 Source Distribution Layout In the discussions that follow, $ESP_ROOT will be used as the name of the directory that contains: README.txt - this file bin - a directory that will contain executables CAPSexamples - a directory with CAPS examples config - files that allow for automatic configuration contributions - user contributions data - test and example scripts doc - documentation ESP - web client code for the Engineering Sketch Pad externApps - the ESP connections to 3rd party Apps (outside of CAPS) include - location for all ESP header files lib - a directory that will contain libraries, shared objects and DLLs LICENSE.txt - the GNU Lesser General Public license (LGPL 2.1) text pyESP - Python bindings SLUGS - the browser code for Slugs (web Slugs client) src - source files (contains EGADS, CAPS, wvServer & OpenCSM) udc - a collection of User Defined Components wvClient - simple examples of Web viewing used by EGADS 1.2 Release Notes 1.2.1 EGADS The significant updates made to EGADS from Rev 1.20 are: * Blends with C0s had vanishing derivatives -- this has been fixed * The Tessellator is now more robust against bad PCurves * STEP / IGES import and export now handle units in a consistent manner * The STEP "Name" attribute is now imported and exported with STEP IO 1.2.2 OpenCSM In addition to many big fixes (see $ESP_ROOT/src/OpenCSMnotes.txt for a full list), the significant upgrades are documented in section 8.1 of ESP-help.html; bug fixes are documented in section 8.2 of the same document. 1.2.3 CAPS * The addition of Analysis Dynamic Output Value Objects * A number of examples of using CAPS as a component in OpenMDAO * More complete sensitivity handling * The addition of TACS and MSES AIMs * "Phasing" fully implemented and tested -- the application "phaseUtil" to manage the files in a Phase (see $ESP_ROOT/doc/Concepts.pdf). * Script/App restarting is now functional * The AIM infrastructure has undergone some changes that will require modification of any existing AIMs (not distributed here). Please refer to the AIM development guide ($ESP_ROOT/doc/CAPS/AIMdevel.pdf). 1.2.4 ESP * Transition to a new server: serveESP * A complete "Integrated Design Environment" now exists in ESP. In the help look at Tutorial #6 to get a flavor of what you can now do. 1.2.5 Known issues in v1.21: * None 2. Building the Software The config subdirectory contains scripts that need to be used to generate the environment both to build and run the software here. There are two different build procedures based on the OS: If using Windows, skip to section 2.2. 2.1 Linux and MAC OS The configuration is built using the path where the OpenCASCADE runtime distribution can be found. This path can be located in an OpenCASCADE distribution by looking for a subdirectory that includes an "inc" or "include" directory and either a "lib" or "$ARCH/lib" (where $ARCH is the name of your architecture) directory. Once that is found, execute the commands: % cd $ESP_ROOT/config % ./makeEnv **path_of_OpenCASCADE_directory_containing_inc_and_lib** An optional second argument to makeEnv is required if the distribution of OpenCASCADE has multiple architectures. In this case it is the subdirectory name that contains the libraries for the build of interest (CASARCH). Apple M1 CPUs should indicate "DARWINM1" as the architecture. This procedure produces 2 files at the top level: ESPenv.sh and ESPenv.csh. These are the environments for both sh (bash/zsh) and csh (tcsh) respectively. The appropriate file can be "source"d or included in the user's startup scripts. This must be done before either building and/or running the software. For example, if using the csh or tcsh: % cd $ESP_ROOT % source ESPenv.csh or if using bash/zsh: $ cd $ESP_ROOT $ source ESPenv.sh Skip to section 2.3. 2.2 Windows Configuration IMPORTANT: The ESP distribution and OpenCASCADE MUST be unpackaged into a location ($ESP_ROOT) that has NO spaces in the path! The configuration is built from the path where the OpenCASCADE runtime distribution can be found. MS Visual Studio is required and a command shell where the 64bit C/C++ compiler should be opened and the following executed in that window (note that MS VS 2017 and 2019 are fully supported). The Windows environment is built simply by going to the config subdirectory and executing the script "winEnv" in a bash shell (run from the command window): C:\> cd %ESP_ROOT%\config C:\> bash winEnv D:\OpenCASCADE7.4.1 winEnv (like makeEnv) has an optional second argument that is only required if the distribution of OpenCASCADE has multiple architectures. In this case it is the subdirectory name that contains the libraries for the build of interest (CASARCH). This procedure produces a single file at the top level: ESPenv.bat. This file needs to be executed before either building and/or running the software. This is done with: C:\> cd %ESP_ROOT% C:\> ESPenv Check that the method that you used to unzip the distribution created directories named %ESP_ROOT%\bin and %ESP_ROOT%\lib. If it did not, create them using the commands: C:\> cd %ESP_ROOT% C:\> mkdir bin C:\> mkdir lib Also note that the winEnv script will find the version of Python if in the PATH and on the same drive. 2.3 CAPS Options CAPS requires the use of the Open Source Project UDUNITS2 for all unit conversions. Since there are no prebuilt package distributions for the MAC and Windows, the CAPS build procedure copies prebuilt DLL/DyLibs to the lib directory of ESP. Because most Linux distributions contain a UDUNITS2 package, another procedure is used. If the UDUNITS2 development package is loaded in the OS, then nothing is done. If not loaded, then a pre-built shared object is moved to the ESP lib directory. Be careful if you install UDUNITS2 from your OS package manager at some later time. 2.3.1 Python with CAPS (pyCAPS) Python may be used with CAPS to provide testing, general scripting and demonstration capabilities. The execution of pyCAPS requires a single environment variable: PYTHONPATH is a Python environment variable that needs to have the path $ESP_ROOT/pyESP included. 2.3.2 3rd Party Environment Variables CAPS is driven by a plugin technology using AIMs (Analysis Interface Modules). These AIMs allow direct coupling between CAPS and the external meshers and solvers. Many are built by default (where there are no licensing problems or other dependencies). The CAPS build subsystem will respond to the following (if these are not set, then the AIMs for these systems will not be built): AFLR (See Section 4.1): AFLR is the path where the AFLR distribution has been deposited AFLR_ARCH is the architecture flag to use (MacOSX-arm64, MacOSX-x86-64, Linux-x86-64 or WIN64) -- note that this is set by the config procedure AWAVE AWAVE is the location to find the FORTRAN source for AWAVE TETGEN TETGEN is the path where the TetGen distribution has been unpacked Some of the AIMs have Python embedded. Building these AIMs with Python embedding is enabled by 2 environment variables (the Python development package is required under Linux): PYTHONINC is the include path to find the Python includes for building PYTHONLIB is a description of the location of the Python libraries and the library to use The exact same version of Python that was used to compile the embedding must be used when executing Python scripts. For MACs and LINUX the configuration procedure inserts these environment variables with the locations it finds by executing the version of Python available in the shell performing the build. If makeEnv emits any errors related to Python, the resultant environment file(s) will need to be updated in order to use Python in the AIMs (the automatic procedure has failed). For Windows ESPenv.bat may need be edited (unless configured from a command prompt that has both the MSVS and Python environments), the "rem" removed and the appropriate information set (if Python exists on the machine). Also note that the bit size (32 or 64) of Python that gets used on Windows must be consistent with the build of ESP, which is 64bit. For Example on Windows (after downloading and installing Python on C:): set PYTHONINC=C:\Python38\include set PYTHONLIB=C:\Python38\Libs\python38.lib set PYTHONPATH=%ESP_ROOT%\lib:%ESP_ROOT%\pyESP 2.3.3 The Cart3D Design Framework The application ESPxddm is the ESP connection to the Cart3D Design Framework. On LINUX this requires that the libxml2 development package be installed. If it is, then ESPxddm is built, otherwise it is not. 2.3.4 CAPS AIM Documentation The CAPS documentation can be seen in PDF form from within the directory $ESP_ROOT/doc/CAPSdoc. Or in html by $ESP_ROOT/doc/CAPSdoc/html/index.html. 2.4 The Build For any of the operating systems, after properly setting the environment in the command window (or shell), follow this simple procedure: % cd $ESP_ROOT/src % make or C:\> cd $ESP_ROOT\src C:\> make You can use "make clean" which will clean up all object modules or "make cleanall" to remove all objects, executables, libraries, shared objects and dynamic libraries. 3.0 Running 3.1 serveESP To start ESP there are two steps: (1) start the "server" and (2) start the "browser". This can be done in a variety of ways, but the two most common follow. 3.1.1 Procedure 1: have ESP automatically started If it exists, the ESP_START environment variable contains the command that should be executed to start the browser once the server has created its scene graph. On a MAC, you can set this variable with commands such as % setenv ESP_START "open -a /Applications/Firefox.app $ESP_ROOT/ESP/ESP.html" or % export ESP_START="open -a /Applications/Firefox.app $ESP_ROOT/ESP/ESP.html" depending on the shell in use. The commands in other operating systems will differ slightly, depending on how the browser can be started from the command line, for example for Windows it may be: % set ESP_START="start /b "C:\Program Files (x86)\Mozilla Firefox\firefox.exe" %ESP_ROOT%\ESP\ESP.html" To run the program, use: % cd $ESP_ROOT/bin % ./serveESP ../data/tutorial1 3.1.2 Procedure 2: start the browser manually If the ESP_START environment variable does not exist, issuing the commands: % cd $ESP_ROOT/bin % ./serveESP ../data/tutorial1 will start the server. The last lines of output from serveESP tells the user that the server is waiting for a browser to attach to it. This can be done by starting a browser (FireFox and GoogleChrome have been tested) and loading the file: $ESP_ROOT/ESP/ESP.html Whether you used procedure 1 or 2, as long as the browser stays connected to serveESP, serveESP will stay alive and handle requests sent to it from the browser. Once the last browser that is connected to serveESP exits, serveESP will shut down. Note that the default "port" used by serveESP is 7681. One can change the port in the call to serveESP with a command such as: % cd $ESP_ROOT/bin % ./serveESP ../data/tutorial1 -port 7788 Once the browser starts, you will be prompted for a "hostname:port". Make the appropriate response depending on the network situation. Once the ESP GUI is functional, press the "help" button in the upper left if you want to execute the tutorial. 3.2 egads2cart This example takes an input geometry file and generates a Cart3D "tri" file. The acceptable input is STEP, EGADS or OpenCASCADE BRep files (which can all be generated from an OpenCSM "dump" command). % cd $ESP_ROOT/bin % ./egads2cart geomFilePath [angle relSide relSag] 3.3 vTess and wvClient vTess allows for the examination of geometry through its discrete representation. Like egads2cart, the acceptable geometric input is STEP, EGADS or OpenCASCADE BRep files. vTess acts like serveESP and wvClient should be used like ESP in the discussion in Section 3.1 above. % cd $ESP_ROOT/bin % ./vTess geomFilePath [angle maxlen sag] 3.4 Executing CAPS through Python % python pyCAPSscript.py (Note: many example Python scripts can be found in $ESP_ROOT/CAPSexamples/pyCAPS) 4.0 Notes on 3rd Party Analyses 4.1 The AFLR suite Building the AFLR AIMs (AFLR2, AFLR3 and AFLR4) requires AFLR_LIB at 10.22.22 or higher. Note that built versions of the so/DLLs can be found in the PreBuilt distributions and should be able to be used with ESP that you build by placing them in the $ESP_ROOT/lib directory. 4.2 Athena Vortex Lattice The interface to AVL is designed for V3.40, and the avl executable is provided in $ESP_ROOT/bin. 4.3 Astros and mAstros Both Astros and a limited version (microAstros or more simply) mAstros can be run with the Astros AIM. An mAstros executable is part of this distribution and is used with the CAPS training material. The pyCAPS Astros examples use the environment variable ASTROS_ROOT (set to the path where Astros can be found) to locate Astros and its runtime files. If not set it defaults to mAstros execution. 4.4 Cart3D The interfaces to Cart3D will only work with V1.5.5 and V1.5.7. 4.5 Fun3D The Fun3D AIM supports Fun3D V12.4 or higher. 4.6 Mystran On Windows, follow the install instructions MYSTRAN-Install-Manual.pdf carefully. The CAPS examples function only if MYSTRAN.ini in the Mystran bin directory is an empty file and the MYSTRAN_directory environment variable points to the Mystran bin directory. Mystran currently only functions on Windows if CAPS is compiled with MSVC 2017 or higher. This may be addressed in future releases. 4.7 NASTRAN Nastran bdf files are only correct on Windows if CAPS is compiled with MSVC 2017 or higher. This may be addressed in future releases. 4.8 Pointwise The CAPS connection to Pointwise is now handled internally but requires, at a minimum Pointwise V18.2 R2, but V18.4 or higher is recommended. This setup performs automatic unstructured meshing. Note that the environment variable CAPS_GLYPH is set by the ESP configure script and points to the Glyph scripts that should be used with CAPS and the current release of Pointwise. 4.9 SU2 Supported versions are: 4.1.1 (Cardinal), 5.0.0 (Raven), 6.2.0 (Falcon) and 7.3.1 (Blackbird). SU2 version 6.0 will work except for the use of displacements in a Fluid/Structure Interaction setting. 4.10 xfoil The interface to xfoil is designed for V6.99, and the xfoil executable is provided in $ESP_ROOT/bin. Note that multiple 'versions' of xfoil 6.99 have been released with differing output file formats.