Merge working example of ZMQ from abhineet

Examples/11_robust_tuning.py

@@ -45,6 +45,7 @@ def run_example():
 
     # Path options
     example_out_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'examples_out')
+    os.makedirs(example_out_dir,exist_ok=True)
     output_name = '11_robust_scheduling'
     path_options = {'output_dir': example_out_dir,
                     'output_name': output_name

Examples/17_zeromq_interface.py

@@ -18,25 +18,44 @@
 from ROSCO_toolbox import sim as ROSCO_sim
 from ROSCO_toolbox import turbine as ROSCO_turbine
 from ROSCO_toolbox import controller as ROSCO_controller
+from ROSCO_toolbox.ofTools.fast_io import output_processing
 import numpy as np
 import multiprocessing as mp
 
+TIME_CHECK = 30
+DESIRED_YAW_OFFSET = 20
+DESIRED_PITCH_OFFSET = np.deg2rad(2) * np.sin(0.1 * TIME_CHECK) + np.deg2rad(2)
+
 def run_zmq():
     connect_zmq = True
-    s = turbine_zmq_server(network_address="tcp://*:5555", timeout=10.0, verbose=True)
+    s = turbine_zmq_server(network_address="tcp://*:5555", timeout=10.0)
     while connect_zmq:
         #  Get latest measurements from ROSCO
         measurements = s.get_measurements()
 
         # Decide new control input based on measurements
+
+        # Yaw set point
         current_time = measurements['Time']
         if current_time <= 10.0:
             yaw_setpoint = 0.0
         else:
-            yaw_setpoint = 20.0
+            yaw_setpoint = DESIRED_YAW_OFFSET
+
+        # Pitch offset
+        if current_time >= 10.0:
+            col_pitch_command = np.deg2rad(2) * np.sin(0.1 * current_time) + np.deg2rad(2) # Implement dynamic induction control
+        else:
+            col_pitch_command = 0.0
+
+        # Send new commands back to ROSCO
+        pitch_command = 3 * [0] 
+        pitch_command[0] = col_pitch_command
+        pitch_command[1] = col_pitch_command
+        pitch_command[2] = col_pitch_command
 
-            # Send new setpoints back to ROSCO
-        s.send_setpoints(nacelleHeading=yaw_setpoint)
+        # Send new setpoints back to ROSCO
+        s.send_setpoints(bladePitch=pitch_command, nacelleHeading=yaw_setpoint)
 
         if measurements['iStatus'] == -1:
             connect_zmq = False
@@ -56,6 +75,7 @@ def sim_rosco():
     # Enable ZeroMQ & yaw control
     controller_params['Y_ControlMode'] = 1
     controller_params['ZMQ_Mode'] = 1
+    controller_params['ZMQ_UpdatePeriod'] = 0.025
 
     # Specify controller dynamic library path and name
     this_dir = os.path.dirname(os.path.abspath(__file__))
@@ -76,19 +96,22 @@ def sim_rosco():
 
     # Load turbine data from OpenFAST and rotor performance text file
     cp_filename = os.path.join(
-        tune_dir, path_params['FAST_directory'], path_params['rotor_performance_filename'])
+        tune_dir, path_params['rotor_performance_filename'])
     turbine.load_from_fast(
         path_params['FAST_InputFile'],
         os.path.join(tune_dir, path_params['FAST_directory']),
         rot_source='txt', txt_filename=cp_filename
     )
 
     # Tune controller
+    controller_params['LoggingLevel'] = 2
     controller = ROSCO_controller.Controller(controller_params)
     controller.tune_controller(turbine)
 
     # Write parameter input file
-    param_filename = os.path.join(this_dir, 'DISCON_zmq.IN')
+    sim_dir = os.path.join(example_out_dir,'17_ZeroMQ')
+    os.makedirs(sim_dir,exist_ok=True)
+    param_filename = os.path.join(sim_dir, 'DISCON_zmq.IN')
     write_DISCON(
         turbine, controller,
         param_file=param_filename,
@@ -97,7 +120,11 @@ def sim_rosco():
 
 
     # Load controller library
-    controller_int = ROSCO_ci.ControllerInterface(lib_name, param_filename=param_filename, sim_name='sim-zmq')
+    controller_int = ROSCO_ci.ControllerInterface(
+        lib_name, 
+        param_filename=param_filename, 
+        sim_name=os.path.join(sim_dir,'sim-zmq')
+        )
 
     # Load the simulator
     sim = ROSCO_sim.Sim(turbine, controller_int)
@@ -121,8 +148,24 @@ def sim_rosco():
     if False:
         plt.show()
     else:
-        plt.savefig(os.path.join(example_out_dir, '16_NREL5MW_zmqYaw.png'))
+        plt.savefig(os.path.join(example_out_dir, '17_NREL5MW_ZMQ.png'))
+
+    # Check that info is passed to ROSCO
+    op = output_processing.output_processing()
+    local_vars = op.load_fast_out([os.path.join(sim_dir,'sim-zmq.RO.dbg2')], tmin=0)
+    fig, axs = plt.subplots(2,1)
+    axs[0].plot(local_vars[0]['Time'],local_vars[0]['ZMQ_YawOffset'])
+    axs[1].plot(local_vars[0]['Time'],local_vars[0]['ZMQ_PitOffset'])
+
+    if False:
+        plt.show()
+    else:
+        plt.savefig(os.path.join(example_out_dir, '17_NREL5MW_ZMQ_Setpoints.png'))
 
+    # Spot check input at time = 30 sec.
+    ind_30 = local_vars[0]['Time'] == TIME_CHECK
+    np.testing.assert_almost_equal(local_vars[0]['ZMQ_YawOffset'][ind_30], DESIRED_YAW_OFFSET)
+    np.testing.assert_almost_equal(local_vars[0]['ZMQ_PitOffset'][ind_30], DESIRED_PITCH_OFFSET, decimal=3)
 
 if __name__ == "__main__":
     p1 = mp.Process(target=run_zmq)

Examples/test_examples.py

@@ -54,7 +54,7 @@ def execute_script(fscript):
     # Use runpy to execute examples
     s = time()
     runpy.run_path(os.path.realpath(fullpath), run_name='__main__')
-    print(time() - s, "seconds to run")
+    print(f"{fscript} took {time() - s} seconds to run")
 
 class TestExamples(unittest.TestCase):
 

ROSCO/rosco_registry/rosco_types.yaml

@@ -1267,6 +1267,16 @@ LocalVariables:
       <<: *complex
       description: Complex angle for each blade, sum of modes?
       size: 3
+    ZMQ_YawOffset:
+      <<: *real
+      description: Yaw offset command, [rad]
+    ZMQ_TorqueOffset:
+      <<: *real
+      description: Torque offset command, [Nm]
+    ZMQ_PitOffset:
+      <<: *real
+      size: 3
+      description: Pitch command offset provided by ZeroMQ
     WE: 
       <<: *derived_type
       id: WE 
@@ -1446,14 +1456,7 @@ ExtDLL_Type:
     size: 3
     length: 1024
     description: The name of the procedure in the DLL that will be called.
-
-ZMQ_Variables:
-  ZMQ_Flag:
-    <<: *logical
-    description: Flag if we're using zeroMQ at all (0-False, 1-True)
-  Yaw_Offset:
-    <<: *real
-    description: Yaw offsety command, [rad]
+
 
 ExtControlType:
   avrSWAP:

ROSCO/rosco_registry/wfc_interface.yaml

@@ -0,0 +1,26 @@
+measurements: [
+  iStatus, 
+  Time, 
+  VS_MechGenPwr,
+  VS_GenPwr,
+  GenSpeed,
+  RotSpeed,
+  GenTqMeas,
+  NacHeading,
+  NacVane,
+  HorWindV,
+  rootMOOP(1),
+  rootMOOP(2),
+  rootMOOP(3),
+  FA_Acc,
+  NacIMU_FA_Acc,
+  Azimuth,
+  ]
+
+setpoints: [
+  ZMQ_TorqueOffset,
+  ZMQ_YawOffset,
+  ZMQ_PitOffset(1),
+  ZMQ_PitOffset(2),
+  ZMQ_PitOffset(3),
+  ]

ROSCO/rosco_registry/write_registry.py

@@ -80,7 +80,7 @@ def write_roscoio(yfile):
     file.write("    TYPE(ObjectInstances), INTENT(INOUT)            :: objInst\n")
     file.write("    TYPE(ErrorVariables), INTENT(INOUT)             :: ErrVar\n")
     file.write("    INTEGER(IntKi), INTENT(IN)                      :: size_avcOUTNAME\n")
-    file.write("    CHARACTER(size_avcOUTNAME-1), INTENT(IN)        :: RootName \n")
+    file.write("    CHARACTER(size_avcOUTNAME), INTENT(IN)        :: RootName \n")
     file.write("    \n")
     file.write("    INTEGER(IntKi)               :: Un                  ! I/O unit for pack/unpack (checkpoint & restart)\n")
     file.write("    INTEGER(IntKi)               :: I                   ! Generic index.\n")
@@ -118,16 +118,15 @@ def write_roscoio(yfile):
     # ------------------------------------------------
     # ------------ ReadRestartFile ------------------
     # ------------------------------------------------
-    file.write('SUBROUTINE ReadRestartFile(avrSWAP, LocalVar, CntrPar, objInst, PerfData, RootName, size_avcOUTNAME, zmqVar, ErrVar)\n')
+    file.write('SUBROUTINE ReadRestartFile(avrSWAP, LocalVar, CntrPar, objInst, PerfData, RootName, size_avcOUTNAME, ErrVar)\n')
     file.write("    TYPE(LocalVariables), INTENT(INOUT)             :: LocalVar\n")
     file.write("    TYPE(ControlParameters), INTENT(INOUT)          :: CntrPar\n")
     file.write("    TYPE(ObjectInstances), INTENT(INOUT)            :: objInst\n")
     file.write("    TYPE(PerformanceData), INTENT(INOUT)            :: PerfData\n")
     file.write("    TYPE(ErrorVariables), INTENT(INOUT)             :: ErrVar\n")
-    file.write("    TYPE(ZMQ_Variables), INTENT(INOUT)              :: zmqVar\n")
     file.write("    REAL(ReKi), INTENT(IN)                          :: avrSWAP(*)\n")
     file.write("    INTEGER(IntKi), INTENT(IN)                      :: size_avcOUTNAME\n")
-    file.write("    CHARACTER(size_avcOUTNAME-1), INTENT(IN)        :: RootName \n")
+    file.write("    CHARACTER(size_avcOUTNAME), INTENT(IN)        :: RootName \n")
     file.write("    \n")
     file.write("    INTEGER(IntKi)               :: Un                  ! I/O unit for pack/unpack (checkpoint & restart)\n")
     file.write("    INTEGER(IntKi)               :: I                   ! Generic index.\n")
@@ -163,7 +162,7 @@ def write_roscoio(yfile):
     file.write('        Close ( Un )\n')
     file.write('    ENDIF\n')
     file.write('    ! Read Parameter files\n')
-    file.write('    CALL ReadControlParameterFileSub(CntrPar, LocalVar, zmqVar, LocalVar%ACC_INFILE, LocalVar%ACC_INFILE_SIZE, RootName, ErrVar)\n')
+    file.write('    CALL ReadControlParameterFileSub(CntrPar, LocalVar, LocalVar%ACC_INFILE, LocalVar%ACC_INFILE_SIZE, RootName, ErrVar)\n')
     file.write('    IF (CntrPar%WE_Mode > 0) THEN\n')
     file.write('        CALL READCpFile(CntrPar, PerfData, ErrVar)\n')
     file.write('    ENDIF\n')
@@ -188,7 +187,7 @@ def write_roscoio(yfile):
     file.write('    INTEGER(IntKi), SAVE            :: UnDb2                        ! I/O unit for the debugging information, avrSWAP\n')
     file.write('    INTEGER(IntKi), SAVE            :: UnDb3                        ! I/O unit for the debugging information, avrSWAP\n')
     file.write('    REAL(ReKi), INTENT(INOUT)       :: avrSWAP(*)                   ! The swap array, used to pass data to, and receive data from, the DLL controller.\n')
-    file.write('    CHARACTER(size_avcOUTNAME-1), INTENT(IN) :: RootName            ! a Fortran version of the input C string (not considered an array here)    [subtract 1 for the C null-character]\n')
+    file.write('    CHARACTER(size_avcOUTNAME), INTENT(IN) :: RootName            ! a Fortran version of the input C string (not considered an array here)    [subtract 1 for the C null-character]\n')
     file.write('    CHARACTER(200)                  :: Version                      ! git version of ROSCO\n')
     file.write('    CHARACTER(15), ALLOCATABLE      :: DebugOutStrings(:), DebugOutUnits(:)\n')
     file.write('\n')