Modify ZeroMQ wind farm control interface and example to more object …

…oriented code

Examples/17b_zeromq_multi_openfast.py

@@ -1,121 +1,101 @@
-import platform
 import os
-import matplotlib.pyplot as plt
-from ROSCO_toolbox.inputs.validation import load_rosco_yaml
-from ROSCO_toolbox.utilities import write_DISCON
-from ROSCO_toolbox import control_interface as ROSCO_ci
+import multiprocessing as mp
 from ROSCO_toolbox.control_interface import wfc_zmq_server
-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.case_gen import CaseLibrary as cl
-import numpy as np
-import multiprocessing as mp
 from ROSCO_toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
 
-this_dir            = os.path.dirname(os.path.abspath(__file__))
-example_out_dir     = os.path.join(this_dir,'examples_out')
-os.makedirs(example_out_dir,exist_ok=True)
+
+this_dir = os.path.dirname(os.path.abspath(__file__))
+example_out_dir = os.path.join(this_dir, "examples_out")
+os.makedirs(example_out_dir, exist_ok=True)
+
 
 def run_zmq():
-    connect_zmq = True
-    s = wfc_zmq_server(network_address="tcp://*:5555", timeout=10000.0, verbose=False, n_turbines = 2)
-    while connect_zmq:
-        #  Get latest measurements from ROSCO
-        measurements = s.get_measurements()
-        identifier = measurements['ZMQ_ID']
-
-        # somewhere in the server code, we need to save the ID to setpoints
-        # otherwise, it's initialized as 0 like everything else
-        # do this here for now until the server code moves somewhere else
-
-        # I think we need to build out this part of the code, next
-        id = int(identifier)
-
-        s.setpoints[id-1]['ZMQ_ID'] = measurements['ZMQ_ID']
-
-        # Maybe measurements needs to be a dict so we don't have this id-1 business
-        s.measurements[id-1] = measurements
-
-        # Decide new control input based on measurements
-        current_time = measurements['Time']
-        if current_time <= 10.0:
-            yaw_setpoint = 0.0
+    """Start the ZeroMQ server for wind farm control"""
+
+    # Start the server at the following address
+    network_address = "tcp://*:5555"
+    server = wfc_zmq_server(network_address, timeout=60.0, verbose=True)
+
+    # Provide the wind farm control algorithm as the wfc_controller method of the server
+    server.wfc_controller = wfc_controller
+
+    # Run the server to receive measurements and send setpoints
+    server.runserver()
+
+
+def wfc_controller(id, current_time, measurements):
+    """
+    Users needs to define this function to implement wind farm controller.
+    The user defined function should take as argument the turbine id, the
+    current time and current measurements and return the setpoints
+    for the particular turbine for the current time. It should ouput the
+    setpoints as a dictionary whose keys should be as defined in
+    wfc_zmq_server.wfc_interface. The wfc_controller method of the wfc_zmq_server
+    should be overwriten with this fuction, otherwise, an exception is raised and
+    the simulation stops.
+    """
+    if current_time <= 10.0:
+        YawOffset = 0.0
+    else:
+        if id == 1:
+            YawOffset = -10.0
         else:
-            if identifier >= 1.5:
-                yaw_setpoint = -10.0
-            else:
-                yaw_setpoint = 10.0
-
-        # current_time1 = measurements1['Time']
-        # if current_time1 <= 10.0:
-        #     yaw_setpoint1 = 0.0
-        # else:
-        #     yaw_setpoint1 = -20.0
-
-            # Send new setpoints back to ROSCO
-        s.setpoints[id-1]['ZMQ_YawOffset'] = yaw_setpoint
-        s.send_setpoints(id)
-        # s1.send_setpoints(nacelleHeading=yaw_setpoint1)
-
-        if measurements['iStatus'] == -1:
-            connect_zmq = False
-            s._disconnect()
-    print('Done with run_zmq')
+            YawOffset = 10
+    setpoints = {}
+    setpoints["ZMQ_YawOffset"] = YawOffset
+    return setpoints
+
 
 def sim_openfast_1():
-    # fstfile = '/Users/agupta/Projects/Tools/AG_ROSCO/Examples/IEA-3.4-130-RWT/openfast/IEA-3.4-130-RWT.fst'
-    # of_exec = '/Users/agupta/Projects/Tools/AG_openfast/build_v3p5p0/glue-codes/openfast/openfast'
-    # os.system(of_exec + ' ' + fstfile)
-    # pass
+    """Run the first OpenFAST simulation with ZeroMQ enabled"""
     r = run_FAST_ROSCO()
-    r.tuning_yaml = 'NREL5MW.yaml'
+    r.tuning_yaml = "NREL5MW.yaml"
     r.wind_case_fcn = cl.power_curve
-    r.wind_case_opts    = {
-        'U': [8],
-        'TMax': 100,
-        }
-    run_dir = os.path.join(example_out_dir,'17b_zeromq_OF1')
+    r.wind_case_opts = {
+        "U": [8],
+        "TMax": 100,
+    }
+    run_dir = os.path.join(example_out_dir, "17b_zeromq_OF1")
     r.controller_params = {}
-    r.controller_params['LoggingLevel'] = 2
-    r.controller_params['DISCON'] = {}
-    r.controller_params['DISCON']['ZMQ_Mode'] = 1
-    r.controller_params['DISCON']['ZMQ_ID'] = 1
-    r.save_dir    = run_dir
+    r.controller_params["LoggingLevel"] = 2
+    r.controller_params["DISCON"] = {}
+    r.controller_params["DISCON"]["ZMQ_Mode"] = 1
+    r.controller_params["DISCON"]["ZMQ_ID"] = 1
+    r.save_dir = run_dir
     r.run_FAST()
 
 
-
 def sim_openfast_2():
+    """Run the second OpenFAST simulation with ZeroMQ enabled"""
     r = run_FAST_ROSCO()
-    r.tuning_yaml = 'NREL5MW.yaml'
+    r.tuning_yaml = "NREL5MW.yaml"
     r.wind_case_fcn = cl.power_curve
-    r.wind_case_opts    = {
-        'U': [8],
-        'TMax': 100,
-        }
-    run_dir = os.path.join(example_out_dir,'17b_zeromq_OF2')
-    r.save_dir    = run_dir
+    r.wind_case_opts = {
+        "U": [8],
+        "TMax": 100,
+    }
+    run_dir = os.path.join(example_out_dir, "17b_zeromq_OF2")
+    r.save_dir = run_dir
     r.controller_params = {}
-    r.controller_params['DISCON'] = {}
-    r.controller_params['LoggingLevel'] = 2
-    r.controller_params['DISCON']['ZMQ_Mode'] = 1
-    r.controller_params['DISCON']['ZMQ_ID'] = 2
+    r.controller_params["DISCON"] = {}
+    r.controller_params["LoggingLevel"] = 2
+    r.controller_params["DISCON"]["ZMQ_Mode"] = 1
+    r.controller_params["DISCON"]["ZMQ_ID"] = 2
     r.run_FAST()
 
 
 if __name__ == "__main__":
-    # sim_rosco()
-    # run_zmq()
-    # sim_openfast()
-    p1 = mp.Process(target=run_zmq)
+    # Start wind farm control server and two openfast simulation
+    # as separate processes
+    p0 = mp.Process(target=run_zmq)
+    p1 = mp.Process(target=sim_openfast_1)
+    p2 = mp.Process(target=sim_openfast_2)
+
+    p0.start()
     p1.start()
-    p2 = mp.Process(target=sim_openfast_1)
     p2.start()
-    p3 = mp.Process(target=sim_openfast_2)
-    p3.start()
+
+    p0.join()
     p1.join()
     p2.join()
-    p3.join()
-
-

ROSCO/rosco_registry/wfc_interface.yaml

@@ -19,7 +19,6 @@ measurements: [
   ]
 
 setpoints: [
-  ZMQ_ID,
   ZMQ_TorqueOffset,
   ZMQ_YawOffset,
   ZMQ_PitOffset(1),

ROSCO/src/ZeroMQInterface.f90

@@ -12,7 +12,7 @@ SUBROUTINE UpdateZeroMQ(LocalVar, CntrPar, ErrVar)
         TYPE(ErrorVariables),    INTENT(INOUT) :: ErrVar
 
         character(256) :: zmq_address
-        real(C_DOUBLE) :: setpoints(6)
+        real(C_DOUBLE) :: setpoints(5)
         real(C_DOUBLE) :: turbine_measurements(17)
         CHARACTER(*), PARAMETER                 :: RoutineName = 'UpdateZeroMQ'
 
@@ -24,7 +24,7 @@ subroutine zmq_client(zmq_address, measurements, setpoints) bind(C, name='zmq_cl
                 implicit none
                 character(C_CHAR), intent(out) :: zmq_address(*)
                 real(C_DOUBLE) :: measurements(17)
-                real(C_DOUBLE) :: setpoints(6)
+                real(C_DOUBLE) :: setpoints(5)
             end subroutine zmq_client
         end interface
 #endif
@@ -68,12 +68,11 @@ end subroutine zmq_client
             ! write (*,*) 'ZeroMQInterface: pitch 1 setpoint from ssc: ', setpoints(3)
             ! write (*,*) 'ZeroMQInterface: pitch 2 setpoint from ssc: ', setpoints(4)
             ! write (*,*) 'ZeroMQInterface: pitch 3 setpoint from ssc: ', setpoints(5)
-            LocalVar%ZMQ_ID = setpoints(1)
-            LocalVar%ZMQ_TorqueOffset = setpoints(2)
-            LocalVar%ZMQ_YawOffset = setpoints(3)
-            LocalVar%ZMQ_PitOffset(1) = setpoints(4)
-            LocalVar%ZMQ_PitOffset(2) = setpoints(5)
-            LocalVar%ZMQ_PitOffset(3) = setpoints(6)
+            LocalVar%ZMQ_TorqueOffset = setpoints(1)
+            LocalVar%ZMQ_YawOffset = setpoints(2)
+            LocalVar%ZMQ_PitOffset(1) = setpoints(3)
+            LocalVar%ZMQ_PitOffset(2) = setpoints(4)
+            LocalVar%ZMQ_PitOffset(3) = setpoints(5)
 
         ENDIF
 

ROSCO/src/zmq_client.c

@@ -23,7 +23,7 @@ void delete_blank_spaces_in_string(char *s)
 int zmq_client (
     char *zmq_address,
     double measurements[17],
-    double setpoints[6]
+    double setpoints[5]
 )
 {
     int num_measurements = 17;  // Number of setpoints and measurements, respectively, and float precision (character length)