Modified ZeroMQ interface to include pitch offsets (NREL#261)

* Modified ZeroMQ interface to include pitch setpoints

* Fixed zeromq time limit issue

* Fixed simulation restart bug when using zeromq

* Light formatting changes

* Remove specific ZeroMQ data structure, add to LocalVars, rename

* Full remove ZMQ_Variables

* Tidy NREL5MW tuning yaml and control_interface

* Raise exception in control_interface if DLL returns an error

* Fix name of debug file

* Combine ZMQ examples, check outputs

* Check ZMQ update period based on simulation update period

* Initialize ZMQ local vars

* Make tuning yaml, zmq example consistent with others

* Update DISCONs

* Let DISCON in control_interface be initialized even if there's an error

* Remove extra zmq example

---------

Co-authored-by: dzalkind <[email protected]>

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)

ROSCO/rosco_registry/rosco_types.yaml

@@ -1264,6 +1264,13 @@ LocalVariables:
       <<: *complex
       description: Complex angle for each blade, sum of modes?
       size: 3
+    ZMQ_YawOffset:
+      <<: *real
+      description: Yaw offsety command, [rad]
+    ZMQ_PitOffset:
+      <<: *real
+      size: 3
+      description: Pitch command offset provided by ZeroMQ
     WE: 
       <<: *derived_type
       id: WE 
@@ -1443,14 +1450,7 @@ 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/write_registry.py

@@ -118,13 +118,12 @@ 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")
@@ -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')

ROSCO/src/Controllers.f90

@@ -109,6 +109,9 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar, ErrVar)
             IF (CntrPar%IPC_SatMode == 1) THEN
                 LocalVar%PitCom(K) = saturate(LocalVar%PitCom(K), LocalVar%PC_MinPit, CntrPar%PC_MaxPit)  
             END IF
+
+            ! Add ZeroMQ pitch commands
+            LocalVar%PitCom(K) = LocalVar%PitCom(K) + LocalVar%ZMQ_PitOffset(K)
 
             ! Rate limit                  
             LocalVar%PitCom(K) = ratelimit(LocalVar%PitCom(K), CntrPar%PC_MinRat, CntrPar%PC_MaxRat, LocalVar%DT, LocalVar%restart, LocalVar%rlP,objInst%instRL,LocalVar%BlPitch(K)) ! Saturate the overall command of blade K using the pitch rate limit
@@ -299,14 +302,14 @@ SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)
 
     END SUBROUTINE VariableSpeedControl
 !-------------------------------------------------------------------------------------------------------------------------------
-    SUBROUTINE YawRateControl(avrSWAP, CntrPar, LocalVar, objInst, zmqVar, DebugVar, ErrVar)
+    SUBROUTINE YawRateControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar, ErrVar)
         ! Yaw rate controller
         !       Y_ControlMode = 0, No yaw control
         !       Y_ControlMode = 1, Yaw rate control using yaw drive
 
         ! TODO: Lots of R2D->D2R, this should be cleaned up.
         ! TODO: The constant offset implementation is sort of circular here as a setpoint is already being defined in SetVariablesSetpoints. This could also use cleanup
-        USE ROSCO_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances, DebugVariables, ErrorVariables, ZMQ_Variables
+        USE ROSCO_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances, DebugVariables, ErrorVariables
 
         REAL(ReKi), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller.
 
@@ -315,7 +318,6 @@ SUBROUTINE YawRateControl(avrSWAP, CntrPar, LocalVar, objInst, zmqVar, DebugVar,
         TYPE(ObjectInstances), INTENT(INOUT)      :: objInst
         TYPE(DebugVariables), INTENT(INOUT)       :: DebugVar
         TYPE(ErrorVariables), INTENT(INOUT)       :: ErrVar
-        TYPE(ZMQ_Variables), INTENT(INOUT)  :: zmqVar
 
         ! Allocate Variables
         REAL(DbKi), SAVE :: NacVaneOffset                          ! For offset control
@@ -344,7 +346,7 @@ SUBROUTINE YawRateControl(avrSWAP, CntrPar, LocalVar, objInst, zmqVar, DebugVar,
 
             ! Compute/apply offset
             IF (CntrPar%ZMQ_Mode == 1) THEN
-                NacVaneOffset = zmqVar%Yaw_Offset
+                NacVaneOffset = LocalVar%ZMQ_YawOffset
             ELSE
                 NacVaneOffset = CntrPar%Y_MErrSet ! (deg) # Offset from setpoint
             ENDIF

ROSCO/src/DISCON.F90

@@ -49,7 +49,7 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
 CHARACTER(KIND=C_CHAR),         INTENT(IN   )   :: accINFILE(NINT(avrSWAP(50)))     ! The name of the parameter input file
 CHARACTER(KIND=C_CHAR),         INTENT(IN   )   :: avcOUTNAME(NINT(avrSWAP(51)))    ! OUTNAME (Simulation RootName)
 CHARACTER(KIND=C_CHAR),         INTENT(INOUT)   :: avcMSG(NINT(avrSWAP(49)))        ! MESSAGE (Message from DLL to simulation code [ErrMsg])  The message which will be displayed by the calling program if aviFAIL <> 0.
-CHARACTER(SIZE(avcOUTNAME)-1)                   :: RootName                         ! a Fortran version of the input C string (not considered an array here)    [subtract 1 for the C null-character]
+CHARACTER(SIZE(avcOUTNAME))                   :: RootName                         ! a Fortran version of the input C string (not considered an array here)    [subtract 1 for the C null-character]
 CHARACTER(SIZE(avcMSG)-1)                       :: ErrMsg                           ! a Fortran version of the C string argument (not considered an array here) [subtract 1 for the C null-character]
 
 TYPE(ControlParameters),        SAVE           :: CntrPar
@@ -58,7 +58,6 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
 TYPE(PerformanceData),          SAVE           :: PerfData
 TYPE(DebugVariables),           SAVE           :: DebugVar
 TYPE(ErrorVariables),           SAVE           :: ErrVar
-TYPE(ZMQ_Variables),            SAVE           :: zmqVar
 TYPE(ExtControlType),           SAVE           :: ExtDLL
 
 
@@ -72,7 +71,7 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
 
 ! Check for restart
 IF ( (NINT(avrSWAP(1)) == -9) .AND. (aviFAIL >= 0))  THEN ! Read restart files
-    CALL ReadRestartFile(avrSWAP, LocalVar, CntrPar, objInst, PerfData, RootName, SIZE(avcOUTNAME), zmqVar, ErrVar)
+    CALL ReadRestartFile(avrSWAP, LocalVar, CntrPar, objInst, PerfData, RootName, SIZE(avcOUTNAME), ErrVar)
     IF ( CntrPar%LoggingLevel > 0 ) THEN
         CALL Debug(LocalVar, CntrPar, DebugVar, ErrVar, avrSWAP, RootName, SIZE(avcOUTNAME))
     END IF 
@@ -82,7 +81,7 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
 CALL ReadAvrSWAP(avrSWAP, LocalVar, CntrPar)
 
 ! Set Control Parameters
-CALL SetParameters(avrSWAP, accINFILE, SIZE(avcMSG), CntrPar, LocalVar, objInst, PerfData, zmqVar, RootName, ErrVar)
+CALL SetParameters(avrSWAP, accINFILE, SIZE(avcMSG), CntrPar, LocalVar, objInst, PerfData, RootName, ErrVar)
 
 ! Call external controller, if desired
 IF (CntrPar%Ext_Mode > 0 .AND. ErrVar%aviFAIL >= 0) THEN
@@ -97,8 +96,8 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
     IF ((LocalVar%iStatus == -8) .AND. (ErrVar%aviFAIL >= 0))  THEN ! Write restart files
         CALL WriteRestartFile(LocalVar, CntrPar, ErrVar, objInst, RootName, SIZE(avcOUTNAME))    
     ENDIF
-    IF (zmqVar%ZMQ_Flag) THEN
-        CALL UpdateZeroMQ(LocalVar, CntrPar, zmqVar, ErrVar)
+    IF (CntrPar%ZMQ_Mode > 0) THEN
+        CALL UpdateZeroMQ(LocalVar, CntrPar, ErrVar)
     ENDIF
 
     CALL WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar, ErrVar)
@@ -109,7 +108,7 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
     CALL PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar, ErrVar)
 
     IF (CntrPar%Y_ControlMode > 0) THEN
-        CALL YawRateControl(avrSWAP, CntrPar, LocalVar, objInst, zmqVar, DebugVar, ErrVar)
+        CALL YawRateControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar, ErrVar)
     END IF
 
     IF (CntrPar%Flp_Mode > 0) THEN
@@ -129,8 +128,8 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
     IF ( CntrPar%LoggingLevel > 0 ) THEN
         CALL Debug(LocalVar, CntrPar, DebugVar, ErrVar, avrSWAP, RootName, SIZE(avcOUTNAME))
     END IF 
-ELSEIF ((LocalVar%iStatus == -1) .AND. (zmqVar%ZMQ_Flag)) THEN
-        CALL UpdateZeroMQ(LocalVar, CntrPar, zmqVar, ErrVar)
+ELSEIF ((LocalVar%iStatus == -1) .AND. (CntrPar%ZMQ_Mode > 0)) THEN
+        CALL UpdateZeroMQ(LocalVar, CntrPar, ErrVar)
 END IF
 
 

ROSCO/src/ROSCO_Helpers.f90

@@ -943,7 +943,7 @@ SUBROUTINE ParseDbAry_Opt ( FileLines, ParamName, Ary, AryLen, FileName, ErrVar,
             ENDIF
 
             Ary = 0     ! Default of allocatable arrays is 0 for now
-            PRINT *, "ROSCO Warning: Did not find correct size"//TRIM( ParamName )//" in input file.  Using default value of [", Ary, "]"
+            PRINT *, "ROSCO Warning: Did not find correct size "//TRIM( ParamName )//" in input file.  Using default value of [", Ary, "]"
         ENDIF
 
         IF (FoundLine) THEN