Merge commit '381ae2862ee58d9684ef5c69270eef4956ce1813' into weis

.github/pull_request_template.md

@@ -0,0 +1,19 @@
+## Description and Purpose
+
+## Type of change
+What types of change is it?
+_Select the appropriate type(s) that describe this PR_
+
+- [ ] Bugfix (non-breaking change which fixes an issue)
+- [ ] New feature (non-breaking change which adds functionality)
+- [ ] Breaking change (non-backwards-compatible fix or feature)
+- [ ] Code style update (formatting, renaming)
+- [ ] Refactoring (no functional changes, no API changes)
+- [ ] Documentation update
+- [ ] Maintenance update
+- [ ] Other (please describe)
+
+## Github issues addressed, if one exists
+
+## Examples/Testing, if applicable
+

.github/workflows/CI_rosco-toolbox.yml

@@ -0,0 +1,106 @@
+name: CI_rosco-toolbox
+
+# We run CI on push commits on all branches
+on: [push, pull_request]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  build:
+    name: Build (${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        os: ["ubuntu-latest", "macOS-latest", "windows-latest"]
+        python-version: ["3.8"]
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+      - name: Checkout repository and submodules
+        uses: actions/checkout@v2
+        with:
+          submodules: recursive
+
+      - name: Setup environment
+        uses: conda-incubator/setup-miniconda@v2
+        with:
+          miniconda-version: "latest"
+          channels: conda-forge, general
+          auto-update-conda: true
+          python-version: 3.8
+          environment-file: environment.yml
+
+
+      # Install dependencies of ROSCO toolbox
+      - name: Add dependencies ubuntu specific
+        if: false == contains( matrix.os, 'windows')
+        run: |
+          conda install -y compilers
+          conda install -y wisdem
+      - name: Add dependencies windows specific
+        if: true == contains( matrix.os, 'windows')
+        run: |
+          conda install -y m2w64-toolchain libpython 
+          conda install -y wisdem
+        
+
+      # Install ROSCO toolbox
+      - name: Install ROSCO toolbox
+        run: |
+          python setup.py develop --compile-rosco
+          
+
+  run_examples:
+    name: Run Examples
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        os: ["ubuntu-latest"] #, "macOS-latest"]
+        python-version: ["3.8"]
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+      - name: Checkout repository and submodules
+        uses: actions/checkout@v2
+        with:
+          submodules: recursive
+
+      - name: Setup environment
+        uses: conda-incubator/setup-miniconda@v2
+        with:
+          miniconda-version: "latest"
+          channels: conda-forge, general
+          auto-update-conda: true
+          python-version: 3.8
+          environment-file: environment.yml
+
+
+      # Install dependencies of ROSCO toolbox
+      - name: Add dependencies ubuntu specific
+        if: false == contains( matrix.os, 'windows')
+        run: |
+          conda install -y compilers
+          conda install -y wisdem
+        
+
+      # Install ROSCO toolbox
+      - name: Install ROSCO toolbox
+        run: |
+          python setup.py develop --compile-rosco
+          
+      # Install OpenFAST
+      - name: Install OpenFAST
+        run: |
+          conda install openfast
+          
+      # Run examples
+      - name: Run examples
+        run: |
+          cd Examples
+          python run_examples.py
+          

Examples/example_07.py

@@ -45,11 +45,12 @@
 controller.tune_controller(turbine)
 
 # Plot minimum pitch schedule
-plt.plot(controller.v, controller.pitch_op,label='Steady State Operation')
-plt.plot(controller.v, controller.ps_min_bld_pitch, label='Minimum Pitch Schedule')
-plt.legend()
-plt.xlabel('Wind speed (m/s)')
-plt.ylabel('Blade pitch (rad)')
+fig, ax = plt.subplots(1,1)
+ax.plot(controller.v, controller.pitch_op,label='Steady State Operation')
+ax.plot(controller.v, controller.ps_min_bld_pitch, label='Minimum Pitch Schedule')
+ax.legend()
+ax.set_xlabel('Wind speed (m/s)')
+ax.set_ylabel('Blade pitch (rad)')
 
 if False:
   plt.show()

Examples/example_09.py

@@ -20,10 +20,7 @@
 wind_directory = os.path.join(this_dir,'../Test_Cases/Wind/')
 turbsim_infile = '90m_12mps_twr.inp'
 
-run_openfast(
-  wind_directory, 
-  fastcall='/Users/dzalkind/Tools/WEIS-1/build/temp.macosx-10.9-x86_64-3.8_rosco_openfast/modules/turbsim/turbsim', 
-  fastfile=turbsim_infile, 
-  chdir=False
-  )
+run_openfast(wind_directory, fastcall='turbsim',
+             fastfile=os.path.join(wind_directory, turbsim_infile), chdir=False)
 
+print('test')

Examples/run_examples.py

@@ -1,5 +1,6 @@
 import os
 import unittest
+import sys
 from time import time
 import importlib
 
@@ -100,4 +101,5 @@ def suite():
 
 
 if __name__ == "__main__":
-    unittest.TextTestRunner().run(suite())
+    result = unittest.TextTestRunner().run(suite())
+    sys.exit(not result.wasSuccessful())

ROSCO_toolbox/controller.py

@@ -158,8 +158,8 @@ def tune_controller(self, turbine):
         TSR_rated = rated_rotor_speed*R/turbine.v_rated  # TSR at rated
 
         # separate wind speeds by operation regions
-        v_below_rated = np.linspace(turbine.v_min,turbine.v_rated, num=30)             # below rated
-        v_above_rated = np.linspace(turbine.v_rated,turbine.v_max, num=30)[1:]             # above rated
+        v_below_rated = np.linspace(turbine.v_min,turbine.v_rated, num=30)[:-1]             # below rated
+        v_above_rated = np.linspace(turbine.v_rated,turbine.v_max, num=30)             # above rated
         v = np.concatenate((v_below_rated, v_above_rated))
 
         # separate TSRs by operations regions
@@ -189,7 +189,8 @@ def tune_controller(self, turbine):
             # Find pitch angle as a function of expected operating CP for each TSR
             Cp_TSR = np.ndarray.flatten(turbine.Cp.interp_surface(turbine.pitch_initial_rad, TSR_op[i]))     # all Cp values for a given tsr
             Cp_op[i] = np.clip(Cp_op[i], np.min(Cp_TSR), np.max(Cp_TSR))        # saturate Cp values to be on Cp surface
-            f_cp_pitch = interpolate.interp1d(Cp_TSR,pitch_initial_rad)         # interpolate function for Cp(tsr) values
+            Cp_maxidx = Cp_TSR.argmax()                                                                 # Find maximum Cp value for this TSR
+            f_cp_pitch = interpolate.interp1d(Cp_TSR[Cp_maxidx:],pitch_initial_rad[Cp_maxidx:])         # interpolate function for Cp(tsr) values
             # expected operation blade pitch values
             if v[i] <= turbine.v_rated and isinstance(self.min_pitch, float): # Below rated & defined min_pitch
                 pitch_op[i] = min(self.min_pitch, f_cp_pitch(Cp_op[i]))
@@ -479,7 +480,7 @@ def peak_shaving(self,controller, turbine):
             else:
                 Ct_max[i] = np.minimum( np.max(Ct_tsr), Ct_max[i])
             # Define minimum pitch angle
-            f_pitch_min = interpolate.interp1d(Ct_tsr, turbine.pitch_initial_rad, kind='cubic', bounds_error=False, fill_value=(turbine.pitch_initial_rad[0],turbine.pitch_initial_rad[-1]))
+            f_pitch_min = interpolate.interp1d(Ct_tsr, turbine.pitch_initial_rad, kind='linear', bounds_error=False, fill_value=(turbine.pitch_initial_rad[0],turbine.pitch_initial_rad[-1]))
             pitch_min[i] = max(controller.min_pitch, f_pitch_min(Ct_max[i]))
 
         controller.ps_min_bld_pitch = pitch_min

ROSCO_toolbox/utilities.py

@@ -28,9 +28,9 @@
 from matplotlib import transforms
 from itertools import takewhile, product
 import struct
+import subprocess
 import ROSCO_toolbox
 
-from ROSCO_toolbox.ofTools.util import spectral
 # Some useful constants
 now = datetime.datetime.now()
 pi = np.pi
@@ -455,7 +455,7 @@ def DISCON_dict(turbine, controller, txt_filename=None):
     return DISCON_dict
 
 
-def run_openfast(fast_dir,fastcall='openfast',fastfile=None,chdir=False):
+def run_openfast(fast_dir, fastcall='openfast', fastfile=None, chdir=True):
     '''
     Runs a openfast openfast simulation.
     
@@ -483,18 +483,11 @@ def run_openfast(fast_dir,fastcall='openfast',fastfile=None,chdir=False):
     print('Using {} to run OpenFAST simulation'.format(fastfile))
 
     if chdir: # Change cwd before calling OpenFAST -- note: This is an artifact of needing to call OpenFAST from the same directory as DISCON.IN
-        # save starting file path 
-        original_path = os.getcwd()
-        # change path, run OpenFAST
-        os.chdir(fast_dir)
-        print('Running OpenFAST simulation for {} through the ROSCO toolbox...'.format(fastfile))
-        os.system('{} {}'.format(fastcall, os.path.join(fastfile)))
-        print('OpenFAST simulation complete. ')
-        # return to original path
-        os.chdir(original_path)
+        cwd = fast_dir
     else:
-        # Run OpenFAST
-        print('Running OpenFAST simulation for {} through the ROSCO toolbox...'.format(fastfile))
-        os.system('{} {}'.format(fastcall, os.path.join(fast_dir,fastfile)))
-        print('OpenFAST simulation complete. ')
+        cwd = None
 
+    print('Running OpenFAST simulation for {} through the ROSCO toolbox...'.format(fastfile))
+        # os.system('{} {}'.format(fastcall, os.path.join(fastfile)))
+    subprocess.run([fastcall, os.path.join(fastfile)], check=True, cwd=cwd)
+    print('OpenFAST simulation complete.')

Test_Cases/BAR_10/BAR_10_ServoDyn.dat

@@ -63,7 +63,7 @@ False                  CompNTMD    - Compute nacelle tuned mass damper {true/fal
 False                  CompTTMD    - Compute tower tuned mass damper {true/false} (flag)
 "b.dat"                TTMDfile    - Name of the file for tower tuned mass damper (quoted string) [unused when CompTTMD is false]
 ---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
-"../../ROSCO/install/lib/libdiscon.dylib" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
+"../../ROSCO/install/lib/libdiscon.so" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
 "BAR_10_DISCON.IN"     DLL_InFile  - Name of input file sent to the DLL (-) [used only with Bladed Interface]
 "DISCON"               DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]
 "default"              DLL_DT      - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]

Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ServoDyn.dat

@@ -63,7 +63,7 @@ False                  CompNTMD    - Compute nacelle tuned mass damper {true/fal
 False                  CompTTMD    - Compute tower tuned mass damper {true/false} (flag)
 "unused"               TTMDfile    - Name of the file for tower tuned mass damper (quoted string) [unused when CompTTMD is false]
 ---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
-"../../ROSCO/install/lib/libdiscon.dylib"  DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
+"../../ROSCO/install/lib/libdiscon.so"  DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
 "ServoData/DISCON-UMaineSemi.IN"   DLL_InFile  - Name of input file sent to the DLL (-) [used only with Bladed Interface]
 "DISCON"               DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]
 "default"              DLL_DT      - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]

Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_ServoDyn.dat

@@ -63,7 +63,7 @@ False         CompNTMD     - Compute nacelle tuned mass damper {true/false} (fla
 False         CompTTMD     - Compute tower tuned mass damper {true/false} (flag)
 "../5MW_Baseline/NRELOffshrBsline5MW_ServoDyn_TMD.dat"    TTMDfile     - Name of the file for tower tuned mass damper (quoted string) [unused when CompTTMD is false]
 ---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
-"../../ROSCO/install/lib/libdiscon.dylib"    DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
+"../../ROSCO/install/lib/libdiscon.so"    DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
 "DISCON.IN"    DLL_InFile   - Name of input file sent to the DLL (-) [used only with Bladed Interface]
 "DISCON"      DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]
 "default"     DLL_DT       - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]

environment.yml

@@ -0,0 +1,11 @@
+channels:
+  - conda-forge
+  - defaults
+
+dependencies:
+  - matplotlib
+  - numpy
+  - pytest
+  - scipy
+  - pyYAML
+  - pandas