Squashed 'ROSCO/' changes from e86b860d..40a4edc9

40a4edc9 F/zmq (WISDEM#145)
b45fb430 External Control Interface (WISDEM#141)
9ca75e1e Robust control updates (WISDEM#139)
0bf504ee Pass through (WISDEM#136)
75e7fb8d RAAW Updates (WISDEM#133)
50a2f90e Add OpenFAST channels that Simulink reads (WISDEM#135)
5cdb0b5f Pitch Actuator and IPC updates (WISDEM#123)
e035a7d9 Flip Ct and Cq table allocation (WISDEM#130)
bd0562cd sigma + ipc (WISDEM#125)
d5201923 Update docs to reflect CI process
e9c9378e Merge remote-tracking branch 'upstream/develop' into develop
4126adbf Bladed readthedocs (WISDEM#117)
d7d15b04 Update version in API change docs
8c312875 Bladed docs (WISDEM#116)
5f18bf8c Increment version number
9b5499d7 ipc (WISDEM#105)
a857211f Allow default inputs (WISDEM#110)
REVERT: e86b860d delete extra F_FlpCornerFrerq
REVERT: e7e10e66 Merge remote-tracking branch 'origin/f/ipc' into f/ipc
REVERT: bee2e8e5 improved flap controller filtering
REVERT: 427f2ac5 refactor flap tuning for normalization methods
REVERT: de5ebc1c Update ROSCO Simulink model with IPC example
REVERT: 77dcc15a Revert "Print OL inputs"
REVERT: f6bea78d Print shape
REVERT: ec401f37 Print more stuf
REVERT: 69e87c49 Make example shorter
REVERT: 8623c86e Print OL inputs
REVERT: 4e2dac46 Allow logging level 3
REVERT: 8e2a642b Print OL inputs
REVERT: 58573a71 Disable other examples
REVERT: bf72b14f Revert "Use PriPath and RootName to name dbg files"
REVERT: ad4409db Merge remote-tracking branch 'nja/f/ipc' into f/ipc
REVERT: 285f7b0e Print AvrSWAP
REVERT: 062fcaa5 Use PriPath and RootName to name dbg files
REVERT: 38a13da4 add control packageg
REVERT: a9f43b94 Print when finished with ROSCO
REVERT: 58b4e1b5 Update discons - resolve conflict
REVERT: c8b23371 Merge remote-tracking branch 'upstream/develop' into f/ipc
REVERT: 480c7c4a Disable logging level
REVERT: 3beca3eb Clean up, hone in on debug call
REVERT: 5692ab84 Add more debugging lines 2
REVERT: a568be6a Add more debugging lines
REVERT: e119569f Debug OL reading
REVERT: 0971f300 Set wind speed, rotor speed IC in example 14
REVERT: a362dc47 Fix OL_Input reading
REVERT: b4c75584 Update DISCONs again
REVERT: db919993 Fix Material parameter path
REVERT: 1dc03765 shorten simulation time
REVERT: 5cb3725e Allow IPC to command pitch value below peak shaving saturation limit
REVERT: 07753d8c Add IPC tuning vars
REVERT: 6caf61ed cleanup and streaamline run_examples
REVERT: 1e5398f9 add examples to readme
REVERT: 26bd784e Update cp surfaces and DISCONS
REVERT: 7f3d89a3 Add example 13 for IPC
REVERT: e35f20a1 expand pitch_initial to 30 degrees
REVERT: 7760bcd7 update coord reader/writer
REVERT: c1d7908d Add IEA15MW_OL.yaml
REVERT: 9a75c711 ignore dbg2 files
REVERT: 28099671 Update Polars to point to coord files
REVERT: b6ba2535 make sure IPC_KP is positive
REVERT: 03f2b761 fix ipc gain printing bug
REVERT: 9bc06254 fix variable names
REVERT: 02e08f7d add IPC gains to schema for pass-through ability
REVERT: 86f3a9c4 numerical qualifiers for error handling
REVERT: abd83d73 Add IPC_KP to api changes
REVERT: 844b0693 add CMakeFiles to gitignore
REVERT: 2ade0153 add mutichannel plotting with tuples
REVERT: 7e5e2a3d Error checking foro flp or ipc
REVERT: 79e5d540 Addd IPC_KP to DISCON.IN
REVERT: 0111087a Fix comments in ColemanTransformInverse
REVERT: fded9d42 Add cyclic flap conrol
REVERT: dbd81afd Better logic for filtering RootMOOP and fix notch filter slopes bug
REVERT: 5e40ac40 Add IPC and filtered RootMyc to registry
REVERT: 823f5f00 Add proportional control and cleanup IPC
REVERT: 065befa7 Fix performance table paths
REVERT: afca92fc Update surface and DISCON.INs
REVERT: 262d3f6f rename aerodynblade inputs
REVERT: ee00f678 remove interpolation of blade chord and twist

git-subtree-dir: ROSCO
git-subtree-split: 40a4edc9fc15430d7bd21f895c00a7bf7455add6

.github/pull_request_template.md

@@ -13,6 +13,16 @@ _Select the appropriate type(s) that describe this PR_
 - [ ] Maintenance update
 - [ ] Other (please describe)
 
+TODO Items General:
+- [ ] Add example/test for new feature
+- [ ] Update registry
+- [ ] Run testing
+
+TODO Items API Change:
+- [ ] Update docs with API change
+- [ ] Run update_discons.py
+- [ ] Update DISCON schema
+
 ## Github issues addressed, if one exists
 
 ## Examples/Testing, if applicable

.github/workflows/CI_rosco-pytools.yml

@@ -5,7 +5,7 @@ on: [push, pull_request]
 
 # Specify FORTRAN compiler
 env:
-  FC: gfortran
+  FC: gfortran-10
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
@@ -42,14 +42,25 @@ jobs:
         if: true == contains( matrix.os, 'windows')
         run: |
           conda install -y m2w64-toolchain libpython 
+        env:
+          FC: gfortran
+
 
-      - name: Add dependencies macOS specific
-        if: true == contains( matrix.os, 'macOS')
-        run: |
-          conda install compilers
+      # - name: Add dependencies macOS specific
+      #   if: true == contains( matrix.os, 'macOS')
+      #   run: |
+      #     conda install compilers
 
       # Install ROSCO toolbox
+      - name: Install ROSCO toolbox on Windows
+        if: true == contains( matrix.os, 'windows')
+        env:
+          FC: gfortran
+        run: |
+          python setup.py develop --compile-rosco
+
       - name: Install ROSCO toolbox
+        if: false == contains( matrix.os, 'windows')
         run: |
           python setup.py develop --compile-rosco
           
@@ -81,35 +92,60 @@ jobs:
           python-version: 3.8
           environment-file: environment.yml
 
+      # setup cmake
+      - name: Setup Workspace
+        run: cmake -E make_directory ${{runner.workspace}}/ROSCO/ROSCO/build
 
       # Install dependencies of ROSCO toolbox
       - name: Add dependencies ubuntu specific
-        if: false == contains( matrix.os, 'windows')
         run: |
           conda install -y wisdem
-      - name: Add dependencies windows specific
-        if: true == contains( matrix.os, 'windows')
+
+      - name: Add pyFAST dependency
         run: |
-          conda install -y m2w64-toolchain libpython 
-          conda install -y wisdem
+          git clone http://github.com/OpenFAST/python-toolbox
+          cd python-toolbox
+          python -m pip install -e .
         
+      # Install ZeroMQ
+      - name: Install ZeroMQ
+        run: sudo apt-get install libzmq3-dev
 
       # Install ROSCO toolbox
       - name: Install ROSCO toolbox
         run: |
-          python setup.py install --compile-rosco
+          python setup.py develop 
+
+      - name: Configure and Build ROSCO - unix
+        working-directory: ${{runner.workspace}}/ROSCO/ROSCO/build
+        run: |
+          cmake \
+            -DCMAKE_INSTALL_PREFIX:PATH=${{runner.workspace}}/ROSCO/ROSCO/install \
+            -DZMQ_CLIENT=ON \
+            -DCMAKE_Fortran_COMPILER:STRING=${{env.FORTRAN_COMPILER}} \
+            ..
+          cmake --build . --target install
           
       # Install OpenFAST
       - name: Install OpenFAST
         run: |
-          conda install openfast==3.0.0
+          conda install openfast==3.1.0
           
       # Run examples
       - name: Run examples
         run: |
           cd Examples
           python run_examples.py
 
+      # Archive artifacts
+      - name: Archive production artifacts
+        if: success() || failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: ROSCO-artifacts
+          path: |
+            ${{runner.workspace}}
+            
   run_testing:
     name: Run Testing
     runs-on: ${{ matrix.os }}
@@ -139,21 +175,20 @@ jobs:
 
 
       # Install dependencies of ROSCO toolbox
-      - name: Add dependencies ubuntu specific
-        if: false == contains( matrix.os, 'windows')
+      - name: Add dependencies
         run: |
           conda install -y wisdem
         
 
       # Install ROSCO toolbox
       - name: Install ROSCO toolbox
         run: |
-          python setup.py develop --compile-rosco
+          python setup.py install --compile-rosco
           
       # Install OpenFAST
       - name: Install OpenFAST
         run: |
-          conda install openfast==3.0.0
+          conda install openfast==3.1.0
 
       # Run ROSCO Testing
       - name: Run ROSCO testing
@@ -165,4 +200,4 @@ jobs:
       - name: Run regression testing
         run: |
           cd ROSCO_testing
-          python regtest.py
+          python test_checkpoint.py

.gitignore

@@ -76,6 +76,7 @@ examples/cp_ct_cq_lut.p
 
 # Files Generated in Examples
 Examples/DISCON.IN
+Examples/DISCON_zmq.IN
 Examples/*.p
 
 # Exclude testing results
@@ -86,3 +87,6 @@ ROSCO_testing/results/
 *.autosave
 *.mat
 
+# OpenFAST outputs
+outputs/
+

Examples/example_01.py

@@ -34,7 +34,7 @@
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
     )
 
 # Print some basic turbine info

Examples/example_04.py

@@ -34,19 +34,23 @@
 controller      = ROSCO_controller.Controller(controller_params)
 
 # 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'])
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename= cp_filename
     )
 
 # Tune controller 
 controller.tune_controller(turbine)
 
 # Write parameter input file
 param_file = os.path.join(this_dir,'DISCON.IN')
-write_DISCON(turbine,controller,param_file=param_file, txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename']))
+write_DISCON(turbine,controller,
+param_file=param_file, 
+txt_filename=cp_filename
+)
 
 # Plot gain schedule
 fig, ax = plt.subplots(2,2,constrained_layout=True,sharex=True)

Examples/example_05.py

@@ -55,11 +55,12 @@
 # controller      = ROSCO_controller.Controller(controller_params)
 
 # 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'])
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=cp_filename
     )
 
 # Tune controller 
@@ -68,7 +69,11 @@
 
 # Write parameter input file
 param_filename = os.path.join(this_dir,'DISCON.IN')
-write_DISCON(turbine,controller,param_file=param_filename, txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename']))
+write_DISCON(
+  turbine,controller,
+  param_file=param_filename, 
+  txt_filename=cp_filename
+  )
 
 
 # Load controller library

Examples/example_07.py

@@ -45,7 +45,7 @@
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
     )
 # Tune controller 
 controller.tune_controller(turbine)

Examples/example_10.py

@@ -34,7 +34,6 @@
 
 # Load turbine data from openfast model
 turbine = ROSCO_turbine.Turbine(turbine_params)
-# turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source='txt',txt_filename=path_params['rotor_performance_filename'])
 turbine.load_from_fast(path_params['FAST_InputFile'], \
     os.path.join(this_dir,path_params['FAST_directory']),dev_branch=True)
 

Examples/example_11.py

@@ -46,7 +46,7 @@
   os.path.join(this_dir,path_params['FAST_directory']),
   dev_branch=True,
   rot_source='txt',
-  txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+  txt_filename=os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
   )
 
 # Tune controller 

Examples/example_12.py

@@ -52,10 +52,14 @@ def run_example():
     controller = ROSCO_controller.Controller(controller_params)
     turbine.load_from_fast(
         path_params['FAST_InputFile'],
-        os.path.join(tune_dir, path_params['FAST_directory']),
+        os.path.join(this_dir, path_params['FAST_directory']),
         dev_branch=True,
-        rot_source='txt', txt_filename=os.path.join(tune_dir, path_params['rotor_performance_filename'])
-    )
+        rot_source='txt', txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
+        )
+
+    # Fix path params for robust setup
+    path_params['FAST_directory'] = os.path.join(this_dir, path_params['FAST_directory'])
+
     controller.tune_controller(turbine)
     k_float = controller.Kp_float
 
@@ -74,6 +78,8 @@ def run_example():
     options['path_options'] = path_options
     options['opt_options'] = opt_options
 
+    options['linturb_options']['linfile_path'] = os.path.join(this_dir, options['linturb_options']['linfile_path'])
+
     # Run robust scheduling
     sd = rsched_driver(options)
     sd.setup()

Examples/example_13.py

@@ -10,8 +10,7 @@
 
 '''
 # Python Modules
-import yaml, os, platform
-import numpy as np
+import os, platform
 import matplotlib.pyplot as plt
 
 # ROSCO toolbox modules 
@@ -85,7 +84,7 @@
 channels['BldPitch3'] = True
 
 # Run FAST cases
-fastBatch                   = runFAST_pywrapper_batch(FAST_ver='OpenFAST',dev_branch = True)
+fastBatch                   = runFAST_pywrapper_batch()
 
 fastBatch.FAST_directory    = os.path.realpath(os.path.join(rosco_dir,'Tune_Cases',path_params['FAST_directory']))
 fastBatch.FAST_InputFile    = path_params['FAST_InputFile']        

Examples/example_14.py

@@ -122,7 +122,7 @@
 channels = set_channels()
 
 # Run FAST cases
-fastBatch                   = runFAST_pywrapper_batch(FAST_ver='OpenFAST',dev_branch = True)
+fastBatch                   = runFAST_pywrapper_batch()
 
 fastBatch.FAST_directory    = os.path.realpath(os.path.join(rosco_dir,'Tune_Cases',path_params['FAST_directory']))
 fastBatch.FAST_InputFile    = path_params['FAST_InputFile']        

Examples/example_15.py

@@ -0,0 +1,45 @@
+'''
+----------- Example_15 --------------
+Use the runFAST scripts to set up an example, use pass through in yaml
+-------------------------------------
+
+In this example:
+    - use run_FAST_ROSCO class to set up a test case
+
+'''
+
+import os
+from ROSCO_toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
+from ROSCO_toolbox.ofTools.case_gen import CaseLibrary as cl
+
+
+#directories
+this_dir            = os.path.dirname(os.path.abspath(__file__))
+rosco_dir         = os.path.dirname(this_dir)
+example_out_dir     = os.path.join(this_dir,'examples_out')
+os.makedirs(example_out_dir,exist_ok=True)
+
+
+def main():
+     # Simulation config    
+    r = run_FAST_ROSCO()
+
+    parameter_filename = os.path.join(rosco_dir,'Tune_Cases/NREL5MW_PassThrough.yaml')
+    run_dir = os.path.join(example_out_dir,'15_PassThrough')
+    os.makedirs(run_dir,exist_ok=True)
+
+    # Step wind simulation
+    r.tuning_yaml   = parameter_filename
+    r.wind_case_fcn = cl.simp_step
+    r.wind_case_opts    = {
+        'U_start': [10],
+        'U_end': [15],
+        'wind_dir': run_dir
+        }
+    r.save_dir      = run_dir
+
+    r.run_FAST()
+
+
+if __name__=="__main__":
+    main()