Merge commit '2d3c83c16cfd935bfd73f883e144e258fce4718c' into docs

.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==2.5.0
+          
+      # Run examples
+      - name: Run examples
+        run: |
+          cd Examples
+          python run_examples.py
+          

Examples/example_09.py

@@ -20,5 +20,7 @@
 wind_directory = os.path.join(this_dir,'../Test_Cases/Wind/')
 turbsim_infile = '90m_12mps_twr.inp'
 
-run_openfast(wind_directory, fastcall='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/control_interface.py

@@ -9,7 +9,7 @@
 # CONDITIONS OF ANY KIND, either express or implied. See the License for the
 # specific language governing permissions and limitations under the License.
 
-from ctypes import byref, cdll, c_int, POINTER, c_float, c_char_p, c_double, create_string_buffer, c_int32
+from ctypes import byref, cdll, c_int, POINTER, c_float, c_char_p, c_double, create_string_buffer, c_int32, c_void_p
 import numpy as np
 from numpy.ctypeslib import ndpointer
 
@@ -35,19 +35,31 @@ class ControllerInterface():
 
     """
 
-    def __init__(self, lib_name, param_filename='DISCON.IN'):
+    def __init__(self, lib_name, param_filename='DISCON.IN', **kwargs):
         """
         Setup the interface
         """
         self.lib_name = lib_name
         self.param_name = param_filename
 
-        # Temp fixed parameters
+        # Set default parameters
         # PARAMETERS
         self.DT = 0.1
         self.num_blade = 3
         self.char_buffer = 500
         self.avr_size = 500
+        self.sim_name = 'simDEBUG'
+
+        # Set kwargs, like DT
+        for (k, w) in kwargs.items():
+            try:
+                setattr(self, k, w)
+            except:
+                pass
+
+        self.init_discon()
+
+    def init_discon(self):
 
         # Initialize
         self.pitch = 0
@@ -56,10 +68,12 @@ def __init__(self, lib_name, param_filename='DISCON.IN'):
         self.discon = cdll.LoadLibrary(self.lib_name)
         self.avrSWAP = np.zeros(self.avr_size)
 
-        # Define some avrSWAP parameters
+        # Define some avrSWAP parameters, NOTE: avrSWAP indices are offset by -1 from Fortran
         self.avrSWAP[2] = self.DT
         self.avrSWAP[60] = self.num_blade
-        self.avrSWAP[20] = 1 # HARD CODE initial rot speed = 1 rad/s
+        self.avrSWAP[19] = 1.0 # HARD CODE initial gen speed = 1 rad/s
+        self.avrSWAP[20] = 1.0 # HARD CODE initial rot speed = 1 rad/s
+        self.avrSWAP[82] = 0 # HARD CODE initial nacIMU = 0
         self.avrSWAP[26] = 10 # HARD CODE initial wind speed = 10 m/s
 
 
@@ -76,7 +90,7 @@ def __init__(self, lib_name, param_filename='DISCON.IN'):
         self.aviFAIL = c_int32() # 1
         self.accINFILE = self.param_name.encode('utf-8')
         # self.avcOUTNAME = create_string_buffer(1000) # 'DEMO'.encode('utf-8')
-        self.avcOUTNAME = 'simDEBUG.dbg'.encode('utf-8')
+        self.avcOUTNAME = (self.sim_name + '.RO.dbg').encode('utf-8')
         self.avcMSG = create_string_buffer(1000)
         self.discon.DISCON.argtypes = [POINTER(c_float), POINTER(c_int32), c_char_p, c_char_p, c_char_p] # (all defined by ctypes)
 
@@ -103,7 +117,7 @@ def call_discon(self):
         self.avrSWAP = data
 
 
-    def call_controller(self,t,dt,pitch,torque,genspeed,geneff,rotspeed,ws):
+    def call_controller(self,t,dt,pitch,torque,genspeed,geneff,rotspeed,ws,NacIMU_FA_Acc=0):
         '''
         Runs the controller. Passes current turbine state to the controller, and returns control inputs back
         
@@ -123,6 +137,9 @@ def call_controller(self,t,dt,pitch,torque,genspeed,geneff,rotspeed,ws):
                   rotor speed, (rad/s)
         ws: float
             wind speed, (m/s)
+        NacIMU_FA_Acc : float
+            nacelle IMU accel. in the nodding dir. , (m/s**2)
+            default to 0 (fixed-bottom, simple 1-DOF sim does not include it, but OpenFAST linearizations do)
         '''
 
         # Add states to avr
@@ -136,6 +153,7 @@ def call_controller(self,t,dt,pitch,torque,genspeed,geneff,rotspeed,ws):
         self.avrSWAP[19] = genspeed
         self.avrSWAP[20] = rotspeed
         self.avrSWAP[26] = ws
+        self.avrSWAP[82] = NacIMU_FA_Acc
 
         # call controller
         self.call_discon()
@@ -152,3 +170,17 @@ def show_control_values(self):
         '''
         print('Pitch',self.pitch)
         print('Torque',self.torque)
+
+    def kill_discon(self):
+        '''
+        Unload the dylib from memory: https://stackoverflow.com/questions/359498/how-can-i-unload-a-dll-using-ctypes-in-python
+        This is unix-specific, but there seems to be a windows solution as well
+        '''
+
+        print('Shutting down {}'.format(self.lib_name))
+        handle = self.discon._handle
+        dlclose_func = self.discon.dlclose
+        dlclose_func.argtypes = [c_void_p]
+
+        del self.discon
+        dlclose_func(handle)

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]

docs/source/rosco_toolbox.rst

@@ -173,7 +173,7 @@ A yaml_ formatted input file is used for the standard ROSCO toolbox tuning proce
     - :code:`WE_Mode`
     - Yes
     - Int 
-    - Wind speed estimator mode. 0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)
+    - Wind speed estimator mode. 0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.), 2: Extended Kalman filter
   * - 
     - :code:`PS_Mode`
     - Yes
@@ -277,4 +277,4 @@ A yaml_ formatted input file is used for the standard ROSCO toolbox tuning proce
      
 
 .. _OpenFAST: https://github.com/openfast/openfast
-.. _yaml: https://yaml.org/
+.. _yaml: https://yaml.org/

environment.yml

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