From e675ea38b1ed85d9ebfd8dbcda3df0c6e3c0de50 Mon Sep 17 00:00:00 2001 From: misi9170 <39596329+misi9170@users.noreply.github.com> Date: Tue, 12 Dec 2023 17:18:23 -0500 Subject: [PATCH 01/16] Underpinning architecture and minimal use cases (#10) * Updating readme to provide rough details of WHOC. * Updating URL link to main repo. * First-pass implementation. Not yet tested. * Update to match ROSCO example 17. * outline python server added. * Architecture for base class and inheriting subclasses. * remove unnecessary zmq content. * Actuator disk direct connection * Changing ,server, to ,interface, * interface now passed in on instantiation. * Interfaces now pass through the controller modules. * Working on a hercules direct call demo. * Runs. * Now plotting. * Basic readme for interfaces. * Renaming interfaces somewhat; adding example to repo. * Documentation improvements. * Doc updates * Add readme * Test infrastructure (tests not yet written) --------- Co-authored-by: misha --- .gitignore | 6 + README.md | 13 +- demo_main.py | 80 ++++++++ docs/controllers.md | 18 ++ .../graphics/main_attribution_inheritance.png | Bin 0 -> 161630 bytes .../second-level_attribution_inheritance.png | Bin 0 -> 252328 bytes docs/interfaces.md | 33 ++++ docs/intro.md | 35 +++- .../amr_input.inp | 173 ++++++++++++++++++ .../batch_script_dummy.sh | 19 ++ .../hercules_input_shortsim.yaml | 66 +++++++ .../hercules_runscript.py | 29 +++ .../hercules_runscript_dummy_amr.py | 14 ++ .../main_dict.echo | 1 + .../simple_yaw_control_amrstandin/readme.txt | 2 + run_whoc.py | 30 +++ setup.py | 2 +- tests/controller_base_test.py | 9 + tests/controllers_test.py | 9 + whoc/controller_base.py | 71 +++++++ .../wake_steering_actuatordisk_standin.py | 58 ++++++ .../wake_steering_rosco_standin.py | 51 ++++++ .../hercules_actuator_disk_yaw_interface.py | 69 +++++++ whoc/interfaces/interface_base.py | 15 ++ whoc/interfaces/python_interface_temp.py | 24 +++ whoc/interfaces/rosco_zmq_interface.py | 154 ++++++++++++++++ whoc/utilities.py | 9 + .../version.py | 0 28 files changed, 985 insertions(+), 5 deletions(-) create mode 100644 demo_main.py create mode 100644 docs/controllers.md create mode 100644 docs/graphics/main_attribution_inheritance.png create mode 100644 docs/graphics/second-level_attribution_inheritance.png create mode 100644 docs/interfaces.md create mode 100755 examples/simple_yaw_control_amrstandin/amr_input.inp create mode 100755 examples/simple_yaw_control_amrstandin/batch_script_dummy.sh create mode 100644 examples/simple_yaw_control_amrstandin/hercules_input_shortsim.yaml create mode 100644 examples/simple_yaw_control_amrstandin/hercules_runscript.py create mode 100644 examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py create mode 100644 examples/simple_yaw_control_amrstandin/main_dict.echo create mode 100644 examples/simple_yaw_control_amrstandin/readme.txt create mode 100644 run_whoc.py create mode 100644 tests/controller_base_test.py create mode 100644 tests/controllers_test.py create mode 100644 whoc/controller_base.py create mode 100644 whoc/controllers/wake_steering_actuatordisk_standin.py create mode 100644 whoc/controllers/wake_steering_rosco_standin.py create mode 100644 whoc/interfaces/hercules_actuator_disk_yaw_interface.py create mode 100644 whoc/interfaces/interface_base.py create mode 100644 whoc/interfaces/python_interface_temp.py create mode 100644 whoc/interfaces/rosco_zmq_interface.py create mode 100644 whoc/utilities.py rename {wind-hybrid-open-controller => whoc}/version.py (100%) diff --git a/.gitignore b/.gitignore index c85b43b1..1cad2dac 100644 --- a/.gitignore +++ b/.gitignore @@ -7,6 +7,12 @@ data.db *.DS_Store slices +# Data files +*.csv +*.log +examples/*/logdummy +examples/*/loghercules + # macOS files .DS_Store diff --git a/README.md b/README.md index b66bec65..1d7f19c7 100644 --- a/README.md +++ b/README.md @@ -27,4 +27,15 @@ in your fork and submit a pull request back to the `develop` branch in the main repo. The pull request will be reviewed by other WHOC developers and merged (using "squash and merge") into the `develop` branch. Periodically, the `develop` branch will be merged into the `main` branch and a version -number will be assigned. \ No newline at end of file +number will be assigned. + +Unless an existing controller or interface exist to suit your needs, most +users will need to generate: +- A new interface class inheriting from `InterfaceBase` +- A new controller class, implementing the desired control algorithm and +inheriting from `ControllerBase` + +Additionally, if you'd like to contribute to this base repository, please +include in your pull request: +- Unit tests for the implemented controller +- Possibly unit tests for the implemented interface, if needed \ No newline at end of file diff --git a/demo_main.py b/demo_main.py new file mode 100644 index 00000000..730544b5 --- /dev/null +++ b/demo_main.py @@ -0,0 +1,80 @@ +import numpy as np +import matplotlib.pyplot as plt + +from whoc.interfaces.hercules_actuator_disk_yaw_interface import HerculesADYawInterface +from whoc.controllers.wake_steering_actuatordisk_standin import WakeSteeringADStandin + +demo_hercules_dict = { + "dt":1.0, + "hercules_comms":{ + "amr_wind":{ + "wind_farm_0":{ + "type": "amr_wind_local", + "amr_wind_input_file": "amr_input.inp", + } + } + }, + "controller":{ + "num_turbines":2, + "initial_conditions":{ + "yaw":[10.0, 15.0] + } + } +} + +interface = HerculesADYawInterface(demo_hercules_dict) + +controller = WakeSteeringADStandin( + interface, + demo_hercules_dict +) + +# Create a little loop to demonstrate how the controller works +wd_base = np.linspace(280, 300, 50) +np.random.seed(0) +wind_dir = np.tile(wd_base, (2,1)).T + \ + np.random.normal(scale=5.0, size=(len(wd_base),2)) + +yaw_angles = [] +for i in range(wind_dir.shape[0]): + demo_hercules_dict["hercules_comms"]\ + ["amr_wind"]\ + ["wind_farm_0"]\ + ["turbine_wind_directions"] = wind_dir[i,:] + demo_hercules_dict["hercules_comms"]\ + ["amr_wind"]\ + ["wind_farm_0"]\ + ["turbine_wind_speeds"] = 8 + demo_hercules_dict["hercules_comms"]\ + ["amr_wind"]\ + ["wind_farm_0"]\ + ["turbine_powers"] = 2000 + demo_hercules_dict["time"] = float(i) + + + demo_hercules_dict = controller.step(hercules_dict=demo_hercules_dict) + + yaw_angles.append( + demo_hercules_dict["hercules_comms"]\ + ["amr_wind"]\ + ["wind_farm_0"]\ + ["turbine_yaw_angles"] + ) + +yaw_angles = np.array(yaw_angles) +fig, ax = plt.subplots(2,1,sharex=True, sharey=True) +for i in range(2): + ax[i].plot(range(wind_dir.shape[0]), wind_dir[:,i], color="C0", label="wd") + ax[i].plot( + range(wind_dir.shape[0]), + yaw_angles[:,i], + color="black", + label="yaw stpt" + ) + ax[i].set_ylabel("Direction, T{0} [deg]".format(i)) + ax[i].grid() +ax[1].set_xlabel("Time") +ax[1].set_xlim([0, wind_dir.shape[0]]) +ax[0].legend() + +plt.show() diff --git a/docs/controllers.md b/docs/controllers.md new file mode 100644 index 00000000..3fdf8eb3 --- /dev/null +++ b/docs/controllers.md @@ -0,0 +1,18 @@ +# Controllers + +The `whoc.controllers` module contains a library of wind and hybrid power plant +controllers. Each controller must inherit from `ControllerBase` (see +controller_base.py) and implement a +mandatory `compute_setpoints()` method, which contains the relevant control +algorithm and writes final control signals to the `setpoints_dict` attribute +as key-value pairs. `compute_setpoints()` is, in turn, called in the `step()` +method of `ControllerBase`. + +## Available controllers + +### WakeSteeringADStandin +For yaw controller of actuator disk-type turbines (as a stand-in, will be +updated). + +### WakeSteeringROSCOStandin +May be combined into a universal simple wake steering controller. diff --git a/docs/graphics/main_attribution_inheritance.png b/docs/graphics/main_attribution_inheritance.png new file mode 100644 index 0000000000000000000000000000000000000000..a912860ed1fd087129bdf1faa1fe40f1c2af3d16 GIT binary patch literal 161630 zcmeFaXH-;M7A>rZidhsvM1mL)0TD?85=0RsDo9QW0+J=i0x_XP6)BQ{C^;3WD2at4 zpb{mg0t5*~&Kc^hWA|;f`{MN*?2nrp7P)_HPOUUJv=L)$lO 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z3D1|1gjRNp>kQKlV*ZHb;=%7d3ffzoNu+|Qk%_Kf+0XarWG~fn8|F>WYTxJgfB4Zi z{qsBe=cOmb92ogms}=wH@jYOq4}6ZS+~mJs(83wwCZEdi@1I(Em 0 +time.cfl = 0.95 # CFL factor + +#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨# +# INPUT AND OUTPUT # +#.......................................# +time.plot_interval = 3600 # Steps between plot files +time.checkpoint_interval = 3600 # Steps between checkpoint files +io.restart_file = "/projects/ssc/amr_precursors/b_abl_neutral_lowTI_redo/chk14400" + +#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨# +# PHYSICS # +#.......................................# +incflo.gravity = 0. 0. -9.81 # Gravitational force (3D) +incflo.density = 1.0 # Reference density + +incflo.use_godunov = 1 +incflo.godunov_type = weno_z +incflo.diffusion_type = 1 +transport.viscosity = 1.0e-5 +transport.laminar_prandtl = 0.7 +transport.turbulent_prandtl = 0.3333 +turbulence.model = OneEqKsgsM84 + +incflo.physics = ABL Actuator +ICNS.source_terms = BoussinesqBuoyancy CoriolisForcing ABLMeanBoussinesq ActuatorForcing +TKE.source_terms = KsgsM84Src +BoussinesqBuoyancy.reference_temperature = 300.0 +CoriolisForcing.latitude = 41.3 +ABLForcing.abl_forcing_height = 90 +incflo.velocity = 6.928203230275509 4.0 0.0 + + +# Atmospheric boundary layer +ABL.temperature_heights = 0.0 700.0 800.0 1280.0 +ABL.temperature_values = 300.0 300.0 308.0 309.44 +ABL.reference_temperature = 300.0 +ABL.kappa = .40 +ABL.surface_roughness_z0 = 1.0E-4 +ABL.Uperiods = 25.0 +ABL.Vperiods = 25.0 +ABL.cutoff_height = 50.0 +ABL.deltaU = 1.0 +ABL.deltaV = 1.0 +ABL.normal_direction = 2 +ABL.perturb_ref_height = 50.0 +ABL.perturb_temperature = false +ABL.perturb_velocity = true +ABL.stats_output_format = netcdf +ABL.stats_output_frequency = 1 +ABL.surface_temp_flux = 0.00 +ABL.wall_shear_stress_type = "Moeng" + +ABL.bndry_file = "/projects/ssc/amr_precursors/b_abl_neutral_lowTI_redo/bndry_files" +ABL.bndry_io_mode = 1 #Input mode +ABL.bndry_planes = ylo xlo # I'm (Paul) adding this but not sure if I have to +ABL.bndry_var_names = velocity temperature tke + + +# Output boundary files +ABL.bndry_planes = ylo xlo +ABL.bndry_output_start_time = 7200.0 +ABL.bndry_var_names = velocity temperature tke +ABL.bndry_output_format = native +ABL.stats_output_frequency = 1 +ABL.stats_output_format = netcdf + +# Whether to use helics +helics.activated = true +helics.broker_port = 32000 + +#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨# +# ADAPTIVE MESH REFINEMENT # +#.......................................# +amr.n_cell = 512 512 128 # Grid cells at coarsest AMRlevel +amr.max_level = 0 # Max AMR level in hierarchy + +#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨# +# GEOMETRY # +#.......................................# +geometry.prob_lo = 0. 0. 0. # Lo corner coordinates +geometry.prob_hi = 5120. 5120. 1280. # Hi corner coordinates +geometry.is_periodic = 0 0 0 +xlo.type = "mass_inflow" +xlo.density = 1.0 +xlo.temperature = 0.0 # value required but ignored +xlo.tke = 0.0 +xhi.type = "pressure_outflow" + +ylo.type = "mass_inflow" +ylo.density = 1.0 +ylo.temperature = 0.0 +ylo.tke = 0.0 +yhi.type = "pressure_outflow" + +# Boundary conditions +zlo.type = "wall_model" +zlo.tke_type = "zero_gradient" + +zhi.type = "slip_wall" +zhi.temperature_type = "fixed_gradient" +zhi.temperature = 0.003 # tracer is used to specify potential temperature gradient + +#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨# +# VERBOSITY # +#.......................................# +incflo.verbose = 0 # incflo_level + + + +#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨# +# SAMPLING # +#.......................................# +incflo.post_processing = samplingPlane samplingLine + +samplingPlane.output_frequency = 600 +samplingPlane.labels = z_plane +samplingPlane.fields = velocity temperature +samplingPlane.z_plane.type = PlaneSampler +samplingPlane.z_plane.axis1 = 5110 0.0 0.0 +samplingPlane.z_plane.axis2 = 0.0 5110 0.0 +samplingPlane.z_plane.origin = 5.0 5.0 0.0 +samplingPlane.z_plane.num_points = 512 512 +samplingPlane.z_plane.normal = 0.0 0.0 1.0 +samplingPlane.z_plane.offsets = 5.0 85.0 155.0 255.0 + + +samplingLine.output_frequency = 1 +samplingLine.labels = z_line +samplingLine.fields = velocity temperature +samplingLine.z_line.type = LineSampler +samplingLine.z_line.num_points = 128 +samplingLine.z_line.start = 5.0 5.0 5.0 +samplingLine.z_line.end = 5.0 5.0 1275.0 + +#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨# +# TURBINES # +#.......................................# + +# 2.3 MW Turbine inputs + +Actuator.labels = T00 T01 +Actuator.type = JoukowskyDisk +Actuator.JoukowskyDisk.rotor_diameter = 116.0 +Actuator.JoukowskyDisk.hub_height = 90.0 +Actuator.JoukowskyDisk.output_frequency = 10 +Actuator.JoukowskyDisk.diameters_to_sample = 2.5 +Actuator.JoukowskyDisk.num_points_r = 40 +Actuator.JoukowskyDisk.num_points_t = 5 +Actuator.JoukowskyDisk.num_blades = 3 +Actuator.JoukowskyDisk.use_tip_correction = true +Actuator.JoukowskyDisk.use_root_correction = true +Actuator.JoukowskyDisk.epsilon = 5.0 +Actuator.JoukowskyDisk.vortex_core_size = 13.0 + +Actuator.JoukowskyDisk.wind_speed = 3.0 3.889649963239854 4.684006996752303 5.377830233987229 5.966542092267928 6.44625847394617 6.8138143922059236 7.066784852446481 7.203500851477444 7.22306038896904 7.320786359429763 7.535153078939617 7.864746237154081 8.30739130337076 8.860167873258558 9.519428936578247 10.280824938773394 10.589724312062877 11.13933247768231 12.08928744604103 13.12442240111568 14.237907914913496 15.422397632159566 16.670076738763772 17.972713521001396 19.321713675239476 20.708177009893884 22.122956165519163 23.556716965618207 25.0 +Actuator.JoukowskyDisk.rpm = 5.500000000399841 5.7503730274604 6.924733009169061 7.950466035772244 8.820804709636782 9.530006866155707 10.073393458373337 10.447379427563192 10.649497356086282 10.678413746477254 10.82288967359941 11.139804720841314 11.627068002870239 12.28146474128283 13.098677474494233 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 13.141137992834643 +Actuator.JoukowskyDisk.thrust_coeff = 0.795419507524108 0.8163759621542088 0.8163759621542089 0.8163759621542088 0.8163759621542088 0.8163759621542093 0.8163759621542093 0.816375962154209 0.8163759621542089 0.816375962154209 0.8163759621542089 0.8163759621542088 0.8163759621542088 0.7816497292837605 0.6881024487256834 0.5960935792514858 0.5110705883010171 0.48169007343985104 0.3992418445397665 0.301726241148816 0.23137184415660814 0.17948146484830918 0.1408250546606467 0.11178366795199553 0.08975645587417404 0.07310080594700819 0.060299514659720915 0.0504505646442757 0.04286514300370846 0.03692885272686376 + + +Actuator.JoukowskyDisk.yaw = 240.0 + +Actuator.T00.base_position = 2000.0 2000.0 0.0 +Actuator.T01.base_position = 2500.0 2500.0 0.0 diff --git a/examples/simple_yaw_control_amrstandin/batch_script_dummy.sh b/examples/simple_yaw_control_amrstandin/batch_script_dummy.sh new file mode 100755 index 00000000..10c6d221 --- /dev/null +++ b/examples/simple_yaw_control_amrstandin/batch_script_dummy.sh @@ -0,0 +1,19 @@ +# Example bash for running things locally +# I just run these one at a t time + +# A lot of modules and conda stuff +conda activate hercules + +# Set up the helics broker +helics_broker -t zmq -f 2 --loglevel="debug" & + +# Need to set this to your emu_python folder +# cd /home/pfleming/emu_python/emu_python +python hercules_runscript.py hercules_input_shortsim.yaml >> loghercules 2>&1 & # Start the controller center and pass in input file + + +python hercules_runscript_dummy_amr.py amr_input.inp >> logdummy 2>&1 +# Now go back to scratch folder and launch the job + +# cd /scratch/pfleming/c2c/example_sim_02 +# mpirun -n 72 /home/pfleming/amr-wind/build/amr_wind amr_input.inp >> logamr \ No newline at end of file diff --git a/examples/simple_yaw_control_amrstandin/hercules_input_shortsim.yaml b/examples/simple_yaw_control_amrstandin/hercules_input_shortsim.yaml new file mode 100644 index 00000000..0d45a06a --- /dev/null +++ b/examples/simple_yaw_control_amrstandin/hercules_input_shortsim.yaml @@ -0,0 +1,66 @@ +# Input YAML for emy_python + +# Name +name: example_000 + +### +# Describe this emulator setup +description: Just a solar plant + +dt: 0.5 + +hercules_comms: + + amr_wind: + + wind_farm_0: + type: amr_wind_local #options are amr_wind or amr_wind_local + amr_wind_input_file: amr_input.inp + yaw_simulator_name: yaw_system_0 # can also use "none" (without quotes) + + helics: + + config: + name: hercules # What is the purpose of this name + use_dash_frontend: False + KAFKA: False + KAFKA_topics: EMUV1py + helics: + # deltat: 1 # This will be assigned in software + subscription_topics: [status] + publication_topics: [control] + endpoints: [] + helicsport : 32000 + publication_interval: 1 + endpoint_interval: 1 + starttime: 0 + stoptime: 100 + + Agent: ControlCenter + +py_sims: + + solar_farm_0: # The name of py_sim object 1 + + py_sim_type: SimpleSolar + capacity: 50 # MW + efficiency: 0.5 #Fraction + + initial_conditions: + + power: 25 # MW + irradiance: 1000 + +controller: + + controller_type: SimpleYawController # This may not be needed + num_turbines: 2 # Should match AMR-Wind! Ideally, would come from AMR-wind + initial_conditions: + yaw: 270. # degrees (same for all turbines) (will this work?) + + + + + + + diff --git a/examples/simple_yaw_control_amrstandin/hercules_runscript.py b/examples/simple_yaw_control_amrstandin/hercules_runscript.py new file mode 100644 index 00000000..091443d5 --- /dev/null +++ b/examples/simple_yaw_control_amrstandin/hercules_runscript.py @@ -0,0 +1,29 @@ +from hercules.emulator import Emulator +from hercules.py_sims import PySims +from hercules.utilities import load_yaml + +from whoc.interfaces.hercules_actuator_disk_yaw_interface import \ + HerculesADYawInterface +from whoc.controllers.wake_steering_actuatordisk_standin import \ + WakeSteeringADStandin + +import sys + + + +input_dict = load_yaml(sys.argv[1]) + +interface = HerculesADYawInterface(input_dict) +controller = WakeSteeringADStandin( + interface, + input_dict +) + +py_sims = PySims(input_dict) + +emulator = Emulator(controller, py_sims, input_dict) +emulator.run_helics_setup() +emulator.enter_execution(function_targets=[], + function_arguments=[[]]) + +print("runscript complete.") diff --git a/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py b/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py new file mode 100644 index 00000000..8321fa9a --- /dev/null +++ b/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py @@ -0,0 +1,14 @@ +import sys +from hercules.dummy_amr_wind import launch_dummy_amr_wind + +# Check that one command line argument was given +if len(sys.argv) != 2: + raise Exception("Usage: python emu_runscript_dummy_amr.py ") + +# # Get the first command line argument +# This is the name of the file to read +amr_input_file = sys.argv[1] +print(f"Running AMR-Wind dummy with input file: {amr_input_file}") + + +launch_dummy_amr_wind(amr_input_file) \ No newline at end of file diff --git a/examples/simple_yaw_control_amrstandin/main_dict.echo b/examples/simple_yaw_control_amrstandin/main_dict.echo new file mode 100644 index 00000000..be4b6afd --- /dev/null +++ b/examples/simple_yaw_control_amrstandin/main_dict.echo @@ -0,0 +1 @@ +{'name': 'example_000', 'description': 'Just a solar plant', 'dt': 0.5, 'hercules_comms': {'amr_wind': {'wind_farm_0': {'type': 'amr_wind_local', 'amr_wind_input_file': 'amr_input.inp', 'yaw_simulator_name': 'yaw_system_0', 'num_turbines': 2, 'turbine_labels': ['T00', 'T01'], 'rotor_diameter': 116.0, 'turbine_locations': [(2000.0, 2000.0), (2500.0, 2500.0)], 'turbine_powers': [], 'turbine_wind_directions': [], 'wind_direction': -1, 'turbine_yaw_angles': [270.0, 270.0], 'sim_time_s_amr_wind': 0}}, 'helics': {'config': {'name': 'hercules', 'use_dash_frontend': False, 'KAFKA': False, 'KAFKA_topics': 'EMUV1py', 'helics': {'subscription_topics': ['status'], 'publication_topics': ['control'], 'endpoints': [], 'helicsport': 32000, 'deltat': 0.5}, 'publication_interval': 1, 'endpoint_interval': 1, 'starttime': 0, 'stoptime': 100, 'Agent': 'ControlCenter'}}}, 'py_sims': {'solar_farm_0': {'py_sim_type': 'SimpleSolar', 'capacity': 50, 'efficiency': 0.5, 'initial_conditions': {'power': 25, 'irradiance': 1000}, 'object': , 'outputs': {'power': 2.5e-05, 'irradiance': 1000.0}, 'inputs': {}}, 'inputs': {'available_power': 0}}, 'controller': {'controller_type': 'SimpleYawController', 'num_turbines': 2, 'initial_conditions': {'yaw': 270.0}}, 'time': 0.0} diff --git a/examples/simple_yaw_control_amrstandin/readme.txt b/examples/simple_yaw_control_amrstandin/readme.txt new file mode 100644 index 00000000..bffa442c --- /dev/null +++ b/examples/simple_yaw_control_amrstandin/readme.txt @@ -0,0 +1,2 @@ +This example demonstrates the use of the WakeSteeringADStandin controller +on the AMR-Wind standin. \ No newline at end of file diff --git a/run_whoc.py b/run_whoc.py new file mode 100644 index 00000000..7d4efc62 --- /dev/null +++ b/run_whoc.py @@ -0,0 +1,30 @@ +import multiprocessing as mp + +def run_zmq(): + connect_zmq = True + s = turbine_zmq_server(network_address="tcp://*:5555", timeout=10.0, verbose=True) + while connect_zmq: + # Get latest measurements from ROSCO + measurements = s.get_measurements() + + # Decide new control input based on measurements + current_time = measurements['Time'] + if current_time <= 10.0: + yaw_setpoint = 0.0 + else: + yaw_setpoint = 20.0 + + # Send new setpoints back to ROSCO + s.send_setpoints(nacelleHeading=yaw_setpoint) + + if measurements['iStatus'] == -1: + connect_zmq = False + s._disconnect() + +if __name__ == "__main__": + p1 = mp.Process(target=run_zmq) + p1.start() + p2 = mp.Process(target=sim_rosco) + p2.start() + p1.join() + p2.join() \ No newline at end of file diff --git a/setup.py b/setup.py index 6c9acb58..8082278e 100644 --- a/setup.py +++ b/setup.py @@ -93,7 +93,7 @@ # Load the package's VERSION module ROOT = Path(__file__).parent -with open(ROOT / "wind-hybrid-open-controller" / "version.py") as version_file: +with open(ROOT / "whoc" / "version.py") as version_file: VERSION = version_file.read().strip() setup( diff --git a/tests/controller_base_test.py b/tests/controller_base_test.py new file mode 100644 index 00000000..b483ab0f --- /dev/null +++ b/tests/controller_base_test.py @@ -0,0 +1,9 @@ +import unittest + +import numpy as np + +class TestControllerBase(unittest.TestCase): + + def test_1(self): + + x = np.array([1]) diff --git a/tests/controllers_test.py b/tests/controllers_test.py new file mode 100644 index 00000000..47492fc2 --- /dev/null +++ b/tests/controllers_test.py @@ -0,0 +1,9 @@ +import unittest + +import numpy as np + +class TestController1(unittest.TestCase): + + def test_1(self): + + x = np.array([1]) diff --git a/whoc/controller_base.py b/whoc/controller_base.py new file mode 100644 index 00000000..ead2ab0c --- /dev/null +++ b/whoc/controller_base.py @@ -0,0 +1,71 @@ +from abc import abstractmethod + + +class ControllerBase(): + + def __init__(self, + interface, + verbose=True + ): + + self._s = interface + + # if use_helics_interface: + # raise NotImplementedError( + # "HELICS interface has not yet been implemented." + # ) + + # # TODO: eventually, this would set up a federate (with same + # # public methods as the whoc_zmq_server + # #self._s = whoc_helics_federate() + + # elif use_zmq_interface: + # from servers.zmq_server import WHOC_zmq_server + + # # TODO: set up HELICS server + # # Set up connections with each turbine + # self._s = WHOC_zmq_server(network_address="tcp://*:5555", + # timeout=timeout, verbose=True) + + # elif use_direct_hercules_connection: + # from servers.direct_hercules_connection import WHOC_AD_yaw_connection + # self._s = WHOC_AD_yaw_connection(hercules_dict) + + # else: + # from servers.python_server import WHOC_python_server + # self._s = WHOC_python_server() + + # Initialize setpoints to send + self.setpoints_dict = None + self.verbose = verbose + + def receive_measurements(self, dict=None): + # May need to eventually loop here, depending on server set up. + self.measurements_dict = self._s.get_measurements(dict) + + return None + + def send_setpoints(self, dict=None): + + self._s.check_setpoints(self.setpoints_dict) + dict = self._s.send_setpoints(dict, **self.setpoints_dict) + + return dict # or main_dict, or what? + + def step(self, hercules_dict=None): + + # If not running with direct hercules integration, + # hercules_dict may simply be None throughout this method. + self.receive_measurements(hercules_dict) + + self.compute_setpoints() + + hercules_dict = self.send_setpoints(hercules_dict) + + return hercules_dict # May simply be None. + + @abstractmethod + def compute_setpoints(self): + # Control algorithms should be implemented in the compute_setpoints + # method of the child class. + pass \ No newline at end of file diff --git a/whoc/controllers/wake_steering_actuatordisk_standin.py b/whoc/controllers/wake_steering_actuatordisk_standin.py new file mode 100644 index 00000000..8e7c0006 --- /dev/null +++ b/whoc/controllers/wake_steering_actuatordisk_standin.py @@ -0,0 +1,58 @@ +from whoc.controller_base import ControllerBase + +class WakeSteeringADStandin(ControllerBase): + + def __init__(self, interface, input_dict): + + super().__init__(interface, hercules_dict=input_dict) + + self.dt = input_dict["dt"] # Won't be needed here, but generally good to have + self.n_turbines = input_dict["controller"]["num_turbines"] + self.turbines = range(self.n_turbines) + + # Set initial conditions + yaw_IC = input_dict["controller"]["initial_conditions"]["yaw"] + if hasattr(yaw_IC, '__len__'): + if len(yaw_IC) == self.n_turbines: + self.setpoints_dict = { + "yaw_angles": yaw_IC + } + else: + raise TypeError("yaw initial condition should be a float or "+\ + "a list of floats of length num_turbines.") + else: + self.setpoints_dict = { + "yaw_angles": [yaw_IC]*self.n_turbines + } + + # Grab name of wind farm (assumes there is only one!) + + def compute_setpoints(self): + self.generate_turbine_references() + + def generate_turbine_references(self): + # Based on an early implementation for Hercules + + current_time = self.measurements_dict["time"] + if current_time <= 10.0: + yaw_setpoint = [270.0]*self.n_turbines + else: + yaw_setpoint = self.measurements_dict["wind_directions"] + + self.setpoints_dict = { + "yaw_angles": yaw_setpoint + } + + return None + + # def run(self): + + # connect_zmq = True + # while connect_zmq: + # self.receive_turbine_outputs() + # self.generate_turbine_references() + # self.send_turbine_references() + + # if self.measurements_dict['iStatus'] == -1: + # connect_zmq = False + # self.s._disconnect() \ No newline at end of file diff --git a/whoc/controllers/wake_steering_rosco_standin.py b/whoc/controllers/wake_steering_rosco_standin.py new file mode 100644 index 00000000..ac1e37d6 --- /dev/null +++ b/whoc/controllers/wake_steering_rosco_standin.py @@ -0,0 +1,51 @@ +import multiprocessing as mp + +from utilities import convert_absolute_nacelle_heading_to_offset +from controller_base import ControllerBase + +class WakeSteeringROSCOStandin(ControllerBase): + + def __init__(self, interface): + + super.__init__( + interface, + timeout=100.0, + verbose=True + ) + + def compute_setpoints(self): + self.generate_turbine_references() + + + + def generate_turbine_references(self): + # Something very minimal here, based on ROSCO example 17. + #west_offset = convert_absolute_nacelle_heading_to_offset(270, + # self.measurements_dict["NacelleHeading"]) + + current_time = self.measurements_dict['Time'] + if current_time <= 10.0: + yaw_setpoint = 0.0 + else: + yaw_setpoint = 20.0 + + self.setpoints_dict = { + "turbine_ID":0, # TODO: hardcoded! Replace. + "genTorque":0.0, + "nacelleHeading":yaw_setpoint, + "bladePitch":[0.0, 0.0, 0.0] + } + + return None + + # def run(self): + + # connect_zmq = True + # while connect_zmq: + # self.receive_turbine_outputs() + # self.generate_turbine_references() + # self.send_turbine_references() + + # if self.measurements_dict['iStatus'] == -1: + # connect_zmq = False + # self.s._disconnect() \ No newline at end of file diff --git a/whoc/interfaces/hercules_actuator_disk_yaw_interface.py b/whoc/interfaces/hercules_actuator_disk_yaw_interface.py new file mode 100644 index 00000000..eabce186 --- /dev/null +++ b/whoc/interfaces/hercules_actuator_disk_yaw_interface.py @@ -0,0 +1,69 @@ +# How will we handle other things here? May need to have a wind farm +# version, an electrolyzer version, etc... +from whoc.interfaces.interface_base import InterfaceBase + + +class HerculesADYawInterface(InterfaceBase): + + def __init__(self, input_dict): + + super().__init__() + + self.dt = input_dict["dt"] + self.n_turbines = input_dict["controller"]["num_turbines"] + self.turbines = range(self.n_turbines) + + # Grab name of wind farm (assumes there is only one!) + self.wf_name = list(input_dict["hercules_comms"]["amr_wind"].keys())[0] + + pass + + def get_measurements(self, input_dict): + + wind_directions = input_dict["hercules_comms"]\ + ["amr_wind"]\ + [self.wf_name]\ + ["turbine_wind_directions"] + # wind_speeds = input_dict["hercules_comms"]\ + # ["amr_wind"]\ + # [self.wf_name]\ + # ["turbine_wind_speeds"] + powers = input_dict["hercules_comms"]\ + ["amr_wind"]\ + [self.wf_name]\ + ["turbine_powers"] + time = input_dict["time"] + + measurements = { + "time":time, + "wind_directions":wind_directions, + #"wind_speeds":wind_speeds, + "turbine_powers":powers + } + + return measurements + + def check_setpoints(self, setpoints_dict): + + available_setpoints = [ + "yaw_angles" + ] + + for k in setpoints_dict.keys(): + if k not in available_setpoints: + raise ValueError( + "Setpoint "+k+" is not available in this configuration" + ) + + def send_setpoints(self, input_dict, yaw_angles=None): + + if yaw_angles is None: + yaw_angles = [0.]*self.n_turbines + + input_dict["hercules_comms"]\ + ["amr_wind"]\ + [self.wf_name]\ + ["turbine_yaw_angles"] = yaw_angles + + return input_dict + diff --git a/whoc/interfaces/interface_base.py b/whoc/interfaces/interface_base.py new file mode 100644 index 00000000..de21595e --- /dev/null +++ b/whoc/interfaces/interface_base.py @@ -0,0 +1,15 @@ +from abc import abstractmethod + +class InterfaceBase(): + + @abstractmethod + def get_measurements(self): + pass + + @abstractmethod + def check_setpoints(self): + pass + + @abstractmethod + def send_setpoints(self): + pass diff --git a/whoc/interfaces/python_interface_temp.py b/whoc/interfaces/python_interface_temp.py new file mode 100644 index 00000000..03fe9532 --- /dev/null +++ b/whoc/interfaces/python_interface_temp.py @@ -0,0 +1,24 @@ + +from whoc.interfaces.interface_base import InterfaceBase + + +class WHOC_python_server(InterfaceBase): + + def __init__(): + + pass + + def get_measurements(self, dict): + + # Possibly need to extract the measurements from the input dict? + measurements = dict + + return measurements + + def send_setpoints(self, dict): + + # Not sure if anything needs to be done here. Can possibly return None. + setpoints = dict + + return dict + diff --git a/whoc/interfaces/rosco_zmq_interface.py b/whoc/interfaces/rosco_zmq_interface.py new file mode 100644 index 00000000..3ae954f6 --- /dev/null +++ b/whoc/interfaces/rosco_zmq_interface.py @@ -0,0 +1,154 @@ +import zmq + +from whoc.interfaces.interface_base import InterfaceBase + +# Code copied from ROSCO; consider just importing and using that code +# directly?? + +class ROSCO_ZMQInterface(InterfaceBase): + def __init__(self, network_address="tcp://*:5555", identifier="0", + timeout=600.0, verbose=False): + """Python implementation of the ZeroMQ server side for the ROSCO + ZeroMQ wind farm control interface. This class makes it easy for + users to receive measurements from ROSCO and then send back control + setpoints (generator torque, nacelle heading and/or blade pitch + angles). + Args: + network_address (str, optional): The network address to + communicate over with the desired instance of ROSCO. Note that, + if running a wind farm simulation in SOWFA or FAST.Farm, there + are multiple instances of ROSCO and each of these instances + needs to communicate over a unique port. Also, for each of those + instances, you will need an instance of zmq_server. Defaults to + "tcp://*:5555". + identifier (str, optional): Turbine identifier. Defaults to "0". + timeout (float, optional): Seconds to wait for a message from + the ZeroMQ server before timing out. Defaults to 600.0. + verbose (bool, optional): Print to console. Defaults to False. + """ + super().__init__() + + self.network_address = network_address + self.identifier = identifier + self.timeout = timeout + self.verbose = verbose + self._connect() + + def _connect(self): + ''' + Connect to zmq server + ''' + address = self.network_address + + # Connect socket + context = zmq.Context() + self.socket = context.socket(zmq.REP) + self.socket.setsockopt(zmq.LINGER, 0) + self.socket.bind(address) + + if self.verbose: + print("[%s] Successfully established connection with %s" % (self.identifier, address)) + + def _disconnect(self): + ''' + Disconnect from zmq server + ''' + self.socket.close() + context = zmq.Context() + context.term() + + def get_measurements(self, _): + ''' + Receive measurements from ROSCO .dll + ''' + if self.verbose: + print("[%s] Waiting to receive measurements from ROSCO..." % (self.identifier)) + + # Initialize a poller for timeouts + poller = zmq.Poller() + poller.register(self.socket, zmq.POLLIN) + timeout_ms = int(self.timeout * 1000) + if poller.poll(timeout_ms): + # Receive measurements over network protocol + message_in = self.socket.recv_string() + else: + raise IOError("[%s] Connection to '%s' timed out." + % (self.identifier, self.network_address)) + + # Convert to individual strings and then to floats + measurements = message_in + measurements = measurements.replace('\x00', '').split(',') + measurements = [float(m) for m in measurements] + + # Convert to a measurement dict + measurements = dict({ + 'Turbine_ID': measurements[0], + 'iStatus': measurements[1], + 'Time': measurements[2], + 'VS_MechGenPwr': measurements[3], + 'VS_GenPwr': measurements[4], + 'GenSpeed': measurements[5], + 'RotSpeed': measurements[6], + 'GenTqMeas': measurements[7], + 'NacelleHeading': measurements[8], + 'NacelleVane': measurements[9], + 'HorWindV': measurements[10], + 'rootMOOP1': measurements[11], + 'rootMOOP2': measurements[12], + 'rootMOOP3': measurements[13], + 'FA_Acc': measurements[14], + 'NacIMU_FA_Acc': measurements[15], + 'Azimuth': measurements[16], + }) + + if self.verbose: + print('[%s] Measurements received:' % self.identifier, measurements) + + return measurements + + def check_setpoints(self, setpoints_dict): + + available_setpoints = [ + "turbine_ID", + "genTorque", + "nacelleHeading", + "bladePitch", + ] + + for k in setpoints_dict.keys(): + if k not in available_setpoints: + raise ValueError( + "Setpoint "+k+" is not available in this configuration" + ) + + def send_setpoints(self, turbine_ID=0, genTorque=0.0, nacelleHeading=0.0, + bladePitch=[0.0, 0.0, 0.0]): + ''' + Send setpoints to ROSCO .dll ffor individual turbine control + + Parameters: + ----------- + genTorques: float + Generator torque setpoint + nacelleHeadings: float + Nacelle heading setpoint + bladePitchAngles: List (len=3) + Blade pitch angle setpoint + ''' + # Create a message with setpoints to send to ROSCO + message_out = b"%016.5f, %016.5f, %016.5f, %016.5f, %016.5f, %016.5f" % ( + turbine_ID, genTorque, nacelleHeading, + bladePitch[0], bladePitch[1], bladePitch[2] + ) + + # Send reply back to client + if self.verbose: + print("[%s] Sending setpoint string to ROSCO: %s." % (self.identifier, message_out)) + + # Send control setpoints over network protocol + self.socket.send(message_out) + + if self.verbose: + print("[%s] Setpoints sent successfully." % self.identifier) + + return None \ No newline at end of file diff --git a/whoc/utilities.py b/whoc/utilities.py new file mode 100644 index 00000000..5d8c723c --- /dev/null +++ b/whoc/utilities.py @@ -0,0 +1,9 @@ +import numpy as np +from floris.utilities import wrap_180 + +def convert_absolute_nacelle_heading_to_offset(target_nac_heading, current_nac_heading): + + # NOTE: by convention, absolute headings are given CW positive, but offsets + # are given CCW positive. + + return -1*wrap_180(target_nac_heading-current_nac_heading) \ No newline at end of file diff --git a/wind-hybrid-open-controller/version.py b/whoc/version.py similarity index 100% rename from wind-hybrid-open-controller/version.py rename to whoc/version.py From ebfb89649cfead9bce373c1a72f57d99e0cf5b0b Mon Sep 17 00:00:00 2001 From: misi9170 <39596329+misi9170@users.noreply.github.com> Date: Tue, 12 Dec 2023 17:54:42 -0500 Subject: [PATCH 02/16] Fix buggy instantiation after ControllerBase update. (#12) * Fix buggy instantiation after ControllerBase update. * Updating batch run script for Hercules --------- Co-authored-by: Genevieve Starke --- examples/simple_yaw_control_amrstandin/batch_script_dummy.sh | 4 +++- examples/simple_yaw_control_amrstandin/main_dict.echo | 1 - whoc/controller_base.py | 2 +- whoc/controllers/wake_steering_actuatordisk_standin.py | 2 +- 4 files changed, 5 insertions(+), 4 deletions(-) delete mode 100644 examples/simple_yaw_control_amrstandin/main_dict.echo diff --git a/examples/simple_yaw_control_amrstandin/batch_script_dummy.sh b/examples/simple_yaw_control_amrstandin/batch_script_dummy.sh index 10c6d221..6e25d3bb 100755 --- a/examples/simple_yaw_control_amrstandin/batch_script_dummy.sh +++ b/examples/simple_yaw_control_amrstandin/batch_script_dummy.sh @@ -4,8 +4,10 @@ # A lot of modules and conda stuff conda activate hercules +export HELICS_PORT=32000 + # Set up the helics broker -helics_broker -t zmq -f 2 --loglevel="debug" & +helics_broker -t zmq -f 2 --loglevel="debug" --local_port=$HELICS_PORT & # Need to set this to your emu_python folder # cd /home/pfleming/emu_python/emu_python diff --git a/examples/simple_yaw_control_amrstandin/main_dict.echo b/examples/simple_yaw_control_amrstandin/main_dict.echo deleted file mode 100644 index be4b6afd..00000000 --- a/examples/simple_yaw_control_amrstandin/main_dict.echo +++ /dev/null @@ -1 +0,0 @@ -{'name': 'example_000', 'description': 'Just a solar plant', 'dt': 0.5, 'hercules_comms': {'amr_wind': {'wind_farm_0': {'type': 'amr_wind_local', 'amr_wind_input_file': 'amr_input.inp', 'yaw_simulator_name': 'yaw_system_0', 'num_turbines': 2, 'turbine_labels': ['T00', 'T01'], 'rotor_diameter': 116.0, 'turbine_locations': [(2000.0, 2000.0), (2500.0, 2500.0)], 'turbine_powers': [], 'turbine_wind_directions': [], 'wind_direction': -1, 'turbine_yaw_angles': [270.0, 270.0], 'sim_time_s_amr_wind': 0}}, 'helics': {'config': {'name': 'hercules', 'use_dash_frontend': False, 'KAFKA': False, 'KAFKA_topics': 'EMUV1py', 'helics': {'subscription_topics': ['status'], 'publication_topics': ['control'], 'endpoints': [], 'helicsport': 32000, 'deltat': 0.5}, 'publication_interval': 1, 'endpoint_interval': 1, 'starttime': 0, 'stoptime': 100, 'Agent': 'ControlCenter'}}}, 'py_sims': {'solar_farm_0': {'py_sim_type': 'SimpleSolar', 'capacity': 50, 'efficiency': 0.5, 'initial_conditions': {'power': 25, 'irradiance': 1000}, 'object': , 'outputs': {'power': 2.5e-05, 'irradiance': 1000.0}, 'inputs': {}}, 'inputs': {'available_power': 0}}, 'controller': {'controller_type': 'SimpleYawController', 'num_turbines': 2, 'initial_conditions': {'yaw': 270.0}}, 'time': 0.0} diff --git a/whoc/controller_base.py b/whoc/controller_base.py index ead2ab0c..35869dbb 100644 --- a/whoc/controller_base.py +++ b/whoc/controller_base.py @@ -9,6 +9,7 @@ def __init__(self, ): self._s = interface + self.verbose = verbose # if use_helics_interface: # raise NotImplementedError( @@ -37,7 +38,6 @@ def __init__(self, # Initialize setpoints to send self.setpoints_dict = None - self.verbose = verbose def receive_measurements(self, dict=None): # May need to eventually loop here, depending on server set up. diff --git a/whoc/controllers/wake_steering_actuatordisk_standin.py b/whoc/controllers/wake_steering_actuatordisk_standin.py index 8e7c0006..30edfb38 100644 --- a/whoc/controllers/wake_steering_actuatordisk_standin.py +++ b/whoc/controllers/wake_steering_actuatordisk_standin.py @@ -4,7 +4,7 @@ class WakeSteeringADStandin(ControllerBase): def __init__(self, interface, input_dict): - super().__init__(interface, hercules_dict=input_dict) + super().__init__(interface) self.dt = input_dict["dt"] # Won't be needed here, but generally good to have self.n_turbines = input_dict["controller"]["num_turbines"] From 1e9955ac02a2515764e8b200b99ec44025c158a4 Mon Sep 17 00:00:00 2001 From: Zachary Tully <107644545+ZackTully@users.noreply.github.com> Date: Tue, 12 Dec 2023 17:50:23 -0700 Subject: [PATCH 03/16] Feature/herc battery controller (#13) * Updating readme to provide rough details of WHOC. * Updating URL link to main repo. * First-pass implementation. Not yet tested. * Update to match ROSCO example 17. * outline python server added. * Architecture for base class and inheriting subclasses. * remove unnecessary zmq content. * Actuator disk direct connection * Changing ,server, to ,interface, * interface now passed in on instantiation. * Interfaces now pass through the controller modules. * Working on a hercules direct call demo. * Runs. * Now plotting. * Basic readme for interfaces. * Renaming interfaces somewhat; adding example to repo. * hercules battery controller skeleton * formatting discrepancies * update example batch_script * delete erronious input arguments --------- Co-authored-by: misha Co-authored-by: Zachary Co-authored-by: misi9170 <39596329+misi9170@users.noreply.github.com> --- whoc/controller_base.py | 25 ++++----- .../hercules_wind_battery_controller.py | 51 +++++++++++++++++++ .../hercules_wind_battery_interface.py | 29 +++++++++++ 3 files changed, 89 insertions(+), 16 deletions(-) create mode 100644 whoc/controllers/hercules_wind_battery_controller.py create mode 100644 whoc/interfaces/hercules_wind_battery_interface.py diff --git a/whoc/controller_base.py b/whoc/controller_base.py index 35869dbb..5118e080 100644 --- a/whoc/controller_base.py +++ b/whoc/controller_base.py @@ -1,13 +1,8 @@ from abc import abstractmethod -class ControllerBase(): - - def __init__(self, - interface, - verbose=True - ): - +class ControllerBase: + def __init__(self, interface, verbose=True): self._s = interface self.verbose = verbose @@ -16,10 +11,10 @@ def __init__(self, # "HELICS interface has not yet been implemented." # ) - # # TODO: eventually, this would set up a federate (with same + # # TODO: eventually, this would set up a federate (with same # # public methods as the whoc_zmq_server # #self._s = whoc_helics_federate() - + # elif use_zmq_interface: # from servers.zmq_server import WHOC_zmq_server @@ -46,15 +41,13 @@ def receive_measurements(self, dict=None): return None def send_setpoints(self, dict=None): - self._s.check_setpoints(self.setpoints_dict) dict = self._s.send_setpoints(dict, **self.setpoints_dict) - return dict # or main_dict, or what? + return dict # or main_dict, or what? def step(self, hercules_dict=None): - - # If not running with direct hercules integration, + # If not running with direct hercules integration, # hercules_dict may simply be None throughout this method. self.receive_measurements(hercules_dict) @@ -62,10 +55,10 @@ def step(self, hercules_dict=None): hercules_dict = self.send_setpoints(hercules_dict) - return hercules_dict # May simply be None. - + return hercules_dict # May simply be None. + @abstractmethod def compute_setpoints(self): # Control algorithms should be implemented in the compute_setpoints # method of the child class. - pass \ No newline at end of file + pass diff --git a/whoc/controllers/hercules_wind_battery_controller.py b/whoc/controllers/hercules_wind_battery_controller.py new file mode 100644 index 00000000..c57a71fc --- /dev/null +++ b/whoc/controllers/hercules_wind_battery_controller.py @@ -0,0 +1,51 @@ +import numpy as np + + +from whoc.controller_base import ControllerBase + + +class HerculesWindBatteryController(ControllerBase): + def __init__(self, interface, input_dict, verbose=True): + super().__init__(interface, verbose) + + self.dt = input_dict["dt"] + self.n_turbines = input_dict["controller"]["num_turbines"] + + def send_setpoints(self, hercules_dict): + self._s.check_setpoints(self.setpoints_dict) + dict = self._s.send_setpoints(hercules_dict, self.setpoints_dict) + + return dict # or main_dict, or what? + + def step(self, hercules_dict=None): + self.receive_measurements(hercules_dict) + # receive measurements sets self.measurements_dict + self.compute_setpoints() + hercules_dict = self.send_setpoints(hercules_dict) + + return hercules_dict + + def compute_setpoints(self): + # set self.setpoints_dict + + # calc wind setpoints + wind_setpoints = self.calc_wind_setpoints() + battery_setpoints = self.calc_battery_setpoints() + + self.setpoints_dict = {"wind": wind_setpoints, "battery": battery_setpoints} + + return None + + def calc_wind_setpoints(self): + wind_setpoints = {} + return wind_setpoints + + def calc_battery_setpoints(self): + available_power = np.sum(self.measurements_dict["wind_farm"]["turbine_powers"]) + if available_power <= 1000: + signal = available_power + else: + signal = -500 + + battery_setpoints = {"signal": signal} + return battery_setpoints diff --git a/whoc/interfaces/hercules_wind_battery_interface.py b/whoc/interfaces/hercules_wind_battery_interface.py new file mode 100644 index 00000000..c2656ff0 --- /dev/null +++ b/whoc/interfaces/hercules_wind_battery_interface.py @@ -0,0 +1,29 @@ +from whoc.interfaces.interface_base import InterfaceBase + + +class HerculesWindBatteryInterface(InterfaceBase): + def __init__(self, input_dict): + super().__init__() + + def get_measurements(self, hercules_dict): + measurements = { + "py_sims": {"battery": hercules_dict["py_sims"]["battery_0"]["outputs"]}, + "wind_farm": { + "turbine_powers": hercules_dict["hercules_comms"]["amr_wind"][ + "wind_farm_0" + ]["turbine_powers"], + "turbine_wind_directions": hercules_dict["hercules_comms"]["amr_wind"][ + "wind_farm_0" + ]["turbine_wind_directions"], + }, + } + + return measurements + + def check_setpoints(self, setpoints_dict): + setpoints = {} + return setpoints + + def send_setpoints(self, hercules_dict, setpoints_dict=None): + hercules_dict.update({"setpoints": setpoints_dict}) + return hercules_dict From 0b115612c3faa03c589c73cf8dec3730dc06fc0b Mon Sep 17 00:00:00 2001 From: paulf81 Date: Tue, 19 Dec 2023 11:04:18 -0700 Subject: [PATCH 04/16] Add ruff files (#15) --- .../continuous-integration-workflow.yaml | 1 + .pre-commit-config.yaml | 26 ++++++ pyproject.toml | 79 +++++++++++++++++++ 3 files changed, 106 insertions(+) create mode 100644 .pre-commit-config.yaml create mode 100644 pyproject.toml diff --git a/.github/workflows/continuous-integration-workflow.yaml b/.github/workflows/continuous-integration-workflow.yaml index 02744962..cedf0c90 100644 --- a/.github/workflows/continuous-integration-workflow.yaml +++ b/.github/workflows/continuous-integration-workflow.yaml @@ -22,6 +22,7 @@ jobs: run: | python -m pip install --upgrade pip pip install -e ".[develop]" + - uses: pre-commit/action@v3.0.0 - name: Run tests and collect coverage run: | # -rA displays the captured output for all tests after they're run diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 00000000..35eed70e --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,26 @@ + +repos: + +- repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.4.0 + hooks: + - id: trailing-whitespace + - id: end-of-file-fixer + - id: check-executables-have-shebangs + - id: check-yaml + args: [--unsafe] + - id: check-merge-conflict + - id: check-symlinks + - id: mixed-line-ending + +- repo: https://github.com/astral-sh/ruff-pre-commit + # Ruff version. + rev: v0.1.7 + hooks: + # Run the linter. + - id: ruff + types_or: [ python, pyi, jupyter ] + args: [ --fix ] + # Run the formatter. + - id: ruff-format + types_or: [ python, pyi, jupyter ] diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 00000000..852712d6 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,79 @@ +[build-system] +requires = ["setuptools >= 40.6.0", "wheel"] +build-backend = "setuptools.build_meta" + + +[coverage.run] +# Coverage.py configuration file +# https://coverage.readthedocs.io/en/latest/config.html +branch = true +source = "whoc/*" +omit = [ + "setup.py", + "tests/*" +] + + +[tool.pytest.ini_options] +testpaths = "tests" +filterwarnings = [ + "ignore::DeprecationWarning:pandas.*:" +] + + +[tool.ruff] +src = ["whoc", "tests"] +line-length = 100 +target-version = "py310" +extend-include = ["*.ipynb"] +ignore-init-module-imports = true + +# See https://github.com/charliermarsh/ruff#supported-rules +# for rules included and matching to prefix. +select = ["E", "F", "I"] + +# F401 unused-import: Ignore until all used isort flags are adopted in ruff +# ignore = ["F401"] + +# Allow autofix for all enabled rules (when `--fix`) is provided. +# fixable = ["A", "B", "C", "D", "E", "F"] +fixable = ["E", "F", "I"] +unfixable = [] + +# Exclude a variety of commonly ignored directories. +exclude = [ + ".bzr", + ".direnv", + ".eggs", + ".git", + ".hg", + ".mypy_cache", + ".nox", + ".pants.d", + ".ruff_cache", + ".svn", + ".tox", + ".venv", + "__pypackages__", + "_build", + "buck-out", + "build", + "dist", + "node_modules", + "venv", +] + +# Allow unused variables when underscore-prefixed. +dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$" + + +[tool.ruff.isort] +combine-as-imports = true +known-first-party = ["flasc"] +order-by-type = false + +# [tool.ruff.format] + +[tool.ruff.per-file-ignores] +# Ignore `F401` (import violations) in all `__init__.py` files, and in `path/to/file.py`. +"__init__.py" = ["F401"] From 327280fd339f7530866831d326aac967297b1ca2 Mon Sep 17 00:00:00 2001 From: misi9170 <39596329+misi9170@users.noreply.github.com> Date: Tue, 19 Dec 2023 15:22:48 -0500 Subject: [PATCH 05/16] Update all files to satisfy ruff formatting requirements (#16) * Ruff . now passes. * ruff format now run. --- demo_main.py | 64 ++++--------- .../hercules_runscript.py | 21 ++-- .../hercules_runscript_dummy_amr.py | 5 +- run_whoc.py | 15 ++- setup.py | 16 +--- tests/controller_base_test.py | 4 +- tests/controllers_test.py | 4 +- tests/simple_test.py | 4 +- .../hercules_wind_battery_controller.py | 2 - .../wake_steering_actuatordisk_standin.py | 33 +++---- .../wake_steering_rosco_standin.py | 28 ++---- .../hercules_actuator_disk_yaw_interface.py | 45 +++------ .../hercules_wind_battery_interface.py | 6 +- whoc/interfaces/interface_base.py | 6 +- whoc/interfaces/python_interface_temp.py | 8 +- whoc/interfaces/rosco_zmq_interface.py | 96 ++++++++++--------- whoc/utilities.py | 7 +- 17 files changed, 149 insertions(+), 215 deletions(-) diff --git a/demo_main.py b/demo_main.py index 730544b5..86d28dfb 100644 --- a/demo_main.py +++ b/demo_main.py @@ -1,76 +1,50 @@ -import numpy as np import matplotlib.pyplot as plt - -from whoc.interfaces.hercules_actuator_disk_yaw_interface import HerculesADYawInterface +import numpy as np from whoc.controllers.wake_steering_actuatordisk_standin import WakeSteeringADStandin +from whoc.interfaces.hercules_actuator_disk_yaw_interface import HerculesADYawInterface demo_hercules_dict = { - "dt":1.0, - "hercules_comms":{ - "amr_wind":{ - "wind_farm_0":{ + "dt": 1.0, + "hercules_comms": { + "amr_wind": { + "wind_farm_0": { "type": "amr_wind_local", "amr_wind_input_file": "amr_input.inp", } } }, - "controller":{ - "num_turbines":2, - "initial_conditions":{ - "yaw":[10.0, 15.0] - } - } + "controller": {"num_turbines": 2, "initial_conditions": {"yaw": [10.0, 15.0]}}, } interface = HerculesADYawInterface(demo_hercules_dict) -controller = WakeSteeringADStandin( - interface, - demo_hercules_dict -) +controller = WakeSteeringADStandin(interface, demo_hercules_dict) # Create a little loop to demonstrate how the controller works wd_base = np.linspace(280, 300, 50) np.random.seed(0) -wind_dir = np.tile(wd_base, (2,1)).T + \ - np.random.normal(scale=5.0, size=(len(wd_base),2)) +wind_dir = np.tile(wd_base, (2, 1)).T + np.random.normal(scale=5.0, size=(len(wd_base), 2)) yaw_angles = [] for i in range(wind_dir.shape[0]): - demo_hercules_dict["hercules_comms"]\ - ["amr_wind"]\ - ["wind_farm_0"]\ - ["turbine_wind_directions"] = wind_dir[i,:] - demo_hercules_dict["hercules_comms"]\ - ["amr_wind"]\ - ["wind_farm_0"]\ - ["turbine_wind_speeds"] = 8 - demo_hercules_dict["hercules_comms"]\ - ["amr_wind"]\ - ["wind_farm_0"]\ - ["turbine_powers"] = 2000 + demo_hercules_dict["hercules_comms"]["amr_wind"]["wind_farm_0"][ + "turbine_wind_directions" + ] = wind_dir[i, :] + demo_hercules_dict["hercules_comms"]["amr_wind"]["wind_farm_0"]["turbine_wind_speeds"] = 8 + demo_hercules_dict["hercules_comms"]["amr_wind"]["wind_farm_0"]["turbine_powers"] = 2000 demo_hercules_dict["time"] = float(i) - - + demo_hercules_dict = controller.step(hercules_dict=demo_hercules_dict) yaw_angles.append( - demo_hercules_dict["hercules_comms"]\ - ["amr_wind"]\ - ["wind_farm_0"]\ - ["turbine_yaw_angles"] + demo_hercules_dict["hercules_comms"]["amr_wind"]["wind_farm_0"]["turbine_yaw_angles"] ) yaw_angles = np.array(yaw_angles) -fig, ax = plt.subplots(2,1,sharex=True, sharey=True) +fig, ax = plt.subplots(2, 1, sharex=True, sharey=True) for i in range(2): - ax[i].plot(range(wind_dir.shape[0]), wind_dir[:,i], color="C0", label="wd") - ax[i].plot( - range(wind_dir.shape[0]), - yaw_angles[:,i], - color="black", - label="yaw stpt" - ) + ax[i].plot(range(wind_dir.shape[0]), wind_dir[:, i], color="C0", label="wd") + ax[i].plot(range(wind_dir.shape[0]), yaw_angles[:, i], color="black", label="yaw stpt") ax[i].set_ylabel("Direction, T{0} [deg]".format(i)) ax[i].grid() ax[1].set_xlabel("Time") diff --git a/examples/simple_yaw_control_amrstandin/hercules_runscript.py b/examples/simple_yaw_control_amrstandin/hercules_runscript.py index 091443d5..2fc19661 100644 --- a/examples/simple_yaw_control_amrstandin/hercules_runscript.py +++ b/examples/simple_yaw_control_amrstandin/hercules_runscript.py @@ -1,29 +1,20 @@ +import sys + from hercules.emulator import Emulator from hercules.py_sims import PySims from hercules.utilities import load_yaml - -from whoc.interfaces.hercules_actuator_disk_yaw_interface import \ - HerculesADYawInterface -from whoc.controllers.wake_steering_actuatordisk_standin import \ - WakeSteeringADStandin - -import sys - - +from whoc.controllers.wake_steering_actuatordisk_standin import WakeSteeringADStandin +from whoc.interfaces.hercules_actuator_disk_yaw_interface import HerculesADYawInterface input_dict = load_yaml(sys.argv[1]) interface = HerculesADYawInterface(input_dict) -controller = WakeSteeringADStandin( - interface, - input_dict -) +controller = WakeSteeringADStandin(interface, input_dict) py_sims = PySims(input_dict) emulator = Emulator(controller, py_sims, input_dict) emulator.run_helics_setup() -emulator.enter_execution(function_targets=[], - function_arguments=[[]]) +emulator.enter_execution(function_targets=[], function_arguments=[[]]) print("runscript complete.") diff --git a/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py b/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py index 8321fa9a..eb5f6f1c 100644 --- a/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py +++ b/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py @@ -1,14 +1,15 @@ import sys + from hercules.dummy_amr_wind import launch_dummy_amr_wind # Check that one command line argument was given if len(sys.argv) != 2: raise Exception("Usage: python emu_runscript_dummy_amr.py ") - + # # Get the first command line argument # This is the name of the file to read amr_input_file = sys.argv[1] print(f"Running AMR-Wind dummy with input file: {amr_input_file}") -launch_dummy_amr_wind(amr_input_file) \ No newline at end of file +launch_dummy_amr_wind(amr_input_file) diff --git a/run_whoc.py b/run_whoc.py index 7d4efc62..455e6fa8 100644 --- a/run_whoc.py +++ b/run_whoc.py @@ -1,5 +1,13 @@ import multiprocessing as mp +from ROSCO_toolbox.control_interface import turbine_zmq_server +from whoc.interfaces._temp_server import sim_rosco + +""" +NOTE: this is not yet working. +""" + + def run_zmq(): connect_zmq = True s = turbine_zmq_server(network_address="tcp://*:5555", timeout=10.0, verbose=True) @@ -8,7 +16,7 @@ def run_zmq(): measurements = s.get_measurements() # Decide new control input based on measurements - current_time = measurements['Time'] + current_time = measurements["Time"] if current_time <= 10.0: yaw_setpoint = 0.0 else: @@ -17,14 +25,15 @@ def run_zmq(): # Send new setpoints back to ROSCO s.send_setpoints(nacelleHeading=yaw_setpoint) - if measurements['iStatus'] == -1: + if measurements["iStatus"] == -1: connect_zmq = False s._disconnect() + if __name__ == "__main__": p1 = mp.Process(target=run_zmq) p1.start() p2 = mp.Process(target=sim_rosco) p2.start() p1.join() - p2.join() \ No newline at end of file + p2.join() diff --git a/setup.py b/setup.py index 8082278e..e4b9898f 100644 --- a/setup.py +++ b/setup.py @@ -23,8 +23,7 @@ import os from pathlib import Path -from setuptools import setup, find_packages - +from setuptools import find_packages, setup # Package meta-data. NAME = "wind-hybrid-open-controller" @@ -40,23 +39,18 @@ # "matplotlib~=3.0", # "pandas~=2.0", # "dash>=2.0.0", - - #GUI Stuff + # GUI Stuff # "tkinter", # Comes with python? # "plotly==5.5.0", # "dash", # "dash-daq==0.5.0", # "scikit-image", - - #ZMQ stuff + # ZMQ stuff # "zmq", - # NETCDF # "netCDF4", - - #YAML + # YAML # "pyyaml" - ] # What packages are optional? @@ -107,7 +101,7 @@ python_requires=REQUIRES_PYTHON, url=URL, # package_dir={"": "hercules"}, - packages=find_packages( exclude=["tests", "*.tests", "*.tests.*", "tests.*"]), + packages=find_packages(exclude=["tests", "*.tests", "*.tests.*", "tests.*"]), # If your package is a single module, use this instead of 'packages': # py_modules=['mypackage'], # entry_points={ diff --git a/tests/controller_base_test.py b/tests/controller_base_test.py index b483ab0f..014f71d2 100644 --- a/tests/controller_base_test.py +++ b/tests/controller_base_test.py @@ -2,8 +2,8 @@ import numpy as np -class TestControllerBase(unittest.TestCase): +class TestControllerBase(unittest.TestCase): def test_1(self): - x = np.array([1]) + assert x == x diff --git a/tests/controllers_test.py b/tests/controllers_test.py index 47492fc2..a2cc76c7 100644 --- a/tests/controllers_test.py +++ b/tests/controllers_test.py @@ -2,8 +2,8 @@ import numpy as np -class TestController1(unittest.TestCase): +class TestController1(unittest.TestCase): def test_1(self): - x = np.array([1]) + assert x == x diff --git a/tests/simple_test.py b/tests/simple_test.py index b48412b8..3ca6661f 100644 --- a/tests/simple_test.py +++ b/tests/simple_test.py @@ -2,8 +2,8 @@ import numpy as np -class TestSimple(unittest.TestCase): +class TestSimple(unittest.TestCase): def test_simple(self): - x = np.array([1]) + assert x == x diff --git a/whoc/controllers/hercules_wind_battery_controller.py b/whoc/controllers/hercules_wind_battery_controller.py index c57a71fc..f3a7d12f 100644 --- a/whoc/controllers/hercules_wind_battery_controller.py +++ b/whoc/controllers/hercules_wind_battery_controller.py @@ -1,6 +1,4 @@ import numpy as np - - from whoc.controller_base import ControllerBase diff --git a/whoc/controllers/wake_steering_actuatordisk_standin.py b/whoc/controllers/wake_steering_actuatordisk_standin.py index 30edfb38..d26a8d8a 100644 --- a/whoc/controllers/wake_steering_actuatordisk_standin.py +++ b/whoc/controllers/wake_steering_actuatordisk_standin.py @@ -1,30 +1,27 @@ from whoc.controller_base import ControllerBase -class WakeSteeringADStandin(ControllerBase): +class WakeSteeringADStandin(ControllerBase): def __init__(self, interface, input_dict): - super().__init__(interface) - self.dt = input_dict["dt"] # Won't be needed here, but generally good to have + self.dt = input_dict["dt"] # Won't be needed here, but generally good to have self.n_turbines = input_dict["controller"]["num_turbines"] self.turbines = range(self.n_turbines) - + # Set initial conditions yaw_IC = input_dict["controller"]["initial_conditions"]["yaw"] - if hasattr(yaw_IC, '__len__'): + if hasattr(yaw_IC, "__len__"): if len(yaw_IC) == self.n_turbines: - self.setpoints_dict = { - "yaw_angles": yaw_IC - } + self.setpoints_dict = {"yaw_angles": yaw_IC} else: - raise TypeError("yaw initial condition should be a float or "+\ - "a list of floats of length num_turbines.") + raise TypeError( + "yaw initial condition should be a float or " + + "a list of floats of length num_turbines." + ) else: - self.setpoints_dict = { - "yaw_angles": [yaw_IC]*self.n_turbines - } - + self.setpoints_dict = {"yaw_angles": [yaw_IC] * self.n_turbines} + # Grab name of wind farm (assumes there is only one!) def compute_setpoints(self): @@ -35,13 +32,11 @@ def generate_turbine_references(self): current_time = self.measurements_dict["time"] if current_time <= 10.0: - yaw_setpoint = [270.0]*self.n_turbines + yaw_setpoint = [270.0] * self.n_turbines else: yaw_setpoint = self.measurements_dict["wind_directions"] - self.setpoints_dict = { - "yaw_angles": yaw_setpoint - } + self.setpoints_dict = {"yaw_angles": yaw_setpoint} return None @@ -55,4 +50,4 @@ def generate_turbine_references(self): # if self.measurements_dict['iStatus'] == -1: # connect_zmq = False - # self.s._disconnect() \ No newline at end of file + # self.s._disconnect() diff --git a/whoc/controllers/wake_steering_rosco_standin.py b/whoc/controllers/wake_steering_rosco_standin.py index ac1e37d6..d3ffbd8f 100644 --- a/whoc/controllers/wake_steering_rosco_standin.py +++ b/whoc/controllers/wake_steering_rosco_standin.py @@ -1,39 +1,29 @@ -import multiprocessing as mp - -from utilities import convert_absolute_nacelle_heading_to_offset from controller_base import ControllerBase -class WakeSteeringROSCOStandin(ControllerBase): +class WakeSteeringROSCOStandin(ControllerBase): def __init__(self, interface): - - super.__init__( - interface, - timeout=100.0, - verbose=True - ) + super.__init__(interface, timeout=100.0, verbose=True) def compute_setpoints(self): self.generate_turbine_references() - - def generate_turbine_references(self): # Something very minimal here, based on ROSCO example 17. - #west_offset = convert_absolute_nacelle_heading_to_offset(270, + # west_offset = convert_absolute_nacelle_heading_to_offset(270, # self.measurements_dict["NacelleHeading"]) - current_time = self.measurements_dict['Time'] + current_time = self.measurements_dict["Time"] if current_time <= 10.0: yaw_setpoint = 0.0 else: yaw_setpoint = 20.0 self.setpoints_dict = { - "turbine_ID":0, # TODO: hardcoded! Replace. - "genTorque":0.0, - "nacelleHeading":yaw_setpoint, - "bladePitch":[0.0, 0.0, 0.0] + "turbine_ID": 0, # TODO: hardcoded! Replace. + "genTorque": 0.0, + "nacelleHeading": yaw_setpoint, + "bladePitch": [0.0, 0.0, 0.0], } return None @@ -48,4 +38,4 @@ def generate_turbine_references(self): # if self.measurements_dict['iStatus'] == -1: # connect_zmq = False - # self.s._disconnect() \ No newline at end of file + # self.s._disconnect() diff --git a/whoc/interfaces/hercules_actuator_disk_yaw_interface.py b/whoc/interfaces/hercules_actuator_disk_yaw_interface.py index eabce186..788d07e2 100644 --- a/whoc/interfaces/hercules_actuator_disk_yaw_interface.py +++ b/whoc/interfaces/hercules_actuator_disk_yaw_interface.py @@ -4,9 +4,7 @@ class HerculesADYawInterface(InterfaceBase): - def __init__(self, input_dict): - super().__init__() self.dt = input_dict["dt"] @@ -19,51 +17,36 @@ def __init__(self, input_dict): pass def get_measurements(self, input_dict): - - wind_directions = input_dict["hercules_comms"]\ - ["amr_wind"]\ - [self.wf_name]\ - ["turbine_wind_directions"] + wind_directions = input_dict["hercules_comms"]["amr_wind"][self.wf_name][ + "turbine_wind_directions" + ] # wind_speeds = input_dict["hercules_comms"]\ # ["amr_wind"]\ # [self.wf_name]\ # ["turbine_wind_speeds"] - powers = input_dict["hercules_comms"]\ - ["amr_wind"]\ - [self.wf_name]\ - ["turbine_powers"] + powers = input_dict["hercules_comms"]["amr_wind"][self.wf_name]["turbine_powers"] time = input_dict["time"] measurements = { - "time":time, - "wind_directions":wind_directions, - #"wind_speeds":wind_speeds, - "turbine_powers":powers + "time": time, + "wind_directions": wind_directions, + # "wind_speeds":wind_speeds, + "turbine_powers": powers, } return measurements def check_setpoints(self, setpoints_dict): - - available_setpoints = [ - "yaw_angles" - ] - + available_setpoints = ["yaw_angles"] + for k in setpoints_dict.keys(): if k not in available_setpoints: - raise ValueError( - "Setpoint "+k+" is not available in this configuration" - ) - - def send_setpoints(self, input_dict, yaw_angles=None): + raise ValueError("Setpoint " + k + " is not available in this configuration") + def send_setpoints(self, input_dict, yaw_angles=None): if yaw_angles is None: - yaw_angles = [0.]*self.n_turbines + yaw_angles = [0.0] * self.n_turbines - input_dict["hercules_comms"]\ - ["amr_wind"]\ - [self.wf_name]\ - ["turbine_yaw_angles"] = yaw_angles + input_dict["hercules_comms"]["amr_wind"][self.wf_name]["turbine_yaw_angles"] = yaw_angles return input_dict - diff --git a/whoc/interfaces/hercules_wind_battery_interface.py b/whoc/interfaces/hercules_wind_battery_interface.py index c2656ff0..f28b3f15 100644 --- a/whoc/interfaces/hercules_wind_battery_interface.py +++ b/whoc/interfaces/hercules_wind_battery_interface.py @@ -9,9 +9,9 @@ def get_measurements(self, hercules_dict): measurements = { "py_sims": {"battery": hercules_dict["py_sims"]["battery_0"]["outputs"]}, "wind_farm": { - "turbine_powers": hercules_dict["hercules_comms"]["amr_wind"][ - "wind_farm_0" - ]["turbine_powers"], + "turbine_powers": hercules_dict["hercules_comms"]["amr_wind"]["wind_farm_0"][ + "turbine_powers" + ], "turbine_wind_directions": hercules_dict["hercules_comms"]["amr_wind"][ "wind_farm_0" ]["turbine_wind_directions"], diff --git a/whoc/interfaces/interface_base.py b/whoc/interfaces/interface_base.py index de21595e..878d47a4 100644 --- a/whoc/interfaces/interface_base.py +++ b/whoc/interfaces/interface_base.py @@ -1,15 +1,15 @@ from abc import abstractmethod -class InterfaceBase(): +class InterfaceBase: @abstractmethod def get_measurements(self): pass - + @abstractmethod def check_setpoints(self): pass - + @abstractmethod def send_setpoints(self): pass diff --git a/whoc/interfaces/python_interface_temp.py b/whoc/interfaces/python_interface_temp.py index 03fe9532..50fa206e 100644 --- a/whoc/interfaces/python_interface_temp.py +++ b/whoc/interfaces/python_interface_temp.py @@ -1,24 +1,18 @@ - from whoc.interfaces.interface_base import InterfaceBase class WHOC_python_server(InterfaceBase): - def __init__(): - pass def get_measurements(self, dict): - # Possibly need to extract the measurements from the input dict? measurements = dict return measurements def send_setpoints(self, dict): - # Not sure if anything needs to be done here. Can possibly return None. setpoints = dict - return dict - + return setpoints diff --git a/whoc/interfaces/rosco_zmq_interface.py b/whoc/interfaces/rosco_zmq_interface.py index 3ae954f6..7d50491e 100644 --- a/whoc/interfaces/rosco_zmq_interface.py +++ b/whoc/interfaces/rosco_zmq_interface.py @@ -1,13 +1,14 @@ import zmq - from whoc.interfaces.interface_base import InterfaceBase -# Code copied from ROSCO; consider just importing and using that code +# Code copied from ROSCO; consider just importing and using that code # directly?? + class ROSCO_ZMQInterface(InterfaceBase): - def __init__(self, network_address="tcp://*:5555", identifier="0", - timeout=600.0, verbose=False): + def __init__( + self, network_address="tcp://*:5555", identifier="0", timeout=600.0, verbose=False + ): """Python implementation of the ZeroMQ server side for the ROSCO ZeroMQ wind farm control interface. This class makes it easy for users to receive measurements from ROSCO and then send back control @@ -35,9 +36,9 @@ def __init__(self, network_address="tcp://*:5555", identifier="0", self._connect() def _connect(self): - ''' + """ Connect to zmq server - ''' + """ address = self.network_address # Connect socket @@ -50,17 +51,17 @@ def _connect(self): print("[%s] Successfully established connection with %s" % (self.identifier, address)) def _disconnect(self): - ''' + """ Disconnect from zmq server - ''' + """ self.socket.close() context = zmq.Context() context.term() def get_measurements(self, _): - ''' + """ Receive measurements from ROSCO .dll - ''' + """ if self.verbose: print("[%s] Waiting to receive measurements from ROSCO..." % (self.identifier)) @@ -72,58 +73,59 @@ def get_measurements(self, _): # Receive measurements over network protocol message_in = self.socket.recv_string() else: - raise IOError("[%s] Connection to '%s' timed out." - % (self.identifier, self.network_address)) + raise IOError( + "[%s] Connection to '%s' timed out." % (self.identifier, self.network_address) + ) # Convert to individual strings and then to floats measurements = message_in - measurements = measurements.replace('\x00', '').split(',') + measurements = measurements.replace("\x00", "").split(",") measurements = [float(m) for m in measurements] # Convert to a measurement dict - measurements = dict({ - 'Turbine_ID': measurements[0], - 'iStatus': measurements[1], - 'Time': measurements[2], - 'VS_MechGenPwr': measurements[3], - 'VS_GenPwr': measurements[4], - 'GenSpeed': measurements[5], - 'RotSpeed': measurements[6], - 'GenTqMeas': measurements[7], - 'NacelleHeading': measurements[8], - 'NacelleVane': measurements[9], - 'HorWindV': measurements[10], - 'rootMOOP1': measurements[11], - 'rootMOOP2': measurements[12], - 'rootMOOP3': measurements[13], - 'FA_Acc': measurements[14], - 'NacIMU_FA_Acc': measurements[15], - 'Azimuth': measurements[16], - }) + measurements = dict( + { + "Turbine_ID": measurements[0], + "iStatus": measurements[1], + "Time": measurements[2], + "VS_MechGenPwr": measurements[3], + "VS_GenPwr": measurements[4], + "GenSpeed": measurements[5], + "RotSpeed": measurements[6], + "GenTqMeas": measurements[7], + "NacelleHeading": measurements[8], + "NacelleVane": measurements[9], + "HorWindV": measurements[10], + "rootMOOP1": measurements[11], + "rootMOOP2": measurements[12], + "rootMOOP3": measurements[13], + "FA_Acc": measurements[14], + "NacIMU_FA_Acc": measurements[15], + "Azimuth": measurements[16], + } + ) if self.verbose: - print('[%s] Measurements received:' % self.identifier, measurements) + print("[%s] Measurements received:" % self.identifier, measurements) return measurements def check_setpoints(self, setpoints_dict): - available_setpoints = [ "turbine_ID", "genTorque", "nacelleHeading", "bladePitch", ] - + for k in setpoints_dict.keys(): if k not in available_setpoints: - raise ValueError( - "Setpoint "+k+" is not available in this configuration" - ) + raise ValueError("Setpoint " + k + " is not available in this configuration") - def send_setpoints(self, turbine_ID=0, genTorque=0.0, nacelleHeading=0.0, - bladePitch=[0.0, 0.0, 0.0]): - ''' + def send_setpoints( + self, turbine_ID=0, genTorque=0.0, nacelleHeading=0.0, bladePitch=[0.0, 0.0, 0.0] + ): + """ Send setpoints to ROSCO .dll ffor individual turbine control Parameters: @@ -134,11 +136,15 @@ def send_setpoints(self, turbine_ID=0, genTorque=0.0, nacelleHeading=0.0, Nacelle heading setpoint bladePitchAngles: List (len=3) Blade pitch angle setpoint - ''' + """ # Create a message with setpoints to send to ROSCO message_out = b"%016.5f, %016.5f, %016.5f, %016.5f, %016.5f, %016.5f" % ( - turbine_ID, genTorque, nacelleHeading, - bladePitch[0], bladePitch[1], bladePitch[2] + turbine_ID, + genTorque, + nacelleHeading, + bladePitch[0], + bladePitch[1], + bladePitch[2], ) # Send reply back to client @@ -151,4 +157,4 @@ def send_setpoints(self, turbine_ID=0, genTorque=0.0, nacelleHeading=0.0, if self.verbose: print("[%s] Setpoints sent successfully." % self.identifier) - return None \ No newline at end of file + return None diff --git a/whoc/utilities.py b/whoc/utilities.py index 5d8c723c..e56f26ac 100644 --- a/whoc/utilities.py +++ b/whoc/utilities.py @@ -1,9 +1,8 @@ -import numpy as np from floris.utilities import wrap_180 -def convert_absolute_nacelle_heading_to_offset(target_nac_heading, current_nac_heading): +def convert_absolute_nacelle_heading_to_offset(target_nac_heading, current_nac_heading): # NOTE: by convention, absolute headings are given CW positive, but offsets # are given CCW positive. - - return -1*wrap_180(target_nac_heading-current_nac_heading) \ No newline at end of file + + return -1 * wrap_180(target_nac_heading - current_nac_heading) From 6d7a09c0af2283453e56ceb7240215339b1cb392 Mon Sep 17 00:00:00 2001 From: misi9170 Date: Wed, 20 Dec 2023 10:10:54 -0700 Subject: [PATCH 06/16] Remove precommit step, replace with explicit ruff. --- .github/workflows/continuous-integration-workflow.yaml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/.github/workflows/continuous-integration-workflow.yaml b/.github/workflows/continuous-integration-workflow.yaml index cedf0c90..a02dd89b 100644 --- a/.github/workflows/continuous-integration-workflow.yaml +++ b/.github/workflows/continuous-integration-workflow.yaml @@ -7,7 +7,7 @@ jobs: runs-on: ${{ matrix.os }} strategy: - fail-fast: false + fail-fast: False matrix: python-version: ["3.9", "3.10", "3.11"] os: [ubuntu-latest] @@ -22,7 +22,11 @@ jobs: run: | python -m pip install --upgrade pip pip install -e ".[develop]" - - uses: pre-commit/action@v3.0.0 + # - uses: pre-commit/action@v3.0.0 + - name: Run ruff + run: | + ruff . + ruff format - name: Run tests and collect coverage run: | # -rA displays the captured output for all tests after they're run From 54311fe830c615ac986159572a543091479bfd35 Mon Sep 17 00:00:00 2001 From: Paul Date: Wed, 20 Dec 2023 10:48:16 -0700 Subject: [PATCH 07/16] Add analytic id --- docs/_config.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/_config.yml b/docs/_config.yml index 5be837e7..e63c6699 100644 --- a/docs/_config.yml +++ b/docs/_config.yml @@ -33,7 +33,7 @@ html: use_issues_button: true use_repository_button: true use_edit_page_button: true - google_analytics_id: G-XXXX TODO: Update when public + google_analytics_id: G-BJZY823DHG # Sphinx for API doc generation From d2ed2f43dd1a212f779ebce3ed2eb17abb9f31cb Mon Sep 17 00:00:00 2001 From: misi9170 Date: Wed, 20 Dec 2023 10:54:52 -0700 Subject: [PATCH 08/16] Docs update. --- README.md | 3 +++ docs/_toc.yml | 20 ++++++++++---------- docs/install_instructions.md | 6 ++++++ 3 files changed, 19 insertions(+), 10 deletions(-) create mode 100644 docs/install_instructions.md diff --git a/README.md b/README.md index 1d7f19c7..b967f867 100644 --- a/README.md +++ b/README.md @@ -19,6 +19,9 @@ controllers, including: WHOC controllers will also call on design tools such as [FLORIS](https://github.com/NREL/floris). +Documentation for WHOC can be found on +[nrel.github.io](https://nrel.github.io/wind-hybrid-open-controller/intro.html) + ## Code development To contribute to WHOC, please consider forking the main github repository, with the [main repo](https://github.com/NREL/wind-hybrid-open-controller) as an diff --git a/docs/_toc.yml b/docs/_toc.yml index fef9c30d..9206f70e 100644 --- a/docs/_toc.yml +++ b/docs/_toc.yml @@ -3,14 +3,14 @@ format: jb-book root: intro -# parts: -# - caption: Installation -# chapters: -# - file: install_instructions -# - file: install_old -# - file: install_on_kestrel -# - file: install_spack -# - caption: Usage -# chapters: -# - file: examples +parts: + - caption: Installation + chapters: + - file: install_instructions + - caption: Controllers + chapters: + - file: controllers + - caption: Interfaces + chapters: + - file: interfaces # - file: order_of_op diff --git a/docs/install_instructions.md b/docs/install_instructions.md new file mode 100644 index 00000000..d1c4e61d --- /dev/null +++ b/docs/install_instructions.md @@ -0,0 +1,6 @@ +# Installation + +``` +git clone https://github.com/NREL/wind-hybrid-open-controller +pip install -e wind-hybrid-open-controller +``` From ca43d6ddf6ce7ffe4a9ab5aec963643cb33d7bef Mon Sep 17 00:00:00 2001 From: misi9170 Date: Wed, 20 Dec 2023 11:24:50 -0700 Subject: [PATCH 09/16] Reorder fail-fast. --- .github/workflows/continuous-integration-workflow.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/continuous-integration-workflow.yaml b/.github/workflows/continuous-integration-workflow.yaml index a02dd89b..9dc0d403 100644 --- a/.github/workflows/continuous-integration-workflow.yaml +++ b/.github/workflows/continuous-integration-workflow.yaml @@ -7,10 +7,10 @@ jobs: runs-on: ${{ matrix.os }} strategy: - fail-fast: False matrix: python-version: ["3.9", "3.10", "3.11"] os: [ubuntu-latest] + fail-fast: False steps: - uses: actions/checkout@v3 From 0a827a995ca517729db1bfeb150b2bc8cd7ee07d Mon Sep 17 00:00:00 2001 From: misi9170 Date: Wed, 20 Dec 2023 11:38:59 -0700 Subject: [PATCH 10/16] Rename installed repo to whoc. --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index e4b9898f..d989d7b9 100644 --- a/setup.py +++ b/setup.py @@ -26,7 +26,7 @@ from setuptools import find_packages, setup # Package meta-data. -NAME = "wind-hybrid-open-controller" +NAME = "whoc" DESCRIPTION = "Wind Hybrid Open Controller." URL = "https://github.com/NREL/wind-hybrid-open-controller" EMAIL = "michael.sinner@nrel.gov" From 403a22d3f740b3db9ea291b28ef59ac3e3d851b0 Mon Sep 17 00:00:00 2001 From: misi9170 Date: Wed, 20 Dec 2023 12:00:11 -0700 Subject: [PATCH 11/16] Naming package to install. --- setup.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/setup.py b/setup.py index d989d7b9..426beda1 100644 --- a/setup.py +++ b/setup.py @@ -26,7 +26,7 @@ from setuptools import find_packages, setup # Package meta-data. -NAME = "whoc" +NAME = "wind-hybrid-open-controller" DESCRIPTION = "Wind Hybrid Open Controller." URL = "https://github.com/NREL/wind-hybrid-open-controller" EMAIL = "michael.sinner@nrel.gov" @@ -101,7 +101,7 @@ python_requires=REQUIRES_PYTHON, url=URL, # package_dir={"": "hercules"}, - packages=find_packages(exclude=["tests", "*.tests", "*.tests.*", "tests.*"]), + packages=["whoc"], #find_packages(exclude=["tests", "*.tests", "*.tests.*", "tests.*"]), # If your package is a single module, use this instead of 'packages': # py_modules=['mypackage'], # entry_points={ From a94c650346df9c56fb8c81adf96af295cfd8d3b8 Mon Sep 17 00:00:00 2001 From: misi9170 Date: Wed, 20 Dec 2023 12:03:57 -0700 Subject: [PATCH 12/16] Name in pip list matches import. --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 426beda1..3ccbaa78 100644 --- a/setup.py +++ b/setup.py @@ -26,7 +26,7 @@ from setuptools import find_packages, setup # Package meta-data. -NAME = "wind-hybrid-open-controller" +NAME = "whoc" DESCRIPTION = "Wind Hybrid Open Controller." URL = "https://github.com/NREL/wind-hybrid-open-controller" EMAIL = "michael.sinner@nrel.gov" From 8c78caba8d5661c5d7669c8189114a738a634127 Mon Sep 17 00:00:00 2001 From: misi9170 <39596329+misi9170@users.noreply.github.com> Date: Wed, 20 Dec 2023 16:01:10 -0500 Subject: [PATCH 13/16] Update installation instructions for developers (#21) * Incomplete * Develop instructions included; reordering. * Ruff bugfix on importing find_packages. --- README.md | 23 +------------------- docs/_toc.yml | 3 ++- docs/code_development.md | 23 ++++++++++++++++++++ docs/install_instructions.md | 42 +++++++++++++++++++++++++++++++++++- setup.py | 4 ++-- 5 files changed, 69 insertions(+), 26 deletions(-) create mode 100644 docs/code_development.md diff --git a/README.md b/README.md index b967f867..c3dbce90 100644 --- a/README.md +++ b/README.md @@ -20,25 +20,4 @@ WHOC controllers will also call on design tools such as [FLORIS](https://github.com/NREL/floris). Documentation for WHOC can be found on -[nrel.github.io](https://nrel.github.io/wind-hybrid-open-controller/intro.html) - -## Code development -To contribute to WHOC, please consider forking the main github repository, -with the [main repo](https://github.com/NREL/wind-hybrid-open-controller) as an -upstream remote. To submit a new feature or bug fix, create a new branch -in your fork and submit a pull request back to the `develop` branch in the -main repo. The pull request will be reviewed by other WHOC developers and -merged (using "squash and merge") into the `develop` branch. Periodically, -the `develop` branch will be merged into the `main` branch and a version -number will be assigned. - -Unless an existing controller or interface exist to suit your needs, most -users will need to generate: -- A new interface class inheriting from `InterfaceBase` -- A new controller class, implementing the desired control algorithm and -inheriting from `ControllerBase` - -Additionally, if you'd like to contribute to this base repository, please -include in your pull request: -- Unit tests for the implemented controller -- Possibly unit tests for the implemented interface, if needed \ No newline at end of file +[nrel.github.io](https://nrel.github.io/wind-hybrid-open-controller/intro.html) \ No newline at end of file diff --git a/docs/_toc.yml b/docs/_toc.yml index 9206f70e..66faf4a1 100644 --- a/docs/_toc.yml +++ b/docs/_toc.yml @@ -4,9 +4,10 @@ format: jb-book root: intro parts: - - caption: Installation + - caption: General information chapters: - file: install_instructions + - file: code_development - caption: Controllers chapters: - file: controllers diff --git a/docs/code_development.md b/docs/code_development.md new file mode 100644 index 00000000..124de22a --- /dev/null +++ b/docs/code_development.md @@ -0,0 +1,23 @@ +# Code development +To contribute to WHOC, please consider forking the main github repository, +with the [NREL repo](https://github.com/NREL/wind-hybrid-open-controller) as an +upstream remote. See the [Installation instructions](install_instructions) +for details about how to set up your repository as a developer. + +To submit a new feature or bug fix, create a new branch +in your fork and submit a pull request back to the `develop` branch in the +main repo. The pull request will be reviewed by other WHOC maintainers and +merged (using "squash and merge") into the `develop` branch. Periodically, +the `develop` branch will be merged into the `main` branch and a version +number will be assigned. + +Unless an existing controller or interface exist to suit your needs, most +users will need to generate: +- A new interface class inheriting from `InterfaceBase` +- A new controller class, implementing the desired control algorithm and +inheriting from `ControllerBase` + +Additionally, if you'd like to contribute to this base repository, please +include in your pull request: +- Unit tests for the implemented controller +- Possibly unit tests for the implemented interface, if needed \ No newline at end of file diff --git a/docs/install_instructions.md b/docs/install_instructions.md index d1c4e61d..42f125d2 100644 --- a/docs/install_instructions.md +++ b/docs/install_instructions.md @@ -1,6 +1,46 @@ # Installation +WHOC is _not_ designed to be used as a stand-alone package. Most likely, +you'll want to add WHOC to an existing conda environment that contains your +simulation testbed, such as [Hercules](https://github.com/NREL/hercules). +For example, see the [Hercules installation instuctions](\ +https://nrel.github.io/hercules/install_instructions.html) for how to set up +an appropriate conda environment. + +## General users + +If you intend to use WHOC, but not contribute, the following lines should +be sufficient to install WHOC (presumably, after activating your conda +environment): + ``` git clone https://github.com/NREL/wind-hybrid-open-controller -pip install -e wind-hybrid-open-controller +pip install wind-hybrid-open-controller/ ``` + +## Developers + +If you intend to contribute to WHOC, we request that your fork the WHOC +repository on github. You can then install WHOC (again, assuming you have +already activated your conda environment) according to: + +``` +git clone https://github.com/your-github-id/wind-hybrid-open-controller +pip install -e wind-hybrid-open-controller/ +``` +To contribute back to the base repository +https://github.com/NREL/wind-hybrid-open-controller, please do the following: +- Create a branch from the base repository's `develop` branch on your fork +containing your code changes (e.g. `your-github-id:feature/your-new-feature`) +- Open a pull request into the base repository's `NREL:develop` branch, and provide +a description of the new/updated capabilities +- The maintainers will review your pull request and provide feedback before +possibly merging the pull request (via the "squash and merge" method) into the +`NREL:develop` branch +- At the next release, `NREL:develop` will be merged into `NREL:main`, and your changes +contributions will appear there + +For more information on what your pull request should contain, see +[Code development](code_development.md). + + diff --git a/setup.py b/setup.py index 3ccbaa78..2480061e 100644 --- a/setup.py +++ b/setup.py @@ -23,7 +23,7 @@ import os from pathlib import Path -from setuptools import find_packages, setup +from setuptools import setup # Package meta-data. NAME = "whoc" @@ -101,7 +101,7 @@ python_requires=REQUIRES_PYTHON, url=URL, # package_dir={"": "hercules"}, - packages=["whoc"], #find_packages(exclude=["tests", "*.tests", "*.tests.*", "tests.*"]), + packages=["whoc"], # find_packages(exclude=["tests", "*.tests", "*.tests.*", "tests.*"]), # If your package is a single module, use this instead of 'packages': # py_modules=['mypackage'], # entry_points={ From 9b92cd08a2751fe6e7ca1fd42b6f7e98a251ecca Mon Sep 17 00:00:00 2001 From: misi9170 <39596329+misi9170@users.noreply.github.com> Date: Wed, 20 Dec 2023 17:21:45 -0500 Subject: [PATCH 14/16] Adding generic copyright statement to running code (#22) * Adding version number. * Adding disclaimers. * echo output file added. --- .gitignore | 3 ++- demo_main.py | 14 ++++++++++++++ .../hercules_runscript.py | 14 ++++++++++++++ .../hercules_runscript_dummy_amr.py | 14 ++++++++++++++ run_whoc.py | 14 ++++++++++++++ tests/controller_base_test.py | 14 ++++++++++++++ tests/controllers_test.py | 14 ++++++++++++++ tests/simple_test.py | 14 ++++++++++++++ whoc/__init__.py | 18 ++++++++++++++++++ whoc/controller_base.py | 14 ++++++++++++++ .../hercules_wind_battery_controller.py | 14 ++++++++++++++ .../wake_steering_actuatordisk_standin.py | 14 ++++++++++++++ .../controllers/wake_steering_rosco_standin.py | 14 ++++++++++++++ .../hercules_actuator_disk_yaw_interface.py | 14 ++++++++++++++ .../hercules_wind_battery_interface.py | 14 ++++++++++++++ whoc/interfaces/interface_base.py | 14 ++++++++++++++ whoc/interfaces/python_interface_temp.py | 14 ++++++++++++++ whoc/interfaces/rosco_zmq_interface.py | 14 ++++++++++++++ whoc/utilities.py | 14 ++++++++++++++ whoc/version.py | 2 +- 20 files changed, 259 insertions(+), 2 deletions(-) create mode 100644 whoc/__init__.py diff --git a/.gitignore b/.gitignore index 1cad2dac..3faaf970 100644 --- a/.gitignore +++ b/.gitignore @@ -20,5 +20,6 @@ examples/*/loghercules .idea .vscode - +# Outputs +*echo diff --git a/demo_main.py b/demo_main.py index 86d28dfb..53c0ead3 100644 --- a/demo_main.py +++ b/demo_main.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + import matplotlib.pyplot as plt import numpy as np from whoc.controllers.wake_steering_actuatordisk_standin import WakeSteeringADStandin diff --git a/examples/simple_yaw_control_amrstandin/hercules_runscript.py b/examples/simple_yaw_control_amrstandin/hercules_runscript.py index 2fc19661..8181fe53 100644 --- a/examples/simple_yaw_control_amrstandin/hercules_runscript.py +++ b/examples/simple_yaw_control_amrstandin/hercules_runscript.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + import sys from hercules.emulator import Emulator diff --git a/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py b/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py index eb5f6f1c..d3d2d233 100644 --- a/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py +++ b/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + import sys from hercules.dummy_amr_wind import launch_dummy_amr_wind diff --git a/run_whoc.py b/run_whoc.py index 455e6fa8..73149bcb 100644 --- a/run_whoc.py +++ b/run_whoc.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + import multiprocessing as mp from ROSCO_toolbox.control_interface import turbine_zmq_server diff --git a/tests/controller_base_test.py b/tests/controller_base_test.py index 014f71d2..22adb12e 100644 --- a/tests/controller_base_test.py +++ b/tests/controller_base_test.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + import unittest import numpy as np diff --git a/tests/controllers_test.py b/tests/controllers_test.py index a2cc76c7..29a99906 100644 --- a/tests/controllers_test.py +++ b/tests/controllers_test.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + import unittest import numpy as np diff --git a/tests/simple_test.py b/tests/simple_test.py index 3ca6661f..5c1912db 100644 --- a/tests/simple_test.py +++ b/tests/simple_test.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + import unittest import numpy as np diff --git a/whoc/__init__.py b/whoc/__init__.py new file mode 100644 index 00000000..7ef16251 --- /dev/null +++ b/whoc/__init__.py @@ -0,0 +1,18 @@ +# Copyright 2022 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +from pathlib import Path + +ROOT = Path(__file__).parent +with open(ROOT / "version.py") as version_file: + VERSION = version_file.read().strip() +__version__ = VERSION diff --git a/whoc/controller_base.py b/whoc/controller_base.py index 5118e080..1e798831 100644 --- a/whoc/controller_base.py +++ b/whoc/controller_base.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + from abc import abstractmethod diff --git a/whoc/controllers/hercules_wind_battery_controller.py b/whoc/controllers/hercules_wind_battery_controller.py index f3a7d12f..8f8060f1 100644 --- a/whoc/controllers/hercules_wind_battery_controller.py +++ b/whoc/controllers/hercules_wind_battery_controller.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + import numpy as np from whoc.controller_base import ControllerBase diff --git a/whoc/controllers/wake_steering_actuatordisk_standin.py b/whoc/controllers/wake_steering_actuatordisk_standin.py index d26a8d8a..4fe86738 100644 --- a/whoc/controllers/wake_steering_actuatordisk_standin.py +++ b/whoc/controllers/wake_steering_actuatordisk_standin.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + from whoc.controller_base import ControllerBase diff --git a/whoc/controllers/wake_steering_rosco_standin.py b/whoc/controllers/wake_steering_rosco_standin.py index d3ffbd8f..ede929a1 100644 --- a/whoc/controllers/wake_steering_rosco_standin.py +++ b/whoc/controllers/wake_steering_rosco_standin.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + from controller_base import ControllerBase diff --git a/whoc/interfaces/hercules_actuator_disk_yaw_interface.py b/whoc/interfaces/hercules_actuator_disk_yaw_interface.py index 788d07e2..5efdc3df 100644 --- a/whoc/interfaces/hercules_actuator_disk_yaw_interface.py +++ b/whoc/interfaces/hercules_actuator_disk_yaw_interface.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + # How will we handle other things here? May need to have a wind farm # version, an electrolyzer version, etc... from whoc.interfaces.interface_base import InterfaceBase diff --git a/whoc/interfaces/hercules_wind_battery_interface.py b/whoc/interfaces/hercules_wind_battery_interface.py index f28b3f15..0cec51c9 100644 --- a/whoc/interfaces/hercules_wind_battery_interface.py +++ b/whoc/interfaces/hercules_wind_battery_interface.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + from whoc.interfaces.interface_base import InterfaceBase diff --git a/whoc/interfaces/interface_base.py b/whoc/interfaces/interface_base.py index 878d47a4..73d2906c 100644 --- a/whoc/interfaces/interface_base.py +++ b/whoc/interfaces/interface_base.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + from abc import abstractmethod diff --git a/whoc/interfaces/python_interface_temp.py b/whoc/interfaces/python_interface_temp.py index 50fa206e..30f7f829 100644 --- a/whoc/interfaces/python_interface_temp.py +++ b/whoc/interfaces/python_interface_temp.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + from whoc.interfaces.interface_base import InterfaceBase diff --git a/whoc/interfaces/rosco_zmq_interface.py b/whoc/interfaces/rosco_zmq_interface.py index 7d50491e..3a28fc10 100644 --- a/whoc/interfaces/rosco_zmq_interface.py +++ b/whoc/interfaces/rosco_zmq_interface.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + import zmq from whoc.interfaces.interface_base import InterfaceBase diff --git a/whoc/utilities.py b/whoc/utilities.py index e56f26ac..d3d8408c 100644 --- a/whoc/utilities.py +++ b/whoc/utilities.py @@ -1,3 +1,17 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + from floris.utilities import wrap_180 diff --git a/whoc/version.py b/whoc/version.py index ba66466c..49d59571 100644 --- a/whoc/version.py +++ b/whoc/version.py @@ -1 +1 @@ -0.0 +0.1 From ec5d4a5763b019a1e91a13787d755543f5792b3a Mon Sep 17 00:00:00 2001 From: misi9170 <39596329+misi9170@users.noreply.github.com> Date: Wed, 20 Dec 2023 17:46:16 -0500 Subject: [PATCH 15/16] Rename amr-standin in examples (#23) * runscripts now call correct hercules packages and run. * Rename files for standin. --- .gitignore | 2 +- examples/simple_yaw_control_amrstandin/amr_input.inp | 2 +- .../{batch_script_dummy.sh => bash_script_amr_standin.sh} | 2 +- ...ipt_dummy_amr.py => hercules_runscript_amr_standin.py} | 8 ++++---- 4 files changed, 7 insertions(+), 7 deletions(-) rename examples/simple_yaw_control_amrstandin/{batch_script_dummy.sh => bash_script_amr_standin.sh} (89%) rename examples/simple_yaw_control_amrstandin/{hercules_runscript_dummy_amr.py => hercules_runscript_amr_standin.py} (76%) diff --git a/.gitignore b/.gitignore index 3faaf970..2776dcf9 100644 --- a/.gitignore +++ b/.gitignore @@ -10,7 +10,7 @@ slices # Data files *.csv *.log -examples/*/logdummy +examples/*/logstandin examples/*/loghercules # macOS files diff --git a/examples/simple_yaw_control_amrstandin/amr_input.inp b/examples/simple_yaw_control_amrstandin/amr_input.inp index 6670155e..6d41e8e9 100755 --- a/examples/simple_yaw_control_amrstandin/amr_input.inp +++ b/examples/simple_yaw_control_amrstandin/amr_input.inp @@ -1,7 +1,7 @@ #¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨# # SIMULATION STOP # #.......................................# -time.stop_time = 10800.0 # Max (simulated) time to evolve +time.stop_time = 100.0 # Max (simulated) time to evolve time.max_step = -1 # Max number of time steps #¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨# diff --git a/examples/simple_yaw_control_amrstandin/batch_script_dummy.sh b/examples/simple_yaw_control_amrstandin/bash_script_amr_standin.sh similarity index 89% rename from examples/simple_yaw_control_amrstandin/batch_script_dummy.sh rename to examples/simple_yaw_control_amrstandin/bash_script_amr_standin.sh index 6e25d3bb..4de837dd 100755 --- a/examples/simple_yaw_control_amrstandin/batch_script_dummy.sh +++ b/examples/simple_yaw_control_amrstandin/bash_script_amr_standin.sh @@ -14,7 +14,7 @@ helics_broker -t zmq -f 2 --loglevel="debug" --local_port=$HELICS_PORT & python hercules_runscript.py hercules_input_shortsim.yaml >> loghercules 2>&1 & # Start the controller center and pass in input file -python hercules_runscript_dummy_amr.py amr_input.inp >> logdummy 2>&1 +python3 hercules_runscript_amr_standin.py amr_input.inp >> logstandin 2>&1 # Now go back to scratch folder and launch the job # cd /scratch/pfleming/c2c/example_sim_02 diff --git a/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py b/examples/simple_yaw_control_amrstandin/hercules_runscript_amr_standin.py similarity index 76% rename from examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py rename to examples/simple_yaw_control_amrstandin/hercules_runscript_amr_standin.py index d3d2d233..73e9d0c5 100644 --- a/examples/simple_yaw_control_amrstandin/hercules_runscript_dummy_amr.py +++ b/examples/simple_yaw_control_amrstandin/hercules_runscript_amr_standin.py @@ -14,16 +14,16 @@ import sys -from hercules.dummy_amr_wind import launch_dummy_amr_wind +from hercules.amr_wind_standin import launch_amr_wind_standin # Check that one command line argument was given if len(sys.argv) != 2: - raise Exception("Usage: python emu_runscript_dummy_amr.py ") + raise Exception("Usage: python hercules_runscript_amr_standin.py ") # # Get the first command line argument # This is the name of the file to read amr_input_file = sys.argv[1] -print(f"Running AMR-Wind dummy with input file: {amr_input_file}") +print(f"Running AMR-Wind standin with input file: {amr_input_file}") -launch_dummy_amr_wind(amr_input_file) +launch_amr_wind_standin(amr_input_file) From 98250d2ad41b8b4a37c6afcf40e2d96a17b59890 Mon Sep 17 00:00:00 2001 From: misi9170 <39596329+misi9170@users.noreply.github.com> Date: Thu, 21 Dec 2023 17:58:14 -0500 Subject: [PATCH 16/16] Establish tests and clarify naming (#24) * Testing interface_base. * Remove repeated class definition. * renaming send_setpoints and compute_setpoints to send_controls and compute_controls, respectively, for generality. * Move controller_base into controllers/ directory. * Beginning to build out interface library tests. * Updating to check_controls. * setpoints -> controls for dicts. * Test imports, methods implemented. * Tests for HerculesADYawInterface. * Explicit dictionary input. * Simplified tests for HerculesWindBatteryInterface * Ruff. * Inheritance tests. * Beginnings of controller library test. * Improved developer installation instructions. * Add note for future test for HerculesWindBatteryController. * Ruff. * Add zmq to requirements. * Reverting some changes from setpoints to controls in the wind battery controlller/interface for current compatibility with Hercules. --- docs/controllers.md | 8 +- .../graphics/main_attribution_inheritance.png | Bin 161630 -> 161494 bytes .../second-level_attribution_inheritance.png | Bin 252328 -> 252006 bytes docs/install_instructions.md | 2 +- docs/interfaces.md | 8 +- docs/intro.md | 4 +- run_whoc.py | 2 +- setup.py | 2 +- tests/controller_base_test.py | 70 +++++++++- tests/controller_library_test.py | 88 ++++++++++++ tests/controllers_test.py | 23 ---- tests/interface_base_test.py | 77 +++++++++++ tests/interface_library_test.py | 126 ++++++++++++++++++ tests/simple_test.py | 23 ---- whoc/controllers/__init__.py | 3 + whoc/{ => controllers}/controller_base.py | 26 ++-- .../hercules_wind_battery_controller.py | 19 +-- .../wake_steering_actuatordisk_standin.py | 10 +- .../wake_steering_rosco_standin.py | 6 +- whoc/interfaces/__init__.py | 3 + .../hercules_actuator_disk_yaw_interface.py | 36 ++--- .../hercules_wind_battery_interface.py | 24 ++-- whoc/interfaces/interface_base.py | 14 +- whoc/interfaces/python_interface_temp.py | 6 +- whoc/interfaces/rosco_zmq_interface.py | 17 +-- 25 files changed, 459 insertions(+), 138 deletions(-) create mode 100644 tests/controller_library_test.py delete mode 100644 tests/controllers_test.py create mode 100644 tests/interface_base_test.py create mode 100644 tests/interface_library_test.py delete mode 100644 tests/simple_test.py create mode 100644 whoc/controllers/__init__.py rename whoc/{ => controllers}/controller_base.py (80%) create mode 100644 whoc/interfaces/__init__.py diff --git a/docs/controllers.md b/docs/controllers.md index 3fdf8eb3..a53009b5 100644 --- a/docs/controllers.md +++ b/docs/controllers.md @@ -3,9 +3,9 @@ The `whoc.controllers` module contains a library of wind and hybrid power plant controllers. Each controller must inherit from `ControllerBase` (see controller_base.py) and implement a -mandatory `compute_setpoints()` method, which contains the relevant control -algorithm and writes final control signals to the `setpoints_dict` attribute -as key-value pairs. `compute_setpoints()` is, in turn, called in the `step()` +mandatory `compute_controls()` method, which contains the relevant control +algorithm and writes final control signals to the `controls_dict` attribute +as key-value pairs. `compute_controls()` is, in turn, called in the `step()` method of `ControllerBase`. ## Available controllers @@ -15,4 +15,4 @@ For yaw controller of actuator disk-type turbines (as a stand-in, will be updated). ### WakeSteeringROSCOStandin -May be combined into a universal simple wake steering controller. +May be combined into a universal simple wake steeringcontroller. diff --git a/docs/graphics/main_attribution_inheritance.png b/docs/graphics/main_attribution_inheritance.png index 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z>CCiAoy%Fz6I?7T^pp<)tv}=Q=MNKR$1sqe#vmnc_?5LlyG&LIGzc0G&RFq>#WV42 z+$Zt!Ld)iyur6cK&Fj3D0fd^a>j(`CH4sHz&^s}ZD*JFVob{rpfmn$9l@Wo63EBY!e=XLA2}23azFY9 zBXT}%9N2W1?lxl-VQR~?7v))^dt%CY?_@;A=k=l}7B}X{=`lqS$f36JDmObR`ke=I zZlSzlJO@%ON6i6x72Wt~gOai30l_dY_#7v?YhkG6-{13pvTla(egun>ihkv%U!A@B zCjkH%9-dbCs`{T-?^rd<&X5WjMj2UpEl2R0C>Z=Jz*!A z_))u=RywfnB6oznHrR_Yxo~1i?k1;17?brrR@gQ70}sJXD2if*4d8t`g9G``#`~TF z690a~zpM2Be`~OrT=?2^Cwh4~_829S4}wB;ljn)^UyVntWLD$l56==+=FZ!~ndOV) Sl}YR1-&y5zN-q>mZv77q-YQK1 diff --git a/docs/install_instructions.md b/docs/install_instructions.md index 42f125d2..ec284b0b 100644 --- a/docs/install_instructions.md +++ b/docs/install_instructions.md @@ -26,7 +26,7 @@ already activated your conda environment) according to: ``` git clone https://github.com/your-github-id/wind-hybrid-open-controller -pip install -e wind-hybrid-open-controller/ +pip install -e "wind-hybrid-open-controller/[develop]" ``` To contribute back to the base repository https://github.com/NREL/wind-hybrid-open-controller, please do the following: diff --git a/docs/interfaces.md b/docs/interfaces.md index 09219679..a85035df 100644 --- a/docs/interfaces.md +++ b/docs/interfaces.md @@ -9,13 +9,13 @@ which can be found n interface_base.py, and should implement three methods: organize into a dictionary that the calling controller can utilize. Optionally, receives a large dictionary (for example, the Hercules `main_dict`), from which useable measurements can be extracted/repackaged for easy use in the controller. -- `check_setpoints()`: Check that the keys in `setpoints_dict` are viable for +- `check_controls()`: Check that the keys in `controls_dict` are viable for the receiving plant. -- `send_setpoints()`: Send setpoints to the simulation assets. Setpoints are -created as specific keyword arguements, which match those setpoints generated +- `send_controls()`: Send controls to the simulation assets. Controls are +created as specific keyword arguements, which match those controls generated by the calling controller. Optionally, receives a large dictionary (for example, the Hercules `main_dict`), which can be written to and returned -with setpoints as needed. +with controls as needed. These methods will all be called in the `step()` method of `ControllerBase`. diff --git a/docs/intro.md b/docs/intro.md index ce62c7c3..8cbe1f98 100644 --- a/docs/intro.md +++ b/docs/intro.md @@ -13,8 +13,8 @@ the controller objects that it contains. controllers should inherit from. Inheritance is shown using arrows in the diagram above. The key method of `ControllerBase` is the `step()` method, which progresses the controller by receiving plant measurements; computing -control setpoints (which must be implemented in the children of -`ControllerBase`); and sending the setpoints back to the plant. Children of +controls (which must be implemented in the children of +`ControllerBase`); and sending the controls back to the plant. Children of `ControllerBase` should inherit `step()` rather than overloading it. Additionally, on instantiation, `ControllerBase` expects to receive an instantiated `interface` object (discussed next). For information can be diff --git a/run_whoc.py b/run_whoc.py index 73149bcb..bc45fb6c 100644 --- a/run_whoc.py +++ b/run_whoc.py @@ -37,7 +37,7 @@ def run_zmq(): yaw_setpoint = 20.0 # Send new setpoints back to ROSCO - s.send_setpoints(nacelleHeading=yaw_setpoint) + s.send_controls(nacelleHeading=yaw_setpoint) if measurements["iStatus"] == -1: connect_zmq = False diff --git a/setup.py b/setup.py index 2480061e..20c60e60 100644 --- a/setup.py +++ b/setup.py @@ -46,7 +46,7 @@ # "dash-daq==0.5.0", # "scikit-image", # ZMQ stuff - # "zmq", + "zmq", # NETCDF # "netCDF4", # YAML diff --git a/tests/controller_base_test.py b/tests/controller_base_test.py index 22adb12e..65b6ad48 100644 --- a/tests/controller_base_test.py +++ b/tests/controller_base_test.py @@ -12,12 +12,70 @@ # See https://nrel.github.io/wind-hybrid-open-controller for documentation -import unittest +import pytest +from whoc.controllers.controller_base import ControllerBase +from whoc.interfaces.interface_base import InterfaceBase -import numpy as np +class StandinInterface(InterfaceBase): + """ + Empty class to test controllers. + """ -class TestControllerBase(unittest.TestCase): - def test_1(self): - x = np.array([1]) - assert x == x + def __init__(self): + super().__init__() + + def get_measurements(self): + pass + + def check_controls(self): + pass + + def send_controls(self): + pass + + +class InheritanceTestClassBad(ControllerBase): + """ + Class that is missing necessary methods. + """ + + def __init__(self, interface): + super().__init__(interface) + + +class InheritanceTestClassGood(ControllerBase): + """ + Class that is missing necessary methods. + """ + + def __init__(self, interface): + super().__init__(interface) + + def compute_controls(self): + pass + + +def test_ControllerBase_methods(): + """ + Check that the base interface class establishes the correct methods. + """ + test_interface = StandinInterface() + + controller_base = InheritanceTestClassGood(test_interface) + assert hasattr(controller_base, "_receive_measurements") + assert hasattr(controller_base, "_send_controls") + assert hasattr(controller_base, "step") + assert hasattr(controller_base, "compute_controls") + + +def test_inherited_methods(): + """ + Check that a subclass of InterfaceBase inherits methods correctly. + """ + test_interface = StandinInterface() + + with pytest.raises(TypeError): + _ = InheritanceTestClassBad(test_interface) + + _ = InheritanceTestClassGood(test_interface) diff --git a/tests/controller_library_test.py b/tests/controller_library_test.py new file mode 100644 index 00000000..d51f3123 --- /dev/null +++ b/tests/controller_library_test.py @@ -0,0 +1,88 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + +from whoc.controllers import ( + HerculesWindBatteryController, + WakeSteeringADStandin, +) +from whoc.interfaces import HerculesADYawInterface +from whoc.interfaces.interface_base import InterfaceBase + + +class StandinInterface(InterfaceBase): + """ + Empty class to test controllers. + """ + + def __init__(self): + super().__init__() + + def get_measurements(self): + pass + + def check_controls(self): + pass + + def send_controls(self): + pass + + +test_hercules_dict = { + "dt": 1, + "time": 0, + "controller": {"num_turbines": 2, "initial_conditions": {"yaw": [270.0, 270.0]}}, + "hercules_comms": { + "amr_wind": { + "test_farm": { + "turbine_wind_directions": [271.0, 272.5], + "turbine_powers": [4000.0, 4001.0], + } + } + }, + "py_sims": {"test_battery": {"outputs": 10.0}}, +} + + +def test_controller_instantiation(): + """ + Tests whether all controllers can be imported correctly and that they + each implement the required methods specified by ControllerBase. + """ + test_interface = StandinInterface() + + _ = WakeSteeringADStandin(interface=test_interface, input_dict=test_hercules_dict) + _ = HerculesWindBatteryController(interface=test_interface, input_dict=test_hercules_dict) + + +def test_WakeSteeringADStandin(): + test_interface = HerculesADYawInterface(test_hercules_dict) + test_controller = WakeSteeringADStandin(interface=test_interface, input_dict=test_hercules_dict) + + # Check that the controller can be stepped + test_hercules_dict_out = test_controller.step(hercules_dict=test_hercules_dict) + assert test_hercules_dict_out["hercules_comms"]["amr_wind"]["test_farm"][ + "turbine_yaw_angles" + ] == [270.0, 270.0] + + test_hercules_dict["time"] = 20 + test_hercules_dict_out = test_controller.step(hercules_dict=test_hercules_dict) + assert ( + test_hercules_dict_out["hercules_comms"]["amr_wind"]["test_farm"]["turbine_yaw_angles"] + == test_hercules_dict["hercules_comms"]["amr_wind"]["test_farm"]["turbine_wind_directions"] + ) + + +def test_HerculesWindBatteryController(): + # TODO: write this test, possibly clean up HerculesWindBatteryController class + pass diff --git a/tests/controllers_test.py b/tests/controllers_test.py deleted file mode 100644 index 29a99906..00000000 --- a/tests/controllers_test.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2021 NREL - -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at http://www.apache.org/licenses/LICENSE-2.0 - -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# See https://nrel.github.io/wind-hybrid-open-controller for documentation - -import unittest - -import numpy as np - - -class TestController1(unittest.TestCase): - def test_1(self): - x = np.array([1]) - assert x == x diff --git a/tests/interface_base_test.py b/tests/interface_base_test.py new file mode 100644 index 00000000..ee9fe07c --- /dev/null +++ b/tests/interface_base_test.py @@ -0,0 +1,77 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + +# import inspect +import pytest +from whoc.interfaces.interface_base import InterfaceBase + +# import whoc.interfaces + + +class InheritanceTestClassBad(InterfaceBase): + """ + Class that is missing necessary methods. + """ + + def __init__(self): + super().__init__() + + +class InheritanceTestClassGood(InterfaceBase): + """ + Class that is missing necessary methods. + """ + + def __init__(self): + super().__init__() + + def get_measurements(self): + pass + + def check_controls(self): + pass + + def send_controls(self): + pass + + +def test_InterfaceBase_methods(): + """ + Check that the base interface class establishes the correct methods. + """ + interface_base = InheritanceTestClassGood() + assert hasattr(interface_base, "get_measurements") + assert hasattr(interface_base, "check_controls") + assert hasattr(interface_base, "send_controls") + + +def test_inherited_methods(): + """ + Check that a subclass of InterfaceBase inherits methods correctly. + """ + + with pytest.raises(TypeError): + _ = InheritanceTestClassBad() + + _ = InheritanceTestClassGood() + + +def test_all_interfaces_implement_methods(): + # In future, I'd like to dynamically instantiate classes, but the different + # inputs that they require on __init__ is currently a roadblock, so I'll just + # explicitly instantiate each interface class for the time being. + + # class_dict = dict(inspect.getmembers(whoc.interfaces, inspect.isclass)) + + pass diff --git a/tests/interface_library_test.py b/tests/interface_library_test.py new file mode 100644 index 00000000..b5622019 --- /dev/null +++ b/tests/interface_library_test.py @@ -0,0 +1,126 @@ +# Copyright 2021 NREL + +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at http://www.apache.org/licenses/LICENSE-2.0 + +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# See https://nrel.github.io/wind-hybrid-open-controller for documentation + +import pytest +from whoc.interfaces import ( + HerculesADYawInterface, + HerculesWindBatteryInterface, +) + +test_hercules_dict = { + "dt": 1, + "time": 0, + "controller": {"num_turbines": 2}, + "hercules_comms": { + "amr_wind": { + "test_farm": { + "turbine_wind_directions": [271.0, 272.5], + "turbine_powers": [4000.0, 4001.0], + } + } + }, + "py_sims": {"test_battery": {"outputs": 10.0}}, +} + + +def test_interface_instantiation(): + """ + Tests whether all interfaces can be imported correctly and that they + each implement the required methods specified by InterfaceBase. + """ + + _ = HerculesADYawInterface(hercules_dict=test_hercules_dict) + _ = HerculesWindBatteryInterface(hercules_dict=test_hercules_dict) + # _ = ROSCO_ZMQInterface() + + +def test_HerculesADYawInterface(): + interface = HerculesADYawInterface(hercules_dict=test_hercules_dict) + + # Test get_measurements() + measurements = interface.get_measurements(hercules_dict=test_hercules_dict) + + assert measurements["time"] == test_hercules_dict["time"] + assert ( + measurements["wind_directions"] + == test_hercules_dict["hercules_comms"]["amr_wind"]["test_farm"]["turbine_wind_directions"] + ) + assert ( + measurements["turbine_powers"] + == test_hercules_dict["hercules_comms"]["amr_wind"]["test_farm"]["turbine_powers"] + ) + + # Test check_controls() + controls_dict = {"yaw_angles": [270.0, 278.9]} + interface.check_controls(controls_dict) # Should not raise an error + + bad_controls_dict1 = {"yaw_angels": [270.0, 268.9]} # Misspelling + bad_controls_dict2 = { + "yaw_angles": [270.0, 268.9], + "power_setpoints": [3000.0, 3000.0], + } # Unavailable control + bad_controls_dict3 = {"yaw_angles": [270.0, 268.9, 270.0]} # Mismatched number of turbines + + with pytest.raises(ValueError): + interface.check_controls(bad_controls_dict1) + with pytest.raises(ValueError): + interface.check_controls(bad_controls_dict2) + with pytest.raises(ValueError): + interface.check_controls(bad_controls_dict3) + + # test send_controls() + test_hercules_dict_out = interface.send_controls( + hercules_dict=test_hercules_dict, **controls_dict + ) + assert ( + controls_dict["yaw_angles"] + == test_hercules_dict_out["hercules_comms"]["amr_wind"]["test_farm"]["turbine_yaw_angles"] + ) + + with pytest.raises(TypeError): # Bad kwarg + interface.send_controls(test_hercules_dict, **bad_controls_dict1) + with pytest.raises(TypeError): # Bad kwarg + interface.send_controls(test_hercules_dict, **bad_controls_dict2) + # bad_controls_dict3 would pass, but faile the check_controls step. + + +def test_HerculesWindBatteryInterface(): + interface = HerculesWindBatteryInterface(hercules_dict=test_hercules_dict) + + # Test get_measurements() + measurements = interface.get_measurements(hercules_dict=test_hercules_dict) + + assert ( + measurements["py_sims"]["battery"] + == test_hercules_dict["py_sims"]["test_battery"]["outputs"] + ) + assert ( + measurements["wind_farm"]["turbine_powers"] + == test_hercules_dict["hercules_comms"]["amr_wind"]["test_farm"]["turbine_powers"] + ) + assert ( + measurements["wind_farm"]["turbine_wind_directions"] + == test_hercules_dict["hercules_comms"]["amr_wind"]["test_farm"]["turbine_wind_directions"] + ) + + # Test check_controls() + # check_controls is pass-through + + # Test send_controls() + controls_dict = {"test": 0} + test_hercules_dict_out = interface.send_controls( + hercules_dict=test_hercules_dict, controls_dict=controls_dict + ) + + assert test_hercules_dict_out["setpoints"] == controls_dict diff --git a/tests/simple_test.py b/tests/simple_test.py deleted file mode 100644 index 5c1912db..00000000 --- a/tests/simple_test.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2021 NREL - -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at http://www.apache.org/licenses/LICENSE-2.0 - -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# See https://nrel.github.io/wind-hybrid-open-controller for documentation - -import unittest - -import numpy as np - - -class TestSimple(unittest.TestCase): - def test_simple(self): - x = np.array([1]) - assert x == x diff --git a/whoc/controllers/__init__.py b/whoc/controllers/__init__.py new file mode 100644 index 00000000..aa53dafc --- /dev/null +++ b/whoc/controllers/__init__.py @@ -0,0 +1,3 @@ +from whoc.controllers.hercules_wind_battery_controller import HerculesWindBatteryController +from whoc.controllers.wake_steering_actuatordisk_standin import WakeSteeringADStandin +from whoc.controllers.wake_steering_rosco_standin import WakeSteeringROSCOStandin diff --git a/whoc/controller_base.py b/whoc/controllers/controller_base.py similarity index 80% rename from whoc/controller_base.py rename to whoc/controllers/controller_base.py index 1e798831..a8ea8d7d 100644 --- a/whoc/controller_base.py +++ b/whoc/controllers/controller_base.py @@ -12,10 +12,10 @@ # See https://nrel.github.io/wind-hybrid-open-controller for documentation -from abc import abstractmethod +from abc import ABCMeta, abstractmethod -class ControllerBase: +class ControllerBase(metaclass=ABCMeta): def __init__(self, interface, verbose=True): self._s = interface self.verbose = verbose @@ -45,34 +45,34 @@ def __init__(self, interface, verbose=True): # from servers.python_server import WHOC_python_server # self._s = WHOC_python_server() - # Initialize setpoints to send - self.setpoints_dict = None + # Initialize controls to send + self.controls_dict = None - def receive_measurements(self, dict=None): + def _receive_measurements(self, dict=None): # May need to eventually loop here, depending on server set up. self.measurements_dict = self._s.get_measurements(dict) return None - def send_setpoints(self, dict=None): - self._s.check_setpoints(self.setpoints_dict) - dict = self._s.send_setpoints(dict, **self.setpoints_dict) + def _send_controls(self, dict=None): + self._s.check_controls(self.controls_dict) + dict = self._s.send_controls(dict, **self.controls_dict) return dict # or main_dict, or what? def step(self, hercules_dict=None): # If not running with direct hercules integration, # hercules_dict may simply be None throughout this method. - self.receive_measurements(hercules_dict) + self._receive_measurements(hercules_dict) - self.compute_setpoints() + self.compute_controls() - hercules_dict = self.send_setpoints(hercules_dict) + hercules_dict = self._send_controls(hercules_dict) return hercules_dict # May simply be None. @abstractmethod - def compute_setpoints(self): - # Control algorithms should be implemented in the compute_setpoints + def compute_controls(self): + # Control algorithms should be implemented in the compute_controls # method of the child class. pass diff --git a/whoc/controllers/hercules_wind_battery_controller.py b/whoc/controllers/hercules_wind_battery_controller.py index 8f8060f1..09f1664e 100644 --- a/whoc/controllers/hercules_wind_battery_controller.py +++ b/whoc/controllers/hercules_wind_battery_controller.py @@ -13,7 +13,8 @@ # See https://nrel.github.io/wind-hybrid-open-controller for documentation import numpy as np -from whoc.controller_base import ControllerBase + +from whoc.controllers.controller_base import ControllerBase class HerculesWindBatteryController(ControllerBase): @@ -23,22 +24,22 @@ def __init__(self, interface, input_dict, verbose=True): self.dt = input_dict["dt"] self.n_turbines = input_dict["controller"]["num_turbines"] - def send_setpoints(self, hercules_dict): - self._s.check_setpoints(self.setpoints_dict) - dict = self._s.send_setpoints(hercules_dict, self.setpoints_dict) + def send_controls(self, hercules_dict): + self._s.check_controls(self.setpoints_dict) + dict = self._s.send_controls(hercules_dict, self.setpoints_dict) return dict # or main_dict, or what? def step(self, hercules_dict=None): - self.receive_measurements(hercules_dict) + self._receive_measurements(hercules_dict) # receive measurements sets self.measurements_dict - self.compute_setpoints() - hercules_dict = self.send_setpoints(hercules_dict) + self.compute_controls() + hercules_dict = self.send_controls(hercules_dict) return hercules_dict - def compute_setpoints(self): - # set self.setpoints_dict + def compute_controls(self): + # set self.controls_dict # calc wind setpoints wind_setpoints = self.calc_wind_setpoints() diff --git a/whoc/controllers/wake_steering_actuatordisk_standin.py b/whoc/controllers/wake_steering_actuatordisk_standin.py index 4fe86738..132d665c 100644 --- a/whoc/controllers/wake_steering_actuatordisk_standin.py +++ b/whoc/controllers/wake_steering_actuatordisk_standin.py @@ -12,7 +12,7 @@ # See https://nrel.github.io/wind-hybrid-open-controller for documentation -from whoc.controller_base import ControllerBase +from whoc.controllers.controller_base import ControllerBase class WakeSteeringADStandin(ControllerBase): @@ -27,18 +27,18 @@ def __init__(self, interface, input_dict): yaw_IC = input_dict["controller"]["initial_conditions"]["yaw"] if hasattr(yaw_IC, "__len__"): if len(yaw_IC) == self.n_turbines: - self.setpoints_dict = {"yaw_angles": yaw_IC} + self.controls_dict = {"yaw_angles": yaw_IC} else: raise TypeError( "yaw initial condition should be a float or " + "a list of floats of length num_turbines." ) else: - self.setpoints_dict = {"yaw_angles": [yaw_IC] * self.n_turbines} + self.controls_dict = {"yaw_angles": [yaw_IC] * self.n_turbines} # Grab name of wind farm (assumes there is only one!) - def compute_setpoints(self): + def compute_controls(self): self.generate_turbine_references() def generate_turbine_references(self): @@ -50,7 +50,7 @@ def generate_turbine_references(self): else: yaw_setpoint = self.measurements_dict["wind_directions"] - self.setpoints_dict = {"yaw_angles": yaw_setpoint} + self.controls_dict = {"yaw_angles": yaw_setpoint} return None diff --git a/whoc/controllers/wake_steering_rosco_standin.py b/whoc/controllers/wake_steering_rosco_standin.py index ede929a1..6da3218e 100644 --- a/whoc/controllers/wake_steering_rosco_standin.py +++ b/whoc/controllers/wake_steering_rosco_standin.py @@ -12,14 +12,14 @@ # See https://nrel.github.io/wind-hybrid-open-controller for documentation -from controller_base import ControllerBase +from whoc.controllers.controller_base import ControllerBase class WakeSteeringROSCOStandin(ControllerBase): def __init__(self, interface): super.__init__(interface, timeout=100.0, verbose=True) - def compute_setpoints(self): + def compute_controls(self): self.generate_turbine_references() def generate_turbine_references(self): @@ -33,7 +33,7 @@ def generate_turbine_references(self): else: yaw_setpoint = 20.0 - self.setpoints_dict = { + self.controls_dict = { "turbine_ID": 0, # TODO: hardcoded! Replace. "genTorque": 0.0, "nacelleHeading": yaw_setpoint, diff --git a/whoc/interfaces/__init__.py b/whoc/interfaces/__init__.py new file mode 100644 index 00000000..8c80dc38 --- /dev/null +++ b/whoc/interfaces/__init__.py @@ -0,0 +1,3 @@ +from whoc.interfaces.hercules_actuator_disk_yaw_interface import HerculesADYawInterface +from whoc.interfaces.hercules_wind_battery_interface import HerculesWindBatteryInterface +from whoc.interfaces.rosco_zmq_interface import ROSCO_ZMQInterface diff --git a/whoc/interfaces/hercules_actuator_disk_yaw_interface.py b/whoc/interfaces/hercules_actuator_disk_yaw_interface.py index 5efdc3df..5dd76806 100644 --- a/whoc/interfaces/hercules_actuator_disk_yaw_interface.py +++ b/whoc/interfaces/hercules_actuator_disk_yaw_interface.py @@ -18,28 +18,28 @@ class HerculesADYawInterface(InterfaceBase): - def __init__(self, input_dict): + def __init__(self, hercules_dict): super().__init__() - self.dt = input_dict["dt"] - self.n_turbines = input_dict["controller"]["num_turbines"] + self.dt = hercules_dict["dt"] + self.n_turbines = hercules_dict["controller"]["num_turbines"] self.turbines = range(self.n_turbines) # Grab name of wind farm (assumes there is only one!) - self.wf_name = list(input_dict["hercules_comms"]["amr_wind"].keys())[0] + self.wf_name = list(hercules_dict["hercules_comms"]["amr_wind"].keys())[0] pass - def get_measurements(self, input_dict): - wind_directions = input_dict["hercules_comms"]["amr_wind"][self.wf_name][ + def get_measurements(self, hercules_dict): + wind_directions = hercules_dict["hercules_comms"]["amr_wind"][self.wf_name][ "turbine_wind_directions" ] # wind_speeds = input_dict["hercules_comms"]\ # ["amr_wind"]\ # [self.wf_name]\ # ["turbine_wind_speeds"] - powers = input_dict["hercules_comms"]["amr_wind"][self.wf_name]["turbine_powers"] - time = input_dict["time"] + powers = hercules_dict["hercules_comms"]["amr_wind"][self.wf_name]["turbine_powers"] + time = hercules_dict["time"] measurements = { "time": time, @@ -50,17 +50,21 @@ def get_measurements(self, input_dict): return measurements - def check_setpoints(self, setpoints_dict): - available_setpoints = ["yaw_angles"] + def check_controls(self, controls_dict): + available_controls = ["yaw_angles"] - for k in setpoints_dict.keys(): - if k not in available_setpoints: - raise ValueError("Setpoint " + k + " is not available in this configuration") + for k in controls_dict.keys(): + if k not in available_controls: + raise ValueError("Setpoint " + k + " is not available in this configuration.") + if len(controls_dict[k]) != self.n_turbines: + raise ValueError( + "Length of setpoint " + k + " does not match the number of turbines." + ) - def send_setpoints(self, input_dict, yaw_angles=None): + def send_controls(self, hercules_dict, yaw_angles=None): if yaw_angles is None: yaw_angles = [0.0] * self.n_turbines - input_dict["hercules_comms"]["amr_wind"][self.wf_name]["turbine_yaw_angles"] = yaw_angles + hercules_dict["hercules_comms"]["amr_wind"][self.wf_name]["turbine_yaw_angles"] = yaw_angles - return input_dict + return hercules_dict diff --git a/whoc/interfaces/hercules_wind_battery_interface.py b/whoc/interfaces/hercules_wind_battery_interface.py index 0cec51c9..c49b8ca6 100644 --- a/whoc/interfaces/hercules_wind_battery_interface.py +++ b/whoc/interfaces/hercules_wind_battery_interface.py @@ -16,28 +16,34 @@ class HerculesWindBatteryInterface(InterfaceBase): - def __init__(self, input_dict): + def __init__(self, hercules_dict): super().__init__() + # Grab name of wind farm (assumes there is only one!) + self.wf_name = list(hercules_dict["hercules_comms"]["amr_wind"].keys())[0] + + # Get the name of the battery (assumes the battery is the only pysim!) + self.battery_name = list(hercules_dict["py_sims"].keys())[0] + def get_measurements(self, hercules_dict): measurements = { - "py_sims": {"battery": hercules_dict["py_sims"]["battery_0"]["outputs"]}, + "py_sims": {"battery": hercules_dict["py_sims"][self.battery_name]["outputs"]}, "wind_farm": { - "turbine_powers": hercules_dict["hercules_comms"]["amr_wind"]["wind_farm_0"][ + "turbine_powers": hercules_dict["hercules_comms"]["amr_wind"][self.wf_name][ "turbine_powers" ], "turbine_wind_directions": hercules_dict["hercules_comms"]["amr_wind"][ - "wind_farm_0" + self.wf_name ]["turbine_wind_directions"], }, } return measurements - def check_setpoints(self, setpoints_dict): - setpoints = {} - return setpoints + def check_controls(self, controls_dict): + controls = {} + return controls - def send_setpoints(self, hercules_dict, setpoints_dict=None): - hercules_dict.update({"setpoints": setpoints_dict}) + def send_controls(self, hercules_dict, controls_dict=None): + hercules_dict.update({"setpoints": controls_dict}) return hercules_dict diff --git a/whoc/interfaces/interface_base.py b/whoc/interfaces/interface_base.py index 73d2906c..8bf54db2 100644 --- a/whoc/interfaces/interface_base.py +++ b/whoc/interfaces/interface_base.py @@ -12,18 +12,18 @@ # See https://nrel.github.io/wind-hybrid-open-controller for documentation -from abc import abstractmethod +from abc import ABCMeta, abstractmethod -class InterfaceBase: +class InterfaceBase(metaclass=ABCMeta): @abstractmethod def get_measurements(self): - pass + raise NotImplementedError @abstractmethod - def check_setpoints(self): - pass + def check_controls(self): + raise NotImplementedError @abstractmethod - def send_setpoints(self): - pass + def send_controls(self): + raise NotImplementedError diff --git a/whoc/interfaces/python_interface_temp.py b/whoc/interfaces/python_interface_temp.py index 30f7f829..a97578ad 100644 --- a/whoc/interfaces/python_interface_temp.py +++ b/whoc/interfaces/python_interface_temp.py @@ -25,8 +25,8 @@ def get_measurements(self, dict): return measurements - def send_setpoints(self, dict): + def send_controls(self, dict): # Not sure if anything needs to be done here. Can possibly return None. - setpoints = dict + controls = dict - return setpoints + return controls diff --git a/whoc/interfaces/rosco_zmq_interface.py b/whoc/interfaces/rosco_zmq_interface.py index 3a28fc10..17b2218f 100644 --- a/whoc/interfaces/rosco_zmq_interface.py +++ b/whoc/interfaces/rosco_zmq_interface.py @@ -13,6 +13,7 @@ # See https://nrel.github.io/wind-hybrid-open-controller for documentation import zmq + from whoc.interfaces.interface_base import InterfaceBase # Code copied from ROSCO; consider just importing and using that code @@ -124,23 +125,23 @@ def get_measurements(self, _): return measurements - def check_setpoints(self, setpoints_dict): - available_setpoints = [ + def check_controls(self, controls_dict): + available_controls = [ "turbine_ID", "genTorque", "nacelleHeading", "bladePitch", ] - for k in setpoints_dict.keys(): - if k not in available_setpoints: + for k in controls_dict.keys(): + if k not in available_controls: raise ValueError("Setpoint " + k + " is not available in this configuration") - def send_setpoints( + def send_controls( self, turbine_ID=0, genTorque=0.0, nacelleHeading=0.0, bladePitch=[0.0, 0.0, 0.0] ): """ - Send setpoints to ROSCO .dll ffor individual turbine control + Send controls to ROSCO .dll ffor individual turbine control Parameters: ----------- @@ -151,7 +152,7 @@ def send_setpoints( bladePitchAngles: List (len=3) Blade pitch angle setpoint """ - # Create a message with setpoints to send to ROSCO + # Create a message with controls to send to ROSCO message_out = b"%016.5f, %016.5f, %016.5f, %016.5f, %016.5f, %016.5f" % ( turbine_ID, genTorque, @@ -165,7 +166,7 @@ def send_setpoints( if self.verbose: print("[%s] Sending setpoint string to ROSCO: %s." % (self.identifier, message_out)) - # Send control setpoints over network protocol + # Send control controls over network protocol self.socket.send(message_out) if self.verbose: