Openfast io (#417)

* Switch to openfast_io and update to OpenFAST v4.0.0

* Remove old IEA-UMaineSemi, move linearizations

* Revert ROSCO_Testing exes

* Start updating NREL-5MW model

* Examples working except 5,7,14,17,26

* working example 26

* Enable yaw control

* Add openfast_io to pip installs

* Install openfast 4.0 in CI

* Install openfast_io in toml

* Print pytest outputs

* Update IEA-15 Semi paths

* Search for servodyn files recursively

* Fix paths in tests, update discon script

* Update discons

* Increase tolerance on check, checkpoint not perfect

* Skip python 3.9

* Fix path in notebook

* try newer conda packages

* add zmq explicitly

* another try

* more debug

* Try m2-pkg-config

* Update install.rst

---------

Co-authored-by: Mayank Chetan <mayankchetan@gmail.com>
Co-authored-by: Garrett Barter <garrett.barter@nrel.gov>

.github/workflows/CI_rosco-compile.yml

@@ -17,7 +17,7 @@ jobs:
             fail-fast: false #true
             matrix:
                 os: ["ubuntu-latest", "macOS-latest", "windows-latest"] #mac-13 intel, mac-14 arm
-                python-version: ["3.9", "3.10", "3.11", "3.12"]
+                python-version: ["3.10", "3.11", "3.12"]
 
         steps:
             - name: Setup GNU Fortran
@@ -108,29 +108,33 @@ jobs:
         strategy:
             fail-fast: false #true
             matrix:
-                os: ["ubuntu-latest", "macOS-13", "windows-latest"] #mac-13 intel, mac-14 arm
-                python-version: ["3.9", "3.10", "3.11", "3.12"]
+                os: ["ubuntu-latest", "macOS-13", "macOS-14", "windows-latest"] #mac-13 intel, mac-14 arm
+                python-version: ["3.10", "3.11", "3.12"]
 
         steps:
             - name: checkout repository
               uses: actions/checkout@v4
 
-            - uses: conda-incubator/setup-miniconda@v2
+            - uses: conda-incubator/setup-miniconda@v3
               # https://github.com/marketplace/actions/setup-miniconda
               with:
-                  #mamba-version: "*"
                   miniforge-version: "latest"
                   auto-update-conda: true
                   python-version: ${{ matrix.python-version }}
                   environment-file: environment.yml
                   activate-environment: test
                   auto-activate-base: false
 
+            - name: Install OpenFAST
+              run: |
+                  conda install openfast>=4.0
+                  
             - name: Add dependencies windows specific
               if: contains( matrix.os, 'windows')
               run: |
-                  conda install -y m2w64-toolchain libpython
+                  conda install -y gfortran gcc libpython m2-pkg-config
                   gfortran --version
+                  ls C:/Users/runneradmin/miniconda3/envs/test/Library/lib/*zmq*
                   
             - name: Add dependencies mac specific
               if: contains( matrix.os, 'mac')
@@ -142,15 +146,11 @@ jobs:
             - name: Debug
               run: |
                   conda list
-                  printenv
+                  printenv | sort
                     
             - name: Conda Install ROSCO
               run: |
-                  python -m pip install -e .
-          
-            - name: Install OpenFAST
-              run: |
-                  conda install openfast==3.5.3
+                  python -m pip install -e . --no-build-isolation
           
             - name: Generate Registry
               run: |
@@ -175,7 +175,7 @@ jobs:
               if: contains( matrix.os, 'ubuntu')
               run: |
                   cd rosco/test
-                  pytest .
+                  pytest -s .
                   
             - name: Test walkthrough notebook
               if: contains( matrix.os, 'ubuntu')

.gitignore

@@ -82,6 +82,7 @@ Examples/*.p
 # Exclude testing results
 ROSCO_testing/results/
 ROSCO_testing/testing
+rosco/test/testing
 
 # Simulink/Matlab temp files
 *.slxc

Examples/.gitignore

@@ -1,3 +1,4 @@
-Cp_Ct_Cq.*.txt
 *.p
-examples_out/
+examples_out/
+11_robust_tuning_out
+*.10

Examples/05_openfast_sim.py

@@ -23,6 +23,7 @@
 from rosco.toolbox import turbine as ROSCO_turbine
 from rosco.toolbox.utilities import write_DISCON, run_openfast
 from rosco.toolbox.inputs.validation import load_rosco_yaml
+from rosco import discon_lib_path
 
 def main():
     this_dir = os.path.dirname(os.path.abspath(__file__))
@@ -48,6 +49,9 @@ def main():
         txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
         )
 
+    # Setting up the location of ROSCO library
+    turbine.fast.fst_vt['ServoDyn']['DLL_FileName'] = discon_lib_path
+
     # Tune controller 
     controller.tune_controller(turbine)
 

Examples/07_openfast_outputs.py

@@ -25,7 +25,7 @@ def main():
         os.makedirs(example_out_dir)
 
     # Define openfast output filenames
-    filenames = ["Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi.outb"]
+    filenames = ["Test_Cases/IEA-15-240-RWT/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi.outb"]
     # ---- Note: Could load and plot multiple cases, textfiles, and binaries...
     # filenames = ["../Test_Cases/NREL-5MW/NREL-5MW.outb",
     #             "../Test_Cases/NREL-5MW/NREL-5MW_ex8.outb"]

Examples/14_open_loop_control.py

@@ -91,6 +91,11 @@ def main():
     ### Run OpenFAST using aeroelasticse tools
     case_inputs = {}
     case_inputs[('ServoDyn','DLL_FileName')] = {'vals': [discon_lib_path], 'group': 0}
+    case_inputs[('ServoDyn','Ptch_Cntrl')] = {'vals': [1], 'group': 0}
+    case_inputs[('ServoDyn','YCMode')] = {'vals': [5], 'group': 0}
+    case_inputs[('ServoDyn','TYCOn')] = {'vals': [0], 'group': 0}
+    case_inputs[('ElastoDyn','YawDOF')] = {'vals': ['True'], 'group': 0}
+
 
     # Apply all discon variables as case inputs
     discon_vt = ROSCO_utilities.DISCON_dict(

Examples/22_cable_control.py

@@ -19,7 +19,7 @@
 from rosco.toolbox.ofTools.case_gen import CaseLibrary as cl
 from rosco.toolbox.ofTools.fast_io import output_processing
 import numpy as np
-from rosco.toolbox.ofTools.fast_io.FAST_reader import InputReader_OpenFAST
+from openfast_io.FAST_reader import InputReader_OpenFAST
 from rosco.toolbox.inputs.validation import load_rosco_yaml
 import matplotlib.pyplot as plt
 from rosco.toolbox.controller import OpenLoopControl

Examples/23_structural_control.py

@@ -19,7 +19,7 @@
 from rosco.toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
 from rosco.toolbox.ofTools.case_gen import CaseLibrary as cl
 #import numpy as np
-from rosco.toolbox.ofTools.fast_io.FAST_reader import InputReader_OpenFAST
+from openfast_io.FAST_reader import InputReader_OpenFAST
 from rosco.toolbox.inputs.validation import load_rosco_yaml
 from rosco.toolbox.controller import OpenLoopControl
 
@@ -47,7 +47,7 @@ def main():
     reader.execute()
 
     reader.fst_vt['ServoDyn']['NumSStC'] = 3
-    reader.fst_vt['ServoDyn']['SStCfiles'] = ['StC-Force-Col1.dat', 'StC-Force-Col2.dat', 'StC-Force-Col3.dat']
+    reader.fst_vt['ServoDyn']['SStCfiles'] = ['../StC-Force-Col1.dat', '../StC-Force-Col2.dat', '../StC-Force-Col3.dat']
     # Add SStC file inputs
     for StC_file in reader.fst_vt['ServoDyn']['SStCfiles']:
         reader.fst_vt['SStC'].append(reader.read_StC(StC_file))

Examples/28_tower_resonance.py

@@ -9,7 +9,7 @@
 from rosco.toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
 from rosco.toolbox.ofTools.case_gen import CaseLibrary as cl
 #from rosco.toolbox.ofTools.fast_io import output_processing
-from rosco.toolbox.ofTools.fast_io.FAST_reader import InputReader_OpenFAST
+from openfast_io.FAST_reader import InputReader_OpenFAST
 from rosco.toolbox.inputs.validation import load_rosco_yaml
 
 import numpy as np

Examples/ROSCO_walkthrough.ipynb

@@ -672,7 +672,7 @@
     "\n",
     "# Define openfast output filenames, please fill in your own .outb\n",
     "# filenames = [\"../Test_Cases/5MW_Step/5MW_Step.outb\"]\n",
-    "filenames = ['Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi.outb']\n",
+    "filenames = ['Test_Cases/IEA-15-240-RWT/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi.outb']\n",
     "# Load output info and data\n",
     "fast_out = op.load_fast_out(filenames)\n",
     "\n",

Examples/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_00.dat

@@ -7,12 +7,12 @@ DEFAULT                  InterpOrd   ! Interpolation order to use for quasi-stea
 1                        NonDimArea  ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded)
 @"AF00_Coords.txt"       NumCoords   ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included.
 AF00_BL.txt              BL_file     ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called.
-1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and Ctrl.
+1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and UserProp.
 ! ------------------------------------------------------------------------------
 ! data for table 1 
 ! ------------------------------------------------------------------------------
 0.754030                 Re          ! Reynolds number in millions
-0                        Ctrl        ! Control setting (must be 0 for current AirfoilInfo)
+0                        UserProp        ! Control setting (must be 0 for current AirfoilInfo)
 True                     InclUAdata  ! Is unsteady aerodynamics data included in this table? If TRUE, then include 30 UA coefficients below this line
 !........................................
 29.393939                alpha0      ! 0-lift angle of attack, depends on airfoil.

Examples/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_01.dat

@@ -7,12 +7,12 @@ DEFAULT                  InterpOrd   ! Interpolation order to use for quasi-stea
 1                        NonDimArea  ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded)
 @"AF01_Coords.txt"       NumCoords   ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included.
 AF01_BL.txt              BL_file     ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called.
-1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and Ctrl.
+1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and UserProp.
 ! ------------------------------------------------------------------------------
 ! data for table 1 
 ! ------------------------------------------------------------------------------
 1.626654                 Re          ! Reynolds number in millions
-0                        Ctrl        ! Control setting (must be 0 for current AirfoilInfo)
+0                        UserProp        ! Control setting (must be 0 for current AirfoilInfo)
 True                     InclUAdata  ! Is unsteady aerodynamics data included in this table? If TRUE, then include 30 UA coefficients below this line
 !........................................
 2.107816                 alpha0      ! 0-lift angle of attack, depends on airfoil.

Examples/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_02.dat

@@ -7,12 +7,12 @@ DEFAULT                  InterpOrd   ! Interpolation order to use for quasi-stea
 1                        NonDimArea  ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded)
 @"AF02_Coords.txt"       NumCoords   ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included.
 AF02_BL.txt              BL_file     ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called.
-1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and Ctrl.
+1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and UserProp.
 ! ------------------------------------------------------------------------------
 ! data for table 1 
 ! ------------------------------------------------------------------------------
 2.538528                 Re          ! Reynolds number in millions
-0                        Ctrl        ! Control setting (must be 0 for current AirfoilInfo)
+0                        UserProp        ! Control setting (must be 0 for current AirfoilInfo)
 True                     InclUAdata  ! Is unsteady aerodynamics data included in this table? If TRUE, then include 30 UA coefficients below this line
 !........................................
 1.985575                 alpha0      ! 0-lift angle of attack, depends on airfoil.

Examples/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_03.dat

@@ -7,12 +7,12 @@ DEFAULT                  InterpOrd   ! Interpolation order to use for quasi-stea
 1                        NonDimArea  ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded)
 @"AF03_Coords.txt"       NumCoords   ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included.
 AF03_BL.txt              BL_file     ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called.
-1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and Ctrl.
+1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and UserProp.
 ! ------------------------------------------------------------------------------
 ! data for table 1 
 ! ------------------------------------------------------------------------------
 3.518213                 Re          ! Reynolds number in millions
-0                        Ctrl        ! Control setting (must be 0 for current AirfoilInfo)
+0                        UserProp        ! Control setting (must be 0 for current AirfoilInfo)
 True                     InclUAdata  ! Is unsteady aerodynamics data included in this table? If TRUE, then include 30 UA coefficients below this line
 !........................................
 1.807510                 alpha0      ! 0-lift angle of attack, depends on airfoil.

Examples/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_04.dat

@@ -7,12 +7,12 @@ DEFAULT                  InterpOrd   ! Interpolation order to use for quasi-stea
 1                        NonDimArea  ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded)
 @"AF04_Coords.txt"       NumCoords   ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included.
 AF04_BL.txt              BL_file     ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called.
-1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and Ctrl.
+1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and UserProp.
 ! ------------------------------------------------------------------------------
 ! data for table 1 
 ! ------------------------------------------------------------------------------
 4.575668                 Re          ! Reynolds number in millions
-0                        Ctrl        ! Control setting (must be 0 for current AirfoilInfo)
+0                        UserProp        ! Control setting (must be 0 for current AirfoilInfo)
 True                     InclUAdata  ! Is unsteady aerodynamics data included in this table? If TRUE, then include 30 UA coefficients below this line
 !........................................
 1.678026                 alpha0      ! 0-lift angle of attack, depends on airfoil.

Examples/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_05.dat

@@ -7,12 +7,12 @@ DEFAULT                  InterpOrd   ! Interpolation order to use for quasi-stea
 1                        NonDimArea  ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded)
 @"AF05_Coords.txt"       NumCoords   ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included.
 AF05_BL.txt              BL_file     ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called.
-1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and Ctrl.
+1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and UserProp.
 ! ------------------------------------------------------------------------------
 ! data for table 1 
 ! ------------------------------------------------------------------------------
 5.700528                 Re          ! Reynolds number in millions
-0                        Ctrl        ! Control setting (must be 0 for current AirfoilInfo)
+0                        UserProp        ! Control setting (must be 0 for current AirfoilInfo)
 True                     InclUAdata  ! Is unsteady aerodynamics data included in this table? If TRUE, then include 30 UA coefficients below this line
 !........................................
 1.619305                 alpha0      ! 0-lift angle of attack, depends on airfoil.

Examples/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_06.dat

@@ -7,12 +7,12 @@ DEFAULT                  InterpOrd   ! Interpolation order to use for quasi-stea
 1                        NonDimArea  ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded)
 @"AF06_Coords.txt"       NumCoords   ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included.
 AF06_BL.txt              BL_file     ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called.
-1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and Ctrl.
+1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and UserProp.
 ! ------------------------------------------------------------------------------
 ! data for table 1 
 ! ------------------------------------------------------------------------------
 6.865415                 Re          ! Reynolds number in millions
-0                        Ctrl        ! Control setting (must be 0 for current AirfoilInfo)
+0                        UserProp        ! Control setting (must be 0 for current AirfoilInfo)
 True                     InclUAdata  ! Is unsteady aerodynamics data included in this table? If TRUE, then include 30 UA coefficients below this line
 !........................................
 1.063866                 alpha0      ! 0-lift angle of attack, depends on airfoil.

Examples/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_07.dat

@@ -7,12 +7,12 @@ DEFAULT                  InterpOrd   ! Interpolation order to use for quasi-stea
 1                        NonDimArea  ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded)
 @"AF07_Coords.txt"       NumCoords   ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included.
 AF07_BL.txt              BL_file     ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called.
-1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and Ctrl.
+1                        NumTabs     ! Number of airfoil tables in this file.  Each table must have lines for Re and UserProp.
 ! ------------------------------------------------------------------------------
 ! data for table 1 
 ! ------------------------------------------------------------------------------
 8.026545                 Re          ! Reynolds number in millions
-0                        Ctrl        ! Control setting (must be 0 for current AirfoilInfo)
+0                        UserProp        ! Control setting (must be 0 for current AirfoilInfo)
 True                     InclUAdata  ! Is unsteady aerodynamics data included in this table? If TRUE, then include 30 UA coefficients below this line
 !........................................
 -0.252813                alpha0      ! 0-lift angle of attack, depends on airfoil.