Add various features and tests to ZeroMQ wind farm control implementation

Examples/17a_zeromq_simple.py

@@ -14,29 +14,32 @@
 from ROSCO_toolbox.inputs.validation import load_rosco_yaml
 from ROSCO_toolbox.utilities import write_DISCON
 from ROSCO_toolbox import control_interface as ROSCO_ci
-from ROSCO_toolbox.control_interface import turbine_zmq_server
+from ROSCO_toolbox.control_interface import wfc_zmq_server
 from ROSCO_toolbox import sim as ROSCO_sim
 from ROSCO_toolbox import turbine as ROSCO_turbine
 from ROSCO_toolbox import controller as ROSCO_controller
 from ROSCO_toolbox.ofTools.fast_io import output_processing
 import numpy as np
 import multiprocessing as mp
 
+this_dir = os.path.dirname(os.path.abspath(__file__))
+example_out_dir = os.path.join(this_dir, "examples_out")
 TIME_CHECK = 30
 DESIRED_YAW_OFFSET = 20
 DESIRED_PITCH_OFFSET = np.deg2rad(2) * np.sin(0.1 * TIME_CHECK) + np.deg2rad(2)
 
-def run_zmq():
-    connect_zmq = True
-    s = turbine_zmq_server(network_address="tcp://*:5555", timeout=10.0)
-    while connect_zmq:
-        #  Get latest measurements from ROSCO
-        measurements = s.get_measurements()
+def run_zmq(logfile=None):
+    # Start the server at the following address
+    network_address = "tcp://*:5555"
+    server = wfc_zmq_server(network_address, timeout=60.0, verbose=False, logfile=logfile)
 
-        # Decide new control input based on measurements
+    # Provide the wind farm control algorithm as the wfc_controller method of the server
+    server.wfc_controller = wfc_controller
 
-        # Yaw set point
-        current_time = measurements['Time']
+    # Run the server to receive measurements and send setpoints
+    server.runserver()
+
+def wfc_controller(id,current_time,measurements):
         if current_time <= 10.0:
             yaw_setpoint = 0.0
         else:
@@ -49,18 +52,13 @@ def run_zmq():
             col_pitch_command = 0.0
 
         # Send new setpoints back to ROSCO
-        s.setpoints['ZMQ_TorqueOffset'] = 0.0
-        s.setpoints['ZMQ_YawOffset'] = yaw_setpoint
-        s.setpoints['ZMQ_PitOffset(1)'] = col_pitch_command
-        s.setpoints['ZMQ_PitOffset(2)'] = col_pitch_command
-        s.setpoints['ZMQ_PitOffset(3)'] = col_pitch_command
-
-        s.send_setpoints()
-
-        if measurements['iStatus'] == -1:
-            connect_zmq = False
-            s._disconnect()
-
+        setpoints = {}
+        setpoints['ZMQ_TorqueOffset'] = 0.0
+        setpoints['ZMQ_YawOffset'] = yaw_setpoint
+        setpoints['ZMQ_PitOffset(1)'] = col_pitch_command
+        setpoints['ZMQ_PitOffset(2)'] = col_pitch_command
+        setpoints['ZMQ_PitOffset(3)'] = col_pitch_command
+        return setpoints
 
 def sim_rosco():
     # Load yaml file
@@ -168,9 +166,10 @@ def sim_rosco():
     np.testing.assert_almost_equal(local_vars[0]['ZMQ_PitOffset'][ind_30], DESIRED_PITCH_OFFSET, decimal=3)
 
 if __name__ == "__main__":
-    p1 = mp.Process(target=run_zmq)
+    logfile = os.path.join(example_out_dir,os.path.splitext(os.path.basename(__file__))[0]+'.log')
+    p1 = mp.Process(target=run_zmq,args=(logfile,))
     p1.start()
     p2 = mp.Process(target=sim_rosco)
     p2.start()
     p1.join()
-    p2.join()
+    p2.join()

Examples/17b_zeromq_multi_openfast.py

@@ -1,21 +1,26 @@
 import os
+import numpy as np
 import multiprocessing as mp
+import matplotlib.pyplot as plt
 from ROSCO_toolbox.control_interface import wfc_zmq_server
 from ROSCO_toolbox.ofTools.case_gen import CaseLibrary as cl
 from ROSCO_toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
+from ROSCO_toolbox.ofTools.fast_io import output_processing
 
 
 this_dir = os.path.dirname(os.path.abspath(__file__))
 example_out_dir = os.path.join(this_dir, "examples_out")
 os.makedirs(example_out_dir, exist_ok=True)
+TIME_CHECK = 20
+DESIRED_YAW_OFFSET = [-10, 10]
 
 
-def run_zmq():
+def run_zmq(logfile=None):
     """Start the ZeroMQ server for wind farm control"""
 
     # Start the server at the following address
     network_address = "tcp://*:5555"
-    server = wfc_zmq_server(network_address, timeout=60.0, verbose=True)
+    server = wfc_zmq_server(network_address, timeout=60.0, verbose=False, logfile = logfile)
 
     # Provide the wind farm control algorithm as the wfc_controller method of the server
     server.wfc_controller = wfc_controller
@@ -37,13 +42,20 @@ def wfc_controller(id, current_time, measurements):
     """
     if current_time <= 10.0:
         YawOffset = 0.0
+        col_pitch_command = 0.0
     else:
+        col_pitch_command = np.deg2rad(2) * np.sin(0.1 * current_time) + np.deg2rad(2) # Implement dynamic induction control
         if id == 1:
-            YawOffset = -10.0
+            YawOffset = DESIRED_YAW_OFFSET[0]
         else:
-            YawOffset = 10
+            YawOffset = DESIRED_YAW_OFFSET[1]
+
+
     setpoints = {}
     setpoints["ZMQ_YawOffset"] = YawOffset
+    setpoints['ZMQ_PitOffset(1)'] = col_pitch_command
+    setpoints['ZMQ_PitOffset(2)'] = col_pitch_command
+    setpoints['ZMQ_PitOffset(3)'] = col_pitch_command
     return setpoints
 
 
@@ -54,7 +66,7 @@ def sim_openfast_1():
     r.wind_case_fcn = cl.power_curve
     r.wind_case_opts = {
         "U": [8],
-        "TMax": 100,
+        "TMax": 25,
     }
     run_dir = os.path.join(example_out_dir, "17b_zeromq_OF1")
     r.controller_params = {}
@@ -73,7 +85,7 @@ def sim_openfast_2():
     r.wind_case_fcn = cl.power_curve
     r.wind_case_opts = {
         "U": [8],
-        "TMax": 100,
+        "TMax": 25,
     }
     run_dir = os.path.join(example_out_dir, "17b_zeromq_OF2")
     r.save_dir = run_dir
@@ -88,7 +100,8 @@ def sim_openfast_2():
 if __name__ == "__main__":
     # Start wind farm control server and two openfast simulation
     # as separate processes
-    p0 = mp.Process(target=run_zmq)
+    logfile = os.path.join(example_out_dir,os.path.splitext(os.path.basename(__file__))[0]+'.log')
+    p0 = mp.Process(target=run_zmq,args=(logfile,))
     p1 = mp.Process(target=sim_openfast_1)
     p2 = mp.Process(target=sim_openfast_2)
 
@@ -99,3 +112,49 @@ def sim_openfast_2():
     p0.join()
     p1.join()
     p2.join()
+
+    ## Run tests
+    # Check that info is passed to ROSCO for first simulation
+    op1 = output_processing.output_processing()
+    debug_file1 = os.path.join(
+        example_out_dir,
+        "17b_zeromq_OF1",
+        "NREL5MW",
+        "power_curve",
+        "base",
+        "NREL5MW_0.RO.dbg2",
+    )
+    local_vars1 = op1.load_fast_out(debug_file1, tmin=0)
+
+    # Check that info is passed to ROSCO for first simulation
+    op2 = output_processing.output_processing()
+    debug_file2 = os.path.join(
+        example_out_dir,
+        "17b_zeromq_OF2",
+        "NREL5MW",
+        "power_curve",
+        "base",
+        "NREL5MW_0.RO.dbg2",
+    )
+    local_vars2 = op2.load_fast_out(debug_file2, tmin=0)
+
+    # Generate plots
+    _, axs = plt.subplots(2, 1)
+    axs[0].plot(local_vars1[0]["Time"], local_vars1[0]["ZMQ_YawOffset"])
+    axs[1].plot(local_vars2[0]["Time"], local_vars2[0]["ZMQ_YawOffset"])
+
+    if False:
+        plt.show()
+    else:
+        plt.savefig(os.path.join(example_out_dir, "17b_NREL5MW_ZMQ_Setpoints.png"))
+
+    # Spot check input at time = 30 sec.
+    ind1_30 = local_vars1[0]["Time"] == TIME_CHECK
+    ind2_30 = local_vars2[0]["Time"] == TIME_CHECK
+
+    np.testing.assert_almost_equal(
+        local_vars1[0]["ZMQ_YawOffset"][ind1_30], DESIRED_YAW_OFFSET[0]
+    )
+    np.testing.assert_almost_equal(
+        local_vars2[0]["ZMQ_YawOffset"][ind2_30], DESIRED_YAW_OFFSET[1]
+    )