WISDEM · dzalkind · Aug 19, 2022 · Jan 12, 2022 · Jan 12, 2022 · Jan 12, 2022
diff --git a/README.md b/README.md
@@ -33,6 +33,7 @@ Software Model Versions:
 Software        |       Version
 ---             |       ---
 OpenFAST        |       3.2.0
+ROSCO           |       2.6.0
 
 The core WEIS modules are:
  * _aeroelasticse_ is a wrapper to call [OpenFAST](https://github.com/OpenFAST/openfast)

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

diff --git a/ROSCO/.github/workflows/CI_rosco-pytools.yml b/ROSCO/.github/workflows/CI_rosco-pytools.yml
@@ -92,41 +92,66 @@ jobs:
           python-version: 3.8
           environment-file: environment.yml
 
+      # setup cmake
+      - name: Setup Workspace
+        run: cmake -E make_directory ${{runner.workspace}}/ROSCO/ROSCO/build
 
       # Install dependencies of ROSCO toolbox
       - name: Add dependencies ubuntu specific
-        if: false == contains( matrix.os, 'windows')
-        run: |
-          conda install -y wisdem
-      - name: Add dependencies windows specific
-        if: true == contains( matrix.os, 'windows')
         run: |
-          conda install -y m2w64-toolchain libpython 
           conda install -y wisdem
+
       - name: Add pyFAST dependency
-        if: false == contains( matrix.os, 'windows')
         run: |
           git clone http://github.com/OpenFAST/python-toolbox
           cd python-toolbox
           python -m pip install -e .
 
+      # Install ZeroMQ
+      - name: Install ZeroMQ
+        run: sudo apt-get install libzmq3-dev
 
       # Install ROSCO toolbox
       - name: Install ROSCO toolbox
         run: |
-          python setup.py install --compile-rosco
+          python setup.py develop 
+
+      - name: Configure and Build ROSCO - unix
+        working-directory: ${{runner.workspace}}/ROSCO/ROSCO/build
+        run: |
+          cmake \
+            -DCMAKE_INSTALL_PREFIX:PATH=${{runner.workspace}}/ROSCO/ROSCO/install \
+            -DZMQ_CLIENT=ON \
+            -DCMAKE_Fortran_COMPILER:STRING=${{env.FORTRAN_COMPILER}} \
+            ..
+          cmake --build . --target install
 
       # Install OpenFAST
       - name: Install OpenFAST
         run: |
-          conda install openfast==3.1.0
+          conda install openfast==3.2.0
 
       # Run examples
       - name: Run examples
         run: |
           cd Examples
           python run_examples.py
 
+      # Test walkthrough notebook
+      - name: Test walkthrough notebook
+        run: |
+          cd Examples
+          treon ROSCO_walkthrough.ipynb
+
+      # Archive artifacts
+      - name: Archive production artifacts
+        if: success() || failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: ROSCO-artifacts
+          path: |
+            ${{runner.workspace}}
+
   run_testing:
     name: Run Testing
     runs-on: ${{ matrix.os }}
@@ -156,21 +181,20 @@ jobs:
 
 
       # Install dependencies of ROSCO toolbox
-      - name: Add dependencies ubuntu specific
-        if: false == contains( matrix.os, 'windows')
+      - name: Add dependencies
         run: |
           conda install -y wisdem
 
 
       # Install ROSCO toolbox
       - name: Install ROSCO toolbox
         run: |
-          python setup.py develop --compile-rosco
+          python setup.py install --compile-rosco
 
       # Install OpenFAST
       - name: Install OpenFAST
         run: |
-          conda install openfast==3.1.0
+          conda install openfast==3.2.0
 
       # Run ROSCO Testing
       - name: Run ROSCO testing
@@ -182,4 +206,4 @@ jobs:
       - name: Run regression testing
         run: |
           cd ROSCO_testing
-          python regtest.py
+          python test_checkpoint.py
diff --git a/ROSCO/.gitignore b/ROSCO/.gitignore
@@ -76,6 +76,7 @@ examples/cp_ct_cq_lut.p
 
 # Files Generated in Examples
 Examples/DISCON.IN
+Examples/DISCON_zmq.IN
 Examples/*.p
 
 # Exclude testing results
@@ -86,3 +87,6 @@ ROSCO_testing/results/
 *.autosave
 *.mat
 
+# OpenFAST outputs
+outputs/
+
diff --git a/ROSCO/Examples/ROSCO_walkthrough.ipynb b/ROSCO/Examples/ROSCO_walkthrough.ipynb
diff --git a/ROSCO/Examples/example_01.py b/ROSCO/Examples/example_01.py
@@ -34,7 +34,7 @@
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
     )
 
 # Print some basic turbine info

diff --git a/ROSCO/Examples/example_04.py b/ROSCO/Examples/example_04.py
@@ -34,19 +34,23 @@
 controller      = ROSCO_controller.Controller(controller_params)
 
 # Load turbine data from OpenFAST and rotor performance text file
+cp_filename = os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename= cp_filename
     )
 
 # Tune controller 
 controller.tune_controller(turbine)
 
 # Write parameter input file
 param_file = os.path.join(this_dir,'DISCON.IN')
-write_DISCON(turbine,controller,param_file=param_file, txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename']))
+write_DISCON(turbine,controller,
+param_file=param_file, 
+txt_filename=cp_filename
+)
 
 # Plot gain schedule
 fig, ax = plt.subplots(2,2,constrained_layout=True,sharex=True)

diff --git a/ROSCO/Examples/example_05.py b/ROSCO/Examples/example_05.py
@@ -55,11 +55,12 @@
 # controller      = ROSCO_controller.Controller(controller_params)
 
 # Load turbine data from OpenFAST and rotor performance text file
+cp_filename = os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=cp_filename
     )
 
 # Tune controller 
@@ -68,7 +69,11 @@
 
 # Write parameter input file
 param_filename = os.path.join(this_dir,'DISCON.IN')
-write_DISCON(turbine,controller,param_file=param_filename, txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename']))
+write_DISCON(
+  turbine,controller,
+  param_file=param_filename, 
+  txt_filename=cp_filename
+  )
 
 
 # Load controller library

diff --git a/ROSCO/Examples/example_07.py b/ROSCO/Examples/example_07.py
@@ -45,7 +45,7 @@
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
     )
 # Tune controller 
 controller.tune_controller(turbine)

diff --git a/ROSCO/Examples/example_10.py b/ROSCO/Examples/example_10.py
@@ -34,7 +34,6 @@
 
 # Load turbine data from openfast model
 turbine = ROSCO_turbine.Turbine(turbine_params)
-# turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source='txt',txt_filename=path_params['rotor_performance_filename'])
 turbine.load_from_fast(path_params['FAST_InputFile'], \
     os.path.join(this_dir,path_params['FAST_directory']),dev_branch=True)
 

diff --git a/ROSCO/Examples/example_11.py b/ROSCO/Examples/example_11.py
@@ -46,7 +46,7 @@
   os.path.join(this_dir,path_params['FAST_directory']),
   dev_branch=True,
   rot_source='txt',
-  txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+  txt_filename=os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
   )
 
 # Tune controller 

diff --git a/ROSCO/Examples/example_12.py b/ROSCO/Examples/example_12.py
@@ -17,7 +17,8 @@
 import numpy as np
 import matplotlib.pyplot as plt
 from ROSCO_toolbox.inputs.validation import load_rosco_yaml
-from ROSCO_toolbox.linear.robust_scheduling import rsched_driver
+from ROSCO_toolbox.linear.robust_scheduling import rsched_driver, load_linturb
+from ROSCO_toolbox.linear.lin_vis import lin_plotting
 from ROSCO_toolbox import turbine as ROSCO_turbine
 from ROSCO_toolbox import controller as ROSCO_controller
 
@@ -123,6 +124,28 @@ def run_example():
     if False:
         plt.show()
     else:
-        plt.savefig(os.path.join(example_out_dir, '12_RobustSched.png'))
+        fig.savefig(os.path.join(example_out_dir, '12_RobustSched.png'))
+
+    # ---- Plot nyquist ----
+    # Re-load and trimlinturb for plotting
+    linturb = load_linturb(options['linturb_options']['linfile_path'], load_parallel=True) # 
+    linturb.trim_system(desInputs=['collective'], desOutputs=['RtSpeed'])
+
+    # Plotting parameters
+    u = 12
+    omega = 0.1
+    k_float = 0.0
+    controller.zeta_pc = controller.zeta_pc[0]
+
+    # plot
+    lv = lin_plotting(controller, turbine, linturb)
+    xlim=ylim=[-2,2]
+    lv.plot_nyquist(u, omega, k_float=k_float, xlim=xlim, ylim=ylim)
+
+    if False:
+        plt.show()
+    else:
+        plt.savefig(os.path.join(example_out_dir, '12_Nyquist.png'))
+
 if __name__ == '__main__':
     run_example()
diff --git a/ROSCO/Examples/example_13.py b/ROSCO/Examples/example_13.py
@@ -10,8 +10,7 @@
 
 '''
 # Python Modules
-import yaml, os, platform
-import numpy as np
+import os, platform
 import matplotlib.pyplot as plt
 
 # ROSCO toolbox modules 
@@ -85,7 +84,7 @@
 channels['BldPitch3'] = True
 
 # Run FAST cases
-fastBatch                   = runFAST_pywrapper_batch(FAST_ver='OpenFAST',dev_branch = True)
+fastBatch                   = runFAST_pywrapper_batch()
 
 fastBatch.FAST_directory    = os.path.realpath(os.path.join(rosco_dir,'Tune_Cases',path_params['FAST_directory']))
 fastBatch.FAST_InputFile    = path_params['FAST_InputFile']        

diff --git a/ROSCO/Examples/example_14.py b/ROSCO/Examples/example_14.py
@@ -122,7 +122,7 @@
 channels = set_channels()
 
 # Run FAST cases
-fastBatch                   = runFAST_pywrapper_batch(FAST_ver='OpenFAST',dev_branch = True)
+fastBatch                   = runFAST_pywrapper_batch()
 
 fastBatch.FAST_directory    = os.path.realpath(os.path.join(rosco_dir,'Tune_Cases',path_params['FAST_directory']))
 fastBatch.FAST_InputFile    = path_params['FAST_InputFile']        

diff --git a/ROSCO/Examples/example_15.py b/ROSCO/Examples/example_15.py
@@ -0,0 +1,45 @@
+'''
+----------- Example_15 --------------
+Use the runFAST scripts to set up an example, use pass through in yaml
+-------------------------------------
+
+In this example:
+    - use run_FAST_ROSCO class to set up a test case
+
+'''
+
+import os
+from ROSCO_toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
+from ROSCO_toolbox.ofTools.case_gen import CaseLibrary as cl
+
+
+#directories
+this_dir            = os.path.dirname(os.path.abspath(__file__))
+rosco_dir         = os.path.dirname(this_dir)
+example_out_dir     = os.path.join(this_dir,'examples_out')
+os.makedirs(example_out_dir,exist_ok=True)
+
+
+def main():
+     # Simulation config    
+    r = run_FAST_ROSCO()
+
+    parameter_filename = os.path.join(rosco_dir,'Tune_Cases/NREL5MW_PassThrough.yaml')
+    run_dir = os.path.join(example_out_dir,'15_PassThrough')
+    os.makedirs(run_dir,exist_ok=True)
+
+    # Step wind simulation
+    r.tuning_yaml   = parameter_filename
+    r.wind_case_fcn = cl.simp_step
+    r.wind_case_opts    = {
+        'U_start': [10],
+        'U_end': [15],
+        'wind_dir': run_dir
+        }
+    r.save_dir      = run_dir
+
+    r.run_FAST()
+
+
+if __name__=="__main__":
+    main()