Updating controller to align with WHOC

.gitignore

@@ -38,4 +38,4 @@ hercules/local_amr_wind_demo/sample_copy.nc
 t_00*
 logdummy
 loghercules
-*echo
+*echo

example_case_folders/01_amr_wind_only/batch_script.sh

@@ -30,4 +30,4 @@ python3 hercules_runscript.py hercules_input_000.yaml >> loghercules 2>&1  & # S
 
 # 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 2>&1 
+mpirun -n 72 /home/pfleming/amr-wind/build/amr_wind amr_input.inp >> logamr 2>&1 

example_case_folders/01_amr_wind_only/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -9,7 +9,7 @@
 
 input_dict = load_yaml(sys.argv[1])
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

example_case_folders/02_amr_wind_dummy_only/amr_input.inp

@@ -76,7 +76,7 @@ ABL.stats_output_format = netcdf
 
 # Whether to use helics
 helics.activated        =   true
-helics.broker_port =32000
+helics.broker_port = 32000
 
 #¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
 #        ADAPTIVE MESH REFINEMENT       #

example_case_folders/02_amr_wind_dummy_only/bash_script.sh

@@ -10,7 +10,8 @@ export HELICS_PORT=32000
 #make sure you use the same port number in the amr_input.inp and hercules_input_000.yaml files. 
 
 # Set up the helics broker
-helics_broker -f 2 --consoleloglevel=trace --loglevel=debug --local_port=$HELICS_PORT &
+helics_broker -t zmq  -f 2 --loglevel="debug" --local_port=$HELICS_PORT & 
+#helics_broker -f 2 --consoleloglevel=trace --loglevel=debug --local_port=$HELICS_PORT >> loghelics &
 
 # Need to set this to your hercules folder
 # cd /home/pfleming/hercules/hercules

example_case_folders/02_amr_wind_dummy_only/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -10,7 +10,7 @@
 input_dict = load_yaml(sys.argv[1])
 
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

example_case_folders/03_amr_wind_and_solar/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -9,7 +9,7 @@
 
 input_dict = load_yaml(sys.argv[1])
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

example_case_folders/04_amr_wind_and_solar_and_battery/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -9,7 +9,7 @@
 
 input_dict = load_yaml(sys.argv[1])
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

example_case_folders/05_amr_wind_dummy_and_electrolzyer/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -10,7 +10,7 @@
 
 input_dict = load_yaml(sys.argv[1])
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

hercules/controller_standin.py

@@ -0,0 +1,58 @@
+from abc import abstractmethod
+
+class ControllerStandin():
+    """
+    This class is a pass-through stand-in for a plant-level controller.
+    Actual controllers should be implemented in WHOC
+    (https://github.com/NREL/wind-hybrid-open-controller). However, this
+    has been left in to allow users to run Hercules without plant-level
+    control, if desired.
+
+    This assumes Hercules is running with actuator disk turbine models, and
+    will be updated (to be simply a pass-through) when the ROSCO/FAST turbine
+    models are incorporated.
+    """
+
+    def __init__(self, input_dict):
+
+        # Get wind farm information (assumes exactly one wind farm)
+        self.wf_name = list(input_dict["hercules_comms"]["amr_wind"].keys())[0]
+
+    @abstractmethod
+    def step(self, main_dict):
+
+        num_turbines = main_dict["hercules_comms"]\
+                                ["amr_wind"]\
+                                [self.wf_name]\
+                                ["num_turbines"]
+
+        # Set turbine yaw angles based on current AMR-Wind wind direction
+        wd = main_dict["hercules_comms"]\
+                      ["amr_wind"]\
+                      [self.wf_name]\
+                      ["wind_direction"]
+        main_dict["hercules_comms"]\
+                 ["amr_wind"]\
+                 [self.wf_name]\
+                 ["turbine_yaw_angles"] = num_turbines*[wd]
+
+        # TODO: does there need to be a seperate "controller" dict?
+        # Might make understanding the log easier?
+        return main_dict
+
+
+# Can uncomment the below and work on once the ROSCO/FAST connection is 
+# in place and we are no longer using actuator disks.
+
+# class Controller():
+
+#     def __init__(self, input_dict):
+#         pass
+
+#     def step(self, main_dict):
+
+#         pass
+
+#     def get_controller_dict(self):
+
+#         return {}

hercules/dummy_amr_wind.py

@@ -56,6 +56,11 @@ def read_amr_wind_input(amr_wind_input):
     with open(amr_wind_input) as fp:
         Lines = fp.readlines()
 
+        # Get the simulation time step
+        for line in Lines:
+            if 'time.fixed_dt' in line:
+                dt = float(line.split()[2])
+
         # Find the actuators
         for line in Lines:
             if 'Actuator.labels' in line:
@@ -76,11 +81,18 @@ def read_amr_wind_input(amr_wind_input):
                                         for f in line.split()[-3:-1]])
                     turbine_locations.append(locations)
 
+        # Get the helics port
+        for line in Lines:
+            if 'helics.broker_port' in line:
+                broker_port = int(line.split()[2])
+
         return_dict = {
+            'dt':dt,
             'num_turbines': num_turbines,
             'turbine_labels': turbine_labels,
             'rotor_diameter': D,
-            'turbine_locations': turbine_locations
+            'turbine_locations': turbine_locations,
+            'helics_port': broker_port,
         }
 
 
@@ -103,6 +115,10 @@ def __init__(self, config_dict ,amr_wind_input):
         self.amr_wind_input = amr_wind_input
         self.amr_wind_input_dict = read_amr_wind_input(self.amr_wind_input)
 
+        # Get the simulation time step
+        self.dt = self.amr_wind_input_dict['dt']
+        self.config_dict['helics']['deltat'] = self.dt
+
         # Get the number of turbines
         self.num_turbines = self.amr_wind_input_dict['num_turbines']
 
@@ -114,6 +130,7 @@ def run(self):
         # Initialize the values
         turbine_powers = np.zeros(self.num_turbines)
         sim_time_s = 0.  # initialize time to 0
+        time_step = 0 # Initialize time step counter to 0
         amr_wind_speed = 8.0
         amr_wind_direction = 240.0
 
@@ -166,14 +183,23 @@ def run(self):
             # Convert to a list
             turbine_powers = turbine_powers.tolist()
 
+            # Set dummy wind directions to be passed out
+            turbine_wind_directions = list(
+                amr_wind_direction + 5.*np.random.randn(self.num_turbines)
+            )
+            turbine_wind_directions = [sim_time_s+0.01, sim_time_s+0.02]
+
+            amr_wind_direction = sim_time_s
+
             # ================================================================
             # Communicate with control center
             # Send the turbine powers for this time step and get wind speed and wind direction for the
             # nex time step
-            logger.info('Time step: %d' % sim_time_s)
+            logger.info('Time step: %d' % time_step)
             logger.info("** Communicating with control center")
             message_from_client_array = [
-                sim_time_s, amr_wind_speed, amr_wind_direction] + turbine_powers
+                sim_time_s, amr_wind_speed, amr_wind_direction
+            ] + turbine_powers + turbine_wind_directions
 
             # Send helics message to Control Center
             # publish on topic: status
@@ -195,8 +221,9 @@ def run(self):
 
                 # Note dummy doesn't currently use received info for anything
 
-            # Advance simulation time
-            sim_time_s += 1
+            # Advance simulation time and time step counter
+            sim_time_s += self.dt
+            time_step += 1
             self.sync_time_helics(self.absolute_helics_time + self.deltat)
 
     # TODO cleanup code to move publish and subscribe here.
@@ -217,12 +244,15 @@ def process_subscription_messages(self, msg):
 
 def launch_dummy_amr_wind(amr_input_file):
 
+    temp = read_amr_wind_input(amr_input_file)
+    print(temp["helics_port"])
+
     config = {
         "name": "dummy_amr_wind",
         "gridpack": {
         },
         "helics": {
-            "deltat": 1,
+            "deltat": 1, # Will be overridden by input file value
             "subscription_topics": [
                 "control"
 
@@ -232,7 +262,8 @@ def launch_dummy_amr_wind(amr_input_file):
 
             ],
             "endpoints": [
-            ]
+            ],
+            "helicsport":temp["helics_port"],
         },
 
         "publication_interval": 1,