Finish Improve WFC

Examples/17a_zeromq_simple.py

@@ -37,13 +37,28 @@ def run_zmq(logfile=None):
     network_address = "tcp://*:5555"
     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
+    # Provide the wind farm control algorithm as the wfc_controller subclass of the server
+    server.wfc_controller = wfc_controller()
 
     # Run the server to receive measurements and send setpoints
     server.runserver()
 
-def wfc_controller(id,current_time,measurements):
+class wfc_controller():
+    """
+    Users needs to define this class to implement wind farm controller.
+    This class should contain a method named update_setpoints that 
+    should take as argument the turbine id, the current time and current
+    measurements and return the setpoints for the particular turbine for 
+    the current time. It should ouput the setpoints as a dictionary whose
+    keys should be as defined in wfc_zmq_server.wfc_interface. 
+    The wfc_controller subclass of the wfc_zmq_server should be overwriten
+    with this class, otherwise, an exception is raised and the simulation stops.
+    """
+
+    def __init__(self):
+        return None
+
+    def update_setpoints(self, id,current_time,measurements):
         if current_time <= 10.0:
             yaw_setpoint = 0.0
         else:
@@ -62,8 +77,10 @@ def wfc_controller(id,current_time,measurements):
         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
     this_dir = os.path.dirname(os.path.abspath(__file__))

Examples/17b_zeromq_multi_openfast.py

@@ -22,41 +22,46 @@ def run_zmq(logfile=None):
     network_address = "tcp://*:5555"
     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
+    # Provide the wind farm control algorithm as the wfc_controller subclass of the server
+    server.wfc_controller = wfc_controller()
 
     # Run the server to receive measurements and send setpoints
     server.runserver()
 
 
-def wfc_controller(id, current_time, measurements):
+class wfc_controller():
     """
-    Users needs to define this function to implement wind farm controller.
-    The user defined function should take as argument the turbine id, the
-    current time and current measurements and return the setpoints
-    for the particular turbine for the current time. It should ouput the
-    setpoints as a dictionary whose keys should be as defined in
-    wfc_zmq_server.wfc_interface. The wfc_controller method of the wfc_zmq_server
-    should be overwriten with this fuction, otherwise, an exception is raised and
-    the simulation stops.
+    Users needs to define this class to implement wind farm controller.
+    This class should contain a method named update_setpoints that 
+    should take as argument the turbine id, the current time and current
+    measurements and return the setpoints for the particular turbine for 
+    the current time. It should ouput the setpoints as a dictionary whose
+    keys should be as defined in wfc_zmq_server.wfc_interface. 
+    The wfc_controller subclass of the wfc_zmq_server should be overwriten
+    with this class, otherwise, an exception is raised and the simulation stops.
     """
-    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 = DESIRED_YAW_OFFSET[0]
+
+    def __init__(self):
+        return None
+
+    def update_setpoints(self, id, current_time, measurements):
+        if current_time <= 10.0:
+            YawOffset = 0.0
+            col_pitch_command = 0.0
         else:
-            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
+            col_pitch_command = np.deg2rad(2) * np.sin(0.1 * current_time) + np.deg2rad(2) # Implement dynamic induction control
+            if id == 1:
+                YawOffset = DESIRED_YAW_OFFSET[0]
+            else:
+                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
 
 
 def sim_openfast_1():

rosco/toolbox/control_interface.py

@@ -425,7 +425,7 @@ def _get_setpoints(self, id, measurements):
         logger.debug(
             f"Asking wfc_controller for setpoints at time = {current_time} for id = {id}"
         )
-        setpoints = self.wfc_controller(id, current_time, measurements)
+        setpoints = self.wfc_controller.update_setpoints(id, current_time, measurements)
         logger.info(f"Received setpoints {setpoints} from wfc_controller for time = {current_time} and id = {id}")
 
         for s in self.wfc_interface["setpoints"]: