Updates to use openfast_io and OpenFAST v4.0.0 #341

mayankchetan · 2025-01-12T06:29:06Z

Purpose

This PR updates WEIS to use the new openfast_io library for reading and writing OpenFAST files. Additionally, WEIS is updated to track OpenFAST v4.0.0

List of major changes:

File IO from aeroelasticse is replaced with openfast_io
Examples are updated to match OpenFAST v4.0.0
Redundant OpenFAST models include in the examples are removed.
The IEA15 OpenFAST model is not set to track the IEA 15MW repo. Developers can update via the examples/01_aeroelasticse/OpenFAST_models/update_weis_discons.py script.
environment.yml updated
TODO's added in weis/aeroelasticse/openmdao_openfast.py for new API items for OpenFAST v4.0.0
HydroDyn split into SeaState + HydroDyn
weis/inputs/modeling_schema.yaml updated to include new API items for OpenFAST v4.0.0

Dependancies for PR:

Type of change

What types of change is it?
Select the appropriate type(s) that describe this PR

Bugfix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (non-backwards-compatible fix or feature)
Code style update (formatting, renaming)
Refactoring (no functional changes, no API changes)
Documentation update
Maintenance update
Other (please describe): Testing and examples

Testing

Explain the steps needed to test the new code to verify that it does indeed address the issue and produce the expected behavior.

Most examples run successfully, failed examples:
- 13_DTQP/weis_driver
- 12_linearization/weis_driver
- 11_use_bem/weis_driver
- 06_IEA-15-240-RWT/weis_driver_tower_DVs
- 06_IEA-15-240-RWT/weis_driver_monopile
general_regression_values.pkl needs to be updated for pytest

Checklist

Put an x in the boxes that apply.

Update examples & testing based on @dzalkind's recommendations
ROSCO PR () & openfast_io PR () need to be merged
Review of weis/inputs/modeling_schema.yaml by SeaState + HydroDyn developers recommended
Review of weis/aeroelasticse/openmdao_openfast.py
GitHub actions updates
Special request reviews in File Changed for various parts of WEIS
Update IEA 15MW SeaState files based on recommendations from @luwang
Squash commits to avoid listing absolute paths, and my mistakes :P

gbarter · 2025-01-12T13:49:30Z

weis/aeroelasticse/runFAST_pywrapper.py

@@ -20,7 +20,8 @@
 import numpy as np

 # Realpath will resolve symlinks
-of_path = os.path.realpath( shutil.which('openfast') )
+# of_path = os.path.realpath( shutil.which('openfast') )
+of_path = os.path.realpath( '/Users/mchetan/Desktop/nrel/projects/2-weis/env/weis-openfast_io_dev/bin/openfast' )


This change should probably be reverted (and will likely fail the CI tests)

gbarter · 2025-01-12T13:53:08Z

weis/test/run_examples.py

@@ -2,23 +2,29 @@
 from weis.test.utils import execute_script


I think this file was removed in the Fri hackathon and everything should now be in test_examples.py. You might want to git merge develop into your fork to identify conflicts?

gbarter

Impressive work, @mayankchetan !

ptrbortolotti · 2025-01-13T16:34:44Z

weis/inputs/modeling_schema.yaml

we might want to move the portions of this schema that belong to OpenFAST to openfast_io...

The OpenFAST team didn't want to host the schema, but I did break the OpenFAST part away from the modeling schema at one point. @mayankchetan, do you know what happened to that?

ptrbortolotti

that's a big PR, thank you @mayankchetan !

dzalkind · 2025-01-13T18:25:21Z

Awesome job getting us to this point, @mayankchetan. Thanks for your effort on this! I'll try to review and make changes in the coming days.

mayankchetan · 2025-01-14T21:17:27Z

environment.yml

@@ -9,7 +9,7 @@ dependencies:
  - mat4py
  - nlopt
  - numpydoc
-  - openfast=3.5.5
+  - openfast=4.0.0


Needs to be updated to 4.0.1 based on OpenFAST release expected on 17FEB25

* WEIS v1.4 (WISDEM#322) * Viz tool integration (WISDEM#301) * utils update for viz tool * hotfix for length error in viz utils * slightly improved hotfix * trim edge case * working integration with weis * add text field for reloading diff yaml file * f-string typo fix to pass py3.11 unit test * remove duplicated fields on raft opt * elevate 'weis_viz' to a command within the conda env * add optimization type * reformating vizgen and adding 'weis_viz_input_gen' as a command --------- Co-authored-by: Cory Frontin <[email protected]> Co-authored-by: sryu <[email protected]> Co-authored-by: Sora Ryu <[email protected]> Co-authored-by: Sora Ryu <[email protected]> * bug fix in vizFileGen and changes to handle Jul 2024 Kestrel updates (WISDEM#306) * bug fix in vizFileGen and fixes to handle Jul 2024 Kestrel updates * change type settings and default channels * match type with WEIS level * minor update on type setting - dlc --------- Co-authored-by: Sora Ryu <[email protected]> Co-authored-by: Sora Ryu <[email protected]> * no need to manipulate turbsim grid for olaf anymore (WISDEM#313) * Debug arg parsing error while launching the app & Contribute Initial Documentation (WISDEM#307) * fix bug of args parse while running app * delete unnecessary prints * change horizontal subplots to vertical ones * initial documentation * delete readme file * minor changes on graph layout * update on kestrel set up * merge weis viz docs into existing weis docs * delete initial weis viz documentation * update on docs after changing opt type setting * Revise documentation --------- Co-authored-by: sryu <[email protected]> Co-authored-by: dzalkind <[email protected]> * Remove duplicate numpydoc * Sync readthedocs yaml with WISDEM * Add numpydoc to environment * Set up readthedocs inputs: css, js, bibtex * Remove old input docs * Fix images for weis viz * Add input schema docs following WISDEM * Add input schema files * Optimization cleanup to fix and conform to viz changes. (WISDEM#305) * added updated optimization documentation... in progress. * fixed rendering of optimization rst file * add partial table to docs optimization page * update to optimization doc. * analysis updates from kestrel * added some analysis stuff * update to optimization docs * recent kestrel changes * stuff for local work * viz toolbox simplfied for inclusion in weis tools * moved viz_toolbox out of examples and refactored * corrected accidental git deletion * updates for kestrel push * added processor edit for DE/GA * updates to the viz toolbox and analysis notebook * actually update analysis notebook * actually update analysis notebook with more updates * updated example 17, refactored utilities to match Mayank's files/structure * remove run script * more progress toward PR * add readme * improvements to analysis and README scripts * reorganize the output directories to have RAFT vs OF subdirs * OF updates * update analysis options to bring the cases together * some more case unification * updated the analysis script * update raft analysis script * of opt updates and refactoring * upenfast updates * removed the weis connections to member ids as om design variables * update openfast analysis * updated raft analysis notebook * improvements to analysis script, some for viz tool update * update to remove remove load_OMsql_temp * rename new example file * updates to get parallel evolutionary methods to work * Remove platform_elem_memid discrete input * Add index back in * Set PropPot only if floating * viz tools fixed, now using safe yaml loading for problem_vars * update analysis scripts for OF cases. * updated OF cases for full ride. * adjusting ex17 controls study for uniformity * update with kestrel changes * fixed output script slight break * Tidy imports * bring in line with the incoming WISDEM changes --------- Co-authored-by: dzalkind <[email protected]> * Add note about mpi4py for windows users * Fix connections to drivese_post * Set run directories relative to input files * Get member ids from modopts * Tidy OC3 example * Re-enable testing of OC3 spar * Send aero-only hub loads to WISDEM * Disable potential flow modeling for fixed substructures * Disable second tower mode in OC3 example for now * align with new orbit changes * Upgrade mpi (WISDEM#321) * use openmdao mpi, import scripts that were pushed out of wisdem * like in wisdem, import input yaml files only on rank=0 and then broadcast out * yaml loading logic better integrated in wisdem * remove outdated call to mpi4py * Remove temporary simple_types * Updates for Optimization study (WISDEM#323) * added updated optimization documentation... in progress. * fixed rendering of optimization rst file * add partial table to docs optimization page * update to optimization doc. * analysis updates from kestrel * added some analysis stuff * update to optimization docs * recent kestrel changes * stuff for local work * viz toolbox simplfied for inclusion in weis tools * moved viz_toolbox out of examples and refactored * corrected accidental git deletion * updates for kestrel push * added processor edit for DE/GA * updates to the viz toolbox and analysis notebook * actually update analysis notebook * actually update analysis notebook with more updates * updated example 17, refactored utilities to match Mayank's files/structure * remove run script * more progress toward PR * add readme * improvements to analysis and README scripts * reorganize the output directories to have RAFT vs OF subdirs * OF updates * update analysis options to bring the cases together * some more case unification * updated the analysis script * update raft analysis script * of opt updates and refactoring * upenfast updates * removed the weis connections to member ids as om design variables * update openfast analysis * updated raft analysis notebook * improvements to analysis script, some for viz tool update * update to remove remove load_OMsql_temp * rename new example file * updates to get parallel evolutionary methods to work * Remove platform_elem_memid discrete input * Add index back in * Set PropPot only if floating * viz tools fixed, now using safe yaml loading for problem_vars * update analysis scripts for OF cases. * updated OF cases for full ride. * adjusting ex17 controls study for uniformity * update with kestrel changes * fixed output script slight break * Tidy imports * bring in line with the incoming WISDEM changes * Add max_pitch_rate output to omdao_of * updates from kestrel * cory's changes from kestrel * Write OpenFAST output to stdout as a modeling option * Rename max_pitch_rate_sim * Load rosco inputs earlier so we have sizes * Get correct length from array control DVs * docs for dan * Fix length of _pc if not array * Light revisions in optimization, detail platform design options * Add optimization to index * Draft some optimization results * Add calculated channels * Use calculated channels for pitch_rate, offset outputs * Compute calculated channels when openfast library is used * Use openmdao mpi --------- Co-authored-by: Cory Frontin <[email protected]> * prep for next release --------- Co-authored-by: Mayank Chetan <[email protected]> Co-authored-by: Cory Frontin <[email protected]> Co-authored-by: sryu <[email protected]> Co-authored-by: Sora Ryu <[email protected]> Co-authored-by: Sora Ryu <[email protected]> Co-authored-by: Sora Ryu <[email protected]> Co-authored-by: Sora Ryu <[email protected]> Co-authored-by: Pietro Bortolotti <[email protected]> Co-authored-by: Sora Ryu <[email protected]> Co-authored-by: Garrett Barter <[email protected]> * Level3 -> OpenFAST * Level2 -> OpenFAST_Linear * Level1 -> RAFT * Update doc jsons * Separate OpenFAST schema from modeling schema * Draft OF4.0 schema * Ensure backwards compatibility with Levels 1, 2, 3 * Clean up openfast_schema

mayankchetan · 2025-01-14T21:34:57Z

weis/aeroelasticse/openmdao_openfast.py

@@ -962,6 +968,13 @@ def update_FAST_model(self, fst_vt, inputs, discrete_inputs):
            fst_vt['ElastoDyn']['PtfmCMzt'] = float(inputs['tower_base_height'])
            fst_vt['ElastoDyn']['PtfmRefzt'] = tower_base_height # Vertical distance from the ground level [onshore] or MSL [offshore] to the platform reference point (meters)

+        # TODO: apply the correct values here:


@gbarter, do we set these to zero? or can we pass values from WISDEM for floating?

These are the cross terms for the MoI? They should already be available and passed in from WISDEM. See these lines. Looks like the vector indices would be:

fst_vt['ElastoDyn']['PtfmXYIner'] = float(inputs["platform_I_total"][3]) fst_vt['ElastoDyn']['PtfmYZIner'] = float(inputs["platform_I_total"][5]) fst_vt['ElastoDyn']['PtfmXZIner'] = float(inputs["platform_I_total"][4])

mayankchetan · 2025-01-14T21:42:25Z

weis/aeroelasticse/openmdao_openfast.py

@@ -1371,6 +1390,10 @@ def update_FAST_model(self, fst_vt, inputs, discrete_inputs):
            fst_vt['HydroDyn']['AxCd'] = np.zeros( fst_vt['HydroDyn']['NAxCoef'] )
            fst_vt['HydroDyn']['AxCa'] = np.zeros( fst_vt['HydroDyn']['NAxCoef'] )
            fst_vt['HydroDyn']['AxCp'] = np.ones( fst_vt['HydroDyn']['NAxCoef'] )
+            # TODO: below needs verification


@lucas-carmo, please check if these are OK

If we use strip-theory only models, these are ok. Ideally, we might want to change this in the future to be model-dependent or user-specified when hybrid models are more ready for optimization.

mayankchetan · 2025-01-14T21:43:10Z

weis/aeroelasticse/openmdao_openfast.py

+            # else:
+            #     fst_vt['HydroDyn']['PtfmVol0'] = float(inputs['platform_displacement'])
+
+            fst_vt['HydroDyn']['PtfmVol0'] = [float(inputs['platform_displacement'])] #TODO: PtfmMass_Init taken out of HydroDyn, need to check if this is ok


@lucas-carmo, please check if these are OK

PtfmMass_Init was an old hack of mine that we're depreciating soon.

mayankchetan · 2025-01-14T21:44:46Z

weis/inputs/modeling_schema.yaml

@@ -1472,6 +1573,74 @@ properties:
                        default: 0.0
                        unit: kg*m^2/rad/s^2
                        description: Rotor-teeter hard-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]
+                    YawFrctMod:


@luwang00 are these recommendations for min and max ok?

We don't really have good estimates for these numbers, so I agree we should have YawFrctMod default to 0.

mayankchetan · 2025-01-14T21:45:46Z

weis/inputs/modeling_schema.yaml

@@ -1777,11 +1946,72 @@ properties:
                        default: 5e5
                        unit: kg*m^2/s
                        description: Pitch actuator damping (kg-m^2/s) [used only when UsePitchAct is true]
-            HydroDyn: &ofhydrodyn
+            SeaState: &ofseastate


@lucas-carmo, please check if these default values, min and max values are OK

yqliaohk · 2025-01-14T22:35:19Z

weis/aeroelasticse/openmdao_openfast.py

@@ -1371,6 +1390,10 @@ def update_FAST_model(self, fst_vt, inputs, discrete_inputs):
            fst_vt['HydroDyn']['AxCd'] = np.zeros( fst_vt['HydroDyn']['NAxCoef'] )
            fst_vt['HydroDyn']['AxCa'] = np.zeros( fst_vt['HydroDyn']['NAxCoef'] )
            fst_vt['HydroDyn']['AxCp'] = np.ones( fst_vt['HydroDyn']['NAxCoef'] )
+            # TODO: below needs verification


If we use strip-theory only models, these are ok. Ideally, we might want to change this in the future to be model-dependent or user-specified when hybrid models are more ready for optimization.

yqliaohk · 2025-01-14T22:43:27Z

weis/aeroelasticse/openmdao_openfast.py

@@ -1403,6 +1426,8 @@ def update_FAST_model(self, fst_vt, inputs, discrete_inputs):
            fst_vt['HydroDyn']['MJointID2'] = fst_vt['HydroDyn']['MPropSetID2'] = N2
            fst_vt['HydroDyn']['MDivSize'] = 0.5*np.ones( fst_vt['HydroDyn']['NMembers'] )
            fst_vt['HydroDyn']['MCoefMod'] = np.ones( fst_vt['HydroDyn']['NMembers'], dtype=np.int_)
+            fst_vt['HydroDyn']['MHstLMod'] = np.ones( fst_vt['HydroDyn']['NMembers'], dtype=np.int_)
+            fst_vt['HydroDyn']['PropPot'] = np.ones( fst_vt['HydroDyn']['NMembers'], dtype=np.int_)


I think this should be fst_vt['HydroDyn']['PropPot'] = [False] * fst_vt['HydroDyn']['NMembers'] by default for strip-theory only models. Similarly, we might change this to be model-dependent or user-specified.

mayankchetan added 2 commits January 11, 2025 23:16

Switch to openfast_io and update to OpenFAST v4.0.0

e9dfdc9

updating examples to run

905b35e

mayankchetan changed the title ~~Updates to use openfast_io and OPenFAST v4.0.0~~ Updates to use openfast_io and OpenFAST v4.0.0 Jan 12, 2025

mayankchetan marked this pull request as draft January 12, 2025 06:58

mayankchetan requested review from ptrbortolotti, gbarter, yqliaohk and dzalkind January 12, 2025 06:58

This was referenced Jan 12, 2025

updates to handle writing OpenFAST models from weis and wind_io OpenFAST/openfast#2603

Draft

Switch to openfast_io and update to OpenFAST v4.0.0 NREL/ROSCO#415

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gbarter reviewed Jan 12, 2025

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ptrbortolotti reviewed Jan 13, 2025

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ptrbortolotti approved these changes Jan 13, 2025

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mayankchetan added 2 commits January 13, 2025 14:52

Merge remote-tracking branch 'origin/develop' into openfast_io

98ca009

updates for testing

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mayankchetan commented Jan 14, 2025

View reviewed changes

updating OpenFAST yaml

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yqliaohk requested changes Jan 14, 2025

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mayankchetan added 2 commits January 14, 2025 22:24

examples 02 & 06 working

cb877cc

all tests pass! :D

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Updates to use openfast_io and OpenFAST v4.0.0 #341

Updates to use openfast_io and OpenFAST v4.0.0 #341

mayankchetan commented Jan 12, 2025 •

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Updates to use openfast_io and OpenFAST v4.0.0 #341

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Updates to use openfast_io and OpenFAST v4.0.0 #341

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mayankchetan commented Jan 12, 2025 • edited Loading

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mayankchetan commented Jan 12, 2025 •

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