def test_architecture():
"""Test architecture construction routines
"""
test_archi_dict = generate_architecture_dict()
for archi_name in list(test_archi_dict.keys()):
architecture = test_archi_dict[archi_name]
test_archi = archi.Architecture(architecture['parent_map'])
assert test_archi.kite_nodes == architecture[
'kite_nodes'], 'kite_nodes of ' + archi_name
assert test_archi.layer_nodes == architecture[
'layer_nodes'], 'layer nodes of ' + archi_name
assert test_archi.layers == architecture[
'layers'], 'layers of ' + archi_name
assert test_archi.siblings_map == architecture[
'siblings_map'], 'siblings_map of ' + archi_name
assert test_archi.number_of_nodes == architecture[
'number_of_nodes'], 'number_of_nodes of ' + archi_name
assert test_archi.children_map == architecture[
'children_map'], 'children map of ' + archi_name
assert test_archi.kites_map == architecture[
'kites_map'], 'kite-children map of ' + archi_name
def build(self, is_standalone_trial=True):
if is_standalone_trial:
print_op.log_license_info()
if self.__options['user_options']['trajectory']['type'] == 'mpc':
raise ValueError(
'Build method not supported for MPC trials. Use PMPC wrapper instead.'
)
awelogger.logger.info('')
awelogger.logger.info('Building trial (%s) ...', self.__name)
awelogger.logger.info('')
architecture = archi.Architecture(
self.__options['user_options']['system_model']['architecture'])
self.__options.build(architecture)
self.__model.build(self.__options['model'], architecture)
self.__formulation.build(self.__options['formulation'], self.__model)
self.__nlp.build(self.__options['nlp'], self.__model,
self.__formulation)
self.__optimization.build(self.__options['solver'], self.__nlp,
self.__model, self.__formulation,
self.__name)
self.__visualization.build(self.__model, self.__nlp, self.__name,
self.__options)
self.__quality.build(self.__options['quality'], self.__name)
self.set_timings('construction')
awelogger.logger.info('Trial (%s) built.', self.__name)
awelogger.logger.info(
'Trial construction time: %s',
print_op.print_single_timing(self.__timings['construction']))
awelogger.logger.info('')
def __build_trial(self):
""" Build options, model, formulation and nlp of mpc trial.
"""
awelogger.logger.info("Building MPC trial...")
# build
import awebox.mdl.architecture as archi
architecture = archi.Architecture(self.__trial.options['user_options']['system_model']['architecture'])
self.__trial.options.build(architecture)
self.__trial.model.build(self.__trial.options['model'], architecture)
self.__trial.formulation.build(self.__trial.options['formulation'], self.__trial.model)
self.__trial.nlp.build(self.__trial.options['nlp'], self.__trial.model, self.__trial.formulation)
self.__trial.visualization.build(self.__trial.model, self.__trial.nlp, 'MPC control', self.__trial.options)
return None
def build(self, is_standalone_trial=True):
if is_standalone_trial:
print_op.log_license_info()
logging.info('')
logging.info('Building trial (%s) ...', self.__name)
logging.info('')
architecture = archi.Architecture(self.__options['user_options']['system_model']['architecture'])
self.__options.build(architecture)
self.__model.build(self.__options['model'], architecture)
self.__formulation.build(self.__options['formulation'], self.__model)
self.__nlp.build(self.__options['nlp'], self.__model, self.__formulation)
self.__optimization.build(self.__options['solver'], self.__nlp, self.__model, self.__formulation, self.__name)
self.__visualization.build(self.__model, self.__nlp, self.__name, self.__options)
self.__quality.build(self.__options['quality'], self.__name)
self.set_timings('construction')
logging.info('Trial (%s) built.', self.__name)
logging.info('Trial construction time: %s',print_op.print_single_timing(self.__timings['construction']))
logging.info('')
def test(gamma_scale=1.):
architecture = archi.Architecture({1: 0})
options = {}
options['induction'] = {}
options['induction']['vortex_gamma_scale'] = gamma_scale
options['induction']['vortex_wake_nodes'] = 2
options['induction']['vortex_far_convection_time'] = 1.
options['induction']['vortex_u_ref'] = 1.
options['induction']['vortex_position_scale'] = 1.
kite = architecture.kite_nodes[0]
xd_struct = cas.struct([
cas.entry("wx_" + str(kite) + "_ext_0", shape=(3, 1)),
cas.entry("wx_" + str(kite) + "_ext_1", shape=(3, 1)),
cas.entry("wx_" + str(kite) + "_int_0", shape=(3, 1)),
cas.entry("wx_" + str(kite) + "_int_1", shape=(3, 1))
])
xl_struct = cas.struct([cas.entry("wg_" + str(kite) + "_0")])
var_struct = cas.struct_symSX(
[cas.entry('xd', struct=xd_struct),
cas.entry('xl', struct=xl_struct)])
variables = var_struct(0.)
variables['xd', 'wx_' + str(kite) + '_ext_0'] = 0.5 * vect_op.yhat_np()
variables['xd', 'wx_' + str(kite) + '_int_0'] = -0.5 * vect_op.yhat_np()
variables['xd', 'wx_' + str(kite) +
'_ext_1'] = variables['xd', 'wx_' + str(kite) +
'_ext_0'] + vect_op.xhat_np()
variables['xd', 'wx_' + str(kite) +
'_int_1'] = variables['xd', 'wx_' + str(kite) +
'_int_0'] + vect_op.xhat_np()
variables['xl', 'wg_' + str(kite) + '_0'] = 1. / gamma_scale
test_list = get_list(options, variables, architecture)
filaments = test_list.shape[1]
filament_count_test = filaments - 6
if not (filament_count_test == 0):
message = 'filament list does not work as expected. difference in number of filaments in test_list = ' + str(
filament_count_test)
awelogger.logger.error(message)
raise Exception(message)
LE_expected = cas.DM(np.array([0., -0.5, 0., 0., 0.5, 0., 1.]))
PE_expected = cas.DM(np.array([0., 0.5, 0., 1., 0.5, 0., 1.]))
TE_expected = cas.DM(np.array([1., -0.5, 0., 0., -0.5, 0., 1.]))
expected_filaments = {
'leading edge': LE_expected,
'positive edge': PE_expected,
'trailing edge': TE_expected
}
for type in expected_filaments.keys():
expected_filament = expected_filaments[type]
expected_in_list = expected_filament_in_list(test_list,
expected_filament)
if not expected_in_list:
message = 'filament list does not work as expected. ' + type + \
' test filament not in test_list.'
awelogger.logger.error(message)
with np.printoptions(precision=3, suppress=True):
print('test_list:')
print(np.array(test_list))
raise Exception(message)
NE_not_expected = cas.DM(np.array([1., -0.5, 0., 1., 0.5, 0., -1.]))
not_expected_filaments = {'negative edge': NE_not_expected}
for type in not_expected_filaments.keys():
not_expected_filament = not_expected_filaments[type]
is_reasonable = not (expected_filament_in_list(test_list,
not_expected_filament))
if not is_reasonable:
message = 'filament list does not work as expected. ' + type + \
' test filament in test_list.'
awelogger.logger.error(message)
with np.printoptions(precision=3, suppress=True):
print('test_list:')
print(np.array(test_list))
raise Exception(message)
return test_list