def test_ListRecorder():
from openmdao.api import Problem, IndepVarComp
from openmdao.test_suite.components.paraboloid import Paraboloid
prob = Problem()
model = prob.model
model.add_subsystem('p1', IndepVarComp('x', 0.), promotes=['*'])
model.add_subsystem('p2', IndepVarComp('y', 0.), promotes=['*'])
model.add_subsystem('comp', Paraboloid(), promotes=['*'])
model.add_design_var('x', lower=-10, upper=10)
model.add_design_var('y', lower=-10, upper=10)
model.add_objective('f_xy')
xyf = [[0.98, 4.30, 74.1844],
[2.06, 0.90, 23.7476],
[-1.53, 2.92, 60.9397],
[-1.25, 7.84, 145.4481]]
prob.driver = DOEDriver(ListGenerator([[('x', xy[0]), ('y', xy[1])] for xy in xyf]))
recorder = TopFarmListRecorder()
recorder._initialize_database()
recorder._cleanup_abs2meta()
recorder.record_iteration_problem(None, None, None)
recorder.record_iteration_system(None, None, None)
recorder.record_iteration_solver(None, None, None)
recorder.record_viewer_data(None)
recorder.record_metadata_solver(None)
recorder.record_derivatives_driver(None, None, None)
recorder.shutdown()
prob.driver.add_recorder(recorder)
prob.driver.recording_options['record_desvars'] = True
prob.driver.recording_options['includes'] = ['*']
prob.driver.recording_options['record_inputs'] = True
prob.setup()
prob.run_driver()
prob.cleanup()
assert recorder.num_cases == 4
npt.assert_array_equal(recorder.get('counter'), range(1, 5))
npt.assert_array_equal(recorder['counter'], range(1, 5))
npt.assert_array_almost_equal(recorder.get(['x', 'y', 'f_xy']), xyf, 4)
for xyf, k in zip(xyf[0], ['x', 'y', 'f_xy']):
npt.assert_allclose(recorder[k][0], xyf)
with pytest.raises(KeyError, match="missing"):
recorder.get('missing')
def test_TopFarmListRecorderLoad(load_case, n, cost):
fn = tfp + 'recordings/COBYLA_10iter:%s' % load_case
rec = TopFarmListRecorder().load(fn)
npt.assert_equal(rec.num_cases, n)
npt.assert_almost_equal(rec.get('cost')[-1], cost)
class TopFarmProblem(Problem):
def __init__(self,
design_vars,
cost_comp,
driver=EasyScipyOptimizeDriver(),
constraints=[],
plot_comp=NoPlot(),
record_id=None,
expected_cost=1,
ext_vars={}):
"""Initialize TopFarmProblem
Parameters
----------
design_vars : dict or list of key-initial_value-tuples
Design variables for the problem.\n
Ex: {'x': [1,2,3], 'y':([3,2,1],0,1), 'z':([4,5,6],[4,5,4], [6,7,6])}\n
Ex: [('x', [1,2,3]), ('y',([3,2,1],0,1)), ('z',([4,5,6],[4,5,4], [6,7,6]))]\n
Ex: zip('xy', pos.T)\n
The keys (x, y, z) are the names of the design variable.\n
The values are either\n
- the initial value or\n
- a tuple of (initial value, lower bound, upper bound)
cost_comp : ExplicitComponent or TopFarmProblem
A cost component in the style of an OpenMDAO v2 ExplicitComponent.
Pure python cost functions can be wrapped using ``CostModelComponent``
class in ``topfarm.cost_models.cost_model_wrappers``.\n
For nested problems, the cost comp_comp is typically a TopFarmProblem
driver : openmdao Driver, optinal
Driver used to solve the optimization driver. For an example, see the
``EasyScipyOptimizeDriver`` class in ``topfarm.easy_drivers``.
constraints : list of Constraint-objects
E.g. XYBoundaryConstraint, SpacingConstraint
plot_comp : ExplicitComponent, optional
OpenMDAO ExplicitComponent used to plot the state (during
optimization).
For no plotting, pass in the ``topfarm.plotting.NoPlot`` class.
record_id : string "<record_id>:<case>", optional
Identifier for the optimization. Allows a user to restart an
optimization where it left off.\n
record_id can be name (saves as recordings/<name>.pkl), abs or relative path
Case can be:\n
- "", "latest", "-1": Continue from latest\n
- "best": Continue from best case (minimum cost)\n
- "0": Start from scratch (initial position)\n
- "4": Start from case number 4\n
expected_cost : int or float
Used to scale the cost. This has influence on some drivers, e.g.
SLSQP where it affects the step size
ext_vars : dict or list of key-initial_value tuple
Used for nested problems to propagate variables from parent problem\n
Ex. {'type': [1,2,3]}\n
Ex. [('type', [1,2,3])]\n
Examples
--------
See main() in the bottom of this file
"""
if mpi.MPI:
comm = None
else:
from openmdao.utils.mpi import FakeComm
comm = FakeComm()
Problem.__init__(self, comm=comm)
if isinstance(cost_comp, TopFarmProblem):
cost_comp = cost_comp.as_component()
cost_comp.parent = self
self.cost_comp = cost_comp
if isinstance(driver, list):
driver = DOEDriver(ListGenerator(driver))
elif isinstance(driver, DOEGenerator):
driver = DOEDriver(generator=driver)
self.driver = driver
self.plot_comp = plot_comp
self.record_id = record_id
self.load_recorder()
if not isinstance(design_vars, dict):
design_vars = dict(design_vars)
self.design_vars = design_vars
self.indeps = self.model.add_subsystem('indeps',
IndepVarComp(),
promotes=['*'])
for k in [topfarm.x_key, topfarm.y_key, topfarm.type_key]:
if k in design_vars:
if isinstance(design_vars[k], tuple):
self.n_wt = len(design_vars[k][0])
else:
self.n_wt = len(design_vars[k])
break
else:
self.n_wt = 0
for constr in constraints:
if self.driver.supports['inequality_constraints']:
if isinstance(self.driver, SimpleGADriver):
constr.setup_as_penalty(self)
else:
constr.setup_as_constraint(self)
else:
constr.setup_as_penalty(self)
self.model.constraint_components = [
constr.constraintComponent for constr in constraints
]
do = self.driver.options
for k, v in design_vars.items():
if isinstance(v, tuple):
assert len(
v
) == 3, "Design_vars values must be either value or (value, lower, upper)"
self.indeps.add_output(k, v[0])
if ('optimizer' in do and do['optimizer'] == 'COBYLA'):
ref0 = np.min(v[1])
ref1 = np.max(v[2])
l, u = [lu * (ref1 - ref0) + ref0 for lu in [v[1], v[2]]]
kwargs = {
'ref0': ref0,
'ref': ref1,
'lower': l,
'upper': u
}
else:
kwargs = {'lower': v[1], 'upper': v[2]}
else:
self.indeps.add_output(k, v)
kwargs = {}
if 'optimizer' in do and do['optimizer'] == 'SLSQP':
# Upper and lower disturbs SLSQP when running with constraints. Add limits as constraints
self.model.add_constraint(k, kwargs.get('lower', None),
kwargs.get('upper', None))
kwargs = {
'lower': np.nan,
'upper': np.nan
} # Default +/- sys.float_info.max does not work for SLSQP
self.model.add_design_var(k, **kwargs)
for k, v in ext_vars.items():
self.indeps.add_output(k, v)
self.ext_vars = ext_vars
self.model.add_subsystem('cost_comp', cost_comp, promotes=['*'])
self.model.add_objective('cost', scaler=1 / abs(expected_cost))
if plot_comp:
self.model.add_subsystem('plot_comp', plot_comp, promotes=['*'])
plot_comp.problem = self
plot_comp.n_wt = self.n_wt
self.setup()
@property
def cost(self):
return self['cost'][0]
@property
def state(self):
"""Return current state"""
self.setup()
state = {k: self[k] for k in self.design_vars}
state.update({k: self[k] for k in self.ext_vars})
if hasattr(self.cost_comp, 'state'):
state.update(self.cost_comp.state)
if hasattr(self.cost_comp, 'additional_output'):
state.update(
{k: self[k]
for k, _ in self.cost_comp.additional_output})
return state
def state_array(self, keys):
self.setup()
return np.array([self[k] for k in keys]).T
def update_state(self, state):
for k, v in state.items():
try:
c = self[k] # fail if k not exists
v = np.array(v)
if hasattr(c, 'shape') and c.shape != v.shape:
v = v.reshape(c.shape)
self[k] = v
except KeyError:
pass
def load_recorder(self):
if hasattr(self.cost_comp, 'problem'):
self.recorder = NestedTopFarmListRecorder(self.cost_comp,
self.record_id)
else:
self.recorder = TopFarmListRecorder(self.record_id)
def setup(self):
if self._setup_status == 0:
Problem.setup(self, check=True)
if self._setup_status < 2:
with warnings.catch_warnings():
warnings.filterwarnings('error')
try:
if len(self.driver._rec_mgr._recorders) == 0:
tmp_recorder = ListRecorder()
self.driver.add_recorder(tmp_recorder)
Problem.final_setup(self)
else:
Problem.final_setup(self)
except Warning as w:
if str(w).startswith(
'Inefficient choice of derivative mode'):
Problem.setup(self, check=True, mode='fwd')
else:
raise w
finally:
try:
self.driver._rec_mgr._recorders.remove(tmp_recorder)
except Exception:
pass
def evaluate(self, state={}, disp=False):
"""Evaluate the cost model.
Parameters
----------
state : dict, optional
Initial state\n
Ex: {'x': [1,2,3], 'y':[3,2,1]}\n
The current state is used for unspecified variables
disp : bool, optional
if True, the time used for the optimization is printed
Returns
-------
Current cost : float
Current state : dict
"""
tmp_recorder = ListRecorder()
self.driver.add_recorder(tmp_recorder)
self.setup()
self.update_state(state)
t = time.time()
self.run_model()
if disp:
print("Evaluated in\t%.3fs" % (time.time() - t))
self.driver._rec_mgr._recorders.remove(tmp_recorder)
return self.cost, copy.deepcopy(self.state)
def evaluate_gradients(self, disp=False):
"""Evaluate the gradients."""
self.setup()
t = time.time()
rec = ListRecorder()
self.driver.add_recorder(rec)
res = self.compute_totals(['cost'],
wrt=[topfarm.x_key, topfarm.y_key],
return_format='dict')
self.driver._rec_mgr._recorders.remove(rec)
if disp:
print("Gradients evaluated in\t%.3fs" % (time.time() - t))
return res
def optimize(self, state={}, disp=False):
"""Run the optimization problem
Parameters
----------
state : dict, optional
Initial state\n
Ex: {'x': [1,2,3], 'y':[3,2,1]}\n
The current state is used to unspecified variables
disp : bool, optional
if True, the time used for the optimization is printed
Returns
-------
Optimized cost : float
state : dict
recorder : TopFarmListRecorder or NestedTopFarmListRecorder
"""
self.load_recorder()
self.update_state(state)
if self.recorder.num_cases > 0:
try:
self.update_state({
k: self.recorder[k][-1]
for k in self.state.keys() if k not in state
})
except (ValueError, KeyError):
# Restart optimize with n
self.record_id = split_record_id(self.record_id)[0] + ":0"
return self.optimize(state, disp)
self.driver.add_recorder(self.recorder)
self.driver.recording_options['record_desvars'] = True
self.driver.recording_options['includes'] = ['*']
self.driver.recording_options['record_inputs'] = True
self.setup()
t = time.time()
self.run_driver()
self.cleanup()
if disp:
print("Optimized in\t%.3fs" % (time.time() - t))
if self.driver._rec_mgr._recorders != []: # in openmdao<2.4 cleanup does not delete recorders
self.driver._rec_mgr._recorders.remove(self.recorder)
if isinstance(self.driver, DOEDriver) or isinstance(
self.driver, SimpleGADriver):
costs = self.recorder.get('cost')
cases = self.recorder.driver_cases
costs = [
cases.get_case(i).outputs['cost']
for i in range(cases.num_cases)
]
best_case_index = int(np.argmin(costs))
best_case = cases.get_case(best_case_index)
self.evaluate({k: best_case.outputs[k] for k in best_case.outputs})
return self.cost, copy.deepcopy(self.state), self.recorder
def check_gradients(self, check_all=False, tol=1e-3):
"""Check gradient computations"""
self.setup()
if check_all:
comp_name_lst = [
comp.pathname for comp in self.model.system_iter()
if comp._has_compute_partials
]
else:
comp_name_lst = [self.cost_comp.pathname]
print("checking %s" % ", ".join(comp_name_lst))
res = self.check_partials(includes=comp_name_lst, compact_print=True)
for comp in comp_name_lst:
var_pair = [(x, dx) for x, dx in res[comp].keys()
if x not in ['cost_comp_eval']]
worst = var_pair[np.argmax(
[res[comp][k]['rel error'].forward for k in var_pair])]
err = res[comp][worst]['rel error'].forward
if err > tol:
raise Warning(
"Mismatch between finite difference derivative of '%s' wrt. '%s' and derivative computed in '%s' is: %f"
% (worst[0], worst[1], comp, err))
def as_component(self):
return ProblemComponent(self)
def get_DOE_list(self):
self.setup()
assert isinstance(
self.driver, DOEDriver
), 'get_DOE_list only applies to DOEDrivers, and the current driver is: %s' % type(
self.driver)
case_gen = self.driver.options['generator']
return [
c for c in case_gen(self.model.get_design_vars(
recurse=True), self.model)
]
def get_DOE_array(self):
return np.array([[v for _, v in c] for c in self.get_DOE_list()])
@property
def turbine_positions(self):
return np.array([self[k] for k in [topfarm.x_key, topfarm.y_key]]).T
def smart_start(self, XX, YY, ZZ, radius=None):
assert XX.shape == YY.shape
if len(XX.shape) == 1:
XX, YY = np.meshgrid(XX, YY)
ZZ_is_func = hasattr(ZZ, '__call__')
spacing_comp_lst = [
c for c in self.model.constraint_components
if isinstance(c, SpacingComp)
]
if len(spacing_comp_lst) == 1:
min_spacing = spacing_comp_lst[0].min_spacing
else:
min_spacing = 0
X, Y = XX.flatten(), YY.flatten()
if not ZZ_is_func:
Z = ZZ.flatten()
else:
Z = ZZ
for comp in self.model.constraint_components:
if isinstance(comp, BoundaryBaseComp):
dist = comp.distances(X, Y)
if len(dist.shape) == 2:
dist = dist.min(1)
mask = dist >= 0
X, Y = X[mask], Y[mask]
if not ZZ_is_func:
Z = Z[mask]
x, y = smart_start(X, Y, Z, self.n_wt, min_spacing, radius)
self.update_state({topfarm.x_key: x, topfarm.y_key: y})
return x, y