OpenFAST ZMQ connection (1 WT)

.gitignore

@@ -56,3 +56,12 @@ vs-build/
 #Simulink cache files
 varcache
 *.slxc
+
+# old repo for zmq pr
+/RealTimeFAST 
+/cJSON
+
+# simulation output files
+*.out
+*.outb
+*.pkl.gz

CITATION.cff

@@ -0,0 +1,19 @@
+cff-version: 1.0.0
+message: "If you use this software, please cite it as below."
+authors:
+- family-names: Schena
+  given-names: Lorenzo
+- family-names: Branlard
+  given-names: Emmanuel
+- family-names: Jonkman
+  given-names: Jason
+- family-names: Platt
+  given-names: Andrew
+- family-names: Slaughter
+  given-names: Derek
+title: "Real time OpenFAST communication"
+version: 1.0
+identifiers:
+  - type: url
+  - url: "https://github.com/lorenzoschena/openfast/"
+date-released: 2024-02-01

README.rst

@@ -1,3 +1,42 @@
+OpenFAST ZMQ PR
+========
+OpenFAST with ZMQ for interfacing with other applications, developed at NREL during my research stay (2023-11 - 2024 - 01).
+
+
+Requirements
+----
+```
+cJSON
+ZMQ
+```
+
+Main changes in this PR
+----
+
+- Added ZMQ connection capabilities to OpenFAST:
+   - PUB-SUB connection to receive solved variables from OpenFAST at runtime (all `y_FAST` is available)
+   - REQ-REP to interact with OpenFAST at runtime (eg. pitch control, wind speed, etc).
+- Modified input files to include ZMQ parameters
+- Added Python routines and tests to interface with OpenFAST (to be moved to `openfast-toolbox`?)
+
+The folder `zmq_python_toolbox` contains the Python routines to interact with OpenFAST via ZMQ. 
+
+- `ex01` shows how to subscribe to a PUB-SUB socket from OpenFAST and how to receive the data.
+- `ex02` shows how to interact with OpenFAST via REQ-REP sockets.
+- `ex03` shows how to interact with OpenFAST using both sockets at the same time.
+
+
+Updates 
+---------
+- Added end of simulation message to ZMQ, so that receiver can know when the simulation is over and 
+detach from the ZMQ connection (close the socket). Currently, EOF signals are zeros, to keep float format. (`line 5649`)
+- Added warning if user passes wind speed at runtime, as it will trigger Inflow Wind to use the steady model around the rotor disk (`line 3580`)
+- Added variables `ZmqInDT` and `ZmqOutDT` to the input file, to set the time step for the ZMQ connection (`line 3586` - `line 3641`)
+- Added variable check in input: if Zmq does not recognize one requested output, it will display it (not stopping the simulation) (`line 2500` - `line 2506`)
+- Added units to the ZMQ output variables (`line 2517`)
+
+
+========
 OpenFAST
 ========
 

modules/openfast-library/CMakeLists.txt

@@ -71,11 +71,35 @@ add_library(openfast_postlib STATIC
   src/FAST_Solver.f90
   src/FAST_SS_Subs.f90
   src/FAST_SS_Solver.f90
+  src/zmq_client.c
 )
+
 target_link_libraries(openfast_postlib openfast_prelib extinflowlib scfastlib)
 target_include_directories(openfast_postlib PUBLIC 
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>  
 )
+
+# Specify the include directories for ZeroMQ and cJSON
+include_directories(
+  /opt/homebrew/Cellar/zeromq/4.3.5_1/include
+  /opt/homebrew/Cellar/cjson/1.7.18/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/src
+)
+
+# Specify the library directories for ZeroMQ and cJSON
+link_directories(
+  /opt/homebrew/Cellar/zeromq/4.3.5_1/lib
+  /opt/homebrew/Cellar/cjson/1.7.18/lib
+)
+
+target_link_libraries(openfast_postlib
+  openfast_prelib
+  # foamfastlib
+  scfastlib
+  /opt/homebrew/Cellar/zeromq/4.3.5_1/lib/libzmq.dylib
+  /opt/homebrew/Cellar/cjson/1.7.18/lib/libcjson.dylib
+)
+
 set_target_properties(openfast_postlib PROPERTIES PUBLIC_HEADER src/FAST_Library.h)
 
 # OpenFAST Library static (openfast, FAST.Farm, Simulink)

modules/openfast-library/src/FAST_Registry.txt

@@ -227,6 +227,21 @@ typedef	^	FAST_ParameterType	ReKi	WS_TSR	{:}	-	-	"List of WindSpeed or TSRs (dep
 typedef	^	FAST_ParameterType	ReKi	Pitch	{:}	-	-	"List of pitch angles for aeromap generation"	"(rad)"
 typedef	^	FAST_ParameterType	IntKi	GearBox_index	-	-	-	"Index to gearbox rotation in state array (for steady-state calculations)"   -
 
+# ................................................... ZMQ PROTOCOL ........................................................... 
+typedef	^	FAST_ParameterType	LOGICAL	            ZmqOn	                -	.false.	    -	"zmq activation flag"     -  
+typedef	^	FAST_ParameterType	CHARACTER(1024)	    ZmqInAddress            -	-	        -	"address for ZMQ REQ-REP protocol" - 
+typedef	^	FAST_ParameterType	IntKi	            ZmqInNbr                -	-	        -	"number of ZMQ REQ-REP channels" - 
+typedef	^	FAST_ParameterType	CHARACTER(ChanLen)	ZmqInChannels           {:}	-	        -	"address for ZMQ REQ-REP protocol" -
+typedef	^	FAST_ParameterType	ReKi	            ZmqInChannelsAry       {:}	-	        -	"array to pass ZMQ PUB-SUB protocol" -  
+typedef ^   FAST_ParameterType  ReKi                ZmqInDT                 -   -           -   "time step for in communication, FAST will keep it constant in between (sample & hold), default is same DT of simulation"
+typedef	^	FAST_ParameterType	CHARACTER(1024)	    ZmqOutAddress           -	-	        -	"address for ZMQ PUB-SUB protocol" - 
+typedef	^	FAST_ParameterType	IntKi	            ZmqOutNbr               -	-	        -	"number of ZMQ PUB-SUB channels" - 
+typedef	^	FAST_ParameterType	CHARACTER(ChanLen)	ZmqOutChannels          {:}	-	        -	"variables to pass ZMQ PUB-SUB protocol" - 
+typedef ^   FAST_ParameterType  DbKi                ZmqOutDT                -   -           -   "time step for out communication, FAST will keep it constant in between (sample & hold), default is same DT of simulation"
+typedef ^   FAST_ParameterType	IntKi           	ZmqOutChnlsIdx          {:}	-	        -	"indexes of channels to be broadcasted" - 
+typedef	^	FAST_ParameterType	CHARACTER(ChanLen)	ZmqOutChannelsNames     {:}	-	        -	"names for ZMQ PUB-SUB protocol" -  
+typedef	^	FAST_ParameterType	ReKi	            ZmqOutChannelsAry       {:}	-	        -	"array to pass ZMQ PUB-SUB protocol" - 
+# ............................................................................................................................
 
 # SAVED OPERATING POINT DATA FOR VTKLIN (visualization of mode shapes from linearization analysis)
 # ..... IceDyn OP data .......................................................................................................

modules/openfast-library/src/FAST_SS_Subs.f90

@@ -140,12 +140,12 @@ SUBROUTINE FAST_SteadyState_T( Turbine, ErrStat, ErrMsg )
    CHARACTER(*),             INTENT(  OUT) :: ErrMsg              !< Error message if ErrStat /= ErrID_None
 
       CALL FAST_SteadyState( Turbine%p_FAST, Turbine%y_FAST, Turbine%m_FAST, &
-                  Turbine%ED, Turbine%BD, Turbine%AD, Turbine%MeshMapData, ErrStat, ErrMsg )
+                  Turbine%ED, Turbine%BD, Turbine%AD, Turbine%MeshMapData, Turbine%TurbID, ErrStat, ErrMsg )
 
 END SUBROUTINE FAST_SteadyState_T
 !----------------------------------------------------------------------------------------------------------------------------------
 !> This routine takes data from n_t_global and gets values at n_t_global + 1
-SUBROUTINE FAST_SteadyState(p_FAST, y_FAST, m_FAST, ED, BD, AD, MeshMapData, ErrStat, ErrMsg )
+SUBROUTINE FAST_SteadyState(p_FAST, y_FAST, m_FAST, ED, BD, AD, MeshMapData, TurbID, ErrStat, ErrMsg )
 
    TYPE(FAST_ParameterType), INTENT(IN   ) :: p_FAST              !< Parameters for the glue code
    TYPE(FAST_OutputFileType),INTENT(INOUT) :: y_FAST              !< Output variables for the glue code
@@ -172,9 +172,11 @@ SUBROUTINE FAST_SteadyState(p_FAST, y_FAST, m_FAST, ED, BD, AD, MeshMapData, Err
    CHARACTER(ErrMsgLen)                    :: ErrMSg2
    TYPE(IceD_OutputType),    ALLOCATABLE   :: y_IceD (:)         !< IceDyn outputs (WriteOutput values are subset)
    CHARACTER(MaxWrScrLen), PARAMETER       :: BlankLine = " "
+   INTEGER(IntKi), INTENT(INOUT)                          :: TurbID
 
    CHARACTER(*), PARAMETER                 :: RoutineName = 'FAST_SteadyState'
-
+   LOGICAL                                :: NeedSendZmq = .false. ! de activating it for now in ss subs
+
    ErrStat = ErrID_None
    ErrMsg = ""
 
@@ -244,7 +246,8 @@ SUBROUTINE FAST_SteadyState(p_FAST, y_FAST, m_FAST, ED, BD, AD, MeshMapData, Err
 
       CALL WrOutputLine( n_global, p_FAST, y_FAST, UnusedAry, UnusedAry, ED%y%WriteOutput, &
             AD%y, UnusedAry, UnusedAry, UnusedAry, UnusedAry, UnusedAry, UnusedAry, &
-            UnusedAry, UnusedAry, UnusedAry, UnusedAry, y_IceD, BD%y, ErrStat2, ErrMsg2 )
+            UnusedAry, UnusedAry, UnusedAry, UnusedAry, y_IceD, BD%y, &
+            p_FAST%ZmqOutChannelsAry, TurbID, NeedSendZmq, ErrStat2, ErrMsg2 )
 
          call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
          if (ErrStat >= AbortErrLev) then