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@perceptualrobots
perceptualrobots committed Jul 23, 2023
1 parent 1648ec2 commit 5da7d42
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Showing 5 changed files with 124 additions and 77 deletions.
68 changes: 43 additions & 25 deletions nbs/05_environments.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -651,49 +651,67 @@
"outputs": [],
"source": [
"#| export\n",
"class WindTurbine(YawEnv):\n",
" \"A function that creates and runs the YawEnv environment fro a wind turbine.\"\n",
"class WindTurbine(ControlEnvironment):\n",
" \"A function that creates and runs the YawEnv environment for a wind turbine.\"\n",
" \n",
" def __init__(self, render=False, value=0, name=\"YawEnv\", \n",
" seed=None, links=None, new_name=True, early_termination=True, namespace=None, **cargs): \n",
" super().__init__('YawEnv', wind_timeseries,start_index,stop_index,ancestors,filter_duration,yaw_parameters,keep_history=True,\n",
" value=value, name=name, links=links, new_name=new_name, namespace=namespace,\n",
" early_termination=early_termination, **cargs)\n",
" def __init__(self, value=0, name=\"WindTurbine\", links=None, new_name=True, namespace=None, **cargs): \n",
" super().__init__(value=value, links=links, name=name, new_name=new_name, namespace=namespace, **cargs)\n",
" \n",
" self.really_done = False\n",
" self.num_links=1\n",
" self.env_name='YawEnv'\n",
"\n",
" \n",
" def __call__(self, verbose=False): \n",
" super().__call__(verbose)\n",
" \n",
" return self.value\n",
"\n",
" def set_properties(self, props):\n",
" self.initialise(props)\n",
" # wind_timeseries,start_index,stop_index,ancestors,filter_duration,yaw_parameters,\n",
"\n",
" def early_terminate(self):\n",
" if self.early_termination:\n",
" if self.really_done:\n",
" raise Exception(f'1000: OpenAIGym Env: {self.env_name} has terminated.')\n",
" if self.done:\n",
" self.reward = 0\n",
" self.really_done = True\n",
" pass\n",
"\n",
" def process_inputs(self):\n",
" self.input = self.links[0].get_value()\n",
" \n",
" def process_actions(self):\n",
" force = min(max(self.input, self.min_action), self.max_action)\n",
" self.input=[force]\n",
" raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')\n",
" \n",
" \n",
" def apply_actions_get_obs(self):\n",
" return self.env.step([self.input])\n",
"\n",
" def parse_obs(self):\n",
" raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')\n",
"\n",
" def process_values(self):\n",
" reward = self.obs[1]\n",
" if reward > 90:\n",
" reward = 0\n",
" self.reward = - reward\n",
" pos = self.value[0] + 1.2\n",
" self.value = np.append(self.value, pos)\n",
" raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')\n",
"\n",
" def get_config(self, zero=1):\n",
" config = super().get_config(zero=zero)\n",
" return config\n",
"\n",
" def get_graph_name(self):\n",
" return super().get_graph_name() \n",
" \n",
" def set_render(self, render):\n",
" self.render=render\n",
" \n",
" def reset(self, full=True, seed=None): \n",
" raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')\n",
"\n",
" def summary(self, extra=False):\n",
" super().summary(\"\", extra=extra)\n",
"\n",
" def close(self):\n",
" self.env.close()\n",
"\n",
" class Factory:\n",
" def create(self, seed=None): return MountainCarContinuousV0(seed=seed)\n",
" def create(self, seed=None): return WindTurbine(seed=seed)\n",
" class FactoryWithNamespace:\n",
" def create(self, namespace=None, seed=None): return MountainCarContinuousV0(namespace=namespace, seed=seed) "
" def create(self, namespace=None, seed=None): return WindTurbine(namespace=namespace, seed=seed) "
]
},
{
Expand Down Expand Up @@ -1341,7 +1359,7 @@
"name": "stdout",
"output_type": "stream",
"text": [
"{'type': 'Pendulum', 'name': 'Pendulum', 'value': 0, 'links': {0: 'constant1'}, 'env_name': 'Pendulum-v1', 'reward': 0, 'done': False, 'info': {}}\n"
"{'type': 'Pendulum', 'name': 'Pendulum', 'value': 0, 'links': {0: 'constant'}, 'env_name': 'Pendulum-v1', 'reward': 0, 'done': False, 'info': {}}\n"
]
}
],
Expand Down
24 changes: 11 additions & 13 deletions nbs/12_yaw_module.ipynb
View file
Original file line number Diff line number Diff line change
Expand Up @@ -180,16 +180,16 @@
"source": [
"#| export\n",
"class YawEnv(Env):\n",
" def __init__(\n",
" self,\n",
" wind_timeseries,\n",
" start_index,\n",
" stop_index,\n",
" ancestors,\n",
" filter_duration,\n",
" params,\n",
" keep_history=False,\n",
" ):\n",
"\n",
" def initialise(self, properties ):\n",
"\n",
" wind_timeseries=properties['wind_timeseries']\n",
" start_index=properties['wind_timeseries']\n",
" stop_index=properties['wind_timeseries']\n",
" ancestors=properties['wind_timeseries']\n",
" filter_duration=properties['wind_timeseries']\n",
" params=properties['wind_timeseries']\n",
" keep_history=properties['wind_timeseries']\n",
"\n",
" self.wind_timeseries = wind_timeseries\n",
" self.start_index = start_index\n",
Expand All @@ -201,6 +201,7 @@
" self.yaw_rate_max = params[\"yaw_rate_max\"]\n",
" self.cycle_period = params[\"cycle_period\"]\n",
" self.w2 = params[\"w2\"]\n",
"\n",
" self.episode_len = stop_index - start_index\n",
" self.history = None\n",
" self.ref_speed = params[\"ref_speed\"]\n",
Expand Down Expand Up @@ -233,7 +234,6 @@
" shape=(self.ancestors, 4),\n",
" )\n",
"\n",
"\n",
" def step(self, action):\n",
" \"\"\"\n",
" Apply yaw control action and compute reward obtained **after yaw actuation**\n",
Expand Down Expand Up @@ -268,8 +268,6 @@
" + self.w2 * (self.step_since_last_2 > self.filter_duration and self.step_since_last_0 > self.filter_duration)\n",
"\n",
"\n",
"\n",
"\n",
" if self.keep_history:\n",
" power_control = self.get_power(self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries],new_yaw_error)\n",
" power_no_loss = self.get_power(self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries], 0)\n",
Expand Down
19 changes: 17 additions & 2 deletions pct/_modidx.py
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Original file line number Diff line number Diff line change
Expand Up @@ -326,14 +326,29 @@
'pct/environments.py'),
'pct.environments.WindTurbine.__init__': ( 'environments.html#windturbine.__init__',
'pct/environments.py'),
'pct.environments.WindTurbine.apply_actions_get_obs': ( 'environments.html#windturbine.apply_actions_get_obs',
'pct/environments.py'),
'pct.environments.WindTurbine.close': ('environments.html#windturbine.close', 'pct/environments.py'),
'pct.environments.WindTurbine.early_terminate': ( 'environments.html#windturbine.early_terminate',
'pct/environments.py'),
'pct.environments.WindTurbine.get_config': ( 'environments.html#windturbine.get_config',
'pct/environments.py'),
'pct.environments.WindTurbine.get_graph_name': ( 'environments.html#windturbine.get_graph_name',
'pct/environments.py'),
'pct.environments.WindTurbine.parse_obs': ( 'environments.html#windturbine.parse_obs',
'pct/environments.py'),
'pct.environments.WindTurbine.process_actions': ( 'environments.html#windturbine.process_actions',
'pct/environments.py'),
'pct.environments.WindTurbine.process_inputs': ( 'environments.html#windturbine.process_inputs',
'pct/environments.py'),
'pct.environments.WindTurbine.process_values': ( 'environments.html#windturbine.process_values',
'pct/environments.py')},
'pct/environments.py'),
'pct.environments.WindTurbine.reset': ('environments.html#windturbine.reset', 'pct/environments.py'),
'pct.environments.WindTurbine.set_properties': ( 'environments.html#windturbine.set_properties',
'pct/environments.py'),
'pct.environments.WindTurbine.set_render': ( 'environments.html#windturbine.set_render',
'pct/environments.py'),
'pct.environments.WindTurbine.summary': ('environments.html#windturbine.summary', 'pct/environments.py')},
'pct.errors': { 'pct.errors.BaseErrorCollector': ('errors.html#baseerrorcollector', 'pct/errors.py'),
'pct.errors.BaseErrorCollector.__init__': ('errors.html#baseerrorcollector.__init__', 'pct/errors.py'),
'pct.errors.BaseErrorCollector.__repr__': ('errors.html#baseerrorcollector.__repr__', 'pct/errors.py'),
Expand Down Expand Up @@ -948,8 +963,8 @@
'pct.webots.WebotsHelper.get_sensor_names': ('webots.html#webotshelper.get_sensor_names', 'pct/webots.py'),
'pct.webots.WebotsHelper.get_sensor_values': ('webots.html#webotshelper.get_sensor_values', 'pct/webots.py')},
'pct.yaw_module': { 'pct.yaw_module.YawEnv': ('yaw_module.html#yawenv', 'pct/yaw_module.py'),
'pct.yaw_module.YawEnv.__init__': ('yaw_module.html#yawenv.__init__', 'pct/yaw_module.py'),
'pct.yaw_module.YawEnv.get_power': ('yaw_module.html#yawenv.get_power', 'pct/yaw_module.py'),
'pct.yaw_module.YawEnv.initialise': ('yaw_module.html#yawenv.initialise', 'pct/yaw_module.py'),
'pct.yaw_module.YawEnv.reset': ('yaw_module.html#yawenv.reset', 'pct/yaw_module.py'),
'pct.yaw_module.YawEnv.step': ('yaw_module.html#yawenv.step', 'pct/yaw_module.py'),
'pct.yaw_module.get_comparaison_metrics': ('yaw_module.html#get_comparaison_metrics', 'pct/yaw_module.py'),
Expand Down
66 changes: 42 additions & 24 deletions pct/environments.py
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Original file line number Diff line number Diff line change
Expand Up @@ -505,49 +505,67 @@ class FactoryWithNamespace:
def create(self, namespace=None, seed=None): return MountainCarContinuousV0(namespace=namespace, seed=seed)

# %% ../nbs/05_environments.ipynb 13
class WindTurbine(YawEnv):
"A function that creates and runs the YawEnv environment fro a wind turbine."
class WindTurbine(ControlEnvironment):
"A function that creates and runs the YawEnv environment for a wind turbine."

def __init__(self, render=False, value=0, name="YawEnv",
seed=None, links=None, new_name=True, early_termination=True, namespace=None, **cargs):
super().__init__('YawEnv', wind_timeseries,start_index,stop_index,ancestors,filter_duration,yaw_parameters,keep_history=True,
value=value, name=name, links=links, new_name=new_name, namespace=namespace,
early_termination=early_termination, **cargs)
def __init__(self, value=0, name="WindTurbine", links=None, new_name=True, namespace=None, **cargs):
super().__init__(value=value, links=links, name=name, new_name=new_name, namespace=namespace, **cargs)

self.really_done = False
self.num_links=1
self.env_name='YawEnv'


def __call__(self, verbose=False):
super().__call__(verbose)

return self.value

def set_properties(self, props):
self.initialise(props)
# wind_timeseries,start_index,stop_index,ancestors,filter_duration,yaw_parameters,

def early_terminate(self):
if self.early_termination:
if self.really_done:
raise Exception(f'1000: OpenAIGym Env: {self.env_name} has terminated.')
if self.done:
self.reward = 0
self.really_done = True
pass

def process_inputs(self):
self.input = self.links[0].get_value()

def process_actions(self):
force = min(max(self.input, self.min_action), self.max_action)
self.input=[force]
raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')


def apply_actions_get_obs(self):
return self.env.step([self.input])

def parse_obs(self):
raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')

def process_values(self):
reward = self.obs[1]
if reward > 90:
reward = 0
self.reward = - reward
pos = self.value[0] + 1.2
self.value = np.append(self.value, pos)
raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')

def get_config(self, zero=1):
config = super().get_config(zero=zero)
return config

def get_graph_name(self):
return super().get_graph_name()

def set_render(self, render):
self.render=render

def reset(self, full=True, seed=None):
raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')

def summary(self, extra=False):
super().summary("", extra=extra)

def close(self):
self.env.close()

class Factory:
def create(self, seed=None): return MountainCarContinuousV0(seed=seed)
def create(self, seed=None): return WindTurbine(seed=seed)
class FactoryWithNamespace:
def create(self, namespace=None, seed=None): return MountainCarContinuousV0(namespace=namespace, seed=seed)
def create(self, namespace=None, seed=None): return WindTurbine(namespace=namespace, seed=seed)

# %% ../nbs/05_environments.ipynb 14
class VelocityModel(BaseFunction):
Expand Down
24 changes: 11 additions & 13 deletions pct/yaw_module.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -116,16 +116,16 @@ def get_dataset_from_simu(path="dataset.csv", cycle_period=10, rolling_average_d

# %% ../nbs/12_yaw_module.ipynb 7
class YawEnv(Env):
def __init__(
self,
wind_timeseries,
start_index,
stop_index,
ancestors,
filter_duration,
params,
keep_history=False,
):

def initialise(self, properties ):

wind_timeseries=properties['wind_timeseries']
start_index=properties['wind_timeseries']
stop_index=properties['wind_timeseries']
ancestors=properties['wind_timeseries']
filter_duration=properties['wind_timeseries']
params=properties['wind_timeseries']
keep_history=properties['wind_timeseries']

self.wind_timeseries = wind_timeseries
self.start_index = start_index
Expand All @@ -137,6 +137,7 @@ def __init__(
self.yaw_rate_max = params["yaw_rate_max"]
self.cycle_period = params["cycle_period"]
self.w2 = params["w2"]

self.episode_len = stop_index - start_index
self.history = None
self.ref_speed = params["ref_speed"]
Expand Down Expand Up @@ -169,7 +170,6 @@ def __init__(
shape=(self.ancestors, 4),
)


def step(self, action):
"""
Apply yaw control action and compute reward obtained **after yaw actuation**
Expand Down Expand Up @@ -204,8 +204,6 @@ def step(self, action):
+ self.w2 * (self.step_since_last_2 > self.filter_duration and self.step_since_last_0 > self.filter_duration)




if self.keep_history:
power_control = self.get_power(self.wind_timeseries["wind_speed"][self.index_wind_timeseries],new_yaw_error)
power_no_loss = self.get_power(self.wind_timeseries["wind_speed"][self.index_wind_timeseries], 0)
Expand Down

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