From 74bb9a9bc27ad10055ad301de43ab92c7d2b2feb Mon Sep 17 00:00:00 2001
From: perceptualrobots <rupert@perceptualrobots.com>
Date: Thu, 3 Aug 2023 19:55:50 +0100
Subject: [PATCH 1/6] b4 adding wind speed

---
 nbs/12_yaw_module.ipynb | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/nbs/12_yaw_module.ipynb b/nbs/12_yaw_module.ipynb
index 2a436f21..d933cfbd 100644
--- a/nbs/12_yaw_module.ipynb
+++ b/nbs/12_yaw_module.ipynb
@@ -312,6 +312,9 @@
     "            ]\n",
     "        )\n",
     "\n",
+    "        # added wind speed\n",
+    "        print(self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries])\n",
+    "\n",
     "        self.state = new_state\n",
     "        reward = -self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]**3 * oriented_angle(self.yaw_angle - self.wind_timeseries[\"wind_direction\"][self.index_wind_timeseries:self.index_wind_timeseries+12].mean()) ** 2    \\\n",
     "                + self.w2 * (self.step_since_last_2 > self.filter_duration and self.step_since_last_0 > self.filter_duration)\n",
@@ -558,6 +561,10 @@
    "display_name": "python3",
    "language": "python",
    "name": "python3"
+  },
+  "language_info": {
+   "name": "python",
+   "version": "3.9.11"
   }
  },
  "nbformat": 4,

From b17b515cb441bbca79bf966b2885ad35806cb722 Mon Sep 17 00:00:00 2001
From: perceptualrobots <rupert@perceptualrobots.com>
Date: Thu, 3 Aug 2023 19:58:56 +0100
Subject: [PATCH 2/6] update

---
 nbs/12_yaw_module.ipynb | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/nbs/12_yaw_module.ipynb b/nbs/12_yaw_module.ipynb
index d933cfbd..e5e2178b 100644
--- a/nbs/12_yaw_module.ipynb
+++ b/nbs/12_yaw_module.ipynb
@@ -301,14 +301,16 @@
     "\n",
     "        self.yaw_angle = oriented_angle(self.yaw_angle + yaw_angle_change)\n",
     "        new_yaw_error = oriented_angle(self.yaw_angle - self.wind_timeseries[\"wind_direction\"][self.index_wind_timeseries])\n",
-    "        new_state = np.zeros((self.ancestors, 4))\n",
+    "        new_state = np.zeros((self.ancestors, 5))\n",
     "        new_state[:-1, :] = self.state[1:, :]\n",
     "        new_state[-1, :] = np.array(\n",
     "            [\n",
     "                action,\n",
     "                new_yaw_error,\n",
     "                self.wind_timeseries[\"wind_direction\"][self.index_wind_timeseries],\n",
-    "                (self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]-self.wind_speed_avg)/self.wind_speed_std,\n",
+    "                (self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]-self.wind_speed_avg)/self.wind_speed_std,        \n",
+    "                self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]\n",
+    "\n",
     "            ]\n",
     "        )\n",
     "\n",

From 405e9856054b24637a7a47ffeadbe332190a61bb Mon Sep 17 00:00:00 2001
From: perceptualrobots <rupert@perceptualrobots.com>
Date: Thu, 3 Aug 2023 20:58:43 +0100
Subject: [PATCH 3/6] update

---
 nbs/05_environments.ipynb |  7 ++++---
 nbs/12_yaw_module.ipynb   | 16 +++++-----------
 pct/environments.py       |  7 ++++---
 pct/yaw_module.py         |  8 ++++++--
 4 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/nbs/05_environments.ipynb b/nbs/05_environments.ipynb
index f5749a7f..5347e02d 100644
--- a/nbs/05_environments.ipynb
+++ b/nbs/05_environments.ipynb
@@ -691,11 +691,12 @@
     "\n",
     "    def parse_obs(self):\n",
     "        self.value = self.obs[0][-1]\n",
-    "        self.reward = self.obs[1]\n",
-    "        self.done = self.obs[2]\n",
-    "        self.info = self.obs[3]\n",
+    "        self.reward = self.obs[2]\n",
+    "        self.done = self.obs[3]\n",
+    "        self.info = self.obs[4]\n",
     "\n",
     "    def process_values(self):\n",
+    "        self.value = np.append(self.value, self.obs[1])\n",
     "        pass\n",
     "        # raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')\n",
     "\n",
diff --git a/nbs/12_yaw_module.ipynb b/nbs/12_yaw_module.ipynb
index e5e2178b..762ea783 100644
--- a/nbs/12_yaw_module.ipynb
+++ b/nbs/12_yaw_module.ipynb
@@ -237,12 +237,12 @@
     "\n",
     "        wind_timeseries,start_index,stop_index,ancestors,filter_duration,params,keep_history = get_properties(properties)\n",
     "        \n",
-    "\n",
     "        self.wind_timeseries = wind_timeseries\n",
     "        self.start_index = start_index\n",
     "        self.stop_index = stop_index\n",
     "        self.wind_speed_avg = wind_timeseries['wind_speed'][start_index:stop_index].mean()\n",
     "        self.wind_speed_std = wind_timeseries['wind_speed'][start_index:stop_index].std()\n",
+    "        # mean=6.688939999999999 std=1.0833884838814778\n",
     "        self.keep_history = keep_history\n",
     "        self.filter_duration = filter_duration\n",
     "        self.yaw_rate_max = params[\"yaw_rate_max\"]\n",
@@ -301,21 +301,19 @@
     "\n",
     "        self.yaw_angle = oriented_angle(self.yaw_angle + yaw_angle_change)\n",
     "        new_yaw_error = oriented_angle(self.yaw_angle - self.wind_timeseries[\"wind_direction\"][self.index_wind_timeseries])\n",
-    "        new_state = np.zeros((self.ancestors, 5))\n",
+    "        new_state = np.zeros((self.ancestors, 4))\n",
     "        new_state[:-1, :] = self.state[1:, :]\n",
     "        new_state[-1, :] = np.array(\n",
     "            [\n",
     "                action,\n",
     "                new_yaw_error,\n",
     "                self.wind_timeseries[\"wind_direction\"][self.index_wind_timeseries],\n",
-    "                (self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]-self.wind_speed_avg)/self.wind_speed_std,        \n",
-    "                self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]\n",
-    "\n",
+    "                (self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]-self.wind_speed_avg)/self.wind_speed_std\n",
     "            ]\n",
     "        )\n",
     "\n",
     "        # added wind speed\n",
-    "        print(self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries])\n",
+    "        wind_speed = self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]\n",
     "\n",
     "        self.state = new_state\n",
     "        reward = -self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]**3 * oriented_angle(self.yaw_angle - self.wind_timeseries[\"wind_direction\"][self.index_wind_timeseries:self.index_wind_timeseries+12].mean()) ** 2    \\\n",
@@ -374,7 +372,7 @@
     "        if self.index_wind_timeseries == self.stop_index - 1:\n",
     "            done = True\n",
     "\n",
-    "        return self.state, reward, done, {}\n",
+    "        return self.state, wind_speed, reward, done, {}\n",
     "    \n",
     "    \n",
     "\n",
@@ -563,10 +561,6 @@
    "display_name": "python3",
    "language": "python",
    "name": "python3"
-  },
-  "language_info": {
-   "name": "python",
-   "version": "3.9.11"
   }
  },
  "nbformat": 4,
diff --git a/pct/environments.py b/pct/environments.py
index ad3e4c73..37a2039e 100644
--- a/pct/environments.py
+++ b/pct/environments.py
@@ -545,11 +545,12 @@ def apply_actions_get_obs(self):
 
     def parse_obs(self):
         self.value = self.obs[0][-1]
-        self.reward = self.obs[1]
-        self.done = self.obs[2]
-        self.info = self.obs[3]
+        self.reward = self.obs[2]
+        self.done = self.obs[3]
+        self.info = self.obs[4]
 
     def process_values(self):
+        self.value = np.append(self.value, self.obs[1])
         pass
         # raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')
 
diff --git a/pct/yaw_module.py b/pct/yaw_module.py
index c89d011f..f87ace12 100644
--- a/pct/yaw_module.py
+++ b/pct/yaw_module.py
@@ -171,6 +171,7 @@ def initialise(self, properties ):
         self.stop_index = stop_index
         self.wind_speed_avg = wind_timeseries['wind_speed'][start_index:stop_index].mean()
         self.wind_speed_std = wind_timeseries['wind_speed'][start_index:stop_index].std()
+        # mean=6.688939999999999 std=1.0833884838814778
         self.keep_history = keep_history
         self.filter_duration = filter_duration
         self.yaw_rate_max = params["yaw_rate_max"]
@@ -236,10 +237,13 @@ def step(self, action):
                 action,
                 new_yaw_error,
                 self.wind_timeseries["wind_direction"][self.index_wind_timeseries],
-                (self.wind_timeseries["wind_speed"][self.index_wind_timeseries]-self.wind_speed_avg)/self.wind_speed_std,
+                (self.wind_timeseries["wind_speed"][self.index_wind_timeseries]-self.wind_speed_avg)/self.wind_speed_std
             ]
         )
 
+        # added wind speed
+        wind_speed = self.wind_timeseries["wind_speed"][self.index_wind_timeseries]
+
         self.state = new_state
         reward = -self.wind_timeseries["wind_speed"][self.index_wind_timeseries]**3 * oriented_angle(self.yaw_angle - self.wind_timeseries["wind_direction"][self.index_wind_timeseries:self.index_wind_timeseries+12].mean()) ** 2    \
                 + self.w2 * (self.step_since_last_2 > self.filter_duration and self.step_since_last_0 > self.filter_duration)
@@ -297,7 +301,7 @@ def step(self, action):
         if self.index_wind_timeseries == self.stop_index - 1:
             done = True
 
-        return self.state, reward, done, {}
+        return self.state, wind_speed, reward, done, {}
     
     
 

From 314cc5777041bfa7522d8c7ca852337990586f5c Mon Sep 17 00:00:00 2001
From: perceptualrobots <rupert@perceptualrobots.com>
Date: Fri, 4 Aug 2023 22:16:23 +0100
Subject: [PATCH 4/6] update

---
 pct/yaw_module.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/pct/yaw_module.py b/pct/yaw_module.py
index f87ace12..e06bd216 100644
--- a/pct/yaw_module.py
+++ b/pct/yaw_module.py
@@ -165,7 +165,6 @@ def initialise(self, properties ):
 
         wind_timeseries,start_index,stop_index,ancestors,filter_duration,params,keep_history = get_properties(properties)
         
-
         self.wind_timeseries = wind_timeseries
         self.start_index = start_index
         self.stop_index = stop_index

From ccd479e509e7e161de56df69ef5cae539e0fa9a8 Mon Sep 17 00:00:00 2001
From: perceptualrobots <rupert@perceptualrobots.com>
Date: Sat, 5 Aug 2023 17:47:18 +0100
Subject: [PATCH 5/6] update

---
 nbs/05_environments.ipynb | 18 ++++++++++-------
 nbs/07_errors.ipynb       | 25 +++++++++++++++++++++++
 nbs/12_yaw_module.ipynb   |  2 +-
 pct/_modidx.py            |  5 +++++
 pct/environments.py       | 18 ++++++++++-------
 pct/errors.py             | 42 ++++++++++++++++++++++++++++-----------
 pct/yaw_module.py         |  2 +-
 7 files changed, 84 insertions(+), 28 deletions(-)

diff --git a/nbs/05_environments.ipynb b/nbs/05_environments.ipynb
index 5347e02d..8856d5e9 100644
--- a/nbs/05_environments.ipynb
+++ b/nbs/05_environments.ipynb
@@ -654,9 +654,10 @@
     "class WindTurbine(ControlEnvironment):\n",
     "    \"A function that creates and runs the YawEnv environment for a wind turbine. Indexes 0 - action, 1 - yaw error, 2 - wind direction, 3 - wind speed (ignore 0).\"\n",
     "    \n",
-    "    def __init__(self, value=0, name=\"WindTurbine\", links=None, new_name=True, namespace=None, **cargs):        \n",
+    "    def __init__(self, value=0, name=\"WindTurbine\", links=None, new_name=True, namespace=None, seed=None, **cargs):        \n",
     "        super().__init__(value=value, links=links, name=name, new_name=new_name, namespace=namespace, **cargs)\n",
     "        \n",
+    "        self.zero_threshold = 0\n",
     "        self.num_links=1\n",
     "        self.env_name='YawEnv'\n",
     "        self.env = YawEnv()\n",
@@ -669,7 +670,8 @@
     "\n",
     "    def set_properties(self, props):\n",
     "        self.env.initialise(props)\n",
-    "        # wind_timeseries,start_index,stop_index,ancestors,filter_duration,yaw_parameters,\n",
+    "        if 'zero_threshold' in props:\n",
+    "            self.zero_threshold = props['zero_threshold']\n",
     "\n",
     "    def early_terminate(self):\n",
     "        pass\n",
@@ -678,16 +680,16 @@
     "        self.input = self.links[0].get_value()\n",
     "                \n",
     "    def process_actions(self):\n",
-    "        if self.input < 0:\n",
+    "        if abs(self.input)<= self.zero_threshold:        \n",
+    "            self.action = 1            \n",
+    "        elif self.input < 0:\n",
     "            self.action = 0\n",
     "        elif self.input > 0:\n",
     "            self.action = 2\n",
-    "        else:\n",
-    "            self.action = 1            \n",
-    "        \n",
+    "                 \n",
     "    \n",
     "    def apply_actions_get_obs(self):\n",
-    "        return self.env.step(self.input)\n",
+    "        return self.env.step(self.action)\n",
     "\n",
     "    def parse_obs(self):\n",
     "        self.value = self.obs[0][-1]\n",
@@ -697,6 +699,7 @@
     "\n",
     "    def process_values(self):\n",
     "        self.value = np.append(self.value, self.obs[1])\n",
+    "        self.reward=-(self.reward-self.env.w2)\n",
     "        pass\n",
     "        # raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')\n",
     "\n",
@@ -711,6 +714,7 @@
     "        self.render=render\n",
     "        \n",
     "    def reset(self, full=True, seed=None):  \n",
+    "        self.zero_threshold = 0\n",
     "        self.env.reset()\n",
     "        # raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')\n",
     "\n",
diff --git a/nbs/07_errors.ipynb b/nbs/07_errors.ipynb
index b340f560..4b2d5e69 100644
--- a/nbs/07_errors.ipynb
+++ b/nbs/07_errors.ipynb
@@ -156,6 +156,31 @@
     "        def create(self, flip_error_response=False): return RootMeanSquareError(flip_error_response=flip_error_response)"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#| export\n",
+    "class SummedError(BaseErrorType):\n",
+    "    \"Sum of all errors.\"\n",
+    "    def __init__(self, flip_error_response=False):\n",
+    "        super().__init__(flip_error_response=flip_error_response)\n",
+    "        self.reset()\n",
+    "        \n",
+    "    def __call__(self, error):\n",
+    "        self.sum+=error\n",
+    "        self.error_response=self.sum\n",
+    "\n",
+    "    def reset(self):\n",
+    "        super().reset()\n",
+    "        self.sum=0\n",
+    "        \n",
+    "    class Factory:\n",
+    "        def create(self, flip_error_response=False): return SummedError(flip_error_response=flip_error_response)"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
diff --git a/nbs/12_yaw_module.ipynb b/nbs/12_yaw_module.ipynb
index 762ea783..f561accf 100644
--- a/nbs/12_yaw_module.ipynb
+++ b/nbs/12_yaw_module.ipynb
@@ -266,7 +266,7 @@
     "        )\n",
     "\n",
     "        self.ancestors = ancestors\n",
-    "        print(self.episode_len, \" points in simulation dataset\")\n",
+    "        # print(self.episode_len, \" points in simulation dataset\")\n",
     "        self.action_space = Discrete(3)\n",
     "\n",
     "        # Observation space : Represents environment **after yaw actuation**\n",
diff --git a/pct/_modidx.py b/pct/_modidx.py
index 816c8996..429b3ee0 100644
--- a/pct/_modidx.py
+++ b/pct/_modidx.py
@@ -422,6 +422,11 @@
                             'pct.errors.SmoothError.__call__': ('errors.html#smootherror.__call__', 'pct/errors.py'),
                             'pct.errors.SmoothError.__init__': ('errors.html#smootherror.__init__', 'pct/errors.py'),
                             'pct.errors.SmoothError.reset': ('errors.html#smootherror.reset', 'pct/errors.py'),
+                            'pct.errors.SummedError': ('errors.html#summederror', 'pct/errors.py'),
+                            'pct.errors.SummedError.Factory': ('errors.html#summederror.factory', 'pct/errors.py'),
+                            'pct.errors.SummedError.__call__': ('errors.html#summederror.__call__', 'pct/errors.py'),
+                            'pct.errors.SummedError.__init__': ('errors.html#summederror.__init__', 'pct/errors.py'),
+                            'pct.errors.SummedError.reset': ('errors.html#summederror.reset', 'pct/errors.py'),
                             'pct.errors.TopError': ('errors.html#toperror', 'pct/errors.py'),
                             'pct.errors.TopError.Factory': ('errors.html#toperror.factory', 'pct/errors.py'),
                             'pct.errors.TopError.__init__': ('errors.html#toperror.__init__', 'pct/errors.py'),
diff --git a/pct/environments.py b/pct/environments.py
index 37a2039e..aaf2396e 100644
--- a/pct/environments.py
+++ b/pct/environments.py
@@ -508,9 +508,10 @@ def create(self, namespace=None, seed=None): return MountainCarContinuousV0(name
 class WindTurbine(ControlEnvironment):
     "A function that creates and runs the YawEnv environment for a wind turbine. Indexes 0 - action, 1 - yaw error, 2 - wind direction, 3 - wind speed (ignore 0)."
     
-    def __init__(self, value=0, name="WindTurbine", links=None, new_name=True, namespace=None, **cargs):        
+    def __init__(self, value=0, name="WindTurbine", links=None, new_name=True, namespace=None, seed=None, **cargs):        
         super().__init__(value=value, links=links, name=name, new_name=new_name, namespace=namespace, **cargs)
         
+        self.zero_threshold = 0
         self.num_links=1
         self.env_name='YawEnv'
         self.env = YawEnv()
@@ -523,7 +524,8 @@ def __call__(self, verbose=False):
 
     def set_properties(self, props):
         self.env.initialise(props)
-        # wind_timeseries,start_index,stop_index,ancestors,filter_duration,yaw_parameters,
+        if 'zero_threshold' in props:
+            self.zero_threshold = props['zero_threshold']
 
     def early_terminate(self):
         pass
@@ -532,16 +534,16 @@ def process_inputs(self):
         self.input = self.links[0].get_value()
                 
     def process_actions(self):
-        if self.input < 0:
+        if abs(self.input)<= self.zero_threshold:        
+            self.action = 1            
+        elif self.input < 0:
             self.action = 0
         elif self.input > 0:
             self.action = 2
-        else:
-            self.action = 1            
-        
+                 
     
     def apply_actions_get_obs(self):
-        return self.env.step(self.input)
+        return self.env.step(self.action)
 
     def parse_obs(self):
         self.value = self.obs[0][-1]
@@ -551,6 +553,7 @@ def parse_obs(self):
 
     def process_values(self):
         self.value = np.append(self.value, self.obs[1])
+        self.reward=-(self.reward-self.env.w2)
         pass
         # raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')
 
@@ -565,6 +568,7 @@ def set_render(self, render):
         self.render=render
         
     def reset(self, full=True, seed=None):  
+        self.zero_threshold = 0
         self.env.reset()
         # raise Exception(f'TBD {self.__class__.__name__}:{self.env_name}.')
 
diff --git a/pct/errors.py b/pct/errors.py
index 9ae5eedb..b4f53ace 100644
--- a/pct/errors.py
+++ b/pct/errors.py
@@ -1,9 +1,9 @@
 # AUTOGENERATED! DO NOT EDIT! File to edit: ../nbs/07_errors.ipynb.
 
 # %% auto 0
-__all__ = ['BaseErrorType', 'RootSumSquaredError', 'RootMeanSquareError', 'CurrentError', 'SmoothError', 'BaseErrorCollector',
-           'TotalError', 'TopError', 'InputsError', 'ReferencedInputsError', 'RewardError', 'ErrorResponseFactory',
-           'ErrorCollectorFactory']
+__all__ = ['BaseErrorType', 'RootSumSquaredError', 'RootMeanSquareError', 'SummedError', 'CurrentError', 'SmoothError',
+           'BaseErrorCollector', 'TotalError', 'TopError', 'InputsError', 'ReferencedInputsError', 'RewardError',
+           'ErrorResponseFactory', 'ErrorCollectorFactory']
 
 # %% ../nbs/07_errors.ipynb 3
 #import numpy as np
@@ -84,6 +84,24 @@ class Factory:
         def create(self, flip_error_response=False): return RootMeanSquareError(flip_error_response=flip_error_response)
 
 # %% ../nbs/07_errors.ipynb 8
+class SummedError(BaseErrorType):
+    "Sum of all errors."
+    def __init__(self, flip_error_response=False):
+        super().__init__(flip_error_response=flip_error_response)
+        self.reset()
+        
+    def __call__(self, error):
+        self.sum+=error
+        self.error_response=self.sum
+
+    def reset(self):
+        super().reset()
+        self.sum=0
+        
+    class Factory:
+        def create(self, flip_error_response=False): return SummedError(flip_error_response=flip_error_response)
+
+# %% ../nbs/07_errors.ipynb 9
 class CurrentError(BaseErrorType):
     "The current error, rather than a function of the historical values."
     def __init__(self, flip_error_response=False):
@@ -98,7 +116,7 @@ def reset(self):
     class Factory:
         def create(self, flip_error_response=False): return CurrentError(flip_error_response=flip_error_response)
 
-# %% ../nbs/07_errors.ipynb 9
+# %% ../nbs/07_errors.ipynb 10
 class SmoothError(BaseErrorType):
     "The exponential smoothed value of the error."
     def __init__(self, flip_error_response=False):
@@ -115,7 +133,7 @@ def reset(self):
     class Factory:
         def create(self, flip_error_response=False): return SmoothError(flip_error_response=flip_error_response)
 
-# %% ../nbs/07_errors.ipynb 10
+# %% ../nbs/07_errors.ipynb 11
 class BaseErrorCollector(ABC):
     "Base class of an error collector. This class is not used direclty by developers, but defines the interface common to all."
     'Parameters:'
@@ -191,7 +209,7 @@ def check_limit(self):
         
         return self.limit_exceeded
 
-# %% ../nbs/07_errors.ipynb 11
+# %% ../nbs/07_errors.ipynb 12
 class TotalError(BaseErrorCollector):
     "A class to collect all the errors of the control system run."            
     def __init__(self, limit=1000, error_response=None, min=None, **cargs):
@@ -209,7 +227,7 @@ def add_data(self, hpct=None):
     class Factory:
         def create(self): return TotalError()
 
-# %% ../nbs/07_errors.ipynb 12
+# %% ../nbs/07_errors.ipynb 13
 class TopError(BaseErrorCollector):
     "A class to collect all the errors of the top-level nodes."            
     def __init__(self, limit=1000, error_response=None, min=None, **cargs):
@@ -229,7 +247,7 @@ def add_data(self, hpct=None):
     class Factory:
         def create(self): return TopError()
 
-# %% ../nbs/07_errors.ipynb 13
+# %% ../nbs/07_errors.ipynb 14
 class InputsError(BaseErrorCollector):
     "A class to collect the values of the input values."            
     def __init__(self, limit=1000, error_response=None, min=None, **cargs):
@@ -250,7 +268,7 @@ def add_data(self, hpct=None):
     class Factory:
         def create(self): return InputsError()
 
-# %% ../nbs/07_errors.ipynb 14
+# %% ../nbs/07_errors.ipynb 15
 class ReferencedInputsError(BaseErrorCollector):
     "A class to collect the values of the input values subtracted from reference values."                        
     def __init__(self, limit=1000, error_response=None, min=None, **cargs):
@@ -288,7 +306,7 @@ def add_data(self, hpct=None):
     class Factory:
         def create(self): return ReferencedInputsError()
 
-# %% ../nbs/07_errors.ipynb 15
+# %% ../nbs/07_errors.ipynb 16
 class RewardError(BaseErrorCollector):
     "A class that collects the reward value of the control system run."            
     def __init__(self, limit=1000, error_response=None, min=None, **cargs):
@@ -304,7 +322,7 @@ def add_data(self, hpct=None):
     class Factory:
         def create(self): return RewardError()
 
-# %% ../nbs/07_errors.ipynb 16
+# %% ../nbs/07_errors.ipynb 17
 class ErrorResponseFactory:
     factories = {}
     def addResponseFactory(id, errorResponseFactory):
@@ -318,7 +336,7 @@ def createErrorResponse(id, flip_error_response=False):
         return ErrorResponseFactory.factories[id].create(flip_error_response=flip_error_response)
     createErrorResponse = staticmethod(createErrorResponse)
 
-# %% ../nbs/07_errors.ipynb 17
+# %% ../nbs/07_errors.ipynb 18
 class ErrorCollectorFactory:
     factories = {}
     def addCollectorFactory(id, errorCollectorFactory):
diff --git a/pct/yaw_module.py b/pct/yaw_module.py
index e06bd216..0b080dc5 100644
--- a/pct/yaw_module.py
+++ b/pct/yaw_module.py
@@ -194,7 +194,7 @@ def initialise(self, properties ):
         )
 
         self.ancestors = ancestors
-        print(self.episode_len, " points in simulation dataset")
+        # print(self.episode_len, " points in simulation dataset")
         self.action_space = Discrete(3)
 
         # Observation space : Represents environment **after yaw actuation**

From 72596241914be400c6fc93257c5d71604d0587a8 Mon Sep 17 00:00:00 2001
From: perceptualrobots <rupert@perceptualrobots.com>
Date: Wed, 9 Aug 2023 17:19:03 +0100
Subject: [PATCH 6/6] update

---
 nbs/12_yaw_module.ipynb | 71 ++++++++++++++++++++++++++++++++++++++++
 pct/_modidx.py          |  3 +-
 pct/yaw_module.py       | 72 ++++++++++++++++++++++++++++++++++++++---
 3 files changed, 141 insertions(+), 5 deletions(-)

diff --git a/nbs/12_yaw_module.ipynb b/nbs/12_yaw_module.ipynb
index f561accf..ca0a4abe 100644
--- a/nbs/12_yaw_module.ipynb
+++ b/nbs/12_yaw_module.ipynb
@@ -223,6 +223,77 @@
     "    return wind_timeseries,model_params['start_index'], model_params['stop_index'], model_params['ancestors'],    model_params['filter_duration'],yaw_params,keep_history"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "ef00fec4",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#| export\n",
+    "def test_trad_control(wind_timeseries, wind_timeseries_not_agg,agg, start, end, experiment=None,datatype='baseline_simu'):\n",
+    "    '''\n",
+    "    test CYCA-S and CYCA-L\n",
+    "\n",
+    "    '''\n",
+    "    fig, ax = plt.subplots(figsize=(15, 5))\n",
+    "    ax.plot(range(0,(end-start)*10,10), wind_timeseries[\"wind_direction\"][start:end], label=\"wind direction (deg)\")\n",
+    "    ax.plot(range(0,(end-start)*10,10), wind_timeseries[\"nacelle_pos_\" + datatype][start:end], label=\"nacelle position (deg)\")\n",
+    "    if experiment:\n",
+    "        experiment.log_curve(\n",
+    "            \"wind_direction\",\n",
+    "            range(0, end-start),\n",
+    "            wind_timeseries[\"wind_direction\"][start:end],\n",
+    "            overwrite = True,\n",
+    "        )\n",
+    "    if experiment:\n",
+    "        experiment.log_curve(\n",
+    "            \"nacelle_pos_\"+datatype,\n",
+    "            range(0,  end-start),\n",
+    "            wind_timeseries[\"nacelle_pos_\" + datatype][start:end],\n",
+    "            overwrite = True,\n",
+    "        )\n",
+    "\n",
+    "    plt.legend()\n",
+    "    plotly_fig = tls.mpl_to_plotly(fig)\n",
+    "    plotly_fig.write_html(\"res.html\")\n",
+    "\n",
+    "    if experiment:\n",
+    "        experiment.log_html(open(\"res.html\").read())\n",
+    "\n",
+    "    average_yaw_error = (oriented_angle(wind_timeseries[\"wind_direction\"][start:end] - wind_timeseries[\"nacelle_pos_\" + datatype][start:end]).abs().mean())\n",
+    "    nacelle_position_diff = oriented_angle(wind_timeseries[\"nacelle_pos_\" + datatype][start:end].diff(1).dropna())\n",
+    "    nacelle_position_not_agg_diff = oriented_angle(wind_timeseries_not_agg[\"nacelle_pos_\" + datatype][start*agg:end*agg].diff(1).dropna())\n",
+    "    angle_covered = sum(abs(nacelle_position_diff))\n",
+    "    yaw_count = get_yaw_count(nacelle_position_diff.to_list())\n",
+    "    time_yawing = get_time_yawing(nacelle_position_not_agg_diff.to_list())\n",
+    "\n",
+    "    if experiment:\n",
+    "        experiment.log_metrics(\n",
+    "            {\n",
+    "                \"start_trad\": start,\n",
+    "                \"end_trad\": end,\n",
+    "                \"average yaw error_\"+ datatype: average_yaw_error,\n",
+    "                \"angle covered_trad_\"+ datatype: angle_covered,\n",
+    "                \"yaw count_trad_\"+ datatype: yaw_count,\n",
+    "                \"time_yawing_trad_\"+ datatype: time_yawing,\n",
+    "            }\n",
+    "        )\n",
+    "\n",
+    "    return {\n",
+    "        \"start\": start,\n",
+    "        \"end\": end,\n",
+    "        \"average yaw error_\"+ datatype: average_yaw_error,\n",
+    "        \"angle covered_trad_\"+ datatype: angle_covered,\n",
+    "        \"yaw count_trad_\"+ datatype: yaw_count,\n",
+    "        \"time_yawing_trad_\"+ datatype: time_yawing,\n",
+    "    }, \\\n",
+    "    wind_timeseries[\"nacelle_pos_\" + datatype][start:end].to_list(), \\\n",
+    "    wind_timeseries[\"wind_direction\"][start:end].to_list()\n",
+    "    \n",
+    "\n"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
diff --git a/pct/_modidx.py b/pct/_modidx.py
index 429b3ee0..88ffa3e7 100644
--- a/pct/_modidx.py
+++ b/pct/_modidx.py
@@ -980,4 +980,5 @@
                                 'pct.yaw_module.get_time_yawing': ('yaw_module.html#get_time_yawing', 'pct/yaw_module.py'),
                                 'pct.yaw_module.get_yaw_count': ('yaw_module.html#get_yaw_count', 'pct/yaw_module.py'),
                                 'pct.yaw_module.oriented_angle': ('yaw_module.html#oriented_angle', 'pct/yaw_module.py'),
-                                'pct.yaw_module.test_model_wind': ('yaw_module.html#test_model_wind', 'pct/yaw_module.py')}}}
+                                'pct.yaw_module.test_model_wind': ('yaw_module.html#test_model_wind', 'pct/yaw_module.py'),
+                                'pct.yaw_module.test_trad_control': ('yaw_module.html#test_trad_control', 'pct/yaw_module.py')}}}
diff --git a/pct/yaw_module.py b/pct/yaw_module.py
index 0b080dc5..4bec3127 100644
--- a/pct/yaw_module.py
+++ b/pct/yaw_module.py
@@ -1,8 +1,8 @@
 # AUTOGENERATED! DO NOT EDIT! File to edit: ../nbs/12_yaw_module.ipynb.
 
 # %% auto 0
-__all__ = ['get_yaw_count', 'get_time_yawing', 'oriented_angle', 'get_dataset_from_simu', 'get_properties', 'YawEnv',
-           'get_comparaison_metrics', 'test_model_wind']
+__all__ = ['get_yaw_count', 'get_time_yawing', 'oriented_angle', 'get_dataset_from_simu', 'get_properties', 'test_trad_control',
+           'YawEnv', 'get_comparaison_metrics', 'test_model_wind']
 
 # %% ../nbs/12_yaw_module.ipynb 2
 import warnings
@@ -159,6 +159,70 @@ def get_properties(properties):
     return wind_timeseries,model_params['start_index'], model_params['stop_index'], model_params['ancestors'],    model_params['filter_duration'],yaw_params,keep_history
 
 # %% ../nbs/12_yaw_module.ipynb 8
+def test_trad_control(wind_timeseries, wind_timeseries_not_agg,agg, start, end, experiment=None,datatype='baseline_simu'):
+    '''
+    test CYCA-S and CYCA-L
+
+    '''
+    fig, ax = plt.subplots(figsize=(15, 5))
+    ax.plot(range(0,(end-start)*10,10), wind_timeseries["wind_direction"][start:end], label="wind direction (deg)")
+    ax.plot(range(0,(end-start)*10,10), wind_timeseries["nacelle_pos_" + datatype][start:end], label="nacelle position (deg)")
+    if experiment:
+        experiment.log_curve(
+            "wind_direction",
+            range(0, end-start),
+            wind_timeseries["wind_direction"][start:end],
+            overwrite = True,
+        )
+    if experiment:
+        experiment.log_curve(
+            "nacelle_pos_"+datatype,
+            range(0,  end-start),
+            wind_timeseries["nacelle_pos_" + datatype][start:end],
+            overwrite = True,
+        )
+
+    plt.legend()
+    plotly_fig = tls.mpl_to_plotly(fig)
+    plotly_fig.write_html("res.html")
+
+    if experiment:
+        experiment.log_html(open("res.html").read())
+
+    average_yaw_error = (oriented_angle(wind_timeseries["wind_direction"][start:end] - wind_timeseries["nacelle_pos_" + datatype][start:end]).abs().mean())
+    nacelle_position_diff = oriented_angle(wind_timeseries["nacelle_pos_" + datatype][start:end].diff(1).dropna())
+    nacelle_position_not_agg_diff = oriented_angle(wind_timeseries_not_agg["nacelle_pos_" + datatype][start*agg:end*agg].diff(1).dropna())
+    angle_covered = sum(abs(nacelle_position_diff))
+    yaw_count = get_yaw_count(nacelle_position_diff.to_list())
+    time_yawing = get_time_yawing(nacelle_position_not_agg_diff.to_list())
+
+    if experiment:
+        experiment.log_metrics(
+            {
+                "start_trad": start,
+                "end_trad": end,
+                "average yaw error_"+ datatype: average_yaw_error,
+                "angle covered_trad_"+ datatype: angle_covered,
+                "yaw count_trad_"+ datatype: yaw_count,
+                "time_yawing_trad_"+ datatype: time_yawing,
+            }
+        )
+
+    return {
+        "start": start,
+        "end": end,
+        "average yaw error_"+ datatype: average_yaw_error,
+        "angle covered_trad_"+ datatype: angle_covered,
+        "yaw count_trad_"+ datatype: yaw_count,
+        "time_yawing_trad_"+ datatype: time_yawing,
+    }, \
+    wind_timeseries["nacelle_pos_" + datatype][start:end].to_list(), \
+    wind_timeseries["wind_direction"][start:end].to_list()
+    
+
+
+
+# %% ../nbs/12_yaw_module.ipynb 9
 class YawEnv(Env):
 
     def initialise(self, properties ):
@@ -351,7 +415,7 @@ def reset(self):
 
         return self.state
 
-# %% ../nbs/12_yaw_module.ipynb 9
+# %% ../nbs/12_yaw_module.ipynb 10
 def get_comparaison_metrics(wind_direction,power_control,power_simu,res_model, res_baseline_simu, yaw_rate, yaw_power, width_bin) :
     res_model_diff = pd.Series(res_model).diff(1).fillna(0)
     res_baseline_simu_diff = pd.Series(res_baseline_simu).diff(1).fillna(0)
@@ -387,7 +451,7 @@ def get_comparaison_metrics(wind_direction,power_control,power_simu,res_model, r
         
      
 
-# %% ../nbs/12_yaw_module.ipynb 10
+# %% ../nbs/12_yaw_module.ipynb 11
 def test_model_wind(wind_timeseries,start_index,stop_index,ancestors,filter_duration,yaw_parameters,experiment=None,datatype='test'):
     '''
     test RLYCA