Merge remote-tracking branch 'origin/main' into develop

dzalkind · dzalkind · commit 1b2ccf7dd1a1 · 2026-02-03T17:22:40.000-07:00
diff --git a/.github/workflows/CI_rosco-compile.yml b/.github/workflows/CI_rosco-compile.yml
@@ -108,7 +108,7 @@ jobs:
         strategy:
             fail-fast: false #true
             matrix:
-                os: ["ubuntu-latest", "macOS-13", "macOS-14", "windows-latest"] #mac-13 intel, mac-14 arm
+                os: ["ubuntu-latest", "macOS-14", "macOS-latest", "windows-latest"] #mac-13 intel, mac-14 arm
                 python-version: ["3.11", "3.12"]
 
         steps:
diff --git a/.github/workflows/Publish_ROSCO.yml b/.github/workflows/Publish_ROSCO.yml
@@ -12,7 +12,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, windows-latest, macos-13, macos-14, macos-15]
+        os: [ubuntu-latest, windows-latest, macos-14, macos-15]
 
     steps:
       - name: Set up QEMU
@@ -64,14 +64,6 @@ jobs:
           CC: ${{ steps.install_cc.outputs.cc }}
           CXX: ${{ steps.install_cc.outputs.cxx }}
 
-      - name: Build wheels mac-13
-        if: contains( matrix.os, 'macos-13')
-        uses: pypa/cibuildwheel@v2.23.3
-        env:
-          CC: ${{ steps.install_cc.outputs.cc }}
-          CXX: ${{ steps.install_cc.outputs.cxx }}
-          CIBW_ENVIRONMENT_MACOS: MACOSX_DEPLOYMENT_TARGET="13.0"
-
       - name: Build wheels mac-14
         if: contains( matrix.os, 'macos-14')
         uses: pypa/cibuildwheel@v2.23.3
diff --git a/Examples/02_ccblade.py b/Examples/02_ccblade.py
@@ -16,38 +16,53 @@
 from rosco.toolbox import turbine as ROSCO_turbine
 from rosco.toolbox.utilities import write_rotor_performance
 from rosco.toolbox.inputs.validation import load_rosco_yaml
+import matplotlib.pyplot as plt
+
+
+this_dir = os.path.dirname(os.path.abspath(__file__))
+tune_dir =  os.path.join(this_dir,'Tune_Cases')
+
+example_out_dir = os.path.join(this_dir,'examples_out')
+if not os.path.isdir(example_out_dir):
+    os.makedirs(example_out_dir)
+
 
 def main():
+    # Inputs: tuning yaml (will point to openfast model file for generating Cp surface)
+    parameter_filename = os.path.join(tune_dir,'IEA15MW.yaml')    
+    
+    # Output: rotor performance text file
+    txt_filename = os.path.join(example_out_dir,'02_Cp_Ct_Cq.Ex03.txt')
+    
     # Initialize parameter dictionaries
     turbine_params = {}
-    control_params = {}
 
-    this_dir = os.path.dirname(os.path.abspath(__file__))
-    example_out_dir = os.path.join(this_dir,'examples_out')
-    if not os.path.isdir(example_out_dir):
-        os.makedirs(example_out_dir)
 
     # Load yaml file
-    this_dir = os.path.dirname(os.path.abspath(__file__))
-    tune_dir =  os.path.join(this_dir,'Tune_Cases')
-    parameter_filename = os.path.join(tune_dir,'NREL5MW.yaml')
     inps = load_rosco_yaml(parameter_filename)
     path_params         = inps['path_params']
     turbine_params      = inps['turbine_params']
-    controller_params   = inps['controller_params']
 
     # Load turbine data from openfast model
     turbine = ROSCO_turbine.Turbine(turbine_params)
     turbine.load_from_fast(
         path_params['FAST_InputFile'],
-        os.path.join(tune_dir,path_params['FAST_directory']),
+        os.path.join(os.path.dirname(parameter_filename),path_params['FAST_directory']),
         rot_source='cc-blade',
         txt_filename=None)
 
     # Write rotor performance text file
-    txt_filename = os.path.join(example_out_dir,'02_Cp_Ct_Cq.Ex03.txt')
     write_rotor_performance(turbine,txt_filename=txt_filename)
 
+    # plot rotor performance 
+    print('Plotting Cp data')
+    turbine.Cp.plot_performance()
+
+    if False:
+        plt.show()
+    else:
+        plt.savefig(os.path.join(example_out_dir,'01_NREL5MW_Cp.png'))
+
 if __name__ == "__main__":
     main()
 
diff --git a/Examples/03_tune_controller.py b/Examples/03_tune_controller.py
@@ -25,38 +25,46 @@
 from rosco.toolbox.utilities import write_DISCON
 from rosco.toolbox.inputs.validation import load_rosco_yaml
 
+this_dir = os.path.dirname(os.path.abspath(__file__))
+tune_dir =  os.path.join(this_dir,'Tune_Cases')
+example_out_dir = os.path.join(this_dir,'examples_out')
+os.makedirs(example_out_dir, exist_ok=True)
+
 def main():
+    # Inputs: tuning yaml (will point to openfast model file)
+    parameter_filename = os.path.join(tune_dir,'IEA15MW.yaml')
+    
+    # Output: controller DISCON input file
+    param_file = os.path.join(example_out_dir,'IEA15MW_DISCON.IN')
+    
     # Load yaml file 
-    this_dir = os.path.dirname(os.path.abspath(__file__))
-    tune_dir =  os.path.join(this_dir,'Tune_Cases')
-    parameter_filename = os.path.join(tune_dir,'NREL5MW.yaml')
     inps = load_rosco_yaml(parameter_filename)
     path_params         = inps['path_params']
     turbine_params      = inps['turbine_params']
     controller_params   = inps['controller_params']
+    yaml_dir = os.path.dirname(parameter_filename)
 
     # Instantiate turbine, controller, and file processing classes
     turbine         = ROSCO_turbine.Turbine(turbine_params)
     controller      = ROSCO_controller.Controller(controller_params)
 
     # Load turbine data from OpenFAST and rotor performance text file
-    cp_filename = os.path.join(tune_dir,path_params['rotor_performance_filename'])
+    cp_filename = os.path.join(yaml_dir,path_params['rotor_performance_filename'])
     turbine.load_from_fast(
         path_params['FAST_InputFile'],
-        os.path.join(tune_dir,path_params['FAST_directory']),
+        os.path.join(yaml_dir,path_params['FAST_directory']),
         rot_source='txt',txt_filename= cp_filename
         )
 
     # Tune controller 
     controller.tune_controller(turbine)
 
     # Write parameter input file
-    example_out_dir = os.path.join(this_dir,'examples_out')
-    param_file = os.path.join(example_out_dir,'03_DISCON.IN')
-    write_DISCON(turbine,controller,
-    param_file=param_file, 
-    txt_filename=cp_filename
-    )
+    write_DISCON(
+        turbine,controller,
+        param_file=param_file, 
+        txt_filename=cp_filename
+        )
 
     # Plot gain schedule
     fig, ax = plt.subplots(2,2,constrained_layout=True,sharex=True)
@@ -76,9 +84,7 @@ def main():
     ax[3].set_ylabel('Integral Gain')
 
     plt.suptitle('Pitch Controller Gains')
-
-    if not os.path.isdir(example_out_dir):
-        os.makedirs(example_out_dir)
+        
 
     if False:
         plt.show()
diff --git a/Examples/06_peak_shaving.py b/Examples/06_peak_shaving.py
@@ -31,6 +31,7 @@
 # Python modules
 import matplotlib.pyplot as plt 
 import os
+import numpy as np
 # ROSCO toolbox modules 
 from rosco.toolbox import controller as ROSCO_controller
 from rosco.toolbox import turbine as ROSCO_turbine
@@ -45,6 +46,8 @@ def main():
 
     # Load yaml file 
     parameter_filename = os.path.join(tune_dir,'NREL5MW.yaml')
+    yaml_dir = os.path.dirname(parameter_filename)
+
     inps = load_rosco_yaml(parameter_filename)
     path_params         = inps['path_params']
     turbine_params      = inps['turbine_params']
@@ -61,19 +64,19 @@ def main():
     # Load turbine data from OpenFAST and rotor performance text file
     turbine.load_from_fast(
         path_params['FAST_InputFile'],
-        os.path.join(tune_dir,path_params['FAST_directory']),
-        rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
+        os.path.join(yaml_dir,path_params['FAST_directory']),
+        rot_source='txt',txt_filename=os.path.join(yaml_dir,path_params['rotor_performance_filename'])
         )
     # Tune controller 
     controller.tune_controller(turbine)
 
     # Plot minimum pitch schedule
     fig, ax = plt.subplots(1,1)
-    ax.plot(controller.v, controller.pitch_op,label='Steady State Operation')
-    ax.plot(controller.v, controller.ps_min_bld_pitch, label='Minimum Pitch Schedule')
+    ax.plot(controller.v, np.degrees(controller.pitch_op), label='Steady State Operation')
+    ax.plot(controller.v, np.degrees(controller.ps_min_bld_pitch), label='Minimum Pitch Schedule')
     ax.legend()
     ax.set_xlabel('Wind speed (m/s)')
-    ax.set_ylabel('Blade pitch (rad)')
+    ax.set_ylabel('Blade pitch (deg)')
 
     if False:
         plt.show()
diff --git a/Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN b/Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN
@@ -1,5 +1,5 @@
 ! Controller parameter input file for the BAR_10 wind turbine
-!    - File written using ROSCO version 2.10.0 controller tuning logic on 09/08/25
+!    - File written using ROSCO version 2.10.1 controller tuning logic on 11/26/25
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 1                   ! LoggingLevel		- 0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)
@@ -101,7 +101,7 @@
 
 !------- SETPOINT SMOOTHER ---------------------------------------------
 1.00000             ! SS_VSGain         - Variable speed torque controller setpoint smoother gain, [-].
-0.00100             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
+0.05000             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
 
 !------- POWER REFERENCE TRACKING --------------------------------------
 0                   ! PRC_Comm   - Power reference communication mode when PRC_Mode = 2, 0- use constant DISCON inputs, 1- use open loop inputs, 2- use ZMQ inputs
@@ -163,7 +163,7 @@
 200.0000 100.0000         ! SU_LoadHoldDuration  - Array containing duration to hold the partial loads during startup [s]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0                   ! SD_TimeActivate        - Time to acitvate shutdown modes, [s]
+0                   ! SD_TimeActivate        - Time to acitvate shutdown modes; no shutdown events will occur before this time. [s]
 0                   ! SD_EnablePitch         - Shutdown when collective blade pitch exceeds a threshold, [-]
 0                   ! SD_EnableYawError      - Shutdown when yaw error exceeds a threshold, [-]
 0                   ! SD_EnableGenSpeed      - Shutdown when generator speed exceeds a threshold, [-]
diff --git a/Examples/Test_Cases/IEA-15-240-RWT/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN b/Examples/Test_Cases/IEA-15-240-RWT/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN
@@ -1,5 +1,5 @@
 ! Controller parameter input file for the IEA-15-240-RWT-Monopile wind turbine
-!    - File written using ROSCO version 2.10.0 controller tuning logic on 09/08/25
+!    - File written using ROSCO version 2.10.1 controller tuning logic on 11/26/25
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 1                   ! LoggingLevel		- 0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)
@@ -101,7 +101,7 @@
 
 !------- SETPOINT SMOOTHER ---------------------------------------------
 1.00000             ! SS_VSGain         - Variable speed torque controller setpoint smoother gain, [-].
-0.00100             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
+0.05000             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
 
 !------- POWER REFERENCE TRACKING --------------------------------------
 0                   ! PRC_Comm   - Power reference communication mode when PRC_Mode = 2, 0- use constant DISCON inputs, 1- use open loop inputs, 2- use ZMQ inputs
@@ -163,7 +163,7 @@
 200.0000 100.0000         ! SU_LoadHoldDuration  - Array containing duration to hold the partial loads during startup [s]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0                   ! SD_TimeActivate        - Time to acitvate shutdown modes, [s]
+0                   ! SD_TimeActivate        - Time to acitvate shutdown modes; no shutdown events will occur before this time. [s]
 0                   ! SD_EnablePitch         - Shutdown when collective blade pitch exceeds a threshold, [-]
 0                   ! SD_EnableYawError      - Shutdown when yaw error exceeds a threshold, [-]
 0                   ! SD_EnableGenSpeed      - Shutdown when generator speed exceeds a threshold, [-]
diff --git a/Examples/Test_Cases/IEA-15-240-RWT/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_DISCON.IN b/Examples/Test_Cases/IEA-15-240-RWT/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_DISCON.IN
@@ -1,5 +1,5 @@
 ! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine
-!    - File written using ROSCO version 2.10.0 controller tuning logic on 09/08/25
+!    - File written using ROSCO version 2.10.1 controller tuning logic on 11/26/25
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 2                   ! LoggingLevel		- 0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)
@@ -101,7 +101,7 @@
 
 !------- SETPOINT SMOOTHER ---------------------------------------------
 1.00000             ! SS_VSGain         - Variable speed torque controller setpoint smoother gain, [-].
-0.00100             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
+0.05000             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
 
 !------- POWER REFERENCE TRACKING --------------------------------------
 0                   ! PRC_Comm   - Power reference communication mode when PRC_Mode = 2, 0- use constant DISCON inputs, 1- use open loop inputs, 2- use ZMQ inputs
@@ -163,7 +163,7 @@
 200.0000 100.0000         ! SU_LoadHoldDuration  - Array containing duration to hold the partial loads during startup [s]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0                   ! SD_TimeActivate        - Time to acitvate shutdown modes, [s]
+0                   ! SD_TimeActivate        - Time to acitvate shutdown modes; no shutdown events will occur before this time. [s]
 0                   ! SD_EnablePitch         - Shutdown when collective blade pitch exceeds a threshold, [-]
 0                   ! SD_EnableYawError      - Shutdown when yaw error exceeds a threshold, [-]
 0                   ! SD_EnableGenSpeed      - Shutdown when generator speed exceeds a threshold, [-]
diff --git a/Examples/Test_Cases/MHK_RM1/MHK_RM1_DISCON.IN b/Examples/Test_Cases/MHK_RM1/MHK_RM1_DISCON.IN
@@ -1,5 +1,5 @@
 ! Controller parameter input file for the MHK_RM1_Floating wind turbine
-!    - File written using ROSCO version 2.10.0 controller tuning logic on 09/08/25
+!    - File written using ROSCO version 2.10.1 controller tuning logic on 11/26/25
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 2                   ! LoggingLevel		- 0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)
@@ -101,7 +101,7 @@
 
 !------- SETPOINT SMOOTHER ---------------------------------------------
 1.00000             ! SS_VSGain         - Variable speed torque controller setpoint smoother gain, [-].
-0.00100             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
+0.05000             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
 
 !------- POWER REFERENCE TRACKING --------------------------------------
 0                   ! PRC_Comm   - Power reference communication mode when PRC_Mode = 2, 0- use constant DISCON inputs, 1- use open loop inputs, 2- use ZMQ inputs
@@ -163,7 +163,7 @@
 200.0000 100.0000         ! SU_LoadHoldDuration  - Array containing duration to hold the partial loads during startup [s]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0                   ! SD_TimeActivate        - Time to acitvate shutdown modes, [s]
+0                   ! SD_TimeActivate        - Time to acitvate shutdown modes; no shutdown events will occur before this time. [s]
 0                   ! SD_EnablePitch         - Shutdown when collective blade pitch exceeds a threshold, [-]
 0                   ! SD_EnableYawError      - Shutdown when yaw error exceeds a threshold, [-]
 0                   ! SD_EnableGenSpeed      - Shutdown when generator speed exceeds a threshold, [-]
diff --git a/Examples/Test_Cases/NREL-5MW/DISCON.IN b/Examples/Test_Cases/NREL-5MW/DISCON.IN
@@ -1,5 +1,5 @@
 ! Controller parameter input file for the NREL-5MW wind turbine
-!    - File written using ROSCO version 2.10.0 controller tuning logic on 09/08/25
+!    - File written using ROSCO version 2.10.1 controller tuning logic on 11/26/25
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 1                   ! LoggingLevel		- 0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)
@@ -101,7 +101,7 @@
 
 !------- SETPOINT SMOOTHER ---------------------------------------------
 1.00000             ! SS_VSGain         - Variable speed torque controller setpoint smoother gain, [-].
-0.00100             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
+0.05000             ! SS_PCGain         - Collective pitch controller setpoint smoother gain, [-].
 
 !------- POWER REFERENCE TRACKING --------------------------------------
 0                   ! PRC_Comm   - Power reference communication mode when PRC_Mode = 2, 0- use constant DISCON inputs, 1- use open loop inputs, 2- use ZMQ inputs
@@ -163,7 +163,7 @@
 200.0000 100.0000         ! SU_LoadHoldDuration  - Array containing duration to hold the partial loads during startup [s]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0                   ! SD_TimeActivate        - Time to acitvate shutdown modes, [s]
+0                   ! SD_TimeActivate        - Time to acitvate shutdown modes; no shutdown events will occur before this time. [s]
 0                   ! SD_EnablePitch         - Shutdown when collective blade pitch exceeds a threshold, [-]
 0                   ! SD_EnableYawError      - Shutdown when yaw error exceeds a threshold, [-]
 0                   ! SD_EnableGenSpeed      - Shutdown when generator speed exceeds a threshold, [-]
diff --git a/Examples/Test_Cases/NREL_2p8_127/NREL-2p8-127_DISCON.IN b/Examples/Test_Cases/NREL_2p8_127/NREL-2p8-127_DISCON.IN
@@ -1,5 +1,5 @@
 ! Controller parameter input file for the NREL-2p8-127 wind turbine
-!    - File written using ROSCO version 2.10.0 controller tuning logic on 09/08/25
+!    - File written using ROSCO version 2.10.1 controller tuning logic on 11/26/25
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 2                   ! LoggingLevel		- 0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)
@@ -163,7 +163,7 @@
 200.0000 100.0000         ! SU_LoadHoldDuration  - Array containing duration to hold the partial loads during startup [s]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0                   ! SD_TimeActivate        - Time to acitvate shutdown modes, [s]
+0                   ! SD_TimeActivate        - Time to acitvate shutdown modes; no shutdown events will occur before this time. [s]
 0                   ! SD_EnablePitch         - Shutdown when collective blade pitch exceeds a threshold, [-]
 0                   ! SD_EnableYawError      - Shutdown when yaw error exceeds a threshold, [-]
 0                   ! SD_EnableGenSpeed      - Shutdown when generator speed exceeds a threshold, [-]
diff --git a/pyproject.toml b/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rosco"
-version = "2.10.2"
+version = "2.10.4"
 description = "A reference open source controller toolset for wind turbine applications."
 readme = "README.md"
 requires-python = ">=3.9"
diff --git a/rosco/controller/src/ControllerBlocks.f90 b/rosco/controller/src/ControllerBlocks.f90
diff --git a/rosco/toolbox/inputs/toolbox_schema.yaml b/rosco/toolbox/inputs/toolbox_schema.yaml
diff --git a/rosco/toolbox/inputs/validation.py b/rosco/toolbox/inputs/validation.py
diff --git a/rosco/toolbox/utilities.py b/rosco/toolbox/utilities.py
