whoc battery controller

example_case_folders/06_amr_wind_standin_and_battery/amr_input.inp

@@ -76,7 +76,7 @@ ABL.stats_output_format = netcdf
 
 # Whether to use helics
 helics.activated        =   true
-helics.broker_port =32000
+helics.broker_port = 32000
 
 #¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
 #        ADAPTIVE MESH REFINEMENT       #

hercules/dummy_amr_wind.py

@@ -168,6 +168,7 @@ def run(self):
                 turbine_powers,
                 turbine_wind_directions,
             ) = self.get_step(sim_time_s)
+
             # ================================================================
             # Communicate with control center
             # Send the turbine powers for this time step and get wind speed and wind direction for the
@@ -246,7 +247,7 @@ def get_step(self, sim_time_s):
                 for turb in range(self.num_turbines)
             ]
 
-            turbine_wind_directions = np.zeros(self.num_turbines)
+            turbine_wind_directions = [0] * self.num_turbines
 
         else:
             amr_wind_speed = 8.0

hercules/emulator.py

@@ -101,6 +101,9 @@ def __init__(self, controller, py_sims, input_dict):
         self.main_dict["hercules_comms"]["amr_wind"][self.amr_wind_names[0]][
             "wind_direction"
         ] = 0
+        self.main_dict["hercules_comms"]["amr_wind"][self.amr_wind_names[0]][
+            "sim_time_s_amr_wind"
+        ] = 0
 
         self.wind_speed = 0
         self.wind_direction = 0
@@ -139,8 +142,10 @@ def run(self):
                 continue
 
             # Update controller and py sims
-            self.controller.step(self.main_dict)
-            self.main_dict["controller"] = self.controller.get_controller_dict()
+            # TODO: Should 'time' in the main dict be AMR-wind time or
+            # helics time? Why aren't they the same?
+            self.main_dict["time"] = self.absolute_helics_time
+            self.main_dict = self.controller.step(self.main_dict)
             self.py_sims.step(self.main_dict)
             self.main_dict["py_sims"] = self.py_sims.get_py_sim_dict()
 
@@ -337,14 +342,15 @@ def process_periodic_publication(self):
         # Periodically publish data to the surrogate
 
         # Hard coded to single wind farm for the moment
-        # if "turbine_yaw_angles" in self.main_dict["hercules_comms"]\
-        #                                          ["amr_wind"]\
-        #                                          [self.amr_wind_names[0]]:
-        yaw_angles = self.main_dict["hercules_comms"]["amr_wind"][
-            self.amr_wind_names[0]
-        ]["turbine_yaw_angles"]
-        # else: # set yaw_angles based on self.wind_direction
-        #     yaw_angles = [self.wind_direction]*self.num_turbines
+        if (
+            "turbine_yaw_angles"
+            in self.main_dict["hercules_comms"]["amr_wind"][self.amr_wind_names[0]]
+        ):
+            yaw_angles = self.main_dict["hercules_comms"]["amr_wind"][
+                self.amr_wind_names[0]
+            ]["turbine_yaw_angles"]
+        else:  # set yaw_angles based on self.wind_direction
+            yaw_angles = [self.wind_direction] * self.num_turbines
 
         # Send timing and yaw information to AMRWind via helics
         # publish on topic: control

hercules/python_simulators/simple_battery.py

@@ -55,7 +55,7 @@ def return_outputs(self):
         return {"power": self.power_mw, "reject": self.P_reject, "soc": self.SOC}
 
     def step(self, inputs):
-        P_signal = inputs["controller"][
+        P_signal = inputs["setpoints"]["battery"][
             "signal"
         ]  # power available for the battery to use for charging (should be >=0)
         P_avail = inputs["py_sims"]["inputs"][