Tiny bug fix famodel_base, bug fix helpers, add tests

-- helpers bug fix: catch when a connector is not provided at the end of bridles
	- now we check for this and add empty connector object if needed
-- tiny bug fix in famodel_base to prevent weird rounding
   - apparently, when assigning values into an array if you use array[:len(array)] = vals, it rounds the vals to whole numbers.
     Fixed this by adding >= to reassign value of whole array rather than just >
-- add tests for parallel sections (bridles, double chains, etc)
-- mooring.addMarineGrowth now works with updated dd (subcomponents instead of sections/connectors lists)
	- does not currently work for parallel sections
-- arrayWatchCircle added warning that this does not currently work for parallel sections, WIP to add this capability
-- tiny change to anchor.py to use mooring.sections method instead of sections in mooring design dictionary
   as this part of the design dictionary was removed
-- updated ontologies for examples
-- udpated tests

Author: lsirkis

examples/OntologySample200m.yaml

@@ -144,9 +144,9 @@ mooring_systems:
 
         keys: [MooringConfigID,  heading, anchorType, fairlead, lug] # fairlead and lug listings are optional; if not specified, fairlead list follows order of fairleads in the platform definition
         data:
-          - [  semitaut-poly_1,  30 ,    drag-embedment1,   [1,4], 1 ]
+          - [  semitaut-poly_1,  30 ,    drag-embedment1,   1, 1 ]
           - [  semitaut-poly_1,  150 ,     drag-embedment1,   2,   1 ]
-          - [  semitaut-poly_1,  270,     drag-embedment1,   3,    [2,1] ]
+          - [  semitaut-poly_1,  270,     drag-embedment1,   3,    1 ]
 
 
 # Mooring line configurations
@@ -210,6 +210,29 @@ mooring_line_configs:
             d_nom: .182
             length: 199.8           # [m] length (unstretched)
 
+    semitaut-poly_1_bridle:  # mooring line configuration identifier
+    
+        name: Semitaut polyester configuration 1  # descriptive name
+        
+        span: 642
+        
+        sections:                 #in order from anchor to fairlead
+          - mooringFamily: chain      # ID of a mooring line section type
+            d_nom: .1549
+            length: 497.7            # [m] usntretched length of line section
+            adjustable: True      # flags that this section could be adjusted to accommodate different spacings...
+          - connectorType: h_link   
+          - mooringFamily: polyester        # ID of a mooring line section type
+            d_nom: .182
+            length: 119.8           # [m] length (unstretched)
+          - subsections:
+            - - mooringFamily: polyester        # ID of a mooring line section type
+                d_nom: .182
+                length: 80           # [m] length (unstretched)
+            - - mooringFamily: polyester        # ID of a mooring line section type
+                d_nom: .182
+                length: 80           # [m] length (unstretched)
+
 
 
 # Mooring line cross-sectional properties
@@ -1542,13 +1565,11 @@ platforms:
     qtfPath      :  'IEA-15-240-RWT-UMaineSemi.12d'      # path to the qtf file for the platform
     fairleads    :  # list of fairlead coordinates for the platform relative to platform coordinate and 0-degree heading
                    - name: fairlead1
-                     r: 58
-                     z: -14
-                     headings: [30, 150, 270] # headings in degrees for the fairlead (if multiple headings, the fairlead will be repeated for each heading)
+                     r_rel: [58, 0, -14]
+                     headings: [30, 150, 270, 35] # headings in degrees for the fairlead (if multiple headings, the fairlead will be repeated for each heading)
     Jtubes       :  # list of Jtube coordinates for the platform relative to platform coordinate and 0-degree heading
                    - name: Jtube1
-                     r: 5
-                     z: -20
+                     r_rel: [5, 0, -20]
                      headings: [90, 210, 330] # headings in degrees for the Jtube (if multiple headings, the Jtube will be repeated for each heading)
     type         :  FOWT
     z_location   :  0 # optional to put the depth of this platform type
@@ -1649,13 +1670,11 @@ platforms:
     zFair        :  -15
     fairleads    :  # list of fairlead coordinates for the platform relative to platform coordinate and 0-degree heading
                    - name: fairlead1
-                     r: 58
-                     z: -14
-                     headings: [30, 150, 270] # headings in degrees for the fairlead (if multiple headings, the fairlead will be repeated for each heading)
+                     r_rel: [58, 0, -14]
+                     headings: [30, 150, 270, 35] # headings in degrees for the fairlead (if multiple headings, the fairlead will be repeated for each heading)
     Jtubes:
                    - name: Jtube1
-                     r: 5
-                     z: -20
+                     r_rel: [5, 0, -20]
                      headings: [90, 210, 330] # headings in degrees for the Jtube (if multiple headings, the Jtube will be repeated for each heading)
     type         :  Substation
 

examples/OntologySample600m_shared.yaml

@@ -1375,9 +1375,11 @@ mooring_line_configs:
             length: 500            # [m] usntretched length of line section
           - connectorType: triplate
           - subsections: # double chain section
-            - - type: chain_155mm       
+            - - mooringFamily: chain
+                d_nom: 0.1      
                 length: 120            
-            - - type: chain_155mm       
+            - - mooringFamily: chain  
+                d_nom: 0.1    
                 length: 120  
           - connectorType: triplate          
           - type: rope       # ID of a mooring line section type

examples/example_driver.py

@@ -33,15 +33,15 @@
 # create project object
 project = Project(file=dir+ontology_file,raft=False)
 # create moorpy system of the array, include cables in the system
-project.getMoorPyArray(cables=1)
+project.getMoorPyArray(cables=True)
 # plot in 3d, using moorpy system for the mooring and cable plots
 project.plot2d()
 project.plot3d()
 
 #%% Section 2: Project with RAFT
 print('\nCreating project with RAFT \n')
 #create project object, automatically create RAFT object (and automatically create moorpy system in the process!)
-project = Project(file=ontology_file,raft=True)
+project = Project(file=dir+ontology_file,raft=True)
 # plot in 3d, use moorpy system for mooring and cables, use RAFT for platform, tower, and turbine visuals
 project.plot3d(fowt=True,draw_boundary=False,boundary_on_bath=False,save=True)
 

examples/example_sharedmoorings.py

@@ -15,13 +15,11 @@
 
 
 # load in yaml
-project = Project(file=dir+filename,raft=False)
+project = Project(file=dir+filename, raft=True)
 
 
-project.getMoorPyArray()
-
 # plot in 2d and 3d
 project.plot2d()
-#project.plot3d(fowt=True)
+project.plot3d(fowt=True)
 
-#plt.show()
+plt.show()

examples/soil_sample.txt

@@ -0,0 +1,15 @@
+--- MoorPy Soil Input File ---
+nGridX 3
+nGridY 3
+       -1901    0    1900
+-1900    mud   mud    mud 
+    2    mud   rock   mud 
+ 1900    mud   mud    mud 
+--- SOIL TYPES ---
+Class 		Gamma 	 Su0 	k	alpha	phi	UCS	Em	
+(name) 	      (kN/m^3)  (kPa) 	(kPa/m) (-) 	(deg) 	(MPa) 	(MPa)
+mud             4.7      2.39   1.41    0.7      -       -       -
+mud_firm        4.7     23.94   2.67    0.7      -       -       - 
+rock             -        -      -       -       -       7       50
+------------------
+

famodel/anchors/anchor.py

@@ -123,10 +123,9 @@ def makeMoorPyAnchor(self, ms):
             MoorPy system 
 
         '''
-        # create anchor as a fixed point in MoorPy system
-        ms.addPoint(1,self.r)
-        # assign this point as mpAnchor in the anchor class instance
-        self.mpAnchor = ms.pointList[-1]
+        # create anchor as a fixed body in MoorPy system and assign to mpAnchor property
+        r6 = [self.r[0],self.r[1],self.r[2],0,0,0]
+        self.mpAnchor = ms.addBody(1,r6)
 
         # add mass if available
         if 'm' in self.dd['design'] and self.dd['design']['m']:
@@ -550,14 +549,14 @@ def makeEqual_TaTm(mudloads):
                 # get line type
                 for att in self.attachments.values():
                     if isinstance(att['obj'],Mooring):
-                        mtype = att['obj'].dd['sections'][0]['type']['material']
+                        mtype = att['obj'].sections()[0]['type']['material']
                         if not 'chain' in mtype:
                             print('No chain on seafloor, setting Ta=Tm')
                             nolugload = True
                             break
                         else:
-                            md = att['obj'].dd['sections'][0]['type']['d_nom']
-                            mw = att['obj'].dd['sections'][0]['type']['w']
+                            md = att['obj'].sections()[0]['type']['d_nom']
+                            mw = att['obj'].sections()[0]['type']['w']
                 soil = next(iter(self.soilProps.keys()), None)
                 ground_conds = self.soilProps[soil]
                 # update soil conds as needed to be homogeneous

famodel/famodel_base.py

@@ -455,7 +455,7 @@ def setPosition(self, r, theta=0, force=False):
             raise Exception("Can't setPosition of an object that's attached to a higher object unless force=True.")
 
         # Store updated position and orientation
-        if len(r) > len(self.r): # default r is 2D, but can be adjusted to 3D
+        if len(r) >= len(self.r): # default r is 2D, but can be adjusted to 3D
             self.r = np.array(r)
         else: # if just a portion of r is being adjusted, only change up to length of initial r
             self.r[:len(r)] = r
@@ -491,7 +491,6 @@ def setPosition(self, r, theta=0, force=False):
 
             # Compute the attachment's position
             r_att = self.r + np.matmul(self.R, att['r_rel'])
-            
             # set position of any attached node that isn't subordinate to another node
             # (prevents infinite loop of setPositioning for nodes)
             if isinstance(att['obj'], Node):

famodel/helpers.py

@@ -703,7 +703,8 @@ def getMoorings(lcID, lineConfigs, connectorTypes, pfID, proj):
 
     lineLast = 1    # boolean whether item with index k-1 is a line. Set to 1 for first run through of for loop
     ct = 0   # counter for number of line types
-    for k in range(0,len(lineConfigs[lcID]['sections'])): # loop through each section in the line
+    nsec = len(lineConfigs[lcID]['sections']) # number of sections
+    for k in range(0,nsec): # loop through each section in the line
 
         lc = lineConfigs[lcID]['sections'][k] # set location for code clarity later
         # determine if it's a line type or a connector listed
@@ -762,7 +763,7 @@ def getMoorings(lcID, lineConfigs, connectorTypes, pfID, proj):
             sublineLast = [lineLast]*len(lc['subsections']) # to check if there was a connector provided before this
             for ii,sub in enumerate(lc['subsections']):
                 config[-1].append([])
-                for subsub in sub:
+                for jj,subsub in enumerate(sub):
                     if 'connectorType' in subsub and sublineLast[ii]:
                         cID = subsub['connectorType']
                         if cID in connectorTypes:
@@ -791,6 +792,13 @@ def getMoorings(lcID, lineConfigs, connectorTypes, pfID, proj):
                         sublineLast[ii] = 1
                     else:
                         raise Exception(f"keys in subsection line definitions must either be 'type', 'mooringFamily', or 'connectorType'")
+                    # if this is the last section and the last part of the subsection in the section, it needs to end on a connector
+                    # so, add a connector if last part of subsection was a line!
+                    if sublineLast[ii] and k==nsec-1 and jj==len(sub)-1:
+                        # end bridle needs connectors added 
+                        config[-1][-1].append({})
+                        sublineLast[ii] = 0
+                        
             lineLast = sublineLast[-1] # TODO: LHS: think how to handle this situation for error checking...
         else:
             # not a connector or a line
@@ -963,9 +971,17 @@ def calc_midpoint(point):
     if isinstance(point[0],list) or isinstance(point[0],np.ndarray):
         pointx = sum([x[0] for x in point])/len(point)
         pointy = sum([x[1] for x in point])/len(point)
+        # add z component if needed
+        if len(point[0])==3:
+            pointz = sum([x[2] for x in point])/len(point)
+            return([pointx,pointy,pointz])
     else:
         pointx = point[0]
         pointy = point[1]
+        # add z component if needed
+        if len(point)==3:
+            pointz = point[2]
+            return([pointx,pointy,pointz])
 
     return([pointx,pointy])
 

famodel/mooring/connector.py

@@ -174,5 +174,5 @@ def makeMoorPyLine(self, ms):
                 pointB = self.attached_to[1].mpConn.number
 
         # Create a Line for the section in MoorPy system
-        ms.addLine(self['L'], self['type'], pointA=pointA, pointB=pointB)
+        self.mpLine = ms.addLine(self['L'], self['type'], pointA=pointA, pointB=pointB)