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Converting WEC-Sim Library to referenced subsystems #688

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Converting WEC-Sim Library to referenced subsystems #688

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@kmruehl kmruehl commented Aug 26, 2021 •
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This PR builds on #667 with a different approach using referenced subsystems.

Updates include:

  • Split WEC-Sim Library into sub-libraries for each class, e.g. Body, PTO, Constraint, Mooring, Frame
  • Converted all linked library blocks into referenced subsystems, e.g. Non-Linear Hydro, B2B, Morison Element, etc
  • Saved each referenced subsystem as light blue so they are easier to identify in the future
  • Updated WEC-Sim library to R2020a to be consistent with WEC-Sim CI tests MATLAB Build Status

To Do:

  • @yuyihsiang can you verify that I included all of the linked library blocks?
  • @kmruehl look into accelerator and rapid-accelerator mode regarding, "Does not have code generation capability."
  • @kmruehl figure out why R2020a tests are failing, even though library is saved in R2020a and local tests are passing --> MATLAB bug in R2020a
  • @kmruehl convert library class blocks to sub-library blocks and update forwarding table
  • @kmruehl resolve issue with B2B subsystem

@kmruehl kmruehl added Feature new feature request SCM source code mangagement and warnings labels Aug 26, 2021
@kmruehl kmruehl requested review from akeeste and yuyihsiang August 26, 2021 23:23
@kmruehl kmruehl marked this pull request as ready for review August 26, 2021 23:30
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yuyihsiang commented Aug 30, 2021 •
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I got an error when running the GBM case with the library.

Error using wecSim (line 44)
Error evaluating 'StopFcn' callback of Frames block (mask) 'GBM/Global Reference Frame'.
Callback string is 'run('wecSimStopFunction')'
Caused by:
Error using wecSim (line 44)
wecSimStopFunction not found.

It seems that the 'wecSimStopFunction.m' does not exist in dev.

--Yi-Hsiang

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akeeste commented Aug 30, 2021

@kmruehl
I have tried debugging this PR in R2020a, but I cannot find the issue. Whenever I run or save a model from Simulink, MATLAB crashes. All the error message relate to internal Simulink issues that I cannot debug easily. I can keep looking at this, but am a bit stuck on how to go about this.

Also, I completed a preliminary study on how the referenced subsystems affect the accelerator mode speed. I ran 30 OSWEC cases total (5 for each of the 3 modes in dev and this PR). The referenced subsystems seem to slow things down by approximately 20%.

Maybe it is worthwhile to switch back to the non-backwards compatible change using the Open Callback? Can we use the WECSim_Lib.slx/Library Properties/Forwarding Table to maintain backwards compatibility? It looks like this table has been used for changes in the past.

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kmruehl commented Aug 30, 2021 •
edited by yuyihsiang
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I got an error when running the GBM case with the library.

Error using wecSim (line 44)
Error evaluating 'StopFcn' callback of Frames block (mask) 'GBM/Global Reference Frame'.
Callback string is 'run('wecSimStopFunction')'
Caused by:
Error using wecSim (line 44)
wecSimStopFunction not found.

It seems that the 'wecSimStopFunction.m' does not exist in dev.

--Yi-Hsiang

@yuyihsiang this issue should be resolved with 29f2af6 can you try GBM again?

It is fine now.

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kmruehl commented Aug 30, 2021 •
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I have tried debugging this PR in R2020a, but I cannot find the issue. Whenever I run or save a model from Simulink, MATLAB crashes. All the error message relate to internal Simulink issues that I cannot debug easily. I can keep looking at this, but am a bit stuck on how to go about this.

@akeeste I've also been trying to debug the referenced subsystems issues in 2020a with no luck. It looks like there is a bug that was resolved in 2020b. The referenced subsystem feature was added in 2019b but not fully functional until 2020b.

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kmruehl commented Aug 30, 2021 •
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Also, I completed a preliminary study on how the referenced subsystems affect the accelerator mode speed. I ran 30 OSWEC cases total (5 for each of the 3 modes in dev and this PR). The referenced subsystems seem to slow things down by approximately 20%.

Good to know, thanks for looking into this.

Maybe it is worthwhile to switch back to the non-backwards compatible change using the Open Callback? Can we use the WECSim_Lib.slx/Library Properties/Forwarding Table to maintain backwards compatibility? It looks like this table has been used for changes in the past.

I'll convert these files from referenced subsystems to sub-libraries with a forwarding table:

  • Body_Elements.slx
  • Constraints.slx
  • Frames.slx
  • Moorings.slx
  • PTOs.slx
  • WECSim_Lib.slx

But the sub-libraries did not fully resolve the library issues because they cannot be used for the linked library blocks between Rigid Bodies (Hydro, Non-Hydro and Drag) and Flex body:

  • Additional_Linear_Damping_Force_Calculation.slx
  • B2B_Subsystem.slx
  • Morison_Element_and_Viscous_Damping_Force_Calculation.slx
  • Net_Buoyancy_Force.slx
  • Nonlinear_Wave_Elevation.slx
  • Wave_Radiation_Forces_Calculation.slx

I think the solution will have to be a combination of sub-libraries and referenced libraries, which hopefully will not reduce speed by 20%, but TBD

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kmruehl commented Aug 30, 2021

@akeeste and @yuyihsiang this is ready for another review. Also, all tests are passing, even R2020a: https://github.com/WEC-Sim/WEC-Sim/pull/688/checks

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kmruehl commented Aug 30, 2021 •
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WEC-Sim tests are passing, but the WEC-Sim_Applications B2B tests fail

 Failed to evaluate mask initialization commands.
        Error using wecSim (line 44)
        Block 'RM3/Spar//Plate/Hydrodynamic Body/B2B Subsystem/B2B Subsystem/B2B/CrossCoupling'
        is inside a Subsystem Reference block 'RM3/Spar//Plate/Hydrodynamic Body/B2B Subsystem'.
        Incorrect to modify contents of a Subsystem Reference block using callback code.

refer to forum discussion about this issue.

akeeste
akeeste requested changes Aug 31, 2021
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@kmruehl I think this is a great improvement to our workflow and will be very helpful in merging many library PRs at once. I'm glad you found a way to make it backwards compatible; that was my main concern with the previous method.

My only suggestion is to add a few more Referenced subsystems for items that can be linked together:

  • Create Structure or Motion Sensor subsystem to replace the following:
    • WECSim_Lib_Body/Rigid Body/Hydrodynamic Body/Structure
    • WECSim_Lib_Body/Rigid Body/Non-Hydro Body/Structure
    • WECSim_Lib_Body/Flex Body/Structure
  • Create Wave Diffraction and Excitation Force Calculation subsystem to replace the following:
    • WECSim_Lib_Body/Rigid Body/Hydrodynamic Body/Wave Diffraction and Excitation Force Calculation
    • WECSim_Lib_Body/Flex Body/Wave Diffraction and Excitation Force Calculation
  • Add Net_Buoyancy_Force subsystem to replace:
    • WECSim_Lib_Body/Flex Body/Hydrostatic Restoring Force Calculation/Hydrostatic Restoring Force Calculation/Linear and Nonlinear Restoring Force Variant Subsystem/Linear Hydrostatic Restoring Force /Net Buoyancy Force

I think these three items will cover any old links and prevent code duplication in the library.

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kmruehl commented Sep 28, 2021

This PR is partially covered by #712 to include sub-libraries for the following blocks:

  • cables
  • ptos
  • constraints

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kmruehl commented Sep 28, 2021

This PR is partially covered by #714 to include sub-library for the following block:

  • frames

This was referenced Sep 29, 2021
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@kmruehl kmruehl marked this pull request as draft September 30, 2021 20:16
@kmruehl kmruehl closed this Oct 12, 2021
@kmruehl kmruehl force-pushed the feature_referencedsubsystem branch from 584e126 to ee02bb5 Compare October 12, 2021 22:00
@kmruehl kmruehl mentioned this pull request Oct 12, 2021
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@kmruehl kmruehl added Library updates to the WEC-Sim Library and removed Feature new feature request labels Oct 13, 2021
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