diff --git a/.github/workflows/ellipsoid-ode45-convergence.yml b/.github/workflows/ellipsoid-ode45-convergence.yml new file mode 100644 index 00000000..47c06c94 --- /dev/null +++ b/.github/workflows/ellipsoid-ode45-convergence.yml @@ -0,0 +1,73 @@ +name: Ellipsoid ode45 full-duration source convergence + +on: + pull_request: + paths: + - '.github/workflows/ellipsoid-ode45-convergence.yml' + - 'tests/matlab/ellipsoid_ode45_convergence.m' + - 'tests/test_ellipsoid_ode45_convergence.py' + - 'tests/test_ellipsoid_ode45_convergence_portable.py' + - 'tests/fixtures/matlab/ellipsoid_ode45_convergence/**' + - 'wecsim/hydrodynamics/nonlinearHydro.py' + - 'wecsim/dynamics/caseDynamics.py' + workflow_dispatch: + +jobs: + compare: + strategy: + fail-fast: false + matrix: + wave: [Regular, RegularCIC] + runs-on: ubuntu-latest + timeout-minutes: 120 + name: ${{ matrix.wave }} + steps: + - uses: actions/checkout@v7 + - uses: actions/checkout@v7 + with: + repository: WEC-Sim/WEC-Sim + ref: 0753b2e47f2457c078751dcfe5d251d1767b80ab + path: matlab-ref + filter: blob:none + sparse-checkout: source + - uses: actions/checkout@v7 + with: + repository: WEC-Sim/WEC-Sim_Applications + ref: d53d4d4c9eda2581f04204f5d394a6ef84bb099e + path: applications + filter: blob:none + lfs: true + sparse-checkout: Nonlinear_Hydro + - uses: matlab-actions/setup-matlab@v3 + with: + release: R2025b + products: Simulink Simscape Simscape_Multibody + - uses: matlab-actions/run-command@v3 + with: + command: addpath('tests/matlab'); ellipsoid_ode45_convergence('${{ matrix.wave }}', 'step005') + - uses: matlab-actions/run-command@v3 + with: + command: addpath('tests/matlab'); ellipsoid_ode45_convergence('${{ matrix.wave }}', 'step0025') + - uses: matlab-actions/run-command@v3 + with: + command: addpath('tests/matlab'); ellipsoid_ode45_convergence('${{ matrix.wave }}', 'step00125') + - uses: matlab-actions/run-command@v3 + with: + command: addpath('tests/matlab'); ellipsoid_ode45_convergence('${{ matrix.wave }}', 'step000625', 0.005) + - uses: actions/setup-python@v7 + with: + python-version: '3.12' + - run: python -m pip install -e . pytest + - run: python -m pytest -q -s tests/test_ellipsoid_ode45_convergence.py + env: + WEC_SIM_APPLICATIONS_DIR: applications + WEC_SIM_ELLIPSOID_CONVERGENCE_DIR: matlab-ellipsoid-ode45-convergence + WEC_SIM_ELLIPSOID_CASE: ${{ matrix.wave }} + - uses: actions/upload-artifact@v4 + if: always() + with: + name: ellipsoid-ode45-convergence-${{ matrix.wave }} + path: | + matlab-ellipsoid-ode45-convergence/${{ matrix.wave }}/ + applications/Nonlinear_Hydro/hydroData/ellipsoid.h5 + applications/Nonlinear_Hydro/geometry/elipsoid.stl diff --git a/.github/workflows/ellipsoid-ode45-output-grid-ab.yml b/.github/workflows/ellipsoid-ode45-output-grid-ab.yml new file mode 100644 index 00000000..0356dc2d --- /dev/null +++ b/.github/workflows/ellipsoid-ode45-output-grid-ab.yml @@ -0,0 +1,59 @@ +name: Ellipsoid ode45 source output-grid A/B + +on: + pull_request: + paths: + - '.github/workflows/ellipsoid-ode45-output-grid-ab.yml' + - 'tests/matlab/ellipsoid_ode45_output_grid_ab.m' + - 'tests/test_ellipsoid_ode45_output_grid_ab.py' + workflow_dispatch: + +jobs: + compare: + strategy: + fail-fast: false + matrix: + wave: [Regular, RegularCIC] + runs-on: ubuntu-latest + timeout-minutes: 90 + name: ${{ matrix.wave }} + steps: + - uses: actions/checkout@v7 + - uses: actions/checkout@v7 + with: + repository: WEC-Sim/WEC-Sim + ref: 0753b2e47f2457c078751dcfe5d251d1767b80ab + path: matlab-ref + filter: blob:none + sparse-checkout: source + - uses: actions/checkout@v7 + with: + repository: WEC-Sim/WEC-Sim_Applications + ref: d53d4d4c9eda2581f04204f5d394a6ef84bb099e + path: applications + filter: blob:none + lfs: true + sparse-checkout: Nonlinear_Hydro + - uses: matlab-actions/setup-matlab@v3 + with: + release: R2025b + products: Simulink Simscape Simscape_Multibody + - uses: matlab-actions/run-command@v3 + with: + command: addpath('tests/matlab'); ellipsoid_ode45_output_grid_ab('${{ matrix.wave }}') + - uses: actions/setup-python@v7 + with: + python-version: '3.12' + - run: python -m pip install -e . pytest + - run: python -m pytest -q -s tests/test_ellipsoid_ode45_output_grid_ab.py + env: + WEC_SIM_ELLIPSOID_AB_DIR: matlab-ellipsoid-ode45-output-grid-ab + WEC_SIM_ELLIPSOID_AB_CASE: ${{ matrix.wave }} + - uses: actions/upload-artifact@v4 + if: always() + with: + name: ellipsoid-ode45-output-grid-ab-${{ matrix.wave }} + path: | + matlab-ellipsoid-ode45-output-grid-ab/${{ matrix.wave }}/ + applications/Nonlinear_Hydro/hydroData/ellipsoid.h5 + applications/Nonlinear_Hydro/geometry/elipsoid.stl diff --git a/tests/fixtures/matlab/ellipsoid_ode45_convergence/README.md b/tests/fixtures/matlab/ellipsoid_ode45_convergence/README.md new file mode 100644 index 00000000..ae68dda9 --- /dev/null +++ b/tests/fixtures/matlab/ellipsoid_ode45_convergence/README.md @@ -0,0 +1,104 @@ +# Ellipsoid ode45 derived source-step screen + +This fixture retains full 150 s R2025b source histories for the +`Nonlinear_Hydro/ode45/Regular` and `RegularCIC` applications. The source +workflow checks out WEC-Sim core +`0753b2e47f2457c078751dcfe5d251d1767b80ab` and WEC-Sim_Applications +`d53d4d4c9eda2581f04204f5d394a6ef84bb099e`. It creates a copy of each +application input for every run, replacing the published `simu.dt = 0.05` +with 0.005, 0.0025, 0.00125, or 0.000625 s. At runtime it verifies that +`simu.dt`, `nonlinearDt`, `cicDt`, and Simulink `MaxStep` all equal the chosen +physical step. The first three arms also use that step for `dtOut`. The finest +arm explicitly sets `dtOut=0.005` s and retains 0.000625 s for all four +physical clocks. Each arm runs in a fresh R2025b process over the full 150 s. +The workflow generates the archived BEM HDF5 from pinned WAMIT output in the +application checkout and copies its STL; neither upstream source repository +is changed. + +`source.npz` stores all eleven output channels and five checked source settings +at every source step. The finest history uses the common 0.005 s output grid. +`hydroData/ellipsoid.h5` and `geometry/elipsoid.stl` let the portable Python +test advance an independent physical model from the same input. The archive +tool checks all source settings, validates the 0.005 s history against the +earlier [full-step source archive](../ellipsoid_ode45_maxstep_only/README.md), +checks wave identity, and checks contraction of heave, speed, PTO force, PTO +power, and signed PTO work across the refinement sequence. Pointwise source +changes are screened on the same 0.005 s grid, with their original numerical +limits unchanged. Signed work is integrated on the full available grid for +the first three arms and on the 0.005 s grid for the finest; the test checks +the full/common integration difference in each earlier arm. +For every arm, the archive and portable gate also check PTO vertical speed +against body heave speed and verify `Fz = -1,200,000 vz` and `P = -Fz vz` +within 1e-9 m/s, 1e-6 N, and 1e-6 W, respectively. These identities reject +the previously encountered inactive local-axis export. + +The [controlled output-grid A/B](https://github.com/cmudrc/wec-sim-python/actions/runs/40104326372) +found exact common-grid trajectory and PTO equality when `dtOut` changed from +0.00125 to 0.005 s with the physical clocks fixed at 0.00125 s. This supports +an output-sampling explanation but establishes neutrality only at that tested +physical step. Four all-clock 0.000625 s attempts, including an isolated fresh +process, lost hosted runners during simulation without a MATLAB or physical +gate result. The mixed-output finest source arm is therefore labeled as a +derived source input in its own right, with unchanged full physical gates. + +The source model retains its 1e-7 s added-mass feedback Transport Delay. Its +logged restoring force samples the preceding state at the 0.00125 s all-clock +arm. The 0.000625 s arm does not log every solver step, so its immediately +preceding source state is unavailable. The independent Python model evaluates +force from its current state; the test exposes this timing law explicitly at +0.00125 s. Passing this step-screened, derived reference does not change the +separate, pinned 0.05 s published-input +diagnostic or its `qualified_motion` status. + +The portable gate rechecks all source convergence conditions, advances Python +at 0.0025 and 0.00125 s over the full duration, and compares its finest run +directly against the 0.000625 s source on the 0.005 s output grid. Its original +pointwise motion/PTO limits remain unchanged. The Python self-step limits are +0.1 mm, 0.1 mm/s, 100 N, and 100 W. The signed source-work final-step change +must be below 0.1% and contract by a factor below 0.7 at each refinement; +the direct Python/source signed-work difference must also be below 0.1%. + +Original all-clock source run: [R2025b workflow 40100441636](https://github.com/cmudrc/wec-sim-python/actions/runs/40100441636). +Isolated all-clock diagnostic: [R2025b workflow 40105605489](https://github.com/cmudrc/wec-sim-python/actions/runs/40105605489). + +The archived corrected-axis source histories came from these Python-repository +workflow runs and exact commits: + +| Source arms | R2025b run | Python-repository commit | +| --- | --- | --- | +| Both cases, 0.005/0.0025/0.00125 s | [40107175117](https://github.com/cmudrc/wec-sim-python/actions/runs/40107175117) | `daa282c9c3ccb6041b7ccccb89304944ea351d36` | +| Regular, physical 0.000625 s with `dtOut=0.005` s | [40106411780](https://github.com/cmudrc/wec-sim-python/actions/runs/40106411780) | `44b0809b295e2163d433be98b246be2ebf58113d` | +| RegularCIC, physical 0.000625 s with `dtOut=0.005` s | [40107064277](https://github.com/cmudrc/wec-sim-python/actions/runs/40107064277) | `1e13e500f815dcb91168e985c2af060bc95b077d` | + +The measured source changes below compare adjacent arms on their common +0.005 s grid. Each channel contracted through both intermediate steps, with +successive change ratios below the predeclared 0.7 bound. + +| Case | Final heave change | Final speed change | Final PTO force change | Final PTO power change | Final signed-work change | +| --- | ---: | ---: | ---: | ---: | ---: | +| Regular | 0.000231452 m | 0.000341197 m/s | 409.436 N | 333.393 W | 0.069817% | +| RegularCIC | 0.000241166 m | 0.000362903 m/s | 435.484 N | 360.546 W | 0.073934% | + +The four signed-work measurements on each arm's available output grid are +20.154279, 20.098017, 20.069978, and 20.055976 MJ for Regular; and 20.186951, 20.127222, +20.097460, and 20.082612 MJ for RegularCIC. The final source-work change is +below the declared 0.1% limit for both cases. Common-grid work also contracts +and passes the same limit. Source settings, wave identity, and archived 0.005 s +continuity pass for both cases. All 38 BEM HDF5 datasets agree in value across +the source arms, and the STL files have identical SHA-256 hashes. + +The independent Python 0.0025→0.00125 s self-step gates pass. Against the +finest source arm, direct Python heave/speed/PTO-force/PTO-power errors are +0.000231346 m, 0.000338943 m/s, 406.732 N, and 328.493 W for Regular; +0.000241018 m, 0.000362768 m/s, 435.321 N, and 359.533 W for RegularCIC. +Their signed-work differences are 0.069727% and 0.073878%, respectively, +below the unchanged 0.1% direct gate. These measurements apply only to this +derived source-step screen. + +Archived file SHA-256 hashes: + +| File | SHA-256 | +| --- | --- | +| `source.npz` | `8dd1d8d28feab13617eab78afad02e128e1fee017364db906af7d29f4e808f23` | +| `hydroData/ellipsoid.h5` | `cd437b3fcdb2837b1534abadc3591d21cf3f001812407973b1cdd12517c5f489` | +| `geometry/elipsoid.stl` | `a225213457fb9273a327a141273b9d68266e650cf973a98f84e84e8607cbb7ec` | diff --git a/tests/fixtures/matlab/ellipsoid_ode45_convergence/geometry/elipsoid.stl b/tests/fixtures/matlab/ellipsoid_ode45_convergence/geometry/elipsoid.stl new file mode 100644 index 00000000..6f200328 --- /dev/null +++ b/tests/fixtures/matlab/ellipsoid_ode45_convergence/geometry/elipsoid.stl @@ -0,0 +1,20162 @@ +solid OBJECT + facet normal -0.9986872328165215 0.050255049481354987 0.0099116603505993005 + outer loop + vertex -4.9747419357299805 0.49226942658424377 2.0490212440490723 + vertex -4.9747419357299805 0.50193774700164795 2 + vertex -5 0 2 + endloop + endfacet + 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b/tests/matlab/ellipsoid_ode45_convergence.m @@ -0,0 +1,115 @@ +function ellipsoid_ode45_convergence(waveType, selectedLabel, selectedOutputStep) +% Screen the pinned ellipsoid ode45 application at successively finer clocks. +% The finest physical arm samples output every 0.005 s after the all-clock +% finest arm exhausted hosted runners. Work only in copied input folders. +waveType = string(waveType); +assert(any(waveType == ["Regular", "RegularCIC"]), ... + 'Choose a pinned ellipsoid ode45 wave case'); +repoRoot = fileparts(fileparts(fileparts(mfilename('fullpath')))); +addpath(genpath(fullfile(repoRoot, 'matlab-ref', 'source'))); +hydroDir = fullfile(repoRoot, 'applications', 'Nonlinear_Hydro', 'hydroData'); +cd(hydroDir); +if ~isfile('ellipsoid.h5') + bemio; +end +caseDir = fullfile(repoRoot, 'applications', 'Nonlinear_Hydro', ... + 'ode45', waveType); +outDir = fullfile(repoRoot, 'matlab-ellipsoid-ode45-convergence', waveType); +mkdir(outDir); +steps = [0.005, 0.0025, 0.00125, 0.000625]; +labels = {'step005', 'step0025', 'step00125', 'step000625'}; +if nargin >= 2 + % Each workflow invocation uses a fresh MATLAB process so histories + % accumulate on disk without retaining earlier simulation workspaces. + selectedLabel = string(selectedLabel); + selection = strcmp(labels, selectedLabel); + assert(nnz(selection) == 1, 'Choose a supported source step'); + steps = steps(selection); + labels = labels(selection); +end + +for iStep = 1:numel(steps) + step = steps(iStep); + label = labels{iStep}; + outputStep = step; + if nargin >= 3 + assert(step == 0.000625 && selectedOutputStep == 0.005, ... + 'Only the screened finest output clock may differ'); + outputStep = selectedOutputStep; + end + targetDir = fullfile(fileparts(caseDir), waveType + "_" + label); + mkdir(targetDir); + copyfile(fullfile(caseDir, 'wecSimInputFile.m'), ... + fullfile(targetDir, 'wecSimInputFile.m')); + copyfile(fullfile(caseDir, 'ellipsoid.slx'), ... + fullfile(targetDir, 'ellipsoid.slx')); + inputFile = fullfile(targetDir, 'wecSimInputFile.m'); + contents = fileread(inputFile); + assert(contains(contents, 'simu.dt = 0.05;') && ... + ~contains(contents, 'simu.dtOut') && ... + ~contains(contents, 'simu.nonlinearDt') && ... + ~contains(contents, 'simu.cicDt'), ... + 'The pinned ellipsoid ode45 sample settings changed'); + replacement = sprintf('simu.dt = %.6f;', step); + if outputStep ~= step + replacement = sprintf('%s\nsimu.dtOut = %.6f;', ... + replacement, outputStep); + end + contents = strrep(contents, 'simu.dt = 0.05;', replacement); + fid = fopen(inputFile, 'w'); + assert(fid > 0); + cleanup = onCleanup(@() fclose(fid)); + fwrite(fid, contents); + clear cleanup; + + cd(targetDir); + wecSim; + maxStep = str2double(get_param('ellipsoid', 'MaxStep')); + assert(strcmp(simu.solver, 'ode45') && ... + abs(simu.dt - step) < 1e-12 && ... + abs(simu.dtOut - outputStep) < 1e-12 && ... + abs(simu.nonlinearDt - step) < 1e-12 && ... + abs(simu.cicDt - step) < 1e-12 && ... + abs(maxStep - step) < 1e-12 && ... + simu.endTime == 150 && simu.rampTime == 50 && ... + strcmp(waves.type, lowerFirst(waveType)) && ... + waves.height == 4 && waves.period == 6 && ... + body(1).nonlinearHydro == 2 && pto(1).damping == 1200000, ... + 'The refined ellipsoid ode45 settings changed'); + n = round(simu.endTime / outputStep) + 1; + ratio = round(outputStep / step); + assert(abs(ratio * step - outputStep) < 1e-12); + bodyRecord = output.bodies(1); + ptoRecord = output.ptos(1); + waveRecord = output.wave; + if numel(waveRecord.time) == n + waveTime = waveRecord.time; + waveElevation = waveRecord.elevation; + else + assert(numel(waveRecord.time) == round(simu.endTime / step) + 1); + waveTime = waveRecord.time(1:ratio:end); + waveElevation = waveRecord.elevation(1:ratio:end); + end + values = [bodyRecord.time(:), bodyRecord.position(:, 3), ... + bodyRecord.velocity(:, 3), ptoRecord.position(:, 3), ... + ptoRecord.velocity(:, 3), ptoRecord.forceInternalMechanics(:, 3), ... + -ptoRecord.forceInternalMechanics(:, 3) .* ptoRecord.velocity(:, 3), ... + waveElevation(:), bodyRecord.forceRestoring(:, 3), ... + bodyRecord.forceExcitation(:, 3), bodyRecord.acceleration(:, 3)]; + assert(size(values, 1) == n && size(values, 2) == 11 && ... + all(isfinite(values), 'all') && ... + max(abs(bodyRecord.time(:) - ptoRecord.time(:))) < 1e-10 && ... + numel(waveTime) == n && ... + max(abs(bodyRecord.time(:) - waveTime(:))) < 1e-10, ... + 'The refined ellipsoid output is incomplete'); + writematrix(values, fullfile(outDir, label + "_history.csv")); + writematrix([simu.dt, simu.dtOut, simu.nonlinearDt, ... + simu.cicDt, maxStep], fullfile(outDir, label + "_settings.csv")); + close_system('ellipsoid', 0); +end +end + +function value = lowerFirst(value) +value = char(value); +value(1) = lower(value(1)); +end diff --git a/tests/matlab/ellipsoid_ode45_output_grid_ab.m b/tests/matlab/ellipsoid_ode45_output_grid_ab.m new file mode 100644 index 00000000..ebc1db99 --- /dev/null +++ b/tests/matlab/ellipsoid_ode45_output_grid_ab.m @@ -0,0 +1,98 @@ +function ellipsoid_ode45_output_grid_ab(waveType) +% Compare two copies of the pinned ode45 input with identical physics clocks. +% Output sampling changes from 0.00125 to 0.005 s; the simulation class +% also derives Paraview output timing from dtOut. +waveType = string(waveType); +assert(any(waveType == ["Regular", "RegularCIC"])); +repoRoot = fileparts(fileparts(fileparts(mfilename('fullpath')))); +addpath(genpath(fullfile(repoRoot, 'matlab-ref', 'source'))); +hydroDir = fullfile(repoRoot, 'applications', 'Nonlinear_Hydro', 'hydroData'); +cd(hydroDir); +if ~isfile('ellipsoid.h5') + bemio; +end +caseDir = fullfile(repoRoot, 'applications', 'Nonlinear_Hydro', ... + 'ode45', waveType); +outDir = fullfile(repoRoot, 'matlab-ellipsoid-ode45-output-grid-ab', waveType); +mkdir(outDir); +dt = 0.00125; +outputSteps = [dt, 0.005]; +labels = {'all125', 'out005'}; + +for iArm = 1:numel(labels) + dtOut = outputSteps(iArm); + label = labels{iArm}; + targetDir = fullfile(fileparts(caseDir), waveType + "_ab_" + label); + mkdir(targetDir); + copyfile(fullfile(caseDir, 'wecSimInputFile.m'), ... + fullfile(targetDir, 'wecSimInputFile.m')); + copyfile(fullfile(caseDir, 'ellipsoid.slx'), ... + fullfile(targetDir, 'ellipsoid.slx')); + inputFile = fullfile(targetDir, 'wecSimInputFile.m'); + contents = fileread(inputFile); + assert(contains(contents, 'simu.dt = 0.05;') && ... + ~contains(contents, 'simu.dtOut') && ... + ~contains(contents, 'simu.nonlinearDt') && ... + ~contains(contents, 'simu.cicDt'), ... + 'The pinned ellipsoid ode45 sample settings changed'); + replacement = 'simu.dt = 0.00125;'; + if iArm == 2 + replacement = sprintf('%s\nsimu.dtOut = 0.005;', replacement); + end + contents = strrep(contents, 'simu.dt = 0.05;', replacement); + fid = fopen(inputFile, 'w'); + assert(fid > 0); + cleanup = onCleanup(@() fclose(fid)); + fwrite(fid, contents); + clear cleanup; + + cd(targetDir); + wecSim; + maxStep = str2double(get_param('ellipsoid', 'MaxStep')); + assert(strcmp(simu.solver, 'ode45') && ... + abs(simu.dt - dt) < 1e-12 && ... + abs(simu.dtOut - dtOut) < 1e-12 && ... + abs(simu.nonlinearDt - dt) < 1e-12 && ... + abs(simu.cicDt - dt) < 1e-12 && ... + abs(maxStep - dt) < 1e-12 && ... + simu.endTime == 150 && simu.rampTime == 50 && ... + strcmp(waves.type, lowerFirst(waveType)) && ... + waves.height == 4 && waves.period == 6 && ... + body(1).nonlinearHydro == 2 && pto(1).damping == 1200000, ... + 'The output-only A/B changed a physical case setting'); + n = round(simu.endTime / dtOut) + 1; + ratio = round(dtOut / dt); + bodyRecord = output.bodies(1); + ptoRecord = output.ptos(1); + waveRecord = output.wave; + if numel(waveRecord.time) == n + waveTime = waveRecord.time; + waveElevation = waveRecord.elevation; + else + assert(numel(waveRecord.time) == round(simu.endTime / dt) + 1); + waveTime = waveRecord.time(1:ratio:end); + waveElevation = waveRecord.elevation(1:ratio:end); + end + values = [bodyRecord.time(:), bodyRecord.position(:, 3), ... + bodyRecord.velocity(:, 3), ptoRecord.position(:, 3), ... + ptoRecord.velocity(:, 3), ptoRecord.forceInternalMechanics(:, 3), ... + -ptoRecord.forceInternalMechanics(:, 3) .* ptoRecord.velocity(:, 3), ... + waveElevation(:), bodyRecord.forceRestoring(:, 3), ... + bodyRecord.forceExcitation(:, 3), bodyRecord.acceleration(:, 3)]; + assert(size(values, 1) == n && size(values, 2) == 11 && ... + all(isfinite(values), 'all') && ... + max(abs(bodyRecord.time(:) - ptoRecord.time(:))) < 1e-10 && ... + numel(waveTime) == n && ... + max(abs(bodyRecord.time(:) - waveTime(:))) < 1e-10, ... + 'The output-only A/B history is incomplete'); + writematrix(values, fullfile(outDir, label + "_history.csv")); + writematrix([simu.dt, simu.dtOut, simu.nonlinearDt, ... + simu.cicDt, maxStep], fullfile(outDir, label + "_settings.csv")); + close_system('ellipsoid', 0); +end +end + +function value = lowerFirst(value) +value = char(value); +value(1) = lower(value(1)); +end diff --git a/tests/test_ellipsoid_ode45_convergence.py b/tests/test_ellipsoid_ode45_convergence.py new file mode 100644 index 00000000..da975a4f --- /dev/null +++ b/tests/test_ellipsoid_ode45_convergence.py @@ -0,0 +1,262 @@ +"""Full-duration independent motion against a source-step-screened ode45 input. + +The unchanged 0.05 s published cases retain their separate diagnostic gates. +This test concerns copied, derived source physical steps at 0.005, 0.0025, +0.00125, and 0.000625 s. The finest arm samples output at 0.005 s after +four all-clock attempts exhausted hosted runners. +""" + +import os +from pathlib import Path + +import numpy as np +import pytest +from scipy.integrate import trapezoid + +from wecsim import RegularCICWave, RegularWave, WEC, WorldPoint +from wecsim.hydrodynamics.nonlinearHydro import HeaveMeshHydro + + +ROOT = Path(__file__).resolve().parents[1] +APPLICATIONS = os.environ.get("WEC_SIM_APPLICATIONS_DIR") +RECORDS = os.environ.get("WEC_SIM_ELLIPSOID_CONVERGENCE_DIR") +CASE = os.environ.get("WEC_SIM_ELLIPSOID_CASE") +ARCHIVED_005 = (ROOT / "tests/fixtures/matlab/ellipsoid_ode45_maxstep_only" + / "refined_005_common_grid.npz") +pytestmark = pytest.mark.skipif( + not (APPLICATIONS and RECORDS and CASE), + reason="fresh pinned R2025b ode45 convergence output absent", +) + +# These original 150 s physical limits come from the established refined-step +# gate. They are deliberately unchanged; the source screen adds an independent +# requirement that the final source change be below one third of these limits. +PYTHON_LIMITS = { + "Regular": (.003, .004, 5000, 4000), + "RegularCIC": (.0035, .0045, 6000, 5000), +} +SOURCE_STABILITY_LIMITS = { + "Regular": (.001, .0013, 1600, 1300), + "RegularCIC": (.0011, .0015, 2000, 1600), +} +PYTHON_STEP_LIMITS = (.0001, .0001, 100, 100) +# The source signed-work sequence must settle independently before its finest +# member can serve as the derived reference for the Python 0.1% work gate. +SOURCE_WORK_STEP_LIMIT = .001 +STEPS = {"step005": .005, "step0025": .0025, + "step00125": .00125, "step000625": .000625} +OUTPUT_STEPS = {label: (.005 if label == "step000625" else step) + for label, step in STEPS.items()} +# The 0.00125 s output-grid A/B predeclared this 0.001% bound for work +# integrated on its full and common 0.005 s histories. +OUTPUT_WORK_LIMIT = 1e-5 +# Columns: time, heave, speed, PTO stroke, stroke speed, PTO force, +# absorbed power, wave, restoring, excitation, acceleration. +CHANNELS = ((1, "heave position"), (2, "heave speed"), + (5, "PTO force"), (6, "absorbed power")) + + +def _error(a, b): + assert a.shape == b.shape + assert np.isfinite(a).all() and np.isfinite(b).all() + return float(np.max(np.abs(a - b))) + + +def _check(a, b, limit, label): + error = _error(a, b) + print(f"{label}: {error:.8g} (gate {limit:.8g})") + assert error < limit, f"{label}: {error:.8g} >= {limit:.8g}" + return error + + +def _read_source(case): + folder = Path(RECORDS) / case + result = {} + for label, step in STEPS.items(): + output_step = OUTPUT_STEPS[label] + history = np.loadtxt(folder / f"{label}_history.csv", + delimiter=",", ndmin=2) + settings = np.loadtxt(folder / f"{label}_settings.csv", + delimiter=",", ndmin=2) + assert history.shape == (round(150 / output_step) + 1, 11), label + assert np.isfinite(history).all(), label + np.testing.assert_allclose(settings, + [[step, output_step, step, step, step]], + rtol=0, atol=1e-12) + np.testing.assert_allclose(history[:, 0], + np.arange(len(history)) * output_step, + rtol=0, atol=1e-9) + result[label] = history + return result + + +def _python(case, step, app): + wec = WEC("source-step-screened ellipsoid ode45") + body = wec.body( + "ellipsoid", app / "hydroData/ellipsoid.h5", + mass="equilibrium", inertia=(1.375264e6, 1.375264e6, 1.341721e6), + geometry_file=app / "geometry/elipsoid.stl", + nonlinear_hydro="instantaneous", drag_coefficient=1, + drag_area=np.pi * 25, + ) + wec.coordinate("heave", body.move("heave")) + wec.pto("PTO1", WorldPoint(0, 0, -12.5), body.at(0, 0, 0), + damping=1_200_000) + wave = RegularCICWave(4, 6) if case == "RegularCIC" else RegularWave(4, 6) + return wec.run(wave, dt=step, end_time=150, ramp_time=50, + radiation_memory=60 if case == "RegularCIC" else None, + rho=1025) + + +def _python_channels(result): + body = result.bodies["ellipsoid"] + pto = result.ptos["PTO1"] + return (body.position[:, 2], body.velocity[:, 2], + pto.force, pto.absorbed_power) + + +def _validate_full_gate(source, case, app): + assert case in PYTHON_LIMITS + for label, step in STEPS.items(): + output_step = OUTPUT_STEPS[label] + history = source[label] + assert history.shape == (round(150 / output_step) + 1, 11) + assert np.isfinite(history).all() + np.testing.assert_allclose(history[:, 0], + np.arange(len(history)) * output_step, + rtol=0, atol=1e-9) + # This heave-only PTO shares the body's vertical velocity. Checking + # it explicitly rejects an export from an inactive local axis, whose + # zero force/power could otherwise satisfy the damping identities. + _check(history[:, 4], history[:, 2], 1e-9, + f"{label} active PTO/body vertical speed") + _check(history[:, 5], -1_200_000 * history[:, 4], 1e-6, + f"{label} source PTO damping law") + _check(history[:, 6], -history[:, 5] * history[:, 4], 1e-6, + f"{label} source absorbed-power law") + five, two_half, one_quarter, finest = ( + source[label] for label in STEPS + ) + key = "regular_cic" if case == "RegularCIC" else "regular" + with np.load(ARCHIVED_005, allow_pickle=False) as archived: + for column, suffix, limit in ((0, "time", 1e-10), + (1, "heave", 1e-7), + (2, "speed", 1e-7), + (5, "pto_force", .1), + (7, "wave", 1e-10), + (8, "restoring", .1)): + _check(five[::10, column], archived[f"{key}_{suffix}"], + limit, f"regenerated 0.005 s {suffix}") + + _check(five[:, 7], two_half[::2, 7], 1e-10, + "source 0.005/0.0025 s wave identity") + _check(two_half[:, 7], one_quarter[::2, 7], 1e-10, + "source 0.0025/0.00125 s wave identity") + _check(one_quarter[::4, 7], finest[:, 7], 1e-10, + "source 0.00125/0.000625 s common-grid wave identity") + common = (five, two_half[::2], one_quarter[::4], finest) + for (column, channel), stability in zip( + CHANNELS, SOURCE_STABILITY_LIMITS[case], strict=True + ): + first = _error(common[0][:, column], common[1][:, column]) + previous = _error(common[1][:, column], common[2][:, column]) + final = _check(common[2][:, column], common[3][:, column], + stability, f"source final-step {channel}") + assert previous < .7 * first, ( + f"source {channel} did not contract: {first:.8g} -> {previous:.8g}" + ) + assert final < .7 * previous, ( + f"source {channel} did not contract: {previous:.8g} -> {final:.8g}" + ) + + source_works = [float(trapezoid(history[:, 6], history[:, 0])) + for history in (five, two_half, one_quarter, finest)] + assert all(np.isfinite(work) and work > 1e3 for work in source_works) + common_works = [float(trapezoid(history[:, 6], history[:, 0])) + for history in common] + for label, full, sampled in zip( + list(STEPS)[:3], source_works[:3], common_works[:3], strict=True + ): + error = abs(full / sampled - 1) + print(f"{label} full/common signed-work difference: {error:.8g} " + f"(gate {OUTPUT_WORK_LIMIT:.8g})") + assert error < OUTPUT_WORK_LIMIT + work_changes = [abs(later - earlier) / later + for earlier, later in zip(source_works, source_works[1:])] + common_work_changes = [abs(later - earlier) / later + for earlier, later in zip(common_works, + common_works[1:])] + print("source signed PTO work (J):", source_works) + print("source signed PTO work relative step changes:", work_changes) + print("source common-grid signed PTO work (J):", common_works) + print("source common-grid work relative step changes:", + common_work_changes) + for changes in (work_changes, common_work_changes): + assert changes[-1] < SOURCE_WORK_STEP_LIMIT + assert changes[1] < .7 * changes[0] + assert changes[2] < .7 * changes[1] + + mesh = HeaveMeshHydro.from_stl( + app / "geometry/elipsoid.stl", center_z=-2, rho=1025, + gravity=9.81, depth=70, period=6, height=4, ramp_time=50, + mass=None, drag_coefficient=1, drag_area=np.pi * 25, + ) + # The 0.00125 s arm retains every source output step; finest 0.005 s + # logging does not expose the immediately preceding 0.000625 s state. + samples = np.linspace(1, len(one_quarter) - 1, 1001, dtype=int) + previous = np.array([ + mesh.forces(one_quarter[i - 1, 0], one_quarter[i - 1, 1] + 2, + one_quarter[i - 1, 2])[0] + for i in samples + ]) + current = np.array([ + mesh.forces(one_quarter[i, 0], one_quarter[i, 1] + 2, + one_quarter[i, 2])[0] + for i in samples + ]) + _check(previous, -one_quarter[samples, 8], 1e-6, + "0.00125 s source preceding-state restoring law") + assert _error(current, -one_quarter[samples, 8]) > 500 + + python_two_half = _python(case, .0025, app) + python_one_quarter = _python(case, .00125, app) + _check(python_two_half.time, python_one_quarter.time[::2], 1e-9, + "Python common times") + for (_, name), coarse, fine, limit in zip( + CHANNELS, _python_channels(python_two_half), + _python_channels(python_one_quarter), PYTHON_STEP_LIMITS, strict=True + ): + _check(coarse, fine[::2], limit, f"Python final-step {name}") + _check(python_one_quarter.time[::4], finest[:, 0], 1e-9, + "Python/source time") + _check(python_one_quarter.wave_elevation[::4], finest[:, 7], 1e-10, + "Python/source wave") + for (column, name), actual, limit in zip( + CHANNELS, _python_channels(python_one_quarter), + PYTHON_LIMITS[case], strict=True + ): + _check(actual[::4], finest[:, column], limit, + f"independent physical {name}") + _check(python_one_quarter.ptos["PTO1"].stroke[::4], + finest[:, 3], PYTHON_LIMITS[case][0], + "independent physical PTO stroke") + source_work = source_works[-1] + python_work = float(trapezoid( + python_one_quarter.ptos["PTO1"].absorbed_power, + python_one_quarter.time, + )) + python_sampled_work = float(trapezoid( + python_one_quarter.ptos["PTO1"].absorbed_power[::4], + python_one_quarter.time[::4], + )) + assert abs(python_work / python_sampled_work - 1) < OUTPUT_WORK_LIMIT + assert source_work > 1e3 + work_error = abs(python_work / source_work - 1) + print(f"independent signed PTO work: {work_error:.6%} (gate 0.1%)") + assert work_error < .001 + + +def test_pinned_source_step_screen_and_full_duration_independent_motion(): + assert CASE in PYTHON_LIMITS + _validate_full_gate(_read_source(CASE), CASE, + Path(APPLICATIONS) / "Nonlinear_Hydro") diff --git a/tests/test_ellipsoid_ode45_convergence_portable.py b/tests/test_ellipsoid_ode45_convergence_portable.py new file mode 100644 index 00000000..0d896859 --- /dev/null +++ b/tests/test_ellipsoid_ode45_convergence_portable.py @@ -0,0 +1,31 @@ +"""Portable independent ellipsoid ode45 gate against checked R2025b source.""" + +from pathlib import Path + +import numpy as np +import pytest + +from test_ellipsoid_ode45_convergence import ( + OUTPUT_STEPS, STEPS, _validate_full_gate, +) + + +FIXTURE = (Path(__file__).resolve().parents[1] / "tests/fixtures/matlab" + / "ellipsoid_ode45_convergence") + + +@pytest.mark.parametrize("case", ["Regular", "RegularCIC"]) +def test_archived_source_screen_and_full_duration_independent_motion(case): + assert (FIXTURE / "source.npz").is_file() + assert (FIXTURE / "hydroData/ellipsoid.h5").is_file() + assert (FIXTURE / "geometry/elipsoid.stl").is_file() + key = "regular_cic" if case == "RegularCIC" else "regular" + with np.load(FIXTURE / "source.npz", allow_pickle=False) as archived: + for label, step in STEPS.items(): + np.testing.assert_allclose( + archived[f"{key}_{label}_settings"], + [[step, OUTPUT_STEPS[label], step, step, step]], + rtol=0, atol=1e-12, + ) + source = {label: archived[f"{key}_{label}"] for label in STEPS} + _validate_full_gate(source, case, FIXTURE) diff --git a/tests/test_ellipsoid_ode45_output_grid_ab.py b/tests/test_ellipsoid_ode45_output_grid_ab.py new file mode 100644 index 00000000..72f57dcd --- /dev/null +++ b/tests/test_ellipsoid_ode45_output_grid_ab.py @@ -0,0 +1,86 @@ +"""Check whether coarser source logging changes ellipsoid ode45 dynamics. + +Both copied R2025b inputs use the same 0.00125 s solver, nonlinear-force, +radiation-convolution, and maximum-step clocks. Only `simu.dtOut` differs. +This diagnostic does not replace the all-clock source convergence gate. +""" + +import os +from pathlib import Path + +import numpy as np +import pytest +from scipy.integrate import trapezoid + + +RECORDS = os.environ.get("WEC_SIM_ELLIPSOID_AB_DIR") +CASE = os.environ.get("WEC_SIM_ELLIPSOID_AB_CASE") +pytestmark = pytest.mark.skipif( + not (RECORDS and CASE), + reason="fresh pinned R2025b output-grid A/B output absent", +) + +# This A/B is stricter than the derived source final-step motion/PTO screen. +AB_LIMITS = { + 1: (1e-5, "heave position"), + 2: (2e-5, "heave speed"), + 3: (1e-5, "PTO stroke"), + 4: (2e-5, "PTO speed"), + 5: (30, "PTO force"), + 6: (30, "absorbed power"), +} +FULL_TO_SAMPLED_WORK_LIMIT = 1e-5 +AB_WORK_LIMIT = 1e-4 + + +def _read(label, output_step): + folder = Path(RECORDS) / CASE + history = np.loadtxt(folder / f"{label}_history.csv", + delimiter=",", ndmin=2) + settings = np.loadtxt(folder / f"{label}_settings.csv", + delimiter=",", ndmin=2) + assert history.shape == (round(150 / output_step) + 1, 11) + assert np.isfinite(history).all() + np.testing.assert_allclose(settings, + [[.00125, output_step, .00125, .00125, .00125]], + rtol=0, atol=1e-12) + np.testing.assert_allclose(history[:, 0], + np.arange(len(history)) * output_step, + rtol=0, atol=1e-9) + return history + + +def _maximum(a, b): + assert a.shape == b.shape + return float(np.max(np.abs(a - b))) + + +def test_pinned_output_only_ab_preserves_motion_pto_and_work(): + assert CASE in ("Regular", "RegularCIC") + full = _read("all125", .00125) + output = _read("out005", .005) + common = full[::4] + assert _maximum(common[:, 0], output[:, 0]) < 1e-9 + assert _maximum(common[:, 7], output[:, 7]) < 1e-10 + for column, (limit, label) in AB_LIMITS.items(): + error = _maximum(common[:, column], output[:, column]) + print(f"output-only A/B {label}: {error:.8g} (gate {limit:.8g})") + assert error < limit + for column, label in ((8, "restoring"), (9, "excitation"), + (10, "acceleration")): + print(f"output-only A/B {label} diagnostic:", + _maximum(common[:, column], output[:, column])) + + full_work = float(trapezoid(full[:, 6], full[:, 0])) + sampled_work = float(trapezoid(common[:, 6], common[:, 0])) + output_work = float(trapezoid(output[:, 6], output[:, 0])) + assert min(full_work, sampled_work, output_work) > 1e3 + sampling_error = abs(sampled_work / full_work - 1) + ab_error = abs(output_work / sampled_work - 1) + print("signed PTO work (J):", full_work, sampled_work, output_work) + print("full/sampled signed-work change:", sampling_error, + "(gate", FULL_TO_SAMPLED_WORK_LIMIT, ")") + print("output-only A/B signed-work change:", ab_error, + "(gate", AB_WORK_LIMIT, ")") + assert sampling_error < FULL_TO_SAMPLED_WORK_LIMIT + assert ab_error < AB_WORK_LIMIT diff --git a/tools/archive_ellipsoid_ode45_convergence.py b/tools/archive_ellipsoid_ode45_convergence.py new file mode 100644 index 00000000..57cdc708 --- /dev/null +++ b/tools/archive_ellipsoid_ode45_convergence.py @@ -0,0 +1,189 @@ +"""Archive full 150 s ellipsoid ode45 source-screen artifacts for portable CI. + +Example: + gh run download RUN_ID --dir /tmp/ellipsoid-source + python tools/archive_ellipsoid_ode45_convergence.py \ + /tmp/ellipsoid-source tests/fixtures/matlab/ellipsoid_ode45_convergence +""" + +import argparse +import hashlib +from pathlib import Path +import shutil + +import h5py +import numpy as np +from scipy.integrate import trapezoid + + +ROOT = Path(__file__).resolve().parents[1] +ARCHIVED_005 = (ROOT / "tests/fixtures/matlab/ellipsoid_ode45_maxstep_only" + / "refined_005_common_grid.npz") +STEPS = {"step005": .005, "step0025": .0025, + "step00125": .00125, "step000625": .000625} +OUTPUT_STEPS = {label: (.005 if label == "step000625" else step) + for label, step in STEPS.items()} +STABILITY_LIMITS = { + "Regular": (.001, .0013, 1600, 1300), + "RegularCIC": (.0011, .0015, 2000, 1600), +} +CHANNELS = (1, 2, 5, 6) +WORK_STEP_LIMIT = .001 +OUTPUT_WORK_LIMIT = 1e-5 +IRF_DATASETS = { + "body1/hydro_coeffs/excitation/impulse_response_fun/f", + "body1/hydro_coeffs/radiation_damping/impulse_response_fun/K", +} + + +def _sha(path): + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def _maximum(a, b): + assert a.shape == b.shape + assert np.isfinite(a).all() and np.isfinite(b).all() + return float(np.max(np.abs(a - b))) + + +def _datasets(path): + result = {} + with h5py.File(path) as source: + def collect(name, obj): + if isinstance(obj, h5py.Dataset): + result[name] = obj[()] + source.visititems(collect) + return result + + +def _read_case(artifacts, case): + base = artifacts / f"ellipsoid-ode45-convergence-{case}" + output = base / "matlab-ellipsoid-ode45-convergence" / case + histories = {} + settings_records = {} + for label, step in STEPS.items(): + output_step = OUTPUT_STEPS[label] + history = np.loadtxt(output / f"{label}_history.csv", + delimiter=",", ndmin=2) + settings = np.loadtxt(output / f"{label}_settings.csv", + delimiter=",", ndmin=2) + assert history.shape == (round(150 / output_step) + 1, 11) + assert np.isfinite(history).all() + np.testing.assert_allclose(settings, + [[step, output_step, step, step, step]], + rtol=0, atol=1e-12) + np.testing.assert_allclose(history[:, 0], + np.arange(len(history)) * output_step, + rtol=0, atol=1e-9) + # The PTO is constrained to vertical heave. This identity guards + # against accidentally archiving the inactive local PTO axis. + assert _maximum(history[:, 4], history[:, 2]) < 1e-9 + assert _maximum(history[:, 5], -1_200_000 * history[:, 4]) < 1e-6 + assert _maximum(history[:, 6], -history[:, 5] * history[:, 4]) < 1e-6 + histories[label] = history + settings_records[label] = settings + return base, histories, settings_records + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("artifacts", type=Path) + parser.add_argument("output", type=Path) + args = parser.parse_args() + records = {} + inputs = {} + with np.load(ARCHIVED_005, allow_pickle=False) as archived: + for case in ("Regular", "RegularCIC"): + base, histories, settings_records = _read_case(args.artifacts, case) + key = "regular_cic" if case == "RegularCIC" else "regular" + five = histories["step005"] + for column, suffix, limit in ((0, "time", 1e-10), + (1, "heave", 1e-7), + (2, "speed", 1e-7), + (5, "pto_force", .1), + (7, "wave", 1e-10), + (8, "restoring", .1)): + assert _maximum(five[::10, column], + archived[f"{key}_{suffix}"]) < limit + half = histories["step0025"] + quarter = histories["step00125"] + finest = histories["step000625"] + assert _maximum(five[:, 7], half[::2, 7]) < 1e-10 + assert _maximum(half[:, 7], quarter[::2, 7]) < 1e-10 + assert _maximum(quarter[::4, 7], finest[:, 7]) < 1e-10 + common = (five, half[::2], quarter[::4], finest) + for column, limit in zip(CHANNELS, STABILITY_LIMITS[case], + strict=True): + first = _maximum(common[0][:, column], common[1][:, column]) + previous = _maximum(common[1][:, column], common[2][:, column]) + final = _maximum(common[2][:, column], common[3][:, column]) + print(case, column, "source changes", first, previous, final) + assert (final < limit and previous < .7 * first + and final < .7 * previous) + works = [float(trapezoid(history[:, 6], history[:, 0])) + for history in (five, half, quarter, finest)] + assert all(np.isfinite(work) and work > 1e3 for work in works) + common_works = [float(trapezoid(history[:, 6], history[:, 0])) + for history in common] + for label, full, sampled in zip( + list(STEPS)[:3], works[:3], common_works[:3], strict=True + ): + error = abs(full / sampled - 1) + print(case, label, "full/common signed-work difference", error) + assert error < OUTPUT_WORK_LIMIT + work_changes = [abs(later - earlier) / later + for earlier, later in zip(works, works[1:])] + common_work_changes = [abs(later - earlier) / later + for earlier, later in zip( + common_works, common_works[1:])] + print(case, "source signed PTO work (J)", works) + print(case, "source signed PTO work relative changes", work_changes) + print(case, "common-grid signed PTO work (J)", common_works) + print(case, "common-grid work relative changes", + common_work_changes) + for changes in (work_changes, common_work_changes): + assert (changes[-1] < WORK_STEP_LIMIT + and changes[1] < .7 * changes[0] + and changes[2] < .7 * changes[1]) + for label, history in histories.items(): + records[f"{key}_{label}"] = history + records[f"{key}_{label}_settings"] = settings_records[label] + inputs[case] = { + "hydro": base / "applications/Nonlinear_Hydro/hydroData/ellipsoid.h5", + "geometry": base / "applications/Nonlinear_Hydro/geometry/elipsoid.stl", + } + + assert _sha(inputs["Regular"]["geometry"]) == _sha( + inputs["RegularCIC"]["geometry"]) + regular_hydro = _datasets(inputs["Regular"]["hydro"]) + cic_hydro = _datasets(inputs["RegularCIC"]["hydro"]) + assert regular_hydro.keys() == cic_hydro.keys() + for name, values in regular_hydro.items(): + other = cic_hydro[name] + if name in IRF_DATASETS: + # Independent bemio runs differ only at roundoff in the two + # computed impulse-response arrays (observed <2.1e-12 absolute + # in the prior pinned R2025b artifacts). Keep all other BEM + # datasets byte-for-byte equal in value. + np.testing.assert_allclose(values, other, rtol=1e-12, + atol=1e-11, equal_nan=True, + err_msg=name) + else: + np.testing.assert_array_equal(values, other, err_msg=name) + + args.output.mkdir(parents=True, exist_ok=True) + destination = args.output / "source.npz" + np.savez_compressed(destination, **records) + (args.output / "hydroData").mkdir(exist_ok=True) + (args.output / "geometry").mkdir(exist_ok=True) + shutil.copyfile(inputs["Regular"]["hydro"], + args.output / "hydroData/ellipsoid.h5") + shutil.copyfile(inputs["Regular"]["geometry"], + args.output / "geometry/elipsoid.stl") + for file in (destination, args.output / "hydroData/ellipsoid.h5", + args.output / "geometry/elipsoid.stl"): + print(file, _sha(file), file.stat().st_size) + + +if __name__ == "__main__": + main()