WIP update calc_midpoint, bug fixes, test with shared example

-- added new helper method for calculating midpoint of 2 points
	- calc_midpoint calculates midpoint of 2 points, useful for calculating where span starts from bridles
-- fixed some bugs
	- updated to determine anchor end point from midpoint of end point(s)
		- if not a bridle, midpoint is just the actual point
	- fixed small bugs in famodel_base
	- fixed small bugs in helpers.getMoorings to add connectors around subsections as needed
-- added bridle to shared example and tested
	- plotting does not currently work, need to fix base class or somewhere to update rA and rB of each section
		- this does  not happen with node.setPosition because that only sets node position and one end of the attached section

Author: lsirkis

examples/Inputs/OntologySample600m_shared.yaml

@@ -1209,6 +1209,10 @@ platforms:
                      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)  
+                   - name: fairleads2
+                     r_rel: [-57.779,-5.055, -14]
+                   - name: fairleads3
+                     r_rel: [-57.779, 5.055, -14]
     rFair        :  40.5    # platform fairlead radius
     zFair        :  -20     # platform fairlead z-location
     type         :  FOWT
@@ -1311,9 +1315,9 @@ mooring_systems:
     ms1:
         name: 3-line semi-taut polyester mooring system with one line shared anchor
 
-        keys: [MooringConfigID,  heading, anchorType, fairleads] 
+        keys: [MooringConfigID,  heading, anchorType, fairlead] 
         data:
-          - [  rope_1,   270 ,    suction_pile1,   3 ]
+          - [  rope_1_bridle,   270 ,    suction_pile1,   [4,5] ]
           - [  rope_1,  135 ,    suction_pile1,   2 ]
 
     ms2:
@@ -1327,14 +1331,14 @@ mooring_systems:
     ms3: 
         name: 3-line semi-taut polyester mooring system with one line shared anchor and one shared line
 
-        keys: [MooringConfigID,  heading, anchorType, fairleads] 
+        keys: [MooringConfigID,  heading, anchorType, fairlead] 
         data:
           - [  rope_1,  45 ,    suction_pile1,   1 ]
 
     ms4:
         name: 3 line taut poly mooring system
 
-        keys: [MooringConfigID,  heading, anchorType, fairleads] 
+        keys: [MooringConfigID,  heading, anchorType, fairlead] 
         data:
           - [  rope_1,   45 ,    suction_pile1,   1 ]
           - [  rope_1,  135 ,    suction_pile1,   2 ]
@@ -1358,6 +1362,27 @@ mooring_line_configs:
             length: 1170            # [m] usntretched length of line section
             adjustable: True      # flags that this section could be adjusted to accommodate different spacings...
 
+    rope_1_bridle:  # mooring line configuration identifier
+    
+        name: rope configuration 1 with a bridle  # descriptive name
+        
+        span: 1131.37
+
+        
+        sections:                 #in order from anchor to fairlead
+          - type: chain_155mm
+            length: 20
+          - type: rope       # ID of a mooring line section type
+            length: 1120            # [m] usntretched length of line section
+            adjustable: True      # flags that this section could be adjusted to accommodate different spacings...
+          - subsections:  # bridle sections for end B
+              - - type: rope
+                  length: 50
+                - connectorType: shackle
+              - - type: rope
+                  length: 50
+                - connectorType: shackle
+
     rope_shared:
         name: shared rope 
 

examples/example_sharedmoorings.py

@@ -18,10 +18,10 @@
 os.chdir(input_directory)
 
 # load in yaml
-project = Project(file=filename,raft=True)
+project = Project(file=filename,raft=False)
 
 # plot in 2d and 3d
 project.plot2d()
-project.plot3d(fowt=True)
+#project.plot3d(fowt=True)
 
 plt.show()

famodel/famodel_base.py

@@ -244,7 +244,9 @@ def attach(self, object, r_rel=[0,0], end=None):
         '''
         # Make sure it's not already attached (note this doesn't distinguish end A/B)
         if object.id in self.attachments:
-            raise Exception(f"Object {object.id} is already attached to {self.id}")
+            return # for bridles, the mooring will already be attached to platform
+            # for second bridle section
+            # raise Exception(f"Object {object.id} is already attached to {self.id}")
 
 
         # Attach the object
@@ -679,10 +681,16 @@ def addSubcomponents(self, items, iA=[0], iB=[-1]):
                         subitem.part_of = self
             else:    
                 item.part_of = self
-        
         # Assign ends 
-        self.subcons_A = list([items[0]]) # subcomponent for end A (can be multiple)
-        self.subcons_B = list([items[-1]]) # subcomponent for end B (can be multiple)
+        if isinstance(items[0],list):
+            self.subcons_A = [it[0] for it in items[0]] # subcomponent for end A (can be multiple)
+        else:
+            self.subcons_A = list([items[0]]) # subcomponents for end A (can be multiple)
+        if isinstance(items[-1],list):
+            self.subcons_B = [it[-1] for it in items[-1]] # subcomponent for end B (can be multiple)
+        else:
+            self.subcons_B = list([items[-1]]) # subcomponent for end B (can be multiple)
+ 
 
         '''
         # Make sure the subcomponents ends are connected appropriately
@@ -728,7 +736,15 @@ def findEnd(self, object):
         '''Checks if object is a subcomponent of self and which end it's at.'''
 
         if not object in self.subcomponents:
-            raise Exception("This object is not a subcomponent of this edge!")
+            obj_in = False
+            for sub in self.subcomponents:
+                if isinstance(sub,list):
+                    for subsub in sub:
+                        if object in subsub:
+                            obj_in = True
+                            break
+            if not obj_in:                          
+                raise Exception("This object is not a subcomponent of this edge!")
 
         if any([object is con for con in self.subcons_A]):
             end = 0

famodel/helpers.py

@@ -753,12 +753,18 @@ def getMoorings(lcID, lineConfigs, connectorTypes, pfID, proj):
                 lineLast = 0
         elif 'subsections' in lc:
             # TODO: LHS: ERROR CHECKING FOR ORDER OF COMPONENTS PROVIDED WITHIN SUBSECTIONS, ADD IN NEEDED CONNECTORS!!
+            
+            if lineLast and k != 0:
+                # if this is not the first section AND last section was a line, add a empty connector first
+                config.append({})
+                lineLast = 0
             config.append([])
             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:
-                    if 'connectorType' in subsub:
+                    if 'connectorType' in subsub and sublineLast[ii]:
+                        cID = subsub['connectorType']
                         if cID in connectorTypes:
                             cID = subsub['connectorType']
                             config[-1][-1].append(connectorTypes[cID])
@@ -771,8 +777,13 @@ def getMoorings(lcID, lineConfigs, connectorTypes, pfID, proj):
                             except Exception as e: 
                                 raise Exception(f"Connector type {cID} not found in connector_types dictionary, and getPointProps raised the following exception:",e)
                         sublineLast[ii] = 0
+                    elif 'connectorType' in subsub and not sublineLast[ii]:
+                        raise Exception('Previous section had a connector, two connectors cannot be listed in a row')
                     elif 'type' or 'mooringFamily' in subsub:
-                        lt = MooringProps(subsub)
+                        if sublineLast[ii]:
+                            # add empty connector
+                            config[-1][-1].append({})
+                        lt = MooringProps(subsub,proj.lineTypes, proj.rho_water, proj.g)
                         config[-1][-1].append({'type':lt,
                                                'L': subsub['length']})
                         sublineLast[ii] = 1
@@ -937,23 +948,24 @@ def attachFairleads(moor, end, platform, fair_ID_start=None, fair_ID=None, fair_
 def calc_heading(pointA, pointB):
     '''calculate a heading from points, if pointA or pointB is a list of points,
        the average of those points will be used for that end'''
-    if isinstance(pointA[0],list) or isinstance(pointA[0],np.ndarray):
-        pointAx = sum([x[0] for x in pointA])/len(pointA)
-        pointAy = sum([x[1] for x in pointA])/len(pointA)
-    else:
-        pointAx = pointA[0]
-        pointAy = pointA[1]
-    if isinstance(pointB[0],list) or isinstance(pointB[0],np.ndarray):
-        pointBx = sum([x[0] for x in pointB])/len(pointB)
-        pointBy = sum([x[1] for x in pointB])/len(pointB)
-    else:
-        pointBx = pointB[0]
-        pointBy = pointB[1]
-        
-    dists = np.array([pointAx,pointAy]) - np.array([pointBx,pointBy])
+    # calculate the midpoint of the point(s) on each end first
+    pointAmid = calc_midpoint(pointA) 
+    pointBmid = calc_midpoint(pointB)
+    dists = np.array(pointAmid) - np.array(pointBmid)
     headingB = np.pi/2 - np.arctan2(dists[1], dists[0])
 
     return(headingB)
+
+def calc_midpoint(point):
+    '''Calculates the midpoint of a list of points'''
+    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)
+    else:
+        pointx = point[0]
+        pointy = point[1]
+        
+    return([pointx,pointy])
 
 
 def route_around_anchors(proj, anchor=True, cable=True, padding=50):
@@ -1003,7 +1015,6 @@ def angle(pt):
                 # determine relative positions of new routing points among other routing points
                 rel_dist = []
                 orig_coords = []
-                breakpoint()
                 for i,x in enumerate(proj.cableList[name].subcomponents[2].x):
                     y = proj.cableList[name].subcomponents[2].y[i]
                     rel_dist.append(cab.line_locate_point(sh.Point([x,y])))

famodel/mooring/mooring.py

@@ -6,6 +6,7 @@
 from moorpy import helpers
 from famodel.mooring.connector import Connector, Section
 from famodel.famodel_base import Edge
+from famodel.helpers import calc_midpoint
 
 class Mooring(Edge):
     '''
@@ -281,8 +282,9 @@ def reposition(self, r_center=None, heading=None, project=None,
             r_centerA = self.attached_to[0].r
             r_centerB = self.attached_to[1].r
 
+        fairs = True if len(self.subcons_B[0].attachments)>1 else False
         # if there is no fairlead object, use traditional method to determine new fairlead location and set it, otherwise end B should be set already
-        if not len(self.subcons_B[0].attachments) > 1:
+        if not fairs:
             # create fairlead radius list for end A and end B if needed
             if not rad_fair:
                 rad_fair = [self.attached_to[x].rFair if (hasattr(self.attached_to[x],'rFair') and self.attached_to[x].rFair) else 0 for x in range(2)]
@@ -324,7 +326,10 @@ def reposition(self, r_center=None, heading=None, project=None,
                 self.setEndPosition(np.hstack([r_centerA[:2] - rad_fair[0]*u, z_fair[0] + r_centerA[2]]),'a')
 
         else: # otherwise just set the anchor position based on a set spacing (NEED TO UPDATE THE ANCHOR DEPTH AFTER!)
-            xy_loc = self.rB[:2] + self.span*u #r_centerB[:2] + (self.span + rad_fair[1])*u
+            if not fairs:          
+                xy_loc = self.rB[:2] + self.span*u #r_centerB[:2] + (self.span + rad_fair[1])*u
+            else:
+                xy_loc = calc_midpoint([sub.r[:2] for sub in self.subcons_B]) + self.span*u
             if project:
                 self.dd['zAnchor'] = -project.getDepthAtLocation(xy_loc[0],xy_loc[1])
                 self.z_anch = self.dd['zAnchor']
@@ -1154,7 +1159,7 @@ def convertSubcomponents(self, subs_list):
                     if isinstance(subsub, list):
                         for k, subsubsub in enumerate(subsub):
 
-                            if 'L' in sub:
+                            if 'L' in subsubsub:
                                 id = '_'.join(['S',*[str(l) for l in [i,j,k]]])
                                 # this is a section
                                 subs_list[i][j][k] = self.addSection(subsubsub['L'], 

famodel/project.py

@@ -655,10 +655,10 @@ def loadDesign(self, d, raft=True):
                     moor.attachTo(anchor,end='A')
                     # attach platform
                     fairsB = attachFairleads(moor,
-                                            1,
-                                            PF[0],
-                                            fair_ID_start=PF[0].id+'_F',
-                                            fair_inds=arrayMooring[j]['fairleadB'])
+                                             1,
+                                             PF[0],
+                                             fair_ID_start=PF[0].id+'_F',
+                                             fair_inds=arrayMooring[j]['fairleadB'])
 
                     # determine heading
                     headingB = calc_heading(anchor.r[:2],[f.r[:2] for f in fairsB])
@@ -2187,8 +2187,15 @@ def plot2d(self, ax=None, plot_seabed=True,plot_bathymetry=True, plot_boundary=T
                     mooring.ss.drawLine2d(0, ax, color="k", endpoints=False, 
                                           Xuvec=[1,0,0], Yuvec=[0,1,0],label='Mooring Line')        
                 else: # simple line plot
-                    ax.plot([mooring.rA[0], mooring.rB[0]], 
-                            [mooring.rA[1], mooring.rB[1]], 'k', lw=0.5, label='Mooring Line')
+                    if len(mooring.subcons_B[0].attachments)>1:
+                        # there are fairleads, plot from their locations
+                        for i in mooring.i_sec:
+                            sec = mooring.getSubcomponent(i)
+                            ax.plot([sec.rA[0],sec.rB[0]],
+                                    [sec.rA[1],sec.rB[1]])
+                    else:
+                        ax.plot([mooring.rA[0], mooring.rB[0]], 
+                                [mooring.rA[1], mooring.rB[1]], 'k', lw=0.5, label='Mooring Line')
 
         if plot_anchors:
             for anchor in self.anchorList.values():