Update on vessels day rates, visualizeActions, and action naming in main irma example:

- The __main__ example in irma takes the keyname of the objects and assign it to the name of the action.
- irma checks for duplicate action names and flag a warning in registerAction method,
- day rates of various vessels obtained from ORBIT and other sources are provided in the vessels.yaml file,
- Updating visualizeActions method to give equal axis and showcase action starters with a green colored node.

Author: Yuksel-Rudy

famodel/irma/irma.py

@@ -198,10 +198,11 @@ def registerAction(self, action):
 
         # this also handles creation of unique dictionary keys
 
-        while action.name in self.actions:  # check if there is already a key with the same name
+        if action.name in self.actions:  # check if there is already a key with the same name
+            raise Warning(f"Action '{action.name}' is already registered.")
             print(f"Action name '{action.name}' is in the actions list so incrementing it...")
             action.name = increment_name(action.name)
-        
+
         # What about handling of dependencies?? <<< done in the action object, 
         # but could check that each is in the list already...
         for dep in action.dependencies.values():
@@ -275,6 +276,16 @@ def visualizeActions(self):
             plt.text(pos[last_node][0], pos[last_node][1] - 0.1, f"{total_duration:.2f} hr", fontsize=12, color='red', fontweight='bold', ha='center')          
         else:
             pass
+        plt.axis('equal')
+
+        # Color first node (without dependencies) green
+        i = 0
+        for node in G.nodes():
+            if G.in_degree(node) == 0:  # Check if the node has no incoming edges
+                nx.draw_networkx_nodes(G, pos, nodelist=[node], node_color='green', node_size=500, label='Action starters' if i==0 else None)
+                i += 1
+        plt.legend()
+        return G                  
 
 
 
@@ -326,38 +337,38 @@ def findCompatibleVessels(self):
 
     # Parse out the install steps required
 
-    for anchor in project.anchorList.values():
+    for akey, anchor in project.anchorList.items():
 
         # add and register anchor install action(s)
-        a1 = sc.addAction('install_anchor', 'install_anchor-1', objects=[anchor])
-        a1.evaluateAssets({'operator' : sc.vessels["MPSV_01"]}) # example assignment to test the code. 
+        a1 = sc.addAction('install_anchor', f'install_anchor-{akey}', objects=[anchor])
+        a1.evaluateAssets({'carrier' : sc.vessels["MPSV_01"]})
 
         # register the actions as necessary for the anchor <<< do this for all objects??
         anchor.install_dependencies = [a1]
 
 
     hookups = []  # list of hookup actions
 
-    for mooring in project.mooringList.values():
+    for mkey, mooring in project.mooringList.items():
 
         # note origin and destination
 
         # --- lay out all the mooring's actions (and their links)
         # create load vessel action
-        a2 = sc.addAction('load_mooring', 'load_mooring', objects=[mooring])
+        a2 = sc.addAction('load_mooring', f'load_mooring-{mkey}', objects=[mooring])
 
         # create ship out mooring action
 
         # create lay mooring action
-        a3 = sc.addAction('lay_mooring', 'lay_mooring', objects=[mooring], dependencies=[a2])
+        a3 = sc.addAction('lay_mooring', f'lay_mooring-{mkey}', objects=[mooring], dependencies=[a2])
         sc. addActionDependencies(a3, mooring.attached_to[0].install_dependencies) # in case of shared anchor
 
         # mooring could be attached to anchor here - or could be lowered with anchor!!
         #(r=r_anch, mooring=mooring, anchor=mooring.anchor...)
         # the action creator can record any dependencies related to actions of the anchor
 
         # create hookup action
-        a4 = sc.addAction('mooring_hookup', 'mooring_hookup', 
+        a4 = sc.addAction('mooring_hookup', f'mooring_hookup-{mkey}', 
                           objects=[mooring, mooring.attached_to[1]], dependencies=[a2, a3])
         #(r=r, mooring=mooring, platform=platform, depends_on=[a4])
         # the action creator can record any dependencies related to actions of the platform
@@ -374,7 +385,7 @@ def findCompatibleVessels(self):
 
     # ----- Do some graph analysis -----
 
-    sc.visualizeActions()
+    G = sc.visualizeActions()
 
 
 

famodel/irma/vessels.yaml

@@ -48,6 +48,7 @@ AHTS_alpha:
         install_semisub: {}
         install_spar: {}
         install_tlp: {}
+    day_rate: 107187  # USD/day taken from ORBIT: https://github.com/WISDEM/ORBIT/blob/dev/library/vessels/example_ahts_vessel.yaml
 
 # --- Multipurpose Support Vessel ---
 
@@ -93,6 +94,7 @@ MPSV_01:
         lay_mooring: {}
         install_wec: {}
         monitor_installation: {}
+    day_rate: 122699  # USD/day taken from ORBIT (for support vessel: https://github.com/WISDEM/ORBIT/blob/dev/library/vessels/example_support_vessel.yaml)
 
 # --- Construction Support Vessel ---
 
@@ -145,7 +147,7 @@ CSV_A:
         lay_cable: {}
         lay_and_bury_cable: {}
         monitor_installation: {}
-
+    day_rate: 122699  # USD/day taken from ORBIT (for support vessel: https://github.com/WISDEM/ORBIT/blob/dev/library/vessels/example_support_vessel.yaml)
 # --- ROV Support Vessel ---
 
 ROVSV_X:
@@ -180,7 +182,7 @@ ROVSV_X:
     actions:
         monitor_installation: {}
         site_survey: {}
-
+    day_rate: 52500  # USD/day taken from a Nauticus Robotics post on X: https://x.com/nautrobo/status/1840830080748003551
 # --- Diving Support Vessel ---
 
 DSV_Moon:
@@ -207,7 +209,7 @@ DSV_Moon:
     actions:
         monitor_installation: {}
         site_survey: {}
-
+    day_rate: x  # USD/day (research needed)
 # --- Heavy Lift Vessel ---
 
 HL_Giant:
@@ -235,7 +237,7 @@ HL_Giant:
         transport_components: {}
         install_wec: {}
         install_wtg: {}
-
+    day_rate: 624612  # USD/day taken from Orbit: https://github.com/WISDEM/ORBIT/blob/dev/library/vessels/example_heavy_lift_vessel.yaml
 # --- Survey Vessel ---
 
 SURV_Swath:
@@ -262,7 +264,7 @@ SURV_Swath:
     actions:
         site_survey: {}
         monitor_installation: {}
-        
+    day_rate: x  # USD/day (research needed)
 # --- Barge ---
 
 Barge_squid:
@@ -288,7 +290,7 @@ Barge_squid:
         install_anchor: {}
         retrieve_anchor: {}
         install_wec: {}
-
+    day_rate: 147239  # USD/day taken from Orbit: https://github.com/WISDEM/ORBIT/blob/dev/library/vessels/floating_barge.yaml
 # --- Rock Installation Vessel ---
 
 ROCK_FallPipe:
@@ -312,3 +314,4 @@ ROCK_FallPipe:
     actions:
         backfill_rockdump: {}
         site_survey: {}
+    day_rate: x  # USD/day (research needed)