Update makie ext

.github/workflows/CI.yml

@@ -45,6 +45,11 @@ jobs:
           - os: ubuntu-latest
             version: '1.11'
             arch: x64
+            prefix: xvfb-run -a
+          - os: ubuntu-latest
+            version: '1.12'
+            arch: x64
+            prefix: xvfb-run -a
           - os: macOS-latest
             version: '1.12'
             arch: aarch64
@@ -56,9 +61,17 @@ jobs:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
 
+      - name: Install display dependencies for GLMakie
+        if: runner.os == 'Linux'
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y xvfb libgl1-mesa-dri
+
       - uses: julia-actions/cache@v2
       - uses: julia-actions/julia-buildpkg@v1
       - uses: julia-actions/julia-runtest@v1
+        with:
+          prefix: ${{ matrix.prefix }}
 
       - name: Upload PNG plots as artifact
         if: always()

data/2plate_kite/aero_geometry.yaml

@@ -7,13 +7,13 @@ wing_sections:
   headers: [airfoil_id, LE_x, LE_y, LE_z, TE_x, TE_y, TE_z]
   data:
     # Right section: points 2 (LE) and 3 (TE)
-    - [1, -0.5, 1.0, 2.0, 0.5, 1.0, 2.3]
+    - [1, -0.5, 1.0, 2.0, 0.5, 1.0, 2.2]
 
     # Center section: points 4 (LE) and 5 (TE)
-    - [1, -0.5, 0.0, 2.5, 0.5, 0.0, 2.8]
+    - [1, -0.5, 0.0, 2.5, 0.5, 0.0, 2.7]
 
     # Left section: points 6 (LE) and 7 (TE)
-    - [1, -0.5, -1.0, 2.0, 0.5, -1.0, 2.3]
+    - [1, -0.5, -1.0, 2.0, 0.5, -1.0, 2.2]
 
 wing_airfoils:
   alpha_range: [-180, 180, 1]  # deg

data/2plate_kite/settings.yaml

@@ -1,6 +1,7 @@
 system:
     log_file: "data/2plate"  # filename without extension  [replay only]
-                                   #   use / as path delimiter, even on Windows 
+                                   #   use / as path delimiter, even on Windows
+    sample_freq:   20              # sample frequency in Hz
     g_earth:     9.81
 
 initial:

examples/coupled_2plate_kite.jl

@@ -27,7 +27,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 set = Settings("system.yaml")
 set.g_earth = 0.0
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name=MODEL_NAME, set, vsm_set)

examples/coupled_2plate_kite_linear_vsm.jl

@@ -23,7 +23,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 
 set = Settings("system.yaml")
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name=MODEL_NAME, set, vsm_set)

examples/coupled_linearize.jl

@@ -19,7 +19,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 
 set = Settings("system.yaml")
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name="2plate_kite", set, vsm_set)

examples/coupled_realtime_visualization.jl

@@ -34,7 +34,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 set = Settings("system.yaml")
 set.profile_law = 3
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name="2plate_kite", set, vsm_set)
 sam = SymbolicAWEModel(set, sys)

examples/coupled_simple_lin_model.jl

@@ -27,7 +27,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 
 set = Settings("system.yaml")
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name="2plate_kite", set, vsm_set)

examples/sam_tutorial.jl

@@ -69,7 +69,7 @@ end
 
 # --- STEP 3: Add a pulley ---
 
-push!(points, Point(22, [0, 0, set.l_tether + 5], DYNAMIC))
+push!(points, Point(22, [0, 0, set.l_tether + 5], DYNAMIC; extra_mass=0.1))
 push!(points, Point(23, [1, 0, set.l_tether + 5], STATIC))
 push!(segments, Segment(21, 21, 22,
     seg_stiffness, seg_damping, seg_diameter))
@@ -94,13 +94,26 @@ end
 
 # --- STEP 4: Add a kite ---
 
-vsm_wing = VortexStepMethod.Wing(set; prn=false)
+vsm_set = VortexStepMethod.VSMSettings(
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
+vsm_wing = VortexStepMethod.Wing(set, vsm_set; prn=false)
 vsm_aero = BodyAerodynamics([vsm_wing])
 vsm_solver = Solver(vsm_aero;
     solver_type=NONLIN, atol=2e-8, rtol=2e-8)
 wings = [SymbolicAWEModels.Wing(1, vsm_aero, vsm_wing,
     vsm_solver, [], I(3), [0.5, 0, set.l_tether + 6])]
 
+# WING-type points: 3 LE/TE pairs matching the 3 aero sections
+wing_z = set.l_tether + 6
+for (i, y) in enumerate([-1.0, 0.0, 1.0])
+    n = length(points)
+    push!(points, Point(n + 1, [-0.5, y, wing_z],
+        WING; wing=1, transform=1, extra_mass=0.1))
+    push!(points, Point(n + 2, [0.5, y, wing_z],
+        WING; wing=1, transform=1, extra_mass=0.1))
+end
+
 sys = SystemStructure("wing", set;
     points, segments, tethers, winches, pulleys,
     wings, transforms)

examples/static_load_2plate_kite.jl

@@ -7,7 +7,7 @@ kite structure and simulate a few steps under those loads.
 """
 
 using GLMakie
-using SymbolicAWEModels, KiteUtils
+using SymbolicAWEModels, VortexStepMethod, KiteUtils
 using LinearAlgebra
 using SymbolicAWEModels: Point
 
@@ -30,10 +30,16 @@ set_data_path(joinpath(pkg_root, "data", MODEL_NAME))
 
 struc_yaml = joinpath(get_data_path(),
                       "quat_struc_geometry.yaml")
+aero_yaml = joinpath(get_data_path(), "aero_geometry.yaml")
+update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
+
 set = Settings("system.yaml")
+vsm_set = VSMSettings(joinpath(get_data_path(),
+    "vsm_settings.yaml"); data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
-    system_name=MODEL_NAME, set, aero_mode=AERO_NONE)
+    system_name=MODEL_NAME, set, vsm_set,
+    aero_mode=AERO_NONE)
 
 function apply_loads!(points, F)
     for (i, point) in enumerate(points)

ext/SymbolicAWEModelsMakieExt.jl

@@ -3026,9 +3026,12 @@ function Makie.plot(syss::Vector{<:SystemStructure};
             push!(segment_colors_list, color)
             obs = build_geometry_observables(sys, triggers[i])
 
-            # Plot with observable data
+            # Plot with observable data (use vector color to match
+            # setup_segment_hover_events! which assigns Vector{RGBA})
+            seg_colors = fill(to_color(color), length(sys.segments))
             seg_plot = linesegments!(scene, obs[:segment_points];
-                                     color=color, linewidth=2, transparency=true)
+                                     color=seg_colors, linewidth=2,
+                                     transparency=true)
             push!(all_plots, seg_plot)
             push!(segment_plots, seg_plot)
 
@@ -3210,6 +3213,98 @@ function SymbolicAWEModels.record(lg::SysLog, sys::SystemStructure, filename::St
     return scene
 end
 
+"""
+    record(logs::Vector{<:SysLog}, syss::Vector{<:SystemStructure},
+           filename::String; framerate=30, colors=Makie.wong_colors(),
+           vector_scale=0.2, kwargs...)
+
+Record a multi-system SysLog animation to a video or GIF file.
+The output format is determined by the file extension
+(`.mp4`, `.gif`, `.mkv`, `.webm`).
+
+# Arguments
+- `logs::Vector{<:SysLog}`: Simulation logs (one per system)
+- `syss::Vector{<:SystemStructure}`: System structures
+    (must match logs length)
+- `filename::String`: Output filename
+    (e.g., `"sim.mp4"`, `"sim.gif"`)
+
+# Keyword Arguments
+- `framerate::Int=30`: Framerate (frames per second)
+- `colors`: Color palette for distinguishing systems
+    (default: wong_colors())
+- `vector_scale::Real=0.2`: Scale factor for wing arrows
+- All other keyword arguments are passed through to `plot`
+
+# Returns
+- The Scene object used for recording
+
+# Example
+```julia
+record([log1, log2], [sys1, sys2], "output.mp4")
+record([log1, log2], [sys1, sys2], "output.mp4";
+       framerate=60, colors=[:red, :blue])
+```
+"""
+function SymbolicAWEModels.record(
+        logs::Vector{<:SysLog},
+        syss::Vector{<:SystemStructure},
+        filename::String;
+        framerate::Int=30,
+        colors=Makie.wong_colors(),
+        vector_scale::Real=0.2,
+        kwargs...)
+    length(logs) == length(syss) ||
+        error("logs and systems must have same length")
+    n_frames = minimum(length(lg.syslog) for lg in logs)
+    n_frames == 0 &&
+        error("Empty SysLog provided for recording")
+
+    println("Recording multi-system video to: $filename")
+    println("Framerate: $framerate fps")
+    println("Total frames: $n_frames")
+    println("Systems: $(length(syss))")
+
+    # Initialize all systems with first state
+    for (sys, lg) in zip(syss, logs)
+        update_from_sysstate!(sys, lg.syslog[1])
+    end
+
+    # Create plot with observables for dynamic updates
+    scene = plot(syss; colors, vector_scale,
+                 use_observables=true, kwargs...)
+
+    # Record video by stepping through all frames
+    Makie.record(scene, filename, 1:n_frames;
+                 framerate=framerate) do frame_num
+        # Update each system's state
+        for (sys, lg) in zip(syss, logs)
+            frame = min(frame_num, length(lg.syslog))
+            update_from_sysstate!(sys, lg.syslog[frame])
+        end
+        # Trigger all geometry observables
+        if !isnothing(PLOT_MULTI_GEOMETRY_OBS[])
+            for obs in PLOT_MULTI_GEOMETRY_OBS[]
+                obs[] = time()
+            end
+        end
+
+        # Yield to render thread for observable updates
+        sleep(0.001)
+
+        # Print progress every 10% or at the end
+        if frame_num % max(1, div(n_frames, 10)) == 0 ||
+                frame_num == n_frames
+            pct = round(100 * frame_num / n_frames, digits=1)
+            println("  Progress: $pct% " *
+                    "($frame_num/$n_frames frames)")
+        end
+    end
+
+    println("Video saved successfully!")
+    return scene
+end
+
 """
     setup_replay_controls!(scene, n_frames, update_frame!, get_time, get_dt;
                            replay_speed=1.0, autoplay=false, loop=false)

src/generate_system/accessors.jl

@@ -209,6 +209,10 @@ end
     sys::SystemStructure{VSMWing}, idx::Int64, component::Int)
 get_brake(sys::SystemStructure{VSMWing}, idx::Int64) = sys.winches[idx].brake
 @register_symbolic get_brake(sys::SystemStructure{VSMWing}, idx::Int64)
+get_speed_controlled(sys::SystemStructure{VSMWing}, idx::Int64) =
+    sys.winches[idx].speed_controlled
+@register_symbolic get_speed_controlled(
+    sys::SystemStructure{VSMWing}, idx::Int64)
 get_fix_point_sphere(sys::SystemStructure{VSMWing}, idx::Int64) =
     sys.points[idx].fix_sphere
 @register_symbolic get_fix_point_sphere(sys::SystemStructure{VSMWing}, idx::Int64)

src/generate_system/winch_eqs.jl

@@ -29,6 +29,7 @@ function winch_eqs!(eqs, defaults, winches, tethers, points, psys, pset;
         winch_force(t)[eachindex(winches)]
         winch_force_vec(t)[1:3, eachindex(winches)]
         brake(t)[eachindex(winches)]
+        speed_controlled(t)[eachindex(winches)]
         # Winch motor and friction dynamics
         ω_motor(t)[eachindex(winches)]
         tau_friction(t)[eachindex(winches)]
@@ -60,12 +61,15 @@ function winch_eqs!(eqs, defaults, winches, tethers, points, psys, pset;
         eqs = [
             eqs
             brake[winch.idx] ~ get_brake(psys, winch.idx)
+            speed_controlled[winch.idx] ~
+                get_speed_controlled(psys, winch.idx)
             D(tether_len[winch.idx]) ~
                 ifelse(brake[winch.idx] == true, 0,
                        tether_vel[winch.idx])
             D(tether_vel[winch.idx]) ~
                 ifelse(brake[winch.idx] == true, 0,
-                       tether_acc[winch.idx])
+                    ifelse(speed_controlled[winch.idx] == true,
+                           0, tether_acc[winch.idx]))
 
             # Winch motor, gear, and friction dynamics
             ω_motor[winch.idx] ~

src/model_management.jl

@@ -379,6 +379,9 @@ function init!(sam::SymbolicAWEModel;
     tunable_params::Bool=false
 )
     prn && @info "Initializing $(sam.sys_struct.name) model..."
+    sam.sys_struct isa SystemStructure{VSMWing} || error(
+        "Equation generation requires SystemStructure{VSMWing}, " *
+        "got SystemStructure{$(eltype(sam.sys_struct.wings))}.")
     time = @elapsed begin
         if isnothing(solver)
             solver = if sam.set.solver == "FBDF"

src/simulate.jl

@@ -301,7 +301,7 @@ function sim_reposition!(
             # Update the transform with the new target pose
             sys_struct.transforms[1].elevation = target_elevation
             sys_struct.transforms[1].azimuth   = target_azimuth
-            sys_struct.transforms[1].heading   = target_heading - sys_struct.wings[1].heading
+            sys_struct.transforms[1].heading   = target_heading
 
             # Apply the transformation without changing velocities
             SymbolicAWEModels.reposition!(sys_struct.transforms, sys_struct)