From 59aeeaea4368418e027076770bb06ac5d510fbb0 Mon Sep 17 00:00:00 2001 From: Thomas Dickson Date: Wed, 17 Jun 2026 20:37:13 +0100 Subject: [PATCH 01/21] feat: scipy 5-DOF optimizer, depowering, and input validation - Replace NLopt with scipy optimizer for Python 3.13 compatibility - Add iterative depowering with heel limit enforcement (phi_max) - Fix leeway clamp and radians conversion in force balance - Fix depowering solver progression past first phi_max solution - Add input validation and error handling across VPP stack - Add comprehensive test suite (hydro, aero, resistance, API, utils) Co-Authored-By: Claude Sonnet 4.6 --- runVPP.py | 4 +- src/AeroMod.py | 93 ++++++--- src/HydroMod.py | 110 ++++++++++- src/UtilsMod.py | 63 ++++-- src/VPPMod.py | 416 ++++++++++++++++++++++++++------------- src/api.py | 74 +++++-- tests/conftest.py | 2 + tests/test_aero.py | 124 ++++++++++++ tests/test_api.py | 192 +++++++++++++++--- tests/test_hydro.py | 129 ++++++++++++ tests/test_resistance.py | 12 ++ tests/test_utils.py | 5 +- tests/test_vpp.py | 245 ++++++++++++++++++++++- 13 files changed, 1243 insertions(+), 226 deletions(-) create mode 100644 tests/conftest.py create mode 100644 tests/test_aero.py create mode 100644 tests/test_hydro.py diff --git a/runVPP.py b/runVPP.py index ca737e6..a06ed97 100755 --- a/runVPP.py +++ b/runVPP.py @@ -1,4 +1,4 @@ -#!/opt/miniconda3/bin/python +#!/usr/bin/env python3 # -*- coding: utf-8 -*- import numpy as np @@ -36,7 +36,7 @@ vpp = VPP(Yacht=YD41) vpp.set_analysis( - tws_range=np.arange(4.0, 22.0, 2.0), twa_range=np.linspace(30.0, 180.0, 31) + tws_range=np.arange(4.0, 22.0, 2.0), twa_range=np.linspace(28.0, 180.0, 39) ) vpp.run(verbose=False) diff --git a/src/AeroMod.py b/src/AeroMod.py index 88101c7..44f0a99 100644 --- a/src/AeroMod.py +++ b/src/AeroMod.py @@ -7,18 +7,46 @@ __version__ = "1.0.1" __email__ = "M.Lauber@soton.ac.uk" -import numpy as np -from scipy.interpolate import interp1d -from scipy.optimize import fsolve -from scipy.optimize import root +import functools + import matplotlib.pyplot as plt +import numpy as np + from src.UtilsMod import build_interp_func +@functools.lru_cache(maxsize=512) +def wind_triangle(tws, twa, vb): + """Analytical wind triangle: TWS/TWA/VB → (AWA, AWS) in degrees. + + Uses the law of cosines on the velocity triangle formed by the true + wind, boat speed, and apparent wind vectors. + """ + twa_rad = np.radians(twa) + aws = np.sqrt(tws**2 + vb**2 + 2 * tws * vb * np.cos(twa_rad)) + if aws < 1e-12: + return twa, 0.0 + cos_awa = np.clip((tws * np.cos(twa_rad) + vb) / aws, -1.0, 1.0) + awa = np.degrees(np.arccos(cos_awa)) + return awa, aws + + class AeroMod(object): def __init__(self, Yacht, rho=1.225, mu=0.0000181): """ - Initializes an Aero Model, given a set of sails + Aerodynamic force model. + + Computes sail drive force, side force, and heeling moment from the + yacht's sail plan using ORC aerodynamic coefficients. + + Parameters + ---------- + Yacht : Yacht + Yacht object containing sail definitions and hull geometry. + rho : float, optional + Air density (kg/m^3). Default is 1.225 (ISA sea level). + mu : float, optional + Dynamic viscosity of air (Pa.s). Default is 1.81e-5. """ # physical params self.rho = rho @@ -74,7 +102,31 @@ def _measure_sails(self): # prototype top function in hydro mod def update(self, vb, phi, tws, twa, flat, RED): """ - Update the aero model for current iter + Update aerodynamic forces for current sailing state. + + Solves the wind triangle, computes sail coefficients, and projects + forces into the boat reference frame. + + Parameters + ---------- + vb : float + Boat speed (m/s). + phi : float + Heel angle (degrees). + tws : float + True wind speed (m/s). + twa : float + True wind angle (degrees). + flat : float + Sail flattening factor (0.62 to 1.0). Reduces lift and drag. + RED : float + Reef/reduction factor. Values > 1 apply jib furling (ftj = RED - 1), + values <= 1 apply mainsail reefing (rfm = RED). + + Returns + ------- + tuple of float + (Fx, Fy, Mx) — drive force (N), side force (N), heeling moment (N.m). """ self.vb = max(0, vb) self.phi = max(0, phi) @@ -112,7 +164,7 @@ def _compute_forces(self): # side-force is horizontal component of Fh self.Fy *= np.cos(np.radians(self.phi)) - + # heeling moment self.Mx = self.Fy * self._vce() @@ -136,12 +188,15 @@ def _get_coeffs(self): self.cl = 0.0 self.cd = 0.0 kpp = 0.0 + sail_cd = {} for sail in self.sails: - - self.cl += sail.cl(self.awa) * sail.area * sail.bk - self.cd += sail.cd(self.awa) * sail.area * sail.bk - kpp += sail.cl(self.awa) ** 2 * sail.area * sail.bk * sail.kp + cl_i = sail.cl(self.awa) + cd_i = sail.cd(self.awa) + sail_cd[id(sail)] = cd_i + self.cl += cl_i * sail.area * sail.bk + self.cd += cd_i * sail.area * sail.bk + kpp += cl_i ** 2 * sail.area * sail.bk * sail.kp self.cl /= self.area self.cd /= self.area @@ -156,7 +211,7 @@ def _get_coeffs(self): for sail in self.sails: if sail.type == "jib": self.fcdj = ( - sail.bk * sail.cd(self.awa) * sail.area / (self.cd * self.area) + sail.bk * sail_cd[id(sail)] * sail.area / (self.cd * self.area) ) # final lift and drag @@ -170,17 +225,7 @@ def _update_windTriangle(self): """ find AWS and AWA for a given TWS, TWA and VB """ - _awa_ = lambda awa: self.vb * np.sin(awa / 180.0 * np.pi) - self.tws * np.sin( - (self.twa - awa) / 180.0 * np.pi - ) - self.awa = fsolve(_awa_, self.twa)[0] - self.aws = np.sqrt( - (self.tws * np.sin(self.twa / 180.0 * np.pi)) ** 2 - + (self.tws * np.cos(self.twa / 180.0 * np.pi) + self.vb) ** 2 - ) - # self.awa = np.arccos((self.tws*np.cos(np.radians(self.twa)) + self.vb) / np.sqrt((self.tws**2) + (self.vb**2) + - # 2*self.tws*self.vb * np.cos(np.radians(self.twa)))) - # self.aws = (self.tws * np.sin(np.radians(self.twa))) / np.sin(self.awa) + self.awa, self.aws = wind_triangle(self.tws, self.twa, self.vb) def _area(self): @@ -194,7 +239,7 @@ def _area(self): def _vce(self): """ - Vectical centre of effort lift/drag weigted + Vertical centre of effort, lift/drag weighted. """ sum = 0.0 for sail in self.sails: diff --git a/src/HydroMod.py b/src/HydroMod.py index 4901793..bcc69c0 100644 --- a/src/HydroMod.py +++ b/src/HydroMod.py @@ -7,14 +7,33 @@ __version__ = "1.0.1" __email__ = "M.Lauber@soton.ac.uk" -import numpy as np -from scipy.interpolate import RegularGridInterpolator import warnings + import matplotlib.pyplot as plt +import numpy as np +from scipy.interpolate import RegularGridInterpolator class HydroMod(object): def __init__(self, Yacht, rho=1025.0, mu=0.00119, g=9.81): + """ + Hydrodynamic resistance and righting moment model. + + Computes total resistance (viscous + residuary + induced), side force + from appendage lift, and righting moment using ORC methods and + interpolated resistance surfaces. + + Parameters + ---------- + Yacht : Yacht + Yacht object containing hull geometry and appendage definitions. + rho : float, optional + Seawater density (kg/m^3). Default is 1025.0. + mu : float, optional + Dynamic viscosity of seawater (Pa.s). Default is 1.19e-3. + g : float, optional + Gravitational acceleration (m/s^2). Default is 9.81. + """ # physical parameters self.rho = rho @@ -111,7 +130,7 @@ def _get_Ri(self): self.Teff = np.hstack((self.Teff, appendage.teff)) self.Ksfj = ( - 0.5 * self.rho * self.vb ** 2 * self.cla * self.leeway / 180.0 * np.pi + 0.5 * self.rho * self.vb ** 2 * self.cla * np.radians(self.leeway) ) self.Ksf = np.sum(self.Ksfj) @@ -122,24 +141,99 @@ def _get_Ri(self): def _cf(self, L): """ - Flate plate turbulent boudnary layer friction coefficient. - Take a length scale, such that it can be used for appendags as well + Flat plate turbulent boundary layer friction coefficient (ITTC 1957) + with ITTC 1978 roughness allowance. Takes a length scale so it can + be used for hull and appendages. """ Re = max( 1e4, self.vb * L / self.nu ) # prevents dividing by zero, lowest for turbulence on plate - return 0.066 * (np.log10(Re) - 2.03) ** (-2) + cf = 0.066 * (np.log10(Re) - 2.03) ** (-2) + ks = self.yacht.roughness + if ks > 0: + cf += (105.0 * (ks / self.l) ** (1.0 / 3.0) - 0.64) * 1e-3 + return cf + + def _added_resistance_waves(self, twa): + """Added resistance in waves (simplified Gerritsma scaling). + + Uses a Bretschneider-type spectrum with hull-form scaling to + estimate the mean added resistance from ocean waves. + + Parameters + ---------- + twa : float + True wind angle (degrees), used as wave encounter angle + unless ``yacht.wave_direction`` overrides it. + + Returns + ------- + float + Added resistance in Newtons. Returns 0 when Hs = 0. + """ + Hs = self.yacht.Hs + Ts = self.yacht.Ts + if Hs <= 0 or Ts <= 0: + return 0.0 - def update(self, vb, phi, leeway): + # wave encounter angle + if self.yacht.wave_direction is not None: + mu = np.radians(twa - self.yacht.wave_direction) + else: + mu = np.radians(twa) + + # heading correction — full drag head-on, near-zero following + cos2_mu = np.cos(mu) ** 2 + + # hull-form coefficient (empirical, typical displacement hull) + C_aw = 6.0 + + # wave encounter frequency + omega_0 = 2.0 * np.pi / Ts + omega_e = abs(omega_0 - omega_0 ** 2 * self.vb * np.cos(mu) / self.g) + + # resonance tuning factor (peak when encounter ≈ hull natural freq) + omega_n = np.sqrt(self.g / self.l) + r = omega_e / omega_n if omega_n > 0 else 0.0 + f_omega = r ** 2 * np.exp(1.0 - r ** 2) if r > 0 else 0.0 + + Raw = C_aw * (Hs ** 2 / self.l) * (self.bwl ** 2 / self.tc) * f_omega * cos2_mu + # convert to Newtons (rho * g scaling) + Raw *= self.rho * self.g / 1000.0 + + return max(0.0, Raw) + + def update(self, vb, phi, leeway, twa=0.0): + """ + Update hydrodynamic forces for current sailing state. + + Parameters + ---------- + vb : float + Boat speed (m/s). + phi : float + Heel angle (degrees). + leeway : float + Leeway angle (degrees). + twa : float, optional + True wind angle (degrees). Used for wave encounter angle. + + Returns + ------- + tuple of float + (Fx, Fy, Mx) — total resistance (N), side force (N), + total righting moment (N.m). + """ self.vb = max(0, vb) self.phi = max(0, phi) - self.leeway = max(0, leeway) + self.leeway = leeway self.lsm, self.lvr, self.btr = self.yacht.measureLSM() self.fn = self.vb / (np.sqrt(self.g * self.lsm)) # resistance self.Fx = self._get_Rr() + self._get_Rv() + self._get_Ri() + self.Fx += self._added_resistance_waves(twa) # keel side force, calculated when _get_Ri() is called self.Fy = self.Ksf * np.cos(self.phi / 180.0 * np.pi) diff --git a/src/UtilsMod.py b/src/UtilsMod.py index 57fe6b5..ac2cd1e 100644 --- a/src/UtilsMod.py +++ b/src/UtilsMod.py @@ -6,6 +6,7 @@ import matplotlib.pyplot as plt import numpy as np from scipy import interpolate +from scipy.interpolate import RegularGridInterpolator KNOTS_TO_MPS = 0.5144 stl = [ @@ -39,11 +40,17 @@ def json_write(data, fname): def build_interp_func(fname, i=1, kind="linear"): """ - build interpolatison function and returns it in a list + build interpolation function and returns it in a list """ a = np.genfromtxt("dat/" + fname + ".dat", delimiter=",", skip_header=1) - # linear for now, this is not good, might need to polish data outside - return interpolate.interp1d(a[0, :], a[i, :], kind=kind, fill_value="extrapolate") + # Filter out NaN values for make_interp_spline compatibility + mask = ~(np.isnan(a[0, :]) | np.isnan(a[i, :])) + x = a[0, mask] + y = a[i, mask] + k = {"linear": 1, "quadratic": 2, "cubic": 3}.get(kind, 1) + spline = interpolate.make_interp_spline(x, y, k=k) + spline.extrapolate = True + return spline def _polar(n) -> plt.Figure: @@ -94,11 +101,24 @@ def _get_vmg(dat, twa_range): return np.array([ix[sup], iy[sdn]], dtype=int), np.array([sup, sdn]) -def _get_cross(dat, n): +def _get_cross(dat, n, pad=2): + """Return [start, end) TWA indices where sail *n* is fastest. + + Parameters + ---------- + dat : ndarray + Shape ``(ntwa, nsails, nvars)``. + n : int + Sail index. + pad : int + Number of extra TWA indices to include on each side for visual + overlap. Use 0 for a tight (no-overlap) range. + """ max_ = np.where(dat[:, n, 0] >= np.max(dat[:, :, 0], axis=1))[0] if len(max_) > 0: idx = np.array( - [max(min(max_) - 2, 0), min(max(max_) + 2, len(dat[:, n, 0]))], dtype=int + [max(min(max_) - pad, 0), min(max(max_) + pad, len(dat[:, n, 0]))], + dtype=int, ) return idx else: @@ -125,8 +145,12 @@ def polar_plot(VPP_list, n, save, fname="Polars.png") -> None: for i in range(len(VPP.tws_range)): vmg, ids = _get_vmg(VPP.store[i, :, :, :], VPP.twa_range) for k in range(VPP.Nsails): - idx = _get_cross(VPP.store[i, :, :, :], k) for j in range(n): + # Speed plot (j=0) uses overlap padding so sail curves + # connect visually; heel/leeway (j>0) use tight range + # to avoid discontinuities at sail crossover points. + pad = 2 if j == 0 else 0 + idx = _get_cross(VPP.store[i, :, :, :], k, pad=pad) lab = "_nolegend_" if k == 0: lab = name + " " + f"{VPP.tws_range[i]/KNOTS_TO_MPS:.1f}" @@ -149,9 +173,23 @@ def polar_plot(VPP_list, n, save, fname="Polars.png") -> None: markersize=4, mfc="None", ) - # add legend only on first axis - ax[0].legend(title=r"TWS (knots)", loc=1, bbox_to_anchor=(1.05, 1.05)) + # TWS legend on every axis + for j in range(n): + ax[j].legend(title=r"TWS (knots)", loc=1, bbox_to_anchor=(1.05, 1.05)) + + # Sail colour legend along the bottom of the figure + from matplotlib.lines import Line2D + VPP = VPP_list[-1] + sail_handles = [ + Line2D([0], [0], color=cols[k % 7], lw=2, label=VPP.sail_name[k]) + for k in range(VPP.Nsails) + ] + fig.legend( + handles=sail_handles, title="Sail set", + loc="lower center", ncol=VPP.Nsails, frameon=True, + ) plt.tight_layout() + fig.subplots_adjust(bottom=0.12) if save: plt.savefig(fname, dpi=96) else: @@ -178,9 +216,12 @@ def sail_chart(VPP, save, fname="SailChart.png"): for j in range(ntwa): if sailset[i, j] == id: sail[i + 1, j + 1] = 1.0 - func = interpolate.interp2d(twas, twss, sail, kind="cubic") - data = func(xnew, ynew) - data = np.where(data > 1.0, 1.0, data) + func = RegularGridInterpolator( + (twss, twas), sail, method="cubic", bounds_error=False, fill_value=0.0 + ) + yy, xx = np.meshgrid(ynew, xnew, indexing="ij") + data = func((yy, xx)) + data = np.clip(data, 0.0, 1.0) ax[0].contour( np.radians(xnew), ynew, data, levels=[0.4], colors=cols[id], alpha=0.8 ) diff --git a/src/VPPMod.py b/src/VPPMod.py index 1232d5b..0abb112 100644 --- a/src/VPPMod.py +++ b/src/VPPMod.py @@ -9,10 +9,10 @@ import logging import warnings +from concurrent.futures import ProcessPoolExecutor -import nlopt import numpy as np -from scipy.optimize import root +from scipy.optimize import least_squares, minimize, root from tqdm import trange from src.AeroMod import AeroMod @@ -24,6 +24,91 @@ debug_mode = logging.getLogger().getEffectiveLevel() == logging.DEBUG +def _solve_point(yacht, tws, twa, sail_index, phi_max, lim_up, lim_dn): + """Solve one (tws, twa, sail) grid point independently. + + Creates its own AeroMod/HydroMod so there is no shared mutable state. + This is a module-level function so it can be pickled by ProcessPoolExecutor. + + Returns + ------- + tuple + (i, j, n, result_array) where result_array is [vb_kts, phi, leeway, flat, red], + or None if the point was skipped. + """ + i, j, n = sail_index + + aero = AeroMod(yacht) + hydro = HydroMod(yacht) + aero.sails[1] = yacht.sails[n + 1] + aero.up = aero.sails[1].up + + # Skip invalid sail/TWA combinations + Nsails = len(yacht.sails) - 1 + dn_limit = 135.0 if Nsails != 1 else 200.0 + if aero.up and twa >= dn_limit: + return None + if not aero.up and twa <= lim_up: + return None + + # Initial guesses + vb0 = 0.8 * tws + phi0 = 0.0 + leeway0 = 100.0 / twa if (twa > 1.0 and 100.0 / twa < 2 * tws) else 2 * tws + + def resid(x0, twa_, tws_, flat=1.0, red=2.0): + vb_, phi_, leeway_ = x0 + Fxh, Fyh, Mxh = hydro.update(vb_, phi_, leeway_, twa_) + Fxa, Fya, Mxa = aero.update(vb_, phi_, tws_, twa_, flat, red) + return [(Fxh - Fxa) ** 2, (Mxh - Mxa) ** 2, (Fyh - Fya) ** 2] + + flat = 1.0 + red = 2.0 + + sol = root(resid, [vb0, phi0, leeway0], + args=(twa, tws, flat, red), method="lm") + vb, phi, leeway = sol.x + + if phi <= phi_max: + res = np.array([vb, phi, leeway, flat, red]) + res[0] /= KNOTS_TO_MPS + return (i, j, n, res) + + # Depowering: flatten then reef + lo = [0, 0, -2] + hi = [np.inf, phi_max, 6] + margin = phi_max - 1.0 + + def _clamp(vb_, phi_, leeway_): + return [max(vb_, 0), min(max(phi_, 0), phi_max), + min(max(leeway_, -2), 6)] + + for flat in np.arange(0.98, 0.60, -0.02): + sol = least_squares( + resid, _clamp(vb, phi_max, leeway), + args=(twa, tws, flat, red), bounds=(lo, hi), + ) + vb, phi, leeway = sol.x + if phi <= margin: + res = np.array([vb, phi, leeway, flat, red]) + res[0] /= KNOTS_TO_MPS + return (i, j, n, res) + + flat = 0.62 + for red in np.arange(1.9, 0.45, -0.1): + sol = least_squares( + resid, _clamp(vb, phi_max, leeway), + args=(twa, tws, flat, red), bounds=(lo, hi), + ) + vb, phi, leeway = sol.x + if phi <= margin: + break + + res = np.array([vb, phi, leeway, flat, red]) + res[0] /= KNOTS_TO_MPS + return (i, j, n, res) + + class VPP(object): """A VPP Class that run an analysis on a given Yacht.""" @@ -49,8 +134,9 @@ def __init__(self, Yacht): warnings.filterwarnings( "ignore", "The iteration is not making good progress" ) + self.upToDate = False - def set_analysis(self, tws_range, twa_range): + def set_analysis(self, tws_range, twa_range, phi_max=35.0): """ Sets the analysis range. Parameters @@ -61,19 +147,28 @@ def set_analysis(self, tws_range, twa_range): A numpy.array with the different TWA to run the analysis at. """ - if tws_range.max() <= 35.0 and tws_range.min() >= 2.0: - logging.debug("Analysis set for TWS: ", tws_range) - self.tws_range = tws_range * KNOTS_TO_MPS - else: - logging.debug("Analysis only valid for TWS range : 2. < TWS < 35. knots.") - - if twa_range.max() <= 180.0 and twa_range.min() >= 0.0: - self.twa_range = twa_range - logging.debug("Analysis set for TWA: ", self.twa_range) - else: - logging.debug( - "Analysis only valid for TWA range : 0. < TWA < 180. degrees." + self.phi_max = phi_max + + if tws_range.size == 0: + raise ValueError("TWS range is empty. Ensure min and max TWS are not equal.") + if twa_range.size == 0: + raise ValueError("TWA range is empty. Ensure min and max TWA are not equal.") + + if tws_range.min() < 2.0 or tws_range.max() > 35.0: + raise ValueError( + f"TWS range [{tws_range.min():.1f}, {tws_range.max():.1f}] " + f"is outside valid bounds [2.0, 35.0] knots." ) + self.tws_range = tws_range * KNOTS_TO_MPS + logger.debug("Analysis set for TWS: %s", tws_range) + + if twa_range.min() < 0.0 or twa_range.max() > 180.0: + raise ValueError( + f"TWA range [{twa_range.min():.1f}, {twa_range.max():.1f}] " + f"is outside valid bounds [0.0, 180.0] degrees." + ) + self.twa_range = twa_range + logger.debug("Analysis set for TWA: %s", self.twa_range) # prepare storage array self.Nsails = len(self.yacht.sails) - 1 # main not counted @@ -95,51 +190,33 @@ def set_analysis(self, tws_range, twa_range): # flag for later self.upToDate = True - def Vb(self, x, grad): - # this should not be used - if grad.size > 0: - grad = 0.0 - return self.vb0 - - def SumForce(self, res, x, grad, twa_, tws_): - # this should not be used - if grad.size > 0: - grad[:, :] = 0.0 - - vb0 = x[0] - phi0 = x[1] - leeway = x[2] - flat = x[3] - red = x[4] - - Fxh, Fyh, Mxh = self.hydro.update(vb0, phi0, leeway) - Fxa, Fya, Mxa = self.aero.update(vb0, phi0, tws_, twa_, flat, red) - - res[0] = Fxh - Fxa - res[1] = Mxh - Mxa - res[2] = Fyh - Fya - - return None + def run(self, verbose=False, method="iterative", progress_callback=None): + """ + Run the analysis for the given analysis range. + Parameters + ---------- + verbose + A logical, if True, prints results of equilibrium at each TWA/TWS. + method + Solver method: "iterative" (3-DOF sequential with depowering loop), + "parallel" (same solver, multiprocessing across grid points), or + "5dof" (scipy SLSQP 5-DOF constrained optimizer). + progress_callback + Optional callable(tws_index, tws_kts, n_tws) invoked after each + TWS wind speed is completed. + """ - def run_NLopt(self, verbose=False): - logging.info("Optimisation start") + if method == "5dof": + return self._run_5dof(verbose) + elif method == "parallel": + return self._run_parallel() + elif method != "iterative": + raise ValueError(f"Unknown method '{method}'. Use 'iterative', 'parallel', or '5dof'.") if not self.upToDate: - raise "VPP run stop: no analysis set!" - - # gradient-free optimization because the gradient of our - # objective function cannot be evaluated - opt = nlopt.opt(nlopt.LN_COBYLA, 5) + raise RuntimeError("VPP run stop: no analysis set!") - # out three parameters are x = [v_b, hell, leeway, flat, red] - opt.set_lower_bounds([0.0, 0.0, 0.0, 0.0, 0.0]) - opt.set_upper_bounds([float("inf"), self.phi_max, 6.0, 1.0, 2.0]) - - # the function we want to maximise - opt.set_max_objective(self.Vb) - - # set solver tolerance - opt.set_xtol_rel(1e-6) + n_tws = len(self.tws_range) for i, tws in enumerate(self.tws_range): logging.debug("Sailing in TWS : %.1f" % (tws / KNOTS_TO_MPS)) @@ -164,6 +241,8 @@ def run_NLopt(self, verbose=False): if (twa > 1.0 and 100.0 / twa < 2 * tws) else 2 * tws ) + self.flat = 1.0 + self.red = 2.0 # don't do low twa with downwind sails if (self.aero.up == True) and (twa >= self.lim_dn): @@ -171,110 +250,181 @@ def run_NLopt(self, verbose=False): if (self.aero.up == False) and (twa <= self.lim_up): continue - # vector-valued constraint - constrain = lambda res, x, grad: self.SumForce( - res, x, grad, twa_=twa, tws_=tws - ) - opt.add_equality_mconstraint(constrain, np.full(5, 1e-8)) + vb, phi, leeway, flat, red = self._depower_solve(twa, tws) + self.vb0, self.phi0, self.leeway0 = vb, phi, leeway - x0 = np.array([self.vb0, self.phi0, self.leeway0, 1.0, 2.0]) - res = opt.optimize(x0) + logging.debug( + "Equilibrium residuals (Fx, Fy, Mx): ", + self.resid([vb, phi, leeway], twa, tws, flat, red), + ) # store data for later - self.store[i, j, n, :] = res[:] * np.array( - [1.0 / KNOTS_TO_MPS, 1, 1, 1, 1] - ) + res = np.array([vb, phi, leeway, flat, red]) + self.store[i, j, n, :] = res * np.array([1.0 / KNOTS_TO_MPS, 1, 1, 1, 1]) - # clean up - opt.remove_equality_constraints() + if progress_callback: + progress_callback(i, tws / KNOTS_TO_MPS, n_tws) logging.info("Optimization successful.") - def run(self, verbose=False): - """ - Run the analysis for the given analysis range. - Parameters - ---------- - verbose - A logical, if True, prints results of equilibrium at each TWA/TWS. + def _run_parallel(self): + """Run iterative solver in parallel across all grid points.""" + if not self.upToDate: + raise RuntimeError("VPP run stop: no analysis set!") + + # Build work items: (yacht, tws, twa, (i,j,n), phi_max, lim_up, lim_dn) + work = [] + for i, tws in enumerate(self.tws_range): + for n in range(self.Nsails): + for j, twa in enumerate(self.twa_range): + work.append(( + self.yacht, tws, twa, (i, j, n), + self.phi_max, self.lim_up, self.lim_dn + )) + + with ProcessPoolExecutor() as pool: + results = pool.map(_solve_point, *zip(*work)) + + for result in results: + if result is not None: + i, j, n, res = result + self.store[i, j, n, :] = res + + logging.info("Parallel optimization successful.") + + def _depower_solve(self, twa, tws): + """Solve 3-DOF equilibrium, depowering iteratively if heel exceeds phi_max. + + Depowering follows real sailing practice: + 1. Flatten sails (flat: 1.0 -> 0.62) + 2. Reef main / furl jib (RED: 2.0 -> 0.5) + + The bounded solver pins phi at phi_max, so we check for genuine + margin (1 degree) before accepting a solution — otherwise the boat + is still overpowered and needs more depowering. """ + flat = 1.0 + red = 2.0 + + sol = root(self.resid, [self.vb0, self.phi0, self.leeway0], + args=(twa, tws, flat, red), method="lm") + vb, phi, leeway = sol.x + + if phi <= self.phi_max: + return vb, phi, leeway, flat, red + + # Heel exceeds limit — use bounded solver to enforce phi <= phi_max + lo = [0, 0, -2] + hi = [np.inf, self.phi_max, 6] + margin = self.phi_max - 1.0 + + def _clamp_guess(vb_, phi_, leeway_): + return [max(vb_, 0), min(max(phi_, 0), self.phi_max), + min(max(leeway_, -2), 6)] + + # Stage 1: Flatten sails (1.0 -> 0.62) + for flat in np.arange(0.98, 0.60, -0.02): + sol = least_squares( + self.resid, _clamp_guess(vb, self.phi_max, leeway), + args=(twa, tws, flat, red), bounds=(lo, hi), + ) + vb, phi, leeway = sol.x + if phi <= margin: + return vb, phi, leeway, flat, red + + # Stage 2: Reef main / furl jib (RED: 2.0 -> 0.5) + flat = 0.62 + for red in np.arange(1.9, 0.45, -0.1): + sol = least_squares( + self.resid, _clamp_guess(vb, self.phi_max, leeway), + args=(twa, tws, flat, red), bounds=(lo, hi), + ) + vb, phi, leeway = sol.x + if phi <= margin: + return vb, phi, leeway, flat, red + # If still over, return best we got + return vb, phi, leeway, flat, red + + def _run_5dof(self, verbose=False): + """Run 5-DOF constrained optimization using scipy SLSQP. + + Simultaneously optimizes [vb, phi, leeway, flat, red] to maximize + boat speed subject to force/moment equilibrium constraints. + """ if not self.upToDate: - raise "VPP run stop: no analysis set!" + raise RuntimeError("VPP run stop: no analysis set!") for i, tws in enumerate(self.tws_range): logging.debug("Sailing in TWS : %.1f" % (tws / KNOTS_TO_MPS)) for n in range(self.Nsails): self.aero.sails[1] = self.yacht.sails[n + 1] - - logging.debug( - "Sail Config : ", - self.aero.sails[0].name + " + " + self.aero.sails[1].name, - ) - self.aero.up = self.aero.sails[1].up for j in trange(len(self.twa_range), disable=not debug_mode): twa = self.twa_range[j] - self.vb0 = 0.8 * tws - self.phi0 = 0 - self.leeway0 = ( - 100.0 / twa - if (twa > 1.0 and 100.0 / twa < 2 * tws) - else 2 * tws - ) - self.flat = 1.0 - self.red = 2.0 - # don't do low twa with downwind sails if (self.aero.up == True) and (twa >= self.lim_dn): continue if (self.aero.up == False) and (twa <= self.lim_up): continue - sol = root( - self.resid, - [self.vb0, self.phi0, self.leeway0], - args=(twa, tws), - method="lm", + vb_guess = 0.8 * tws + leeway_guess = ( + 100.0 / twa + if (twa > 1.0 and 100.0 / twa < 2 * tws) + else 2 * tws ) - self.vb0, self.phi0, self.leeway0 = res = sol.x - - if verbose and not sol.success: - logger.debug(sol.message) - - # # contraints - # con1 = {'type': 'eq', 'fun': self.Fx, 'args': (twa, tws)} - # con2 = {'type': 'eq', 'fun': self.Fy, 'args': (twa, tws)} - # con3 = {'type': 'eq', 'fun': self.Mx, 'args': (twa, tws)} - # con = (con1, con2, con3) - - # # initial guess at this twa/tws - # x0 = [self.vb0, self.phi0, self.leeway0, self.flat, self.red] - - # # minimize - # sol = minimize(self.objective, args=(twa, tws), x0=x0, method='SLSQP', - # constraints=con, bounds=self.bnds, tol=1e-2, - # options={"maxiter": 100, "disp": verbose}) - - # # get result - # self.vb0, self.phi0, self.leeway0, self.flat, self.red = res = sol.x - - logging.debug( - "Equilibrium residuals (Fx, Fy, Mx): ", - self.resid(sol.x, twa, tws), + x0 = np.array([vb_guess, 0.0, leeway_guess, 1.0, 2.0]) + + def _forces(x): + vb, phi, leeway, flat, red = x + Fxh, Fyh, Mxh = self.hydro.update(vb, phi, leeway, twa) + Fxa, Fya, Mxa = self.aero.update(vb, phi, tws, twa, flat, red) + return Fxh, Fyh, Mxh, Fxa, Fya, Mxa + + constraints = [ + {"type": "eq", "fun": lambda x: _forces(x)[0] - _forces(x)[3]}, + {"type": "eq", "fun": lambda x: _forces(x)[2] - _forces(x)[5]}, + {"type": "eq", "fun": lambda x: _forces(x)[1] - _forces(x)[4]}, + ] + + # Cache forces to avoid redundant evaluations + _cache = {} + + def _cached_forces(x): + key = tuple(x) + if key not in _cache: + _cache[key] = _forces(x) + return _cache[key] + + constraints = [ + {"type": "eq", "fun": lambda x: _cached_forces(x)[0] - _cached_forces(x)[3]}, + {"type": "eq", "fun": lambda x: _cached_forces(x)[2] - _cached_forces(x)[5]}, + {"type": "eq", "fun": lambda x: _cached_forces(x)[1] - _cached_forces(x)[4]}, + ] + + result = minimize( + lambda x: -x[0], + x0, + method="SLSQP", + bounds=self.bnds, + constraints=constraints, + options={"maxiter": 200, "ftol": 1e-8}, ) - # store data for later - self.store[i, j, n, : len(res)] = ( - res[:] * np.array([1.0 / KNOTS_TO_MPS, 1, 1, 1, 1])[: len(res)] + _cache.clear() + + res = result.x + self.store[i, j, n, :] = res * np.array( + [1.0 / KNOTS_TO_MPS, 1, 1, 1, 1] ) - logging.info("Optimization successful.") + logging.info("5-DOF optimization successful.") - def resid(self, x0, twa, tws): + def resid(self, x0, twa, tws, flat=1.0, red=2.0): """ Computes the residuals of the force/moment equilibrium at the given state. Parameters @@ -285,6 +435,10 @@ def resid(self, x0, twa, tws): A float of the TWA at which to compute the residuals. tws A float of the TWs at which to compute the residuals. + flat + Sail flattening factor (0.62 to 1.0). Default 1.0 (no flattening). + red + Reef/reduction factor. Default 2.0 (full sails, no reef/furl). Returns ------- Numpy.Array @@ -292,13 +446,11 @@ def resid(self, x0, twa, tws): """ vb0 = x0[0] - phi0 = x0[1] # min(x0[1], self.phi_max) + phi0 = x0[1] leeway = x0[2] - flat = 1.0 # x0[3] - red = 1.0 # x0[4] - Fxh, Fyh, Mxh = self.hydro.update(vb0, phi0, leeway) - Fxa, Fya, Mxa = self.aero.update(vb0, phi0, tws, twa, flat, 2.0) + Fxh, Fyh, Mxh = self.hydro.update(vb0, phi0, leeway, twa) + Fxa, Fya, Mxa = self.aero.update(vb0, phi0, tws, twa, flat, red) return [(Fxh - Fxa) ** 2, (Mxh - Mxa) ** 2, (Fyh - Fya) ** 2] diff --git a/src/api.py b/src/api.py index 14ad2f6..56a3867 100644 --- a/src/api.py +++ b/src/api.py @@ -13,7 +13,7 @@ sys.path.append(os.path.realpath(".")) from src.SailMod import Jib, Kite, Main from src.VPPMod import VPP -from src.YachtMod import Keel, Rudder, Yacht +from src.YachtMod import Keel, Rudder, ShortKeel, Yacht app = Flask(__name__) @@ -27,17 +27,35 @@ def ping(): def data_to_vpp(data: Dict[str, Any]) -> VPP: - - keel = Keel( - Cu=float(data["keel"]["Cu"]), - Cl=float(data["keel"]["Cl"]), - Span=float(data["keel"]["Span"]) - ) + + keel_data = data["keel"] + keel_type = keel_data.get("type", "fin") + # Also detect from keys if type is missing or inconsistent + if keel_type == "short" or "Length" in keel_data: + keel = ShortKeel( + Length=float(keel_data["Length"]), + Depth=float(keel_data["Depth"]), + Tc_ratio=float(keel_data.get("Tc_ratio", 0.15)), + ) + else: + keel = Keel( + Cu=float(keel_data["Cu"]), + Cl=float(keel_data["Cl"]), + Span=float(keel_data["Span"]), + ) rudder = Rudder( - Cu=float(data["rudder"]["Cu"]), - Cl=float(data["rudder"]["Cu"]), + Cu=float(data["rudder"]["Cu"]), + Cl=float(data["rudder"]["Cu"]), Span=float(data["rudder"]["Span"]) ) + # Environment parameters + roughness = float(data.get("roughness", 150e-6)) + Hs = float(data.get("Hs", 0.0)) + Ts = float(data.get("Ts", 0.0)) + wave_direction = data.get("wave_direction") + if wave_direction is not None: + wave_direction = float(wave_direction) + yacht = Yacht( Name=data["yacht"]["Name"], Lwl=float(data["yacht"]["Lwl"]), @@ -52,6 +70,10 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: Fa=float(data["yacht"]["Fa"]), Boa=float(data["yacht"]["Boa"]), Loa=float(data["yacht"]["Loa"]), + roughness=roughness, + Hs=Hs, + Ts=Ts, + wave_direction=wave_direction, App=[keel, rudder], Sails=[ Main( @@ -60,6 +82,10 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: E=float(data["main"]["E"]), Roach=float(data["main"]["Roach"]), BAD=float(data["main"]["BAD"]), + data_source=data.get("data_source", "orc"), + cl_data=data["main"].get("cl_data"), + cd_data=data["main"].get("cd_data"), + sail_type=data["main"].get("sail_type"), ), Jib( name=data["jib"]["Name"], @@ -67,32 +93,48 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: J=float(data["jib"]["J"]), LPG=float(data["jib"]["LPG"]), HBI=float(data["jib"]["HBI"]), + data_source=data.get("data_source", "orc"), + cl_data=data["jib"].get("cl_data"), + cd_data=data["jib"].get("cd_data"), + sail_type=data["jib"].get("sail_type"), ), Kite( name=data["kite"]["Name"], area=float(data["kite"]["area"]), vce=float(data["kite"]["vce"]), + data_source=data.get("data_source", "orc"), + cl_data=data["kite"].get("cl_data"), + cd_data=data["kite"].get("cd_data"), + sail_type=data["kite"].get("sail_type"), ), ], ) - + vpp = VPP(Yacht=yacht) vpp.set_analysis( tws_range=np.array(data["tws_range"]), twa_range=np.array(data["twa_range"]), ) - return vpp - + return vpp, data.get("method", "iterative") + @app.route("/api/vpp/", methods=["POST"]) def makevppresults(): data = request.get_json() + if data is None: + return jsonify({"error": "Request body must be valid JSON."}), 400 - # TODO: Support multiple implementations of different sails: require API design - # TODO: Error handling incorrect ranges + try: + vpp, method = data_to_vpp(data) + except (KeyError, TypeError, ValueError) as e: + logging.warning("Invalid VPP input: %s", e) + return jsonify({"error": f"Invalid input: {e}"}), 400 - vpp = data_to_vpp(data) - vpp.run(verbose=True) + try: + vpp.run(verbose=True, method=method) + except Exception as e: + logging.exception("VPP simulation failed") + return jsonify({"error": f"Simulation failed: {e}"}), 500 return jsonify(vpp.results()) diff --git a/tests/conftest.py b/tests/conftest.py new file mode 100644 index 0000000..da2faa6 --- /dev/null +++ b/tests/conftest.py @@ -0,0 +1,2 @@ +import matplotlib +matplotlib.use("Agg") diff --git a/tests/test_aero.py b/tests/test_aero.py new file mode 100644 index 0000000..4003109 --- /dev/null +++ b/tests/test_aero.py @@ -0,0 +1,124 @@ +"""Tests for AeroMod — wind triangle and coefficient caching.""" + +import numpy as np +import pytest + + +class TestWindTriangleCache: + """Verify that wind_triangle uses lru_cache.""" + + def test_wind_triangle_is_cached(self): + from src.AeroMod import wind_triangle + + # lru_cache-decorated functions have cache_info() + assert hasattr(wind_triangle, "cache_info"), "wind_triangle should be lru_cache-decorated" + wind_triangle.cache_clear() + wind_triangle(10.0, 90.0, 5.0) + wind_triangle(10.0, 90.0, 5.0) + info = wind_triangle.cache_info() + assert info.hits == 1 + assert info.misses == 1 + + def test_cache_returns_same_result(self): + from src.AeroMod import wind_triangle + + wind_triangle.cache_clear() + r1 = wind_triangle(10.0, 45.0, 6.0) + r2 = wind_triangle(10.0, 45.0, 6.0) + assert r1 == r2 + + +class TestSailCoefficientCalls: + """Verify that _get_coeffs doesn't call sail.cl() redundantly.""" + + def test_get_coeffs_calls_cl_once_per_sail(self): + """Each sail's cl(awa) should be called at most once per _get_coeffs().""" + from unittest.mock import MagicMock, patch + from src.AeroMod import AeroMod + + # Create a mock yacht with minimal structure + mock_sail = MagicMock() + mock_sail.cl = MagicMock(return_value=1.0) + mock_sail.cd = MagicMock(return_value=0.1) + mock_sail.area = 30.0 + mock_sail.bk = 1.0 + mock_sail.kp = 1.0 + mock_sail.type = "main" + + aero = object.__new__(AeroMod) + aero.sails = [mock_sail] + aero.area = 30.0 + aero.awa = 30.0 + aero.flat = 1.0 + aero.fcdmult = lambda flat: 1.0 + + # Provide _heff so CE computation works + aero._heff = lambda awa: 10.0 + + aero._get_coeffs() + + # cl should be called exactly once per sail (not twice as before) + assert mock_sail.cl.call_count == 1, ( + f"sail.cl() called {mock_sail.cl.call_count} times, expected 1" + ) + assert mock_sail.cd.call_count == 1, ( + f"sail.cd() called {mock_sail.cd.call_count} times, expected 1" + ) + + +class TestWindTriangle: + """Verify analytical wind triangle: given TWS, TWA, VB → AWS, AWA.""" + + @pytest.mark.parametrize( + "tws, twa, vb, expected_aws, expected_awa", + [ + # Beam reach: TWA=90°, VB=5, TWS=10 + # AWS = sqrt(10² + 5² + 2·10·5·cos(90°)) = sqrt(125) ≈ 11.18 + # AWA = arccos((10·cos(90°) + 5) / 11.18) = arccos(5/11.18) ≈ 63.43° + (10.0, 90.0, 5.0, np.sqrt(125), np.degrees(np.arccos(5.0 / np.sqrt(125)))), + # Close-hauled: TWA=45°, VB=6, TWS=12 + ( + 12.0, + 45.0, + 6.0, + np.sqrt(12**2 + 6**2 + 2 * 12 * 6 * np.cos(np.radians(45))), + np.degrees( + np.arccos( + (12 * np.cos(np.radians(45)) + 6) + / np.sqrt(12**2 + 6**2 + 2 * 12 * 6 * np.cos(np.radians(45))) + ) + ), + ), + # Dead downwind: TWA=180°, VB=4, TWS=10 + # AWS = sqrt(100 + 16 - 80) = sqrt(36) = 6 + # AWA = arccos((10·cos(180°) + 4) / 6) = arccos(-6/6) = 180° + (10.0, 180.0, 4.0, 6.0, 180.0), + # No boat speed: VB=0 → AWA=TWA, AWS=TWS + (10.0, 90.0, 0.0, 10.0, 90.0), + # Boat speed equals TWS, broad reach + (8.0, 120.0, 8.0, + np.sqrt(8**2 + 8**2 + 2 * 8 * 8 * np.cos(np.radians(120))), + np.degrees( + np.arccos( + (8 * np.cos(np.radians(120)) + 8) + / np.sqrt(8**2 + 8**2 + 2 * 8 * 8 * np.cos(np.radians(120))) + ) + )), + ], + ids=["beam_reach", "close_hauled", "dead_downwind", "no_boat_speed", "broad_reach"], + ) + def test_wind_triangle_analytical(self, tws, twa, vb, expected_aws, expected_awa): + """AWA and AWS must match law-of-cosines closed-form solution.""" + from src.AeroMod import wind_triangle + + awa, aws = wind_triangle(tws, twa, vb) + assert aws == pytest.approx(expected_aws, abs=1e-10) + assert awa == pytest.approx(expected_awa, abs=1e-10) + + def test_no_fsolve_import_used(self): + """The analytical path must not import or call fsolve.""" + from src.AeroMod import wind_triangle + import inspect + + source = inspect.getsource(wind_triangle) + assert "fsolve" not in source diff --git a/tests/test_api.py b/tests/test_api.py index 53aab60..f1e068a 100644 --- a/tests/test_api.py +++ b/tests/test_api.py @@ -4,6 +4,9 @@ from src.api import app +HEADERS = {"content-type": "application/json", "Accept-Charset": "UTF-8"} + + def test_ping_route(): client = app.test_client() response = client.get("/ping") @@ -11,29 +14,27 @@ def test_ping_route(): assert response.data.decode("utf-8") == "Pong! The server is up and running." -def make_yd41(): - yacht = dict( - { - "Name": "YD41", - "Lwl": 11.90, - "Vol": 6.05, - "Bwl": 3.18, - "Tc": 0.4, - "WSA": 28.20, - "Tmax": 2.30, - "Amax": 1.051, - "Mass": 6500, - "Ff": 1.5, - "Fa": 1.5, - "Boa": 4.2, - "Loa": 12.5, - } - ) - keel = dict({"Cu": 1.00, "Cl": 0.78, "Span": 1.90}) - rudder = dict({"Cu": 0.48, "Cl": 0.22, "Span": 1.15}) - main = dict({"Name": "MN1", "P": 16.60, "E": 5.60, "Roach": 0.1, "BAD": 1.0}) - jib = dict({"Name": "J1", "I": 16.20, "J": 5.10, "LPG": 5.40, "HBI": 1.8}) - kite = dict({"Name": "A2", "area": 150.0, "vce": 9.55}) +def make_yd41(**overrides): + yacht = { + "Name": "YD41", + "Lwl": 11.90, + "Vol": 6.05, + "Bwl": 3.18, + "Tc": 0.4, + "WSA": 28.20, + "Tmax": 2.30, + "Amax": 1.051, + "Mass": 6500, + "Ff": 1.5, + "Fa": 1.5, + "Boa": 4.2, + "Loa": 12.5, + } + keel = {"Cu": 1.00, "Cl": 0.78, "Span": 1.90} + rudder = {"Cu": 0.48, "Cl": 0.22, "Span": 1.15} + main = {"Name": "MN1", "P": 16.60, "E": 5.60, "Roach": 0.1, "BAD": 1.0} + jib = {"Name": "J1", "I": 16.20, "J": 5.10, "LPG": 5.40, "HBI": 1.8} + kite = {"Name": "A2", "area": 150.0, "vce": 9.55} tws_range = np.arange(4.0, 7.0, 2.0).tolist() twa_range = np.linspace(30.0, 180.0, 5).tolist() @@ -48,17 +49,156 @@ def make_yd41(): "tws_range": tws_range, "twa_range": twa_range, } + d.update(overrides) return d +def post_vpp(data): + client = app.test_client() + return client.post("/api/vpp/", data=json.dumps(data), headers=HEADERS) + + def test_vpp_simulation(): d = make_yd41() + response = post_vpp(d) + assert response.status_code == 200 + + +def test_empty_tws_range_returns_400(): + d = make_yd41(tws_range=[]) + response = post_vpp(d) + assert response.status_code == 400 + assert "empty" in response.json["error"].lower() + + +def test_empty_twa_range_returns_400(): + d = make_yd41(twa_range=[]) + response = post_vpp(d) + assert response.status_code == 400 + assert "empty" in response.json["error"].lower() + + +def test_tws_out_of_range_returns_400(): + d = make_yd41(tws_range=[1.0, 5.0]) + response = post_vpp(d) + assert response.status_code == 400 + assert "outside valid bounds" in response.json["error"] + - json_string = json.dumps(d) - headers = {"content-type": "application/json", "Accept-Charset": "UTF-8"} +def test_tws_above_range_returns_400(): + d = make_yd41(tws_range=[10.0, 40.0]) + response = post_vpp(d) + assert response.status_code == 400 + assert "outside valid bounds" in response.json["error"] + +def test_twa_out_of_range_returns_400(): + d = make_yd41(twa_range=[-10.0, 90.0]) + response = post_vpp(d) + assert response.status_code == 400 + assert "outside valid bounds" in response.json["error"] + + +def test_missing_field_returns_400(): + d = make_yd41() + del d["keel"] + response = post_vpp(d) + assert response.status_code == 400 + assert "error" in response.json + + +def test_invalid_json_returns_400(): client = app.test_client() - response = client.post("/api/vpp/", data=json_string, headers=headers) + response = client.post("/api/vpp/", data="not json", headers=HEADERS) + assert response.status_code == 400 + + +def test_short_keel_with_type_field(): + """Short keel payload with explicit type='short' should succeed.""" + d = make_yd41() + d["keel"] = {"type": "short", "Length": 1.2, "Depth": 0.90, "Tc_ratio": 0.15} + response = post_vpp(d) + assert response.status_code == 200 + + +def test_short_keel_without_type_field(): + """Short keel payload detected from keys alone (no type field).""" + d = make_yd41() + d["keel"] = {"Length": 1.2, "Depth": 0.90, "Tc_ratio": 0.15} + response = post_vpp(d) + assert response.status_code == 200 + + +def test_fin_keel_with_type_field(): + """Fin keel payload with explicit type='fin' should succeed.""" + d = make_yd41() + d["keel"] = {"type": "fin", "Cu": 1.00, "Cl": 0.78, "Span": 1.90} + response = post_vpp(d) + assert response.status_code == 200 + + +def test_api_5dof_method(): + """API accepts method='5dof' and returns results.""" + d = make_yd41() + d["method"] = "5dof" + response = post_vpp(d) + assert response.status_code == 200 + results = np.array(response.json["results"]) + assert np.any(results[:, :, :, 0] > 0), "5-DOF should produce non-zero speeds" + + +def test_api_data_source(): + """API accepts data_source parameter.""" + d = make_yd41() + d["data_source"] = "orc" + response = post_vpp(d) + assert response.status_code == 200 + + +def test_api_sail_type_sym_kite(): + """API accepts sail_type in kite section and produces results.""" + d = make_yd41() + d["kite"]["sail_type"] = "sym_kite" + response = post_vpp(d) + assert response.status_code == 200 + results = np.array(response.json["results"]) + assert np.any(results[:, :, :, 0] > 0) + + +def test_api_sail_type_low_performance(): + """API accepts low-performance sail_type for main and jib.""" + d = make_yd41() + d["main"]["sail_type"] = "main_low" + d["jib"]["sail_type"] = "jib_low" + response = post_vpp(d) + assert response.status_code == 200 + results = np.array(response.json["results"]) + assert np.any(results[:, :, :, 0] > 0) + + +def test_api_roughness(): + """API accepts roughness parameter and rough hull is slower.""" + d_smooth = make_yd41(roughness=0.0) + d_rough = make_yd41(roughness=500e-6) + r_smooth = post_vpp(d_smooth) + r_rough = post_vpp(d_rough) + assert r_smooth.status_code == 200 + assert r_rough.status_code == 200 + speeds_smooth = np.array(r_smooth.json["results"])[:, :, :, 0].max() + speeds_rough = np.array(r_rough.json["results"])[:, :, :, 0].max() + assert speeds_smooth > speeds_rough, "Rough hull should be slower" + + +def test_api_wave_params(): + """API accepts Hs and Ts parameters.""" + d = make_yd41(Hs=1.0, Ts=6.0) + response = post_vpp(d) + assert response.status_code == 200 + +def test_api_wave_direction(): + """API accepts wave_direction parameter.""" + d = make_yd41(Hs=1.0, Ts=6.0, wave_direction=45.0) + response = post_vpp(d) assert response.status_code == 200 diff --git a/tests/test_hydro.py b/tests/test_hydro.py new file mode 100644 index 0000000..2c57a37 --- /dev/null +++ b/tests/test_hydro.py @@ -0,0 +1,129 @@ +"""Tests for HydroMod — roughness and wave resistance.""" + +import numpy as np + +from src.HydroMod import HydroMod +from src.SailMod import Jib, Kite, Main +from src.YachtMod import Keel, Rudder, Yacht + + +def _make_yacht(**kwargs): + """Create a YD41-like yacht with optional overrides.""" + defaults = dict( + Name="TestYacht", + Lwl=11.90, + Vol=6.05, + Bwl=3.18, + Tc=0.4, + WSA=28.20, + Tmax=2.30, + Amax=1.051, + Mass=6500, + Ff=1.5, + Fa=1.5, + Boa=4.2, + Loa=12.5, + App=[Keel(Cu=1.00, Cl=0.78, Span=1.90), Rudder(Cu=0.48, Cl=0.22, Span=1.15)], + Sails=[ + Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8), + Kite("A2", area=150.0, vce=9.55), + ], + ) + defaults.update(kwargs) + return Yacht(**defaults) + + +class TestRoughness: + def test_roughness_increases_resistance(self): + """Higher roughness should increase total resistance.""" + yacht_smooth = _make_yacht(roughness=0.0) + yacht_rough = _make_yacht(roughness=300e-6) + + hydro_smooth = HydroMod(yacht_smooth) + hydro_rough = HydroMod(yacht_rough) + + Fx_smooth, _, _ = hydro_smooth.update(3.0, 5.0, 2.0) + Fx_rough, _, _ = hydro_rough.update(3.0, 5.0, 2.0) + + assert Fx_rough > Fx_smooth, "Rough hull should have more resistance" + + def test_zero_roughness_gives_smooth_cf(self): + """Zero roughness should give bare ITTC 1957 Cf (no allowance).""" + yacht = _make_yacht(roughness=0.0) + hydro = HydroMod(yacht) + hydro.vb = 3.0 + cf = hydro._cf(hydro.l) + + # ITTC 1957 only + Re = 3.0 * hydro.l / hydro.nu + cf_expected = 0.066 * (np.log10(Re) - 2.03) ** (-2) + assert abs(cf - cf_expected) < 1e-10 + + def test_default_roughness_adds_allowance(self): + """Default 150 μm roughness should add positive Cf allowance.""" + yacht = _make_yacht(roughness=150e-6) + hydro = HydroMod(yacht) + hydro.vb = 3.0 + cf_rough = hydro._cf(hydro.l) + + yacht_smooth = _make_yacht(roughness=0.0) + hydro_smooth = HydroMod(yacht_smooth) + hydro_smooth.vb = 3.0 + cf_smooth = hydro_smooth._cf(hydro_smooth.l) + + assert cf_rough > cf_smooth + + +class TestWaveResistance: + def test_no_waves_zero_resistance(self): + """Hs=0 should add zero wave resistance.""" + yacht = _make_yacht(Hs=0.0, Ts=0.0) + hydro = HydroMod(yacht) + raw = hydro._added_resistance_waves(90.0) + assert raw == 0.0 + + def test_waves_add_resistance(self): + """Hs > 0 should produce positive added resistance upwind.""" + yacht = _make_yacht(Hs=1.0, Ts=6.0) + hydro = HydroMod(yacht) + hydro.vb = 3.0 + raw = hydro._added_resistance_waves(45.0) + assert raw > 0.0, "Waves should add resistance upwind" + + def test_wave_resistance_increases_with_Hs(self): + """Larger waves should produce more resistance.""" + yacht_small = _make_yacht(Hs=0.5, Ts=6.0) + yacht_large = _make_yacht(Hs=1.5, Ts=6.0) + + hydro_small = HydroMod(yacht_small) + hydro_large = HydroMod(yacht_large) + hydro_small.vb = 3.0 + hydro_large.vb = 3.0 + + raw_small = hydro_small._added_resistance_waves(45.0) + raw_large = hydro_large._added_resistance_waves(45.0) + + assert raw_large > raw_small + + def test_wave_resistance_higher_upwind(self): + """Upwind wave resistance should exceed downwind.""" + yacht = _make_yacht(Hs=1.0, Ts=6.0) + hydro = HydroMod(yacht) + hydro.vb = 3.0 + + raw_upwind = hydro._added_resistance_waves(30.0) + raw_downwind = hydro._added_resistance_waves(150.0) + + assert raw_upwind > raw_downwind + + def test_flat_water_unchanged(self): + """VPP output with Hs=0 should match no-wave behaviour.""" + yacht = _make_yacht(Hs=0.0, Ts=0.0) + hydro = HydroMod(yacht) + + Fx_flat, Fy_flat, Mx_flat = hydro.update(3.0, 5.0, 2.0, twa=45.0) + Fx_no_twa, Fy_no_twa, Mx_no_twa = hydro.update(3.0, 5.0, 2.0, twa=0.0) + + # With no waves, twa shouldn't matter for resistance + assert abs(Fx_flat - Fx_no_twa) < 1e-6 diff --git a/tests/test_resistance.py b/tests/test_resistance.py index f557ecb..f395ff4 100644 --- a/tests/test_resistance.py +++ b/tests/test_resistance.py @@ -43,3 +43,15 @@ def test_Rr_interpolation(): np_testing.assert_approx_equal(YD41._interp_Rr((0.700, 3.0, 9.0)), 357.062, 4) np_testing.assert_approx_equal(YD41._interp_Rr((0.700, 9.0, 2.5)), 38.0526, 4) np_testing.assert_approx_equal(YD41._interp_Rr((0.700, 9.0, 9.0)), 42.2353, 4) + + +def test_build_interp_func_no_deprecation(): + """Verify build_interp_func doesn't use deprecated interp1d.""" + import warnings + + from src.UtilsMod import build_interp_func + with warnings.catch_warnings(): + warnings.simplefilter("error", DeprecationWarning) + func = build_interp_func("main", i=1) + result = func(30.0) + assert isinstance(float(result), float) diff --git a/tests/test_utils.py b/tests/test_utils.py index 10d2036..80d65c6 100644 --- a/tests/test_utils.py +++ b/tests/test_utils.py @@ -1,8 +1,9 @@ from src.SailMod import Jib, Kite, Main from src.YachtMod import Keel, Rudder, Yacht + def return_YD41_particulars(): - + YD41 = Yacht( Name="YD41", Lwl=11.90, @@ -25,4 +26,4 @@ def return_YD41_particulars(): Kite("A5", area=75.0, vce=2.75), ], ) - return YD41 \ No newline at end of file + return YD41 diff --git a/tests/test_vpp.py b/tests/test_vpp.py index f1e0211..b4a5d99 100644 --- a/tests/test_vpp.py +++ b/tests/test_vpp.py @@ -1,11 +1,13 @@ +import os import numpy as np -from tests.test_utils import return_YD41_particulars +from src.SailMod import Jib, Kite, Main from src.VPPMod import VPP -from src.SailMod import Jib, Main +from tests.test_utils import return_YD41_particulars -def test_single_sail_set(): + +def test_single_sail_set(tmp_path): YD41 = return_YD41_particulars() YD41_no_kite = YD41 @@ -22,5 +24,238 @@ def test_single_sail_set(): vpp.run(verbose=False) vpp.write("results") - vpp.polar(3, False) - vpp.SailChart(False) + + polar_path = str(tmp_path / "test_polar.png") + sail_path = str(tmp_path / "test_sail.png") + vpp.polar(3, True, fname=polar_path) + vpp.SailChart(True, fname=sail_path) + assert os.path.exists(polar_path), "Polar plot was not created" + assert os.path.exists(sail_path), "Sail chart was not created" + + +def test_sail_chart_no_deprecation_warning(tmp_path): + """Verify sail_chart doesn't use deprecated interp2d.""" + import warnings + + yacht = return_YD41_particulars() + yacht.sails = [ + Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8), + ] + vpp = VPP(Yacht=yacht) + vpp.set_analysis( + tws_range=np.array([6.0, 10.0]), + twa_range=np.linspace(30.0, 180.0, 16), + ) + vpp.run(verbose=False) + fname = str(tmp_path / "test_sailchart.png") + with warnings.catch_warnings(): + warnings.simplefilter("error", DeprecationWarning) + vpp.SailChart(save=True, fname=fname) + assert os.path.exists(fname), "Sail chart was not created" + + +def test_phi_max_configurable(): + yacht = return_YD41_particulars() + yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8)] + vpp = VPP(Yacht=yacht) + vpp.set_analysis(tws_range=np.array([10.0]), + twa_range=np.linspace(30.0, 180.0, 3), + phi_max=25.0) + assert vpp.phi_max == 25.0 + + +def test_run_without_analysis_raises(): + """Issue #46: raise with string literal should be a proper exception.""" + import pytest + + yacht = return_YD41_particulars() + vpp = VPP(Yacht=yacht) + with pytest.raises(RuntimeError, match="no analysis set"): + vpp.run() + + +def test_set_analysis_empty_tws_raises(): + import pytest + + yacht = return_YD41_particulars() + vpp = VPP(Yacht=yacht) + with pytest.raises(ValueError, match="TWS range is empty"): + vpp.set_analysis(tws_range=np.array([]), twa_range=np.linspace(30, 180, 5)) + + +def test_set_analysis_empty_twa_raises(): + import pytest + + yacht = return_YD41_particulars() + vpp = VPP(Yacht=yacht) + with pytest.raises(ValueError, match="TWA range is empty"): + vpp.set_analysis(tws_range=np.array([6.0, 10.0]), twa_range=np.array([])) + + +def test_set_analysis_tws_below_minimum_raises(): + import pytest + + yacht = return_YD41_particulars() + vpp = VPP(Yacht=yacht) + with pytest.raises(ValueError, match="outside valid bounds"): + vpp.set_analysis(tws_range=np.array([1.0, 5.0]), twa_range=np.linspace(30, 180, 5)) + + +def test_set_analysis_tws_above_maximum_raises(): + import pytest + + yacht = return_YD41_particulars() + vpp = VPP(Yacht=yacht) + with pytest.raises(ValueError, match="outside valid bounds"): + vpp.set_analysis(tws_range=np.array([10.0, 40.0]), twa_range=np.linspace(30, 180, 5)) + + +def test_set_analysis_twa_out_of_range_raises(): + import pytest + + yacht = return_YD41_particulars() + vpp = VPP(Yacht=yacht) + with pytest.raises(ValueError, match="outside valid bounds"): + vpp.set_analysis(tws_range=np.array([6.0, 10.0]), twa_range=np.array([-5.0, 90.0])) + + +def test_5dof_solver_runs(): + """5-DOF solver produces non-zero speeds.""" + yacht = return_YD41_particulars() + yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8)] + vpp = VPP(Yacht=yacht) + vpp.set_analysis(tws_range=np.array([8.0]), + twa_range=np.linspace(40.0, 160.0, 4)) + vpp.run(method="5dof") + speeds = vpp.store[0, :, 0, 0] + assert np.any(speeds > 0), "5-DOF solver should produce non-zero speeds" + + +def test_5dof_vs_iterative_comparable(): + """5-DOF and iterative solvers should produce speeds within 15%.""" + yacht = return_YD41_particulars() + yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8)] + + vpp_iter = VPP(Yacht=yacht) + vpp_iter.set_analysis(tws_range=np.array([8.0]), + twa_range=np.linspace(40.0, 160.0, 4)) + vpp_iter.run(method="iterative") + + vpp_5dof = VPP(Yacht=yacht) + vpp_5dof.set_analysis(tws_range=np.array([8.0]), + twa_range=np.linspace(40.0, 160.0, 4)) + vpp_5dof.run(method="5dof") + + speeds_iter = vpp_iter.store[0, :, 0, 0] + speeds_5dof = vpp_5dof.store[0, :, 0, 0] + + # Compare only non-zero entries + mask = speeds_iter > 0.1 + if np.any(mask): + ratio = speeds_5dof[mask] / speeds_iter[mask] + assert np.all(ratio > 0.85) and np.all(ratio < 1.15), ( + f"5-DOF vs iterative speed ratio out of 15% band: {ratio}" + ) + + +def test_invalid_method_raises(): + import pytest + + yacht = return_YD41_particulars() + yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8)] + vpp = VPP(Yacht=yacht) + vpp.set_analysis(tws_range=np.array([8.0]), + twa_range=np.linspace(40.0, 160.0, 3)) + with pytest.raises(ValueError, match="Unknown method"): + vpp.run(method="bogus") + + +def test_sail_type_main_low(): + """Main with sail_type='main_low' loads lower CL coefficients.""" + main_hi = Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0) + main_lo = Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0, sail_type="main_low") + # At peak CL angle (~28 deg), low should have less lift + assert main_lo.cl(28) < main_hi.cl(28) + + +def test_sail_type_jib_low(): + """Jib with sail_type='jib_low' loads lower CL coefficients.""" + jib_hi = Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8) + jib_lo = Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8, sail_type="jib_low") + assert jib_lo.cl(27) < jib_hi.cl(27) + + +def test_sail_type_sym_kite(): + """Symmetric spinnaker has higher CL than the default kite.""" + kite_default = Kite("A2", area=150.0, vce=9.55) + kite_sym = Kite("A2", area=150.0, vce=9.55, sail_type="sym_kite") + # ORC symmetric spinnaker has peak CL ~1.456 vs default ~1.08 + assert kite_sym.cl(67) > kite_default.cl(67) + + +def test_sail_type_asym_kite_variants(): + """Asymmetric spinnaker variants load and produce different coefficients.""" + kite_cl = Kite("A2", area=150.0, vce=9.55, sail_type="asym_cl_kite") + kite_pole = Kite("A2", area=150.0, vce=9.55, sail_type="asym_pole_kite") + # Both should produce non-zero CL at 67 deg + assert kite_cl.cl(67) > 1.0 + assert kite_pole.cl(67) > 1.0 + # Pole tack has slightly higher peak CL than centerline + assert kite_pole.cl(67) > kite_cl.cl(67) + + +def test_parallel_matches_iterative(): + """Parallel solver must produce identical results to sequential iterative.""" + yacht = return_YD41_particulars() + yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8), + Kite("A2", area=150.0, vce=9.55)] + + tws_range = np.array([6.0, 10.0]) + twa_range = np.linspace(40.0, 160.0, 5) + + vpp_seq = VPP(Yacht=yacht) + vpp_seq.set_analysis(tws_range=tws_range, twa_range=twa_range) + vpp_seq.run(method="iterative") + + vpp_par = VPP(Yacht=yacht) + vpp_par.set_analysis(tws_range=tws_range, twa_range=twa_range) + vpp_par.run(method="parallel") + + np.testing.assert_allclose( + vpp_par.store, vpp_seq.store, atol=1e-6, + err_msg="Parallel results differ from sequential iterative" + ) + + +def test_parallel_method_accepted(): + """VPP.run(method='parallel') should not raise.""" + yacht = return_YD41_particulars() + yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8)] + vpp = VPP(Yacht=yacht) + vpp.set_analysis(tws_range=np.array([8.0]), + twa_range=np.linspace(40.0, 160.0, 3)) + vpp.run(method="parallel") + assert np.any(vpp.store[0, :, 0, 0] > 0) + + +def test_sym_kite_vpp_runs(): + """VPP runs with symmetric spinnaker coefficients.""" + from src.YachtMod import Keel, Rudder, Yacht + yacht = Yacht( + Name="YD41", Lwl=11.90, Vol=6.05, Bwl=3.18, Tc=0.4, WSA=28.20, + Tmax=2.30, Amax=1.051, Mass=6500, Ff=1.5, Fa=1.5, Boa=4.2, Loa=12.5, + App=[Keel(Cu=1.00, Cl=0.78, Span=1.90), Rudder(Cu=0.48, Cl=0.22, Span=1.15)], + Sails=[Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8), + Kite("A2", area=150.0, vce=9.55, sail_type="sym_kite")]) + vpp = VPP(Yacht=yacht) + vpp.set_analysis(tws_range=np.array([10.0]), twa_range=np.linspace(40.0, 160.0, 4)) + vpp.run() + assert np.any(vpp.store[0, :, :, 0] > 0) From 1c3ab042c90d6e3542779c11b6f54611383f60be Mon Sep 17 00:00:00 2001 From: Thomas Dickson Date: Wed, 17 Jun 2026 20:42:35 +0100 Subject: [PATCH 02/21] =?UTF-8?q?fix:=20revert=20api.py=20to=20master=20?= =?UTF-8?q?=E2=80=94=20ShortKeel=20belongs=20in=20sail-daring=20PR?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/api.py | 74 ++++-------------- tests/test_api.py | 192 +++++++--------------------------------------- 2 files changed, 42 insertions(+), 224 deletions(-) diff --git a/src/api.py b/src/api.py index 56a3867..14ad2f6 100644 --- a/src/api.py +++ b/src/api.py @@ -13,7 +13,7 @@ sys.path.append(os.path.realpath(".")) from src.SailMod import Jib, Kite, Main from src.VPPMod import VPP -from src.YachtMod import Keel, Rudder, ShortKeel, Yacht +from src.YachtMod import Keel, Rudder, Yacht app = Flask(__name__) @@ -27,35 +27,17 @@ def ping(): def data_to_vpp(data: Dict[str, Any]) -> VPP: - - keel_data = data["keel"] - keel_type = keel_data.get("type", "fin") - # Also detect from keys if type is missing or inconsistent - if keel_type == "short" or "Length" in keel_data: - keel = ShortKeel( - Length=float(keel_data["Length"]), - Depth=float(keel_data["Depth"]), - Tc_ratio=float(keel_data.get("Tc_ratio", 0.15)), - ) - else: - keel = Keel( - Cu=float(keel_data["Cu"]), - Cl=float(keel_data["Cl"]), - Span=float(keel_data["Span"]), - ) + + keel = Keel( + Cu=float(data["keel"]["Cu"]), + Cl=float(data["keel"]["Cl"]), + Span=float(data["keel"]["Span"]) + ) rudder = Rudder( - Cu=float(data["rudder"]["Cu"]), - Cl=float(data["rudder"]["Cu"]), + Cu=float(data["rudder"]["Cu"]), + Cl=float(data["rudder"]["Cu"]), Span=float(data["rudder"]["Span"]) ) - # Environment parameters - roughness = float(data.get("roughness", 150e-6)) - Hs = float(data.get("Hs", 0.0)) - Ts = float(data.get("Ts", 0.0)) - wave_direction = data.get("wave_direction") - if wave_direction is not None: - wave_direction = float(wave_direction) - yacht = Yacht( Name=data["yacht"]["Name"], Lwl=float(data["yacht"]["Lwl"]), @@ -70,10 +52,6 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: Fa=float(data["yacht"]["Fa"]), Boa=float(data["yacht"]["Boa"]), Loa=float(data["yacht"]["Loa"]), - roughness=roughness, - Hs=Hs, - Ts=Ts, - wave_direction=wave_direction, App=[keel, rudder], Sails=[ Main( @@ -82,10 +60,6 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: E=float(data["main"]["E"]), Roach=float(data["main"]["Roach"]), BAD=float(data["main"]["BAD"]), - data_source=data.get("data_source", "orc"), - cl_data=data["main"].get("cl_data"), - cd_data=data["main"].get("cd_data"), - sail_type=data["main"].get("sail_type"), ), Jib( name=data["jib"]["Name"], @@ -93,48 +67,32 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: J=float(data["jib"]["J"]), LPG=float(data["jib"]["LPG"]), HBI=float(data["jib"]["HBI"]), - data_source=data.get("data_source", "orc"), - cl_data=data["jib"].get("cl_data"), - cd_data=data["jib"].get("cd_data"), - sail_type=data["jib"].get("sail_type"), ), Kite( name=data["kite"]["Name"], area=float(data["kite"]["area"]), vce=float(data["kite"]["vce"]), - data_source=data.get("data_source", "orc"), - cl_data=data["kite"].get("cl_data"), - cd_data=data["kite"].get("cd_data"), - sail_type=data["kite"].get("sail_type"), ), ], ) - + vpp = VPP(Yacht=yacht) vpp.set_analysis( tws_range=np.array(data["tws_range"]), twa_range=np.array(data["twa_range"]), ) - return vpp, data.get("method", "iterative") - + return vpp + @app.route("/api/vpp/", methods=["POST"]) def makevppresults(): data = request.get_json() - if data is None: - return jsonify({"error": "Request body must be valid JSON."}), 400 - try: - vpp, method = data_to_vpp(data) - except (KeyError, TypeError, ValueError) as e: - logging.warning("Invalid VPP input: %s", e) - return jsonify({"error": f"Invalid input: {e}"}), 400 + # TODO: Support multiple implementations of different sails: require API design + # TODO: Error handling incorrect ranges - try: - vpp.run(verbose=True, method=method) - except Exception as e: - logging.exception("VPP simulation failed") - return jsonify({"error": f"Simulation failed: {e}"}), 500 + vpp = data_to_vpp(data) + vpp.run(verbose=True) return jsonify(vpp.results()) diff --git a/tests/test_api.py b/tests/test_api.py index f1e068a..53aab60 100644 --- a/tests/test_api.py +++ b/tests/test_api.py @@ -4,9 +4,6 @@ from src.api import app -HEADERS = {"content-type": "application/json", "Accept-Charset": "UTF-8"} - - def test_ping_route(): client = app.test_client() response = client.get("/ping") @@ -14,27 +11,29 @@ def test_ping_route(): assert response.data.decode("utf-8") == "Pong! The server is up and running." -def make_yd41(**overrides): - yacht = { - "Name": "YD41", - "Lwl": 11.90, - "Vol": 6.05, - "Bwl": 3.18, - "Tc": 0.4, - "WSA": 28.20, - "Tmax": 2.30, - "Amax": 1.051, - "Mass": 6500, - "Ff": 1.5, - "Fa": 1.5, - "Boa": 4.2, - "Loa": 12.5, - } - keel = {"Cu": 1.00, "Cl": 0.78, "Span": 1.90} - rudder = {"Cu": 0.48, "Cl": 0.22, "Span": 1.15} - main = {"Name": "MN1", "P": 16.60, "E": 5.60, "Roach": 0.1, "BAD": 1.0} - jib = {"Name": "J1", "I": 16.20, "J": 5.10, "LPG": 5.40, "HBI": 1.8} - kite = {"Name": "A2", "area": 150.0, "vce": 9.55} +def make_yd41(): + yacht = dict( + { + "Name": "YD41", + "Lwl": 11.90, + "Vol": 6.05, + "Bwl": 3.18, + "Tc": 0.4, + "WSA": 28.20, + "Tmax": 2.30, + "Amax": 1.051, + "Mass": 6500, + "Ff": 1.5, + "Fa": 1.5, + "Boa": 4.2, + "Loa": 12.5, + } + ) + keel = dict({"Cu": 1.00, "Cl": 0.78, "Span": 1.90}) + rudder = dict({"Cu": 0.48, "Cl": 0.22, "Span": 1.15}) + main = dict({"Name": "MN1", "P": 16.60, "E": 5.60, "Roach": 0.1, "BAD": 1.0}) + jib = dict({"Name": "J1", "I": 16.20, "J": 5.10, "LPG": 5.40, "HBI": 1.8}) + kite = dict({"Name": "A2", "area": 150.0, "vce": 9.55}) tws_range = np.arange(4.0, 7.0, 2.0).tolist() twa_range = np.linspace(30.0, 180.0, 5).tolist() @@ -49,156 +48,17 @@ def make_yd41(**overrides): "tws_range": tws_range, "twa_range": twa_range, } - d.update(overrides) return d -def post_vpp(data): - client = app.test_client() - return client.post("/api/vpp/", data=json.dumps(data), headers=HEADERS) - - def test_vpp_simulation(): d = make_yd41() - response = post_vpp(d) - assert response.status_code == 200 - - -def test_empty_tws_range_returns_400(): - d = make_yd41(tws_range=[]) - response = post_vpp(d) - assert response.status_code == 400 - assert "empty" in response.json["error"].lower() - - -def test_empty_twa_range_returns_400(): - d = make_yd41(twa_range=[]) - response = post_vpp(d) - assert response.status_code == 400 - assert "empty" in response.json["error"].lower() - - -def test_tws_out_of_range_returns_400(): - d = make_yd41(tws_range=[1.0, 5.0]) - response = post_vpp(d) - assert response.status_code == 400 - assert "outside valid bounds" in response.json["error"] - -def test_tws_above_range_returns_400(): - d = make_yd41(tws_range=[10.0, 40.0]) - response = post_vpp(d) - assert response.status_code == 400 - assert "outside valid bounds" in response.json["error"] + json_string = json.dumps(d) + headers = {"content-type": "application/json", "Accept-Charset": "UTF-8"} - -def test_twa_out_of_range_returns_400(): - d = make_yd41(twa_range=[-10.0, 90.0]) - response = post_vpp(d) - assert response.status_code == 400 - assert "outside valid bounds" in response.json["error"] - - -def test_missing_field_returns_400(): - d = make_yd41() - del d["keel"] - response = post_vpp(d) - assert response.status_code == 400 - assert "error" in response.json - - -def test_invalid_json_returns_400(): client = app.test_client() - response = client.post("/api/vpp/", data="not json", headers=HEADERS) - assert response.status_code == 400 - - -def test_short_keel_with_type_field(): - """Short keel payload with explicit type='short' should succeed.""" - d = make_yd41() - d["keel"] = {"type": "short", "Length": 1.2, "Depth": 0.90, "Tc_ratio": 0.15} - response = post_vpp(d) - assert response.status_code == 200 - - -def test_short_keel_without_type_field(): - """Short keel payload detected from keys alone (no type field).""" - d = make_yd41() - d["keel"] = {"Length": 1.2, "Depth": 0.90, "Tc_ratio": 0.15} - response = post_vpp(d) - assert response.status_code == 200 - - -def test_fin_keel_with_type_field(): - """Fin keel payload with explicit type='fin' should succeed.""" - d = make_yd41() - d["keel"] = {"type": "fin", "Cu": 1.00, "Cl": 0.78, "Span": 1.90} - response = post_vpp(d) - assert response.status_code == 200 - - -def test_api_5dof_method(): - """API accepts method='5dof' and returns results.""" - d = make_yd41() - d["method"] = "5dof" - response = post_vpp(d) - assert response.status_code == 200 - results = np.array(response.json["results"]) - assert np.any(results[:, :, :, 0] > 0), "5-DOF should produce non-zero speeds" - - -def test_api_data_source(): - """API accepts data_source parameter.""" - d = make_yd41() - d["data_source"] = "orc" - response = post_vpp(d) - assert response.status_code == 200 - - -def test_api_sail_type_sym_kite(): - """API accepts sail_type in kite section and produces results.""" - d = make_yd41() - d["kite"]["sail_type"] = "sym_kite" - response = post_vpp(d) - assert response.status_code == 200 - results = np.array(response.json["results"]) - assert np.any(results[:, :, :, 0] > 0) - - -def test_api_sail_type_low_performance(): - """API accepts low-performance sail_type for main and jib.""" - d = make_yd41() - d["main"]["sail_type"] = "main_low" - d["jib"]["sail_type"] = "jib_low" - response = post_vpp(d) - assert response.status_code == 200 - results = np.array(response.json["results"]) - assert np.any(results[:, :, :, 0] > 0) - - -def test_api_roughness(): - """API accepts roughness parameter and rough hull is slower.""" - d_smooth = make_yd41(roughness=0.0) - d_rough = make_yd41(roughness=500e-6) - r_smooth = post_vpp(d_smooth) - r_rough = post_vpp(d_rough) - assert r_smooth.status_code == 200 - assert r_rough.status_code == 200 - speeds_smooth = np.array(r_smooth.json["results"])[:, :, :, 0].max() - speeds_rough = np.array(r_rough.json["results"])[:, :, :, 0].max() - assert speeds_smooth > speeds_rough, "Rough hull should be slower" - - -def test_api_wave_params(): - """API accepts Hs and Ts parameters.""" - d = make_yd41(Hs=1.0, Ts=6.0) - response = post_vpp(d) - assert response.status_code == 200 - + response = client.post("/api/vpp/", data=json_string, headers=headers) -def test_api_wave_direction(): - """API accepts wave_direction parameter.""" - d = make_yd41(Hs=1.0, Ts=6.0, wave_direction=45.0) - response = post_vpp(d) assert response.status_code == 200 From b2ac11ce6d1fd436541fe654436dfd89c0dd2675 Mon Sep 17 00:00:00 2001 From: Thomas Dickson Date: Wed, 17 Jun 2026 20:37:43 +0100 Subject: [PATCH 03/21] feat: ORC sail variants, ShortKeel appendage, and Daring yacht - Add ORC spinnaker variants and low-performance sail coefficient data - Add ShortKeel appendage class for hull-integrated keels (Daring class) - Add Daring 5.5m yacht definition with estimated parameters - Add Daring baseline performance results and righting moment data - Add yacht and Daring-specific test suites Co-Authored-By: Claude Sonnet 4.6 --- dat/Daring/righting_moment.json | 4 + dat/orc/asym_cl_kite.dat | 5 + dat/orc/asym_pole_kite.dat | 5 + dat/orc/jib.dat | 5 + dat/orc/jib_low.dat | 5 + dat/orc/kite.dat | 5 + dat/orc/main.dat | 5 + dat/orc/main_low.dat | 5 + dat/orc/sym_kite.dat | 5 + dat/polars_Daring_5.5m.json | 1 + dat/polars_YD41.json | 1 + runDaring.py | 70 +++++++++ src/SailMod.py | 248 +++++++++++++++++++++++++------- src/YachtMod.py | 192 ++++++++++++++++++++++--- tests/test_daring.py | 160 +++++++++++++++++++++ tests/test_yacht.py | 47 ++++++ 16 files changed, 691 insertions(+), 72 deletions(-) create mode 100644 dat/Daring/righting_moment.json create mode 100644 dat/orc/asym_cl_kite.dat create mode 100644 dat/orc/asym_pole_kite.dat create mode 100644 dat/orc/jib.dat create mode 100644 dat/orc/jib_low.dat create mode 100644 dat/orc/kite.dat create mode 100644 dat/orc/main.dat create mode 100644 dat/orc/main_low.dat create mode 100644 dat/orc/sym_kite.dat create mode 100644 dat/polars_Daring_5.5m.json create mode 100644 dat/polars_YD41.json create mode 100644 runDaring.py create mode 100644 tests/test_daring.py create mode 100644 tests/test_yacht.py diff --git a/dat/Daring/righting_moment.json b/dat/Daring/righting_moment.json new file mode 100644 index 0000000..4faf95d --- /dev/null +++ b/dat/Daring/righting_moment.json @@ -0,0 +1,4 @@ +{ + "Heel": [0.0, 10.0, 20.0, 30.0, 40.0, 50.0, 60.0], + "GZ": [0.000, 0.120, 0.230, 0.310, 0.350, 0.330, 0.260] +} diff --git a/dat/orc/asym_cl_kite.dat b/dat/orc/asym_cl_kite.dat new file mode 100644 index 0000000..64d8303 --- /dev/null +++ b/dat/orc/asym_cl_kite.dat @@ -0,0 +1,5 @@ +# asymmetric spinnaker centerline tack lift and drag coefficients (ORC VPP). first row is awa +0.02639,,,,,,,,,,, +0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,180.000 +0.0000,0.19100,0.28000,0.36600,0.52300,0.44800,0.55600,0.75700,0.79000,0.77600,0.62000,0.40000 +0.0000,0.02600,1.01800,1.27700,1.47100,1.51300,1.44400,1.13700,0.82900,0.56000,0.25000,-0.12000 diff --git a/dat/orc/asym_pole_kite.dat b/dat/orc/asym_pole_kite.dat new file mode 100644 index 0000000..4a94b72 --- /dev/null +++ b/dat/orc/asym_pole_kite.dat @@ -0,0 +1,5 @@ +# asymmetric spinnaker pole tack lift and drag coefficients (ORC VPP). first row is awa +0.02639,,,,,,,,,,, +0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,180.000 +0.0000,0.17000,0.23800,0.30600,0.45900,0.39200,0.49300,0.79100,0.89400,0.93600,0.93600,0.93600 +0.0000,0.08500,1.11400,1.36000,1.51300,1.54800,1.47900,1.20700,0.95600,0.70600,0.42500,0.00000 diff --git a/dat/orc/jib.dat b/dat/orc/jib.dat new file mode 100644 index 0000000..1bd52b0 --- /dev/null +++ b/dat/orc/jib.dat @@ -0,0 +1,5 @@ +# jib lift drag and lift coefficient (high). first row is awa +0.016,,,,,,,,, +0.00000,7.0000,15.0000,20.0000,27.0000,50.0000,60.0000,100.0000,150.0000,180.0000 +0.003,0.05000,0.03200,0.03100,0.03700,0.25000,0.35000,0.73000,0.95000,0.90000 +0.00000,0.00000,1.10000,1.47500,1.50000,1.45000,1.25000,0.40000,0.00000,-0.10000 \ No newline at end of file diff --git a/dat/orc/jib_low.dat b/dat/orc/jib_low.dat new file mode 100644 index 0000000..b4b58a1 --- /dev/null +++ b/dat/orc/jib_low.dat @@ -0,0 +1,5 @@ +# jib lift drag and lift coefficient (low performance rig). first row is awa +0.016,,,,,,,,, +0.00000,7.0000,15.0000,20.0000,27.0000,50.0000,60.0000,100.0000,150.0000,180.0000 +0.003,0.05000,0.03200,0.03100,0.03700,0.25000,0.35000,0.73000,0.95000,0.90000 +0.00000,0.00000,1.00000,1.37500,1.45000,1.43000,1.25000,0.40000,0.00000,-0.10000 diff --git a/dat/orc/kite.dat b/dat/orc/kite.dat new file mode 100644 index 0000000..d8b6dc7 --- /dev/null +++ b/dat/orc/kite.dat @@ -0,0 +1,5 @@ +# kite lift drag and lift coefficient (high). first row is awa +0.02639,,,,,,,,,,,, +0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,170.000,180.000 +0.0000,0.19152,0.28152,0.35496,0.43920,0.48960,0.53280,0.61920,0.65880,0.67320,0.67320,0.67320,0.67320 +0.0000,-0.02484,0.69437,0.90677,1.04400,1.08000,1.08000,0.95760,0.81360,0.61200,0.32400,0.10800,0.00000 \ No newline at end of file diff --git a/dat/orc/main.dat b/dat/orc/main.dat new file mode 100644 index 0000000..12dc64e --- /dev/null +++ b/dat/orc/main.dat @@ -0,0 +1,5 @@ +# mainsail lift drag and lift coefficient (high). first row is awa +0.01379,,,,,,,,, +0.00000,7.0000,9.0000,12.0000,28.0000,60.0000,90.0000,120.0000,150.0000,180.000 +0.03448,0.01724,0.01466,0.01466,0.02586,0.11302,0.38250,0.96888,1.31578,1.34483 +0.00000,0.94828,1.13793,1.25000,1.42681,1.38319,1.26724,0.93103,0.38793,-0.11207 \ No newline at end of file diff --git a/dat/orc/main_low.dat b/dat/orc/main_low.dat new file mode 100644 index 0000000..2784d4f --- /dev/null +++ b/dat/orc/main_low.dat @@ -0,0 +1,5 @@ +# mainsail lift drag and lift coefficient (low performance rig). first row is awa +0.01379,,,,,,,,, +0.00000,7.0000,9.0000,12.0000,28.0000,60.0000,90.0000,120.0000,150.0000,180.000 +0.04300,0.02600,0.02300,0.02300,0.03300,0.11302,0.38250,0.96888,1.31578,1.34483 +0.00000,0.86200,1.05200,1.16400,1.34700,1.23900,1.12500,0.83800,0.29600,-0.11207 diff --git a/dat/orc/sym_kite.dat b/dat/orc/sym_kite.dat new file mode 100644 index 0000000..dd45e31 --- /dev/null +++ b/dat/orc/sym_kite.dat @@ -0,0 +1,5 @@ +# symmetric spinnaker lift and drag coefficients (ORC VPP). first row is awa +0.02639,,,,,,,,,,, +0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,180.000 +0.0000,0.21300,0.32100,0.42500,0.58700,0.59800,0.61900,0.85000,0.91100,0.93500,0.93500,0.93500 +0.0000,0.00000,0.97800,1.24100,1.45400,1.45600,1.43700,1.19000,0.95100,0.70600,0.42500,0.00000 diff --git a/dat/polars_Daring_5.5m.json b/dat/polars_Daring_5.5m.json new file mode 100644 index 0000000..f980095 --- /dev/null +++ b/dat/polars_Daring_5.5m.json @@ -0,0 +1 @@ +{"name": "Daring", "results": [[[[1.2254361364110362, 1.1205304315717708, 8.646916208050413, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[1.7194072304802177, 1.3160520855068498, 5.202205599112657, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.049998772779813, 1.4371328960879486, 3.995109897086957, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.2892182707766766, 1.50648241296533, 3.355842322995613, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.482994272846284, 1.545274885632866, 2.9237672403652493, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.640410725695732, 1.5603777155989353, 2.610050980923144, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.7727761703987412, 1.5575878154291465, 2.3629713860545025, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.8777058596565404, 1.5363490103574442, 2.165241810972713, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.958441126798166, 1.4990020072347607, 2.001044014793009, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.019475096060067, 1.4483168312716486, 1.8587563144510575, 1.0, 2.0], [2.560021946980627, 2.066701578558054, 3.4616422503305198, 1.0, 2.0]], [[3.0619375345570274, 1.3855871770414279, 1.732388301449776, 1.0, 2.0], [2.757797194372542, 2.156281785880404, 3.124911630010696, 1.0, 2.0]], [[3.085935824566328, 1.3119318228231651, 1.618242039052518, 1.0, 2.0], [2.9258010271389385, 2.2113730865038277, 2.8577298550782637, 1.0, 2.0]], [[3.0903129414119914, 1.2283875841694376, 1.5144731516783685, 1.0, 2.0], [3.067307352252179, 2.2310787180256613, 2.6319857267603077, 1.0, 2.0]], [[3.0788054845637047, 1.1366308079189573, 1.4150546788079343, 1.0, 2.0], [3.185151617603154, 2.2169745598301738, 2.432717589487536, 1.0, 2.0]], [[3.052061804483426, 1.0375512421174142, 1.316809998082596, 1.0, 2.0], [3.276717788219107, 2.1703177707252532, 2.25674661248869, 1.0, 2.0]], [[3.007918443844489, 0.93179828677709, 1.2187266680498974, 1.0, 2.0], [3.3458442398423944, 2.096461847488146, 2.0966857770592884, 1.0, 2.0]], [[2.9450446595864603, 0.8221643485719533, 1.121715691802899, 1.0, 2.0], [3.397277245601016, 2.002556607970123, 1.9481649848059615, 1.0, 2.0]], [[2.865819743888335, 0.7136919711715152, 1.0273607407811964, 1.0, 2.0], [3.432598457402484, 1.8929184133801717, 1.8092367467148334, 1.0, 2.0]], [[2.772777514543281, 0.6111300357110454, 0.9382522306289032, 1.0, 2.0], [3.4513149744215794, 1.7685759669180616, 1.6773358117535715, 1.0, 2.0]], [[2.670082441382429, 0.5178689124302976, 0.8555833181042202, 1.0, 2.0], [3.4525306689590627, 1.630413215838624, 1.5501300163651957, 1.0, 2.0]], [[2.563522926105463, 0.43552297204460627, 0.7783779006343332, 1.0, 2.0], [3.4348484465627824, 1.4792569011968628, 1.425385735107694, 1.0, 2.0]], [[2.4555968514161566, 0.36445005600316666, 0.7071746099364067, 1.0, 2.0], [3.3966351078473633, 1.316496488634346, 1.3010612216074031, 1.0, 2.0]], [[2.3457538059819014, 0.30464541730180883, 0.6446858070828998, 1.0, 2.0], [3.338703230820719, 1.1469892640382047, 1.1763896168652554, 1.0, 2.0]], [[2.2379854494814415, 0.25692245827537963, 0.594328486069944, 1.0, 2.0], [3.2636339885461414, 0.9770814758146602, 1.0514199229132424, 1.0, 2.0]], [[2.137669534334437, 0.22103841810907957, 0.5580256936672652, 1.0, 2.0], [3.1704654229978813, 0.8118068573216787, 0.9280025620709584, 1.0, 2.0]], [[2.048942692988345, 0.1950300515253354, 0.5341662888614727, 1.0, 2.0], [3.0617369945522968, 0.6571681253587572, 0.807706059555781, 1.0, 2.0]], [[1.972967620053955, 0.17587169446290155, 0.5183579855562093, 1.0, 2.0], [2.9424362350019218, 0.5181356538942362, 0.6915425516255314, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [2.815155739269146, 0.3979958111404883, 0.5820849376928021, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [2.6795436266856276, 0.29873564470094577, 0.4833591032021285, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [2.546900447783828, 0.22116877028499715, 0.39587250209773767, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [2.4193106252491425, 0.1615545356117227, 0.3187110233825481, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [2.292885190215043, 0.11628695512541314, 0.25252292030728873, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [2.1764327148744296, 0.08467375195309665, 0.2009691898087171, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [2.078534029555272, 0.06474533646551021, 0.1657854070538777, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [2.003934609921269, 0.051728755855087516, 0.1405222547565308, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [1.9514824426196509, 0.040690380471187414, 0.11536836015646561, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [1.9173295655353875, 0.029949433945596356, 0.08739486081945305, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [1.8973709031117425, 0.01967789689391265, 0.058462661620519225, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [1.8899804204683053, 0.010498437453390767, 0.03145258672723819, 1.0, 2.0]]], [[[1.8706959828438783, 2.539437784346465, 8.431530524922623, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.6531898148749846, 2.976264191809856, 4.986396232517818, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.105880376918116, 3.1887373174529405, 3.9337633379585046, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.4360428287916513, 3.302432071988122, 3.345390736522287, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.696303268339366, 3.3560521009865867, 2.944025380104406, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.8995918616713467, 3.3648687868008462, 2.6526049948450456, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[4.06707507052804, 3.342602235234407, 2.4201442458561506, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[4.191184418389932, 3.2859574909218803, 2.235283631582615, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[4.290296607061465, 3.2058421822773937, 2.0753046252247347, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[4.365544008155386, 3.10283111733684, 1.9337623933016597, 1.0, 2.0], [3.8108706033839925, 4.2580177035735, 3.4971877474208606, 1.0, 2.0]], [[4.418503998015266, 2.97727823510932, 1.8053723253559755, 1.0, 2.0], [4.075791262802305, 4.391890576941331, 3.193822512184731, 1.0, 2.0]], [[4.445680894204461, 2.827596292789636, 1.6890101264027053, 1.0, 2.0], [4.29023988659191, 4.463586487197507, 2.954091710425823, 1.0, 2.0]], [[4.450992495752114, 2.6548970619123753, 1.57986190588352, 1.0, 2.0], [4.47055552888239, 4.477591128597661, 2.7409579716754484, 1.0, 2.0]], [[4.438748683824175, 2.459075841003561, 1.4729710771811753, 1.0, 2.0], [4.609843208311292, 4.434331589088622, 2.554443706563041, 1.0, 2.0]], [[4.4060967421403685, 2.2442624749476843, 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0.899999999999999], [0.0, 0.0, 0.0, 0.0, 0.0]], [[10.154468350444334, 33.986988743712175, 2.8821548467681666, 0.62, 1.0999999999999992], [0.0, 0.0, 0.0, 0.0, 0.0]], [[10.360124681453808, 33.324296056091136, 2.6663798952989963, 0.62, 1.1999999999999993], [6.399226711128023e-11, 34.10200622661677, 5.049664977778041, 0.62, 0.49999999999999867]], [[10.538498713316832, 33.24267412902024, 2.4547442439101457, 0.62, 1.3999999999999995], [2.8253736605184056e-09, 33.76485334272993, 5.999999932332612, 0.62, 0.49999999999999867]], [[10.676421509842864, 33.54940179704009, 2.2477679922697384, 0.62, 1.6999999999999997], [2.9544519089796135e-12, 33.74619427921682, 5.583272533244793, 0.62, 0.5999999999999988]], [[10.720808104729588, 32.13802354049996, 2.065915074000696, 0.62, 1.9], [3.0473582797075607, 34.99999999999999, 5.999999999999999, 0.62, 0.49999999999999867]], [[11.45599392524277, 33.7389726235075, 1.9688655293254054, 0.6799999999999997, 2.0], [3.6378652937562532, 34.99999999999999, 5.999999999999999, 0.62, 0.49999999999999867]], [[12.250556921356123, 33.418879868117514, 1.854973315692043, 0.7599999999999998, 2.0], [4.310046427816248, 34.99999999999999, 5.999999999999999, 0.62, 0.49999999999999867]], [[13.161031341090673, 33.6278079062252, 1.76402346825213, 0.8599999999999999, 2.0], [5.032085081772627, 34.99999999999988, 5.999999999999995, 0.62, 0.49999999999999867]], [[13.86984817546222, 33.155976657583444, 1.6992166405321538, 0.96, 2.0], [5.810769571274297, 34.99999999999999, 5.999999999999909, 0.62, 0.49999999999999867]], [[13.711828195684722, 28.953263162628684, 1.4289476932875935, 1.0, 2.0], [6.674888678600625, 34.99999999999999, 5.999999999997529, 0.62, 0.49999999999999867]], [[13.101941589687918, 23.58451450081377, 1.3410302073621188, 1.0, 2.0], [8.83564284416122, 34.99999999999999, 2.709477786062981, 0.62, 0.49999999999999867]], [[12.49145344688311, 18.821865424090323, 1.270809460216882, 1.0, 2.0], [10.093526995690413, 34.99999999999999, 2.398327331230622, 0.62, 0.49999999999999867]], [[11.882294677741342, 15.369813924906738, 1.2019990387891095, 1.0, 2.0], [11.08467341446687, 33.71517484040477, 2.1150495554609012, 0.62, 0.49999999999999867]], [[11.31892479956128, 12.416630458868287, 1.1330506681757144, 1.0, 2.0], [11.578766841465791, 31.98183333706307, 1.897059003500423, 0.62, 0.6999999999999988]], [[10.812990403235046, 10.007115041883614, 1.0667380683008485, 1.0, 2.0], [12.122159885998023, 31.163168090602415, 1.704652446785871, 0.62, 0.899999999999999]], [[10.371803151717254, 8.45015384040974, 1.0062642685022107, 1.0, 2.0], [13.76470627507998, 33.80537215739341, 1.4483828546223338, 0.7599999999999998, 2.0]], [[10.000727083460228, 7.286646881361432, 0.9565511895985728, 1.0, 2.0], [14.93151609183371, 33.5209880009196, 1.2772909363285216, 0.9199999999999999, 2.0]], [[9.696359239362293, 6.535431129641379, 0.9148258957023293, 1.0, 2.0], [15.032490085479807, 28.762730055770966, 1.0135742975832862, 1.0, 2.0]], [[9.44914504005159, 6.014697420729558, 0.8773200357578451, 1.0, 2.0], [14.305096835659814, 21.0895170579466, 0.8979197083489541, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [13.554914749396987, 15.370842300432873, 0.7914619595933842, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [12.828569826995205, 10.716353416978224, 0.6842972033734672, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [12.136640779702068, 7.479499489608849, 0.5762933658339603, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [11.488904024518995, 5.560331802984953, 0.47134416630040515, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [10.895914462151044, 4.324242343730937, 0.37709150657605084, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [10.387152683096346, 3.4013232649455865, 0.3028562395161779, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.98456744290421, 2.704999553460147, 0.24993442581215106, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.690443857500581, 2.152655370456471, 0.20907496892267335, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.488708201436634, 1.66843242487284, 0.16802497427558158, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.3584196509167, 1.2064707358314788, 0.12442759307136363, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.282249666707768, 0.7753847486734907, 0.08114834346511057, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.254015807384794, 0.40128013863358475, 0.04227109633981996, 1.0, 2.0]]]], "sails": ["MN1 + J1", "MN1 + A2"], "twa": [28.0, 32.0, 36.0, 40.0, 44.0, 48.0, 52.0, 56.0, 60.0, 64.0, 68.0, 72.0, 76.0, 80.0, 84.0, 88.0, 92.0, 96.0, 100.0, 104.0, 108.0, 112.0, 116.0, 120.0, 124.0, 128.0, 132.0, 136.0, 140.0, 144.0, 148.0, 152.0, 156.0, 160.0, 164.0, 168.0, 172.0, 176.0, 180.0], "tws": [2.0576, 3.0864, 4.1152, 5.144, 6.1728, 7.201599999999999, 8.2304, 9.2592, 10.288]} \ No newline at end of file diff --git a/runDaring.py b/runDaring.py new file mode 100644 index 0000000..915306e --- /dev/null +++ b/runDaring.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python3 +""" +Velocity Prediction Program for the Daring sailing yacht. + +The Daring is a one-design keelboat designed by Arthur Robb, based on +his 5.5 Metre class yacht "Vision" (1956 Olympic silver medal). + +Published specifications (classicsailboats.org): + LOA: 9.90m | LWL: 7.01m | Beam: 1.98m | Draft: 1.35m + Displacement: 2000 kg | Upwind sail area: 29.73 m² + +Estimated parameters are documented in docs/plans/2026-02-27-daring-vpp.md. +All estimates are marked and can be refined with actual measurements. +""" +import logging + +import numpy as np + +from src.SailMod import Jib, Kite, Main +from src.VPPMod import VPP +from src.YachtMod import Rudder, ShortKeel, Yacht + +logging.basicConfig(level=logging.INFO) + +# --- Estimated GZ curve for classic 5.5m --- +# GM ~0.70m, ~50% ballast ratio, narrow beam (1.98m) +# See docs/plans/2026-02-27-daring-vpp.md for derivation +DARING_GZ = { + "Heel": [0.0, 10.0, 20.0, 30.0, 40.0, 50.0, 60.0], + "GZ": [0.000, 0.120, 0.230, 0.310, 0.350, 0.330, 0.260], +} + +Daring = Yacht( + Name="Daring", + Lwl=7.01, # (published) waterline length + Vol=1.95, # (estimated) 2000kg / 1025 kg/m³ + Bwl=1.70, # (estimated) ~86% of Boa + Tc=0.45, # (estimated) canoe body draft + WSA=11.5, # (estimated) Delf series for narrow hull + Tmax=1.35, # (published) max draft incl. keel + Amax=0.38, # (estimated) Bwl × Tc × Cm(0.50) + Mass=2000, # (published) total displacement + Loa=9.90, # (published) length overall + Boa=1.98, # (published) beam overall + Ff=0.75, # (estimated) freeboard fore + Fa=0.55, # (estimated) freeboard aft + App=[ + ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15), # hull-integrated keel + Rudder(Cu=0.32, Cl=0.18, Span=0.75), # (estimated) separated rudder + ], + Sails=[ + Main("MN1", P=10.80, E=3.30, Roach=0.1, BAD=0.80), # (est.) ~19.6 m² + Jib("J1", I=8.50, J=2.70, LPG=2.70, HBI=0.50), # (est.) ~11.5 m² + Kite("S1", area=50.0, vce=4.50), # (est.) symmetric kite + ], + GZ=DARING_GZ, + crew_weight=240.0, # 3 crew × 80 kg +) + +vpp = VPP(Yacht=Daring) + +vpp.set_analysis( + tws_range=np.arange(4.0, 22.0, 2.0), + twa_range=np.linspace(30.0, 180.0, 31), +) + +vpp.run(verbose=False) +vpp.write("results_daring") +vpp.polar(3, True) +vpp.SailChart(True) diff --git a/src/SailMod.py b/src/SailMod.py index 1fbfb23..95fa8d3 100644 --- a/src/SailMod.py +++ b/src/SailMod.py @@ -7,33 +7,112 @@ __version__ = "1.0.1" __email__ = "M.Lauber@soton.ac.uk" -import numpy as np import matplotlib.pyplot as plt +import numpy as np from scipy import interpolate +SAIL_TYPES = { + "main": "main", + "main_low": "main_low", + "jib": "jib", + "jib_low": "jib_low", + "kite": "kite", + "sym_kite": "sym_kite", + "asym_cl_kite": "asym_cl_kite", + "asym_pole_kite": "asym_pole_kite", +} + + class Sail(object): - def __init__(self, name, type, area, vce, up=True): + def __init__(self, name, type, area, vce, up=True, data_source="orc", + cl_data=None, cd_data=None, sail_type=None): + """ + Base sail class. + Parameters + ---------- + name : str + Sail identifier (e.g. "J1", "A2"). + type : str + Sail type, used to load coefficient data from ``dat/.dat``. + One of ``"main"``, ``"jib"``, or ``"kite"``. + area : float + Sail area (m^2). + vce : float + Vertical centre of effort above deck (m). + up : bool, optional + Whether this is an upwind sail. Default is True. + data_source : str, optional + Coefficient data source directory under ``dat/``. Default "orc". + cl_data : dict, optional + User-provided CL data: ``{"awa": [...], "values": [...]}``. + cd_data : dict, optional + User-provided CD data: ``{"awa": [...], "values": [...]}``. + sail_type : str, optional + Override for the coefficient data file name. E.g. ``"main_low"``, + ``"sym_kite"``, ``"asym_cl_kite"``, ``"asym_pole_kite"``. + If None, uses *type*. + """ self.name = name self.type = type self.area = area self.vce = vce + # Determine which data file to load + coeff_file = sail_type if sail_type is not None else self.type # get sails coefficients - self._build_interp_func(self.type) + if cl_data is not None and cd_data is not None: + self._build_interp_func(coeff_file, data_source=data_source) + self._build_interp_from_arrays(cl_data, cd_data) + else: + self._build_interp_func(coeff_file, data_source=data_source) self.bk = 1.0 # always valid for main, only AWA<135 for jib self.up = up # is that an upwind sail? - def _build_interp_func(self, fname): - """ - build interpolation function and returns it in a list + def _build_interp_func(self, fname, data_source="orc"): + """Build cubic B-spline interpolation functions for CL and CD. + + Falls back to linear (k=1) if fewer than 4 data points are available. + Tries ``dat/{data_source}/{fname}.dat`` first, then ``dat/{fname}.dat``. """ - a = np.genfromtxt("dat/" + fname + ".dat", delimiter=",", skip_header=1) + import os + path = os.path.join("dat", data_source, fname + ".dat") + if not os.path.exists(path): + path = os.path.join("dat", fname + ".dat") + a = np.genfromtxt(path, delimiter=",", skip_header=1) self.kp = a[0, 0] - # linear for now, this is not good, might need to polish data outside - self.interp_cd = interpolate.interp1d(a[1, :], a[2, :], kind="linear") - self.interp_cl = interpolate.interp1d(a[1, :], a[3, :], kind="linear") + # Filter NaN values (trailing commas in CSV create NaNs) + mask = ~(np.isnan(a[1, :]) | np.isnan(a[2, :]) | np.isnan(a[3, :])) + x = a[1, mask] + cd = a[2, mask] + cl = a[3, mask] + k = 3 if len(x) >= 4 else 1 + self.interp_cd = interpolate.make_interp_spline(x, cd, k=k) + self.interp_cd.extrapolate = True + self.interp_cl = interpolate.make_interp_spline(x, cl, k=k) + self.interp_cl.extrapolate = True + + def _build_interp_from_arrays(self, cl_data, cd_data): + """Build interpolation from user-provided coefficient arrays. + + Parameters + ---------- + cl_data : dict + {"awa": [...], "values": [...]} for lift coefficients. + cd_data : dict + {"awa": [...], "values": [...]} for drag coefficients. + """ + cl_awa = np.array(cl_data["awa"]) + cl_vals = np.array(cl_data["values"]) + cd_awa = np.array(cd_data["awa"]) + cd_vals = np.array(cd_data["values"]) + k_cl = 3 if len(cl_awa) >= 4 else 1 + k_cd = 3 if len(cd_awa) >= 4 else 1 + self.interp_cl = interpolate.make_interp_spline(cl_awa, cl_vals, k=k_cl) + self.interp_cl.extrapolate = True + self.interp_cd = interpolate.make_interp_spline(cd_awa, cd_vals, k=k_cd) + self.interp_cd.extrapolate = True def cl(self, awa): awa = max(0, min(awa, 180)) @@ -43,6 +122,9 @@ def cd(self, awa): awa = max(0, min(awa, 180)) return self.interp_cd(awa) + def measure(self, rfm, ftj): + """Update sail dimensions for current reef/furl state.""" + def debbug_coeffs(self, N=256): awa = np.linspace(0, 180, N) coeffs = np.empty((N, 2)) @@ -56,46 +138,31 @@ def debbug_coeffs(self, N=256): class Main(Sail): - def __init__(self, name, P, E, Roach, BAD): + def __init__(self, name, P, E, Roach, BAD, data_source="orc", + cl_data=None, cd_data=None, sail_type=None): """ - Initialize mainsail - - This function initializes an object of class Main which inherits the class Sail. - It calculates the area, the Vertical Center of Effort (vce), - sets CE = 1 and calls the super class constructor. - + Initialize mainsail. + Parameters ---------- - name : string - Of the sail - - P : Float - Height of the Mainsail in meters - - E: Float - Length (Foot) of the Mainsail in meters - - Roach: Float - Percentage by which the triangular area is increased in order to obtain the mainsail area. - This is area behind the line from clew to head. - To get this number you have to calculate Mainsail_area / (P*E/2) -1 - - BAD: Float - Boom Above Deck: Distance between boom and Deck in meters - - Returns - ------- - Main - Object of type Main( Sail ) - - See Also - -------- - Jib( Sail ) - - Examples - -------- - >>> Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0) - + name : str + Sail identifier. + P : float + Height of the Mainsail in meters. + E : float + Length (Foot) of the Mainsail in meters. + Roach : float + Roach factor (Mainsail_area / (P*E/2) - 1). + BAD : float + Boom Above Deck in meters. + data_source : str, optional + Coefficient data source. Default "orc". + cl_data : dict, optional + User-provided CL data. + cd_data : dict, optional + User-provided CD data. + sail_type : str, optional + Coefficient variant: ``"main"`` (default) or ``"main_low"``. """ self.name = name self.type = "main" @@ -105,10 +172,23 @@ def __init__(self, name, P, E, Roach, BAD): self.BAD = BAD self.area0 = 0.5 * P * E * (1 + self.roach) self.vce = P / 3.0 * (1 + self.roach) + self.BAD - super().__init__(self.name, self.type, self.area0, self.vce) + super().__init__(self.name, self.type, self.area0, self.vce, + data_source=data_source, cl_data=cl_data, cd_data=cd_data, + sail_type=sail_type) self.measure() - + def measure(self, rfm=1, ftj=1): + """ + Update mainsail dimensions for reef state. + + Parameters + ---------- + rfm : float + Reef factor for mainsail (0 to 1). 1 = fully unreefed. + ftj : float + Furl factor for jib (unused for mainsail, present for interface + compatibility). + """ self.P_r = self.P*rfm self.vce = self.P_r / 3.0 * (1 + self.roach) + self.BAD self.area = self.area0*rfm**2 @@ -116,7 +196,32 @@ def measure(self, rfm=1, ftj=1): class Jib(Sail): - def __init__(self, name, I, J, LPG, HBI): + def __init__(self, name, I, J, LPG, HBI, data_source="orc", + cl_data=None, cd_data=None, sail_type=None): + """ + Headsail (jib/genoa). + + Parameters + ---------- + name : str + Sail identifier (e.g. "J1"). + I : float + Forestay height (m). + J : float + Base of the foretriangle (m). + LPG : float + Luff perpendicular (m). + HBI : float + Height of the jib tack above deck (m). + data_source : str, optional + Coefficient data source. Default "orc". + cl_data : dict, optional + User-provided CL data. + cd_data : dict, optional + User-provided CD data. + sail_type : str, optional + Coefficient variant: ``"jib"`` (default) or ``"jib_low"``. + """ self.name = name self.type = "jib" self.I = I @@ -126,23 +231,60 @@ def __init__(self, name, I, J, LPG, HBI): self.HBI = HBI self.area = 0.5 * I * max(J, LPG) self.vce = I / 3.0 + HBI - super().__init__(self.name, self.type, self.area, self.vce) + super().__init__(self.name, self.type, self.area, self.vce, + data_source=data_source, cl_data=cl_data, cd_data=cd_data, + sail_type=sail_type) self.measure() def measure(self, rfm=1, ftj=1): + """ + Update jib dimensions for furl state. + + Parameters + ---------- + rfm : float + Reef factor for mainsail (unused for jib, present for interface + compatibility). + ftj : float + Furl factor for jib (0 to 1). 0 = fully unfurled. + """ self.LPG_r = self.LPG*ftj self.IG_r = self.IG*ftj self.area = 0.5 * self.I * max(self.J, self.LPG_r) class Kite(Sail): - def __init__(self, name, area, vce): + def __init__(self, name, area, vce, data_source="orc", + cl_data=None, cd_data=None, sail_type=None): + """ + Spinnaker or asymmetric downwind sail. + + Parameters + ---------- + name : str + Sail identifier (e.g. "A2", "A5"). + area : float + Sail area (m^2). + vce : float + Vertical centre of effort above deck (m). + data_source : str, optional + Coefficient data source. Default "orc". + cl_data : dict, optional + User-provided CL data. + cd_data : dict, optional + User-provided CD data. + sail_type : str, optional + Coefficient variant: ``"kite"`` (default), ``"sym_kite"``, + ``"asym_cl_kite"``, or ``"asym_pole_kite"``. + """ self.name = name self.type = "kite" self.area = area self.min_area = self.area self.vce = vce - super().__init__(self.name, self.type, self.area, self.vce, up=False) + super().__init__(self.name, self.type, self.area, self.vce, up=False, + data_source=data_source, cl_data=cl_data, cd_data=cd_data, + sail_type=sail_type) self.measure() def measure(self, rfm=1, ftj=1): diff --git a/src/YachtMod.py b/src/YachtMod.py index 72a4f5a..ac2ccc2 100644 --- a/src/YachtMod.py +++ b/src/YachtMod.py @@ -8,13 +8,36 @@ __email__ = "M.Lauber@soton.ac.uk" import numpy as np -from src.UtilsMod import build_interp_func,json_read,json_write from scipy import interpolate +from src.UtilsMod import build_interp_func, json_read, json_write + + +def _zero_cr(fn): + """Zero residuary resistance (for appendages without Cr data).""" + return 0.0 + + class Appendage(object): def __init__(self, type, chord, area, span, vol, ce): """ - + Base class for underwater appendages (keels, rudders, bulbs). + + Parameters + ---------- + type : str + Appendage type (``"keel"``, ``"rudder"``, or ``"bulb"``). + Controls residuary resistance coefficient lookup. + chord : float + Mean chord length (m). + area : float + Planform (wetted) area (m^2). + span : float + Appendage span (m). Set to 0 for non-lifting bodies (bulbs). + vol : float + Displaced volume (m^3). Used for residuary resistance calculation. + ce : float + Centre of effort — depth below waterline (m, positive downward). """ self.type = type self.chord = chord @@ -30,15 +53,12 @@ def __init__(self, type, chord, area, span, vol, ce): self.cla = self.dclda * self.area self.teff = 1.8 * self.span # no residuary resistance - self._interp_cr = lambda fn: 0.0 + self._interp_cr = _zero_cr if self.type == "keel": self._interp_cr = build_interp_func("rrk") if self.type == "bulb": self._interp_cr = build_interp_func("rrk", i=2) - def _cl(self, leeway): - return self.dclda * np.radians(leeway) - def _cr(self, fn): return self._interp_cr(max(0.0, min(fn, 0.6))) @@ -56,6 +76,21 @@ def _print(self): class Keel(Appendage): def __init__(self, Cu=1, Cl=1, Span=0): + """ + Trapezoidal keel appendage. + + Computes area, mean chord, span, volume, and centre of effort from + the root and tip chord lengths assuming a trapezoidal planform. + + Parameters + ---------- + Cu : float, optional + Root (upper) chord length (m). Default is 1. + Cl : float, optional + Tip (lower) chord length (m). Default is 1. + Span : float, optional + Keel span (m). Default is 0. + """ self.type = "keel" self.cu = Cu self.cl = Cl @@ -70,6 +105,18 @@ def __init__(self, Cu=1, Cl=1, Span=0): class Rudder(Appendage): def __init__(self, Cu=1, Cl=1, Span=0): + """ + Trapezoidal rudder appendage. + + Parameters + ---------- + Cu : float, optional + Root (upper) chord length (m). Default is 1. + Cl : float, optional + Tip (lower) chord length (m). Default is 1. + Span : float, optional + Rudder span (m). Default is 0. + """ self.type = "rudder" self.cu = Cu self.cl = Cl @@ -88,6 +135,23 @@ def _Ksff(self, phi): class Bulb(Appendage): def __init__(self, Chord, area, vol, CG): + """ + Keel bulb appendage. + + A non-lifting body attached to the keel tip. Contributes wetted + surface area and residuary resistance but no side force. + + Parameters + ---------- + Chord : float + Bulb chord length (m). + area : float + Wetted surface area (m^2). + vol : float + Displaced volume (m^3). + CG : float + Centre of gravity depth below waterline (m). + """ self.type = "bulb" self.chord = Chord self.area = area @@ -97,20 +161,98 @@ def __init__(self, Chord, area, vol, CG): super().__init__(self.type, self.chord, self.area, 0.0, self.vol, self.ce) +class ShortKeel(Appendage): + def __init__(self, Length=1.0, Depth=0.5, Tc_ratio=0.15): + """ + Short/integrated keel appendage. + + For traditional or hull-integrated keels with low aspect ratio. + Uses the Jones low-AR lift formula instead of Prandtl correction, + higher form drag, and zero appendage residuary resistance (hull + resistance surfaces capture it). + + Parameters + ---------- + Length : float + Fore-aft keel length along hull bottom (m). + Depth : float + Keel depth below canoe body (m). + Tc_ratio : float + Average thickness-to-chord ratio. Default 0.15. + """ + self.type = "short_keel" + self.length = Length + self.depth = Depth + self.tc_ratio = Tc_ratio + self.span = Depth + self.chord = Length + self.area = Length * Depth + self.ce = -Depth / 2.0 + self.cof = 1.4 + 0.5 * Tc_ratio + self.vol = Length * Depth * Length * Tc_ratio * 0.7 + super().__init__(self.type, self.chord, self.area, self.span, self.vol, self.ce) + # Override Prandtl lift model with Jones low-AR formula + ar = self.Ar + self.dclda = np.pi * ar / 2.0 + self.cla = self.dclda * self.area + self.teff = 1.5 * self.span + + class Yacht(object): def __init__(self, Name, Lwl, Vol, Bwl, Tc, WSA, Tmax, - Amax, Mass, Loa, Boa, Ff, Fa, App=[], Sails=[]): + Amax, Mass, Loa, Boa, Ff, Fa, App=[], Sails=[], GZ=None, crew_weight=None, + roughness=150e-6, Hs=0.0, Ts=0.0, wave_direction=None): """ - Name : Name of particular design - Lwl : waterline length (m) - Vol : volume of canoe body (m^3) - Bwl : waterline beam (m) - Tc : Canoe body draft (m) - WSA : Wetted surface area (m^2) - Tmax : Maximum draft of yacht (m) - Amax : Max section area (m^2) - Mass : total mass of the yacht (kg) - App : appendages (Appendages object as list, i.e [Keel(...)] ) + Yacht hull and rig definition. + + Parameters + ---------- + Name : str + Name of the yacht design. + Lwl : float + Waterline length (m). + Vol : float + Displaced volume of the canoe body (m^3). + Bwl : float + Waterline beam (m). + Tc : float + Canoe body draft (m). + WSA : float + Wetted surface area of the canoe body (m^2). + Tmax : float + Maximum draft including keel (m). + Amax : float + Maximum cross-section area (m^2). + Mass : float + Total displacement mass including keel (kg). + Loa : float + Length overall (m). + Boa : float + Beam overall (m). + Ff : float + Freeboard height at the bow (m). + Fa : float + Freeboard height at the stern (m). + App : list of Appendage, optional + Underwater appendages (keels, rudders, bulbs). Default is []. + Sails : list of Sail, optional + Sail inventory. Default is []. + GZ : dict, optional + Righting arm curve as ``{"Heel": [...], "GZ": [...]}``. + Heel in degrees, GZ in metres. If *None*, loads from + ``righting_moment.json`` (backward compatible). + crew_weight : float, optional + Total crew weight (kg). If *None*, uses empirical formula + ``25.8 * Lwl ** 1.4262``. + roughness : float, optional + Mean hull roughness height (m). Default 150e-6 (150 μm, + new antifouling paint). Set to 0 for a smooth hull. + Hs : float, optional + Significant wave height (m). Default 0.0 (flat water). + Ts : float, optional + Modal wave period (s). Default 0.0. + wave_direction : float or None, optional + Wave direction (degrees). If None, waves align with wind. """ self.g = 9.81 self.Name = Name @@ -131,7 +273,7 @@ def __init__(self, Name, Lwl, Vol, Bwl, Tc, WSA, Tmax, self.Rm4 = 0.43 * self.tmax # standard crew weight - self.cw = 25.8 * self.l ** 1.4262 + self.cw = crew_weight if crew_weight is not None else 25.8 * self.l ** 1.4262 self.carm = 0.8 * self.bmax # must be average of rail where crew sits # rough estimate of projected area of the hull @@ -139,10 +281,19 @@ def __init__(self, Name, Lwl, Vol, Bwl, Tc, WSA, Tmax, self.cla = self.area_proj * 2 * np.pi / (1.0 + 0.5 * self.area_proj / self.tc) self.teff = 2.07 * self.tc + # hull roughness and wave parameters + self.roughness = roughness + self.Hs = Hs + self.Ts = Ts + self.wave_direction = wave_direction + # appendages object self.appendages = App self.sails = Sails + # GZ data (righting arm curve) + self._gz_data = GZ + # righting moment interpolation function self._interp_rm = self._build_rm_interp() @@ -151,7 +302,10 @@ def __init__(self, Name, Lwl, Vol, Bwl, Tc, WSA, Tmax, def _build_rm_interp(self): - a = json_read('righting_moment') + if self._gz_data is not None: + a = self._gz_data + else: + a = json_read('righting_moment') return interpolate.interp1d(np.array(a["Heel"]), np.array(a["GZ"]), kind="linear", fill_value="extrapolate") diff --git a/tests/test_daring.py b/tests/test_daring.py new file mode 100644 index 0000000..1c9c775 --- /dev/null +++ b/tests/test_daring.py @@ -0,0 +1,160 @@ +import os + +import numpy as np +import pytest +from src.SailMod import Jib, Kite, Main +from src.VPPMod import VPP +from src.YachtMod import Keel, Rudder, ShortKeel, Yacht + + +# Daring GZ curve (estimated for classic 5.5m, ~50% ballast ratio, GM ~0.70m) +DARING_GZ = { + "Heel": [0.0, 10.0, 20.0, 30.0, 40.0, 50.0, 60.0], + "GZ": [0.000, 0.120, 0.230, 0.310, 0.350, 0.330, 0.260], +} + + +def return_daring(): + """Create Daring yacht with estimated 5.5m class parameters. + + Published values (classicsailboats.org / Cowes Classics): + LOA=9.90m, LWL=7.01m, Beam=1.98m, Draft=1.35m, + Displacement=2000kg, Upwind SA=29.73m² + + Estimated values are documented in docs/plans/2026-02-27-daring-vpp.md + """ + return Yacht( + Name="Daring", + Lwl=7.01, + Vol=1.95, + Bwl=1.70, + Tc=0.45, + WSA=11.5, + Tmax=1.35, + Amax=0.38, + Mass=2000, + Loa=9.90, + Boa=1.98, + Ff=0.75, + Fa=0.55, + App=[ + ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15), + Rudder(Cu=0.32, Cl=0.18, Span=0.75), + ], + Sails=[ + Main("MN1", P=10.80, E=3.30, Roach=0.1, BAD=0.80), + Jib("J1", I=8.50, J=2.70, LPG=2.70, HBI=0.50), + Kite("S1", area=50.0, vce=4.50), + ], + GZ=DARING_GZ, + crew_weight=240.0, + ) + + +def test_daring_vpp_runs(): + """Daring VPP should solve without errors across a range of conditions.""" + daring = return_daring() + vpp = VPP(Yacht=daring) + vpp.set_analysis( + tws_range=np.arange(6.0, 14.0, 2.0), + twa_range=np.linspace(35.0, 175.0, 15), + ) + vpp.run(verbose=False) + results = vpp.results() + assert results["name"] == "Daring" + assert len(results["tws"]) == 4 + + +def test_daring_boat_speed_sanity(): + """Daring should produce reasonable speeds: 3-7 knots in moderate wind.""" + daring = return_daring() + vpp = VPP(Yacht=daring) + vpp.set_analysis( + tws_range=np.array([10.0]), + twa_range=np.linspace(40.0, 160.0, 13), + ) + vpp.run(verbose=False) + results = np.array(vpp.results()["results"]) + max_speed = np.max(results[:, :, :, 0]) + assert 3.0 < max_speed < 7.0, f"Max speed {max_speed:.1f} kts outside expected range" + + +def test_daring_heel_limited(): + """With phi_max=30, no heel angle should exceed 30 degrees.""" + daring = return_daring() + vpp = VPP(Yacht=daring) + vpp.set_analysis( + tws_range=np.arange(8.0, 22.0, 4.0), + twa_range=np.linspace(35.0, 175.0, 15), + phi_max=30.0, + ) + vpp.run(verbose=False) + results = np.array(vpp.results()["results"]) + heel_angles = results[:, :, :, 1] + max_heel = np.max(heel_angles) + assert max_heel <= 31.0, f"Max heel {max_heel:.1f} exceeds phi_max=30" + + +def test_daring_depower_values_stored(): + """At high TWS with heel limit, flat/red should be < 1.0.""" + daring = return_daring() + vpp = VPP(Yacht=daring) + vpp.set_analysis( + tws_range=np.array([18.0]), + twa_range=np.array([60.0]), + phi_max=25.0, + ) + vpp.run(verbose=False) + results = np.array(vpp.results()["results"]) + flat = results[0, 0, 0, 3] + assert flat < 1.0, f"Expected depowering at 18 kts / 60 TWA, got flat={flat}" + + +def test_daring_polars_saved(tmp_path): + """Daring should produce polar plot and sail chart files.""" + daring = return_daring() + vpp = VPP(Yacht=daring) + vpp.set_analysis( + tws_range=np.arange(6.0, 14.0, 2.0), + twa_range=np.linspace(35.0, 175.0, 15), + ) + vpp.run(verbose=False) + + polar_path = str(tmp_path / "daring_polar.png") + sail_path = str(tmp_path / "daring_sail.png") + vpp.polar(3, True, fname=polar_path) + vpp.SailChart(True, fname=sail_path) + assert os.path.exists(polar_path), "Polar plot was not created" + assert os.path.exists(sail_path), "Sail chart was not created" + + +# --- ShortKeel-specific unit tests --- + +def test_short_keel_jones_lift_formula(): + """ShortKeel dclda should match Jones low-AR formula: pi*AR/2.""" + sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) + ar = sk.span / sk.area # = 0.90 / (1.2 * 0.90) + expected = np.pi * ar / 2.0 + assert abs(sk.dclda - expected) < 1e-10, f"dclda={sk.dclda}, expected={expected}" + + +def test_short_keel_no_appendage_residuary(): + """ShortKeel should return zero appendage residuary resistance.""" + sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) + for fn in [0.0, 0.2, 0.4, 0.6]: + assert sk._cr(fn) == 0.0, f"_cr({fn}) should be 0.0 for short_keel" + + +def test_short_keel_lower_lift_than_fin(): + """A ShortKeel with equivalent area should produce less lift than a fin Keel.""" + sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) + # Fin keel with similar area: chord ~0.575, span 0.90 -> area ~0.5175 + # Use root/tip that give similar area to short keel + fk = Keel(Cu=1.40, Cl=1.00, Span=0.90) # area = 1.08, same span + # At the same leeway, short keel should generate less lift coefficient + leeway_rad = np.radians(5.0) + cl_short = sk.dclda * leeway_rad + cl_fin = fk.dclda * leeway_rad + assert cl_short < cl_fin, ( + f"ShortKeel cl={cl_short:.4f} should be less than Keel cl={cl_fin:.4f}" + ) diff --git a/tests/test_yacht.py b/tests/test_yacht.py new file mode 100644 index 0000000..6c43d7b --- /dev/null +++ b/tests/test_yacht.py @@ -0,0 +1,47 @@ +import numpy as np +import pytest +from src.YachtMod import Yacht, Keel, Rudder +from src.SailMod import Main, Jib + + +def _minimal_yacht(**overrides): + """Create a minimal Yacht for testing with sensible defaults.""" + defaults = dict( + Name="TestYacht", Lwl=7.01, Vol=1.95, Bwl=1.70, Tc=0.45, + WSA=11.5, Tmax=1.35, Amax=0.38, Mass=2000, Loa=9.90, Boa=1.98, + Ff=0.75, Fa=0.55, + App=[Keel(Cu=0.70, Cl=0.45, Span=0.90), Rudder(Cu=0.32, Cl=0.18, Span=0.75)], + Sails=[Main("MN1", P=10.80, E=3.30, Roach=0.1, BAD=0.80), + Jib("J1", I=8.50, J=2.70, LPG=2.70, HBI=0.50)], + ) + defaults.update(overrides) + return Yacht(**defaults) + + +def test_yacht_accepts_gz_parameter(): + """Yacht should accept an optional gz dict to override the global file.""" + gz = {"Heel": [0, 10, 20, 30], "GZ": [0.0, 0.12, 0.23, 0.31]} + yacht = _minimal_yacht(GZ=gz) + rm_10 = yacht._get_RmH(10.0) + expected = 0.12 * 2000 * 9.81 + assert abs(rm_10 - expected) < 1.0 + + +def test_yacht_falls_back_to_file_when_no_gz(): + """When no GZ parameter given, should still load from file (backward compat).""" + yacht = _minimal_yacht() + rm_10 = yacht._get_RmH(10.0) + assert rm_10 > 0 + + +def test_yacht_accepts_crew_weight(): + """Yacht should accept an optional crew_weight to override the empirical formula.""" + yacht = _minimal_yacht(crew_weight=240.0) + assert yacht.cw == 240.0 + + +def test_yacht_default_crew_weight(): + """Without crew_weight param, should use empirical formula.""" + yacht = _minimal_yacht() + expected = 25.8 * 7.01 ** 1.4262 + assert abs(yacht.cw - expected) < 0.1 From aab8d20c6ab88ddab53ec0c01fe542c41b2bcb5b Mon Sep 17 00:00:00 2001 From: Thomas Dickson Date: Wed, 17 Jun 2026 20:44:33 +0100 Subject: [PATCH 04/21] feat: ShortKeel API detection and extended API tests --- src/api.py | 74 ++++++++++++++---- tests/test_api.py | 192 +++++++++++++++++++++++++++++++++++++++------- 2 files changed, 224 insertions(+), 42 deletions(-) diff --git a/src/api.py b/src/api.py index 14ad2f6..56a3867 100644 --- a/src/api.py +++ b/src/api.py @@ -13,7 +13,7 @@ sys.path.append(os.path.realpath(".")) from src.SailMod import Jib, Kite, Main from src.VPPMod import VPP -from src.YachtMod import Keel, Rudder, Yacht +from src.YachtMod import Keel, Rudder, ShortKeel, Yacht app = Flask(__name__) @@ -27,17 +27,35 @@ def ping(): def data_to_vpp(data: Dict[str, Any]) -> VPP: - - keel = Keel( - Cu=float(data["keel"]["Cu"]), - Cl=float(data["keel"]["Cl"]), - Span=float(data["keel"]["Span"]) - ) + + keel_data = data["keel"] + keel_type = keel_data.get("type", "fin") + # Also detect from keys if type is missing or inconsistent + if keel_type == "short" or "Length" in keel_data: + keel = ShortKeel( + Length=float(keel_data["Length"]), + Depth=float(keel_data["Depth"]), + Tc_ratio=float(keel_data.get("Tc_ratio", 0.15)), + ) + else: + keel = Keel( + Cu=float(keel_data["Cu"]), + Cl=float(keel_data["Cl"]), + Span=float(keel_data["Span"]), + ) rudder = Rudder( - Cu=float(data["rudder"]["Cu"]), - Cl=float(data["rudder"]["Cu"]), + Cu=float(data["rudder"]["Cu"]), + Cl=float(data["rudder"]["Cu"]), Span=float(data["rudder"]["Span"]) ) + # Environment parameters + roughness = float(data.get("roughness", 150e-6)) + Hs = float(data.get("Hs", 0.0)) + Ts = float(data.get("Ts", 0.0)) + wave_direction = data.get("wave_direction") + if wave_direction is not None: + wave_direction = float(wave_direction) + yacht = Yacht( Name=data["yacht"]["Name"], Lwl=float(data["yacht"]["Lwl"]), @@ -52,6 +70,10 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: Fa=float(data["yacht"]["Fa"]), Boa=float(data["yacht"]["Boa"]), Loa=float(data["yacht"]["Loa"]), + roughness=roughness, + Hs=Hs, + Ts=Ts, + wave_direction=wave_direction, App=[keel, rudder], Sails=[ Main( @@ -60,6 +82,10 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: E=float(data["main"]["E"]), Roach=float(data["main"]["Roach"]), BAD=float(data["main"]["BAD"]), + data_source=data.get("data_source", "orc"), + cl_data=data["main"].get("cl_data"), + cd_data=data["main"].get("cd_data"), + sail_type=data["main"].get("sail_type"), ), Jib( name=data["jib"]["Name"], @@ -67,32 +93,48 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: J=float(data["jib"]["J"]), LPG=float(data["jib"]["LPG"]), HBI=float(data["jib"]["HBI"]), + data_source=data.get("data_source", "orc"), + cl_data=data["jib"].get("cl_data"), + cd_data=data["jib"].get("cd_data"), + sail_type=data["jib"].get("sail_type"), ), Kite( name=data["kite"]["Name"], area=float(data["kite"]["area"]), vce=float(data["kite"]["vce"]), + data_source=data.get("data_source", "orc"), + cl_data=data["kite"].get("cl_data"), + cd_data=data["kite"].get("cd_data"), + sail_type=data["kite"].get("sail_type"), ), ], ) - + vpp = VPP(Yacht=yacht) vpp.set_analysis( tws_range=np.array(data["tws_range"]), twa_range=np.array(data["twa_range"]), ) - return vpp - + return vpp, data.get("method", "iterative") + @app.route("/api/vpp/", methods=["POST"]) def makevppresults(): data = request.get_json() + if data is None: + return jsonify({"error": "Request body must be valid JSON."}), 400 - # TODO: Support multiple implementations of different sails: require API design - # TODO: Error handling incorrect ranges + try: + vpp, method = data_to_vpp(data) + except (KeyError, TypeError, ValueError) as e: + logging.warning("Invalid VPP input: %s", e) + return jsonify({"error": f"Invalid input: {e}"}), 400 - vpp = data_to_vpp(data) - vpp.run(verbose=True) + try: + vpp.run(verbose=True, method=method) + except Exception as e: + logging.exception("VPP simulation failed") + return jsonify({"error": f"Simulation failed: {e}"}), 500 return jsonify(vpp.results()) diff --git a/tests/test_api.py b/tests/test_api.py index 53aab60..f1e068a 100644 --- a/tests/test_api.py +++ b/tests/test_api.py @@ -4,6 +4,9 @@ from src.api import app +HEADERS = {"content-type": "application/json", "Accept-Charset": "UTF-8"} + + def test_ping_route(): client = app.test_client() response = client.get("/ping") @@ -11,29 +14,27 @@ def test_ping_route(): assert response.data.decode("utf-8") == "Pong! The server is up and running." -def make_yd41(): - yacht = dict( - { - "Name": "YD41", - "Lwl": 11.90, - "Vol": 6.05, - "Bwl": 3.18, - "Tc": 0.4, - "WSA": 28.20, - "Tmax": 2.30, - "Amax": 1.051, - "Mass": 6500, - "Ff": 1.5, - "Fa": 1.5, - "Boa": 4.2, - "Loa": 12.5, - } - ) - keel = dict({"Cu": 1.00, "Cl": 0.78, "Span": 1.90}) - rudder = dict({"Cu": 0.48, "Cl": 0.22, "Span": 1.15}) - main = dict({"Name": "MN1", "P": 16.60, "E": 5.60, "Roach": 0.1, "BAD": 1.0}) - jib = dict({"Name": "J1", "I": 16.20, "J": 5.10, "LPG": 5.40, "HBI": 1.8}) - kite = dict({"Name": "A2", "area": 150.0, "vce": 9.55}) +def make_yd41(**overrides): + yacht = { + "Name": "YD41", + "Lwl": 11.90, + "Vol": 6.05, + "Bwl": 3.18, + "Tc": 0.4, + "WSA": 28.20, + "Tmax": 2.30, + "Amax": 1.051, + "Mass": 6500, + "Ff": 1.5, + "Fa": 1.5, + "Boa": 4.2, + "Loa": 12.5, + } + keel = {"Cu": 1.00, "Cl": 0.78, "Span": 1.90} + rudder = {"Cu": 0.48, "Cl": 0.22, "Span": 1.15} + main = {"Name": "MN1", "P": 16.60, "E": 5.60, "Roach": 0.1, "BAD": 1.0} + jib = {"Name": "J1", "I": 16.20, "J": 5.10, "LPG": 5.40, "HBI": 1.8} + kite = {"Name": "A2", "area": 150.0, "vce": 9.55} tws_range = np.arange(4.0, 7.0, 2.0).tolist() twa_range = np.linspace(30.0, 180.0, 5).tolist() @@ -48,17 +49,156 @@ def make_yd41(): "tws_range": tws_range, "twa_range": twa_range, } + d.update(overrides) return d +def post_vpp(data): + client = app.test_client() + return client.post("/api/vpp/", data=json.dumps(data), headers=HEADERS) + + def test_vpp_simulation(): d = make_yd41() + response = post_vpp(d) + assert response.status_code == 200 + + +def test_empty_tws_range_returns_400(): + d = make_yd41(tws_range=[]) + response = post_vpp(d) + assert response.status_code == 400 + assert "empty" in response.json["error"].lower() + + +def test_empty_twa_range_returns_400(): + d = make_yd41(twa_range=[]) + response = post_vpp(d) + assert response.status_code == 400 + assert "empty" in response.json["error"].lower() + + +def test_tws_out_of_range_returns_400(): + d = make_yd41(tws_range=[1.0, 5.0]) + response = post_vpp(d) + assert response.status_code == 400 + assert "outside valid bounds" in response.json["error"] + - json_string = json.dumps(d) - headers = {"content-type": "application/json", "Accept-Charset": "UTF-8"} +def test_tws_above_range_returns_400(): + d = make_yd41(tws_range=[10.0, 40.0]) + response = post_vpp(d) + assert response.status_code == 400 + assert "outside valid bounds" in response.json["error"] + +def test_twa_out_of_range_returns_400(): + d = make_yd41(twa_range=[-10.0, 90.0]) + response = post_vpp(d) + assert response.status_code == 400 + assert "outside valid bounds" in response.json["error"] + + +def test_missing_field_returns_400(): + d = make_yd41() + del d["keel"] + response = post_vpp(d) + assert response.status_code == 400 + assert "error" in response.json + + +def test_invalid_json_returns_400(): client = app.test_client() - response = client.post("/api/vpp/", data=json_string, headers=headers) + response = client.post("/api/vpp/", data="not json", headers=HEADERS) + assert response.status_code == 400 + + +def test_short_keel_with_type_field(): + """Short keel payload with explicit type='short' should succeed.""" + d = make_yd41() + d["keel"] = {"type": "short", "Length": 1.2, "Depth": 0.90, "Tc_ratio": 0.15} + response = post_vpp(d) + assert response.status_code == 200 + + +def test_short_keel_without_type_field(): + """Short keel payload detected from keys alone (no type field).""" + d = make_yd41() + d["keel"] = {"Length": 1.2, "Depth": 0.90, "Tc_ratio": 0.15} + response = post_vpp(d) + assert response.status_code == 200 + + +def test_fin_keel_with_type_field(): + """Fin keel payload with explicit type='fin' should succeed.""" + d = make_yd41() + d["keel"] = {"type": "fin", "Cu": 1.00, "Cl": 0.78, "Span": 1.90} + response = post_vpp(d) + assert response.status_code == 200 + + +def test_api_5dof_method(): + """API accepts method='5dof' and returns results.""" + d = make_yd41() + d["method"] = "5dof" + response = post_vpp(d) + assert response.status_code == 200 + results = np.array(response.json["results"]) + assert np.any(results[:, :, :, 0] > 0), "5-DOF should produce non-zero speeds" + + +def test_api_data_source(): + """API accepts data_source parameter.""" + d = make_yd41() + d["data_source"] = "orc" + response = post_vpp(d) + assert response.status_code == 200 + + +def test_api_sail_type_sym_kite(): + """API accepts sail_type in kite section and produces results.""" + d = make_yd41() + d["kite"]["sail_type"] = "sym_kite" + response = post_vpp(d) + assert response.status_code == 200 + results = np.array(response.json["results"]) + assert np.any(results[:, :, :, 0] > 0) + + +def test_api_sail_type_low_performance(): + """API accepts low-performance sail_type for main and jib.""" + d = make_yd41() + d["main"]["sail_type"] = "main_low" + d["jib"]["sail_type"] = "jib_low" + response = post_vpp(d) + assert response.status_code == 200 + results = np.array(response.json["results"]) + assert np.any(results[:, :, :, 0] > 0) + + +def test_api_roughness(): + """API accepts roughness parameter and rough hull is slower.""" + d_smooth = make_yd41(roughness=0.0) + d_rough = make_yd41(roughness=500e-6) + r_smooth = post_vpp(d_smooth) + r_rough = post_vpp(d_rough) + assert r_smooth.status_code == 200 + assert r_rough.status_code == 200 + speeds_smooth = np.array(r_smooth.json["results"])[:, :, :, 0].max() + speeds_rough = np.array(r_rough.json["results"])[:, :, :, 0].max() + assert speeds_smooth > speeds_rough, "Rough hull should be slower" + + +def test_api_wave_params(): + """API accepts Hs and Ts parameters.""" + d = make_yd41(Hs=1.0, Ts=6.0) + response = post_vpp(d) + assert response.status_code == 200 + +def test_api_wave_direction(): + """API accepts wave_direction parameter.""" + d = make_yd41(Hs=1.0, Ts=6.0, wave_direction=45.0) + response = post_vpp(d) assert response.status_code == 200 From b428e9dc7a56af8e50a2f3b62a19de64d113b357 Mon Sep 17 00:00:00 2001 From: marinlauber Date: Tue, 13 Oct 2026 13:34:43 +0200 Subject: [PATCH 05/21] docs: update install and run instructions for uv Co-Authored-By: Claude Opus 5.5 --- README.md | 43 +++++++++++++++++++++++++++++++++---------- 1 file changed, 33 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index d9c66a3..2f1d739 100644 --- a/README.md +++ b/README.md @@ -6,14 +6,35 @@ Please see the demo hosted at [https://yacht-vpp.streamlit.app/](https://yacht-v ## Using the code -To use the code, first clone or download this repository then install the required dependencies (see below). +The project is managed with [uv](https://docs.astral.sh/uv/). Install it once (see the [uv docs](https://docs.astral.sh/uv/getting-started/installation/) for other methods): + +```bash +curl -LsSf https://astral.sh/uv/install.sh | sh +``` + +Then clone the repository and install the dependencies into a local `.venv`: + +```bash +git clone https://github.com/marinlauber/Python-VPP.git +cd Python-VPP +uv sync +``` The main files that are used are `runVPP.py` and `righting_moment.json`. These have to be filled with the data of your boat. By default they are using the YD-41 (from Principle of Yacht Design). -The VPP is run with. +The VPP is run from the root of the repository with ```bash -$ python runVPP.py +uv run python runVPP.py +``` + +`VPP.set_analysis` takes an optional maximum heel angle (`phi_max`, default 35 degrees); above it the sails are flattened and then reefed. `VPP.run` accepts `method="iterative"` (default), `"parallel"` (same solver spread over all CPU cores) or `"5dof"` (constrained 5-DOF optimiser). + +To run the Streamlit demo locally: + +```bash +uv sync --extra demo --extra api +uv run streamlit run demos/Home.py ``` Once the code has run, it should generate the following figure (or a similar one) @@ -64,16 +85,18 @@ Follow the steps below to contribute to this project. ### Install dependencies -Install the project using [uv](https://docs.astral.sh/uv/): +Install the project with the development tools (pytest, ruff, mypy) and the API dependencies: ```bash -uv sync --extra dev +uv sync --extra dev --extra api ``` -If using `pip`: +Note that `uv sync` removes extras that are not listed, so pass every extra you need (or use `uv sync --all-extras`). + +If using `pip` instead: ```bash -pip install -e ".[dev]" +pip install -e ".[dev,api]" ``` ### Run tests @@ -83,13 +106,13 @@ Tests are implemented using [pytest](https://docs.pytest.org/en/8.0.x/). You can run tests with ```bash -pytest -vv +uv run pytest -vv ``` -You can run a benchmark against the YD-41 results from WinVPP by running the `benchmark.py` script. +You can run a benchmark against the YD-41 results from WinVPP by running the `benchmark.py` script (`-g` plots the polars, `-s` saves the results). ```bash -$ python benchmark/benchmark.py -g -o +uv run python benchmark/benchmark.py -g -s ``` ## Acknowledgements From bb7c70acf49c96dfb0f10a0a28892776e4f4a941 Mon Sep 17 00:00:00 2001 From: marinlauber Date: Tue, 13 Oct 2026 18:58:31 +0200 Subject: [PATCH 06/21] Remove Daring-specific example, tests and polar data ShortKeel stays as a generic low-aspect-ratio appendage; its unit tests move to test_yacht.py. Co-Authored-By: Claude Opus 5.5 --- dat/polars_Daring_5.5m.json | 1 - runDaring.py | 70 ---------------- tests/test_daring.py | 160 ------------------------------------ tests/test_yacht.py | 34 +++++++- 4 files changed, 33 insertions(+), 232 deletions(-) delete mode 100644 dat/polars_Daring_5.5m.json delete mode 100644 runDaring.py delete mode 100644 tests/test_daring.py diff --git a/dat/polars_Daring_5.5m.json b/dat/polars_Daring_5.5m.json deleted file mode 100644 index f980095..0000000 --- a/dat/polars_Daring_5.5m.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "Daring", "results": [[[[1.2254361364110362, 1.1205304315717708, 8.646916208050413, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[1.7194072304802177, 1.3160520855068498, 5.202205599112657, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.049998772779813, 1.4371328960879486, 3.995109897086957, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.2892182707766766, 1.50648241296533, 3.355842322995613, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.482994272846284, 1.545274885632866, 2.9237672403652493, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.640410725695732, 1.5603777155989353, 2.610050980923144, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.7727761703987412, 1.5575878154291465, 2.3629713860545025, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.8777058596565404, 1.5363490103574442, 2.165241810972713, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.958441126798166, 1.4990020072347607, 2.001044014793009, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.019475096060067, 1.4483168312716486, 1.8587563144510575, 1.0, 2.0], [2.560021946980627, 2.066701578558054, 3.4616422503305198, 1.0, 2.0]], [[3.0619375345570274, 1.3855871770414279, 1.732388301449776, 1.0, 2.0], [2.757797194372542, 2.156281785880404, 3.124911630010696, 1.0, 2.0]], [[3.085935824566328, 1.3119318228231651, 1.618242039052518, 1.0, 2.0], [2.9258010271389385, 2.2113730865038277, 2.8577298550782637, 1.0, 2.0]], [[3.0903129414119914, 1.2283875841694376, 1.5144731516783685, 1.0, 2.0], [3.067307352252179, 2.2310787180256613, 2.6319857267603077, 1.0, 2.0]], [[3.0788054845637047, 1.1366308079189573, 1.4150546788079343, 1.0, 2.0], [3.185151617603154, 2.2169745598301738, 2.432717589487536, 1.0, 2.0]], [[3.052061804483426, 1.0375512421174142, 1.316809998082596, 1.0, 2.0], [3.276717788219107, 2.1703177707252532, 2.25674661248869, 1.0, 2.0]], [[3.007918443844489, 0.93179828677709, 1.2187266680498974, 1.0, 2.0], [3.3458442398423944, 2.096461847488146, 2.0966857770592884, 1.0, 2.0]], [[2.9450446595864603, 0.8221643485719533, 1.121715691802899, 1.0, 2.0], [3.397277245601016, 2.002556607970123, 1.9481649848059615, 1.0, 2.0]], [[2.865819743888335, 0.7136919711715152, 1.0273607407811964, 1.0, 2.0], [3.432598457402484, 1.8929184133801717, 1.8092367467148334, 1.0, 2.0]], [[2.772777514543281, 0.6111300357110454, 0.9382522306289032, 1.0, 2.0], [3.4513149744215794, 1.7685759669180616, 1.6773358117535715, 1.0, 2.0]], [[2.670082441382429, 0.5178689124302976, 0.8555833181042202, 1.0, 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[[7.189419949763848, 5.8854060659773655, 1.5393382888665041, 1.0, 2.0], [8.806296376829623, 19.070904427210404, 2.749207632305507, 1.0, 2.0]], [[7.120852454105224, 5.468691872106864, 1.4351537216679122, 1.0, 2.0], [8.739859477351459, 16.231781093024395, 2.4494462725760946, 1.0, 2.0]], [[7.0576744529552204, 5.13609914437256, 1.3501702813542864, 1.0, 2.0], [8.654632993686494, 13.500137566484286, 2.1671513431383174, 1.0, 2.0]], [[7.001799168616514, 4.85971850659582, 1.2782833580268385, 1.0, 2.0], [8.554848837297085, 10.946174563964062, 1.9004282219433888, 1.0, 2.0]], [[6.95365097217417, 4.617472771577808, 1.2137075646869557, 1.0, 2.0], [8.442864742324128, 8.855332228203068, 1.6483365117502147, 1.0, 2.0]], [[6.912667039822334, 4.390890205473397, 1.1513087720166342, 1.0, 2.0], [8.313388581474689, 7.143642546910204, 1.4145485395728241, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [8.17683525726965, 5.907892258426841, 1.1963250986536198, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [8.030697679458036, 4.9571185617261255, 0.9971378531917371, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.86753704946749, 4.153075191628574, 0.8235626272153183, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.709008907235316, 3.462142609827311, 0.6781630457772098, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.562368546236133, 2.8773781914244716, 0.5636174067843639, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.43500450523736, 2.388893861263614, 0.4757517776897964, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.3318241783502955, 1.9958134114999928, 0.404748620281771, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.254012672010611, 1.6447939245277705, 0.3380392904337977, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.197390938677085, 1.3059491740756957, 0.2710225549861916, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.158410434693116, 0.9776067636858864, 0.2043205254461559, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.1346555595970145, 0.6680537625579663, 0.14033755808114648, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [7.125372518850474, 0.39085259904674036, 0.08238236864028278, 1.0, 2.0]]]], "sails": ["MN1 + J1", "MN1 + S1"], "twa": [28.0, 32.0, 36.0, 40.0, 44.0, 48.0, 52.0, 56.0, 60.0, 64.0, 68.0, 72.0, 76.0, 80.0, 84.0, 88.0, 92.0, 96.0, 100.0, 104.0, 108.0, 112.0, 116.0, 120.0, 124.0, 128.0, 132.0, 136.0, 140.0, 144.0, 148.0, 152.0, 156.0, 160.0, 164.0, 168.0, 172.0, 176.0, 180.0], "tws": [2.0576, 3.0864, 4.1152, 5.144, 6.1728, 7.201599999999999, 8.2304, 9.2592, 10.288]} \ No newline at end of file diff --git a/runDaring.py b/runDaring.py deleted file mode 100644 index 915306e..0000000 --- a/runDaring.py +++ /dev/null @@ -1,70 +0,0 @@ -#!/usr/bin/env python3 -""" -Velocity Prediction Program for the Daring sailing yacht. - -The Daring is a one-design keelboat designed by Arthur Robb, based on -his 5.5 Metre class yacht "Vision" (1956 Olympic silver medal). - -Published specifications (classicsailboats.org): - LOA: 9.90m | LWL: 7.01m | Beam: 1.98m | Draft: 1.35m - Displacement: 2000 kg | Upwind sail area: 29.73 m² - -Estimated parameters are documented in docs/plans/2026-02-27-daring-vpp.md. -All estimates are marked and can be refined with actual measurements. -""" -import logging - -import numpy as np - -from src.SailMod import Jib, Kite, Main -from src.VPPMod import VPP -from src.YachtMod import Rudder, ShortKeel, Yacht - -logging.basicConfig(level=logging.INFO) - -# --- Estimated GZ curve for classic 5.5m --- -# GM ~0.70m, ~50% ballast ratio, narrow beam (1.98m) -# See docs/plans/2026-02-27-daring-vpp.md for derivation -DARING_GZ = { - "Heel": [0.0, 10.0, 20.0, 30.0, 40.0, 50.0, 60.0], - "GZ": [0.000, 0.120, 0.230, 0.310, 0.350, 0.330, 0.260], -} - -Daring = Yacht( - Name="Daring", - Lwl=7.01, # (published) waterline length - Vol=1.95, # (estimated) 2000kg / 1025 kg/m³ - Bwl=1.70, # (estimated) ~86% of Boa - Tc=0.45, # (estimated) canoe body draft - WSA=11.5, # (estimated) Delf series for narrow hull - Tmax=1.35, # (published) max draft incl. keel - Amax=0.38, # (estimated) Bwl × Tc × Cm(0.50) - Mass=2000, # (published) total displacement - Loa=9.90, # (published) length overall - Boa=1.98, # (published) beam overall - Ff=0.75, # (estimated) freeboard fore - Fa=0.55, # (estimated) freeboard aft - App=[ - ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15), # hull-integrated keel - Rudder(Cu=0.32, Cl=0.18, Span=0.75), # (estimated) separated rudder - ], - Sails=[ - Main("MN1", P=10.80, E=3.30, Roach=0.1, BAD=0.80), # (est.) ~19.6 m² - Jib("J1", I=8.50, J=2.70, LPG=2.70, HBI=0.50), # (est.) ~11.5 m² - Kite("S1", area=50.0, vce=4.50), # (est.) symmetric kite - ], - GZ=DARING_GZ, - crew_weight=240.0, # 3 crew × 80 kg -) - -vpp = VPP(Yacht=Daring) - -vpp.set_analysis( - tws_range=np.arange(4.0, 22.0, 2.0), - twa_range=np.linspace(30.0, 180.0, 31), -) - -vpp.run(verbose=False) -vpp.write("results_daring") -vpp.polar(3, True) -vpp.SailChart(True) diff --git a/tests/test_daring.py b/tests/test_daring.py deleted file mode 100644 index 1c9c775..0000000 --- a/tests/test_daring.py +++ /dev/null @@ -1,160 +0,0 @@ -import os - -import numpy as np -import pytest -from src.SailMod import Jib, Kite, Main -from src.VPPMod import VPP -from src.YachtMod import Keel, Rudder, ShortKeel, Yacht - - -# Daring GZ curve (estimated for classic 5.5m, ~50% ballast ratio, GM ~0.70m) -DARING_GZ = { - "Heel": [0.0, 10.0, 20.0, 30.0, 40.0, 50.0, 60.0], - "GZ": [0.000, 0.120, 0.230, 0.310, 0.350, 0.330, 0.260], -} - - -def return_daring(): - """Create Daring yacht with estimated 5.5m class parameters. - - Published values (classicsailboats.org / Cowes Classics): - LOA=9.90m, LWL=7.01m, Beam=1.98m, Draft=1.35m, - Displacement=2000kg, Upwind SA=29.73m² - - Estimated values are documented in docs/plans/2026-02-27-daring-vpp.md - """ - return Yacht( - Name="Daring", - Lwl=7.01, - Vol=1.95, - Bwl=1.70, - Tc=0.45, - WSA=11.5, - Tmax=1.35, - Amax=0.38, - Mass=2000, - Loa=9.90, - Boa=1.98, - Ff=0.75, - Fa=0.55, - App=[ - ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15), - Rudder(Cu=0.32, Cl=0.18, Span=0.75), - ], - Sails=[ - Main("MN1", P=10.80, E=3.30, Roach=0.1, BAD=0.80), - Jib("J1", I=8.50, J=2.70, LPG=2.70, HBI=0.50), - Kite("S1", area=50.0, vce=4.50), - ], - GZ=DARING_GZ, - crew_weight=240.0, - ) - - -def test_daring_vpp_runs(): - """Daring VPP should solve without errors across a range of conditions.""" - daring = return_daring() - vpp = VPP(Yacht=daring) - vpp.set_analysis( - tws_range=np.arange(6.0, 14.0, 2.0), - twa_range=np.linspace(35.0, 175.0, 15), - ) - vpp.run(verbose=False) - results = vpp.results() - assert results["name"] == "Daring" - assert len(results["tws"]) == 4 - - -def test_daring_boat_speed_sanity(): - """Daring should produce reasonable speeds: 3-7 knots in moderate wind.""" - daring = return_daring() - vpp = VPP(Yacht=daring) - vpp.set_analysis( - tws_range=np.array([10.0]), - twa_range=np.linspace(40.0, 160.0, 13), - ) - vpp.run(verbose=False) - results = np.array(vpp.results()["results"]) - max_speed = np.max(results[:, :, :, 0]) - assert 3.0 < max_speed < 7.0, f"Max speed {max_speed:.1f} kts outside expected range" - - -def test_daring_heel_limited(): - """With phi_max=30, no heel angle should exceed 30 degrees.""" - daring = return_daring() - vpp = VPP(Yacht=daring) - vpp.set_analysis( - tws_range=np.arange(8.0, 22.0, 4.0), - twa_range=np.linspace(35.0, 175.0, 15), - phi_max=30.0, - ) - vpp.run(verbose=False) - results = np.array(vpp.results()["results"]) - heel_angles = results[:, :, :, 1] - max_heel = np.max(heel_angles) - assert max_heel <= 31.0, f"Max heel {max_heel:.1f} exceeds phi_max=30" - - -def test_daring_depower_values_stored(): - """At high TWS with heel limit, flat/red should be < 1.0.""" - daring = return_daring() - vpp = VPP(Yacht=daring) - vpp.set_analysis( - tws_range=np.array([18.0]), - twa_range=np.array([60.0]), - phi_max=25.0, - ) - vpp.run(verbose=False) - results = np.array(vpp.results()["results"]) - flat = results[0, 0, 0, 3] - assert flat < 1.0, f"Expected depowering at 18 kts / 60 TWA, got flat={flat}" - - -def test_daring_polars_saved(tmp_path): - """Daring should produce polar plot and sail chart files.""" - daring = return_daring() - vpp = VPP(Yacht=daring) - vpp.set_analysis( - tws_range=np.arange(6.0, 14.0, 2.0), - twa_range=np.linspace(35.0, 175.0, 15), - ) - vpp.run(verbose=False) - - polar_path = str(tmp_path / "daring_polar.png") - sail_path = str(tmp_path / "daring_sail.png") - vpp.polar(3, True, fname=polar_path) - vpp.SailChart(True, fname=sail_path) - assert os.path.exists(polar_path), "Polar plot was not created" - assert os.path.exists(sail_path), "Sail chart was not created" - - -# --- ShortKeel-specific unit tests --- - -def test_short_keel_jones_lift_formula(): - """ShortKeel dclda should match Jones low-AR formula: pi*AR/2.""" - sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) - ar = sk.span / sk.area # = 0.90 / (1.2 * 0.90) - expected = np.pi * ar / 2.0 - assert abs(sk.dclda - expected) < 1e-10, f"dclda={sk.dclda}, expected={expected}" - - -def test_short_keel_no_appendage_residuary(): - """ShortKeel should return zero appendage residuary resistance.""" - sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) - for fn in [0.0, 0.2, 0.4, 0.6]: - assert sk._cr(fn) == 0.0, f"_cr({fn}) should be 0.0 for short_keel" - - -def test_short_keel_lower_lift_than_fin(): - """A ShortKeel with equivalent area should produce less lift than a fin Keel.""" - sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) - # Fin keel with similar area: chord ~0.575, span 0.90 -> area ~0.5175 - # Use root/tip that give similar area to short keel - fk = Keel(Cu=1.40, Cl=1.00, Span=0.90) # area = 1.08, same span - # At the same leeway, short keel should generate less lift coefficient - leeway_rad = np.radians(5.0) - cl_short = sk.dclda * leeway_rad - cl_fin = fk.dclda * leeway_rad - assert cl_short < cl_fin, ( - f"ShortKeel cl={cl_short:.4f} should be less than Keel cl={cl_fin:.4f}" - ) diff --git a/tests/test_yacht.py b/tests/test_yacht.py index 6c43d7b..dda3403 100644 --- a/tests/test_yacht.py +++ b/tests/test_yacht.py @@ -1,6 +1,6 @@ import numpy as np import pytest -from src.YachtMod import Yacht, Keel, Rudder +from src.YachtMod import Yacht, Keel, Rudder, ShortKeel from src.SailMod import Main, Jib @@ -45,3 +45,35 @@ def test_yacht_default_crew_weight(): yacht = _minimal_yacht() expected = 25.8 * 7.01 ** 1.4262 assert abs(yacht.cw - expected) < 0.1 + + +# --- ShortKeel-specific unit tests --- + +def test_short_keel_jones_lift_formula(): + """ShortKeel dclda should match Jones low-AR formula: pi*AR/2.""" + sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) + ar = sk.span / sk.area # = 0.90 / (1.2 * 0.90) + expected = np.pi * ar / 2.0 + assert abs(sk.dclda - expected) < 1e-10, f"dclda={sk.dclda}, expected={expected}" + + +def test_short_keel_no_appendage_residuary(): + """ShortKeel should return zero appendage residuary resistance.""" + sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) + for fn in [0.0, 0.2, 0.4, 0.6]: + assert sk._cr(fn) == 0.0, f"_cr({fn}) should be 0.0 for short_keel" + + +def test_short_keel_lower_lift_than_fin(): + """A ShortKeel with equivalent area should produce less lift than a fin Keel.""" + sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) + # Fin keel with similar area: chord ~0.575, span 0.90 -> area ~0.5175 + # Use root/tip that give similar area to short keel + fk = Keel(Cu=1.40, Cl=1.00, Span=0.90) # area = 1.08, same span + # At the same leeway, short keel should generate less lift coefficient + leeway_rad = np.radians(5.0) + cl_short = sk.dclda * leeway_rad + cl_fin = fk.dclda * leeway_rad + assert cl_short < cl_fin, ( + f"ShortKeel cl={cl_short:.4f} should be less than Keel cl={cl_fin:.4f}" + ) From c42a3270df9bcaaa0a29a2f4cd251f9a7785e015 Mon Sep 17 00:00:00 2001 From: marinlauber Date: Tue, 13 Oct 2026 19:00:30 +0200 Subject: [PATCH 07/21] Remove unused polars_YD41.json results file Co-Authored-By: Claude Opus 5.5 --- dat/polars_YD41.json | 1 - 1 file changed, 1 deletion(-) delete mode 100644 dat/polars_YD41.json diff --git a/dat/polars_YD41.json b/dat/polars_YD41.json deleted file mode 100644 index d6a3bd5..0000000 --- a/dat/polars_YD41.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "YD41", "results": [[[[1.466443204466604, 1.9687236635422556, 9.744372563963667, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.1720303711293996, 2.453096912515347, 5.531985750853971, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.5805310238664863, 2.7313866252033225, 4.376929495858492, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[2.9039146927016426, 2.9146670952734364, 3.7112808645435815, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.1746678038633656, 3.0329197656697455, 3.249206904895008, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.3959354436770393, 3.0945444851968564, 2.90740737260603, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.5826369069803463, 3.117805068964392, 2.63645809828962, 1.0, 2.0], [0.0, 0.0, 0.0, 0.0, 0.0]], [[3.7340452396056336, 3.107194968776223, 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2.4547442439101457, 0.62, 1.3999999999999995], [2.8253736605184056e-09, 33.76485334272993, 5.999999932332612, 0.62, 0.49999999999999867]], [[10.676421509842864, 33.54940179704009, 2.2477679922697384, 0.62, 1.6999999999999997], [2.9544519089796135e-12, 33.74619427921682, 5.583272533244793, 0.62, 0.5999999999999988]], [[10.720808104729588, 32.13802354049996, 2.065915074000696, 0.62, 1.9], [3.0473582797075607, 34.99999999999999, 5.999999999999999, 0.62, 0.49999999999999867]], [[11.45599392524277, 33.7389726235075, 1.9688655293254054, 0.6799999999999997, 2.0], [3.6378652937562532, 34.99999999999999, 5.999999999999999, 0.62, 0.49999999999999867]], [[12.250556921356123, 33.418879868117514, 1.854973315692043, 0.7599999999999998, 2.0], [4.310046427816248, 34.99999999999999, 5.999999999999999, 0.62, 0.49999999999999867]], [[13.161031341090673, 33.6278079062252, 1.76402346825213, 0.8599999999999999, 2.0], [5.032085081772627, 34.99999999999988, 5.999999999999995, 0.62, 0.49999999999999867]], [[13.86984817546222, 33.155976657583444, 1.6992166405321538, 0.96, 2.0], [5.810769571274297, 34.99999999999999, 5.999999999999909, 0.62, 0.49999999999999867]], [[13.711828195684722, 28.953263162628684, 1.4289476932875935, 1.0, 2.0], [6.674888678600625, 34.99999999999999, 5.999999999997529, 0.62, 0.49999999999999867]], [[13.101941589687918, 23.58451450081377, 1.3410302073621188, 1.0, 2.0], [8.83564284416122, 34.99999999999999, 2.709477786062981, 0.62, 0.49999999999999867]], [[12.49145344688311, 18.821865424090323, 1.270809460216882, 1.0, 2.0], [10.093526995690413, 34.99999999999999, 2.398327331230622, 0.62, 0.49999999999999867]], [[11.882294677741342, 15.369813924906738, 1.2019990387891095, 1.0, 2.0], [11.08467341446687, 33.71517484040477, 2.1150495554609012, 0.62, 0.49999999999999867]], [[11.31892479956128, 12.416630458868287, 1.1330506681757144, 1.0, 2.0], [11.578766841465791, 31.98183333706307, 1.897059003500423, 0.62, 0.6999999999999988]], [[10.812990403235046, 10.007115041883614, 1.0667380683008485, 1.0, 2.0], [12.122159885998023, 31.163168090602415, 1.704652446785871, 0.62, 0.899999999999999]], [[10.371803151717254, 8.45015384040974, 1.0062642685022107, 1.0, 2.0], [13.76470627507998, 33.80537215739341, 1.4483828546223338, 0.7599999999999998, 2.0]], [[10.000727083460228, 7.286646881361432, 0.9565511895985728, 1.0, 2.0], [14.93151609183371, 33.5209880009196, 1.2772909363285216, 0.9199999999999999, 2.0]], [[9.696359239362293, 6.535431129641379, 0.9148258957023293, 1.0, 2.0], [15.032490085479807, 28.762730055770966, 1.0135742975832862, 1.0, 2.0]], [[9.44914504005159, 6.014697420729558, 0.8773200357578451, 1.0, 2.0], [14.305096835659814, 21.0895170579466, 0.8979197083489541, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [13.554914749396987, 15.370842300432873, 0.7914619595933842, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [12.828569826995205, 10.716353416978224, 0.6842972033734672, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [12.136640779702068, 7.479499489608849, 0.5762933658339603, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [11.488904024518995, 5.560331802984953, 0.47134416630040515, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [10.895914462151044, 4.324242343730937, 0.37709150657605084, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [10.387152683096346, 3.4013232649455865, 0.3028562395161779, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.98456744290421, 2.704999553460147, 0.24993442581215106, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.690443857500581, 2.152655370456471, 0.20907496892267335, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.488708201436634, 1.66843242487284, 0.16802497427558158, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.3584196509167, 1.2064707358314788, 0.12442759307136363, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.282249666707768, 0.7753847486734907, 0.08114834346511057, 1.0, 2.0]], [[0.0, 0.0, 0.0, 0.0, 0.0], [9.254015807384794, 0.40128013863358475, 0.04227109633981996, 1.0, 2.0]]]], "sails": ["MN1 + J1", "MN1 + A2"], "twa": [28.0, 32.0, 36.0, 40.0, 44.0, 48.0, 52.0, 56.0, 60.0, 64.0, 68.0, 72.0, 76.0, 80.0, 84.0, 88.0, 92.0, 96.0, 100.0, 104.0, 108.0, 112.0, 116.0, 120.0, 124.0, 128.0, 132.0, 136.0, 140.0, 144.0, 148.0, 152.0, 156.0, 160.0, 164.0, 168.0, 172.0, 176.0, 180.0], "tws": [2.0576, 3.0864, 4.1152, 5.144, 6.1728, 7.201599999999999, 8.2304, 9.2592, 10.288]} \ No newline at end of file From 148bce27a167ee88bb979b0999b45e4b72dbc981 Mon Sep 17 00:00:00 2001 From: marinlauber Date: Wed, 14 Oct 2026 17:55:01 +0200 Subject: [PATCH 08/21] fix: default hull roughness to smooth, as in the ORC VPP The ITTC 1978 roughness allowance is calibrated on ships; at 150 um it added ~80% to the friction of a 12 m yacht and slowed light-air speeds by 1-1.5 kn versus master and WinVPP. The ORC VPP has no roughness term, so default to 0 (Yacht and API) and keep it as an opt-in. Also use the passed length in the allowance (appendages used the hull length) and label the friction line as Hughes, which is what it is. Co-Authored-By: Claude Opus 5.5 --- src/HydroMod.py | 9 +++++---- src/YachtMod.py | 8 +++++--- src/api.py | 2 +- tests/test_hydro.py | 23 +++++++++++++++++++---- 4 files changed, 30 insertions(+), 12 deletions(-) diff --git a/src/HydroMod.py b/src/HydroMod.py index bcc69c0..75246f7 100644 --- a/src/HydroMod.py +++ b/src/HydroMod.py @@ -141,9 +141,10 @@ def _get_Ri(self): def _cf(self, L): """ - Flat plate turbulent boundary layer friction coefficient (ITTC 1957) - with ITTC 1978 roughness allowance. Takes a length scale so it can - be used for hull and appendages. + Flat plate turbulent boundary layer friction coefficient (Hughes line, + as in the ORC VPP since 2013) with optional ITTC 1978 roughness + allowance. Takes a length scale so it can be used for hull and + appendages. """ Re = max( 1e4, self.vb * L / self.nu @@ -151,7 +152,7 @@ def _cf(self, L): cf = 0.066 * (np.log10(Re) - 2.03) ** (-2) ks = self.yacht.roughness if ks > 0: - cf += (105.0 * (ks / self.l) ** (1.0 / 3.0) - 0.64) * 1e-3 + cf += (105.0 * (ks / L) ** (1.0 / 3.0) - 0.64) * 1e-3 return cf def _added_resistance_waves(self, twa): diff --git a/src/YachtMod.py b/src/YachtMod.py index ac2ccc2..12377fe 100644 --- a/src/YachtMod.py +++ b/src/YachtMod.py @@ -201,7 +201,7 @@ def __init__(self, Length=1.0, Depth=0.5, Tc_ratio=0.15): class Yacht(object): def __init__(self, Name, Lwl, Vol, Bwl, Tc, WSA, Tmax, Amax, Mass, Loa, Boa, Ff, Fa, App=[], Sails=[], GZ=None, crew_weight=None, - roughness=150e-6, Hs=0.0, Ts=0.0, wave_direction=None): + roughness=0.0, Hs=0.0, Ts=0.0, wave_direction=None): """ Yacht hull and rig definition. @@ -245,8 +245,10 @@ def __init__(self, Name, Lwl, Vol, Bwl, Tc, WSA, Tmax, Total crew weight (kg). If *None*, uses empirical formula ``25.8 * Lwl ** 1.4262``. roughness : float, optional - Mean hull roughness height (m). Default 150e-6 (150 μm, - new antifouling paint). Set to 0 for a smooth hull. + Mean hull roughness height (m) for the optional ITTC 1978 + roughness allowance. Default 0.0 (hydrodynamically smooth, as in + the ORC VPP). The allowance was calibrated on ships and adds + ~80% to the friction of a 12 m yacht at 150e-6, so use with care. Hs : float, optional Significant wave height (m). Default 0.0 (flat water). Ts : float, optional diff --git a/src/api.py b/src/api.py index 56a3867..af2a5bf 100644 --- a/src/api.py +++ b/src/api.py @@ -49,7 +49,7 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: Span=float(data["rudder"]["Span"]) ) # Environment parameters - roughness = float(data.get("roughness", 150e-6)) + roughness = float(data.get("roughness", 0.0)) Hs = float(data.get("Hs", 0.0)) Ts = float(data.get("Ts", 0.0)) wave_direction = data.get("wave_direction") diff --git a/tests/test_hydro.py b/tests/test_hydro.py index 2c57a37..0837a25 100644 --- a/tests/test_hydro.py +++ b/tests/test_hydro.py @@ -49,19 +49,19 @@ def test_roughness_increases_resistance(self): assert Fx_rough > Fx_smooth, "Rough hull should have more resistance" def test_zero_roughness_gives_smooth_cf(self): - """Zero roughness should give bare ITTC 1957 Cf (no allowance).""" + """Zero roughness should give bare Hughes-line Cf (no allowance).""" yacht = _make_yacht(roughness=0.0) hydro = HydroMod(yacht) hydro.vb = 3.0 cf = hydro._cf(hydro.l) - # ITTC 1957 only + # Hughes line only Re = 3.0 * hydro.l / hydro.nu cf_expected = 0.066 * (np.log10(Re) - 2.03) ** (-2) assert abs(cf - cf_expected) < 1e-10 - def test_default_roughness_adds_allowance(self): - """Default 150 μm roughness should add positive Cf allowance.""" + def test_roughness_adds_allowance(self): + """150 μm roughness should add positive Cf allowance.""" yacht = _make_yacht(roughness=150e-6) hydro = HydroMod(yacht) hydro.vb = 3.0 @@ -127,3 +127,18 @@ def test_flat_water_unchanged(self): # With no waves, twa shouldn't matter for resistance assert abs(Fx_flat - Fx_no_twa) < 1e-6 + + def test_default_roughness_is_smooth(self): + """Default hull is smooth (no roughness allowance), as in the ORC VPP.""" + assert _make_yacht().roughness == 0.0 + + def test_roughness_allowance_uses_given_length(self): + """The roughness allowance scales with the length passed in (hull or appendage chord).""" + yacht = _make_yacht(roughness=150e-6) + hydro = HydroMod(yacht) + hydro.vb = 3.0 + smooth = HydroMod(_make_yacht(roughness=0.0)) + smooth.vb = 3.0 + for L in [hydro.l, 1.0]: + dcf = hydro._cf(L) - smooth._cf(L) + assert abs(dcf - (105.0 * (150e-6 / L) ** (1.0 / 3.0) - 0.64) * 1e-3) < 1e-12 From 65ecd4a51b50e65d47f8797efd8b6e44df856738 Mon Sep 17 00:00:00 2001 From: marinlauber Date: Wed, 14 Oct 2026 18:29:03 +0200 Subject: [PATCH 09/21] fix: don't pad polar curves over unsolved sail points _get_cross padded each sail's fastest-TWA range by two indices, which could reach TWAs where the sail is skipped (e.g. kites at TWA <= lim_up) and still stores zeros, so the curve dropped to the origin (MN1 + A5 at 18 kn in runVPP). Only pad over points with a non-zero speed, and make the upper padding match the lower one. Co-Authored-By: Claude Opus 5.5 --- src/UtilsMod.py | 13 ++++++++----- tests/test_utils.py | 26 ++++++++++++++++++++++++++ 2 files changed, 34 insertions(+), 5 deletions(-) diff --git a/src/UtilsMod.py b/src/UtilsMod.py index 97dcce5..6677ec3 100644 --- a/src/UtilsMod.py +++ b/src/UtilsMod.py @@ -116,11 +116,14 @@ def _get_cross(dat, n, pad=2): """ max_ = np.where(dat[:, n, 0] >= np.max(dat[:, :, 0], axis=1))[0] if len(max_) > 0: - idx = np.array( - [max(min(max_) - pad, 0), min(max(max_) + pad, len(dat[:, n, 0]))], - dtype=int, - ) - return idx + lo, hi = min(max_), max(max_) + 1 + # only pad over points that were solved for this sail (skipped ones are 0) + for _ in range(pad): + if lo > 0 and dat[lo - 1, n, 0] > 0: + lo -= 1 + if hi < len(dat) and dat[hi, n, 0] > 0: + hi += 1 + return np.array([lo, hi], dtype=int) else: return np.array([0, 0]) diff --git a/tests/test_utils.py b/tests/test_utils.py index 80d65c6..e059ae8 100644 --- a/tests/test_utils.py +++ b/tests/test_utils.py @@ -1,4 +1,7 @@ +import numpy as np + from src.SailMod import Jib, Kite, Main +from src.UtilsMod import _get_cross from src.YachtMod import Keel, Rudder, Yacht @@ -27,3 +30,26 @@ def return_YD41_particulars(): ], ) return YD41 + + +def _cross_store(): + """Store (ntwa=8, nsails=2, nvars=1): sail 1 is skipped (0) at the first 3 TWAs.""" + dat = np.zeros((8, 2, 1)) + dat[:, 0, 0] = [6.0, 7.0, 8.0, 8.0, 7.0, 6.0, 5.0, 4.0] + dat[:, 1, 0] = [0.0, 0.0, 0.0, 7.5, 7.5, 7.0, 6.0, 5.0] + return dat + + +def test_get_cross_pad_skips_unsolved_points(): + """Padding must not extend a sail's range over points it was not solved at.""" + lo, hi = _get_cross(_cross_store(), 1, pad=2) + assert (lo, hi) == (3, 8) # fastest from index 4; index 3 is solved, 1-2 are not + + +def test_get_cross_pad_is_symmetric(): + lo, hi = _get_cross(_cross_store(), 0, pad=2) + assert (lo, hi) == (0, 6) # fastest at 0-3, plus two points after + + +def test_get_cross_no_pad(): + assert tuple(_get_cross(_cross_store(), 1, pad=0)) == (4, 8) From fd460a3f51ea3451b4ba10f1bf70fcf3f6ec7056 Mon Sep 17 00:00:00 2001 From: marinlauber Date: Wed, 14 Oct 2026 18:53:06 +0200 Subject: [PATCH 10/21] fix: realistic A5 dimensions in the YD-41 example The A5 had vce=2.75 m (the A2 is 9.55 m; ORC gives ~0.565*ISP), so it produced under a third of the heeling moment and won down to 64 deg TWA in a breeze. Use area=110 m^2, vce=9.0 m, which restricts it to the ~100-125 deg heavy-air reaching band. Regenerate the example outputs and the README figure. 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Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8), Kite("A2", area=150.0, vce=9.55), - Kite("A5", area=75.0, vce=2.75), + Kite("A5", area=110.0, vce=9.0), ], ) return YD41 From 3a56892a94a27daa3804ae5297bf11d3653ff168 Mon Sep 17 00:00:00 2001 From: marinlauber Date: Wed, 14 Oct 2026 19:49:44 +0200 Subject: [PATCH 11/21] fix: keep rudder side-force factor at 2 above 30 deg heel Rudder._Ksff ramped from 1 to 2 up to 30 deg heel and then dropped back to 1, halving the rudder lift slope past 30 deg. The jump made the equilibrium discontinuous and trapped the optimiser at exactly 30 deg. Co-Authored-By: Claude Opus 5.5 --- src/YachtMod.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/YachtMod.py b/src/YachtMod.py index 12377fe..30ca026 100644 --- a/src/YachtMod.py +++ b/src/YachtMod.py @@ -130,7 +130,7 @@ def __init__(self, Cu=1, Cl=1, Span=0): def _Ksff(self, phi): # rudder influence gradually ramped up to twice its area - return np.where(phi <= 30, 1 + 0.5 * (1 - np.cos(phi / 30.0 * np.pi)), 1.0) + return np.where(phi <= 30, 1 + 0.5 * (1 - np.cos(phi / 30.0 * np.pi)), 2.0) class Bulb(Appendage): From b7656935be0d338f9579ad18e224e469e67d4d0b Mon Sep 17 00:00:00 2001 From: marinlauber Date: Wed, 14 Oct 2026 19:49:44 +0200 Subject: [PATCH 12/21] feat: maximise boat speed over depowering with SLSQP Replace the flatten-then-reef heuristic with a single point solver that maximises boat speed over [vb, phi, leeway, flat, red] subject to scaled, unsquared force/moment equilibrium and phi <= phi_max. The old solver took the first setting under the heel limit rather than the fastest one, so boat speed could drop as TWS rose (up to 0.6 kn at 14->16 kn), and it stored non-equilibrium points. - warm start along TWA, keep the fastest converged guess - check convergence; sail sets that cannot be carried are left at 0 - sequential and parallel share the same row solver (identical results) - 'iterative' and '5dof' remain as aliases of 'sequential' - drop tqdm, no longer used - tests: speed monotonic in TWS, stored points in equilibrium, infeasible kite left unsolved Co-Authored-By: Claude Opus 5.5 --- Figure.png | Bin 217054 -> 209041 bytes Polars.png | Bin 217054 -> 209041 bytes README.md | 2 +- SailChart.png | Bin 57868 -> 57731 bytes pyproject.toml | 1 - results.json | 6522 ++++++++++++++++++++++----------------------- src/VPPMod.py | 421 +-- src/api.py | 2 +- tests/test_api.py | 4 +- tests/test_vpp.py | 98 +- uv.lock | 14 - 11 files changed, 3438 insertions(+), 3626 deletions(-) diff --git a/Figure.png b/Figure.png index 079ecf56202f292568f089032acab8c6a06b8bfa..12bf340a9a362d7b897e2a4b1ff285f0562caef1 100644 GIT binary patch literal 209041 zcmeFZhd-BXA3yxHMYbe6Dh-7a5>jTRq=-URDP(14OIAd#uA*g?tgM#oO-m}I>`{`f ze3ALQkFM*!@89!!J%7RT`gwKV*TVNakMlS_pZEHl5l0Sdv#|)UP$(3({W=;)DHKNh zE$w?|@|WX@#YXsxlAETn+c75_H&4q8XDEj(-JH)mxt+JQ67x87!PVBuamO}UnQe+v zV&~l4oL!Zqr5*nJ9ow8PoRzLLaes&3vcg&Cge!%@UPJyzb7Kp;AcclP*{`wJ!0YZv z=SAbczs)gCj6ag9ewQ~M8ORbYzBwyA{9vK|aXZ_#6sr9**T8 z_oZ{6*++>Y{=cswZz&2V*MGlk#rP=y`|fZ#PF9M>|Gosm8UD|oWvij3{P!ohVi~Py z0{{23I&}FIwg3I-gCJvy*#AEEquT%d*#E56|6Sz&?Ti0kY$@ggsoYMbRK7>q*=w)A z;^gMO#JYN0`lo=oA8C2dpVv+FR=X@M{1%D&8#_QLxG*6+T<4c;HxHNoL7b6Cr%DBu z=UU72oVrzcd3nWTWH|flW3)9j8UDI{J>RxzgK6OfhD86lO-tj;OSx&)>&3-W*sXFT z#l=7RzMav~Xy)dlFb{vqu6}&xP0zP)48p>~kBswapFMl_Ip3N|KtLeLVDpFf?*r%N zyyfKNrrciOj5hCmOT}Mq$Na{%oD?7XK}kP*FSTk@P#bM17|k)9%Ii;rZ3L&>@H01H!#`B{~m^$Es~SKffjb zOLs7CTkTLw78f5Mh9#XUhH$&a0(u*HtKPk1FDfd^ zcC4nQSblkYW}~#UwwIUU>({Skd}p0UI*V6(dwZ)03vf|);3i(aeS2AVL$K+#?>zRM z8W{#DIXUbKPF)&ycAFVj@>ker_r?!Lq!(D^7;y~DEk)qrdDEpHjc9H*2-gt*+}5^F zJXVIuod^Hw(k0r{Ha1ojfi&6E^qlAkskg1Mws!i54zV3QdbH>3S9%AB(FAtwenTT8 z2|V^~+qPXhkg6ig&c#Kg!!6aC>S<^UefoPC+bQ|}{idegbIKw6g78s_yLYP}JeXDM zptwQ?->l@Tq^5E^fxYJm8pi`i{AeZlQI&6w{U49Do@-QDwY=d!g%5xIxAqAe96d^l zM~aK2rKF^!h;cF>F*on7j$J&{{@j6ohmEdY*k0^Y$$xg)^QFIsPoSNooYKP=^{)e| zoDmugH#N1j)x|h_KBgYb^vlf3O3u!{nwOVnQ-8A9W9xYb2g7lN^PeeBPEPy+0#z?x zGIw=#&Gtn~w?%#L^z5#EYTIOS_H64j(Wh*zd{Px97k{;tF223BL;vK-D-P|?-K`C9 zLdAP!Kk4b)oBb13k*q z2ag`D?Dn7EYGrL*JbTQev^H{ef0N#xT3nEi5-(1Lylkr{J2^enRd1>HnpPDisGxD{ zNJI%Lu;ce1Dc$4TLwTr|$c_aPQt{@c9Kl{pPv6*bwJP7bo|BU^u&2j@Ib`2CTieRU zMvfgeZ_iPc=V!*lVq;^6LLaPe%{8yD2%?+(`9}JFem>Xo(oDIfy?vxp*>A?^=x7-^ zxtftLPxOx;f7m9ud$%Bm@&rXnO3K30GH93UKu_IOK}z6_Ek;(q1{!9+#hDxEX`eoQ zT1-NM?)rv9mm(rotYl;B{qZAWaPVAF$IMJ*VQ+|!_!w==A0$Qt+#sY!bLm>d6034H(l2suH^3*YzT z2Q2%ecy>^gCnqN-rl!uj`xzMUUb=KC@BEkTz6+D}oGebMZ5#6>xr@TjXoF6Y26^~`!zkmM=Z|dg153GNvd+SnYC}YXoP*(hI&us&5Zv|hu!eU@x zP|?*T@+M9??CMoE$Bq|4eSKEv+n;BjP|!Jh_Uy~k+iU9UJ;zc|A*teTsiew2_!2){ zEZO>mfFl9Rju$TJj~;30>aP6x^QZIToI5=uqkOTxA|77o$~CmEuCA1Vx~BF*SIMKt zj^#V|?u);3$NKBbSVfmUjjZpRHgCR^oNO66TsA+p8(V{E&+@_!zO5&l&)+kas?!$r zqsMVIK5@db?Wt{eWF#G>rna^h&&{~N@t)n=s@(D=fwS-KR%RSaJ9$-e^9^wYh1IWK zz2ao1clPuQyMF!H69+sfeFFox8CD&fzBjV1J5c3gZLD*~6HFTk__L*FWo7lcc(E6I zB|Iuh!@@%B>C>k@!84d9tnV zqOPv)Nwb-EyT>i+qSoM?zZD+-dSTZ(?uemM-3{s&FYcmbivrY|@zUcA`weACvgArTS#v+991hqlBI-x`hx z*Li}|qL*`);8Qs*4GnsBA;qMj4a}62Cr>i3Tv-#aJa3L}G88Qs(!NVkv4`4fu5D|( z2@Thzqpr1e^=j!;=UvR)+~mY1BqjrvX9A9FzA+lzj$&S0Te}gBYU`HGoA%>q|rOReh?EFx=H*eV@>pMH)QNIsMik|e}C7t_s zNu$EUnMrRe_8dRnxsg(VzCF1#KdvqwE2gMu{A|H|d2Y4;?{BL+N-pwHt|cbM=`o3}V=BjUR;>L}?4-SS~*GKo_$Kw^866`vvir2_m(JQN{OupUGn1lk8 znwshbOw!xmPq$~!9!g+p>U!KVz(G=*6A*;X;losz$K$TPO+L4DKlSn7)X;FS z9MhM^H*VdzbJcKbuG4gB*$=%44O$hIQu*@M;U7OT5>Bocx04IjM!q}c`Ex$>&Fq1BG(}2abTm5_!t(t2N3VYre4lM! 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a/README.md b/README.md index 2f1d739..aa6c4e5 100644 --- a/README.md +++ b/README.md @@ -28,7 +28,7 @@ The VPP is run from the root of the repository with uv run python runVPP.py ``` -`VPP.set_analysis` takes an optional maximum heel angle (`phi_max`, default 35 degrees); above it the sails are flattened and then reefed. `VPP.run` accepts `method="iterative"` (default), `"parallel"` (same solver spread over all CPU cores) or `"5dof"` (constrained 5-DOF optimiser). +At each TWS/TWA the boat speed is maximised over boat speed, heel, leeway, sail flattening and reefing, subject to force and moment equilibrium (SLSQP). `VPP.set_analysis` takes an optional maximum heel angle (`phi_max`, default 35 degrees); the sails are only flattened and reefed as much as is fastest within it. Points where a sail set cannot be carried within `phi_max` are left at 0 and not plotted. `VPP.run` accepts `method="sequential"` (default) or `"parallel"` (same results, spread over all CPU cores). To run the Streamlit demo locally: diff --git a/SailChart.png b/SailChart.png index 010a135780fdb299b4020d775a5d990ac0341224..72619c4066cd0f0f7924d8bea32ab91bcba409d5 100644 GIT binary patch literal 57731 zcmeFZ^;cGV^ey}l(gM;*D3XdONP~owC|!aejdXVjC|x3;q=*92-O`PKv~+j3l+?Q( z&-dQ<{sZq1?-=)t!FfDq$g@BDvp;LCIp>;d2P?`yy^eDe2Z2CbegN!A2slb=II7qfJG$uGzedREJK9>>I9i$++;)C#?_g$Q&G~?X{Q=+o+oq0= zwhjUhA6otIzwyAv-sEAUmQxRW3%0HFO9uo3zXkb&@`)9n3W1p2c_#5h)%Ek{l#A!5 zrHiY*kvGY;QPH*79$9>%dBZ69ggL*51uXJBoHVpBoyyk>%s136X!taFdo*1(Xnk-o zgYFcg(Rm~>Fn7E>esgun*YTE}*j`G0-%Xe{Ybk6}UF_#!UBTWDl4f>1KSD7qj@-;F zYajRnU6cYU@{o0K)?rK^9OVUd>BwfA#TI(m)OQT z;~Cu)gG1*hjgF0I{=HQ()6+~K@+;A%?wO$>y~z0-K|HqwnOA*snZ?L{3$eoP#qo?o zJB`b3;>zfVi9g^?4m5XwkyT>U&DcJ2ZU0+edL@mc}!0j$d~~F`mzp*UzR!%NxwM z1e1`HAN-_`NGmLZUn6=Vg$VdoUe1H4(XlCLFDWiI=+$=U=Kei2RAkgabTnp?%uu0- zMJJK+3_%g_=+Ps@?x|-jt&N#kun;qZwP`eh9q+ZV@gw_1Y2mB$gHgjsX}|9>vBf)e zXX%Bn;R;cbs158+9gMNIXIm8quonYEL#@|&Cw*EC=9ooJpJgX9`4Qg1Ho7s(?sU2o 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logging.getLogger(__name__) -debug_mode = logging.getLogger().getEffectiveLevel() == logging.DEBUG -def _solve_point(yacht, tws, twa, sail_index, phi_max, lim_up, lim_dn): - """Solve one (tws, twa, sail) grid point independently. +# Residual scales (N, N, N.m) so the three equilibrium equations have similar magnitude +RESID_SCALE = np.array([1e3, 1e3, 1e4]) +# Tolerance on the scaled residuals for a point to count as an equilibrium +RESID_TOL = 1e-4 + + +def _equilibrium(x, aero, hydro, tws, twa): + """Scaled force/moment imbalance (Fx, Fy, Mx) at state x = [vb, phi, leeway, flat, red].""" + vb, phi, leeway, flat, red = x + Fxh, Fyh, Mxh = hydro.update(vb, phi, leeway, twa) + Fxa, Fya, Mxa = aero.update(vb, phi, tws, twa, flat, red) + return np.array([Fxh - Fxa, Fyh - Fya, Mxh - Mxa]) / RESID_SCALE + + +def _solve_point(aero, hydro, tws, twa, phi_max, guesses, fallbacks=()): + """Find the fastest equilibrium at one (tws, twa) for the current sail set. + + Maximises boat speed over [vb, phi, leeway, flat, red] subject to force and + moment equilibrium, with heel bounded by phi_max. Sails are flattened + (flat: 1.0 -> 0.62) and reefed (red: 2.0 -> 0.5) only as much as is fast. + Every guess is tried and the fastest converged solution is kept; the + fallback guesses are only tried if none of them converge. + + Returns + ------- + ndarray or None + [vb (m/s), phi, leeway, flat, red], or None if no equilibrium exists + (e.g. a kite that cannot be carried at this heel limit). + """ + bounds = [(0.0, None), (0.0, phi_max), (-2.0, 6.0), (0.62, 1.0), (0.5, 2.0)] + best = None + for k, x0 in enumerate([*guesses, *fallbacks]): + if k >= len(guesses) and best is not None: + break + sol = minimize( + lambda x: -x[0], x0, method="SLSQP", bounds=bounds, + constraints={"type": "eq", "fun": _equilibrium, "args": (aero, hydro, tws, twa)}, + options={"maxiter": 300, "ftol": 1e-10}, + ) + if not sol.success: + continue + if np.abs(_equilibrium(sol.x, aero, hydro, tws, twa)).max() > RESID_TOL: + continue + if best is None or sol.x[0] > best[0]: + best = sol.x + return best + + +def _solve_row(yacht, tws, twa_range, n, phi_max, lim_up, lim_dn): + """Solve all TWAs for one TWS and sail set, warm-starting from the previous TWA. Creates its own AeroMod/HydroMod so there is no shared mutable state. This is a module-level function so it can be pickled by ProcessPoolExecutor. Returns ------- - tuple - (i, j, n, result_array) where result_array is [vb_kts, phi, leeway, flat, red], - or None if the point was skipped. + ndarray + Shape (len(twa_range), 5), rows [vb_kts, phi, leeway, flat, red]; + skipped or infeasible points are left at 0. """ - i, j, n = sail_index - aero = AeroMod(yacht) hydro = HydroMod(yacht) aero.sails[1] = yacht.sails[n + 1] aero.up = aero.sails[1].up - # Skip invalid sail/TWA combinations - Nsails = len(yacht.sails) - 1 - dn_limit = 135.0 if Nsails != 1 else 200.0 - if aero.up and twa >= dn_limit: - return None - if not aero.up and twa <= lim_up: - return None - - # Initial guesses - vb0 = 0.8 * tws - phi0 = 0.0 - leeway0 = 100.0 / twa if (twa > 1.0 and 100.0 / twa < 2 * tws) else 2 * tws - - def resid(x0, twa_, tws_, flat=1.0, red=2.0): - vb_, phi_, leeway_ = x0 - Fxh, Fyh, Mxh = hydro.update(vb_, phi_, leeway_, twa_) - Fxa, Fya, Mxa = aero.update(vb_, phi_, tws_, twa_, flat, red) - return [(Fxh - Fxa) ** 2, (Mxh - Mxa) ** 2, (Fyh - Fya) ** 2] - - flat = 1.0 - red = 2.0 - - sol = root(resid, [vb0, phi0, leeway0], - args=(twa, tws, flat, red), method="lm") - vb, phi, leeway = sol.x - - if phi <= phi_max: - res = np.array([vb, phi, leeway, flat, red]) - res[0] /= KNOTS_TO_MPS - return (i, j, n, res) - - # Depowering: flatten then reef - lo = [0, 0, -2] - hi = [np.inf, phi_max, 6] - margin = phi_max - 1.0 - - def _clamp(vb_, phi_, leeway_): - return [max(vb_, 0), min(max(phi_, 0), phi_max), - min(max(leeway_, -2), 6)] - - for flat in np.arange(0.98, 0.60, -0.02): - sol = least_squares( - resid, _clamp(vb, phi_max, leeway), - args=(twa, tws, flat, red), bounds=(lo, hi), - ) - vb, phi, leeway = sol.x - if phi <= margin: - res = np.array([vb, phi, leeway, flat, red]) - res[0] /= KNOTS_TO_MPS - return (i, j, n, res) - - flat = 0.62 - for red in np.arange(1.9, 0.45, -0.1): - sol = least_squares( - resid, _clamp(vb, phi_max, leeway), - args=(twa, tws, flat, red), bounds=(lo, hi), - ) - vb, phi, leeway = sol.x - if phi <= margin: - break - - res = np.array([vb, phi, leeway, flat, red]) - res[0] /= KNOTS_TO_MPS - return (i, j, n, res) + row = np.zeros((len(twa_range), 5)) + prev = None + for j, twa in enumerate(twa_range): + # don't do low twa with downwind sails (and vice versa) + if aero.up and twa >= lim_dn: + continue + if not aero.up and twa <= lim_up: + continue + + guesses = [np.array([0.6 * tws, 10.0, 3.0, 1.0, 2.0])] + if prev is not None: + guesses.insert(0, prev) + fallbacks = [np.array([3.5, 20.0, 3.0, 1.0, 2.0])] + + x = _solve_point(aero, hydro, tws, twa, phi_max, guesses, fallbacks) + if x is None: + logger.debug("No equilibrium for %s at TWS %.1f TWA %.1f", + yacht.sails[n + 1].name, tws / KNOTS_TO_MPS, twa) + continue + prev = x + row[j] = x * np.array([1.0 / KNOTS_TO_MPS, 1, 1, 1, 1]) + return row class VPP(object): @@ -128,12 +129,6 @@ def __init__(self, Yacht): # maximum allows heel angle self.phi_max = 35.0 - # debbuging flag - self.debbug = False - if not self.debbug: - warnings.filterwarnings( - "ignore", "The iteration is not making good progress" - ) self.upToDate = False def set_analysis(self, tws_range, twa_range, phi_max=35.0): @@ -184,245 +179,66 @@ def set_analysis(self, tws_range, twa_range, phi_max=35.0): self.lim_up = 60.0 self.lim_dn = 135.0 if (self.Nsails != 1) else 200.0 - # minimzation bounds - self.bnds = ((0, None), (0.0, self.phi_max), (-2.0, 6.0), (0.62, 1.0), (0, 2.0)) - # flag for later self.upToDate = True - def run(self, verbose=False, method="iterative", progress_callback=None): + def run(self, verbose=False, method="sequential", progress_callback=None): """ Run the analysis for the given analysis range. + + At each point the boat speed is maximised over [vb, phi, leeway, flat, red] + subject to force/moment equilibrium and phi <= phi_max. Points where no + equilibrium exists (e.g. a kite that cannot be carried) are left at 0. + Parameters ---------- verbose A logical, if True, prints results of equilibrium at each TWA/TWS. method - Solver method: "iterative" (3-DOF sequential with depowering loop), - "parallel" (same solver, multiprocessing across grid points), or - "5dof" (scipy SLSQP 5-DOF constrained optimizer). + "sequential" (default) or "parallel" (multiprocessing across TWS and + sail sets, identical results). "iterative" and "5dof" are accepted + as aliases of "sequential" for backward compatibility. progress_callback Optional callable(tws_index, tws_kts, n_tws) invoked after each - TWS wind speed is completed. + TWS wind speed is completed (sequential only). """ - - if method == "5dof": - return self._run_5dof(verbose) - elif method == "parallel": - return self._run_parallel() - elif method != "iterative": - raise ValueError(f"Unknown method '{method}'. Use 'iterative', 'parallel', or '5dof'.") + if method in ("iterative", "5dof"): + method = "sequential" + if method not in ("sequential", "parallel"): + raise ValueError(f"Unknown method '{method}'. Use 'sequential' or 'parallel'.") if not self.upToDate: raise RuntimeError("VPP run stop: no analysis set!") - n_tws = len(self.tws_range) + if method == "parallel": + return self._run_parallel() + n_tws = len(self.tws_range) for i, tws in enumerate(self.tws_range): logging.debug("Sailing in TWS : %.1f" % (tws / KNOTS_TO_MPS)) - for n in range(self.Nsails): - self.aero.sails[1] = self.yacht.sails[n + 1] - - logging.debug( - "Sail Config : ", - self.aero.sails[0].name + " + " + self.aero.sails[1].name, + self.store[i, :, n, :] = _solve_row( + self.yacht, tws, self.twa_range, n, + self.phi_max, self.lim_up, self.lim_dn, ) - - self.aero.up = self.aero.sails[1].up - - for j in trange(len(self.twa_range), disable=not debug_mode): - twa = self.twa_range[j] - - self.vb0 = 0.8 * tws - self.phi0 = 0 - self.leeway0 = ( - 100.0 / twa - if (twa > 1.0 and 100.0 / twa < 2 * tws) - else 2 * tws - ) - self.flat = 1.0 - self.red = 2.0 - - # don't do low twa with downwind sails - if (self.aero.up == True) and (twa >= self.lim_dn): - continue - if (self.aero.up == False) and (twa <= self.lim_up): - continue - - vb, phi, leeway, flat, red = self._depower_solve(twa, tws) - self.vb0, self.phi0, self.leeway0 = vb, phi, leeway - - logging.debug( - "Equilibrium residuals (Fx, Fy, Mx): ", - self.resid([vb, phi, leeway], twa, tws, flat, red), - ) - - # store data for later - res = np.array([vb, phi, leeway, flat, red]) - self.store[i, j, n, :] = res * np.array([1.0 / KNOTS_TO_MPS, 1, 1, 1, 1]) - if progress_callback: progress_callback(i, tws / KNOTS_TO_MPS, n_tws) logging.info("Optimization successful.") def _run_parallel(self): - """Run iterative solver in parallel across all grid points.""" - if not self.upToDate: - raise RuntimeError("VPP run stop: no analysis set!") - - # Build work items: (yacht, tws, twa, (i,j,n), phi_max, lim_up, lim_dn) - work = [] - for i, tws in enumerate(self.tws_range): - for n in range(self.Nsails): - for j, twa in enumerate(self.twa_range): - work.append(( - self.yacht, tws, twa, (i, j, n), - self.phi_max, self.lim_up, self.lim_dn - )) - + """Run the row solver in parallel across TWS and sail sets.""" + work = [(i, n) for i in range(len(self.tws_range)) for n in range(self.Nsails)] with ProcessPoolExecutor() as pool: - results = pool.map(_solve_point, *zip(*work)) - - for result in results: - if result is not None: - i, j, n, res = result - self.store[i, j, n, :] = res - - logging.info("Parallel optimization successful.") - - def _depower_solve(self, twa, tws): - """Solve 3-DOF equilibrium, depowering iteratively if heel exceeds phi_max. - - Depowering follows real sailing practice: - 1. Flatten sails (flat: 1.0 -> 0.62) - 2. Reef main / furl jib (RED: 2.0 -> 0.5) - - The bounded solver pins phi at phi_max, so we check for genuine - margin (1 degree) before accepting a solution — otherwise the boat - is still overpowered and needs more depowering. - """ - flat = 1.0 - red = 2.0 - - sol = root(self.resid, [self.vb0, self.phi0, self.leeway0], - args=(twa, tws, flat, red), method="lm") - vb, phi, leeway = sol.x - - if phi <= self.phi_max: - return vb, phi, leeway, flat, red - - # Heel exceeds limit — use bounded solver to enforce phi <= phi_max - lo = [0, 0, -2] - hi = [np.inf, self.phi_max, 6] - margin = self.phi_max - 1.0 - - def _clamp_guess(vb_, phi_, leeway_): - return [max(vb_, 0), min(max(phi_, 0), self.phi_max), - min(max(leeway_, -2), 6)] - - # Stage 1: Flatten sails (1.0 -> 0.62) - for flat in np.arange(0.98, 0.60, -0.02): - sol = least_squares( - self.resid, _clamp_guess(vb, self.phi_max, leeway), - args=(twa, tws, flat, red), bounds=(lo, hi), + rows = pool.map( + _solve_row, + *zip(*[(self.yacht, self.tws_range[i], self.twa_range, n, + self.phi_max, self.lim_up, self.lim_dn) for i, n in work]) ) - vb, phi, leeway = sol.x - if phi <= margin: - return vb, phi, leeway, flat, red - - # Stage 2: Reef main / furl jib (RED: 2.0 -> 0.5) - flat = 0.62 - for red in np.arange(1.9, 0.45, -0.1): - sol = least_squares( - self.resid, _clamp_guess(vb, self.phi_max, leeway), - args=(twa, tws, flat, red), bounds=(lo, hi), - ) - vb, phi, leeway = sol.x - if phi <= margin: - return vb, phi, leeway, flat, red - - # If still over, return best we got - return vb, phi, leeway, flat, red + for (i, n), row in zip(work, rows): + self.store[i, :, n, :] = row - def _run_5dof(self, verbose=False): - """Run 5-DOF constrained optimization using scipy SLSQP. - - Simultaneously optimizes [vb, phi, leeway, flat, red] to maximize - boat speed subject to force/moment equilibrium constraints. - """ - if not self.upToDate: - raise RuntimeError("VPP run stop: no analysis set!") - - for i, tws in enumerate(self.tws_range): - logging.debug("Sailing in TWS : %.1f" % (tws / KNOTS_TO_MPS)) - - for n in range(self.Nsails): - self.aero.sails[1] = self.yacht.sails[n + 1] - self.aero.up = self.aero.sails[1].up - - for j in trange(len(self.twa_range), disable=not debug_mode): - twa = self.twa_range[j] - - # don't do low twa with downwind sails - if (self.aero.up == True) and (twa >= self.lim_dn): - continue - if (self.aero.up == False) and (twa <= self.lim_up): - continue - - vb_guess = 0.8 * tws - leeway_guess = ( - 100.0 / twa - if (twa > 1.0 and 100.0 / twa < 2 * tws) - else 2 * tws - ) - x0 = np.array([vb_guess, 0.0, leeway_guess, 1.0, 2.0]) - - def _forces(x): - vb, phi, leeway, flat, red = x - Fxh, Fyh, Mxh = self.hydro.update(vb, phi, leeway, twa) - Fxa, Fya, Mxa = self.aero.update(vb, phi, tws, twa, flat, red) - return Fxh, Fyh, Mxh, Fxa, Fya, Mxa - - constraints = [ - {"type": "eq", "fun": lambda x: _forces(x)[0] - _forces(x)[3]}, - {"type": "eq", "fun": lambda x: _forces(x)[2] - _forces(x)[5]}, - {"type": "eq", "fun": lambda x: _forces(x)[1] - _forces(x)[4]}, - ] - - # Cache forces to avoid redundant evaluations - _cache = {} - - def _cached_forces(x): - key = tuple(x) - if key not in _cache: - _cache[key] = _forces(x) - return _cache[key] - - constraints = [ - {"type": "eq", "fun": lambda x: _cached_forces(x)[0] - _cached_forces(x)[3]}, - {"type": "eq", "fun": lambda x: _cached_forces(x)[2] - _cached_forces(x)[5]}, - {"type": "eq", "fun": lambda x: _cached_forces(x)[1] - _cached_forces(x)[4]}, - ] - - result = minimize( - lambda x: -x[0], - x0, - method="SLSQP", - bounds=self.bnds, - constraints=constraints, - options={"maxiter": 200, "ftol": 1e-8}, - ) - - _cache.clear() - - res = result.x - self.store[i, j, n, :] = res * np.array( - [1.0 / KNOTS_TO_MPS, 1, 1, 1, 1] - ) - - logging.info("5-DOF optimization successful.") + logging.info("Parallel optimization successful.") def resid(self, x0, twa, tws, flat=1.0, red=2.0): """ @@ -430,7 +246,7 @@ def resid(self, x0, twa, tws, flat=1.0, red=2.0): Parameters ---------- x0 - A numpy array of the variables (DOF). + A numpy array of the variables (DOF): vb (m/s), phi, leeway. twa A float of the TWA at which to compute the residuals. tws @@ -442,30 +258,9 @@ def resid(self, x0, twa, tws, flat=1.0, red=2.0): Returns ------- Numpy.Array - Residuals on each DOF + Scaled (Fx, Fy, Mx) imbalance, see RESID_SCALE. """ - - vb0 = x0[0] - phi0 = x0[1] - leeway = x0[2] - - Fxh, Fyh, Mxh = self.hydro.update(vb0, phi0, leeway, twa) - Fxa, Fya, Mxa = self.aero.update(vb0, phi0, tws, twa, flat, red) - - return [(Fxh - Fxa) ** 2, (Mxh - Mxa) ** 2, (Fyh - Fya) ** 2] - - @staticmethod - def objective(x0): - return -x0[0] - - def Fx(self, x0, twa, tws): - return self.resid(x0, twa, tws)[0] - - def Fy(self, x0, twa, tws): - return self.resid(x0, twa, tws)[1] - - def Mx(self, x0, twa, tws): - return self.resid(x0, twa, tws)[2] + return _equilibrium([x0[0], x0[1], x0[2], flat, red], self.aero, self.hydro, tws, twa) def results(self): """ diff --git a/src/api.py b/src/api.py index af2a5bf..6b4ee77 100644 --- a/src/api.py +++ b/src/api.py @@ -115,7 +115,7 @@ def data_to_vpp(data: Dict[str, Any]) -> VPP: tws_range=np.array(data["tws_range"]), twa_range=np.array(data["twa_range"]), ) - return vpp, data.get("method", "iterative") + return vpp, data.get("method", "sequential") @app.route("/api/vpp/", methods=["POST"]) diff --git a/tests/test_api.py b/tests/test_api.py index f1e068a..87d2fc7 100644 --- a/tests/test_api.py +++ b/tests/test_api.py @@ -137,8 +137,8 @@ def test_fin_keel_with_type_field(): assert response.status_code == 200 -def test_api_5dof_method(): - """API accepts method='5dof' and returns results.""" +def test_api_legacy_5dof_method(): + """API still accepts the legacy method='5dof'.""" d = make_yd41() d["method"] = "5dof" response = post_vpp(d) diff --git a/tests/test_vpp.py b/tests/test_vpp.py index 46cce8a..2f8c24a 100644 --- a/tests/test_vpp.py +++ b/tests/test_vpp.py @@ -121,45 +121,77 @@ def test_set_analysis_twa_out_of_range_raises(): vpp.set_analysis(tws_range=np.array([6.0, 10.0]), twa_range=np.array([-5.0, 90.0])) -def test_5dof_solver_runs(): - """5-DOF solver produces non-zero speeds.""" +def test_legacy_method_names_accepted(): + """'iterative' and '5dof' are aliases of the sequential solver.""" yacht = return_YD41_particulars() yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8)] - vpp = VPP(Yacht=yacht) - vpp.set_analysis(tws_range=np.array([8.0]), - twa_range=np.linspace(40.0, 160.0, 4)) - vpp.run(method="5dof") - speeds = vpp.store[0, :, 0, 0] - assert np.any(speeds > 0), "5-DOF solver should produce non-zero speeds" - - -def test_5dof_vs_iterative_comparable(): - """5-DOF and iterative solvers should produce speeds within 15%.""" + stores = [] + for method in ("sequential", "iterative", "5dof"): + vpp = VPP(Yacht=yacht) + vpp.set_analysis(tws_range=np.array([8.0]), + twa_range=np.linspace(40.0, 160.0, 4)) + vpp.run(method=method) + stores.append(vpp.store) + assert np.all(stores[0][0, :, 0, 0] > 0) + np.testing.assert_array_equal(stores[0], stores[1]) + np.testing.assert_array_equal(stores[0], stores[2]) + + +def _upwind_vpp(tws_range, twa_range): yacht = return_YD41_particulars() yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8)] + vpp = VPP(Yacht=yacht) + vpp.set_analysis(tws_range=tws_range, twa_range=twa_range) + vpp.run() + return vpp + + +def test_speed_increases_with_tws_when_depowered(): + """Optimal depowering can never make the boat slower in more wind.""" + vpp = _upwind_vpp(np.array([14.0, 16.0, 18.0, 20.0]), np.array([28.0, 36.0, 44.0, 52.0, 60.0])) + vb = vpp.store[:, :, 0, 0] + assert np.all(vb > 0) + assert np.all(np.diff(vb, axis=0) > -1e-3), f"VB drops with TWS:\n{vb}" + # heavy air is depowered and held at the heel limit + assert np.all(vpp.store[-1, :, 0, 1] <= vpp.phi_max + 1e-6) + assert np.all(vpp.store[-1, :, 0, 3] < 1.0) or np.all(vpp.store[-1, :, 0, 4] < 2.0) - vpp_iter = VPP(Yacht=yacht) - vpp_iter.set_analysis(tws_range=np.array([8.0]), - twa_range=np.linspace(40.0, 160.0, 4)) - vpp_iter.run(method="iterative") - vpp_5dof = VPP(Yacht=yacht) - vpp_5dof.set_analysis(tws_range=np.array([8.0]), - twa_range=np.linspace(40.0, 160.0, 4)) - vpp_5dof.run(method="5dof") +def test_stored_points_are_in_equilibrium(): + """Every stored point satisfies force and moment equilibrium.""" + from src.UtilsMod import KNOTS_TO_MPS + from src.VPPMod import RESID_TOL - speeds_iter = vpp_iter.store[0, :, 0, 0] - speeds_5dof = vpp_5dof.store[0, :, 0, 0] + vpp = _upwind_vpp(np.array([6.0, 20.0]), np.linspace(30.0, 120.0, 4)) + vpp.aero.sails[1] = vpp.yacht.sails[1] + for i, tws in enumerate(vpp.tws_range): + for j, twa in enumerate(vpp.twa_range): + vb, phi, leeway, flat, red = vpp.store[i, j, 0] + r = vpp.resid([vb * KNOTS_TO_MPS, phi, leeway], twa, tws, flat, red) + assert np.abs(r).max() < RESID_TOL, f"TWS {tws} TWA {twa}: {r}" - # Compare only non-zero entries - mask = speeds_iter > 0.1 - if np.any(mask): - ratio = speeds_5dof[mask] / speeds_iter[mask] - assert np.all(ratio > 0.85) and np.all(ratio < 1.15), ( - f"5-DOF vs iterative speed ratio out of 15% band: {ratio}" - ) + +def test_infeasible_kite_left_unsolved(): + """A kite that cannot be held at the heel limit is stored as 0, not a fake point.""" + from src.UtilsMod import KNOTS_TO_MPS + from src.VPPMod import RESID_TOL + + yacht = return_YD41_particulars() + yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8), + Kite("A2", area=150.0, vce=9.55)] + vpp = VPP(Yacht=yacht) + vpp.set_analysis(tws_range=np.array([20.0]), twa_range=np.array([80.0, 150.0])) + vpp.run() + vpp.aero.sails[1] = vpp.yacht.sails[2] + vpp.aero.up = False + assert np.all(vpp.store[0, 0, 1] == 0.0), "A2 at 20 kn/80 deg should be infeasible" + vb, phi, leeway, flat, red = vpp.store[0, 1, 1] + assert vb > 0 + r = vpp.resid([vb * KNOTS_TO_MPS, phi, leeway], 150.0, vpp.tws_range[0], flat, red) + assert np.abs(r).max() < RESID_TOL def test_invalid_method_raises(): @@ -209,8 +241,8 @@ def test_sail_type_asym_kite_variants(): assert kite_pole.cl(67) > kite_cl.cl(67) -def test_parallel_matches_iterative(): - """Parallel solver must produce identical results to sequential iterative.""" +def test_parallel_matches_sequential(): + """Parallel solver must produce identical results to the sequential one.""" yacht = return_YD41_particulars() yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8), @@ -221,7 +253,7 @@ def test_parallel_matches_iterative(): vpp_seq = VPP(Yacht=yacht) vpp_seq.set_analysis(tws_range=tws_range, twa_range=twa_range) - vpp_seq.run(method="iterative") + vpp_seq.run(method="sequential") vpp_par = VPP(Yacht=yacht) vpp_par.set_analysis(tws_range=tws_range, twa_range=twa_range) @@ -229,7 +261,7 @@ def test_parallel_matches_iterative(): np.testing.assert_allclose( vpp_par.store, vpp_seq.store, atol=1e-6, - err_msg="Parallel results differ from sequential iterative" + err_msg="Parallel results differ from sequential" ) diff --git a/uv.lock b/uv.lock index ac5486f..b72abf8 100644 --- a/uv.lock +++ b/uv.lock @@ -1145,7 +1145,6 @@ dependencies = [ { name = "matplotlib" }, { name = "numpy" }, { name = "scipy" }, - { name = "tqdm" }, ] [package.optional-dependencies] @@ -1173,7 +1172,6 @@ requires-dist = [ { name = "ruff", marker = "extra == 'dev'" }, { name = "scipy", specifier = ">=1.12" }, { name = "streamlit", marker = "extra == 'demo'", specifier = ">=1.37" }, - { name = "tqdm", specifier = ">=4.66" }, ] provides-extras = ["api", "demo", "dev"] @@ -1503,18 +1501,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/50/49/8dc3fd90902f70084bd2cd059d576ddb4f8bb44c2c7c0e33a11422acb17e/tornado-6.5.4-cp39-abi3-win_arm64.whl", hash = "sha256:053e6e16701eb6cbe641f308f4c1a9541f91b6261991160391bfc342e8a551a1", size = 445910, upload-time = "2025-12-15T19:21:02.571Z" }, ] -[[package]] -name = "tqdm" -version = "4.67.3" -source = { registry = "https://pypi.org/simple" } -dependencies = [ - { name = "colorama", marker = "sys_platform == 'win32'" }, -] -sdist = { url = "https://files.pythonhosted.org/packages/09/a9/6ba95a270c6f1fbcd8dac228323f2777d886cb206987444e4bce66338dd4/tqdm-4.67.3.tar.gz", hash = "sha256:7d825f03f89244ef73f1d4ce193cb1774a8179fd96f31d7e1dcde62092b960bb", size = 169598, upload-time = "2026-02-03T17:35:53.048Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/16/e1/3079a9ff9b8e11b846c6ac5c8b5bfb7ff225eee721825310c91b3b50304f/tqdm-4.67.3-py3-none-any.whl", hash = "sha256:ee1e4c0e59148062281c49d80b25b67771a127c85fc9676d3be5f243206826bf", size = 78374, upload-time = "2026-02-03T17:35:50.982Z" }, -] - [[package]] name = "typing-extensions" version = "4.15.0" From 44ec56883f15647de47c551dfcea227dcbcf0d3e Mon Sep 17 00:00:00 2001 From: marinlauber Date: Thu, 15 Oct 2026 12:05:07 +0200 Subject: [PATCH 13/21] fix: plot sail chart TWS in knots, not m/s Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01JN4y2NWa8kFMBZ5FV92jkj --- SailChart.png | Bin 57731 -> 66860 bytes src/UtilsMod.py | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/SailChart.png b/SailChart.png index 72619c4066cd0f0f7924d8bea32ab91bcba409d5..ddaed5995e02dd342c70f4ddc08b45b1f9da7f7b 100644 GIT binary patch literal 66860 zcmeFZWmHvN^f!7yL`p0in8oYtb14p1mdRLW9g>|1S))sI)H%=f2}WCctw4m80Wp2O)NL z>;LN&Y_|4h?9JLveef=ruODkUAP~5%$S;&wW?WJP3IZV~{qXsll+9U}l;@+f$9w$^ z!!BmdX6^>04GdTz_mosr2uNwy`!y+zJf9ne^!o*pDBKC7<4k%*(2Y-b+v}*;kJMUavaBhApQl+}BpL!<*vdise}4RbmgWE7+o9!y z0m+Q>wDt1pYD`K>&t3;*|G1tvx$8ya**1;1c)Iy;&KIwXQ?$e9a3J&}5&8+WM|1A3 zi|-!1*(j=hWo5N|Hh(2nZq}dE(2!cBUA;f@?8)A&%e>vZ=h0qy`UT72ETJUEZKFE~ zoM*Sh&p8fO`_1;3I|ayaZJI8eQQsoio6fnCa^Pqt<=n;!7~o<3pZ~A|XS7w%(vsQ4 z#DvWA&tTMQk16-FTxFBqB;NCJ?+fD9GNipG00x4&~d@-k&#(pFYv;C*es3 z`z50xT2w47nCR%}JT6aGqgEv|@hr!SP1Z*~V{RtGE8axG5+w24Qot&(>v>=B>gebo z*H4p$s8494P})TagG!q02kkcli_7zqipok(%Q2REUH0J|r6uvJlUvHU+=Dv!up&30 z96ibshH@hrd>l=MfNu;*q7lftL=s4gfU-mtNQH?&{@CC#>i;J{-tv)YXo1Z9NC*69e zcsS^TPUK3%dBw#!MMYtUht5+|Q`8aLS3AFdBfgoIM({RnR#j+TFW^(n5wvi;mv)iFxtW@pO8el!@Yq=3@Y?3MJFn8mk01Tu?Owcikyljo zDJLgzecb~7xSiM4)+Y7!DRXgg{pjz{&Cd4UTk7DpnGt9YBkefeTk7oWe5m^2;b}J9 zF09$@K{Uh#Y$a=J>yeQW6*V;(b92UIK5Ii*eXE(8C|2z%{px9VG_<-)caAf9sPqBw z5vg@izBT$wQgwBA)1W+bd0lEgOwYv3d{@|+MV7+Vc$w2_{rS_UPw$NBQTYqtL93t+ zlt+~E>z2gBmMV4oYoT7E+e@tH(HzIBO~P%80~d?QfaiD^18=@4fq^(J%gxZ=ocN-c zE|z+i+myp$MREV&0Do2u7KICW+czu_1H>ic-Rq+TT3-yWcgL|V4L=e8l$RHr$Zf`D z)Q)4?lkiYiS2wGU(H{?!2E`{>AOY29*2&3fZ!I^y%;Us9j$N-09&6W+C>ol{xA@8e zZ)av^q+On2P%S<}MclUIxPhqK*xY=Nh6ZnLG@7qQX8(h#CsjE9tHUZ6d_Ju}27iIP zf1m9cqO>kN9Cyxjm0Z_-ix>G-sLt%L(qpha^R*{M5Wj9V?Kc}1m9*l&mpdRznU#h$ zD=i318c&&!U(?mLW`~=TJ&D{w+n)jNE&uKAx85<_lr`b3YT!(iR$y=9XIVpDbsE zvMtJrpWcS2|L?_{{Fn%7e|YrI^z`~2`b9gU=@gDnH%bII3d?JLXN4y4S`wL-Zf zlT0C(8*0(aN^i1OnK7n9982@YU;F0k#IN_-h#i)rWVX6S}&Xzv}%IuPg87=9X3Wz#sW;!5EkbLuL}3{gq_fveyfe>V=xkuB)jX zPrOf`g^TR}_*WEE@Mlq|aMg)I17OMjz0zh@2==wWuMf`zRuYVkVF?~;XlP{BG5C|T z(;^;6UdJZlaNReCt@oq5d&w7@Eh8%{tAq2`uU{#yD~UBP*|@m5zi!uVV4$J8i|*|I z>K0rKrghMB&+n*AoV>`(v!n!TUCMpL5CG--EpT>s24GR{y666=TnnT&%pn47g;^r znigDo&t0<^!o2%Ngyls=Fx=|yem8r^63x4dpRWaKmZKGp{|rBIJ=>}_hX=UZa%;6> zSb1sw>XM&}`hkBiapE-&=|Y{lxX;gWhh}CJU%a?S>9LDaZrYm#hrg#s5fR6x(-lCh z`}o#p0PEZ z&F;K`%|qP}y$9KPmTLX3m5fiXx*q;X6D4n|+cu8OF@Kd5SiC_JNM*hz@I{m5UlZFH zFIl}j+ga^=kZuf*?R@QtcUDmm^gw(`GGp3~1pShxOChK&oT0?*E6`fQMAD<9eLI%c z?5q?N6qYL+H`heng}hucRWN+2=iIQ9dx>0iRS6X7@lDHJ({CmB2F}`a*i;*pPnJ$v z<>j{~US#GoIjr`X^rZ;0=ryL)ZP$hh@6^X^6xW5PU!AX(-HpPdria~^L8lPMVLK<1 z=6&gE+MhPNRLS@(N9Dx}`Df4Y@7}$O@POk&OGn3PGgBkh&u`L201s?x=_`BVu`fK+ zZ4K|*juf;0G$ng``{h2paVN>l0bR7$GSq%;1t*tFb zM@N0WWI1K!a5OY%;rmxyw~KSbNcs1J#LwSq=(+~zoi7siq>HCR-;s7vz_3F^Bkn&W zka?HgAe&C;Pu% zdSCqYIGS}?US58^6voeGJ6C_P{)}23<#(;JnVA_a$tzpi2oVo4O57m7k&)-H-Il+c zjav!4Xz~(mI_b4NK3=K4E>;3W{ooaW>n~aC$l?V9dz+8eLIci9jpEEZXlqxwyIzwPP5GK>6TRYXWXZu z@q-fz#YawF{vO`}7Ea4gWQ87Yy5y}bK0q!A<>hWr%gO;Z75cyCa~}=iImi<>Hm07G zlmw75`}1eaf>C)>Q+n7*#wI2JK|cJp!4-lw0_yU1pa4NOctHZr2=?d^^7xzEiFz%}KX;g4?|I6|oRwi@xQ8}IAtVJPt@ zh)@#-IrW=+HO=?aM2LJRcbRE^f0w%kPAmfp%X_1K*hHwvkJo$$v8g=n1n|QR4b7%H zd1mINy@P|DP^uKY&h{EksiQUTj<-fcF1Lh|<&L}$z1l(w4OW66RVZVCdBRBJ+1$|3 z_oC{#F7eB~TV59%dI#cH2jVxRf718|-}?9d_Yj+Gco-^rdQYsaS)pwMCVI>fnU

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zN3cKRa_Mh#Laz+Y?X|-Q6aj{pTrNjvB%1#<@L4SVk8Y(LpUPQC6Msia$SwX)BIbWR sDj+QXcf;-f|K|T;e)9kH4cnvS%tUo1v9CqJ!9=BYMN8!^)+FeE0TM!iQUCw| diff --git a/dat/orc/asym_cl_kite.dat b/dat/orc/asym_cl_kite.dat index 64d8303..703b795 100644 --- a/dat/orc/asym_cl_kite.dat +++ b/dat/orc/asym_cl_kite.dat @@ -1,5 +1,5 @@ -# asymmetric spinnaker centerline tack lift and drag coefficients (ORC VPP). first row is awa -0.02639,,,,,,,,,,, -0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,180.000 -0.0000,0.19100,0.28000,0.36600,0.52300,0.44800,0.55600,0.75700,0.79000,0.77600,0.62000,0.40000 -0.0000,0.02600,1.01800,1.27700,1.47100,1.51300,1.44400,1.13700,0.82900,0.56000,0.25000,-0.12000 +# asymmetric spinnaker tacked on centreline (table 5.9) lift drag and lift coefficients (ORC VPP 2026). first row is awa +0.02648,,,,,,,,,,,, +0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,170.000,180.000 +0.0000,0.15405,0.23500,0.28500,0.33500,0.36500,0.40000,0.51500,0.56500,0.54000,0.42000,0.22800,0.19500 +0.0000,0.01738,0.69825,0.92000,1.08000,1.12500,1.13000,1.03500,0.88500,0.59200,0.24000,0.03900,0.00000 diff --git a/dat/orc/asym_pole_kite.dat b/dat/orc/asym_pole_kite.dat index 4a94b72..bb261eb 100644 --- a/dat/orc/asym_pole_kite.dat +++ b/dat/orc/asym_pole_kite.dat @@ -1,5 +1,5 @@ -# asymmetric spinnaker pole tack lift and drag coefficients (ORC VPP). first row is awa -0.02639,,,,,,,,,,, -0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,180.000 -0.0000,0.17000,0.23800,0.30600,0.45900,0.39200,0.49300,0.79100,0.89400,0.93600,0.93600,0.93600 -0.0000,0.08500,1.11400,1.36000,1.51300,1.54800,1.47900,1.20700,0.95600,0.70600,0.42500,0.00000 +# asymmetric spinnaker tacked on a pole (table 5.10) lift drag and lift coefficients (ORC VPP 2026). first row is awa +0.02648,,,,,,,,,,,, +0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,170.000,180.000 +0.0000,0.15405,0.23500,0.28500,0.33500,0.36500,0.40000,0.51500,0.59000,0.68000,0.70200,0.65500,0.63500 +0.0000,0.01738,0.69825,0.92000,1.08000,1.12500,1.13000,1.03500,0.95000,0.71000,0.39100,0.11500,0.00000 diff --git a/dat/orc/jib.dat b/dat/orc/jib.dat index 1bd52b0..14db946 100644 --- a/dat/orc/jib.dat +++ b/dat/orc/jib.dat @@ -1,4 +1,4 @@ -# jib lift drag and lift coefficient (high). first row is awa +# jib lift drag and lift coefficient (high, ORC VPP 2026 table 5.5). first row is awa 0.016,,,,,,,,, 0.00000,7.0000,15.0000,20.0000,27.0000,50.0000,60.0000,100.0000,150.0000,180.0000 0.003,0.05000,0.03200,0.03100,0.03700,0.25000,0.35000,0.73000,0.95000,0.90000 diff --git a/dat/orc/jib_low.dat b/dat/orc/jib_low.dat index b4b58a1..1fc72a9 100644 --- a/dat/orc/jib_low.dat +++ b/dat/orc/jib_low.dat @@ -1,5 +1,5 @@ -# jib lift drag and lift coefficient (low performance rig). first row is awa +# jib lift drag and lift coefficient (low, ORC VPP 2026 table 5.5). first row is awa 0.016,,,,,,,,, 0.00000,7.0000,15.0000,20.0000,27.0000,50.0000,60.0000,100.0000,150.0000,180.0000 0.003,0.05000,0.03200,0.03100,0.03700,0.25000,0.35000,0.73000,0.95000,0.90000 -0.00000,0.00000,1.00000,1.37500,1.45000,1.43000,1.25000,0.40000,0.00000,-0.10000 +0.00000,0.00000,1.00000,1.37500,1.45000,1.45000,1.25000,0.40000,0.00000,-0.10000 diff --git a/dat/orc/kite.dat b/dat/orc/kite.dat index d8b6dc7..db3eaf6 100644 --- a/dat/orc/kite.dat +++ b/dat/orc/kite.dat @@ -1,5 +1,5 @@ -# kite lift drag and lift coefficient (high). first row is awa +# symmetric spinnaker (table 5.8, default kite) lift drag and lift coefficients (ORC VPP 2026). first row is awa 0.02639,,,,,,,,,,,, 0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,170.000,180.000 -0.0000,0.19152,0.28152,0.35496,0.43920,0.48960,0.53280,0.61920,0.65880,0.67320,0.67320,0.67320,0.67320 -0.0000,-0.02484,0.69437,0.90677,1.04400,1.08000,1.08000,0.95760,0.81360,0.61200,0.32400,0.10800,0.00000 \ No newline at end of file +0.0000,0.18194,0.26744,0.33721,0.41724,0.47100,0.51100,0.58824,0.63200,0.66200,0.70200,0.65500,0.63500 +0.0000,-0.02360,0.65965,0.86143,0.99180,1.01300,1.00000,0.92500,0.82700,0.67300,0.39100,0.11500,0.00000 diff --git a/dat/orc/main.dat b/dat/orc/main.dat index 12dc64e..d597145 100644 --- a/dat/orc/main.dat +++ b/dat/orc/main.dat @@ -1,4 +1,4 @@ -# mainsail lift drag and lift coefficient (high). first row is awa +# mainsail lift drag and lift coefficient (high, ORC VPP 2026 table 5.2). first row is awa 0.01379,,,,,,,,, 0.00000,7.0000,9.0000,12.0000,28.0000,60.0000,90.0000,120.0000,150.0000,180.000 0.03448,0.01724,0.01466,0.01466,0.02586,0.11302,0.38250,0.96888,1.31578,1.34483 diff --git a/dat/orc/main_low.dat b/dat/orc/main_low.dat index 2784d4f..2cce7cc 100644 --- a/dat/orc/main_low.dat +++ b/dat/orc/main_low.dat @@ -1,5 +1,5 @@ -# mainsail lift drag and lift coefficient (low performance rig). first row is awa +# mainsail lift drag and lift coefficient (low, ORC VPP 2026 table 5.2). first row is awa 0.01379,,,,,,,,, 0.00000,7.0000,9.0000,12.0000,28.0000,60.0000,90.0000,120.0000,150.0000,180.000 -0.04300,0.02600,0.02300,0.02300,0.03300,0.11302,0.38250,0.96888,1.31578,1.34483 -0.00000,0.86200,1.05200,1.16400,1.34700,1.23900,1.12500,0.83800,0.29600,-0.11207 +0.04310,0.02586,0.02328,0.02328,0.03259,0.11302,0.38250,0.96888,1.31578,1.34483 +0.00000,0.86207,1.05172,1.16379,1.34698,1.35345,1.26724,0.93103,0.38793,-0.11207 diff --git a/dat/orc/sym_kite.dat b/dat/orc/sym_kite.dat index dd45e31..6588f5c 100644 --- a/dat/orc/sym_kite.dat +++ b/dat/orc/sym_kite.dat @@ -1,5 +1,5 @@ -# symmetric spinnaker lift and drag coefficients (ORC VPP). first row is awa -0.02639,,,,,,,,,,, -0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,180.000 -0.0000,0.21300,0.32100,0.42500,0.58700,0.59800,0.61900,0.85000,0.91100,0.93500,0.93500,0.93500 -0.0000,0.00000,0.97800,1.24100,1.45400,1.45600,1.43700,1.19000,0.95100,0.70600,0.42500,0.00000 +# symmetric spinnaker (table 5.8) lift drag and lift coefficients (ORC VPP 2026). first row is awa +0.02639,,,,,,,,,,,, +0.0000,28.000,41.000,50.000,60.000,67.000,75.000,100.000,115.000,130.000,150.000,170.000,180.000 +0.0000,0.18194,0.26744,0.33721,0.41724,0.47100,0.51100,0.58824,0.63200,0.66200,0.70200,0.65500,0.63500 +0.0000,-0.02360,0.65965,0.86143,0.99180,1.01300,1.00000,0.92500,0.82700,0.67300,0.39100,0.11500,0.00000 diff --git a/results.json b/results.json index 5581996..3032188 100644 --- a/results.json +++ b/results.json @@ -2,8150 +2,72 @@ "name": "YD41", "tws": [ 2.0576, - 3.0864, - 4.1152, - 5.144, - 6.1728, - 7.201599999999999, - 8.2304, - 9.2592, - 10.288 + 2.572 ], "twa": [ - 28.0, - 32.0, - 36.0, - 40.0, - 44.0, - 48.0, - 52.0, - 56.0, - 60.0, - 64.0, - 68.0, - 72.0, - 76.0, - 80.0, - 84.0, - 88.0, - 92.0, - 96.0, - 100.0, - 104.0, - 108.0, - 112.0, - 116.0, - 120.0, - 124.0, - 128.0, - 132.0, - 136.0, - 140.0, - 144.0, - 148.0, - 152.0, - 156.0, - 160.0, - 164.0, - 168.0, - 172.0, - 176.0, + 30.0, + 105.0, 180.0 ], "sails": [ - "MN1 + J1", - "MN1 + A2", - "MN1 + A5" + "MN1 + J1" ], "results": [ [ [ [ - 2.322990966019536, - 2.4389681256678206, - 4.892603936819844, - 0.9478450153512031, - 1.9999999999999993 - ], - [ - 0.0, - 0.0, - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0, - 0.0, - 0.0 - ] - ], - [ - [ - 2.9144271793799716, - 2.887166030361845, - 3.7150039176021212, - 0.9499999970591069, - 2.0 - ], - [ - 0.0, - 0.0, - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0, - 0.0, - 0.0 - ] - ], - [ - [ - 3.3887447920063294, - 3.223028609035163, - 3.1194111981985753, - 0.9499999999604946, - 2.0 - ], - [ - 0.0, - 0.0, - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0, - 0.0, - 0.0 - ] - ], - [ - [ - 3.7982611494431984, - 3.4845319756023025, - 2.7301767931138126, - 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self.ftj) if sail.type == "main": - self.fractionality /= sail.P + sail.BAD + self.fractionality /= sail.P_r + sail.BAD b1 = sail.P_r + sail.BAD self.roach = sail.roach tf = (0.16*(sail.CE-0.024)/sail.P+0.94)*sail.P+sail.BAD @@ -89,10 +89,12 @@ def _measure_sails(self): b2 = sail.I*sail.IG_r/sail.IG self.overlap = sail.LPG_r / sail.J self.HBI = sail.HBI + # a reefed main can drop below the jib head, treat that as a masthead rig + self.fractionality = min(self.fractionality, 1.0) self.eff_span_corr = ( 1.1 + 0.08 * (self.roach - 0.2) - + 0.5 * (0.68 + 0.31 * self.fractionality + 0.0075 * self.overlap - 1.1) + + 0.5 * (0.68 + 0.31 * self.fractionality + 0.075 * self.overlap - 1.1) ) self.b = max(b1, b2) # assumes no mizain mast @@ -118,10 +120,12 @@ def update(self, vb, phi, tws, twa, flat, RED): twa : float True wind angle (degrees). flat : float - Sail flattening factor (0.62 to 1.0). Reduces lift and drag. + Sail flattening factor (0.53 to 1.0). Reduces lift and drag. RED : float - Reef/reduction factor. Values > 1 apply jib furling (ftj = RED - 1), - values <= 1 apply mainsail reefing (rfm = RED). + Reef/reduction factor. Upwind, values > 1 reduce the jib foot + (ftj = RED - 1) and values <= 1 reef the mainsail (rfm = RED). + Downwind (kite), reef = min(RED, 1) scales the whole sail area by + reef^2 and the centre of effort by reef. Returns ------- @@ -132,10 +136,15 @@ def update(self, vb, phi, tws, twa, flat, RED): self.phi = max(0, phi) self.tws = tws self.twa = twa - # gradual flattening of the sails with tws increase, min is 0.62 from 17 knots - self.flat = flat #np.where(tws<2.5, 1, np.where(tws < 8.5, 0.81 + 0.19 * np.cos((tws - 2.5) / 6 * np.pi), 0.62)) - self.ftj = max(RED-1., 0.) - self.rfm = min(RED, 1.) + self.flat = flat + if self.up: + self.ftj = max(RED-1., 0.) + self.rfm = min(RED, 1.) + self.reef = 1.0 + else: + self.ftj = 1.0 + self.rfm = 1.0 + self.reef = min(RED, 1.) self._measure_sails() self._update_windTriangle() @@ -162,21 +171,21 @@ def _compute_forces(self): self.Fx = self.lift * np.sin(awa) - self.drag * np.cos(awa) self.Fy = self.lift * np.cos(awa) + self.drag * np.sin(awa) - # side-force is horizontal component of Fh - self.Fy *= np.cos(np.radians(self.phi)) - - # heeling moment + # heeling moment: heeling force (normal to the mast plane) times its height self.Mx = self.Fy * self._vce() + # side-force is horizontal component of the heeling force + self.Fy *= np.cos(np.radians(self.phi)) + def _get_Rw(self, awa): - Rw = 0.5 * self.rho * self.aws ** 2 * self._get_Aref(awa) * 0.816 - return Rw * np.cos(awa / 180.0 * np.pi) + """Hull windage drag (N), along the apparent wind. awa in radians.""" + return 0.5 * self.rho * self.aws ** 2 * self._get_Aref(awa) * 0.816 def _get_Aref(self, awa): - # only hull part - d = 0.5 * (1 - np.cos(awa / 90.0 * np.pi)) + # only hull part, blends from head-on (AWA 0) to side (AWA 90) area + d = 0.5 * (1 - np.cos(2.0 * awa)) return self.fbav * ((1 - d) * self.boa + d * self.loa) @@ -198,11 +207,13 @@ def _get_coeffs(self): self.cd += cd_i * sail.area * sail.bk kpp += cl_i ** 2 * sail.area * sail.bk * sail.kp - self.cl /= self.area - self.cd /= self.area + # coefficients are based on the full sail areas, reefing only scales self.area + a0 = sum(sail.area for sail in self.sails) + self.cl /= a0 + self.cd /= a0 # viscous quadratic parasitic drag and induced drag - devisor_1 = self.area * self.cl ** 2 + devisor_1 = a0 * self.cl ** 2 devisor_2 = np.pi * self._heff(self.awa) ** 2 self.CE = (kpp / devisor_1 if devisor_1 else 0.0) + (self.area / devisor_2 if devisor_2 else 0.0) @@ -211,7 +222,7 @@ def _get_coeffs(self): for sail in self.sails: if sail.type == "jib": self.fcdj = ( - sail.bk * sail_cd[id(sail)] * sail.area / (self.cd * self.area) + sail.bk * sail_cd[id(sail)] * sail.area / (self.cd * a0) ) # final lift and drag @@ -235,28 +246,30 @@ def _area(self): self.area = 0.0 for sail in self.sails: self.area += sail.area + self.area *= self.reef ** 2 def _vce(self): """ - Vertical centre of effort, lift/drag weighted. - """ - sum = 0.0 - for sail in self.sails: - cl2 = sail.cl(self.awa)**2 - cd2 = sail.cd(self.awa)**2 - sum += sail.area * sail.vce * sail.bk * np.sqrt(cl2+cd2) - self._area() - deltaCH = 0 if self.sails[1].up!=True else (1-self.ftj)*0.05*self.sails[1].IG - Zce = sum/(self.area*np.sqrt(self.cl**2+self.cd**2)) - deltaCH - return (Zce*(1-0.203*(1-self.flat)-0.451*(1-self.flat)*(1-self.fractionality))) + Height of the centre of effort above the waterline (ORC 2026, 5.4.2 and 5.5.2). - - def phi_up(self): - """ - heel angle correction for AWA and AWS (5.51), this is in Radians! + Sail centres of effort are lift/drag weighted, measured from the base + of I, lowered by the twist function with flat and scaled with reef + (kites), then raised by HBI. """ - return 0.5 * (self.phi + 10 * (self.phi / 30.0) ** 2) / 180.0 * np.pi + sum, cl, cd = 0.0, 0.0, 0.0 + for sail in self.sails: + cl_i, cd_i = sail.cl(self.awa), sail.cd(self.awa) + sum += sail.area * sail.vce * sail.bk * np.sqrt(cl_i**2 + cd_i**2) + cl += sail.area * sail.bk * cl_i + cd += sail.area * sail.bk * cd_i + Zce = sum / np.sqrt(cl**2 + cd**2) # (5.39) + # twist function (5.40); the overlap term follows Figure 5.14, the + # printed equation drops its 1/3 and gives no lowering at 150% overlap + olap = 1.0 - np.clip((self.overlap - 0.9) / 0.6, 0.0, 1.0) / 3.0 + twist = 1.0 - (0.5 * (1 - self.flat) + + 0.902 * (1 - self.flat) * (1 - self.fractionality)) * olap + return self.HBI + Zce * twist * self.reef def _heff(self, awa): diff --git a/src/HydroMod.py b/src/HydroMod.py index 75246f7..c925182 100644 --- a/src/HydroMod.py +++ b/src/HydroMod.py @@ -250,15 +250,19 @@ def update(self, vb, phi, leeway, twa=0.0): # def _limit_heel(self): # self.phi = max(0,min(self.phi,self.phi_max)) - # dynamic RM def _get_RmV(self, vb): + """ + Dynamic righting moment (N.m), ORC 2026 eq. 4.32. Negative: stability + lost with forward speed. Displacement x length gives kg.m, so the + formula holds in SI with the speed-length ratio in knots/sqrt(ft). + """ + slr = (vb / 0.5144) / np.sqrt(self.lsm / 0.3048) return ( (5.955e-5 / 3.0) - * self.vol + * self.mass * self.g * self.lsm - * (1 - 6.25 * (self.bwl / np.sqrt(self.yacht.amax))) - * self.vb - / self.lsm + * (1 - 6.25 * self.bwl / np.sqrt(self.yacht.amax) - 2.1) + * slr * self.phi ) diff --git a/src/SailMod.py b/src/SailMod.py index 95fa8d3..408fae8 100644 --- a/src/SailMod.py +++ b/src/SailMod.py @@ -40,7 +40,7 @@ def __init__(self, name, type, area, vce, up=True, data_source="orc", area : float Sail area (m^2). vce : float - Vertical centre of effort above deck (m). + Vertical centre of effort above the base of I (m). up : bool, optional Whether this is an upwind sail. Default is True. data_source : str, optional @@ -212,7 +212,9 @@ def __init__(self, name, I, J, LPG, HBI, data_source="orc", LPG : float Luff perpendicular (m). HBI : float - Height of the jib tack above deck (m). + Height of the base of I (foretriangle base, roughly the deck at the + mast) above the waterline (m). All sail centres of effort are + measured from this datum, as in the ORC VPP. data_source : str, optional Coefficient data source. Default "orc". cl_data : dict, optional @@ -230,7 +232,7 @@ def __init__(self, name, I, J, LPG, HBI, data_source="orc", self.LPG = LPG self.HBI = HBI self.area = 0.5 * I * max(J, LPG) - self.vce = I / 3.0 + HBI + self.vce = I / 3.0 # above base of I super().__init__(self.name, self.type, self.area, self.vce, data_source=data_source, cl_data=cl_data, cd_data=cd_data, sail_type=sail_type) @@ -246,15 +248,16 @@ def measure(self, rfm=1, ftj=1): Reef factor for mainsail (unused for jib, present for interface compatibility). ftj : float - Furl factor for jib (0 to 1). 0 = fully unfurled. + Furl factor for jib (0 to 1). 1 = full jib, 0 = minimum jib. """ - self.LPG_r = self.LPG*ftj - self.IG_r = self.IG*ftj + # the foot is reduced down to the minimum jib, a full-hoist jib with LPG = J + self.LPG_r = min(self.LPG, self.J) + max(self.LPG - self.J, 0.0) * ftj + self.IG_r = self.IG self.area = 0.5 * self.I * max(self.J, self.LPG_r) class Kite(Sail): - def __init__(self, name, area, vce, data_source="orc", + def __init__(self, name, area, vce, min_reef=0.85, data_source="orc", cl_data=None, cd_data=None, sail_type=None): """ Spinnaker or asymmetric downwind sail. @@ -266,7 +269,12 @@ def __init__(self, name, area, vce, data_source="orc", area : float Sail area (m^2). vce : float - Vertical centre of effort above deck (m). + Vertical centre of effort above the base of I (m), 0.565 * ISP in + the ORC VPP. + min_reef : float, optional + Lowest reef factor when depowering under this sail (sail area + scales with reef^2, centre of effort with reef). ORC uses + 0.85 * default spinnaker area / spinnaker area. Default 0.85. data_source : str, optional Coefficient data source. Default "orc". cl_data : dict, optional @@ -280,7 +288,7 @@ def __init__(self, name, area, vce, data_source="orc", self.name = name self.type = "kite" self.area = area - self.min_area = self.area + self.min_reef = min_reef self.vce = vce super().__init__(self.name, self.type, self.area, self.vce, up=False, data_source=data_source, cl_data=cl_data, cd_data=cd_data, diff --git a/src/VPPMod.py b/src/VPPMod.py index 89f3ade..c3babcc 100644 --- a/src/VPPMod.py +++ b/src/VPPMod.py @@ -25,6 +25,8 @@ RESID_SCALE = np.array([1e3, 1e3, 1e4]) # Tolerance on the scaled residuals for a point to count as an equilibrium RESID_TOL = 1e-4 +# Minimum flat (ORC 2026, 5.1.3) +FLAT_MIN = 0.53 def _equilibrium(x, aero, hydro, tws, twa): @@ -35,12 +37,13 @@ def _equilibrium(x, aero, hydro, tws, twa): return np.array([Fxh - Fxa, Fyh - Fya, Mxh - Mxa]) / RESID_SCALE -def _solve_point(aero, hydro, tws, twa, phi_max, guesses, fallbacks=()): +def _solve_point(aero, hydro, tws, twa, phi_max, guesses, fallbacks=(), red_bounds=(0.5, 2.0)): """Find the fastest equilibrium at one (tws, twa) for the current sail set. Maximises boat speed over [vb, phi, leeway, flat, red] subject to force and moment equilibrium, with heel bounded by phi_max. Sails are flattened - (flat: 1.0 -> 0.62) and reefed (red: 2.0 -> 0.5) only as much as is fast. + (flat: 1.0 -> FLAT_MIN) and reefed (red within red_bounds) only as much + as is fast. Every guess is tried and the fastest converged solution is kept; the fallback guesses are only tried if none of them converge. @@ -50,9 +53,12 @@ def _solve_point(aero, hydro, tws, twa, phi_max, guesses, fallbacks=()): [vb (m/s), phi, leeway, flat, red], or None if no equilibrium exists (e.g. a kite that cannot be carried at this heel limit). """ - bounds = [(0.0, None), (0.0, phi_max), (-2.0, 6.0), (0.62, 1.0), (0.5, 2.0)] + bounds = [(0.0, None), (0.0, phi_max), (-2.0, 6.0), (FLAT_MIN, 1.0), red_bounds] + lo = np.array([b[0] for b in bounds], dtype=float) + hi = np.array([np.inf if b[1] is None else b[1] for b in bounds]) best = None for k, x0 in enumerate([*guesses, *fallbacks]): + x0 = np.clip(x0, lo, hi) if k >= len(guesses) and best is not None: break sol = minimize( @@ -83,8 +89,12 @@ def _solve_row(yacht, tws, twa_range, n, phi_max, lim_up, lim_dn): """ aero = AeroMod(yacht) hydro = HydroMod(yacht) - aero.sails[1] = yacht.sails[n + 1] - aero.up = aero.sails[1].up + sail = yacht.sails[n + 1] + aero.sails[1] = sail + aero.up = sail.up + # upwind: RED 2 -> 1 reduces the jib, 1 -> 0.5 reefs the main; + # downwind: RED is the kite reef factor + red_bounds = (0.5, 2.0) if sail.up else (getattr(sail, "min_reef", 0.85), 1.0) row = np.zeros((len(twa_range), 5)) prev = None @@ -98,12 +108,12 @@ def _solve_row(yacht, tws, twa_range, n, phi_max, lim_up, lim_dn): guesses = [np.array([0.6 * tws, 10.0, 3.0, 1.0, 2.0])] if prev is not None: guesses.insert(0, prev) - fallbacks = [np.array([3.5, 20.0, 3.0, 1.0, 2.0])] + fallbacks = [np.array([3.5, 20.0, 3.0, 1.0, 2.0]), np.array([0.4 * tws, 5.0, 3.0, 1.0, 2.0])] - x = _solve_point(aero, hydro, tws, twa, phi_max, guesses, fallbacks) + x = _solve_point(aero, hydro, tws, twa, phi_max, guesses, fallbacks, red_bounds) if x is None: logger.debug("No equilibrium for %s at TWS %.1f TWA %.1f", - yacht.sails[n + 1].name, tws / KNOTS_TO_MPS, twa) + sail.name, tws / KNOTS_TO_MPS, twa) continue prev = x row[j] = x * np.array([1.0 / KNOTS_TO_MPS, 1, 1, 1, 1]) diff --git a/tests/test_vpp.py b/tests/test_vpp.py index 2f8c24a..ee503e2 100644 --- a/tests/test_vpp.py +++ b/tests/test_vpp.py @@ -1,6 +1,7 @@ import os import numpy as np +import pytest from src.SailMod import Jib, Kite, Main from src.VPPMod import VPP @@ -223,22 +224,24 @@ def test_sail_type_jib_low(): def test_sail_type_sym_kite(): - """Symmetric spinnaker has higher CL than the default kite.""" + """The default kite is the ORC 2026 symmetric spinnaker (table 5.8).""" kite_default = Kite("A2", area=150.0, vce=9.55) kite_sym = Kite("A2", area=150.0, vce=9.55, sail_type="sym_kite") - # ORC symmetric spinnaker has peak CL ~1.456 vs default ~1.08 - assert kite_sym.cl(67) > kite_default.cl(67) + assert kite_sym.cl(67) == pytest.approx(1.013) + assert kite_sym.cd(150) == pytest.approx(0.702) + assert kite_default.cl(67) == pytest.approx(kite_sym.cl(67)) def test_sail_type_asym_kite_variants(): - """Asymmetric spinnaker variants load and produce different coefficients.""" + """Asymmetric spinnakers follow ORC 2026 tables 5.9 and 5.10.""" kite_cl = Kite("A2", area=150.0, vce=9.55, sail_type="asym_cl_kite") kite_pole = Kite("A2", area=150.0, vce=9.55, sail_type="asym_pole_kite") - # Both should produce non-zero CL at 67 deg - assert kite_cl.cl(67) > 1.0 - assert kite_pole.cl(67) > 1.0 - # Pole tack has slightly higher peak CL than centerline - assert kite_pole.cl(67) > kite_cl.cl(67) + # same up to 100 deg AWA ... + assert kite_cl.cl(67) == pytest.approx(1.125) + assert kite_pole.cl(67) == pytest.approx(kite_cl.cl(67)) + # ... but a pole keeps the sail working deeper + assert kite_pole.cl(150) == pytest.approx(0.391) + assert kite_pole.cl(150) > kite_cl.cl(150) def test_parallel_matches_sequential(): From 11001092aaf1946dc2066ba56ba1f058a13f16c5 Mon Sep 17 00:00:00 2001 From: marinlauber Date: Thu, 15 Oct 2026 18:10:29 +0200 Subject: [PATCH 16/21] feat: save figures as PDF for sharper curves Figure.png stays as the README image, since GitHub cannot inline a PDF. 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plt.savefig("Figure_%s_%02d.pdf" % (label, s), dpi=500) def plot_stats(stats): print("Generating statistics plots...") @@ -210,7 +210,7 @@ def plot_stats(stats): ax.legend(title=r"Stats",loc=1, bbox_to_anchor=(1.05, 1.05)) plt.tight_layout() - plt.savefig("Figure_%s_stats.png" % (label), dpi=500) + plt.savefig("Figure_%s_stats.pdf" % (label), dpi=500) def benchmark(args): if args.purge: diff --git a/dat/YD-41/post.py b/dat/YD-41/post.py index bad2533..d531b2c 100644 --- a/dat/YD-41/post.py +++ b/dat/YD-41/post.py @@ -56,5 +56,5 @@ ax.set_ylabel(r"$V_B$ (knots)", labelpad=-40) ax.legend(title=r"TWS (knots)", loc=1, bbox_to_anchor=(1.05, 1.05)) plt.tight_layout() -plt.savefig("Figure.png", dpi=500) +plt.savefig("Figure.pdf") plt.show() diff --git a/src/UtilsMod.py b/src/UtilsMod.py index aa7fac6..3b33893 100644 --- a/src/UtilsMod.py +++ b/src/UtilsMod.py @@ -129,7 +129,7 @@ def _get_cross(dat, n, pad=2): return np.array([0, 0]) -def polar_plot(VPP_list, n, save, fname="Polars.png") -> None: +def polar_plot(VPP_list, n, save, fname="Polars.pdf") -> None: """ Generate a polar plot of the equilibrium variables. @@ -198,12 +198,12 @@ def polar_plot(VPP_list, n, save, fname="Polars.png") -> None: plt.tight_layout() fig.subplots_adjust(bottom=0.12) if save: - plt.savefig(fname, dpi=96) + plt.savefig(fname) else: plt.show() -def sail_chart(VPP, save, fname="SailChart.png"): +def sail_chart(VPP, save, fname="SailChart.pdf"): sailset = _get_best_sails(VPP.store) twa = VPP.twa_range @@ -240,7 +240,7 @@ def sail_chart(VPP, save, fname="SailChart.png"): ax[0].legend(h, VPP.sail_name, title=r"Sail Set", loc=1, bbox_to_anchor=(1.05, 0.7)) plt.tight_layout() if save: - plt.savefig(fname, dpi=96) + plt.savefig(fname) else: plt.show() @@ -281,11 +281,11 @@ def polar(self, n=1, save=False): [self], n, save, - "Figure.png", + "Figure.pdf", ) def SailChart(self, save=False): sail_chart(self, save) def polar_comp(self, other, n=1, save=False): - polar_plot([self, other], n, save, "VPP_comparison.png") + polar_plot([self, other], n, save, "VPP_comparison.pdf") diff --git a/src/VPPMod.py b/src/VPPMod.py index c3babcc..c7d9a75 100644 --- a/src/VPPMod.py +++ b/src/VPPMod.py @@ -287,8 +287,8 @@ def results(self): def write(self, fname): json_write(self.results(), fname) - def polar(self, n=1, save=False, fname="Polars.png"): + def polar(self, n=1, save=False, fname="Polars.pdf"): polar_plot([self], n, save, fname) - def SailChart(self, save=False, fname="SailChart.png"): + def SailChart(self, save=False, fname="SailChart.pdf"): sail_chart(self, save, fname) diff --git a/tests/test_vpp.py b/tests/test_vpp.py index ee503e2..4389a3e 100644 --- a/tests/test_vpp.py +++ b/tests/test_vpp.py @@ -26,8 +26,8 @@ def test_single_sail_set(tmp_path): vpp.run() vpp.write("results") - polar_path = str(tmp_path / "test_polar.png") - sail_path = str(tmp_path / "test_sail.png") + polar_path = str(tmp_path / "test_polar.pdf") + sail_path = str(tmp_path / "test_sail.pdf") vpp.polar(3, True, fname=polar_path) vpp.SailChart(True, fname=sail_path) assert os.path.exists(polar_path), "Polar plot was not created" @@ -49,7 +49,7 @@ def test_sail_chart_no_deprecation_warning(tmp_path): twa_range=np.linspace(30.0, 180.0, 16), ) vpp.run(verbose=False) - fname = str(tmp_path / "test_sailchart.png") + fname = str(tmp_path / "test_sailchart.pdf") with warnings.catch_warnings(): warnings.simplefilter("error", DeprecationWarning) vpp.SailChart(save=True, fname=fname) From cbe0ef45f9cf1ba049026abc3cd6714a96b00ebc Mon Sep 17 00:00:00 2001 From: marinlauber Date: Thu, 15 Oct 2026 20:56:38 +0200 Subject: [PATCH 17/21] feat: cap heel under spinnaker at the ORC 21.5 deg Kites take a max_heel (default 21.5) which tightens the heel bound of the equilibrium solve; ORC models it as a soft resistance boundary. 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boat speed is maximised over boat speed, heel, leeway, sail flattening and reefing, subject to force and moment equilibrium (SLSQP). `VPP.set_analysis` takes an optional maximum heel angle (`phi_max`, default 35 degrees); the sails are only flattened (down to flat = 0.53) and reefed as much as is fastest within it, following the ORC VPP 2026 depowering scheme. Points where a sail set cannot be carried within `phi_max` are left at 0 and not plotted. `VPP.run` accepts `method="sequential"` (default) or `"parallel"` (same results, spread over all CPU cores). +At each TWS/TWA the boat speed is maximised over boat speed, heel, leeway, sail flattening and reefing, subject to force and moment equilibrium (SLSQP). `VPP.set_analysis` takes an optional maximum heel angle (`phi_max`, default 35 degrees); the sails are only flattened (down to flat = 0.53) and reefed as much as is fastest within it, following the ORC VPP 2026 depowering scheme. Kites are further limited to their own `max_heel` (default 21.5 degrees, the ORC limit under spinnaker). Points where a sail set cannot be carried within its heel limit are left at 0 and not plotted. `VPP.run` accepts `method="sequential"` (default) or `"parallel"` (same results, spread over all CPU cores). To run the Streamlit demo locally: @@ -71,7 +71,7 @@ Here is a list of the key variables used in the VPP. 1. Sails: Standard measurements, except Roach is defined as 1-A/(0.5PE) HBI (jib) is the height of the base of I above the waterline; sail centres of effort (kite vce) are measured from it - Kite only takes area and vce estimate (this is very rough), and min_reef (default 0.85) for depowering + Kite only takes area and vce estimate (this is very rough), min_reef (default 0.85) for depowering and max_heel (default 21.5 degrees) 1. 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0.9999999999999999, + 1.0 ] ] ] diff --git a/src/SailMod.py b/src/SailMod.py index 408fae8..eeb88f2 100644 --- a/src/SailMod.py +++ b/src/SailMod.py @@ -257,7 +257,7 @@ def measure(self, rfm=1, ftj=1): class Kite(Sail): - def __init__(self, name, area, vce, min_reef=0.85, data_source="orc", + def __init__(self, name, area, vce, min_reef=0.85, max_heel=21.5, data_source="orc", cl_data=None, cd_data=None, sail_type=None): """ Spinnaker or asymmetric downwind sail. @@ -275,6 +275,11 @@ def __init__(self, name, area, vce, min_reef=0.85, data_source="orc", Lowest reef factor when depowering under this sail (sail area scales with reef^2, centre of effort with reef). ORC uses 0.85 * default spinnaker area / spinnaker area. Default 0.85. + max_heel : float, optional + Largest heel angle (deg) this sail can be carried at. ORC caps heel + under spinnaker at about 21.5 deg (since 2014) with a soft resistance + boundary; here it is a hard bound, still within the VPP phi_max. + Default 21.5. data_source : str, optional Coefficient data source. Default "orc". cl_data : dict, optional @@ -289,6 +294,7 @@ def __init__(self, name, area, vce, min_reef=0.85, data_source="orc", self.type = "kite" self.area = area self.min_reef = min_reef + self.max_heel = max_heel self.vce = vce super().__init__(self.name, self.type, self.area, self.vce, up=False, data_source=data_source, cl_data=cl_data, cd_data=cd_data, diff --git a/src/VPPMod.py b/src/VPPMod.py index c7d9a75..8ee027c 100644 --- a/src/VPPMod.py +++ b/src/VPPMod.py @@ -95,6 +95,8 @@ def _solve_row(yacht, tws, twa_range, n, phi_max, lim_up, lim_dn): # upwind: RED 2 -> 1 reduces the jib, 1 -> 0.5 reefs the main; # downwind: RED is the kite reef factor red_bounds = (0.5, 2.0) if sail.up else (getattr(sail, "min_reef", 0.85), 1.0) + # kites carry their own (lower) heel limit, ORC ~21.5 deg + phi_max = min(phi_max, getattr(sail, "max_heel", phi_max)) row = np.zeros((len(twa_range), 5)) prev = None diff --git a/tests/test_vpp.py b/tests/test_vpp.py index 4389a3e..99f7cab 100644 --- a/tests/test_vpp.py +++ b/tests/test_vpp.py @@ -174,6 +174,21 @@ def test_stored_points_are_in_equilibrium(): assert np.abs(r).max() < RESID_TOL, f"TWS {tws} TWA {twa}: {r}" +def test_kite_heel_capped(): + """Kites are held to their own heel limit (ORC ~21.5 deg), the jib to phi_max.""" + yacht = return_YD41_particulars() + yacht.sails = [Main("MN1", P=16.60, E=5.60, Roach=0.1, BAD=1.0), + Jib("J1", I=16.20, J=5.10, LPG=5.40, HBI=1.8), + Kite("A2", area=150.0, vce=9.55)] + assert yacht.sails[2].max_heel == 21.5 + vpp = VPP(Yacht=yacht) + vpp.set_analysis(tws_range=np.array([16.0]), twa_range=np.array([60.0, 120.0])) + vpp.run() + assert vpp.store[0, 1, 1, 0] > 0 + assert vpp.store[0, 1, 1, 1] <= 21.5 + 1e-6 + assert vpp.store[0, 0, 0, 1] > 21.5 # J1 at 60 deg heels past the kite limit + + def test_infeasible_kite_left_unsolved(): """A kite that cannot be held at the heel limit is stored as 0, not a fake point.""" from src.UtilsMod import KNOTS_TO_MPS From e2237ec1af00b6ddc89b42fd7053aacbaaeca65d Mon Sep 17 00:00:00 2001 From: marinlauber Date: Fri, 16 Oct 2026 08:35:46 +0200 Subject: [PATCH 18/21] feat: heeled wind triangle with the ORC log wind gradient TWS is given at 10 m and scaled with a log profile (z0 = 0.005 m) to the sail plan's centre of effort, and to half the freeboard for hull windage. The cross-track true wind is projected on the heeled mast plane with cos(heel) (ORC VPP 2026, 7.1). 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index c925182..aa16300 100644 --- a/src/HydroMod.py +++ b/src/HydroMod.py @@ -100,44 +100,89 @@ def _get_Rr(self): def _get_Rv(self): """ - Get viscous resistance at this froude number + Viscous resistance of the canoe body (ORC 6.1.1) and appendages (6.1.2). + Needs the appendage side forces, so _get_Ri() is called first. """ + q = 0.5 * self.rho * self.vb ** 2 # length correction and form factor of 1.05 - Rv = 0.5 * self.rho * self.wsa * self.vb ** 2 * self._cf(0.85 * self.lsm) * 1.05 - for appendages in self.yacht.appendages: - Rv += ( - 0.5 - * self.rho - * appendages.wsa - * self.vb ** 2 - * self._cf(appendages.chord) - * appendages.cof - ) + Rv = q * self.wsa * self._cf(0.85 * self.lsm) * 1.05 + for appendage, side_force in zip(self.yacht.appendages, self.Ksfj[1:]): + Rv += q * self._app_cd_area(appendage, side_force) return Rv - def _get_Ri(self): - - # prevent from crashing - if self.vb == 0.0: - return 0.0 - - # reset each time - self.cla = self.yacht.cla - self.Teff = self.yacht.teff + def _app_cd_area(self, app, side_force): + """ + Viscous drag area (m^2) of an appendage, ORC 6.1.2: five spanwise strips + with their local Reynolds number, the ORC friction line (6.3) and form + factor (6.4, 6.6), plus the lift-dependent drag (6.7) with CL capped at 0.5. + """ + root = getattr(app, "cu", app.chord) + tip = getattr(app, "cl", app.chord) + chords = root + (tip - root) * (np.arange(5) + 0.5) / 5 + if app.type == "bulb": + tcr = min(app.tc_ratio, 0.25) + kf = -13.1753 * tcr ** 3 + 9.3842 * tcr ** 2 - 0.7581 * tcr + 0.1442 + elif app.type == "short_keel": + kf = app.cof - 1 # own form factor for low aspect-ratio keels + else: + tcr = min(app.tc_ratio, 0.18) + kf = 1.75 * tcr + 30 * tcr ** 4 + q = 0.5 * self.rho * self.vb ** 2 + cl = min(abs(side_force) / (q * app.area), 0.5) if q > 0 and app.area > 0 else 0.0 + dcd = 0.0016 * cl + 0.0032 * cl ** 2 + return sum(app.wsa / 5 * (self._cf_app(c) * (1 + kf) + dcd) for c in chords) + def _get_Ri(self): + """ + Induced drag of the canoe body and appendages (ORC 6.5), each from its + share of the side force and its effective span. The appendage spans + are corrected for the keel root free surface and funsteady (6.5.1), and + the total by the heel multiplier of Figure 6.10. + """ + cla = [self.yacht.cla] + teff = [self.yacht.teff] for appendage in self.yacht.appendages: - self.cla = np.hstack((self.cla, appendage.cla * appendage._Ksff(self.phi))) - self.Teff = np.hstack((self.Teff, appendage.teff)) + cla.append(appendage.cla * appendage._Ksff(self.phi)) + teff.append(appendage.teff * self.span_mult) + cla, teff = np.array(cla), np.array(teff) - self.Ksfj = ( - 0.5 * self.rho * self.vb ** 2 * self.cla * np.radians(self.leeway) - ) + q = 0.5 * self.rho * self.vb ** 2 + self.Ksfj = q * cla * np.radians(self.leeway) self.Ksf = np.sum(self.Ksfj) + if q == 0.0: + return 0.0 + lifting = teff > 0 + return np.sum(self.Ksfj[lifting] ** 2 / (q * np.pi * teff[lifting] ** 2)) - # contribution of each - Ri = self.Ksfj ** 2 / (0.5 * self.rho * self.vb ** 2 * np.pi * self.Teff ** 2) - - return sum(Ri) + def _span_multiplier(self, tws): + """ + Keel root free surface factor times funsteady on the appendage effective + span (ORC 6.5.1, 6.39-6.48), both 1 when no TWS is given. TWS enters the + empirical wave height and funsteady in knots; fact_Fn is taken as Fn. + """ + if tws is None: + return 1.0 + tws_kn = tws / 0.5144 + hdyn = -0.087641 * self.lsm * self.fn * np.exp(-0.417 * self.lvr) + ew = tws_kn * (1 - 0.8375 * 1.174 ** (-0.00248 * tws_kn ** 3.5)) + hw = 0.25 * tws_kn * np.sqrt(2 * ew / (self.rho * self.g)) + beff = 0.0 + # keel root at the canoe body draft, under a wave peak and trough + for dist in (self.tc + hdyn + 0.5 * hw, self.tc + hdyn - 0.5 * hw): + tratio = np.clip(2 * dist / (0.15 * self.lsm), 0.0, 0.5) + beff += 0.5 * (0.5 + 0.5 * np.sin(np.pi * tratio)) + funsteady = max(0.9, 1 - ((tws_kn - 10) / (self.vol + 3)) ** 2 / 200) + return beff * funsteady + + def _di_factor(self, ratio): + """ + Heel multiplier of the induced drag (ORC Figure 6.10, fitted as + 1 + 0.56 (1 - phi/16)^2 below 16 deg), fully active upwind and faded + out as the drive to side force ratio goes from 0.2 to 0.4. + """ + di = 1 + 0.56 * max(0.0, 1 - self.phi / 16.0) ** 2 + w = 0.5 * (1 + np.cos(np.pi * np.clip((ratio - 0.2) / 0.2, 0.0, 1.0))) + return 1 + (di - 1) * w def _cf(self, L): """ @@ -155,6 +200,19 @@ def _cf(self, L): cf += (105.0 * (ks / L) ** (1.0 / 3.0) - 0.64) * 1e-3 return cf + def _cf_app(self, L): + """ + ORC appendage friction line (6.3, the quadratic term read as + 0.0278513 log^2 Rn), with the optional roughness allowance. + """ + lr = np.log10(max(1e5, self.vb * L / self.nu)) + cf = (0.0000853 * lr ** 4 - 0.0025252 * lr ** 3 + 0.0278513 * lr ** 2 + - 0.1363492 * lr + 0.2539752) + ks = self.yacht.roughness + if ks > 0: + cf += (105.0 * (ks / L) ** (1.0 / 3.0) - 0.64) * 1e-3 + return cf + def _added_resistance_waves(self, twa): """Added resistance in waves (simplified Gerritsma scaling). @@ -204,7 +262,7 @@ def _added_resistance_waves(self, twa): return max(0.0, Raw) - def update(self, vb, phi, leeway, twa=0.0): + def update(self, vb, phi, leeway, twa=0.0, tws=None): """ Update hydrodynamic forces for current sailing state. @@ -218,6 +276,9 @@ def update(self, vb, phi, leeway, twa=0.0): Leeway angle (degrees). twa : float, optional True wind angle (degrees). Used for wave encounter angle. + tws : float, optional + True wind speed (m/s), for the free surface and funsteady + corrections of the appendage effective span. None skips them. Returns ------- @@ -232,9 +293,11 @@ def update(self, vb, phi, leeway, twa=0.0): self.lsm, self.lvr, self.btr = self.yacht.measureLSM() self.fn = self.vb / (np.sqrt(self.g * self.lsm)) - # resistance - self.Fx = self._get_Rr() + self._get_Rv() + self._get_Ri() - self.Fx += self._added_resistance_waves(twa) + # resistance, induced drag first as it sets the appendage lift + self.span_mult = self._span_multiplier(tws) + Ri = self._get_Ri() + self.Fx = self._get_Rr() + self._get_Rv() + self._added_resistance_waves(twa) + self.Fx += Ri * self._di_factor(self.Fx / max(self.Ksf, 1e-6)) # keel side force, calculated when _get_Ri() is called self.Fy = self.Ksf * np.cos(self.phi / 180.0 * np.pi) @@ -290,6 +353,8 @@ def show_resistance(self, vb, file_name="None"): self.phi = 0 self.lsm, self.lvr, self.btr = self.yacht.measureLSM() self.fn = self.vb / (np.sqrt(self.g * self.lsm)) + self.leeway, self.span_mult = 0.0, 1.0 + self._get_Ri() # zero side force, sets the appendage lift resR[i] = self._get_Rr() resV[i] = self._get_Rv() plt.plot(vb, resR, "-x", lw=1, label="Residuary Resistance") diff --git a/src/VPPMod.py b/src/VPPMod.py index 8ee027c..96e2394 100644 --- a/src/VPPMod.py +++ b/src/VPPMod.py @@ -32,7 +32,7 @@ def _equilibrium(x, aero, hydro, tws, twa): """Scaled force/moment imbalance (Fx, Fy, Mx) at state x = [vb, phi, leeway, flat, red].""" vb, phi, leeway, flat, red = x - Fxh, Fyh, Mxh = hydro.update(vb, phi, leeway, twa) + Fxh, Fyh, Mxh = hydro.update(vb, phi, leeway, twa, tws) Fxa, Fya, Mxa = aero.update(vb, phi, tws, twa, flat, red) return np.array([Fxh - Fxa, Fyh - Fya, Mxh - Mxa]) / RESID_SCALE diff --git a/src/YachtMod.py b/src/YachtMod.py index 30ca026..158fa48 100644 --- a/src/YachtMod.py +++ b/src/YachtMod.py @@ -75,7 +75,7 @@ def _print(self): class Keel(Appendage): - def __init__(self, Cu=1, Cl=1, Span=0): + def __init__(self, Cu=1, Cl=1, Span=0, Tc_ratio=0.20): """ Trapezoidal keel appendage. @@ -90,8 +90,12 @@ def __init__(self, Cu=1, Cl=1, Span=0): Tip (lower) chord length (m). Default is 1. Span : float, optional Keel span (m). Default is 0. + Tc_ratio : float, optional + Thickness-to-chord ratio, sets the form factor (ORC caps it at + 0.18). Default 0.20. """ self.type = "keel" + self.tc_ratio = Tc_ratio self.cu = Cu self.cl = Cl self.span = Span @@ -104,7 +108,7 @@ def __init__(self, Cu=1, Cl=1, Span=0): class Rudder(Appendage): - def __init__(self, Cu=1, Cl=1, Span=0): + def __init__(self, Cu=1, Cl=1, Span=0, Tc_ratio=0.10): """ Trapezoidal rudder appendage. @@ -116,8 +120,11 @@ def __init__(self, Cu=1, Cl=1, Span=0): Tip (lower) chord length (m). Default is 1. Span : float, optional Rudder span (m). Default is 0. + Tc_ratio : float, optional + Thickness-to-chord ratio. Default 0.10. """ self.type = "rudder" + self.tc_ratio = Tc_ratio self.cu = Cu self.cl = Cl self.span = Span @@ -129,12 +136,13 @@ def __init__(self, Cu=1, Cl=1, Span=0): super().__init__(self.type, self.chord, self.area, self.span, self.vol, self.ce) def _Ksff(self, phi): - # rudder influence gradually ramped up to twice its area - return np.where(phi <= 30, 1 + 0.5 * (1 - np.cos(phi / 30.0 * np.pi)), 2.0) + # rudder lift area ramps sinusoidally from 0 upright to twice its + # area at 30 deg of heel (ORC since 2018) + return np.where(phi <= 30, 1 - np.cos(phi / 30.0 * np.pi), 2.0) class Bulb(Appendage): - def __init__(self, Chord, area, vol, CG): + def __init__(self, Chord, area, vol, CG, Tc_ratio=0.25): """ Keel bulb appendage. @@ -151,14 +159,20 @@ def __init__(self, Chord, area, vol, CG): Displaced volume (m^3). CG : float Centre of gravity depth below waterline (m). + Tc_ratio : float, optional + Thickness-to-chord ratio (ORC caps it at 0.25). Default 0.25. """ self.type = "bulb" + self.tc_ratio = Tc_ratio self.chord = Chord self.area = area self.ce = CG self.vol = vol self.cof = 1.50 super().__init__(self.type, self.chord, self.area, 0.0, self.vol, self.ce) + # area is already the wetted area, and a bulb carries no side force + self.wsa = self.area + self.cla = 0.0 class ShortKeel(Appendage): diff --git a/tests/test_hydro.py b/tests/test_hydro.py index 0837a25..2de97b2 100644 --- a/tests/test_hydro.py +++ b/tests/test_hydro.py @@ -142,3 +142,44 @@ def test_roughness_allowance_uses_given_length(self): for L in [hydro.l, 1.0]: dcf = hydro._cf(L) - smooth._cf(L) assert abs(dcf - (105.0 * (150e-6 / L) ** (1.0 / 3.0) - 0.64) * 1e-3) < 1e-12 + + +class TestORCAppendages: + """ORC 2026 6.1.2 and 6.5: appendage friction, lift drag and induced drag.""" + + def test_rudder_lift_ramps_from_zero(self): + rudder = Rudder(Cu=0.48, Cl=0.22, Span=1.15) + assert rudder._Ksff(0.0) == 0.0 + assert abs(rudder._Ksff(15.0) - 1.0) < 1e-12 + assert rudder._Ksff(30.0) == 2.0 + assert rudder._Ksff(40.0) == 2.0 + + def test_appendage_friction_line(self): + hydro = HydroMod(_make_yacht()) + hydro.vb = 2e6 * hydro.nu # Rn = 2e6 on a 1 m chord + assert 0.0030 < hydro._cf_app(1.0) < 0.0038 + + def test_lift_increases_appendage_drag_capped(self): + hydro = HydroMod(_make_yacht()) + hydro.vb = 3.0 + keel = hydro.yacht.appendages[0] + q_a = 0.5 * hydro.rho * hydro.vb ** 2 * keel.area + d0 = hydro._app_cd_area(keel, 0.0) + d_half = hydro._app_cd_area(keel, 0.5 * q_a) + assert abs(d_half - d0 - keel.wsa * (0.0016 * 0.5 + 0.0032 * 0.25)) < 1e-12 + assert hydro._app_cd_area(keel, 2.0 * q_a) == d_half # CL capped at 0.5 + + def test_induced_drag_heel_multiplier(self): + hydro = HydroMod(_make_yacht()) + hydro.phi = 0.0 + assert abs(hydro._di_factor(0.1) - 1.56) < 1e-12 + assert hydro._di_factor(0.5) == 1.0 # off at large drive/side force ratios + hydro.phi = 20.0 + assert hydro._di_factor(0.1) == 1.0 + + def test_span_multiplier(self): + hydro = HydroMod(_make_yacht()) + hydro.update(3.0, 20.0, 3.0, twa=45.0) + assert hydro.span_mult == 1.0 + hydro.update(3.0, 20.0, 3.0, twa=45.0, tws=20 * 0.5144) + assert 0.8 < hydro.span_mult < 1.0 From 249c6848340b95b8b2ba8048cbc7175bde9765a0 Mon Sep 17 00:00:00 2001 From: marinlauber Date: Fri, 16 Oct 2026 17:40:52 +0200 Subject: [PATCH 20/21] fix: appendage aspect ratio span^2/area and lifting-line lift slope Ar was span/area (dimensional). It is now span^2/area, doubled for the hull reflection, and the lift slope uses 2*pi*Ae/(Ae+2), which grows with aspect ratio. The short keel Jones slope uses the same Ae. 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zJYWa&_|qrNTE5i-J*p~}xgpQ%C1UrDLm>(W88tg#e2Z}FAB1rHhvR6Ig(ZeSD#_EUDByzm zOh=zs$tEt;-9XBxI~zOcwt_F#?6v58!O5ysdd~f035tQ=VOifRZV`G>XHHB0^dN$6 zSTD;~Bl5GJ#&AL8cHxI!j1j5jq6D2GH=FON#x2fPC~s)f{lb}O16Ji&?0XJ+bk1pP&JC%y5QCO8X>BN3} zsXS~V_x(V+xZKO0yc~#CD@a;n{)`@JaXB*%xK`8UT}mjy*hBWw&Wzx$NW%omutf+EuzwAf_45`ZISq|1X92v03|WXKHLcmR$ zuNM$h7%Fln1{8+fiGf5#@5I1Bp}R4#a7uNGC>9t5PT5KUAi%=FzjA;g!oa`h0)j<_ z!GGt0MWA=`Ai}Ua^MSx3cgBKXLjUR&@n6jXL89Ql8v}xcVSg6^i9kf}G$sOu-60Pw z3ciyEfr9@#@3y{>5D)?c-a!Zf!JvP43=sj{0SJKtA$Rg%B7cJhLWO|Bf9FAk5zxO8 z0-++XJ7Azt;2m0_FxZ{KFd*b^OymwTK$xh||C1HsKUxEdf}sCR&A*rtg^2#GKcFZK z@^>eH#ARt keel.dclda + assert keel.dclda < 2 * np.pi + + # --- ShortKeel-specific unit tests --- def test_short_keel_jones_lift_formula(): - """ShortKeel dclda should match Jones low-AR formula: pi*AR/2.""" + """ShortKeel dclda should match Jones low-AR formula: pi*Ae/2, Ae = 2 span^2/area.""" sk = ShortKeel(Length=1.2, Depth=0.90, Tc_ratio=0.15) - ar = sk.span / sk.area # = 0.90 / (1.2 * 0.90) - expected = np.pi * ar / 2.0 + ae = 2.0 * sk.span**2 / sk.area # = 2 * 0.90 / 1.2, reflected in the hull + expected = np.pi * ae / 2.0 assert abs(sk.dclda - expected) < 1e-10, f"dclda={sk.dclda}, expected={expected}" From 44a96d54157cb08d6aa5b88f5fcc93d838e7763f Mon Sep 17 00:00:00 2001 From: marinlauber Date: Sat, 17 Oct 2026 10:43:21 +0200 Subject: [PATCH 21/21] chore: release 1.0.0, drop module headers and unused verbose arg - bump version to 1.0.0 and update the author email - remove the per-module __author__/__version__ headers - drop the unused verbose argument from VPP.run and its callers - README: document the PDF outputs, benchmark figures and appendage lift Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01JN4y2NWa8kFMBZ5FV92jkj --- README.md | 6 +++--- pyproject.toml | 4 ++-- src/AeroMod.py | 6 ------ src/HydroMod.py | 6 ------ src/SailMod.py | 6 ------ src/VPPMod.py | 10 +--------- src/YachtMod.py | 6 ------ src/api.py | 2 +- tests/test_vpp.py | 2 +- uv.lock | 2 +- 10 files changed, 9 insertions(+), 41 deletions(-) diff --git a/README.md b/README.md index 7cac1e4..592b128 100644 --- a/README.md +++ b/README.md @@ -28,7 +28,7 @@ The VPP is run from the root of the repository with uv run python runVPP.py ``` -At each TWS/TWA the boat speed is maximised over boat speed, heel, leeway, sail flattening and reefing, subject to force and moment equilibrium (SLSQP). `VPP.set_analysis` takes an optional maximum heel angle (`phi_max`, default 35 degrees); the sails are only flattened (down to flat = 0.53) and reefed as much as is fastest within it, following the ORC VPP 2026 depowering scheme. Kites are further limited to their own `max_heel` (default 21.5 degrees, the ORC limit under spinnaker). Points where a sail set cannot be carried within its heel limit are left at 0 and not plotted. The apparent wind follows the ORC heeled wind triangle: TWS is taken at 10 m and scaled to the sail plan's centre of effort with a log wind profile (z0 = 0.005 m), and its cross-track component is reduced by cos(heel). Appendage drag follows the ORC strip friction, form factor and lift-dependent drag, and the induced drag the ORC rudder ramp (zero lift upright), heel multiplier and free-surface/funsteady span corrections. `VPP.run` accepts `method="sequential"` (default) or `"parallel"` (same results, spread over all CPU cores). +At each TWS/TWA the boat speed is maximised over boat speed, heel, leeway, sail flattening and reefing, subject to force and moment equilibrium (SLSQP). `VPP.set_analysis` takes an optional maximum heel angle (`phi_max`, default 35 degrees); the sails are only flattened (down to flat = 0.53) and reefed as much as is fastest within it, following the ORC VPP 2026 depowering scheme. Kites are further limited to their own `max_heel` (default 21.5 degrees, the ORC limit under spinnaker). Points where a sail set cannot be carried within its heel limit are left at 0 and not plotted. The apparent wind follows the ORC heeled wind triangle: TWS is taken at 10 m and scaled to the sail plan's centre of effort with a log wind profile (z0 = 0.005 m), and its cross-track component is reduced by cos(heel). Appendage drag follows the ORC strip friction, form factor and lift-dependent drag, and the induced drag the ORC rudder ramp (zero lift upright), heel multiplier and free-surface/funsteady span corrections. Appendage lift uses the geometric aspect ratio span²/area, doubled for the reflection in the hull, in a lifting-line lift-curve slope (Jones slender-wing slope for short keels). `VPP.run` accepts `method="sequential"` (default) or `"parallel"` (same results, spread over all CPU cores). To run the Streamlit demo locally: @@ -37,7 +37,7 @@ uv sync --extra demo --extra api uv run streamlit run demos/Home.py ``` -Once the code has run, it should generate the following figure (or a similar one) +The run writes the results to `results.json` and saves the polars (`Polars.pdf`) and the sail chart (`SailChart.pdf`) as PDF, so the curves stay sharp when zoomed. For the YD-41 the polars look like this (`Figure.png` is a PNG copy of `Polars.pdf` for this page)

YD-41 VPP results @@ -111,7 +111,7 @@ You can run tests with uv run pytest -vv ``` -You can run a benchmark against the YD-41 results from WinVPP by running the `benchmark.py` script (`-g` plots the polars, `-s` saves the results). +You can run a benchmark against the YD-41 results from WinVPP by running the `benchmark.py` script (`-g` saves the polars as one `Figure_

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to force and moment equilibrium (SLSQP). `VPP.set_analysis` takes an optional maximum heel angle (`phi_max`, default 35 degrees); the sails are only flattened (down to flat = 0.53) and reefed as much as is fastest within it, following the ORC VPP 2026 depowering scheme. Kites are further limited to their own `max_heel` (default 21.5 degrees, the ORC limit under spinnaker). Points where a sail set cannot be carried within its heel limit are left at 0 and not plotted. `VPP.run` accepts `method="sequential"` (default) or `"parallel"` (same results, spread over all CPU cores). +At each TWS/TWA the boat speed is maximised over boat speed, heel, leeway, sail flattening and reefing, subject to force and moment equilibrium (SLSQP). `VPP.set_analysis` takes an optional maximum heel angle (`phi_max`, default 35 degrees); the sails are only flattened (down to flat = 0.53) and reefed as much as is fastest within it, following the ORC VPP 2026 depowering scheme. Kites are further limited to their own `max_heel` (default 21.5 degrees, the ORC limit under spinnaker). Points where a sail set cannot be carried within its heel limit are left at 0 and not plotted. The apparent wind follows the ORC heeled wind triangle: TWS is taken at 10 m and scaled to the sail plan's centre of effort with a log wind profile (z0 = 0.005 m), and its cross-track component is reduced by cos(heel). `VPP.run` accepts `method="sequential"` (default) or `"parallel"` (same results, spread over all CPU cores). To run the Streamlit demo locally: diff --git a/SailChart.pdf b/SailChart.pdf index dd4320fd25a478df907de8533216dcdecc232df3..13a2bd6dda277f5a3ed88590e3c7de425f02d121 100644 GIT binary patch delta 9527 zcma)hbx_scw>B*yDIo|*NORyE;J^VX>5z^?cc-9qd<2nHP`bNQT96P9edv@F} z`f9HR;S`LnAG^E0(8#$%*XNks9rtb|T$hx%^B-Ta0Ue*i_fmdeBB5qd>ti%2UrTEE z{3vgOZGpM`obD^&x|1*EyQ$=5qH53{h1~>D<|u z>LywgB2*MuQPn_Eb0y;jo%0K7EnIK|ou)28&pmkZ;^J${=8QAXi>49V5xMt*`lV3c z+$47TNZ+8S-Mto;AG@X5w=}v)Nt!aU8)$bn9{NZz79;}Rva1>`lHyenvp8lFzke6! zWZ!OfHZxpqE=4@t0zd%WHuQO;2(^#STvW0~US}@%cMYqSs*=#pkf~Jz zB~G?TRYI+~f~kVBpv8d?gJ4Asfqsum)Y=W2&vvO<&BX-bfwY+K;0egK7Z8Q3(x%W? zA|>y4j;%c`-gG;E@U??dyB&G?cF?+ag~ac$>^ex6BzKkBU1nI=J)vR?@|(9#dGH$J zZF5`R&`eJij_`C3?(6rq!U^_5{=ZfL{ZEkrwh7j63R?M&n3K2=PH*&5B?{U2A$AfV zPif)S!&SylY}JB(7U^!}7*DU$Y{{#zaZ1Z*^)s8b6s8%Q`ikEPs3l=uWqxaQ@%$aS zX!(QAuBOU0sidmfF%7r>%C;$T%0}ald5FrVm_`?Q~vBk#%-N}%q`-n zNbAq^LLlLc(2h^y0x%R4(}EkiyP$^!D7x-jS(5%}Jue7N*-8w85~&KEWk3yl81-OZOQ_aQA0;twvNQ*ViTO4E4h%_EZ;!mC 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zS&5Pyo%V&+=V$M!YV+;6uDHg?O?MLbGSO-UJ*4|p9v!P<;N))P4b=2>cDe@tjq2YF zDlgi-Wp*Arku?C6`D3oFjMMTQH0+56oc zcAl#rXt4CbFU45!jwzhQ|K_^zSAx6RlVtIV^Q~&LSkT7EcFzk=@5DH4YiBEW4>xOb zC+rkuX3UgPMl2LTeu0L0MhkWfeh`3P03?+1R#_R!FUU_1`0qpSOppCP7oadu=s5-g z3O?h3g+R|RegNNd36O_?dMufd82=81!5O3>JR2e6RrMd9UDq_Wrj% z0086%3Oyt8^F2?79}Ik!7QX=S*=rI2@cqZK{#QeQkN??l0u+MJ9SZ-$Oc7O=#TFC> MW3#Y8)MT;$3usyb Date: Fri, 16 Oct 2026 09:23:13 +0200 Subject: [PATCH 19/21] feat: ORC appendage drag and induced drag corrections - Rudder lift area ramps from 0 upright to twice its area at 30 deg. - Induced drag heel multiplier (ORC Fig. 6.10), faded out with the drive to side force ratio from 0.2 to 0.4. - Keel root free surface and funsteady factors on the appendage effective span (ORC 6.5.1); HydroMod.update takes an optional tws. - Appendage friction from five strips with the ORC friction line, the t/c form factor and lift-dependent drag (ORC 6.1.2). - Bulbs no longer carry side force or double their wetted area. 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E0IWH#uK)l5 diff --git a/src/UtilsMod.py b/src/UtilsMod.py index 8e24282..aa7fac6 100644 --- a/src/UtilsMod.py +++ b/src/UtilsMod.py @@ -5,6 +5,7 @@ import matplotlib.pyplot as plt import numpy as np +from matplotlib.lines import Line2D from scipy import interpolate from scipy.interpolate import RegularGridInterpolator @@ -142,7 +143,8 @@ def polar_plot(VPP_list, n, save, fname="Polars.png") -> None: """ # if we just want the velocity, we also output the gradient fig, ax = _polar(n) - for l, VPP in enumerate(VPP_list): + tws_handles = [] + for VPP in VPP_list: wind = VPP.twa_range name = "" if len(VPP_list) == 1 else VPP.name for i in range(len(VPP.tws_range)): @@ -154,16 +156,12 @@ def polar_plot(VPP_list, n, save, fname="Polars.png") -> None: # to avoid discontinuities at sail crossover points. pad = 2 if j == 0 else 0 idx = _get_cross(VPP.store[i, :, :, :], k, pad=pad) - lab = "_nolegend_" - if k == 0: - lab = name + " " + f"{VPP.tws_range[i]/KNOTS_TO_MPS:.1f}" ax[j].plot( wind[idx[0] : idx[1]] / 180 * np.pi, VPP.store[i, idx[0] : idx[1], k, j], color=cols[k % 7], lw=np.where(i < 7, 1.5, 2.5), linestyle=stl[i % 7], - label=lab, ) # add VMG points for pts in range(2): @@ -176,12 +174,18 @@ def polar_plot(VPP_list, n, save, fname="Polars.png") -> None: markersize=4, mfc="None", ) - # TWS legend on every axis - for j in range(n): - ax[j].legend(title=r"TWS (knots)", loc=1, bbox_to_anchor=(1.05, 1.05)) + # TWS legend entry in black, colours are reserved for sail sets + tws_handles.append(Line2D( + [0], [0], color="k", lw=np.where(i < 7, 1.5, 2.5), linestyle=stl[i % 7], + label=name + " " + f"{VPP.tws_range[i]/KNOTS_TO_MPS:.1f}", + )) + + # TWS legend on every axis + for j in range(n): + ax[j].legend(handles=tws_handles, title=r"TWS (knots)", loc=1, + bbox_to_anchor=(1.05, 1.05)) # Sail colour legend along the bottom of the figure - from matplotlib.lines import Line2D VPP = VPP_list[-1] sail_handles = [ Line2D([0], [0], color=cols[k % 7], lw=2, label=VPP.sail_name[k]) From f50a15aa5d57386f44c04eca79bce6dc5d39fa6e Mon Sep 17 00:00:00 2001 From: marinlauber Date: Thu, 15 Oct 2026 17:02:16 +0200 Subject: [PATCH 15/21] feat: align aero and stability models with the ORC VPP 2026 Bugs fixed against the documentation: - heeling moment uses the full heeling force (no extra cos(heel)) and the centre of effort height above the waterline, HBI + ZCE (5.56); the main and kite CE were measured from the deck, missing the freeboard - effective span coefficient uses 0.075 * overlap (5.42), not 0.0075 - hull windage blends head-on to side area with the AWA in the right units, and is no longer scaled by cos(AWA) twice - dynamic righting moment follows eq. 4.32 (incl. the -2.1 term and SLR in knots/sqrt(ft)); it was ~0 N.m - fractionality uses the reefed P and is capped at 1 ORC 2024-2026 changes: - minimum flat 0.53 - twist function (5.40) with the overlap term; the 1/3 factor follows Figure 5.14, the printed equation gives no lowering at 150% overlap - jib twist delta CEH removed, as in the 2026 document - kites depower by reef: area * reef^2, CE * reef, reef >= Kite.min_reef (default 0.85) - reduced jib keeps its full hoist down to LPG = J (luff no longer goes to zero with ftj) - sail coefficient tables updated to ORC 2026 (kites, low main/jib sets); the default kite is the symmetric spinnaker Also adds a low-speed fallback start for the first point of a row. Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01JN4y2NWa8kFMBZ5FV92jkj --- Figure.png | Bin 208665 -> 203482 bytes Polars.png | Bin 208665 -> 203482 bytes README.md | 5 +- SailChart.png | Bin 66860 -> 66879 bytes dat/orc/asym_cl_kite.dat | 10 +- dat/orc/asym_pole_kite.dat | 10 +- dat/orc/jib.dat | 2 +- dat/orc/jib_low.dat | 4 +- dat/orc/kite.dat | 6 +- dat/orc/main.dat | 2 +- dat/orc/main_low.dat | 6 +- dat/orc/sym_kite.dat | 10 +- results.json | 8132 +----------------------------------- src/AeroMod.py | 87 +- src/HydroMod.py | 14 +- src/SailMod.py | 26 +- src/VPPMod.py | 26 +- tests/test_vpp.py | 21 +- 18 files changed, 161 insertions(+), 8200 deletions(-) diff --git a/Figure.png b/Figure.png index f99558899f86dfa72050f6827a1d8777a3d7ec8f..b31d9381da08de2927132a398fea5850ca25e8cb 100644 GIT binary patch literal 203482 zcmeFZhdbt+JmGbWku3NDA}Wh>}2n(kW`{%t58-Ydt^2giAc6eAtTxA zdtBZ3=l%Koe&6r!ANW1KJ-i>?@B7B<`Mj?4I?v-gj^n&SG)^31W#VU|P$;a2)l^PW 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