def test_coordinate_system_manager_with_data(copy_arrays, lazy_load):
"""Test if data attached to a CSM is stored and read correctly."""
csm = tf.CoordinateSystemManager("root", "csm")
csm.create_cs("cs_1", "root", coordinates=[1, 1, 1])
csm.create_cs("cs_2", "root", coordinates=[-1, -1, -1])
csm.create_cs("cs_11", "cs_1", coordinates=[1, 1, 1])
data_11 = SpatialData(
coordinates=np.array([[1.0, 2.0, 3.0], [3.0, 2.0, 1.0]]))
data_2 = SpatialData(
coordinates=np.array([
[0.0, 0.0, 0.0],
[1.0, 0.0, 0.0],
[1.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
]),
triangles=np.array([[0, 1, 2], [0, 2, 3]], dtype="uint32"),
)
csm.assign_data(data_11, "data_11", "cs_11")
csm.assign_data(data_2, "data_2", "cs_2")
tree = {"csm": csm}
buffer = write_read_buffer(tree,
open_kwargs={
"copy_arrays": copy_arrays,
"lazy_load": lazy_load
})
csm_buffer = buffer["csm"]
for data_name in csm.data_names:
sd = csm.get_data(data_name)
sd_buffer = csm_buffer.get_data(data_name)
assert sd == sd_buffer
def test_coordinate_system_manager_time_dependencies(copy_arrays, lazy_load,
csm_time_ref):
"""Test serialization of time components from CSM and its attached LCS."""
lcs_tdp_1_time_ref = None
if csm_time_ref is None:
lcs_tdp_1_time_ref = pd.Timestamp("2000-03-17")
lcs_tdp_1 = tf.LocalCoordinateSystem(
coordinates=[[1, 2, 3], [4, 5, 6]],
time=pd.TimedeltaIndex([1, 2], "D"),
time_ref=lcs_tdp_1_time_ref,
)
lcs_tdp_2 = tf.LocalCoordinateSystem(
coordinates=[[3, 7, 3], [9, 5, 8]],
time=pd.TimedeltaIndex([1, 2], "D"),
time_ref=pd.Timestamp("2000-03-21"),
)
csm_root = tf.CoordinateSystemManager("root", "csm_root", csm_time_ref)
csm_root.add_cs("cs_1", "root", lcs_tdp_2)
csm_sub_1 = tf.CoordinateSystemManager("cs_2", "csm_sub_1", csm_time_ref)
csm_sub_1.add_cs("cs_1", "cs_2", lcs_tdp_2)
csm_sub_1.add_cs("cs_3", "cs_2", lcs_tdp_1)
csm_sub_2 = tf.CoordinateSystemManager("cs_4", "csm_sub_2")
csm_sub_2.create_cs("cs_1", "cs_4")
csm_root.merge(csm_sub_1)
csm_root.merge(csm_sub_2)
tree = {"cs_hierarchy": csm_root}
data = write_read_buffer(tree,
open_kwargs={
"copy_arrays": copy_arrays,
"lazy_load": lazy_load
})
csm_file = data["cs_hierarchy"]
assert csm_root == csm_file
def get_example_coordinate_system_manager():
"""Get a consistent CoordinateSystemManager instance for test purposes."""
csm = tf.CoordinateSystemManager("root")
csm.create_cs("lcs_01", "root", coordinates=[1, 2, 3])
csm.create_cs(
"lcs_02",
"root",
orientation=WXRotation.from_euler("z", np.pi / 3).as_matrix(),
coordinates=[4, -7, 8],
)
csm.create_cs(
"lcs_03",
"lcs_02",
orientation=WXRotation.from_euler("y", np.pi / 11),
coordinates=[4, -7, 8],
)
return csm
def get_coordinate_system_manager_with_subsystems(nested: bool):
lcs = [
tf.LocalCoordinateSystem(coordinates=[i, -i, -i]) for i in range(12)
]
# create global system
csm_global = tf.CoordinateSystemManager("base", "Global System",
"2000-06-08")
csm_global.add_cs("robot", "base", lcs[0])
csm_global.add_cs("specimen", "base", lcs[1])
# robot system
csm_robot = tf.CoordinateSystemManager("robot", "Robot system")
csm_robot.add_cs("head", "robot", lcs[2])
# robot head system
csm_head = tf.CoordinateSystemManager("head", "Head system")
csm_head.add_cs("torch tcp", "head", lcs[3])
csm_head.add_cs("camera tcp", "head", lcs[4], lsc_child_in_parent=False)
csm_head.add_cs("scanner 1 tcp", "head", lcs[5])
csm_head.add_cs("scanner 2 tcp", "head", lcs[6])
# scanner system 1
csm_scanner_1 = tf.CoordinateSystemManager("scanner 1", "Scanner 1 system")
csm_scanner_1.add_cs("scanner 1 tcp", "scanner 1", lcs[7])
# scanner system 2
csm_scanner_2 = tf.CoordinateSystemManager("scanner 2", "Scanner 2 system")
csm_scanner_2.add_cs("scanner 2 tcp", "scanner 2", lcs[8])
# specimen system
csm_specimen = tf.CoordinateSystemManager("specimen", "Specimen system")
csm_specimen.add_cs("thermocouple 1", "specimen", lcs[9])
csm_specimen.add_cs("thermocouple 2", "specimen", lcs[10])
csm_specimen.add_cs("thermocouple 3", "thermocouple 2", lcs[11])
if nested:
csm_head.merge(csm_scanner_1)
csm_head.merge(csm_scanner_2)
csm_robot.merge(csm_head)
csm_global.merge(csm_robot)
csm_global.merge(csm_specimen)
else:
csm_global.merge(csm_specimen)
csm_global.merge(csm_robot)
csm_global.merge(csm_head)
csm_global.merge(csm_scanner_1)
csm_global.merge(csm_scanner_2)
return csm_global
def single_pass_weld_example(
out_file: Optional[Union[str, BytesIO]] = "single_pass_weld_example.asdf",
) -> Optional[tuple[BytesIO, dict]]:
"""Create ASDF file containing all required fields of the single_pass_weld schema.
Parameters
----------
out_file :
destination file, if None returns a BytesIO buffer.
Returns
-------
buff, tree
When writing to memory, return the buffer and the tree (as dictionary).
"""
# Imports
import asdf
import numpy as np
import pandas as pd
from asdf.tags.core import Software
import weldx.geometry as geo
import weldx.measurement as msm
# importing the weldx package with prevalent default abbreviations
import weldx.transformations as tf
from weldx.asdf.util import get_schema_path, write_buffer, write_read_buffer
from weldx.constants import META_ATTR, Q_
from weldx.core import MathematicalExpression, TimeSeries
from weldx.tags.aws.process.gas_component import GasComponent
from weldx.tags.aws.process.shielding_gas_for_procedure import (
ShieldingGasForProcedure, )
from weldx.tags.aws.process.shielding_gas_type import ShieldingGasType
from weldx.tags.processes.process import GmawProcess
from weldx.transformations.local_cs import LocalCoordinateSystem as lcs
from weldx.transformations.rotation import WXRotation
from weldx.welding.groove.iso_9692_1 import get_groove
from weldx.welding.util import sine
# Timestamp
reference_timestamp = pd.Timestamp("2020-11-09 12:00:00")
# Geometry
# groove + trace = geometry
groove = get_groove(
groove_type="VGroove",
workpiece_thickness=Q_(5, "mm"),
groove_angle=Q_(50, "deg"),
root_face=Q_(1, "mm"),
root_gap=Q_(1, "mm"),
)
# define the weld seam length in mm
seam_length = Q_(300, "mm")
# create a linear trace segment a the complete weld seam trace
trace_segment = geo.LinearHorizontalTraceSegment(seam_length)
trace = geo.Trace(trace_segment)
geometry = dict(groove_shape=groove, seam_length=seam_length)
base_metal = dict(common_name="S355J2+N", standard="DIN EN 10225-2:2011")
workpiece = dict(base_metal=base_metal, geometry=geometry)
# Setup the Coordinate System Manager (CSM)
# crete a new coordinate system manager with default base coordinate system
csm = tf.CoordinateSystemManager("base")
# add the workpiece coordinate system
csm.add_cs(
coordinate_system_name="workpiece",
reference_system_name="base",
lcs=trace.coordinate_system,
)
tcp_start_point = Q_([5.0, 0.0, 2.0], "mm")
tcp_end_point = Q_([-5.0, 0.0, 2.0], "mm") + np.append(
seam_length, Q_([0, 0], "mm"))
v_weld = Q_(10, "mm/s")
s_weld = (tcp_end_point - tcp_start_point)[0] # length of the weld
t_weld = s_weld / v_weld
t_start = pd.Timedelta("0s")
t_end = pd.Timedelta(str(t_weld.to_base_units()))
rot = WXRotation.from_euler(seq="x", angles=180, degrees=True)
coords = [tcp_start_point.magnitude, tcp_end_point.magnitude]
tcp_wire = lcs(coordinates=coords, orientation=rot, time=[t_start, t_end])
# add the workpiece coordinate system
csm.add_cs(
coordinate_system_name="tcp_wire",
reference_system_name="workpiece",
lcs=tcp_wire,
)
tcp_contact = lcs(coordinates=[0, 0, -10])
# add the workpiece coordinate system
csm.add_cs(
coordinate_system_name="tcp_contact",
reference_system_name="tcp_wire",
lcs=tcp_contact,
)
TCP_reference = csm.get_cs("tcp_contact", "workpiece")
# Measurements
# time
time = pd.timedelta_range(start="0s", end="10s", freq="2s")
# current data
I_ts = sine(f=Q_(10, "1/s"), amp=Q_(20, "A"), bias=Q_(300, "A"))
current_data = TimeSeries(I_ts.interp_time(time).data, time)
# voltage data
U_ts = sine(f=Q_(10, "1/s"),
amp=Q_(3, "V"),
bias=Q_(40, "V"),
phase=Q_(0.1, "rad"))
voltage_data = TimeSeries(U_ts.interp_time(time).data, time)
# define current source and transformations
src_current = msm.SignalSource(
name="Current Sensor",
output_signal=msm.Signal(signal_type="analog", units="V", data=None),
error=msm.Error(Q_(0.1, "percent")),
)
current_AD_transform = msm.SignalTransformation(
name="AD conversion current measurement",
error=msm.Error(Q_(0.01, "percent")),
func=MathematicalExpression(
"a * x + b", dict(a=Q_(32768.0 / 10.0, "1/V"), b=Q_(0.0, ""))),
type_transformation="AD",
)
current_calib_transform = msm.SignalTransformation(
name="Calibration current measurement",
error=msm.Error(0.0),
func=MathematicalExpression(
"a * x + b", dict(a=Q_(1000.0 / 32768.0, "A"), b=Q_(0.0, "A"))),
)
# define voltage source and transformations
src_voltage = msm.SignalSource(
name="Voltage Sensor",
output_signal=msm.Signal("analog", "V", data=None),
error=msm.Error(Q_(0.1, "percent")),
)
voltage_AD_transform = msm.SignalTransformation(
name="AD conversion voltage measurement",
error=msm.Error(Q_(0.01, "percent")),
func=MathematicalExpression(
"a * x + b", dict(a=Q_(32768.0 / 10.0, "1/V"), b=Q_(0.0, ""))),
type_transformation="AD",
)
voltage_calib_transform = msm.SignalTransformation(
name="Calibration voltage measurement",
error=msm.Error(0.0),
func=MathematicalExpression(
"a * x + b", dict(a=Q_(100.0 / 32768.0, "V"), b=Q_(0.0, "V"))),
)
# Define lab equipment
HKS_sensor = msm.MeasurementEquipment(
name="HKS P1000-S3",
sources=[src_current, src_voltage],
)
BH_ELM = msm.MeasurementEquipment(
name="Beckhoff ELM3002-0000",
transformations=[current_AD_transform, voltage_AD_transform],
)
twincat_scope = Software(name="Beckhoff TwinCAT ScopeView",
version="3.4.3143")
setattr(current_calib_transform, META_ATTR, dict(software=twincat_scope))
setattr(voltage_calib_transform, META_ATTR, dict(software=twincat_scope))
# Define current measurement chain
welding_current_chain = msm.MeasurementChain.from_equipment(
name="welding current measurement chain",
equipment=HKS_sensor,
source_name="Current Sensor",
)
welding_current_chain.add_transformation_from_equipment(
equipment=BH_ELM,
transformation_name="AD conversion current measurement",
)
welding_current_chain.add_transformation(
transformation=current_calib_transform,
data=current_data,
)
# Define voltage measurement chain
welding_voltage_chain = msm.MeasurementChain.from_equipment(
name="welding voltage measurement chain",
equipment=HKS_sensor,
source_name="Voltage Sensor",
)
welding_voltage_chain.add_transformation_from_equipment(
equipment=BH_ELM,
transformation_name="AD conversion voltage measurement",
)
welding_voltage_chain.add_transformation(
transformation=voltage_calib_transform,
data=voltage_data,
)
# Define measurements
welding_current = msm.Measurement(
name="welding current measurement",
data=[current_data],
measurement_chain=welding_current_chain,
)
welding_voltage = msm.Measurement(
name="welding voltage measurement",
data=[voltage_data],
measurement_chain=welding_voltage_chain,
)
# GMAW Process
params_pulse = dict(
wire_feedrate=Q_(10.0, "m/min"),
pulse_voltage=Q_(40.0, "V"),
pulse_duration=Q_(5.0, "ms"),
pulse_frequency=Q_(100.0, "Hz"),
base_current=Q_(60.0, "A"),
)
process_pulse = GmawProcess(
"pulse",
"CLOOS",
"Quinto",
params_pulse,
tag="CLOOS/pulse",
meta={"modulation": "UI"},
)
gas_comp = [
GasComponent("argon", Q_(82, "percent")),
GasComponent("carbon dioxide", Q_(18, "percent")),
]
gas_type = ShieldingGasType(gas_component=gas_comp, common_name="SG")
gas_for_procedure = ShieldingGasForProcedure(
use_torch_shielding_gas=True,
torch_shielding_gas=gas_type,
torch_shielding_gas_flowrate=Q_(20, "l / min"),
)
process = dict(
welding_process=process_pulse,
shielding_gas=gas_for_procedure,
weld_speed=TimeSeries(v_weld),
welding_wire={"diameter": Q_(1.2, "mm")},
)
# ASDF file
tree = dict(
reference_timestamp=reference_timestamp,
equipment=[HKS_sensor, BH_ELM],
measurements=[welding_current, welding_voltage],
welding_current=welding_current_chain.get_signal(
"Calibration current measurement").data,
welding_voltage=welding_voltage_chain.get_signal(
"Calibration voltage measurement").data,
coordinate_systems=csm,
TCP=TCP_reference,
workpiece=workpiece,
process=process,
)
tree[META_ATTR] = {"welder": "A.W. Elder"}
model_path = get_schema_path("single_pass_weld-0.1.0.yaml")
# pre-validate?
write_read_buffer(
tree,
asdffile_kwargs=dict(custom_schema=str(model_path)),
)
if out_file:
with asdf.AsdfFile(
tree,
custom_schema=str(model_path),
) as ff:
ff.write_to(out_file, all_array_storage="inline")
else:
return (
write_buffer(
tree,
asdffile_kwargs=dict(custom_schema=str(model_path)),
write_kwargs=dict(all_array_storage="inline"),
),
tree,
)