Ejemplo n.º 1
0
	def __init__(self, name, sim, G, head='BC', nCranes=2, startPos=[12.5, -4], bundler=False, twigCrack=False):
		print "head:", head, "cranes:", nCranes, "bundler:", bundler, "twigcracker:", twigCrack
		self.driver=Operator(sim,preemptable=1) #add driver
		sim.activate(self.driver, self.driver.work())
		Machine.__init__(self, name, sim, G=G, driver=self.driver, mass=21000)
		s=self.G.simParam
		self.velocities={'machine': s['velocityOfMachine'],#1
						 'crane angular': s['angularVelocityOfCrane'],#0.35
						 'crane radial': s['radialVelocityOfCrane']}#2.5 #radians/sec,m/s
		self.color='#CD0000'
		self.moveEvent=SimEvent(name='machine moves', sim=self.sim) #signals BEFORE movement
		self.movedEvent=SimEvent(name='machine moves', sim=self.sim) #signals AFTER movement
		
		self.times={'crane const':s['moveCraneConst'],#1.5,
					'move const':s['moveConst'],#5,
					'switchFocus': s['switchFocusTime']}#3 #change before activating. May be changed from craneHead constructor
		self.craneMaxL=s['maxCraneLength']#11
		self.craneMinL=s['minCraneLength']#3
		self.automaticMove=s['moveMachine']#False
		self.hasBundler=bundler
		self.prio=0
		self.length=6.939
		self.width=2.720
		self.pos=startPos
		self.trees=[]
		self.mainRoadTrees=[]
		self.corridorTrees=[]
		self.heads={} #dictionary with keys 'left', 'right'
		self.nCranes=nCranes

		#Here is the bundler initiation
		if bundler == True:
			self.bundler=Bundler(sim=self.sim, driver=self.driver, machine=self)
			self.sim.activate(self.bundler,self.bundler.run())

		#Here is the head initiation
		if head=='BC':
			for i in range(nCranes):
				h=BCHead(sim=self.sim, driver=self.driver, machine=self, twigCrack=twigCrack) #adds to above list.
		elif head=='convAcc':
			for i in range(nCranes):
				h=ConventionalHeadAcc(sim=self.sim, driver=self.driver, machine=self, twigCrack=twigCrack) #adds to above list.
		else:
			raise Exception('ThinningMachine did not recognize head %s'%str(head))
		for h in self.heads.values():
			self.sim.activate(h, h.run())

		self.treeMoni=Monitor(name='trees harvested')
		self.treeMoni.observe(len(self.trees), self.sim.now())
		self.roadList=[] #simply a list of roads.
		self.roads={} #a dictionary, more sophisticated structure with simplifies finding the road for a spec. pos.
		self.setUpCorridors()
Ejemplo n.º 2
0
class ThinningMachine(Machine, UsesDriver):
	"""
	A thinningmachine that thins a 40m long road
	
	All measurements are taken from the komatsu 901.4 harvester with 620/55 x 30,5 wheels on the back and 650/45 x 22,5 wheels in the front.
	"""
	def __init__(self, name, sim, G, head='BC', nCranes=2, startPos=[12.5, -4], bundler=False, twigCrack=False):
		print "head:", head, "cranes:", nCranes, "bundler:", bundler, "twigcracker:", twigCrack
		self.driver=Operator(sim,preemptable=1) #add driver
		sim.activate(self.driver, self.driver.work())
		Machine.__init__(self, name, sim, G=G, driver=self.driver, mass=21000)
		s=self.G.simParam
		self.velocities={'machine': s['velocityOfMachine'],#1
						 'crane angular': s['angularVelocityOfCrane'],#0.35
						 'crane radial': s['radialVelocityOfCrane']}#2.5 #radians/sec,m/s
		self.color='#CD0000'
		self.moveEvent=SimEvent(name='machine moves', sim=self.sim) #signals BEFORE movement
		self.movedEvent=SimEvent(name='machine moves', sim=self.sim) #signals AFTER movement
		
		self.times={'crane const':s['moveCraneConst'],#1.5,
					'move const':s['moveConst'],#5,
					'switchFocus': s['switchFocusTime']}#3 #change before activating. May be changed from craneHead constructor
		self.craneMaxL=s['maxCraneLength']#11
		self.craneMinL=s['minCraneLength']#3
		self.automaticMove=s['moveMachine']#False
		self.hasBundler=bundler
		self.prio=0
		self.length=6.939
		self.width=2.720
		self.pos=startPos
		self.trees=[]
		self.mainRoadTrees=[]
		self.corridorTrees=[]
		self.heads={} #dictionary with keys 'left', 'right'
		self.nCranes=nCranes

		#Here is the bundler initiation
		if bundler == True:
			self.bundler=Bundler(sim=self.sim, driver=self.driver, machine=self)
			self.sim.activate(self.bundler,self.bundler.run())

		#Here is the head initiation
		if head=='BC':
			for i in range(nCranes):
				h=BCHead(sim=self.sim, driver=self.driver, machine=self, twigCrack=twigCrack) #adds to above list.
		elif head=='convAcc':
			for i in range(nCranes):
				h=ConventionalHeadAcc(sim=self.sim, driver=self.driver, machine=self, twigCrack=twigCrack) #adds to above list.
		else:
			raise Exception('ThinningMachine did not recognize head %s'%str(head))
		for h in self.heads.values():
			self.sim.activate(h, h.run())

		self.treeMoni=Monitor(name='trees harvested')
		self.treeMoni.observe(len(self.trees), self.sim.now())
		self.roadList=[] #simply a list of roads.
		self.roads={} #a dictionary, more sophisticated structure with simplifies finding the road for a spec. pos.
		self.setUpCorridors()
		
	def run(self):
		"""
		PEM of thinning machine
		"""
		#first, take the trees in the main road:
		while True:
			r=self.roads['main']
			self.heads['left'].road=r #only one head in the two armed case because of balance. left is default 1a.
			print "Mainroad assigned"
			yield waituntil, self, self.headsDoneAtSite
			#check if road is clear until the next position.
			p=self.getRoadClearPos()
			while p != self.getNextPos(): #if not clear, move some more and clear the road.
				for c in self.setPos(p, cmnd=True): yield c
				for a in self.releaseDriver(): yield a 
				self.movedEvent.signal()
				self.heads['left'].road=r
				yield waituntil, self, self.headsDoneAtSite
				p=self.getRoadClearPos()
			#p is self.getNextPos()
			for c in self.setPos(p, cmnd=True): yield c
			if self.getNextPos()==self.pos:
				if self.hasBundler==True and self.bundler.currentBundle is not None:
					self.bundler.forceBundler=True
					for c in self.releaseDriver(): yield c
					yield waituntil, self, self.bundlerDone
				self.sim.stopSimulation()
				yield hold, self, 0.001 #give it time to stop..
			r=self.roads[self.pos[1]] #current roads.. should be like 10 of them..
			for h in self.heads.values():
				if len(r[h.side])>0: h.road=r[h.side][0]
			for c in self.releaseDriver(): yield c
			yield waituntil, self, self.headsDoneAtSite

	def bundlerDone(self):
		"""
		Checks if the bundler is done
		"""
		if self.bundler.forceBundler==True: return False
		else: return True
			
	def headsDoneAtSite(self):
		"""are the heads done?"""
		for h in self.heads.values():
			if h.road: return False #if road is assigned, head is still working.
		return True
	
   	def setUpCorridors(self):
		"""
		Sets up 
		Note:
		this is a VERY (indeed...=) inefficient way of doing it, using an iterative method.
		However, it is sufficient for current use and can be improved if needed.
		"""
		#main road
		print "sets up roads"
		startX=self.pos[0]
		tic=time.clock()
		W=4.0 #Standard width of the strip road
		cart=self.getCartesian
		h1=self.heads['left']
		origin=[startX, 0]
		c1=cart([-W/2., 0],origin=origin, fromLocalCart=True)
		c2=cart([-W/2., 40],origin=origin, fromLocalCart=True)
		c3=cart([W/2., 40],origin=origin, fromLocalCart=True)
		c4=cart([W/2., 0],origin=origin, fromLocalCart=True)
		mainRoad=ThinningRoad([startX, 20], [c1,c2,c3,c4], G=self.G, direction=-pi/2., machine=self, main=True)
		mainRoad.add()
		self.roads['main']=mainRoad #each new point will get a new instance here.
	
		#the key for each corridor set is first the y-pos of the vehicle, then the side, e.g. corridor[5.5]['left'] gives three corridors
		P=[startX,5.5] #first stop by default
		self.positions=[self.pos, P]
		w=self.heads['left'].corridorWidth #meters
		L=sqrt(self.craneMaxL**2-W**2)
		nPerSide=self.heads['left'].corrPerSide
		sigma=pi/nPerSide/3. #allowed deviation from optimal angle.
		points=10 #integer no of points is the double
		angMin=pi/4. #no "vertical" corridors
		rad=sqrt(w**2/4+L**2/4) #radius of corridor.. saves time
		while True:
			self.roads[P[1]]={}
			for side in ['left', 'right']:
				cTemp=[]
				mod=1
				if side is 'right': mod=-1 #distinguishes between the two sides.
				for ang in [mod*(angMin+(pi-2*angMin)/(nPerSide-1)*(i)) for i in range(nPerSide)]: #e.g. [pi/4., pi/2., 2/4.*pi]:
					most=0
					best=None
					for sig in [x * sigma/(points*2) for x in range(-points, points)]:
						#define the coordinates.
						direction=pi/2.+ang+sig
						sp=cart([0, abs(W/2./sin(direction-pi/2.))],origin=P, direction=direction, fromLocalCart=True) #startPos
						w2=w/cos(-direction) #to compensate for the angular effect on the side.
						if side is 'left':
							w2=-w2
							c1=[sp[0], sp[1]-w2/2.]
							c4=[sp[0], sp[1]+w2/2.]
						else:
							c4=[sp[0], sp[1]-w2/2.]
							c1=[sp[0], sp[1]+w2/2.]
						c2=cart([-w/2., L],origin=P, direction=direction, fromLocalCart=True)
						c3=cart([w/2., L],origin=P, direction=direction, fromLocalCart=True)
						pos=cart([0, L/2.],origin=P, direction=direction, fromLocalCart=True)
						c=ThinningRoad(pos, [c1,c2,c3,c4], G=self.G, direction=direction, machine=self, radius=rad) #radius not completely correct.. but speeds things up.
						c.startPoint=sp
						if len(c.trees)==0: c=None #no trees in c, no meaning to have..
						else:
							for t in c.trees:
								if not h1.treeChopable(t):
									c=None #don't use this road.. bad trees in the way.
									break
							if c and c.harvestTrees>most:
								best=c
								most=c.harvestTrees
					if best:
						best.add()
						cTemp.append(best)
						#print best.direction*180/pi
				self.roads[P[1]][side]=cTemp
			P=copy.copy(P) #there are references to the old P.
			P[1]=P[1]+cos(angMin)*self.craneMaxL
			if P[1]>self.G.terrain.ylim[1]: break
			self.positions.append(P)
		self.positions.append([self.positions[0][0], self.G.terrain.ylim[1]]) #the last spot.
		print "time to set up roads: %f"%(time.clock()-tic)

	def getNextPos(self):
		"""
		returns the next stop
		"""
		i=0
		for p in self.positions:
			if p[1]>self.pos[1]: return p
			if len(self.positions)<i+2: return self.pos
			i+=1
		raise Exception('getNextPos is not expected to come this far.')

	def getTreeDumpSpot(self, side):
		"""
		returns the position to dump the trees
		"""
		cart=self.getCartesian
		W=2
		L=self.length/3.
		if side=='left':
			return cart([-W,-L], fromLocalCart=True)
		elif side=='right':
			return cart([W, -L], fromLocalCart=True)
		else: raise Exception('getTreeDumpSpot does not recognize side %s'%side)

	def getNodes(self, pos=None):
		"""
		if position is not current position, it is expected that vechicle goes there from the current
		position, which gives the angle.
		"""
		direction=self.direction
		if not pos:
			pos=self.pos
		elif pos != self.pos:
			[r,direction]=self.getCartesian(pos, direction=pi/2)
		#get the nodes going!
		W=1
		L=3
		c=self.getCartesian
		nodes=[]
		nodes.append(c([W/2., L/2.], origin=pos, direction=direction, fromLocalCart=True))
		nodes.append(c([-W/2., L/2.], origin=pos, direction=direction, fromLocalCart=True))
		nodes.append(c([-W/2., -L/2.], origin=pos, direction=direction, fromLocalCart=True))
		nodes.append(c([W/2., -L/2.], origin=pos, direction=direction, fromLocalCart=True))
		return nodes

	def setPos(self, pos, cmnd=False):
		time=super(ThinningMachine,self).setPos(pos)+self.times['move const']
		for h in self.heads.values():
			h.pos=h.getStartPos() #crane are always in this pos while moving
		if self.hasBundler:
			self.bundler.pos=self.bundler.getBPos() #sets the position of the bundler to before machine
		if cmnd: return self.cmnd([],time, self.automaticMove)
		else: return time

	def getRoadClearPos(self):
		"""used for the mainRoad. Check if the road is clear or if we have to take a small movement first and clear it."""
		p=self.getNextPos()
		closest=None
		r=self.roads['main']
		for t in r.trees:
			if not closest or t.pos[1]<closest.pos[1]:
				closest=t
		if closest and p[1]+self.radius>=closest.pos[1]-closest.dbh:
			pnew= [p[0], closest.pos[1]-closest.dbh-self.radius]
			return pnew
		else:
			return p
	def cmndWithDriver(self, commands, time):
		"""
		a method to set up the yield command, for use of the driver for a specific time.
		overrides superclass method

		priority not added here. If you want that, see how it's implemented in the same
		method for the planting machine.
		"""
		if self.usesDriver: #don't need to reserve driver..
			commands.extend([(hold, self, time)])
		else:
			commands.extend([(request, self, self.driver), (hold, self, time)])
			self.usesDriver=True
			switchTime=self.times['switchFocus']
			if self.driver.isIdle(): #check for how long he's been idle
				switchTime-=self.driver.idleTime()
				if switchTime<0: switchTime=0
			commands.extend([(hold, self, switchTime)]) #add time to switch focus
			commands.extend([(hold, self, time)])
		return commands

	def draw(self,ax):
		"""draws the machine at current poistion and with current direction.
		 All measurements are taken from the komatsu 901.4 harvester with 620/55 x 30,5 wheels on the back and 650/45 x 22,5 wheels in the front."""
		cart=self.getCartesian
		#draw roads:
		for road in [r for r in self.roadList if (r.radius>self.G.terrain.ylim[1]/2. or r.harvestTrees==0)]+[h.road for h in self.heads.values() if h.road and h.road.harvestTrees != 0 and h.road.radius<self.G.terrain.ylim[1]/2.]:
			road.draw(ax)	#main roads have r>c+3. Current roads and visited roads
		#wheels. first the four front wheels.
		w=0.225
		r=0.650
		W=2.650
		f=1.850+0.650+0.1
		o1=cart([W/2.-w/2., f], fromLocalCart=True)
		o2=cart([-(W/2.-w/2.), f], fromLocalCart=True)
		o3=cart([-(W/2.-w/2.), 1.850-0.1-r], fromLocalCart=True)
		o4=cart([W/2.-w/2., 1.850-0.1-r], fromLocalCart=True)
		for origin in [o1,o2,o3,o4]:
			c1=cart([w/2., r], origin=origin, fromLocalCart=True)
			c2=cart([-w/2., r], origin=origin, fromLocalCart=True)
			c3=cart([-w/2., -r], origin=origin, fromLocalCart=True)
			c4=cart([w/2., -r], origin=origin, fromLocalCart=True)
			p=mpl.patches.Polygon(np.array([c1,c2,c3,c4]), closed=True, facecolor='k')
			ax.add_patch(p)
		#back wheels:
		W=2.720
		w=0.305
		r=0.620
		o1=cart([W/2.-w/2.,-1.650],fromLocalCart=True)
		o2=cart([-W/2.+w/2.,-1.650],fromLocalCart=True)
		for origin in [o1,o2]:
			c1=cart([w/2., r], origin=origin, fromLocalCart=True)
			c2=cart([-w/2., r], origin=origin, fromLocalCart=True)
			c3=cart([-w/2., -r], origin=origin, fromLocalCart=True)
			c4=cart([w/2., -r], origin=origin, fromLocalCart=True)
			p=mpl.patches.Polygon(np.array([c1,c2,c3,c4]), closed=True, facecolor='k')
			ax.add_patch(p)
		#base structure
		L=6.939
		W=2.720
		a=1.850+2*0.650+0.1
		f=1.850+0.650+0.1
		c=[cart([(W-2*0.305)/2., f],fromLocalCart=True)]
		c.append(cart([-(W-2*0.305)/2., f],fromLocalCart=True))
		#fix a less wide end.
		w=(W-2*0.305)/2.*0.70 #width at the back
		#some coordinates are for the red parts.. others for the base structure
		diff=0.1 #difference between red and black parts
		r2=cart([-(W-2*0.305)/2.+diff, -1.650+r-0.05],fromLocalCart=True)
		c2=cart([-(W-2*0.305)/2., -1.650],fromLocalCart=True)
		r21=cart([-(W-2*0.305)/2.+diff, -1.650],fromLocalCart=True)
		r5=cart([(W-2*0.305)/2.-diff, -1.650+r-0.05],fromLocalCart=True)
		c5=cart([(W-2*0.305)/2., -1.650],fromLocalCart=True)
		r41=cart([(W-2*0.305)/2.-diff, -1.650],fromLocalCart=True)
		r3=cart([-w+diff, a-L+diff],fromLocalCart=True)
		c3=cart([-w, a-L],fromLocalCart=True)
		r4=cart([w-diff, a-L+diff],fromLocalCart=True)
		c4=cart([w, a-L],fromLocalCart=True)
		c.extend([c2,c3,c4,c5])
		p=mpl.patches.Polygon(np.array(c), closed=True, facecolor='k', alpha=90)
		ax.add_patch(p)
		p=mpl.patches.Polygon(np.array([r2, r21,r3,r4, r41,r5]), closed=True, facecolor=self.color)
		ax.add_patch(p)
		if self.hasBundler:  #draw the bundler
			self.bundler.draw(ax)
		for h in self.heads.values():#draw the cranes and heads
			h.draw(ax)
		#cabin:
		l=1.8 #pure estimation for these three variables
		w=W-2*r
		f=0.4
		smooth=1/5.*min(l,w)
		origin=cart([0,f],fromLocalCart=True)
		c2=cart([w/2., l/2.-smooth], origin=origin, fromLocalCart=True)
		c3=cart([w/2.-smooth, l/2.], origin=origin, fromLocalCart=True)
		c5=cart([-w/2.+smooth, l/2.], origin=origin, fromLocalCart=True)
		c6=cart([-w/2., l/2.-smooth], origin=origin, fromLocalCart=True)
		c8=cart([-w/2., -l/2.+smooth], origin=origin, fromLocalCart=True)
		c9=cart([-w/2.+smooth, -l/2.], origin=origin, fromLocalCart=True)
		c11=cart([w/2.-smooth, -l/2.], origin=origin, fromLocalCart=True)
		c12=cart([w/2., -l/2.+smooth], origin=origin, fromLocalCart=True)
		a=[c2,c3,c5,c6,c8,c9,c11,c12]
		ax.add_patch(mpl.patches.Polygon(np.array(a), closed=True, facecolor=self.color))
Ejemplo n.º 3
0
class PlantMachine(Machine):
	"""
	The planting machine. A Volvo EC210C. Has one or two planting devices which in turn have two planting heads each. 
This machine is not really intelligent, the sofisticated behavious is programmed in the planting devices. Machine does not move.
	"""
	def __init__(self, name, sim, G, mtype='1a2h', craneLim=None):
		if not craneLim: craneLim=[4.0,9.0]
		Machine.__init__(self, name, sim, G=G, mass=21000)
		self.driver=Operator(sim=self.sim, delay=10000) #does not go on breaks..
		self.sim.activate(self.driver, self.driver.work())
		return None
		self.type=mtype
		if self.type=='1a2h' or self.type=='2a4h':
			self.headType='Mplanter'
		else:
			self.headType='Bracke'
		self.pos=[0,0]
		self.craneMaxL=G.craneLim[1]
		self.craneMinL=G.craneLim[0]
		if self.craneMaxL <= self.craneMinL: raise Exception('crane maximum is smaller than crane minimum...')
		self.pos[0]=random.uniform(G.terrain.xlim[0]+self.craneMaxL, G.terrain.xlim[1]- self.craneMaxL)
		self.pos[1]=random.uniform(G.terrain.ylim[0]+self.craneMaxL, G.terrain.ylim[1]- self.craneMaxL)
		if self.G.PMattach:
			self.craneIntersect=self.G.PMattach
		else:
			self.craneIntersect=3.0
		if self.craneMinL<=self.craneIntersect: self.craneMinL=self.craneIntersect-0.01 # of course..
		self.visual={'upperStructLength':4.3, 'upperStructWidth':2.540 ,'trackWidth':0.6,'trackLength':4.460 }
		po1=[self.visual['upperStructWidth']/2.+(2.990-2.540)/4., 0]
		po2=[-self.visual['upperStructWidth']/2.-(2.990-2.540)/4., 0]
		self.visual['trackCntrPosLoc']=[po1,po2] #just for plotting..
		self.workingArea=pow(self.craneMaxL,2)*pi/2.-pow(self.craneMinL,2)*pi/2.
		if self.G.PMstockingRate:
			self.stockingRate=self.G.PMstockingRate
		else:
			self.stockingRate=2000 # plants/ha
		self.plantMinDist=G.plantMinDist
		self.dibbleDepth=0.1
		self.nSeedlingsPWArea=floor(self.stockingRate/10000.*self.workingArea)
		print "sPerWorkarea:", self.nSeedlingsPWArea, "cranemax:", self.craneMaxL, "cranemin:",self.craneMinL, "attach:", self.craneIntersect
		#self.direction=random.uniform(0,2*pi)
		self.direction=0
		self.times={'diggTime': 3, 'heapTime': 2,'moundAndHeapTime': 5, 'dibbleDownTime': 1, 'relSeedlingTime': 1, 'dibbleUpTime':1, 'haltTime': 3, 'searchTime': 0, 'switchFocus':0}
		self.timeConsumption={'diggTime': 0, 'heapTime': 0,'moundAndHeapTime': 0, 'dibbleDownTime': 0, 'relSeedlingTime': 0, 'haltTime': 0, 'searchTime': 0, 'switchFocus':0, 'machineMovement':0}
		self.type=mtype
		self.pDevs=[]
		self.treesPlanted=[]
		self.automatic=G.automatic
		self.velocities={'machine': 0.5, 'angMachine':11.8*2*pi/60., 'angCranes': 15*pi/180, 'radial': 1.6} #radians/sec and m/s
		self.timeConstants={'machine': 5, 'maincrane':1.5, 'subcrane':0.1} #time taken to initiate movements.
		if self.G.PMradialCraneSpeed: self.velocities['radial']=self.G.PMradialCraneSpeed
		self.angleLim=self.G.PMangleLim #angle limit between the two arms/planting devices.
		self.treeMoni=Monitor(name="Trees planted")
		self.leftAngleMoni=Monitor(name="angle for left crane")
		self.rightAngleMoni=Monitor(name="angle for right crane")
		self.treeMoni.observe(len(self.treesPlanted), self.sim.now())
		p1=PlantingDevice('rightDevice', sim=self.sim, belongToMachine=self, G=self.G)
		self.sim.activate(p1,p1.run())
		self.pDevs.append(p1)
		if mtype[0:2]=='2a': #add another one
			self.times['switchFocus']=2
			self.timeConstants['machine']*=1.5 #longer time for 2a
			self.velocities['machine']*=0.75
			p2=PlantingDevice('leftDevice', sim=self.sim, belongToMachine=self, G=self.G)
			self.sim.activate(p2,p2.run())
			self.pDevs.append(p2)
			if self.exceedsAngleLim(self.pDevs[0], self.pDevs[0].pos, self.pDevs[1]):
				#angle is too big, needs to adjust.
				it=0
				while self.exceedsAngleLim(self.pDevs[0], self.pDevs[0].pos, self.pDevs[1]):
					newcyl=[self.pDevs[0].posCyl[0], self.pDevs[0].posCyl[1]+pi/50.]
					print self.pDevs[0].posCyl, newcyl
					newpos=getCartesian(newcyl, origin=self.pos, direction=self.direction)
					if collide(self.pDevs[0], self.pDevs[1], o1pos=newpos) or it>20:
						raise Exception('exceeds initially and cannot adjust.', it, newcyl)
					self.pDevs[0].setPos(newpos)				
			self.mass+=4000. #the other planting head has a mass of 4 tons.
		self.inPlaceEvent=SimEvent('machine has moved in place', sim=self.sim) #event fired when machine has moved
		self.calcStumpsInWA() #updates some statistics
		if self.headType=='Mplanter':
			self.times['searchTime']=0.1*self.sim.stats['stumps in WA'] #specifics for this head..0 otherwise
		elif self.headType=='Bracke': pass
		else:
			raise Exception('could not identify head type') #safety first..
	def run(self): #the method has to be here in order to be counted as an entity
		#get machine in place. Assumes that machine comes from last position in half-cricle pattern.
		while True:
			yield hold,self,1e5
		distance=self.craneMaxL #not exact, half circle may overlap more or less than this.
		time=self.timeConstants['machine']+distance/self.velocities['machine']
		yield request, self, self.driver
		yield hold, self, time
		yield release, self, self.driver
		self.timeConsumption['machineMovement']=time
		self.inPlaceEvent.signal()
		while True:
			yield hold, self, 1
			self.stopControl()
	def exceedsAngleLim(self, p1in, pos1in,p2in, pos2in='undefined'):
		"""move p1 to pos1, do we exceed the angular limits and do the cranes intersect?
		i.e is it possible to place the intersection point of the two small cranes at a position so that the angle does not exceed the limit.
		Also checks if point is too far for crane to reach."""
		tic=time.clock()
		if pos2in == 'undefined': pos2in=p2in.pos
		if p1in.mountPoint == 'left' and p2in.mountPoint == 'right':
			p1=p1in
			pos1=pos1in
			p2=p2in
			pos2=pos2in
		elif p1in.mountPoint == 'right' and p2in.mountPoint == 'left':
			p1=p2in
			pos1=pos2in
			p2=p1in
			pos2=pos1in
		else:
			raise Exception("ERROR, exceedsAngleLim only defined for 2a with names 'left' and 'right'")
		#p1 is to the left, p2 to the right..
		#some first checks: if we could classify as exceeds in this stage, a lot of time is saved.
		D=getDistance(pos1, pos2)
		p1cyl=self.getCylindrical(pos1)
		p2cyl=self.getCylindrical(pos2)
		if p2cyl[1] <=p1cyl[1]: alpha=abs(self.angleLim[1]) #no crossing.
		else: alpha=abs(self.angleLim[0]) #cranes cross!
		if abs(p1cyl[1]-p2cyl[1])>alpha:
			PlantingDevice.timesProf[3]+=time.clock()-tic	
			return True #there is no way that the angle that counts can be smaller than this angle. Think about it.
		if alpha<pi/2. and alpha>0.4636: #pretty long derivation, number comes from arctan(0.5)...
			rmax=max(p1cyl[0], p2cyl[0])
			if D/2.>(rmax-self.craneIntersect)*tan(alpha):
				PlantingDevice.timesProf[3]+=time.clock()-tic	
				return True #saves a lot of time, but does not cover all the cases
		#algorithm: test angles from pi to 0.. brute force and time consuming, and solutions could be missed.
		if collide(o1=p1in, o2=p2in, o1pos=pos1in, o2pos=pos2in): 
			PlantingDevice.timesProf[3]+=time.clock()-tic
			return True #collides..
		a=self.getAngles(pos1,pos2)
		PlantingDevice.timesProf[3]+=time.clock()-tic	
		return a	
	def getAngles(self, pos1, pos2, optimize=False, dth=pi/200):
		"""if optimize, this function returns the angles at the position of smallest angles. otherwise it checks if this position is possible.
		function assumes that there is two cranes."""
		th=0
		lim=self.angleLim
		ang=[0,0]
		r=[0,0]
		angmin=1000
		angCrane=th
		rI=self.craneIntersect
		#determine angle max/min span:
		direction=self.direction
		[r1,th1]=self.getCylindrical(pos1) 
		[r2,th2]=self.getCylindrical(pos2)
		#this gives us some marginal. More analysis can be performed to optimize, analytical solution might even exist.
		thmin=min(th1, th2)
		thmax=max(th1, th2)
		if lim[0]<0:
			thmin-=pi/7.
			thmax+=pi/7.		
		span=thmax-thmin
		thMiddle=min(th1,th2)+(max(th1,th2)-min(th1,th2))/2.
		if thmin<-abs(lim[0]): thmin=-abs(lim[0])
		if thmax>pi+abs(lim[0]): thmax=pi+abs(lim[0])
		angles=[thMiddle]+list(np.arange(thMiddle-span/4., thMiddle+span/4., dth))+ \
			   list(np.arange(thmin, thMiddle-span/4. ,dth))+list(np.arange(thMiddle+span/4., thmax, dth))		
		for th in angles: #scan through the possible angles for the crane, look for angle exceeds.
			spreadPoint=self.getCartesian([rI, th]) 
			direction=self.direction+th-pi/2. #direction of boom
			[r1,th1]=self.getCylindrical(pos1, origin=spreadPoint, direction=direction) 
			[r2,th2]=self.getCylindrical(pos2, origin=spreadPoint, direction=direction)
			th1=th1-pi/2.
			th2=pi/2.-th2
			if lim[0]<th1<lim[1] and lim[0]<th2<lim[1] and rI+r1<self.craneMaxL and rI+r2<self.craneMaxL:
				#angles agree and cranes are not too extended. If craneIntersect+remaineing crane > craneMax, too extended.
				if optimize:
					angle=abs(th1)+abs(th2)
					if angle<angmin:
						angmin=angle
						ang=[th1,th2]
						r=[r1,r2]
						angCrane=th
				else:
					return False
			elif th1>lim[1] and th2>lim[1] and not optimize: #positive angle means point is in between. If this point exist, a solution can impossibly be found.
				return True
		if optimize:	
			if angmin is not 1000:
				return ang+[angCrane]+r
			else:
				#this happens very rarely.. but ..
				if dth < pi/4000.: #to avoid infinite loop.. below return has "spun" several times..
					raise Exception("ERROR, getAngles:  the current position is not allowed, exceeds angle limits %f, %f............%f,%f"%(pos1[0], pos1[1], pos2[0], pos2[1]))
				return self.getAngles(pos1, pos2, optimize=optimize, dth=dth/5.)				
		else:
			return True #angles exceed..
		#assume that p1 is left and p2 right.
	def stopControl(self):
		"""
		Checks if simulations should be stopped
		"""
		reason=None
		if self.driver.resting:
			return False #wait until he's not at rest, should not result in an infinite loop.
		elif len(self.treesPlanted)>=floor(self.stockingRate/10000.0*self.workingArea):
			#last is to ensure that machine is above productivity maximum
			reason="the desired no. of trees are planted"
		elif len(self.pDevs)==1 and self.pDevs[0].noMoreSpots:
			reason="pDev out of spots."
		else:
			reason="plantDevs are passive and so are all the plantheads."
			for p in self.pDevs:
				if not p.passive():
					return False
				else:
					for pH in p.plantHeads:
						if pH.cause is not None: return False #machine is waiting for
			print "Stop Reason:", reason
		print self.sim.stats['mound attempts'],len( self.treesPlanted)
		self.sim.stopSimulation()
	def isWithinPlantingBorders(self, pos, c='cartesian'):
		#plantingarea is approximated as circle.
		w=self.pDevs[0].plantAreaW #2.5 def
		L=self.pDevs[0].plantAreaL # 1 def
		l=self.pDevs[0].plantHeads[0].length
		#transform to cylindrical if necessary
		if c=='cartesian' or c=='Cartesian':
			cyl=self.getCylindrical(pos)
		elif c=='cylindrical' or c=='Cylindrical':
			cyl=pos
		else:
			raise Exception("error, isWithingPlantingBorders did not recognize %s"%c)
		r=cyl[0]
		th=cyl[1]
		#is radius too small or too big?
		if r<self.craneMinL+L-l/2 or r > self.craneMaxL-l/2.:
			return False
		if self.headType=='Mplanter': thInner=asin((w/2.)/r)
		else: thInner=0
		#is angle too small or too big?
		if th>pi-thInner or th<thInner:
			return False
		return True
	def calcStumpsInWA(self):
		"""
		required statistics. Roots are included
		"""
		#make a polygon that approximates out half circle
		cart=getCartesian
		cyl=getCylindrical
		polynodes=[]
		Lmin=self.craneMinL
		Lmax=self.craneMaxL
		points=15 #how many point in a half circle arc
		thlim=[0,pi]
		for th in np.linspace(thlim[0], thlim[1],points):
			polynodes.append(cart([Lmax,th], direction=self.direction, origin=self.pos))
		for th in np.linspace(thlim[1], thlim[0],points):
			polynodes.append(cart([Lmin,th], direction=self.direction, origin=self.pos))
		pol=Polygon(self.pos, polynodes)
		potentialStumps=self.G.terrain.GetStumps(self.pos, self.craneMaxL)
		sno=0
		sdiam=0
		for s in potentialStumps:
			if collide(s,pol):
				sno+=1
				sdiam+=s.dbh
		self.sim.stats['stumps in WA']=sno
		self.sim.stats['stumps in WA sum diamater']=sdiam
	def draw(self, ax):
		cart=self.getCartesian
		v=self.visual
		#plot the machine tracks.
		p1=v['trackCntrPosLoc'][0]
		p2=v['trackCntrPosLoc'][1]
		for p in [p1,p2]:
			verts=[]
			codes=[]
			c1=cart([p[0]+v['trackWidth']/2., p[1]+v['trackLength']/2.],origin=self.pos, direction=self.direction, local=False, fromLocalCart=True)
			c2=cart([p[0]-v['trackWidth']/2., p[1]+v['trackLength']/2.],origin=self.pos, direction=self.direction, local=False, fromLocalCart=True)
			c3=cart([p[0]-v['trackWidth']/2., p[1]-v['trackLength']/2.],origin=self.pos, direction=self.direction, local=False, fromLocalCart=True)
			c4=cart([p[0]+v['trackWidth']/2., p[1]-v['trackLength']/2.],origin=self.pos, direction=self.direction, local=False, fromLocalCart=True)
			ax.add_patch(mpl.patches.Polygon(np.array([c1,c2,c3,c4]), closed=True, facecolor='k'))
		#plot the machine
		if len(self.pDevs)>1:
			a=self.getAngles(self.pDevs[1].pos, self.pDevs[0].pos, optimize=True) #angles not allowed may accur during movements.
			craneDir=self.direction-pi/2.+a[2]
		else:
			a=[0,0,self.direction] #first two are not relevant for 1a
			craneDir=self.direction+self.pDevs[0].posCyl[1]-pi/2.
		D=2.850 #yposition of back
		front=v['upperStructLength']-D #y-position of front
		c1=cart([v['upperStructWidth']/2., front],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
		c2=cart([-v['upperStructWidth']/2., front],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
		c3=cart([-v['upperStructWidth']/2., -D],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
		c4=cart([v['upperStructWidth']/2., -D],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
		ax.add_patch(mpl.patches.Polygon(np.array([c1,c2,c3,c4]), closed=True, facecolor='y'))
		#plot cranes
		alpha=1
		if len(self.pDevs)>1:
			#first, plot the first part of the crane:
			L=self.craneIntersect
			W=0.3 #3dm
			c1=cart([W/2., 0],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
			c2=cart([W/2., L],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
			c3=cart([-W/2., L],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
			c4=cart([-W/2., 0],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
			ax.add_patch(mpl.patches.Polygon(np.array([c1,c2,c3,c4]), closed=True, facecolor='k', alpha=alpha))
			#add the "bar" at the point of separation, let the separation be 0.7m
			origin=cart([0, L],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
			L=W
			W2=0.7
			c1=cart([W2/2., -L/2.],origin=origin, direction=craneDir, local=False, fromLocalCart=True)
			c2=cart([W2/2., L/2.],origin=origin, direction=craneDir, local=False, fromLocalCart=True)
			c3=cart([-W2/2., L/2.],origin=origin, direction=craneDir, local=False, fromLocalCart=True)
			c4=cart([-W2/2., -L/2.],origin=origin, direction=craneDir, local=False, fromLocalCart=True)
			ax.add_patch(mpl.patches.Polygon(np.array([c1,c2,c3,c4]), closed=True, facecolor='k', alpha=alpha))
			#add the two outer cranes:
			W=W/2.
			orig1=cart([W2/2., 0],origin=origin, direction=craneDir, local=False, fromLocalCart=True) #left
			orig2=cart([-W2/2., 0],origin=origin, direction=craneDir, local=False, fromLocalCart=True) #right
			pos1=self.pDevs[0].pos #left
			pos2=self.pDevs[1].pos	#right
			for p in [(orig1, pos1), (orig2, pos2)]:
				L=getDistance(p[0],p[1])
				[r,th]=self.getCylindrical(p[1], origin=p[0], direction=craneDir)
				#redefine cartesian, use direction th.
				direction=craneDir-pi/2.+th
				c1=cart([W/2., 0],origin=p[0], direction=direction, local=False, fromLocalCart=True)
				c2=cart([W/2., L],origin=p[0], direction=direction, local=False, fromLocalCart=True)
				c3=cart([-W/2., L],origin=p[0], direction=direction, local=False, fromLocalCart=True)
				c4=cart([-W/2., 0],origin=p[0], direction=direction, local=False, fromLocalCart=True)
				ax.add_patch(mpl.patches.Polygon(np.array([c1,c2,c3,c4]), closed=True, facecolor='k', alpha=alpha))
		else:
			L=self.pDevs[0].posCyl[0]
			W=0.3 #3dm
			c1=cart([W/2., 0],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
			c2=cart([W/2., L],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
			c3=cart([-W/2., L],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
			c4=cart([-W/2., 0],origin=self.pos, direction=craneDir, local=False, fromLocalCart=True)
			ax.add_patch(mpl.patches.Polygon(np.array([c1,c2,c3,c4]), closed=True, facecolor='k', alpha=alpha))
Ejemplo n.º 4
0
	def __init__(self, name, sim, G, mtype='1a2h', craneLim=None):
		if not craneLim: craneLim=[4.0,9.0]
		Machine.__init__(self, name, sim, G=G, mass=21000)
		self.driver=Operator(sim=self.sim, delay=10000) #does not go on breaks..
		self.sim.activate(self.driver, self.driver.work())
		return None
		self.type=mtype
		if self.type=='1a2h' or self.type=='2a4h':
			self.headType='Mplanter'
		else:
			self.headType='Bracke'
		self.pos=[0,0]
		self.craneMaxL=G.craneLim[1]
		self.craneMinL=G.craneLim[0]
		if self.craneMaxL <= self.craneMinL: raise Exception('crane maximum is smaller than crane minimum...')
		self.pos[0]=random.uniform(G.terrain.xlim[0]+self.craneMaxL, G.terrain.xlim[1]- self.craneMaxL)
		self.pos[1]=random.uniform(G.terrain.ylim[0]+self.craneMaxL, G.terrain.ylim[1]- self.craneMaxL)
		if self.G.PMattach:
			self.craneIntersect=self.G.PMattach
		else:
			self.craneIntersect=3.0
		if self.craneMinL<=self.craneIntersect: self.craneMinL=self.craneIntersect-0.01 # of course..
		self.visual={'upperStructLength':4.3, 'upperStructWidth':2.540 ,'trackWidth':0.6,'trackLength':4.460 }
		po1=[self.visual['upperStructWidth']/2.+(2.990-2.540)/4., 0]
		po2=[-self.visual['upperStructWidth']/2.-(2.990-2.540)/4., 0]
		self.visual['trackCntrPosLoc']=[po1,po2] #just for plotting..
		self.workingArea=pow(self.craneMaxL,2)*pi/2.-pow(self.craneMinL,2)*pi/2.
		if self.G.PMstockingRate:
			self.stockingRate=self.G.PMstockingRate
		else:
			self.stockingRate=2000 # plants/ha
		self.plantMinDist=G.plantMinDist
		self.dibbleDepth=0.1
		self.nSeedlingsPWArea=floor(self.stockingRate/10000.*self.workingArea)
		print "sPerWorkarea:", self.nSeedlingsPWArea, "cranemax:", self.craneMaxL, "cranemin:",self.craneMinL, "attach:", self.craneIntersect
		#self.direction=random.uniform(0,2*pi)
		self.direction=0
		self.times={'diggTime': 3, 'heapTime': 2,'moundAndHeapTime': 5, 'dibbleDownTime': 1, 'relSeedlingTime': 1, 'dibbleUpTime':1, 'haltTime': 3, 'searchTime': 0, 'switchFocus':0}
		self.timeConsumption={'diggTime': 0, 'heapTime': 0,'moundAndHeapTime': 0, 'dibbleDownTime': 0, 'relSeedlingTime': 0, 'haltTime': 0, 'searchTime': 0, 'switchFocus':0, 'machineMovement':0}
		self.type=mtype
		self.pDevs=[]
		self.treesPlanted=[]
		self.automatic=G.automatic
		self.velocities={'machine': 0.5, 'angMachine':11.8*2*pi/60., 'angCranes': 15*pi/180, 'radial': 1.6} #radians/sec and m/s
		self.timeConstants={'machine': 5, 'maincrane':1.5, 'subcrane':0.1} #time taken to initiate movements.
		if self.G.PMradialCraneSpeed: self.velocities['radial']=self.G.PMradialCraneSpeed
		self.angleLim=self.G.PMangleLim #angle limit between the two arms/planting devices.
		self.treeMoni=Monitor(name="Trees planted")
		self.leftAngleMoni=Monitor(name="angle for left crane")
		self.rightAngleMoni=Monitor(name="angle for right crane")
		self.treeMoni.observe(len(self.treesPlanted), self.sim.now())
		p1=PlantingDevice('rightDevice', sim=self.sim, belongToMachine=self, G=self.G)
		self.sim.activate(p1,p1.run())
		self.pDevs.append(p1)
		if mtype[0:2]=='2a': #add another one
			self.times['switchFocus']=2
			self.timeConstants['machine']*=1.5 #longer time for 2a
			self.velocities['machine']*=0.75
			p2=PlantingDevice('leftDevice', sim=self.sim, belongToMachine=self, G=self.G)
			self.sim.activate(p2,p2.run())
			self.pDevs.append(p2)
			if self.exceedsAngleLim(self.pDevs[0], self.pDevs[0].pos, self.pDevs[1]):
				#angle is too big, needs to adjust.
				it=0
				while self.exceedsAngleLim(self.pDevs[0], self.pDevs[0].pos, self.pDevs[1]):
					newcyl=[self.pDevs[0].posCyl[0], self.pDevs[0].posCyl[1]+pi/50.]
					print self.pDevs[0].posCyl, newcyl
					newpos=getCartesian(newcyl, origin=self.pos, direction=self.direction)
					if collide(self.pDevs[0], self.pDevs[1], o1pos=newpos) or it>20:
						raise Exception('exceeds initially and cannot adjust.', it, newcyl)
					self.pDevs[0].setPos(newpos)				
			self.mass+=4000. #the other planting head has a mass of 4 tons.
		self.inPlaceEvent=SimEvent('machine has moved in place', sim=self.sim) #event fired when machine has moved
		self.calcStumpsInWA() #updates some statistics
		if self.headType=='Mplanter':
			self.times['searchTime']=0.1*self.sim.stats['stumps in WA'] #specifics for this head..0 otherwise
		elif self.headType=='Bracke': pass
		else:
			raise Exception('could not identify head type') #safety first..
Ejemplo n.º 5
0
	def __init__(self, name, sim, G, mtype='2h', craneLim=None):
		if not mtype in self.allowedTypes:
			raise Exception('Machine type %s no allowed'%str(mtype))
		if not craneLim: craneLim=[4.0,9.0]
		Machine.__init__(self, name, sim, G=G, mass=21000)
		self.driver=Operator(sim=self.sim, delay=10000) #does not go on breaks..
		self.sim.activate(self.driver, self.driver.work())
		self.type=mtype
		if '2h' in self.type:
			self.headType='Mplanter'
		elif '3h' in self.type or '4h' in self.type:
			self.headType='MultiHead' #several heads, don't know how many yet.
		else:
			self.headType='Bracke'
		self.times={'heapTime': 2,'dibbleDownTime': 1, 'relSeedlingTime': 1, 'dibbleUpTime':1, 'haltTime': 1, 'searchTime': 0, 'switchFocus':0, 'invertTime':G.simParam['tCWhenInvKO'], 'invert':None} #all in seconds, invert is determined later
		self.timeConsumption={'heapTime': 0,'moundAndHeapTime': 0, 'dibbleDownTime': 0, 'relSeedlingTime': 0, 'haltTime': 0, 'searchTime': 0, 'switchFocus':0, 'machineMovement':0} #new function for digTime, see plant method.
		self.pos=[0,0]
		self.craneMaxL=G.craneLim[1]
		self.craneMinL=G.craneLim[0]
		if self.craneMaxL <= self.craneMinL: raise Exception('crane maximum is smaller than crane minimum...')
		self.pos[0]=random.uniform(G.terrain.xlim[0]+self.craneMaxL, G.terrain.xlim[1]- self.craneMaxL)
		self.pos[1]=random.uniform(G.terrain.ylim[0]+self.craneMaxL, G.terrain.ylim[1]- self.craneMaxL)
		if self.G.PMattach:
			self.craneIntersect=self.G.PMattach
		else:
			self.craneIntersect=3.0
		if self.craneMinL<=self.craneIntersect: self.craneMinL=self.craneIntersect-0.01 # of course..
		self.visual={'upperStructLength':4.3, 'upperStructWidth':2.540 ,'trackWidth':0.6,'trackLength':4.460 }
		po1=[self.visual['upperStructWidth']/2.+(2.990-2.540)/4., 0]
		po2=[-self.visual['upperStructWidth']/2.-(2.990-2.540)/4., 0]
		self.visual['trackCntrPosLoc']=[po1,po2] #just for plotting..
		self.workingArea=pow(self.craneMaxL,2)*pi/2.-pow(self.craneMinL,2)*pi/2.
		self.stockingRate=self.G.simParam['TSR']
		self.plantMinDist=G.simParam['dibbleDist']
		self.dibbleDepth=0.1
		self.moundingFailureProb=G.simParam['moundFailureProb']=0.05
		self.inverting=G.simParam['inverting']
		if self.inverting:
			assert G.simParam['ExcavatorInverting']!=G.simParam['KOInverting'] #can't use both			
			if G.simParam['KOInverting']:
				self.invertingMethod='KO'
				self.invertFailureProb=G.simParam['invertKOFailureProb']
			else:
				self.invertingMethod='Excavator'
				self.invertFailureProb=G.simParam['invertExcFailureProb']

		if 'ObAv' in self.type:
			self.rootDegreesOK=self.G.simParam['angRootObAv']
			if self.G.simParam['wMB']==0.6:
				self.immobilePercent=self.G.simParam['vertOccStoneObAv60']
			elif self.G.simParam['wMB']==0.5:
				self.immobilePercent=self.G.simParam['vertOccStoneObAv50']
			else:
				self.immobilePercent=self.G.simParam['vertOccStoneObAv40']				
		else:
			self.rootDegreesOK=pi/180.0*G.simParam['angRoot']
			self.immobilePercent=G.simParam['vertOccStone']
		self.nSeedlingsPWArea=max(floor(self.stockingRate/10000.*self.workingArea),1)
		print "sPerWorkarea:", self.nSeedlingsPWArea, "cranemax:", self.craneMaxL, "cranemin:",self.craneMinL, "attach:", self.craneIntersect
		self.direction=random.uniform(0,2*pi)
		self.pDevs=[]
		self.treesPlanted=[]
		self.automatic=G.automatic
		self.velocities={'machine': 0.5, 'angMachine':11.8*2*pi/60., 'angCranes': 15*pi/180, 'radial': 1.6} #radians/sec and m/s
		self.timeConstants={'machine': 5, 'maincrane':1.5, 'subcrane':0.1} #time taken to initiate movements.
		if self.G.PMradialCraneSpeed: self.velocities['radial']=self.G.PMradialCraneSpeed
		self.angleLim=self.G.PMangleLim #angle limit between the two arms/planting devices.
		self.treeMoni=Monitor(name="Trees planted")
		self.leftAngleMoni=Monitor(name="angle for left crane")
		self.rightAngleMoni=Monitor(name="angle for right crane")
		self.treeMoni.observe(len(self.treesPlanted), self.sim.now())
		p1=PlantingDevice('rightDevice', sim=self.sim, belongToMachine=self, G=self.G)
		self.sim.activate(p1,p1.run())
		self.pDevs.append(p1)
		if '2a' in self.type: #add another one. 1a is default
			self.times['switchFocus']=2
			self.timeConstants['machine']*=1.5 #longer time for 2a
			self.velocities['machine']*=0.75 #heavier, takes more time to move. Part of BTE model
			p2=PlantingDevice('leftDevice', sim=self.sim, belongToMachine=self, G=self.G)
			self.sim.activate(p2,p2.run())
			self.pDevs.append(p2)
			if self.exceedsAngleLim(self.pDevs[0], self.pDevs[0].pos, self.pDevs[1]):
				#angle is too big, needs to adjust.
				it=0
				while self.exceedsAngleLim(self.pDevs[0], self.pDevs[0].pos, self.pDevs[1]):
					newcyl=[self.pDevs[0].posCyl[0], self.pDevs[0].posCyl[1]+pi/50.]
					print self.pDevs[0].posCyl, newcyl
					newpos=getCartesian(newcyl, origin=self.pos, direction=self.direction)
					if collide(self.pDevs[0], self.pDevs[1], o1pos=newpos) or it>20:
						raise Exception('exceeds initially and cannot adjust.', it, newcyl)
					self.pDevs[0].setPos(newpos)				
			self.mass+=4000. #the other planting head has a mass of 4 tons.
		self.inPlaceEvent=SimEvent('machine has moved in place', sim=self.sim) #event fired when machine has moved
		self.calcVisibleObstInWA() #some statistics updates needed
		if self.headType=='Mplanter' or self.headType=='MultiHead':
			multiplier=self.G.simParam['multiplierFindMuSite']
			self.times['searchTime']=multiplier*self.sim.stats['visible obstacles in WA'] #specifics for this head..0 otherwise
		elif self.headType!='Bracke':
			raise Exception('could not identify head type %s'%self.headType) #safety first..