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()
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))
