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 __init__(self, name, sim, G):
Machine.__init__(self, name, sim, G=G, driver=None, mass=10000)
if not G.roadNet: raise Exception('Forwarder needs a road net to work on')
self.roadNet=G.roadNet #networkX graph class
self.treeMoni=Monitor(name="Trees in cargo")
self.totalTreeMoni=Monitor(name="Trees picked up")
self.distTot=0 #faster than to inspect monitor every time.
self.distMoni=Monitor(name="distance traveled")
self.origin=G.roadNet.graph['origin'] #observe, this is and has to be a tuple.
self.times={'pickUpTrees':8, 'dumpTrees': 14}
self.velocities= {'machine':1,'reverse': 0.5, 'crane':1} #m/s not taken from reality
self.setPos(self.origin)
self.nextPos=None #only none if at origin
self.pickup_road=None
self.trees=0
self.treeWeight=0
self.treeVolume=0
self.capacity=12000 #kg.. don't care about volume now..
self.grappleCapacity=0.35 #radius of cylinder that can be gripped
self.craneMax=7.8
self.reset()
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 __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..
