def __init__(self, name, sim, PD):
Process.__init__(self, name, sim)
UsesDriver.__init__(self, PD.driver)
self.p = PD # planting device
self.timeConsumption = {"mounding": 0, "planting": 0, "halting": 0}
"""
Uptdated:
None..
"""
self.reMoundSignal = SimEvent(name="planthead remounded", sim=self.sim)
self.reset()
def __init__(self, sim, driver, machine, name="Bundler"): UsesDriver.__init__(self,driver) Process.__init__(self, name, sim) self.prio=567 self.color='#CD0000' self.m=machine self.s=self.m.G.simParam self.pos=list(np.array(self.m.pos)+np.array([0,self.s['dropPosJ']])) self.timeBundle=self.s['timeBundle'] self.maxXSection=self.s['maxXSectionJ'] self.xSectionThresh=self.s['xSectionThreshJ'] self.currentBundle=None self.forceBundler=False #Is set to true when bundler is filled or new pile from head does not fit
def __init__(self, name, sim, PD,width=None):
Process.__init__(self, name, sim)
UsesDriver.__init__(self, PD.driver)
self.p=PD #planting device
self.length=2*self.p.G.simParam['moundRadius']
self.depth=self.length*0.5 #radius of hole
if self.p.G.simParam['wMB'] != None:
self.width=self.p.G.simParam['wMB']
else:
if width==None:
raise Exception('needs a width for the plantHead. Either give it or set simParam[wMB]')
self.width=width
self.timeConsumption={'mounding':0, 'planting':0, 'halting':0, 'inverting':0}
self.reMoundSignal=SimEvent(name='planthead remounded', sim=self.sim)
self.reset()
def __init__(self, name, sim, belongToMachine,G):
Process.__init__(self, name, sim)
UsesDriver.__init__(self, belongToMachine.driver)
Obstacle.__init__(self, [0,0], isSpherical=False, terrain=G.terrain)
self.m=belongToMachine
self.G=G
#cylindrical coordinates in relation to machine:
#crane starts in its minimum position to the left of the driver.
#algorithms for planting:
self.noMoreSpots=False #used to cancel the search for new spots
self.idealSpots=[]
self.pSpots=[]
self.plantHeads=[]
self.otherDevice = None #defined later if 2a
self.struckLastTime=False
self.timeConsumption={'crane movement':0}
self.moveEvent=SimEvent(name='planthead moves', sim=self.sim)
if len(self.m.pDevs)==0: #first arm, right, could also be 1a
self.mountPoint='right'
elif len(self.m.pDevs)==1:
self.mountPoint='left'
else:
raise Exception("ERROR: cannot mount more than two planting devices to machine.%f"%len(self.m.pDevs))
if self.m.headType=='Mplanter':
self.plantSepDist=self.G.PMplantSepDist
for lr in ["left", "right"]:
h=Mplanter(self.name+"_"+lr+"_head", self.sim, PD=self,leftRight=lr)
self.sim.activate(h,h.run())
self.plantHeads.append(h)
self.plantAreaW=self.plantSepDist+h.width
elif self.m.headType=='Bracke':
h=Bracke(self.name+"_"+"brackeHead", self.sim, PD=self)
self.sim.activate(h, h.run())
self.plantHeads.append(h)
self.plantAreaW=h.width
else:
raise Exception('Headtype not supported: %s'%str(self.headType))
self.plantAreaL=2*h.length
self.radius=0.5*sqrt(self.plantAreaW**2+self.plantAreaL**2) #needed for plantingdevice to be regarded as obst.
#define the optimal nodes:
self.initOpt()
self.setPos(self.optNodes[0])
self.optNode=0
self.autoMoved=True
self.sim.machines.append(self)
self.pSpots.append(self.pos)
self.plantSignals=0
def __init__(self, sim, driver, machine, twigCrack):
UsesDriver.__init__(self,driver)
ThinningCraneHead.__init__(self, sim, name="BCHead", machine=machine,twigCrack=twigCrack)
self.road=None #the correct road will be stored here
self.pos=self.getStartPos()
self.m.heads[self.side]=self
self.reset()
self.maxTreeWeight=self.s['maxWeightCD']#350 #kg
self.width=self.s['headWidthCD']#1.
self.corridorWidth=self.width
self.corrPerSide=self.s['noCorridorsPerSideCD']
self.length=self.s['headWidthCD']+0.5
self.timeDropTrees=self.s['timeDropTreesCD']
self.chopConst=self.s['constFellTreeCD']
self.velFell=self.s['velocityFellTreeCD']
self.maxGripArea=self.s['maxGripAreaCD']
self.automatic={'moveArmIn': self.s['moveArmInCD'],
'moveArmOut': self.s['moveArmOutCD'],
'dumpTrees': self.s['dropTreesCD'],
'chop': self.s['fellTreesCD'],
'twigCrack': self.s['twigCrackD']}
def __init__(self, sim, driver, machine, twigCrack):
UsesDriver.__init__(self,driver)
ThinningCraneHead.__init__(self, sim, name="ConvHeadAcc", machine=machine, twigCrack=twigCrack)
self.road=None #the currect road will be stored here
self.pos=self.getStartPos()
self.m.heads[self.side]=self
self.reset()
self.length=self.s['headWidthEF']#0.5 OBSERVE THAT THIS HEAD IS SET TO BE SQUARE
self.width=self.s['headWidthEF']#0.5
self.corridorWidth=self.s['corridorWidthEF']#2
self.corrPerSide=self.s['noCorridorsPerSideEF']#3
self.maxTreeWeight=self.s['maxWeightEF']#350 #set it to same as BC...
self.maxGripArea=self.s['maxGripAreaEF']#0.03#0.28 #[m2]is reasonable: comes from max grip radius of 0.3m
self.timeDropTrees=self.s['timeDropTreesEF']
self.chopConst=self.s['constFellTreeEF']
self.velFell=self.s['velocityFellTreeEF']
self.maxGripArea=self.s['maxGripAreaEF']
self.automatic={'moveArmIn': self.s['moveArmInEF'],
'moveArmOut': self.s['moveArmOutEF'],
'dumpTrees': self.s['dropTreesEF'],
'chop': self.s['fellTreesEF'],
'twigCrack': self.s['twigCrackF']}
def __init__(self, name, sim, belongToMachine,G):
Process.__init__(self, name, sim)
UsesDriver.__init__(self, belongToMachine.driver)
Obstacle.__init__(self, [0,0], isSpherical=False, terrain=G.terrain)
self.m=belongToMachine
self.G=G
#cylindrical coordinates in relation to machine:
#crane starts in its minimum position to the left of the driver.
#algorithms for planting:
self.noMoreSpots=False #used to cancel the search for new spots
self.idealSpots=[]
self.pSpots=[]
self.plantHeads=[]
self.otherDevice = None #defined later if 2a
self.struckLastTime=False
self.timeConsumption={'crane movement':0}
self.moveEvent=SimEvent(name='planthead moves', sim=self.sim)
if len(self.m.pDevs)==0: #first arm, right, could also be 1a
self.mountPoint='right'
elif len(self.m.pDevs)==1:
self.mountPoint='left'
else:
raise Exception("ERROR: cannot mount more than two planting devices to machine.%f"%len(self.m.pDevs))
if self.m.headType=='Mplanter':
self.plantSepDist=2.01 #existing machine, constant parameter
for no in [0,1]:
#h=Mplanter(self.name+"_"+str(no)+"_head", self.sim, PD=self,leftRight=lr)
h=Mplanter(self.name+"_"+str(no)+"_head", self.sim, PD=self,number=no)
self.sim.activate(h,h.run())
self.plantHeads.append(h)
self.plantAreaW=self.plantSepDist+h.width
elif self.m.headType=='MultiHead':
self.plantSepDist=self.G.simParam['dibbleDist'] #1m by default
if '3h' in self.m.type:
no=3
elif '4h' in self.m.type:
no=4
else:
raise Exception('3 or 4 heads are supported, not more or less, %s'%str(self.m.type))
for i in range(no):
h=MultiHead(self.name+"_"+str(i+1)+"_head", self.sim, PD=self,number=i)
self.sim.activate(h,h.run())
self.plantHeads.append(h)
self.plantAreaW=(no-1)*self.plantSepDist+h.width #2*h.width/2..both sides..
elif self.m.headType=='Bracke':
h=Bracke(self.name+"_"+"brackeHead", self.sim, PD=self)
self.sim.activate(h, h.run())
self.plantHeads.append(h)
self.plantAreaW=h.width
else:
raise Exception('Headtype not supported: %s'%str(self.m.headType))
self.plantAreaL=2*h.length
self.radius=0.5*sqrt(self.plantAreaW**2+self.plantAreaL**2) #needed for plantingdevice to be regarded as obst.
#define the optimal nodes:
self.initOpt()
self.setPos(self.optNodes[0])
self.optNode=0
self.autoMoved=True
self.sim.machines.append(self)
self.pSpots.append(self.pos)
self.plantSignals=0
