def __init__(self,name, sim,G,driver=None, pos=[0,0], mass=None, direction=pi/2., shape=None):
"""
initializes the machine.
If the shape parameter is given it has information about the nodes in relation to the center (pos) of the machine.
Convenient way of handling the colission detection, but not really needed.
"""
Process.__init__(self, name, sim)
self.pos=pos
self.G=G
self.mass=21000
self.direction=direction #the direction of the machine.
self.color='y'
self.velocities={'machine':1} #implement in subclass
self.times={} # implement in subclass
self.visited=[]
self.sim.machines.append(self) #adds to global list of machines..
self.moveEvent=None #could be signaled if needed, nbut omit as default to save time
if isinstance(self, UsesDriver): #if machine inherits from driver, default is no.
if not driver: raise Exception('Error: Machine %s uses driver, but no driver was given to MAchine.__init__.'%self.name)
UsesDriver.__init__(self,driver)
#the shape of the machine:
if not shape: #default..
x=1.5
y=1.5
self.shape=[[-x, y], [-x, -y], [x, -y], [x, y]]
else:
self.shape=shape
#find the bounding radius
self.radius=0
for node in self.shape:
c=self.getCartesian(node, fromLocalCart=True)
d=getDistance(c, self.pos)
if d>self.radius:
self.radius=d
Obstacle.__init__(self,pos, isSpherical=False, radius=self.radius)
def __init__(self, name, sim, PD):
PlantHead.__init__(self, name, sim, PD)
self.length = 0.4 # i.e length of "tracks"
if self.p.G.PMbladeWidth:
self.width = self.p.G.PMbladeWidth
else:
self.width = 0.4 # default
self.depth = 0.2
Obstacle.__init__(
self,
[0, 0],
isSpherical=False,
radius=sqrt((self.width / 2.0) ** 2 + (self.length / 2.0) ** 2),
terrain=PD.G.terrain,
)
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, 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
def __init__(self, name, sim, PD, number,width=0.4): PlantHead.__init__(self,name, sim, PD, width) self.number=number Obstacle.__init__(self, [0,0], isSpherical=False, radius=sqrt((self.width/2.)**2+(self.length/2.)**2), terrain=PD.G.terrain) self.color=['y','r','g','b'][self.number]
