def dumpTrees(self, direction=None):
if not self.m.hasBundler:
"""releases the trees at the current position. (And dumps the trees in piles)"""
if direction is None: direction=self.road.direction
cart=self.m.getCartesian
t=self.getNextTree(self.road)#
c=[]
if len(self.trees)==0: return []
if not t or self.currentPile==None:
if self.road==self.m.roads['main']:
self.currentPile=Pile(pos=self.pos,terrain=self.m.G.terrain)
else:
self.currentPile=Pile(pos=self.pos,terrain=self.m.G.terrain)
for index, tree in enumerate(copy.copy(self.trees)):
tree.isSpherical=False
tree.nodes=[[-0.1,1],[-0.1,0],[0.1,0],[0.1,-1]]#just some nodes see next line
tree.pos=[5000,5000]#just moves the trees such that they are not plotted
self.currentPile.trees.append(tree)#adds the tree to the current pile
self.trees.remove(tree)
if len(self.trees)!=0: raise Exception('dumptrees does not remove the trees..')
self.treeWeight=0
self.gripArea=0
self.currentPile.craneCycles+=1#This should give cranecycles involved in this pile
self.currentPile.updatePile(direction)#sets pile parameters in a nice way
c.extend(self.twigCrack())
if not t or getDistance(t.pos , self.m.pos)>self.m.craneMaxL: #check if more trees in this corridor or within reach in mainroad
self.m.G.terrain.piles.append(self.currentPile)#adds the pile to the list of piles in terrain
print '*Saved a pile with',len(self.currentPile.trees),'trees at pos:', self.currentPile.pos
self.currentPile=None
self.cmnd(c, time=self.timeDropTrees, auto=self.automatic['dumpTrees'])
return c
else:
"""releases the trees at the current position. (And dumps the trees in piles)"""
if direction is None: direction=self.road.direction
cart=self.m.getCartesian
t=self.getNextTree(self.road)#
b=self.m.bundler
c=[]
if len(self.trees)==0: return []
if b.currentBundle==None:
b.currentBundle=Bundle(pos=b.pos)
i=0
for index, tree in enumerate(copy.copy(self.trees)):
tree.isSpherical=False
tree.nodes=[[-0.1,1],[-0.1,0],[0.1,0],[0.1,-1]]
tree.pos=[5000,5000]
b.currentBundle.trees.append(tree)#adds the tree to the current bundle in bundler
i+=1
self.trees.remove(tree)
print 'added',i,' trees to the bundler', self.sim.now()
if len(self.trees)!=0: raise Exception('dumptrees does not remove the trees..')
self.treeWeight=0
self.gripArea=0
b.currentBundle.craneCycles+=1
b.currentBundle.updatePile(direction)#sets pile parameters in a nice way
c.extend(self.twigCrack()) #Yes this one comes after the trees have been dumped to the bundler. It's a code thing and doesn't matter
self.cmnd(c, time=self.timeDropTrees, auto=self.automatic['dumpTrees'])
self.cmnd(c,time=self.setPos(self.getStartPos()), auto=self.automatic['moveArmOut'])#return to the start position
return c
class ThinningCraneHead(Process):
"""
common stuff for craneheads. Some of the method must be overridden, this class should only be used as a superclass.
"""
def __init__(self, sim, name=None, machine=None, twigCrack=False):
if not name: name='cranehead'
self.m=machine
if self.m.hasBundler is True: b=self.m.bundler
self.s=self.m.G.simParam
if not machine or len(self.m.heads)==0:
self.side='left' #default
self.prio=0
elif len(self.m.heads)==1:
self.side='right'
self.prio=0
else: raise Exception('Heads only support one or two arms on machine.')
Process.__init__(self,name, sim)
#self.testVar=self.m.G.paramInput['BCfd2']['testVar']
self.color=self.m.color
self.timeTwigCrack=self.s['timeTwigCrack']
self.timeCutAtHead=self.s['timeCut']
self.treeWeight=0
self.gripArea=0
self.trees=[]
self.twigCracker=twigCrack #A twigCracker is a module on the head that twigcracks the trees and cuts them into 5m long pieces
self.currentPile=None
self.direction=pi/2.
self.waitingForBundler=0
def treeChopable(self, t):
"""
Determines if the cranehead can handle the tree in question.
"""
raise Exception('ThinningCraneHead should implement treeChopable method.')
def harvestPos(self,t):
"""
function for the harvest position of a tree. Default is the trees position, but the BC head follows the road.
"""
return t.pos
def setPos(self,pos):
"""
Changes position for thinning crane, and records monitors associated with this.
"""
#record angles:
cyl = getCylindrical(pos, origin=self.m.pos, direction=self.m.direction)
oldCyl = getCylindrical(self.pos, origin=self.m.pos, direction=self.m.direction)
dTh=abs(oldCyl[1]-cyl[1])
dr=abs(oldCyl[0]-cyl[0])
traveltime=max(dTh/self.m.velocities['crane angular'], dr/self.m.velocities['crane radial'])
self.pos=pos
return traveltime+self.m.times['crane const']
def getNextTree(self, road=None):
"""returns the tree that is closest to the machine, i.e lowest y-value in road cart.coord.sys.
also does analysis if a tree has the desired proportions to be chopped. """
if not road:
if not self.road: raise Exception('getNextTree can only be called when a road is assigned')
road=self.road
if len(road.trees)==0: return False
closest=100000
t=None
for tree in road.trees:
d2=getDistanceSq(self.m.pos, tree.pos)
if not tree.harvested and d2<closest:
closest=d2
t=tree
if not t: print road.pos, "did not find any trees"
return t
def dumpTrees(self, direction=None):
if not self.m.hasBundler:
"""releases the trees at the current position. (And dumps the trees in piles)"""
if direction is None: direction=self.road.direction
cart=self.m.getCartesian
t=self.getNextTree(self.road)#
c=[]
if len(self.trees)==0: return []
if not t or self.currentPile==None:
if self.road==self.m.roads['main']:
self.currentPile=Pile(pos=self.pos,terrain=self.m.G.terrain)
else:
self.currentPile=Pile(pos=self.pos,terrain=self.m.G.terrain)
for index, tree in enumerate(copy.copy(self.trees)):
tree.isSpherical=False
tree.nodes=[[-0.1,1],[-0.1,0],[0.1,0],[0.1,-1]]#just some nodes see next line
tree.pos=[5000,5000]#just moves the trees such that they are not plotted
self.currentPile.trees.append(tree)#adds the tree to the current pile
self.trees.remove(tree)
if len(self.trees)!=0: raise Exception('dumptrees does not remove the trees..')
self.treeWeight=0
self.gripArea=0
self.currentPile.craneCycles+=1#This should give cranecycles involved in this pile
self.currentPile.updatePile(direction)#sets pile parameters in a nice way
c.extend(self.twigCrack())
if not t or getDistance(t.pos , self.m.pos)>self.m.craneMaxL: #check if more trees in this corridor or within reach in mainroad
self.m.G.terrain.piles.append(self.currentPile)#adds the pile to the list of piles in terrain
print '*Saved a pile with',len(self.currentPile.trees),'trees at pos:', self.currentPile.pos
self.currentPile=None
self.cmnd(c, time=self.timeDropTrees, auto=self.automatic['dumpTrees'])
return c
else:
"""releases the trees at the current position. (And dumps the trees in piles)"""
if direction is None: direction=self.road.direction
cart=self.m.getCartesian
t=self.getNextTree(self.road)#
b=self.m.bundler
c=[]
if len(self.trees)==0: return []
if b.currentBundle==None:
b.currentBundle=Bundle(pos=b.pos)
i=0
for index, tree in enumerate(copy.copy(self.trees)):
tree.isSpherical=False
tree.nodes=[[-0.1,1],[-0.1,0],[0.1,0],[0.1,-1]]
tree.pos=[5000,5000]
b.currentBundle.trees.append(tree)#adds the tree to the current bundle in bundler
i+=1
self.trees.remove(tree)
print 'added',i,' trees to the bundler', self.sim.now()
if len(self.trees)!=0: raise Exception('dumptrees does not remove the trees..')
self.treeWeight=0
self.gripArea=0
b.currentBundle.craneCycles+=1
b.currentBundle.updatePile(direction)#sets pile parameters in a nice way
c.extend(self.twigCrack()) #Yes this one comes after the trees have been dumped to the bundler. It's a code thing and doesn't matter
self.cmnd(c, time=self.timeDropTrees, auto=self.automatic['dumpTrees'])
self.cmnd(c,time=self.setPos(self.getStartPos()), auto=self.automatic['moveArmOut'])#return to the start position
return c
def getStartPos(self):
if self.side=='left':
return self.m.getCartesian([self.m.craneMinL, 2*pi/3.])
else:
return self.m.getCartesian([self.m.craneMinL, pi/3.])
def roadAssigned(self):
"""may later be used to wait for an assignment"""
if self.road: return True
else: return False
def reset(self):
self.road=None #indicates that head is passive
self.treeWeight=0
self.trees=[]
def chopNext(self):
c=[]
CC=self.chopConst#constant for felling,zero for BC head
t=self.getNextTree(self.road)
if not t:
col=self.road.color
self.road.color='r'
self.road.color=col
return c
elif t.weight+self.treeWeight>self.maxTreeWeight or t.dbh**2+self.gripArea>self.maxGripArea: #go back and dump trees if the head cannot hold any more trees
print "Goes back to DUMP trees", self.treeWeight, self.gripArea
if not self.m.hasBundler:
if self.road == self.m.roads['main']: time=self.setPos(self.m.getTreeDumpSpot(self.side))
else: time=self.setPos(self.road.startPoint)
else:
time=self.setPos(self.m.bundler.pos)
self.cmnd(c, time, auto=self.automatic['moveArmIn'])
c.extend(self.dumpTrees()) #dumps them down.
elif not getDistance(t.pos , self.m.pos)>self.m.craneMaxL:
time=self.setPos(self.harvestPos(t))
self.cmnd(c, time, auto=self.automatic['moveArmOut'])
#determine choptime
cross_sec_area=t.dbh**2*pi
choptime=CC+cross_sec_area/self.velFell
self.cmnd(c, choptime, auto=self.automatic['chop'])
t.pos=[5000, 5000] #far away, for visual reasons.
t.h-=0.5 #harvester is at least half a meter above ground
t.harvested=True
self.road.trees.remove(t)
self.road.harvestTrees-=1
self.trees.append(t)
self.treeWeight+=t.weight
self.gripArea+=t.dbh**2
self.m.trees.append(t)
self.m.treeMoni.observe(len(self.m.trees), self.sim.now())
return c
def chopNextWithBundler1(self):
choplist=[]
print self.side, "Goes back to DUMP trees", self.treeWeight, self.gripArea
if not self.m.hasBundler:
if self.road == self.m.roads['main']: time=self.setPos(self.m.getTreeDumpSpot(self.side))
else: time=self.setPos(self.road.startPoint)
else:
time=self.setPos(self.m.bundler.pos)
self.cmnd(choplist, time, auto=self.automatic['moveArmIn'])
return choplist
def chopNextWithBundler2(self,t,CC):
choplist=[]
time=self.setPos(self.harvestPos(t))
self.cmnd(choplist, time, auto=self.automatic['moveArmOut'])
#determine choptime
cross_sec_area=t.dbh**2*pi
choptime=CC+cross_sec_area/self.velFell
self.cmnd(choplist, choptime, auto=self.automatic['chop'])
t.pos=[5000, 5000] #far away, for visual reasons.
t.h-=0.5 #harvester is at least half a meter above ground
t.harvested=True
self.road.trees.remove(t)
self.road.harvestTrees-=1
self.trees.append(t)
self.treeWeight+=t.weight
self.gripArea+=t.dbh**2
self.m.trees.append(t)
self.m.treeMoni.observe(len(self.m.trees), self.sim.now())
return choplist
def twigCrack(self):
"""
Changes the volume of the pile and its length according
to models by Ola and Dan (see doc/models.txt). Also the properties of the pile is
updated.
"""
if self.twigCracker and self.currentPile:
self.currentPile.twigCrackPile(self.road.direction)
time = self.timeTwigCrack + self.timeCutAtHead
print 'Trees twigcracked'
return self.cmnd([], time, auto=self.automatic['twigCrack'])
elif self.twigCracker and self.m.bundler.currentBundle:
self.m.bundler.currentBundle.twigCrackBundle(self.road.direction)
time=self.timeTwigCrack+self.timeCutAtHead
print 'Trees twigcracked: has bundler -> biomass loss only'
return self.cmnd([], time, auto=self.automatic['twigCrack'])
else:
"""
Even if the trees are not cut they will be so in the forwarder step and we can hence use the
cut lengths and the added diamter in this model, as long as times for cutting etc are taken
into account in the forwarder step!
"""
if self.currentPile:
self.currentPile.length=5
self.currentPile.setNodes(self.road.direction)
#print 'Trees not twig cracked'
return []
def getCraneMountPoint(self):
"""
returns the point where the crane meets the head
"""
cart=self.m.getCartesian
cyl=self.m.getCylindrical(self.pos)
if not self.road or self.direction==pi/2.: #head is at "base" or with default direction
return(cart([cyl[0]-self.length/2., cyl[1]]))
return cart([0, -self.length/2], origin=self.pos, direction=self.direction, fromLocalCart=True)
def checkBundler(self):
c=[]
if self.m.hasBundler:
c.extend(self.releaseDriver())
c.append((waituntil, self, self.m.bundlerDone))
if not self.m.bundler.currentBundle is None:
xSecHead = sum([self.m.bundler.currentBundle.getXSection(tree=t) for t in self.trees])#just a check of xsec in head
if xSecHead + self.m.bundler.currentBundle.xSection > self.m.bundler.maxXSection:
print "Bundler would be too filled and is forced to run.", self.side,"head still has trees:",len(self.trees)
c.extend(self.releaseDriver())
self.m.bundler.forceBundler=True #Forces the bundler to run if the current pile won't fit in the bundler
c.append((waituntil, self, self.m.bundlerDone))
if len(c)>4: raise Exception('Something is wrong in checkbundler extend of release driver...')
return c
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.m.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
