Issue #18: Maintain current action by selecting None action

AVSLab · Dec 1, 2023 · 37adacb · 37adacb
1 parent b8b34e1
commit 37adacb
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Showing 4 changed files with 40 additions and 4 deletions.
diff --git a/bsk_rl/envs/general_satellite_tasking/gym_env.py b/bsk_rl/envs/general_satellite_tasking/gym_env.py
@@ -5,6 +5,7 @@
 from gymnasium import Env, spaces
 
 from bsk_rl.envs.general_satellite_tasking.scenario.communication import NoCommunication
+from bsk_rl.envs.general_satellite_tasking.scenario.satellites import REQUIRES_RETASKING
 from bsk_rl.envs.general_satellite_tasking.simulation.simulator import Simulator
 from bsk_rl.envs.general_satellite_tasking.types import (
     CommunicationMethod,
@@ -220,16 +221,25 @@ def step(
         """Propagate the simulation, update information, and get rewards
 
         Args:
-            Joint action for satellites
+            Joint action for satellites. Can be none to maintain current task.
 
         Returns:
             observation, reward, terminated, truncated, info
         """
         if len(actions) != len(self.satellites):
             raise ValueError("There must be the same number of actions and satellites")
         for satellite, action in zip(self.satellites, actions):
+            old_info = satellite.info
             satellite.info = []  # reset satellite info log
-            satellite.set_action(action)
+            if action is not None:
+                satellite.set_action(action)
+            else:
+                if REQUIRES_RETASKING in old_info:
+                    print(
+                        f"Satellite {satellite.id} requires retasking "
+                        "but received no task."
+                    )
+                    satellite.info.append(REQUIRES_RETASKING)
 
         previous_time = self.simulator.sim_time  # should these be recorded in simulator
         self.simulator.run()

diff --git a/bsk_rl/envs/general_satellite_tasking/scenario/satellites.py b/bsk_rl/envs/general_satellite_tasking/scenario/satellites.py
@@ -35,6 +35,8 @@
 SatObs = Any
 SatAct = Any
 
+REQUIRES_RETASKING = "REQUIRES_RETASKING"
+
 
 class Satellite(ABC):
     dyn_type: type["DynamicsModel"]  # Type of dynamics model used by this satellite
@@ -153,7 +155,7 @@ def set_fsw(self, fsw_rate: float) -> "FSWModel":
 
     def reset_post_sim(self) -> None:
         """Called in environment reset, after simulator initialization"""
-        pass
+        self.info.append(REQUIRES_RETASKING)
 
     @property
     def observation_space(self) -> spaces.Box:
@@ -235,6 +237,7 @@ def _update_timed_terminal_event(
             [f"self.TotalSim.CurrentNanos * {macros.NANO2SEC} >= {t_close}"],
             [
                 self._info_command(f"timed termination at {t_close:.1f} " + info),
+                self._satellite_command + f".info.append('{REQUIRES_RETASKING}')",
             ]
             + extra_actions,
             terminal=self.variable_interval,
@@ -747,6 +750,7 @@ def _update_image_event(self, target: Target) -> None:
                 [
                     self._info_command(f"imaged {target}"),
                     self._satellite_command + ".imaged += 1",
+                    self._satellite_command + f".info.append('{REQUIRES_RETASKING}')",
                 ],
                 terminal=self.variable_interval,
             )

diff --git a/tests/unittest/envs/general_satellite_tasking/scenario/test_sat_observations.py b/tests/unittest/envs/general_satellite_tasking/scenario/test_sat_observations.py
@@ -100,12 +100,14 @@ def test_init(self, sat_init):
 
     def test_explicit_normalization(self, sat_init):
         sat = so.TimeState(normalization_time=10.0)
+        sat.info = MagicMock()
         sat.simulator = MagicMock(sim_time=1.0)
         sat.reset_post_sim()
         assert sat.normalized_time() == 0.1
 
     def test_implicit_normalization(self, sat_init):
         sat = so.TimeState(normalization_time=None)
+        sat.info = MagicMock()
         sat.simulator = MagicMock(sim_time=1.0, time_limit=10.0)
         sat.reset_post_sim()
         assert sat.normalized_time() == 0.1

diff --git a/tests/unittest/envs/general_satellite_tasking/test_gym_env.py b/tests/unittest/envs/general_satellite_tasking/test_gym_env.py
@@ -7,7 +7,10 @@
     GeneralSatelliteTasking,
     SingleSatelliteTasking,
 )
-from bsk_rl.envs.general_satellite_tasking.scenario.satellites import Satellite
+from bsk_rl.envs.general_satellite_tasking.scenario.satellites import (
+    REQUIRES_RETASKING,
+    Satellite,
+)
 
 
 class TestGeneralSatelliteTasking:
@@ -144,6 +147,23 @@ def test_step_bad_action(self):
         with pytest.raises(ValueError):
             env.step((0,))
 
+    @patch.multiple(Satellite, __abstractmethods__=set())
+    def test_step_retask_needed(self, capfd):
+        mock_sat = MagicMock()
+        env = SingleSatelliteTasking(
+            satellites=[mock_sat],
+            env_type=MagicMock(),
+            env_features=MagicMock(),
+            data_manager=MagicMock(reward=MagicMock(return_value=25.0)),
+        )
+        env.simulator = MagicMock(sim_time=101.0)
+        env.step(None)
+        assert REQUIRES_RETASKING not in mock_sat.info
+        mock_sat.info = [REQUIRES_RETASKING]
+        env.step(None)
+        assert REQUIRES_RETASKING in mock_sat.info
+        assert "requires retasking but received no task" in capfd.readouterr().out
+
     @pytest.mark.parametrize("sat_death", [True, False])
     @pytest.mark.parametrize("timeout", [True, False])
     @pytest.mark.parametrize("terminate_on_time_limit", [True, False])