Issue #45: Tests for new features

tests/integration/envs/general_satellite_tasking/scenario/test_int_sat_actions.py

@@ -6,6 +6,7 @@
 from bsk_rl.envs.general_satellite_tasking.scenario import sat_actions as sa
 from bsk_rl.envs.general_satellite_tasking.scenario import sat_observations as so
 from bsk_rl.envs.general_satellite_tasking.scenario.environment_features import (
+    NadirTarget,
     StaticTargets,
 )
 from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, environment, fsw
@@ -148,3 +149,42 @@ def test_desat_action(self):
         assert np.linalg.norm(
             self.env.satellite.dynamics.wheel_speeds
         ) < np.linalg.norm(init_speeds)
+
+
+class TestNadirImagingActions:
+    class ImageSat(
+        sa.NadirImagingActions,
+        so.TimeState,
+    ):
+        dyn_type = dynamics.ContinuousImagingDynModel
+        fsw_type = fsw.ContinuousImagingFSWModel
+
+    env = gym.make(
+        "SingleSatelliteTasking-v1",
+        satellites=ImageSat(
+            "EO-1",
+            n_ahead_act=10,
+            sat_args=ImageSat.default_sat_args(
+                oe=random_orbit,
+                imageAttErrorRequirement=0.05,
+                imageRateErrorRequirement=0.05,
+                instrumentBaudRate=1.0,
+                dataStorageCapacity=3.0,
+                transmitterBaudRate=-1.0,
+            ),
+        ),
+        env_type=environment.BasicEnvironmentModel,
+        env_args=environment.BasicEnvironmentModel.default_env_args(),
+        env_features=NadirTarget(),
+        data_manager=data.NoDataManager(),
+        sim_rate=1.0,
+        time_limit=10000.0,
+        max_step_duration=1e9,
+        disable_env_checker=True,
+    )
+
+    def test_image(self):
+        self.env.reset()
+        storage_init = self.env.satellite.dynamics.storage_level
+        self.env.step(0)
+        assert self.env.satellite.dynamics.storage_level > storage_init

tests/unittest/envs/general_satellite_tasking/scenario/test_data.py

@@ -183,3 +183,81 @@ def test_calc_reward_custom_fn(self):
             }
         )
         assert reward == approx(1.5)
+
+
+class TestNadirScanningTimeData:
+    def test_add_null(self):
+        dat1 = data.NadirScanningTimeData()
+        dat2 = data.NadirScanningTimeData()
+        dat = dat1 + dat2
+        assert dat.scanning_time == 0.0
+
+    def test_add_to_null(self):
+        dat1 = data.NadirScanningTimeData(1.0)
+        dat2 = data.NadirScanningTimeData()
+        dat = dat1 + dat2
+        assert dat.scanning_time == 1.0
+
+    def test_add(self):
+        dat1 = data.NadirScanningTimeData(1.0)
+        dat2 = data.NadirScanningTimeData(3.0)
+        dat = dat1 + dat2
+        assert dat.scanning_time == 4.0
+
+
+class TestScanningNadirTimeStore:
+    def test_get_log_state(self):
+        sat = MagicMock()
+        sat.dynamics.storageUnit.storageUnitDataOutMsg.read().storageLevel = 6
+        sat.dynamics.instrument.nodeBaudRate = 3
+        ds = data.ScanningNadirTimeStore(MagicMock(), sat)
+        assert ds._get_log_state() == 2.0
+
+    @pytest.mark.parametrize(
+        "before,after,new_time",
+        [
+            (0, 1, 1),
+            (1, 2, 1),
+            (1, 1, 0),
+        ],
+    )
+    def test_compare_log_states(self, before, after, new_time):
+        sat = MagicMock()
+        ds = data.ScanningNadirTimeStore(MagicMock(), sat)
+        dat = ds._compare_log_states(before, after)
+        assert dat.scanning_time == new_time
+
+
+class TestNadirScanningManager:
+    def test_calc_reward(self):
+        dm = data.NadirScanningManager(MagicMock())
+        dm.data = data.NadirScanningTimeData([])
+        reward = dm._calc_reward(
+            {
+                "sat1": data.NadirScanningTimeData(1),
+                "sat2": data.NadirScanningTimeData(2),
+            }
+        )
+        assert reward == approx(3)
+
+    def test_calc_reward_existing(self):
+        dm = data.NadirScanningManager(MagicMock())
+        dm.data = data.NadirScanningTimeData(1)
+        reward = dm._calc_reward(
+            {
+                "sat1": data.NadirScanningTimeData(2),
+                "sat2": data.NadirScanningTimeData(3),
+            }
+        )
+        assert reward == approx(5)
+
+    def test_calc_reward_custom_fn(self):
+        dm = data.NadirScanningManager(MagicMock(), reward_fnc=lambda x: 1 / x)
+        dm.data = data.NadirScanningTimeData([])
+        reward = dm._calc_reward(
+            {
+                "sat1": data.NadirScanningTimeData(2),
+                "sat2": data.NadirScanningTimeData(2),
+            }
+        )
+        assert reward == approx(1.0)

tests/unittest/envs/general_satellite_tasking/scenario/test_environment_features.py

@@ -6,6 +6,7 @@
 
 from bsk_rl.envs.general_satellite_tasking.scenario.environment_features import (
     CityTargets,
+    NadirTarget,
     StaticTargets,
     Target,
     lla2ecef,
@@ -146,3 +147,10 @@ def test_regenerate_targets_offset(self, mock_read_csv, mock_lla2ecef):
         for target in ct.targets:
             assert np.linalg.norm(target.location - nominal) <= 0.03
             assert np.linalg.norm(target.location) == approx(1.0)
+
+
+class TestNadirTarget:
+    def test_init(self):
+        st = NadirTarget()
+        assert st.name == "nadir"
+        assert st.location == [0, 0, 0]

tests/unittest/envs/general_satellite_tasking/scenario/test_sat_actions.py

@@ -168,6 +168,28 @@ def test_set_action(self, sat_init, discrete_set, target):
             sat.image.assert_called_once()
 
 
+@patch.multiple(sa.NadirImagingActions, __abstractmethods__=set())
+@patch(
+    "bsk_rl.envs.general_satellite_tasking.scenario.satellites.ImagingSatellite.__init__"
+)
+class TestNadirImagingActions:
+    def test_init(self, sat_init):
+        sat = sa.NadirImagingActions()
+        sat_init.assert_called_once()
+        assert sat.action_map == {"0-0": "nadirImage"}
+
+    class MockTarget(MagicMock, Target):
+        @property
+        def id(self):
+            return "target_1"
+
+    @pytest.mark.parametrize("target", [1, "target_1", MockTarget()])
+    def test_image(self, sat_init, target):
+        sat = sa.NadirImagingActions()
+        sat.task_target_for_imaging = MagicMock()
+        assert "nadir_image" == sat.nadirImage(target)
+
+
 @patch.multiple(sa.ChargingAction, __abstractmethods__=set())
 @patch.multiple(sa.DriftAction, __abstractmethods__=set())
 @patch.multiple(sa.DesatAction, __abstractmethods__=set())

tests/unittest/envs/general_satellite_tasking/simulation/test_dynamics.py

@@ -7,6 +7,7 @@
 from bsk_rl.envs.general_satellite_tasking.simulation import environment
 from bsk_rl.envs.general_satellite_tasking.simulation.dynamics import (
     BasicDynamicsModel,
+    ContinuousImagingDynModel,
     DynamicsModel,
     GroundStationDynModel,
     ImagingDynModel,
@@ -256,3 +257,15 @@ def test_init_objects(self, *args):
         GroundStationDynModel(MagicMock(simulator=MagicMock()), 1.0)
         for setter in args:
             setter.assert_called_once()
+
+
+@patch(imdyn + "requires_env", MagicMock(return_value=[]))
+@patch(imdyn + "_init_dynamics_objects", MagicMock())
+class TestContinuousImagingDynModel:
+    def test_storage_properties(self):
+        dyn = ContinuousImagingDynModel(MagicMock(simulator=MagicMock()), 1.0)
+        dyn.storageUnit = MagicMock()
+        dyn.storageUnit.storageUnitDataOutMsg.read.return_value.storageLevel = 50.0
+        dyn.storageUnit.storageCapacity = 100.0
+        assert dyn.storage_level == 50.0
+        assert dyn.storage_level_fraction == 0.5