[#144] Integrated RSO environment test

Author: Mark2000

src/bsk_rl/act/continuous_actions.py

@@ -137,8 +137,7 @@ def set_action(self, action: np.ndarray) -> None:
         )
         if dt != dt_desired:
             self.satellite.logger.warning(
-                f"Requested drift duration {dt_desired} out of range. "
-                f"Clamping to {dt}."
+                f"Requested drift duration {dt_desired} out of range. Clamping to {dt}."
             )
 
         self.satellite.logger.info(
@@ -153,7 +152,7 @@ def set_action(self, action: np.ndarray) -> None:
         # TODO: should wait until action_impulsive_thrust is done if not immediate
         if self.fsw_action is not None:
             getattr(self.satellite.fsw, self.fsw_action)()
-            self.satellite.log_info(f"FSW action {self.fsw_action} activated.")
+            self.satellite.logger.info(f"FSW action {self.fsw_action} activated.")
 
 
 class ImpulsiveThrustHill(ImpulsiveThrust):

tests/integration/test_int_rso_env.py

@@ -0,0 +1,124 @@
+import types
+from functools import partial
+
+import numpy as np
+import pytest
+
+from bsk_rl import ConstellationTasking, act, data, obs, sats, scene
+from bsk_rl.obs.relative_observations import rso_imaged_regions
+from bsk_rl.sim import dyn, fsw
+from bsk_rl.utils.orbital import fibonacci_sphere, random_circular_orbit
+
+
+class RSOSat(sats.Satellite):
+    observation_spec = [
+        obs.SatProperties(dict(prop="one", fn=lambda _: 1.0)),
+    ]
+    action_spec = [act.Drift(duration=1e9)]
+    dyn_type = dyn.RSODynModel
+    fsw_type = fsw.BasicFSWModel
+
+
+class InspectorSat(sats.Satellite):
+    observation_spec = [
+        obs.RelativeProperties(
+            dict(
+                prop="rso_imaged_regions",
+                fn=partial(
+                    rso_imaged_regions,
+                    region_centers=fibonacci_sphere(15),
+                    frame="chief_hill",
+                ),
+            ),
+            chief_name="RSO",
+        ),
+        obs.Eclipse(),
+    ]
+    action_spec = [
+        act.ImpulsiveThrustHill(
+            chief_name="RSO",
+            max_dv=1.0,
+            max_drift_duration=5700.0 * 2,
+            fsw_action="action_inspect_rso",
+        )
+    ]
+    dyn_type = types.new_class("Dyn", (dyn.MaxRangeDynModel, dyn.RSOInspectorDynModel))
+    fsw_type = types.new_class(
+        "FSW",
+        (
+            fsw.SteeringFSWModel,
+            fsw.MagicOrbitalManeuverFSWModel,
+            fsw.RSOInspectorFSWModel,
+        ),
+    )
+
+
+def inspector_sat_args(**kwargs):
+    return dict(
+        imageAttErrorRequirement=1.0,
+        imageRateErrorRequirement=None,
+        instrumentBaudRate=1,
+        dataStorageCapacity=1e6,
+        batteryStorageCapacity=1e9,
+        storedCharge_Init=1e9,
+        dv_available_init=10.0,
+        chief_name="RSO",
+        u_max=1.0,
+        **kwargs,
+    )
+
+
+@pytest.mark.repeat(10)
+def test_inspection():
+    env = ConstellationTasking(
+        satellites=[
+            RSOSat(
+                "RSO",
+                sat_args=dict(oe=random_circular_orbit(i=0, alt=500, Omega=0, f=0)),
+            ),
+            InspectorSat(
+                "Inspector",
+                sat_args=inspector_sat_args(
+                    oe=random_circular_orbit(i=0, alt=500.01, Omega=0, f=0)
+                ),
+                obs_type=dict,
+            ),
+        ],
+        scenario=scene.SphericalRSO(
+            n_points=100,
+            radius=1.0,
+            theta_max=np.radians(90),  # Generous observation angle
+            range_max=250,
+            theta_solar_max=np.radians(90),  # Generous illumination angle
+        ),
+        rewarder=(data.RSOInspectionReward()),
+        time_limit=60000,
+        sim_rate=1.0,
+        # log_level="INFO",
+    )
+
+    observation, _ = env.reset()
+    in_eclipse_start = (
+        observation["Inspector"]["eclipse"][0] > observation["Inspector"]["eclipse"][1]
+    )
+
+    duration = 100
+    observation, reward, _, _, _ = env.step(
+        dict(RSO=0, Inspector=[0.0, 0.0, 0.0, duration])
+    )
+    in_eclipse_end = (
+        observation["Inspector"]["eclipse"][0] > observation["Inspector"]["eclipse"][1]
+    )
+
+    # Check that nothing is imaged in eclipse
+    if in_eclipse_start and in_eclipse_end:
+        assert sum(observation["Inspector"]["rel_props"]["rso_imaged_regions"]) == 0
+    else:
+        # Orbital setup means that if not in eclipse, inspector is on the illuminated side
+        assert sum(observation["Inspector"]["rel_props"]["rso_imaged_regions"]) > 0
+
+    # Check that reward was yielded correctly
+    if sum(observation["Inspector"]["rel_props"]["rso_imaged_regions"] > 0):
+        assert reward["Inspector"] > 0
+    else:
+        assert "Inspector" not in reward or reward["Inspector"] == 0