Issue #18: Refactor retasking required flag

bsk_rl/envs/general_satellite_tasking/gym_env.py

@@ -186,6 +186,11 @@ def _get_info(self) -> dict[str, Any]:
             satellite.id: deepcopy(satellite.info) for satellite in self.satellites
         }
         info["d_ts"] = self.latest_step_duration
+        info["requires_retasking"] = [
+            satellite.id
+            for satellite in self.satellites
+            if satellite.requires_retasking
+        ]
         return info
 
     @property
@@ -229,7 +234,15 @@ def step(
             raise ValueError("There must be the same number of actions and satellites")
         for satellite, action in zip(self.satellites, actions):
             satellite.info = []  # reset satellite info log
-            satellite.set_action(action)
+            if action is not None:
+                satellite.requires_retasking = False
+                satellite.set_action(action)
+            else:
+                if satellite.requires_retasking:
+                    print(
+                        f"Satellite {satellite.id} requires retasking "
+                        "but received no task."
+                    )
 
         previous_time = self.simulator.sim_time  # should these be recorded in simulator
         self.simulator.run()

bsk_rl/envs/general_satellite_tasking/scenario/satellites.py

@@ -87,6 +87,7 @@ def __init__(
         self.fsw: "FSWModel"
         self.dynamics: "DynamicsModel"
         self.data_store: DataStore
+        self.requires_retasking: bool
         self.variable_interval = variable_interval
         self._timed_terminal_event_name = None
 
@@ -104,6 +105,7 @@ def _generate_sat_args(self) -> None:
     def reset_pre_sim(self) -> None:
         """Called in environment reset, before simulator initialization"""
         self.info = []
+        self.requires_retasking = True
         self._generate_sat_args()
         assert self.data_store.is_fresh
         self.data_store.is_fresh = False
@@ -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 + ".requires_retasking = True",
             ]
             + 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 + ".requires_retasking = True",
                 ],
                 terminal=self.variable_interval,
             )

tests/unittest/envs/general_satellite_tasking/test_gym_env.py

@@ -64,6 +64,7 @@ def test_get_info(self):
         env.latest_step_duration = 10.0
         expected = {sat.id: {"sat_index": i} for i, sat in enumerate(mock_sats)}
         expected["d_ts"] = 10.0
+        expected["requires_retasking"] = [sat.id for sat in mock_sats]
         assert env._get_info() == expected
 
     def test_action_space(self):
@@ -170,6 +171,23 @@ def test_step_stopped(self, sat_death, timeout, terminate_on_time_limit):
         assert terminated == (sat_death or (timeout and terminate_on_time_limit))
         assert truncated == timeout
 
+    @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 mock_sat.requires_retasking
+        mock_sat.requires_retasking = True
+        env.step(None)
+        assert mock_sat.requires_retasking
+        assert "requires retasking but received no task" in capfd.readouterr().out
+
     def test_render(self):
         pass