Bugfix/18 fix retasking format

bsk_rl/envs/general_satellite_tasking/gym_env.py

@@ -5,7 +5,6 @@
 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,
@@ -187,6 +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
@@ -221,25 +225,24 @@ def step(
         """Propagate the simulation, update information, and get rewards
 
         Args:
-            Joint action for satellites. Can be none to maintain current task.
+            Joint action for satellites
 
         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
             if action is not None:
+                satellite.requires_retasking = False
                 satellite.set_action(action)
             else:
-                if REQUIRES_RETASKING in old_info:
+                if satellite.requires_retasking:
                     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()

bsk_rl/envs/general_satellite_tasking/scenario/satellites.py

@@ -35,8 +35,6 @@
 SatObs = Any
 SatAct = Any
 
-REQUIRES_RETASKING = "REQUIRES_RETASKING"
-
 
 class Satellite(ABC):
     dyn_type: type["DynamicsModel"]  # Type of dynamics model used by this satellite
@@ -89,6 +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
 
@@ -106,6 +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
@@ -155,7 +155,7 @@ def set_fsw(self, fsw_rate: float) -> "FSWModel":
 
     def reset_post_sim(self) -> None:
         """Called in environment reset, after simulator initialization"""
-        self.info.append(REQUIRES_RETASKING)
+        pass
 
     @property
     def observation_space(self) -> spaces.Box:
@@ -237,7 +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}')",
+                self._satellite_command + ".requires_retasking = True",
             ]
             + extra_actions,
             terminal=self.variable_interval,
@@ -750,7 +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}')",
+                    self._satellite_command + ".requires_retasking = True",
                 ],
                 terminal=self.variable_interval,
             )

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

@@ -100,14 +100,12 @@ 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

tests/unittest/envs/general_satellite_tasking/test_gym_env.py

@@ -7,10 +7,7 @@
     GeneralSatelliteTasking,
     SingleSatelliteTasking,
 )
-from bsk_rl.envs.general_satellite_tasking.scenario.satellites import (
-    REQUIRES_RETASKING,
-    Satellite,
-)
+from bsk_rl.envs.general_satellite_tasking.scenario.satellites import Satellite
 
 
 class TestGeneralSatelliteTasking:
@@ -67,6 +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):
@@ -147,23 +145,6 @@ 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])
@@ -190,6 +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