Feature/two way range check

docs/source/release_notes.rst

@@ -51,6 +51,8 @@ Development - |version|
   overwritten.
 * Add the ability to define metaagents that concatenate satellite action and observation
   spaces in the environment.
+* Add the ability to have the chief also terminate if a deputy violates a maximum range
+  constraint in :class:`~bsk_rl.sim.dyn.MaxRangeDynModel`.
 
 
 Version 1.1.0

src/bsk_rl/sim/dyn/relative_motion.py

@@ -1,5 +1,7 @@
 """Dynamics models concerning the relative motion of spacecraft."""
 
+import types
+
 import numpy as np
 from Basilisk.simulation import spacecraftLocation
 from Basilisk.utilities import macros
@@ -152,13 +154,21 @@ def range_valid(self) -> bool:
         """Check if conjunction has not occurred."""
         return len(self.out_of_ranges) == 0
 
-    @default_args(max_range_radius=5000, chief_name=None)
-    def setup_range(self, max_range_radius: float, chief_name: str, **kwargs) -> None:
+    @default_args(max_range_radius=5000, chief_name=None, enforce_range_on_chief=False)
+    def setup_range(
+        self,
+        max_range_radius: float,
+        chief_name: str,
+        enforce_range_on_chief: bool,
+        **kwargs,
+    ) -> None:
         """Set up maximum distance checking relative to a chief satellite.
 
         Args:
             max_range_radius: [m] Maximum allowed range from the chief satellite.
             chief_name: Chief satellite to check range against.
+            enforce_range_on_chief: If True, the chief will also die if the range is
+                violated by this satellite.
             kwargs: Passed to other setup functions.
         """
         self.max_range_radius = max_range_radius
@@ -173,6 +183,20 @@ def setup_range(self, max_range_radius: float, chief_name: str, **kwargs) -> Non
 
         self.chief = self.simulator.get_satellite(self.chief_name)
 
+        # Add range check to chief if required
+        if enforce_range_on_chief:
+
+            @aliveness_checker
+            def range_valid(self, deputy=self):
+                return deputy.range_valid()
+
+            setattr(
+                self.chief.dynamics,
+                valid_func_name(f"range_valid_{self.satellite.name}"),
+                types.MethodType(range_valid, self.chief.dynamics),
+            )
+
+        # Add event to check for max range violation
         def condition(sim):
             distance = np.linalg.norm(
                 np.array(self.satellite.dynamics.r_BN_N)

src/bsk_rl/sim/simulator.py

@@ -66,8 +66,7 @@ def finish_init(self) -> None:
         """Finish simulator initialization."""
         self.set_vizard_epoch()
         self.InitializeSimulation()
-        self.ConfigureStopTime(0)
-        self.ExecuteSimulation()
+        self.TotalSim.StepUntilStop(0, -1)
 
     @property
     def sim_time_ns(self) -> int:

tests/integration/sim/test_int_dynamics.py

@@ -174,7 +174,8 @@ class TestMaxRangeDynModel:
             ([0, 1e8, 0], [1e8, 0, 0], True),
         ],
     )
-    def test_max_range(self, rN1, rN2, max_range_violation):
+    @pytest.mark.parametrize("fail_chief", [True, False])
+    def test_max_range(self, rN1, rN2, max_range_violation, fail_chief):
         class ChiefSat(sats.Satellite):
             fsw_type = fsw.BasicFSWModel
             dyn_type = dyn.BasicDynamicsModel
@@ -206,6 +207,7 @@ class DeputySat(sats.Satellite):
                         oe=None,
                         chief_name="Chief",
                         max_range_radius=100,
+                        enforce_range_on_chief=fail_chief,
                     ),
                 ),
             ],
@@ -217,12 +219,19 @@ class DeputySat(sats.Satellite):
 
         env.reset()
 
-        env.step(dict(Chief=0, Deputy=0))
+        _, _, terminated, _, _ = env.step(dict(Chief=0, Deputy=0))
 
         sat1 = env.unwrapped.satellites[0]
         sat2 = env.unwrapped.satellites[1]
 
         if max_range_violation:
             assert sat2.dynamics.out_of_ranges == [sat1]
+            assert terminated["Deputy"]
+            if fail_chief:
+                assert terminated["Chief"]
+            else:
+                assert not terminated["Chief"]
         else:
             assert sat2.dynamics.out_of_ranges == []
+            assert not terminated["Chief"]
+            assert not terminated["Deputy"]