Feature/viz location upgrade

.gitignore

@@ -74,9 +74,6 @@ target/
 # Jupyter Notebook
 .ipynb_checkpoints
 
-# PDFs and Images
-*.jpg
-
 # pyenv
 .python-version
 

docs/source/index.rst

@@ -26,7 +26,31 @@ for working with these environments.
 A whitepaper on the design philosophy behind BSK-RL and an example use case can be 
 :download:`downloaded here <_static/stephenson_bskrl_2024.pdf>`.
 
-..  youtube:: 8qR-AGrCFQw
+Capabilities
+------------
+
+Earth Observation
+^^^^^^^^^^^^^^^^^
+
+..  youtube:: lCN0TiNJ1i4
+
+..  youtube:: 4orleGCi7n0
+
+|
+
+Spacecraft Inspection
+^^^^^^^^^^^^^^^^^^^^^
+
+..  youtube:: eQEoTOYADKc
+
+|
+
+Space Domain Awareness
+^^^^^^^^^^^^^^^^^^^^^^
+
+..  youtube:: Aas0z43uS9M
+
+|
 
 Quickstart
 ----------

docs/source/release_notes.rst

@@ -11,6 +11,12 @@ Development - |version|
 * Add ``bsk`` as a dependency in ``pyproject.toml``.
 * Update the CI/CD workflows to build BSK-RL using the new ``bsk`` dependency.
 * Optimize performance of AEOS environments, especially for high request counts.
+* Allow for the Vizard output path to be specified as a .bin file instead of just a directory.
+* Use Vizard 2.3.1 locations for visualization; results in significantly smaller output
+  files.
+* Allow for a simpler Earth model to be used in Vizard by setting ``use_simple_earth=True``
+  in the Vizard settings dictionary. This is helpful for when visualizing may Earth-fixed
+  targets.
 
 
 Version 1.2.0

examples/fault_environment.ipynb

@@ -69,9 +69,9 @@
     "        satellite.simulator.createNewEvent(\n",
     "            f\"add{self.name}Fault\",\n",
     "            satellite.dynamics.dyn_rate,\n",
-    "            True,\n",
-    "            [f\"self.TotalSim.CurrentNanos>={self.time}\"],\n",
-    "            [\n",
+    "            eventActive=True,\n",
+    "            conditionTime=self.time,\n",
+    "            actionList=[\n",
     "                f\"self.faultList[{self.uniqueFaultIdx}].execute({satellite._satellite_command})\",\n",
     "                f\"self.faultList[{self.uniqueFaultIdx}].print({satellite._satellite_command})\",\n",
     "            ],\n",
@@ -114,9 +114,9 @@
     "\n",
     "    def print(self, satellite):\n",
     "        if self.wheelIdx == \"all\":\n",
-    "            self.message = f\"RW Power Fault: all RW's power limit reduced to {self.reducedLimit} Watts at {self.time*macros.NANO2MIN} minutes!\"\n",
+    "            self.message = f\"RW Power Fault: all RW's power limit reduced to {self.reducedLimit} Watts at {self.time * macros.NANO2MIN} minutes!\"\n",
     "        else:\n",
-    "            self.message = f\"RW Power Fault: RW{self.wheelIdx}'s power limit reduced to {self.reducedLimit} Watts at {self.time*macros.NANO2MIN} minutes!\"\n",
+    "            self.message = f\"RW Power Fault: RW{self.wheelIdx}'s power limit reduced to {self.reducedLimit} Watts at {self.time * macros.NANO2MIN} minutes!\"\n",
     "        super().print_message(self.message, satellite)"
    ]
   },
@@ -135,7 +135,6 @@
    "outputs": [],
    "source": [
     "class CustomDynModel(dyn.FullFeaturedDynModel):\n",
-    "\n",
     "    @property\n",
     "    def solar_angle_norm(self) -> float:\n",
     "        sun_vec_N = (\n",
@@ -283,8 +282,8 @@
     "        for i in range(4):\n",
     "            rwConfigElementMsg = messaging.RWConfigElementMsgPayload()\n",
     "            rwConfigElementMsg.gsHat_B = self.dynamics.Gs[:, i]\n",
-    "            rwConfigElementMsg.Js = self.dynamics.rwFactory.rwList[f\"RW{i+1}\"].Js\n",
-    "            rwConfigElementMsg.uMax = self.dynamics.rwFactory.rwList[f\"RW{i+1}\"].u_max\n",
+    "            rwConfigElementMsg.Js = self.dynamics.rwFactory.rwList[f\"RW{i + 1}\"].Js\n",
+    "            rwConfigElementMsg.uMax = self.dynamics.rwFactory.rwList[f\"RW{i + 1}\"].u_max\n",
     "            rwConfigElementList.append(rwConfigElementMsg)\n",
     "        rwConstellationConfig.reactionWheels = rwConfigElementList\n",
     "        self.rwConstellationConfigInMsg = messaging.RWConstellationMsg().write(\n",
@@ -544,7 +543,6 @@
    "source": [
     "total_reward = 0.0\n",
     "while True:\n",
-    "\n",
     "    observation, reward, terminated, truncated, info = env.step(\n",
     "        env.action_space.sample()\n",
     "    )\n",
@@ -558,6 +556,11 @@
   }
  ],
  "metadata": {
+  "kernelspec": {
+   "display_name": ".venv",
+   "language": "python",
+   "name": "python3"
+  },
   "language_info": {
    "codemirror_mode": {
     "name": "ipython",
@@ -568,7 +571,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.11.12"
+   "version": "3.12.10"
   }
  },
  "nbformat": 4,

src/bsk_rl/data/rso_inspection.py

@@ -141,7 +141,7 @@ def get_log_state(self) -> Optional[tuple[list[list[bool]], list[list[bool]]]]:
         return inspected_logs, illuminated_logs
 
     def compare_log_states(self, _, logs) -> RSOInspectionData:
-        """Identify point status and update their colors in Vizard."""
+        """Identify point status."""
         if self.role == RSO:
             return RSOInspectionData()
 
@@ -161,61 +161,13 @@ def compare_log_states(self, _, logs) -> RSOInspectionData:
             if any(log):
                 point_illuminate_status[rso_point] = True
 
-        self.update_point_colors(
-            self.data.point_illuminate_status.keys(),
-            color="gray",
-        )
-        self.update_point_colors(
-            [
-                rso_point
-                for rso_point in point_illuminate_status
-                if point_illuminate_status[rso_point]
-            ],
-            color="yellow",
-        )
-        self.update_point_colors(
-            [
-                rso_point
-                for rso_point in point_inspect_status
-                if point_inspect_status[rso_point]
-            ],
-            color="chartreuse",
-            permanent=True,
-        )
-
         if len(point_inspect_status) > 0:
             self.satellite.logger.info(
                 f"Inspected {len(point_inspect_status)} points this step"
             )
 
         return RSOInspectionData(point_inspect_status, point_illuminate_status)
 
-    @vizard.visualize
-    def update_point_colors(
-        self,
-        rso_points,
-        color,
-        alpha=0.5,
-        permanent=False,
-        vizInstance=None,
-        vizSupport=None,
-    ):
-        """Update target colors in Vizard."""
-        if not hasattr(self, "permanent_point_colors"):
-            self.permanent_point_colors = []
-
-        for location in vizInstance.locations:
-            if (
-                location.stationName not in self.permanent_point_colors
-                and location.stationName in [str(point) for point in rso_points]
-            ):
-                if not all(
-                    np.equal(location.color, vizSupport.toRGBA255(color, alpha=alpha))
-                ):
-                    location.color = vizSupport.toRGBA255(color, alpha=alpha)
-                    if permanent:
-                        self.permanent_point_colors.append(location.stationName)
-
 
 class RSOInspectionReward(GlobalReward):
     data_store_type = RSOInspectionDataStore
@@ -286,6 +238,43 @@ def initial_data(self, satellite: Satellite) -> RSOInspectionData:
             {point: False for point in self.scenario.rso_points},
         )
 
+    @vizard.visualize
+    def determine_point_colors(self, total_data, new_data_dict):
+        """Determine target colors in Vizard."""
+        colors = ["grey"] * len(self.scenario.rso_points)
+        for i, point in enumerate(self.scenario.rso_points):
+            if any(
+                [
+                    data.point_illuminate_status.get(point, False)
+                    for data in new_data_dict.values()
+                ]
+            ):
+                colors[i] = "yellow"
+            if total_data.point_inspect_status.get(point, False):
+                colors[i] = "chartreuse"
+
+        return colors
+
+    @vizard.visualize
+    def update_point_colors(
+        self,
+        rso_points,
+        colors,
+        alpha=0.5,
+        vizInstance=None,
+        vizSupport=None,
+    ):
+        """Update target colors in Vizard."""
+        if not hasattr(self, "prev_colors"):
+            self.prev_colors = [None] * len(colors)
+
+        for point, color, prev_color in zip(rso_points, colors, self.prev_colors):
+            color_vec = vizSupport.toRGBA255(color, alpha=alpha)
+            if prev_color != color:
+                vizSupport.changeLocation(vizInstance, str(point), color=color_vec)
+
+        self.prev_colors = colors
+
     def calculate_reward(
         self, new_data_dict: dict[str, RSOInspectionData]
     ) -> dict[str, float]:
@@ -307,6 +296,10 @@ def calculate_reward(
             )
             total_data += data
 
+        # Plot inspection status in Vizard
+        colors = self.determine_point_colors(total_data, new_data_dict)
+        self.update_point_colors(self.scenario.rso_points, colors)
+
         # Check for completion bonus
         logger.info(
             f"Inspected/Illuminated/Total: {total_data.num_points_inspected}/{total_data.num_points_illuminated}/{total_points}"

src/bsk_rl/data/unique_image_data.py

@@ -109,9 +109,12 @@ def compare_log_states(
     @vizard.visualize
     def update_target_colors(self, targets, vizInstance=None, vizSupport=None):
         """Update target colors in Vizard."""
-        for location in vizInstance.locations:
-            if location.stationName in [target.name for target in targets]:
-                location.color = vizSupport.toRGBA255(self.satellite.vizard_color)
+        for target in targets:
+            vizSupport.changeLocation(
+                vizInstance,
+                target.name,
+                color=vizSupport.toRGBA255(self.satellite.vizard_color),
+            )
 
 
 class UniqueImageReward(GlobalReward):

src/bsk_rl/gym.py

@@ -123,17 +123,19 @@ def __init__(
                 modules will be imported.
             vizard_settings: Settings for Vizard visualization. Set in ``vizIstance.settings``.
                 Additionally, the key ``vizard_rate`` can be set to the rate at which Vizard updates.
-                Valid setting can be found `here <https://hanspeterschaub.info/basilisk/Vizard/vizardAdvanced/vizardSettings.html#id1>`_.
+                The key ``use_simple_earth`` can be set to use a lower detail Earth shader
+                that may help viewing ground locations. Other settings can be found
+                `in the Basilisk documentation <https://avslab.github.io/basilisk/Vizard/vizardAdvanced/vizardSettings.html#id1>`_.
             render_mode: Unused.
         """
         self.seed = None
         self._configure_logging(log_level, log_dir)
         if vizard_dir is not None:
             vizard.VIZARD_PATH = vizard_dir
-            if vizard_settings is not None:
-                logger.warning(
-                    "Vizard settings provided but Vizard is not enabled. Ignoring settings."
-                )
+        if vizard_settings is not None and vizard_dir is None:
+            logger.warning(
+                "Vizard settings provided but Vizard is not enabled. Ignoring settings."
+            )
         self.vizard_settings = vizard_settings if vizard_settings is not None else {}
 
         if isinstance(satellites, Satellite):

src/bsk_rl/sats/satellite.py

@@ -362,7 +362,7 @@ def side_effect(sim):
             self._timed_terminal_event_name,
             macros.sec2nano(self.simulator.sim_rate),
             True,
-            conditionFunction=lambda sim: sim.sim_time >= t_close,
+            conditionTime=macros.sec2nano(t_close),
             actionFunction=side_effect,
             terminal=self.variable_interval,
         )

src/bsk_rl/scene/targets.py

@@ -128,6 +128,7 @@ def visualize_target(self, target, vizSupport=None, vizInstance=None):
             fieldOfView=np.arctan(500 / 800),
             color=vizSupport.toRGBA255("white"),
             range=1000.0 * 1000,  # meters
+            markerScale=np.sqrt(target.priority),
         )
         if vizInstance.settings.showLocationCones == 0:
             vizInstance.settings.showLocationCones = -1