Settable collision check rate

src/bsk_rl/sim/dyn/relative_motion.py

@@ -1,6 +1,7 @@
 """Dynamics models concerning the relative motion of spacecraft."""
 
 import types
+from typing import Optional
 
 import numpy as np
 from Basilisk.simulation import spacecraftLocation
@@ -84,15 +85,23 @@ def conjunction_valid(self) -> bool:
         """Check if conjunction has not occured."""
         return len(self.conjunctions) == 0
 
-    @default_args(conjunction_radius=10)
-    def setup_conjunctions(self, conjunction_radius: float, **kwargs) -> None:
+    @default_args(conjunction_radius=10, conjunction_check_rate=None)
+    def setup_conjunctions(
+        self,
+        conjunction_radius: float,
+        conjunction_check_rate: Optional[float],
+        **kwargs,
+    ) -> None:
         """Set up conjunction checking between satellites.
 
         Args:
             conjunction_radius: [m] Minimum distance for a conjunction.
+            conjunction_check_rate: [s] Rate at which to check for conjunctions. Defaults to sim rate.
             kwargs: Passed to other setup functions.
         """
         self.conjunction_radius = conjunction_radius
+        if conjunction_check_rate is None:
+            conjunction_check_rate = self.simulator.sim_rate
 
         for sat_dyn in self.simulator.dynamics_list.values():
             if sat_dyn != self and isinstance(sat_dyn, ConjunctionDynModel):
@@ -126,11 +135,12 @@ def side_effect(sim):
                     valid_func_name(
                         f"conjunction_{self.satellite.name}_{sat_dyn.satellite.name}"
                     ),
-                    macros.sec2nano(self.simulator.sim_rate),
+                    macros.sec2nano(conjunction_check_rate),
                     True,
                     conditionFunction=condition,
                     actionFunction=side_effect,
                     terminal=True,
+                    exactRateMatch=False,
                 )
 
 

src/bsk_rl/sim/simulator.py

@@ -183,7 +183,9 @@ def run(self) -> None:
             actionFunction=lambda sim: sim.logger.info("Max step duration reached"),
             terminal=True,
         )
-        self.ConfigureStopTime(mc.sec2nano(min(self.time_limit, 2**31)))
+        self.ConfigureStopTime(
+            mc.sec2nano(min(self.time_limit, 2**31)), StopCondition=">="
+        )
         self.ExecuteSimulation()
 
     def delete_event(self, event_name) -> None:

tests/unittest/sim/test_simulator.py

@@ -65,4 +65,6 @@ def test_run(self, simbase_init, start_time, step_duration, time_limit, stop_tim
         sim = self.mock_sim(max_step_duration=step_duration, time_limit=time_limit)
         sim.TotalSim.CurrentNanos = start_time * 1000000000
         sim.run()
-        sim.ConfigureStopTime.assert_called_with(time_limit * 1000000000)
+        sim.ConfigureStopTime.assert_called_with(
+            time_limit * 1000000000, StopCondition=">="
+        )