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‎examples/_default.rst

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@@ -9,6 +9,7 @@ Environments
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simple_environment
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satellite_configuration
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multiagent_envs
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communication_action
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cloud_environment
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‎examples/communication_action.ipynb

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{
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"cells": [
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# Broadcast Communication\n",
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"\n",
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"By default, communication occurs between all satellites that are specified by the communication\n",
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"method. This tutorial shows how to use two classes to configure a broadcast action that must be\n",
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"taken for communication to occur:\n",
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"\n",
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"* [Broadcast](../api_reference/act/index.html#bsk_rl.act.Broadcast), which gives satellites an action\n",
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" that enables communication from them at the end of the current step.\n",
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"* [BroadcastCommunication](../api_reference/comm/index.html#bsk_rl.comm.BroadcastCommunication), which\n",
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" can be combined with another communication method to limit communication from broadcasters to\n",
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" those satellites satisfying the requirements of the other communication method.\n",
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"\n",
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"## Configuring the Environment\n",
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"\n",
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"For this example, a multisatellite target imaging environment will be used. The goal is\n",
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"to maximize the value of unique images taken. This configuration is similar to the \n",
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"[Multi-Agent Environments](../examples/multiagent_envs.html) example."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [],
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"source": [
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"from bsk_rl import sats, act, obs, scene, data, comm\n",
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"from bsk_rl.sim import dyn, fsw\n",
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"\n",
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"\n",
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"class ImagingSatellite(sats.ImagingSatellite):\n",
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" observation_spec = [\n",
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" obs.OpportunityProperties(\n",
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" dict(prop=\"priority\"),\n",
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" dict(prop=\"opportunity_open\", norm=5700.0),\n",
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" n_ahead_observe=4,\n",
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" )\n",
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" ]\n",
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" action_spec = [act.Broadcast(duration=15.0), act.Image(n_ahead_image=4)]\n",
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" dyn_type = dyn.FullFeaturedDynModel\n",
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" fsw_type = fsw.SteeringImagerFSWModel"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Satellite properties are set to give the satellite near-unlimited power and storage resources. To randomize some parameters in a correlated manner across satellites, a ``sat_arg_randomizer`` is set and passed to the environment. In this case, the satellites are distributed in a trivial single-plane Walker-delta constellation."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"metadata": {},
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"outputs": [],
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"source": [
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"from bsk_rl.utils.orbital import walker_delta_args\n",
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"\n",
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"N_AGENTS = 2\n",
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"sat_args = dict(\n",
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" imageAttErrorRequirement=0.01,\n",
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" imageRateErrorRequirement=0.01,\n",
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" batteryStorageCapacity=1e9,\n",
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" storedCharge_Init=1e9,\n",
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" dataStorageCapacity=1e12,\n",
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" u_max=0.4,\n",
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" K1=0.25,\n",
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" K3=3.0,\n",
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" omega_max=0.087,\n",
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" servo_Ki=5.0,\n",
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" servo_P=150 / 5,\n",
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")\n",
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"sat_arg_randomizer = walker_delta_args(\n",
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" altitude=800.0, inc=60.0, n_planes=1, clustersize=N_AGENTS, clusterspacing=5.0\n",
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")"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Todo"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"metadata": {},
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"outputs": [],
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"source": [
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"class BroadcastLOS(comm.BroadcastCommunication, comm.LOSMultiCommunication):\n",
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" pass"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Todo"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"metadata": {},
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"outputs": [
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{
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"name": "stderr",
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"output_type": "stream",
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"text": [
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"\u001b[90;3m2024-11-12 11:26:28,059 \u001b[0m\u001b[mgym \u001b[0m\u001b[mINFO \u001b[0m\u001b[mResetting environment with seed=2342335920\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,062 \u001b[0m\u001b[mscene.targets \u001b[0m\u001b[mINFO \u001b[0m\u001b[mGenerating 1000 targets\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,220 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[mFinding opportunity windows from 0.00 to 600.00 seconds\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,246 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mFinding opportunity windows from 0.00 to 600.00 seconds\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,269 \u001b[0m\u001b[mgym \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mEnvironment reset\u001b[0m\n"
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]
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}
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],
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"source": [
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"from bsk_rl import ConstellationTasking\n",
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"\n",
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"env = ConstellationTasking(\n",
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" satellites=[ImagingSatellite(f\"EO-{i+1}\", sat_args) for i in range(N_AGENTS)],\n",
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" scenario=scene.UniformTargets(1000),\n",
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" rewarder=data.UniqueImageReward(),\n",
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" communicator=BroadcastLOS(),\n",
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" sat_arg_randomizer=sat_arg_randomizer,\n",
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" log_level=\"INFO\",\n",
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")\n",
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"_ = env.reset()"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Todo"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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"metadata": {},
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"outputs": [
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{
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"name": "stderr",
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"output_type": "stream",
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"text": [
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"\u001b[90;3m2024-11-12 11:26:28,276 \u001b[0m\u001b[mgym \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,277 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[mtarget index 2 tasked\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,278 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[mTarget(tgt-475) tasked for imaging\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,280 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[mTarget(tgt-475) window enabled: 207.1 to 339.7\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,280 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[msetting timed terminal event at 339.7\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,281 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mtarget index 1 tasked\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,281 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mTarget(tgt-81) tasked for imaging\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,282 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mTarget(tgt-81) window enabled: 143.6 to 213.3\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,282 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[msetting timed terminal event at 213.3\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,313 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<146.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mimaged Target(tgt-81)\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,315 \u001b[0m\u001b[mdata.base \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<146.00> \u001b[0m\u001b[mData reward: {'EO-2': 0.1336693557001335}\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,318 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<146.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mSatellite EO-2 requires retasking\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,320 \u001b[0m\u001b[mgym \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<146.00> \u001b[0m\u001b[mStep reward: {'EO-2': 0.1336693557001335}\u001b[0m\n"
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]
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}
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],
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"source": [
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"_ = env.step({env.agents[0]: 3, env.agents[1]: 2})"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Todo"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 6,
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"metadata": {},
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"outputs": [
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{
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"name": "stderr",
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"output_type": "stream",
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"text": [
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"\u001b[90;3m2024-11-12 11:26:28,324 \u001b[0m\u001b[mgym \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<146.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,325 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<146.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[msetting timed terminal event at 161.0\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,328 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<146.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[msetting timed terminal event at 161.0\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,331 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[mtimed termination at 161.0 for broadcast\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,332 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mtimed termination at 161.0 for broadcast\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,334 \u001b[0m\u001b[mdata.base \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[mData reward: {}\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,335 \u001b[0m\u001b[mcomm.communication \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[mCommunicating data through 2 satellite connections\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,336 \u001b[0m\u001b[mcomm.communication \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[mOptimizing data communication between all pairs of satellites\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,338 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[mSatellite EO-1 requires retasking\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,338 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mSatellite EO-2 requires retasking\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,340 \u001b[0m\u001b[mgym \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[mStep reward: {}\u001b[0m\n"
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]
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}
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],
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"source": [
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"_ = env.step({env.agents[0]: 0, env.agents[1]: 0}) # Agent 1 broadcasts"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Todo"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 7,
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"metadata": {},
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"outputs": [
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{
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"name": "stderr",
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"output_type": "stream",
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"text": [
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"\u001b[90;3m2024-11-12 11:26:28,344 \u001b[0m\u001b[mgym \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,344 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[mtarget index 2 tasked\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,345 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[mTarget(tgt-287) tasked for imaging\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,347 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[mTarget(tgt-287) window enabled: 256.8 to 406.3\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,347 \u001b[0m\u001b[36msats.satellite.EO-1 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[36mEO-1: \u001b[0m\u001b[msetting timed terminal event at 406.3\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,347 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<161.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[msetting timed terminal event at 176.0\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,350 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<176.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mtimed termination at 176.0 for broadcast\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,352 \u001b[0m\u001b[mdata.base \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<176.00> \u001b[0m\u001b[mData reward: {}\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,353 \u001b[0m\u001b[mcomm.communication \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<176.00> \u001b[0m\u001b[mCommunicating data through 1 satellite connections\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,354 \u001b[0m\u001b[92msats.satellite.EO-2 \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<176.00> \u001b[0m\u001b[92mEO-2: \u001b[0m\u001b[mSatellite EO-2 requires retasking\u001b[0m\n",
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"\u001b[90;3m2024-11-12 11:26:28,356 \u001b[0m\u001b[mgym \u001b[0m\u001b[mINFO \u001b[0m\u001b[33m<176.00> \u001b[0m\u001b[mStep reward: {}\u001b[0m\n"
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]
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}
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],
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"source": [
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"_ = env.step({env.agents[0]: 3, env.agents[1]: 0}) # Agent 1 broadcasts"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": ".venv",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.10.11"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 2
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}

‎src/bsk_rl/act/__init__.py

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@@ -42,6 +42,7 @@ class MyActionSatellite(Satellite):
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from bsk_rl.act.actions import Action
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from bsk_rl.act.discrete_actions import (
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Broadcast,
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Charge,
4647
Desat,
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DiscreteAction,
@@ -63,4 +64,5 @@ class MyActionSatellite(Satellite):
6364
"Downlink",
6465
"Image",
6566
"Scan",
67+
"Broadcast",
6668
]

‎src/bsk_rl/act/discrete_actions.py

+6-1
Original file line numberDiff line numberDiff line change
@@ -309,8 +309,12 @@ def __init__(
309309
):
310310
"""Action to broadcast data to all satellites in the simulation.
311311
312+
Should be used with a :class:`~bsk_rl.comm.BroadcastCommunication`-derived
313+
communication method to limit communication to broadcasting satellites.
314+
312315
Args:
313316
name: Action name.
317+
duration: [s] Time to idle before communicating.
314318
"""
315319
super().__init__(name=name, n_actions=1)
316320
if duration is None:
@@ -322,7 +326,8 @@ def reset_post_sim_init(self) -> None:
322326
super().reset_post_sim_init()
323327
self.broadcast_pending = False
324328

325-
def set_action(self, prev_action_key=None) -> str:
329+
def set_action(self, action: int, prev_action_key=None) -> str:
330+
assert action == 0
326331
self.broadcast_pending = True
327332
self.satellite.update_timed_terminal_event(
328333
self.simulator.sim_time + self.duration, info=f"for broadcast"

‎src/bsk_rl/comm/__init__.py

+2
Original file line numberDiff line numberDiff line change
@@ -47,6 +47,7 @@
4747
"""
4848

4949
from bsk_rl.comm.communication import (
50+
BroadcastCommunication,
5051
CommunicationMethod,
5152
FreeCommunication,
5253
LOSCommunication,
@@ -63,4 +64,5 @@
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"LOSCommunication",
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"MultiDegreeCommunication",
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"LOSMultiCommunication",
67+
"BroadcastCommunication",
6668
]

‎src/bsk_rl/comm/communication.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -65,7 +65,7 @@ def communicate(self) -> None:
6565

6666
if len(communication_pairs) > 0:
6767
logger.info(
68-
f"Communicating data between {len(communication_pairs)} pairs of satellites"
68+
f"Communicating data through {len(communication_pairs)} satellite connections"
6969
)
7070

7171
if len(communication_pairs) == 2 * comb(len(self.satellites), 2):

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