refining lg2 environment

CHANGELOG.md

@@ -5,6 +5,20 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [UNRELEASE]
+
+### Added
+
+- New Lady-Bandit-Guard scenarios with active Lady spacecraft (LG2)
+
+### Fixed
+
+### Changed
+
+- Updating print statements to logger statements in pe1 e3_envs
+
+### Removed
+
 ## [v0.4.4] - 2023-12-11
 
 ### Added

src/kspdg/lbg1/lg2_envs.py

@@ -7,18 +7,31 @@
 # the bandit
 
 import time
+import numpy as np
 
 from kspdg.lbg1.lg1_envs import LBG1_LG1_ParentEnv
 
-class LBG1_LG2_ParentEnv(LBG1_LG1_ParentEnv):
+EVASION_THROTTLE = 1.0 # constant throttle Lady applies during evasive maneuver
+EVASION_BURN_DURATION = 0.5 # [s] duration of evasive maneuver
+EVASION_DIST_THRESHOLD = 500.0  # [m] L-B distance at which evasion executes
+EVASION_BURN_DELAY = 10 # [s]
 
-    PROGRADE_EVASION_THROTTLE = 0.2 # constant throttle Lady applies
+class LBG1_LG2_ParentEnv(LBG1_LG1_ParentEnv):
 
     def __init__(self, loadfile: str, **kwargs):
         super().__init__(loadfile=loadfile, **kwargs)
 
     def lady_guard_policy(self):
         """Lady const thrust, Guard heuristic pursuit of Bandit"""
+
+        # Do nothing until, and unless, bandit gets too close
+        while True:
+            bandit_dist = min(self.get_lb_relative_distance(), self.get_bg_relative_distance())
+            if bandit_dist < EVASION_DIST_THRESHOLD:
+                self.logger.info("\n~~~BANDIT DETECTED!\nExecuting evasive maneuvers in {} sec~~~\n".format(EVASION_BURN_DELAY))
+                break
+            else:
+                time.sleep(0.1)
 
         # Set and engage lady auto-pilot reference frame so 
         # that it points in it's own prograde direction
@@ -27,21 +40,25 @@ def lady_guard_policy(self):
         self.vesLady.auto_pilot.target_heading = 0.0
         self.vesLady.auto_pilot.target_roll = 0.0
         self.vesLady.auto_pilot.engage()
+        time.sleep(1.0)
+
+        # randomize which direction to burn
+        self.vesLady.auto_pilot.target_heading = np.random.choice([90.0, 270.0])
 
-        # delay to give time for evader to re-orient
-        time.sleep(0.5)
+        # delay to give time for lady to re-orient
+        time.sleep(EVASION_BURN_DELAY-1.0)
 
-        # turn on low-thrust maneuver
-        self.vesLady.control.rcs = True
-        self.vesLady.control.forward = LBG1_LG2_ParentEnv.PROGRADE_EVASION_THROTTLE
+        # execute an impulsive maneuver
+        self.logger.info("\n~~~Executing evasive maneuvers now!~~~\n")
+        self.vesLady.parts.engines[0].active = True
+        self.vesLady.control.throttle = EVASION_THROTTLE
+        time.sleep(EVASION_BURN_DURATION)
+        self.vesLady.control.throttle = 0.0
 
         # run loop for heuristic for guard
         super().lady_guard_policy()
 
         # throttle down lady at end
-        self.vesLady.control.forward = 0.0
-        self.vesLady.control.right = 0.0
-        self.vesLady.control.up = 0.0
         self.vesLady.auto_pilot.disengage()