[MINOR] Use new time-based events

Author: Mark2000

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/gym.py

@@ -132,10 +132,10 @@ def __init__(
         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/sim/simulator.py

@@ -179,7 +179,7 @@ def run(self) -> None:
             "max_step_duration",
             mc.sec2nano(self.sim_rate),
             True,
-            conditionFunction=lambda sim: sim.sim_time >= step_end_time,
+            conditionTime=mc.sec2nano(step_end_time),
             actionFunction=lambda sim: sim.logger.info("Max step duration reached"),
             terminal=True,
         )
@@ -193,8 +193,6 @@ def delete_event(self, event_name) -> None:
         necessary to remove created for tasks that are no longer needed (even if it is
         inactive), or else significant time is spent processing the event at each step.
         """
-        event = self.eventMap[event_name]
-        self.eventList.remove(event)
         del self.eventMap[event_name]
 
     def get_satellite(self, name: str) -> "Satellite":

tests/unittest/sim/test_simulator.py

@@ -54,10 +54,8 @@ def test_delete_event(self, simbase_init):
         sim = self.mock_sim()
         event = MagicMock()
         sim.eventMap = {"event": event, "other": MagicMock()}
-        sim.eventList = [MagicMock(), event, MagicMock()]
         sim.delete_event("event")
         assert "event" not in sim.eventMap
-        assert event not in sim.eventList
 
     @pytest.mark.parametrize(
         "start_time,step_duration,time_limit,stop_time",