Runtime selection of field vs simulated gameplay tests

src/software/BUILD

@@ -125,7 +125,7 @@ py_library(
     name = "conftest",
     srcs = ["conftest.py"],
     deps = [
-        "//software/gameplay_tests:field_test_fixture",
-        "//software/gameplay_tests:simulated_test_fixture",
+        "//software/gameplay_tests:fixture",
+        "//software/gameplay_tests:util",
     ],
 )

src/software/ai/hl/stp/play/ball_placement/ball_placement_play_test.py

@@ -12,9 +12,7 @@
 from software.gameplay_tests.validation.robot_enters_region import (
     RobotEventuallyExitsRegion,
 )
-from software.gameplay_tests.simulated_test_fixture import (
-    pytest_main,
-)
+from software.gameplay_tests.util import pytest_main
 
 
 @pytest.mark.parametrize(
@@ -33,10 +31,10 @@
     ],
 )
 def test_two_ai_ball_placement(
-    simulated_test_runner, ball_start_point, ball_placement_point
+    gameplay_test_runner, ball_start_point, ball_placement_point
 ):
     run_ball_placement_scenario(
-        simulated_test_runner, ball_start_point, ball_placement_point
+        gameplay_test_runner, ball_start_point, ball_placement_point
     )
 
 
@@ -64,21 +62,21 @@ def test_two_ai_ball_placement(
     ],
 )
 def test_robocup_technical_challenge_placement(
-    simulated_test_runner, ball_start_point, ball_placement_point
+    gameplay_test_runner, ball_start_point, ball_placement_point
 ):
     run_ball_placement_scenario(
-        simulated_test_runner, ball_start_point, ball_placement_point, blue_only=True
+        gameplay_test_runner, ball_start_point, ball_placement_point, blue_only=True
     )
 
 
 def ball_placement_play_setup(
-    ball_start_point, ball_placement_point, simulated_test_runner, blue_only
+    ball_start_point, ball_placement_point, gameplay_test_runner, blue_only
 ):
     """Set up ball placement test by initializing bot positions, ball placement targets, and test settings
 
     :param ball_start_point: Initial point of the ball
     :param ball_placement_point: Target point of the ball
-    :param simulated_test_runner: Simulated test runner
+    :param gameplay_test_runner: Simulated test runner
     :param blue_only: If True, only the blue team is active; the yellow team is ignored.
     """
     # Setup blue robots
@@ -113,7 +111,7 @@ def ball_placement_play_setup(
         ]
 
     # Create world state
-    simulated_test_runner.set_world_state(
+    gameplay_test_runner.set_world_state(
         create_world_state(
             yellow_robot_locations=yellow_bots,
             blue_robot_locations=blue_bots,
@@ -123,28 +121,28 @@ def ball_placement_play_setup(
     )
 
     # Game Controller Setup
-    simulated_test_runner.send_gamecontroller_command(
+    gameplay_test_runner.send_gamecontroller_command(
         gc_command=Command.Type.STOP, team=Team.UNKNOWN
     )
     # Pass in placement point here - not required for all play tests
-    simulated_test_runner.send_gamecontroller_command(
+    gameplay_test_runner.send_gamecontroller_command(
         gc_command=Command.Type.BALL_PLACEMENT,
         team=Team.BLUE,
         final_ball_placement_point=ball_placement_point,
     )
 
     # Force play override here
-    simulated_test_runner.set_plays(
+    gameplay_test_runner.set_plays(
         blue_play=PlayName.BallPlacementPlay, yellow_play=PlayName.HaltPlay
     )
 
 
 def run_ball_placement_scenario(
-    simulated_test_runner, ball_start_point, ball_placement_point, blue_only=False
+    gameplay_test_runner, ball_start_point, ball_placement_point, blue_only=False
 ):
     """Runs a ball placement test scenario with the specified parameters.
 
-    :param simulated_test_runner: The test runner used to simulate robot and ball behavior.
+    :param gameplay_test_runner: The test runner used to simulate robot and ball behavior.
     :param ball_start_point: The initial position of the ball.
     :param ball_placement_point: The target position where the ball should be placed.
     :param blue_only: If True, only the blue team is active; the yellow team is ignored.
@@ -156,23 +154,9 @@ def run_ball_placement_scenario(
             BallEventuallyEntersRegion(
                 regions=[tbots_cpp.Circle(ball_placement_point, 0.15)]
             ),
-        ]
-    ]
-
-    # Drop Ball Always Validation
-    drop_ball_always_validation_sequence_set = [
-        [
-            BallAlwaysStaysInRegion(
-                regions=[tbots_cpp.Circle(ball_placement_point, 0.15)]
-            ),
-        ]
-    ]
-
-    # Drop Ball Eventually Validation
-    # Non free kick after ball placement, the robot must be 0.5 away from the ball after the placement
-    # See detailed rules here: https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball_placement
-    drop_ball_eventually_validation_sequence_set = [
-        [
+            # Drop Ball Eventually Validation
+            # Non free kick after ball placement, the robot must be 0.5 away from the ball after the placement
+            # See detailed rules here: https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball_placement
             RobotEventuallyExitsRegion(
                 regions=[
                     tbots_cpp.Circle(
@@ -183,33 +167,25 @@ def run_ball_placement_scenario(
         ]
     ]
 
-    simulated_test_runner.run_test(
-        setup=lambda test_setup_arg: ball_placement_play_setup(
-            test_setup_arg["ball_start_point"],
-            test_setup_arg["ball_placement_point"],
-            simulated_test_runner,
+    # Make sure ball never moves after robot moves away
+    # TODO (#3503): Enable this with an OrValidation checking robot is moving back
+    # drop_ball_always_validation_sequence_set = [
+    #     [
+    #         BallAlwaysStaysInRegion(
+    #             regions=[tbots_cpp.Circle(ball_placement_point, 0.15)]
+    #         ),
+    #     ]
+    # ]
+
+    gameplay_test_runner.run_test(
+        setup=lambda: ball_placement_play_setup(
+            ball_start_point,
+            ball_placement_point,
+            gameplay_test_runner,
             blue_only,
         ),
-        params=[
-            {
-                "ball_start_point": ball_start_point,
-                "ball_placement_point": ball_placement_point,
-            }
-        ],
-        inv_always_validation_sequence_set=[[]],
-        inv_eventually_validation_sequence_set=placement_eventually_validation_sequence_set,
-        ag_always_validation_sequence_set=[[]],
-        ag_eventually_validation_sequence_set=placement_eventually_validation_sequence_set,
-        test_timeout_s=[30],
-    )
-
-    simulated_test_runner.run_test(
-        # setup argument isn't passed to preserve world state from previous test run
-        inv_always_validation_sequence_set=drop_ball_always_validation_sequence_set,
-        inv_eventually_validation_sequence_set=drop_ball_eventually_validation_sequence_set,
-        ag_always_validation_sequence_set=drop_ball_always_validation_sequence_set,
-        ag_eventually_validation_sequence_set=drop_ball_eventually_validation_sequence_set,
-        test_timeout_s=[10],
+        eventually_validation_sequence_set=placement_eventually_validation_sequence_set,
+        test_timeout_s=30,
     )
 
 

src/software/ai/hl/stp/play/crease_defense/crease_defense_play_test.py

@@ -3,9 +3,7 @@
 from proto.import_all_protos import *
 from proto.message_translation.tbots_protobuf import create_world_state
 from proto.ssl_gc_common_pb2 import Team
-from software.gameplay_tests.simulated_test_fixture import (
-    pytest_main,
-)
+from software.gameplay_tests.util import pytest_main
 from software.gameplay_tests.validation.robot_speed_threshold import (
     RobotSpeedEventuallyBelowThreshold,
 )
@@ -15,12 +13,12 @@
 from software.gameplay_tests.validation.delay_validation import DelayValidation
 
 
-def test_crease_defense_play(simulated_test_runner):
+def test_crease_defense_play(gameplay_test_runner):
     field = tbots_cpp.Field.createSSLDivisionBField()
     goalie_position = tbots_cpp.Point(-4.5, 0)
 
-    def setup(*args):
-        simulated_test_runner.set_world_state(
+    def setup():
+        gameplay_test_runner.set_world_state(
             create_world_state(
                 blue_robot_locations=[
                     goalie_position,
@@ -43,11 +41,11 @@ def setup(*args):
             ),
         )
 
-        simulated_test_runner.set_plays(
+        gameplay_test_runner.set_plays(
             blue_play=PlayName.CreaseDefensePlay, yellow_play=PlayName.HaltPlay
         )
 
-        simulated_test_runner.send_gamecontroller_command(
+        gameplay_test_runner.send_gamecontroller_command(
             gc_command=Command.Type.STOP, team=Team.UNKNOWN
         )
 
@@ -70,10 +68,9 @@ def setup(*args):
         ]
     ]
 
-    simulated_test_runner.run_test(
+    gameplay_test_runner.run_test(
         setup=setup,
-        inv_eventually_validation_sequence_set=eventually_validations,
-        ag_eventually_validation_sequence_set=eventually_validations,
+        eventually_validation_sequence_set=eventually_validations,
         test_timeout_s=10,
     )
 

src/software/ai/hl/stp/play/defense/defense_play_test.py

@@ -8,9 +8,7 @@
 )
 from proto.message_translation.tbots_protobuf import create_world_state
 from proto.ssl_gc_common_pb2 import Team
-from software.gameplay_tests.simulated_test_fixture import (
-    pytest_main,
-)
+from software.gameplay_tests.util import pytest_main
 
 
 @pytest.mark.parametrize(
@@ -35,11 +33,11 @@
         )
     ],
 )
-def test_defense_play_ball_steal(simulated_test_runner, blue_bots, yellow_bots):
-    def setup(*args):
+def test_defense_play_ball_steal(gameplay_test_runner, blue_bots, yellow_bots):
+    def setup():
         ball_initial_pos = tbots_cpp.Point(0.93, 0)
 
-        simulated_test_runner.set_world_state(
+        gameplay_test_runner.set_world_state(
             create_world_state(
                 yellow_robot_locations=yellow_bots,
                 blue_robot_locations=blue_bots,
@@ -48,32 +46,29 @@ def setup(*args):
             ),
         )
 
-        simulated_test_runner.send_gamecontroller_command(
+        gameplay_test_runner.send_gamecontroller_command(
             gc_command=Command.Type.STOP, team=Team.UNKNOWN
         )
-        simulated_test_runner.send_gamecontroller_command(
+        gameplay_test_runner.send_gamecontroller_command(
             gc_command=Command.Type.FORCE_START, team=Team.BLUE
         )
 
-        simulated_test_runner.set_plays(
+        gameplay_test_runner.set_plays(
             blue_play=PlayName.DefensePlay, yellow_play=PlayName.HaltPlay
         )
 
-    simulated_test_runner.run_test(
+    gameplay_test_runner.run_test(
         setup=setup,
-        params=[0, 1, 2, 3, 4],  # The aggregate test runs 5 times
-        inv_always_validation_sequence_set=[
+        always_validation_sequence_set=[
             [
                 BallNeverEntersRegion(
                     regions=[tbots_cpp.Field.createSSLDivisionBField().friendlyGoal()]
                 )
             ]
         ],
-        inv_eventually_validation_sequence_set=[
+        eventually_validation_sequence_set=[
             [FriendlyEventuallyHasBallPossession(tolerance=0.2)]
         ],
-        ag_always_validation_sequence_set=[[]],
-        ag_eventually_validation_sequence_set=[[]],
         test_timeout_s=20,
     )
 
@@ -100,11 +95,11 @@ def setup(*args):
         )
     ],
 )
-def test_defense_play(simulated_test_runner, blue_bots, yellow_bots):
-    def setup(*args):
+def test_defense_play(gameplay_test_runner, blue_bots, yellow_bots):
+    def setup():
         ball_initial_pos = tbots_cpp.Point(0.9, 2.85)
 
-        simulated_test_runner.set_world_state(
+        gameplay_test_runner.set_world_state(
             create_world_state(
                 yellow_robot_locations=yellow_bots,
                 blue_robot_locations=blue_bots,
@@ -113,32 +108,29 @@ def setup(*args):
             ),
         )
 
-        simulated_test_runner.send_gamecontroller_command(
+        gameplay_test_runner.send_gamecontroller_command(
             gc_command=Command.Type.STOP, team=Team.UNKNOWN
         )
-        simulated_test_runner.send_gamecontroller_command(
+        gameplay_test_runner.send_gamecontroller_command(
             gc_command=Command.Type.FORCE_START, team=Team.BLUE
         )
 
-        simulated_test_runner.set_plays(
+        gameplay_test_runner.set_plays(
             blue_play=PlayName.DefensePlay, yellow_play=PlayName.ShootOrPassPlay
         )
 
-    simulated_test_runner.run_test(
+    gameplay_test_runner.run_test(
         setup=setup,
-        params=[0, 1, 2, 3, 4],  # The aggregate test runs 5 times
-        inv_always_validation_sequence_set=[
+        always_validation_sequence_set=[
             [
                 BallNeverEntersRegion(
                     regions=[tbots_cpp.Field.createSSLDivisionBField().friendlyGoal()]
                 )
             ]
         ],
-        inv_eventually_validation_sequence_set=[
+        eventually_validation_sequence_set=[
             [FriendlyEventuallyHasBallPossession(tolerance=0.1)]
         ],
-        ag_always_validation_sequence_set=[[]],
-        ag_eventually_validation_sequence_set=[[]],
         test_timeout_s=30,
     )