WIP

Author: nycrat

src/software/ai/hl/stp/play/shoot_or_pass/BUILD

@@ -1,3 +1,5 @@
+load("@simulated_tests_deps//:requirements.bzl", "requirement")
+
 package(default_visibility = ["//visibility:public"])
 
 # We force linking for all plays so that the static variables required for the
@@ -46,7 +48,7 @@ cc_test(
 )
 
 cc_test(
-    name = "shoot_or_pass_play_test",
+    name = "shoot_or_pass_play_test_cpp",
     srcs = ["shoot_or_pass_play_test.cpp"],
     deps = [
         ":shoot_or_pass_play",
@@ -59,3 +61,19 @@ cc_test(
         "//software/world",
     ],
 )
+
+py_test(
+    name = "shoot_or_pass_play_test",
+    srcs = [
+        "shoot_or_pass_play_test.py",
+    ],
+    # TODO (#2619) Remove tag to run in parallel
+    tags = [
+        "exclusive",
+    ],
+    deps = [
+        "//software:conftest",
+        "//software/simulated_tests:validation",
+        requirement("pytest"),
+    ],
+)

src/software/ai/hl/stp/play/shoot_or_pass/shoot_or_pass_play_test.py

@@ -0,0 +1,102 @@
+import software.python_bindings as tbots_cpp
+from proto.play_pb2 import Play, PlayName
+from software.simulated_tests.friendly_team_scored import *
+from software.simulated_tests.ball_enters_region import *
+from software.simulated_tests.friendly_has_ball_possession import *
+from proto.message_translation.tbots_protobuf import create_world_state
+from proto.ssl_gc_common_pb2 import Team
+from software.simulated_tests.simulated_test_fixture import (
+    pytest_main,
+)
+
+
+def test_shoot_or_pass_play(simulated_test_runner):
+    def setup(start_point):
+        # starting point must be Point
+        ball_initial_pos = start_point
+        # placement point must be Vector2 to work with game controller
+        tbots_cpp.Point(-3, -2)
+        tbots_cpp.Field.createSSLDivisionBField()
+
+        # Setup Bots
+        blue_bots = [
+            tbots_cpp.Point(-4.5, 3.0),
+            tbots_cpp.Point(-2, 1.5),
+            tbots_cpp.Point(-2, 0.5),
+            tbots_cpp.Point(-2, -1.7),
+            tbots_cpp.Point(-2, -1.5),
+            tbots_cpp.Point(-2, -0.5),
+        ]
+
+        yellow_bots = [
+            tbots_cpp.Point(1, 0),
+            tbots_cpp.Point(1, 2.5),
+            tbots_cpp.Point(1, -2.5),
+            tbots_cpp.Field.createSSLDivisionBField().enemyGoalCenter(),
+            tbots_cpp.Field.createSSLDivisionBField()
+            .enemyDefenseArea()
+            .negXNegYCorner(),
+            tbots_cpp.Field.createSSLDivisionBField()
+            .enemyDefenseArea()
+            .negXPosYCorner(),
+        ]
+
+        # Game Controller Setup
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+        )
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.FORCE_START, team=Team.BLUE
+        )
+
+        # Force play override here
+        blue_play = Play()
+        blue_play.name = PlayName.OffensePlay
+
+        yellow_play = Play()
+        yellow_play.name = PlayName.HaltPlay
+
+        simulated_test_runner.blue_full_system_proto_unix_io.send_proto(
+            Play, blue_play)
+        simulated_test_runner.yellow_full_system_proto_unix_io.send_proto(
+            Play, yellow_play
+        )
+
+        # Create world state
+        simulated_test_runner.simulator_proto_unix_io.send_proto(
+            WorldState,
+            create_world_state(
+                yellow_robot_locations=yellow_bots,
+                blue_robot_locations=blue_bots,
+                ball_location=ball_initial_pos,
+                ball_velocity=tbots_cpp.Vector(0, 0),
+            ),
+        )
+
+    field = tbots_cpp.Field.createSSLDivisionBField()
+
+    # Always Validation
+    inv_always_validation_sequence_set = [
+        [BallAlwaysStaysInRegion(regions=[field.fieldBoundary()])]
+    ]
+
+    ag_always_validation_sequence_set = [[FriendlyAlwaysHasBallPossession()]]
+
+    # Eventually Validation
+    inv_eventually_validation_sequence_set = [[]]
+    ag_eventually_validation_sequence_set = [[FriendlyTeamEventuallyScored()]]
+
+    simulated_test_runner.run_test(
+        params=[tbots_cpp.Point(-4.4, 2.9)],
+        setup=setup,
+        inv_eventually_validation_sequence_set=inv_eventually_validation_sequence_set,
+        inv_always_validation_sequence_set=inv_always_validation_sequence_set,
+        ag_eventually_validation_sequence_set=ag_eventually_validation_sequence_set,
+        ag_always_validation_sequence_set=ag_always_validation_sequence_set,
+        test_timeout_s=15,
+        run_till_end=True,
+    )
+
+
+if __name__ == "__main__":
+    pytest_main(__file__)