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Merged
nycrat merged 16 commits into from
Mar 7, 2026
Merged

Fix flaky python simulated tests (no robots loading and ai running) #3626

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793298d
Fix robots not loading
nycrat Feb 28, 2026
2b26779
Test run_till_end default false time save
nycrat Feb 28, 2026
d207cb2
Add note to proto config widget
nycrat Feb 28, 2026
57f95b5
Get rid of star import
nycrat Feb 28, 2026
a0c8b02
Create simplified simulated test view
nycrat Feb 28, 2026
5c44650
Change signature for sync_setup
nycrat Feb 28, 2026
ec4869f
Use best practices for tactic tests
nycrat Feb 28, 2026
ddd0184
Rename set_worldState to set_world_state
nycrat Feb 28, 2026
9e57499
Best practices example for ball placement play test
nycrat Feb 28, 2026
8bd96ed
Fix hrvo test args
nycrat Mar 1, 2026
7460820
Use best practices for play tests
nycrat Mar 1, 2026
fdcb89d
Formatting
nycrat Mar 1, 2026
6f882e8
Fix order of setup protos, world state sent first
nycrat Mar 1, 2026
ac81455
Add important comments that were accidentally deleted
nycrat Mar 1, 2026
d0b34b9
Fix order of setup in HRVO test
nycrat Mar 1, 2026
fea14f0
Remove default params on runner function since they are always provided
nycrat Mar 3, 2026
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159 changes: 79 additions & 80 deletions src/software/ai/hl/stp/play/ball_placement/ball_placement_play_test.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,16 +1,72 @@
import pytest

import software.python_bindings as tbots_cpp
from software.py_constants import ENEMY_BALL_PLACEMENT_DISTANCE_METERS
from proto.play_pb2 import Play, PlayName
from software.simulated_tests.ball_enters_region import *
from software.simulated_tests.ball_stops_in_region import *
from software.simulated_tests.robot_enters_region import *

from proto.import_all_protos import *
from proto.ssl_gc_common_pb2 import Team
from proto.message_translation.tbots_protobuf import create_world_state
from software.simulated_tests.ball_enters_region import (
BallAlwaysStaysInRegion,
BallEventuallyEntersRegion,
)
from software.simulated_tests.robot_enters_region import RobotEventuallyExitsRegion
from software.simulated_tests.simulated_test_fixture import (
pytest_main,
)
from proto.message_translation.tbots_protobuf import create_world_state
from proto.ssl_gc_common_pb2 import Team


@pytest.mark.parametrize(
"ball_start_point, ball_placement_point",
[
# test normal ball placement (not edge case)
(tbots_cpp.Point(2, 2), tbots_cpp.Point(0, 1.5)),
# test when ball starting point is outside of the goal line
(tbots_cpp.Point(-4.7, 2.0), tbots_cpp.Point(0, 0.5)),
# test when ball starting point is outside of the side lines
(tbots_cpp.Point(-2.0, 3.2), tbots_cpp.Point(0, -0.5)),
# test when ball starting point is inside of enemy net
(tbots_cpp.Point(4.0, 0), tbots_cpp.Point(2.0, 2.0)),
# test when ball starting point is in friendly net
(tbots_cpp.Point(-4.0, 0), tbots_cpp.Point(-2.0, 2.0)),
],
)
def test_two_ai_ball_placement(
simulated_test_runner, ball_start_point, ball_placement_point
):
run_ball_placement_scenario(
simulated_test_runner, ball_start_point, ball_placement_point
)


@pytest.mark.parametrize(
"ball_start_point, ball_placement_point",
[
# TODO: Remove these ball placement tests until #3561 is resolved
Comment thread
nycrat marked this conversation as resolved.
# # 2023 RoboCup ball placement scenarios
# # Scenario 1
# (tbots_cpp.Point(-0.2, -2.8), tbots_cpp.Point(-0.2, 2.8)),
# # Scenario 2
# (tbots_cpp.Point(-3.5, -2.25), tbots_cpp.Point(0, 0)),
# # Scenario 3
# (tbots_cpp.Point(-1.5, -2.25), tbots_cpp.Point(-0.2, -2.8)),
# # Scenario 4
# (tbots_cpp.Point(-4.4, -2.9), tbots_cpp.Point(-0.2, 2.8)),
# # Scenario 5
# (tbots_cpp.Point(-0.5, -0), tbots_cpp.Point(-4.3, 2.8)),
# # Scenario 6
# (tbots_cpp.Point(-1, -3.15), tbots_cpp.Point(-3.5, -2.8)),
# # Scenario 7
# (tbots_cpp.Point(-1, 3.15), tbots_cpp.Point(-3.5, 2.8)),
# # Scenario 8
# (tbots_cpp.Point(-4.45, -0.1), tbots_cpp.Point(-0.5, 2.8)),
],
)
def test_robocup_technical_challenge_placement(
simulated_test_runner, ball_start_point, ball_placement_point
):
run_ball_placement_scenario(
simulated_test_runner, ball_start_point, ball_placement_point, blue_only=True
)


def ball_placement_play_setup(
Expand Down Expand Up @@ -54,12 +110,22 @@ def ball_placement_play_setup(
.negXPosYCorner(),
]

# Create world state
simulated_test_runner.set_world_state(
create_world_state(
yellow_robot_locations=yellow_bots,
blue_robot_locations=blue_bots,
ball_location=ball_start_point,
ball_velocity=tbots_cpp.Vector(0, 0),
),
)

# Game Controller Setup
simulated_test_runner.gamecontroller.send_gc_command(
simulated_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.gamecontroller.send_gc_command(
simulated_test_runner.send_gamecontroller_command(
gc_command=Command.Type.BALL_PLACEMENT,
team=Team.BLUE,
final_ball_placement_point=ball_placement_point,
Expand All @@ -72,76 +138,9 @@ def ball_placement_play_setup(
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.set_play(blue_play, is_friendly=True)
if not blue_only:
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_start_point,
ball_velocity=tbots_cpp.Vector(0, 0),
),
)


@pytest.mark.parametrize(
"ball_start_point, ball_placement_point",
[
# test normal ball placement (not edge case)
(tbots_cpp.Point(2, 2), tbots_cpp.Point(0, 1.5)),
# test when ball starting point is outside of the goal line
(tbots_cpp.Point(-4.7, 2.0), tbots_cpp.Point(0, 0.5)),
# test when ball starting point is outside of the side lines
(tbots_cpp.Point(-2.0, 3.2), tbots_cpp.Point(0, -0.5)),
# test when ball starting point is inside of enemy net
(tbots_cpp.Point(4.0, 0), tbots_cpp.Point(2.0, 2.0)),
# test when ball starting point is in friendly net
(tbots_cpp.Point(-4.0, 0), tbots_cpp.Point(-2.0, 2.0)),
],
)
def test_two_ai_ball_placement(
simulated_test_runner, ball_start_point, ball_placement_point
):
run_ball_placement_scenario(
simulated_test_runner, ball_start_point, ball_placement_point
)


@pytest.mark.parametrize(
"ball_start_point, ball_placement_point",
[
# TODO: Remove these ball placement tests until #3561 is resolved
# # 2023 RoboCup ball placement scenarios
# # Scenario 1
# (tbots_cpp.Point(-0.2, -2.8), tbots_cpp.Point(-0.2, 2.8)),
# # Scenario 2
# (tbots_cpp.Point(-3.5, -2.25), tbots_cpp.Point(0, 0)),
# # Scenario 3
# (tbots_cpp.Point(-1.5, -2.25), tbots_cpp.Point(-0.2, -2.8)),
# # Scenario 4
# (tbots_cpp.Point(-4.4, -2.9), tbots_cpp.Point(-0.2, 2.8)),
# # Scenario 5
# (tbots_cpp.Point(-0.5, -0), tbots_cpp.Point(-4.3, 2.8)),
# # Scenario 6
# (tbots_cpp.Point(-1, -3.15), tbots_cpp.Point(-3.5, -2.8)),
# # Scenario 7
# (tbots_cpp.Point(-1, 3.15), tbots_cpp.Point(-3.5, 2.8)),
# # Scenario 8
# (tbots_cpp.Point(-4.45, -0.1), tbots_cpp.Point(-0.5, 2.8)),
],
)
def test_robocup_technical_challenge_placement(
simulated_test_runner, ball_start_point, ball_placement_point
):
run_ball_placement_scenario(
simulated_test_runner, ball_start_point, ball_placement_point, blue_only=True
)
simulated_test_runner.set_play(yellow_play, is_friendly=False)


def run_ball_placement_scenario(
Expand All @@ -150,8 +149,8 @@ def run_ball_placement_scenario(
"""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 ball_start_point: The initial position of the ball (provided by pytest parameterization).
:param ball_placement_point: The target position where the ball should be placed (provided by pytest parameterization).
: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.
"""
# Placement Eventually Validation
Expand Down
94 changes: 45 additions & 49 deletions src/software/ai/hl/stp/play/crease_defense/crease_defense_play_test.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -9,68 +9,64 @@


def test_crease_defense_play(simulated_test_runner):
# starting point must be Point
ball_initial_pos = tbots_cpp.Point(0.9, 2.85)
# placement point must be Vector2 to work with game controller
tbots_cpp.Point(-3, -2)
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@GrayHoang GrayHoang Mar 3, 2026

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where did this go, what is this for?

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@nycrat nycrat Mar 3, 2026

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the line below ball_initial_pos literally did nothing

def setup(*args):
ball_initial_pos = tbots_cpp.Point(0.9, 2.85)

# Setup Bots
blue_bots = [
tbots_cpp.Point(-4.5, 0),
tbots_cpp.Point(-3, 1.5),
tbots_cpp.Point(-3, 0.5),
tbots_cpp.Point(-3, -0.5),
tbots_cpp.Point(-3, -1.5),
tbots_cpp.Point(-3, -3.0),
]
blue_bots = [
tbots_cpp.Point(-4.5, 0),
tbots_cpp.Point(-3, 1.5),
tbots_cpp.Point(-3, 0.5),
tbots_cpp.Point(-3, -0.5),
tbots_cpp.Point(-3, -1.5),
tbots_cpp.Point(-3, -3.0),
]

yellow_bots = [
tbots_cpp.Point(1, 3),
tbots_cpp.Point(1, -0.25),
tbots_cpp.Point(1, -1.25),
tbots_cpp.Field.createSSLDivisionBField().enemyGoalCenter(),
tbots_cpp.Field.createSSLDivisionBField().enemyDefenseArea().negXNegYCorner(),
tbots_cpp.Field.createSSLDivisionBField().enemyDefenseArea().negXPosYCorner(),
]
yellow_bots = [
tbots_cpp.Point(1, 3),
tbots_cpp.Point(1, -0.25),
tbots_cpp.Point(1, -1.25),
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
)
simulated_test_runner.set_world_state(
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),
),
)

# Force play override here
blue_play = Play()
blue_play.name = PlayName.CreaseDefensePlay
simulated_test_runner.send_gamecontroller_command(
gc_command=Command.Type.STOP, team=Team.UNKNOWN
)
simulated_test_runner.send_gamecontroller_command(
gc_command=Command.Type.FORCE_START, team=Team.BLUE
)

yellow_play = Play()
yellow_play.name = PlayName.HaltPlay
blue_play = Play()
blue_play.name = PlayName.CreaseDefensePlay

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)
yellow_play = Play()
yellow_play.name = PlayName.HaltPlay

# 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),
),
)
simulated_test_runner.set_play(blue_play, is_friendly=True)
simulated_test_runner.set_play(yellow_play, is_friendly=False)

# Always Validation
# TODO- #2778 Validation
# TODO (#2778): actually add validations
always_validation_sequence_set = [[]]

# Eventually Validation
# TODO- #2778 Validation
# TODO (#2778): actually add validations
eventually_validation_sequence_set = [[]]

simulated_test_runner.run_test(
setup=setup,
inv_eventually_validation_sequence_set=eventually_validation_sequence_set,
inv_always_validation_sequence_set=always_validation_sequence_set,
test_timeout_s=25,
Expand Down
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