[DRAFT] Port all simulated c++ tactic tests to python

TODO.txt

@@ -0,0 +1,33 @@
+Found using: `rg SimulatedErForceSimPlayTestFixture` and manual sorting
+
+TACTIC TESTS TO PORT
+
+src/software/ai/hl/stp/tactic/pivot_kick/pivot_kick_tactic_test.cpp (DONE 99% ACCURACY)
+src/software/ai/hl/stp/tactic/crease_defender/crease_defender_tactic_test.cpp (DONE 99% ACCURACY + ADDITIONAL)
+src/software/ai/hl/stp/tactic/halt/halt_tactic_test.cpp (DONE 99% ACCURACY)
+src/software/ai/hl/stp/tactic/move/move_tactic_test.cpp (DONE 99%)
+src/software/ai/hl/stp/tactic/kick/kick_tactic_test.cpp (DONE 99%)
+src/software/ai/hl/stp/tactic/penalty_kick/penalty_kick_tactic_test.cpp (DISABLED)
+src/software/ai/hl/stp/tactic/chip/chip_tactic_test.cpp (DONE 99%)
+src/software/ai/hl/stp/tactic/dribble/dribble_tactic_test.cpp (DONE 98% need to implement thing)
+src/software/ai/hl/stp/tactic/receiver/receiver_tactic_test.cpp (DONE 99%)
+src/software/ai/hl/stp/tactic/attacker/attacker_tactic_passing_test.cpp
+src/software/ai/hl/stp/tactic/attacker/attacker_tactic_keep_away_test.cpp
+src/software/ai/hl/stp/tactic/attacker/attacker_tactic_shoot_goal_test.cpp
+src/software/ai/hl/stp/tactic/dribble/dribble_tactic_push_enemy_test.cpp
+src/software/ai/hl/stp/tactic/penalty_kick/penalty_kick_tactic_test.cpp
+
+PLAY TESTS TO PORT
+
+src/software/ai/hl/stp/play/kickoff_friendly_play_test.cpp
+src/software/ai/hl/stp/play/kickoff_enemy_play_test.cpp
+src/software/ai/hl/stp/play/penalty_kick/penalty_kick_play_test.cpp
+src/software/ai/hl/stp/play/stop_play_test.cpp
+src/software/ai/hl/stp/play/stop_play_test.cpp
+src/software/ai/hl/stp/play/example/example_play_test.cpp
+src/software/ai/hl/stp/play/free_kick/free_kick_play_test.cpp
+src/software/ai/hl/stp/play/shoot_or_chip_play_test.cpp
+src/software/ai/hl/stp/play/penalty_kick_enemy/penalty_kick_enemy_play_test.cpp
+src/software/ai/hl/stp/play/crease_defense/crease_defense_play_test.cpp
+src/software/ai/hl/stp/play/shoot_or_pass/shoot_or_pass_play_test.cpp
+src/software/ai/hl/stp/play/hardware_challenge_plays/pass_endurance_play_test.cpp

src/proto/message_translation/tbots_protobuf.py

@@ -11,7 +11,8 @@ def create_world_state(
     blue_robot_locations: list[tbots_cpp.Point],
     ball_location: tbots_cpp.Point,
     ball_velocity: tbots_cpp.Vector,
-    blue_robot_orientations: list[float] = [],
+    blue_robot_orientations: list[tbots_cpp.Angle] = [],
+    blue_robot_velocities: list[tbots_cpp.Vector] = [],
 ) -> WorldState:
     """Initializes the world from a list of robot locations and ball location/velocity.
 
@@ -22,31 +23,41 @@ def create_world_state(
     :param ball_location: Location of the ball
     :param ball_velocity: Velocity of the ball
     :param blue_robot_orientations: A list of blue robots orientations
+    :param blue_robot_velocities: A list of blue robots velocities
     """
     world_state = WorldState()
 
+    # TODO (#2558): add param for robot angular velocity since its used for some tests
+
     for robot_id, robot_location in enumerate(yellow_robot_locations):
         world_state.yellow_robots[robot_id].CopyFrom(
             RobotState(
                 global_position=Point(
                     x_meters=robot_location.x(), y_meters=robot_location.y()
                 ),
+                # Initialize angle of yellow robots the same cause its specified in any tests (yet)
                 global_orientation=Angle(radians=math.pi),
             )
         )
 
     for robot_id, robot_location in enumerate(blue_robot_locations):
-        orientation = 0
         try:
-            orientation = blue_robot_orientations[robot_id]
+            orientation = blue_robot_orientations[robot_id].toRadians()
         except IndexError:
-            pass
+            orientation = 0
+
+        try:
+            velocity = blue_robot_velocities[robot_id]
+        except IndexError:
+            velocity = tbots_cpp.Vector(0, 0)
+
         world_state.blue_robots[robot_id].CopyFrom(
             RobotState(
                 global_position=Point(
                     x_meters=robot_location.x(), y_meters=robot_location.y()
                 ),
                 global_orientation=Angle(radians=orientation),
+                global_velocity=tbots_cpp.createVectorProto(velocity),
             )
         )
 

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

@@ -169,7 +169,7 @@ py_test(
     ],
     deps = [
         "//software:conftest",
-        "//software/simulated_tests:validation",
+        "//software/simulated_tests/pytest_validations:all_validations",
         requirement("pytest"),
     ],
 )
@@ -214,7 +214,7 @@ py_test(
     ],
     deps = [
         "//software:conftest",
-        "//software/simulated_tests:validation",
+        "//software/simulated_tests/pytest_validations:all_validations",
         requirement("pytest"),
     ],
 )
@@ -270,7 +270,7 @@ py_test(
         "//proto:software_py_proto",
         "//proto:tbots_py_proto",
         "//software:conftest",
-        "//software/simulated_tests:validation",
+        "//software/simulated_tests/pytest_validations:all_validations",
         requirement("pytest"),
     ],
 )

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

@@ -40,7 +40,7 @@ py_test(
     tags = ["exclusive"],
     deps = [
         "//software:conftest",
-        "//software/simulated_tests:validation",
+        "//software/simulated_tests/pytest_validations:all_validations",
         requirement("pytest"),
     ],
 )

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

@@ -1,16 +1,74 @@
 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.pytest_validations.ball_enters_region import (
+    BallAlwaysStaysInRegion,
+    BallEventuallyEntersRegion,
+)
+from software.simulated_tests.pytest_validations.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
+        # # 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(
@@ -54,12 +112,22 @@ 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,
@@ -72,76 +140,9 @@ 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(
@@ -150,8 +151,8 @@ 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

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

@@ -39,7 +39,7 @@ py_test(
     ],
     deps = [
         "//software:conftest",
-        "//software/simulated_tests:validation",
+        "//software/simulated_tests/pytest_validations:all_validations",
         requirement("pytest"),
     ],
 )