Fix robot control mode not being initialized properly on startup (UBC-Thunderbots#3461)

* Fix robot control mode not being initialized properly on startup

* Fix broken field test fixture

* Refactorings

* Address comments

Author: williamckha

src/software/field_tests/field_test_fixture.py

@@ -8,11 +8,12 @@
 from proto.import_all_protos import *
 
 from software.simulated_tests import validation
-from software.thunderscope.constants import EstopMode
+from software.thunderscope.constants import EstopMode, IndividualRobotMode
 from software.thunderscope.thunderscope import Thunderscope
 from software.thunderscope.proto_unix_io import ProtoUnixIO
 from software.thunderscope.binary_context_managers.full_system import FullSystem
 from software.thunderscope.binary_context_managers.game_controller import Gamecontroller
+from software.thunderscope.wifi_communication_manager import WifiCommunicationManager
 from software.logger.logger import create_logger
 
 
@@ -360,27 +361,29 @@ def field_test_runner():
 
     # Launch all binaries
     with FullSystem(
-        runtime_dir,
+        full_system_runtime_dir=runtime_dir,
         debug_full_system=debug_full_sys,
         friendly_colour_yellow=args.run_yellow,
         should_restart_on_crash=False,
     ) as friendly_fs, Gamecontroller(
         # we would be using conventional port if and only if we are playing in robocup.
         suppress_logs=(not args.show_gamecontroller_logs),
         use_conventional_port=False,
-    ) as gamecontroller, RobotCommunication(
+    ) as gamecontroller, WifiCommunicationManager(
         current_proto_unix_io=friendly_proto_unix_io,
         multicast_channel=getRobotMulticastChannel(args.channel),
+        should_setup_full_system=True,
         interface=args.interface,
-        estop_mode=estop_mode,
-        estop_path=estop_path,
-        enable_radio=args.enable_radio,
         referee_port=gamecontroller.get_referee_port()
         if gamecontroller
         else SSL_REFEREE_PORT,
+    ) as wifi_communication_manager, RobotCommunication(
+        current_proto_unix_io=friendly_proto_unix_io,
+        communication_manager=wifi_communication_manager,
+        estop_mode=estop_mode,
+        estop_path=estop_path,
     ) as rc_friendly:
         friendly_fs.setup_proto_unix_io(friendly_proto_unix_io)
-        rc_friendly.setup_for_fullsystem()
 
         gamecontroller.setup_proto_unix_io(
             blue_full_system_proto_unix_io=blue_full_system_proto_unix_io,
@@ -398,6 +401,13 @@ def field_test_runner():
             layout_path=None,
         )
 
+        # Set control mode for all robots to AI so that packets are sent to the robots
+        for robot_id in range(MAX_ROBOT_IDS_PER_SIDE):
+            rc_friendly.toggle_individual_robot_control_mode(
+                robot_id,
+                IndividualRobotMode.AI,
+            )
+
         # connect the keyboard estop toggle to the key event if needed
         if estop_mode == EstopMode.KEYBOARD_ESTOP:
             tscope.keyboard_estop_shortcut.activated.connect(

src/software/simulated_tests/simulated_test_fixture.py

@@ -384,11 +384,13 @@ def run_test(
         assert failed_tests == 0
 
 
-def load_command_line_arguments():
+def load_command_line_arguments(allow_unrecognized: bool = False):
     """Load in command-line arguments using argparse
 
     NOTE: Pytest has its own built in argument parser (conftest.py, pytest_addoption)
     but it doesn't seem to play nicely with bazel. We just use argparse instead.
+
+    :param allow_unrecognized: if true, does not raise an error for unrecognized arguments
     """
     parser = argparse.ArgumentParser(description="Run simulated pytests")
     parser.add_argument(
@@ -464,15 +466,16 @@ def load_command_line_arguments():
         default=False,
         help="Use realism in the simulator",
     )
-    return parser.parse_args()
+    return parser.parse_known_args()[0] if allow_unrecognized else parser.parse_args()
 
 
 def pytest_main(file):
     """Runs the pytest file
 
     :param file: The test file to run
     """
-    args = load_command_line_arguments()
+    args = load_command_line_arguments(allow_unrecognized=True)
+
     # Run the test, -s disables all capturing at -vv increases verbosity
     # -W ignore::DeprecationWarning ignores deprecation warnings that spam the output
     sys.exit(

src/software/thunderscope/robot_diagnostics/robot_info.py

@@ -225,9 +225,8 @@ def create_control_mode_menu(
             )
 
         control_mode_menu.currentIndexChanged.connect(
-            lambda mode,
-            robot_id=self.robot_id: self.individual_robot_control_mode_signal.emit(
-                robot_id, IndividualRobotMode(mode)
+            lambda mode: self.individual_robot_control_mode_signal.emit(
+                self.robot_id, IndividualRobotMode(mode)
             )
         )
 

src/software/thunderscope/robot_diagnostics/robot_view.py

@@ -101,14 +101,14 @@ def __init__(self, available_control_modes: list[IndividualRobotMode]) -> None:
 
         self.layout = QVBoxLayout()
 
-        self.robot_view_widgets = []
+        self.components = []
 
         for id in range(MAX_ROBOT_IDS_PER_SIDE):
-            robot_view_widget = RobotViewComponent(
+            component = RobotViewComponent(
                 id, available_control_modes, self.individual_robot_control_mode_signal
             )
-            self.robot_view_widgets.append(robot_view_widget)
-            self.layout.addWidget(robot_view_widget)
+            self.components.append(component)
+            self.layout.addWidget(component)
 
         # for a QScrollArea, widgets cannot be added to it directly
         # doing so causes no scrolling to happen, and all the components get smaller
@@ -134,16 +134,16 @@ def refresh(self) -> None:
             and robot_statistic is not None
             and robot_status.robot_id == robot_statistic.robot_id
         ):  # if both pieces of data are available
-            self.robot_view_widgets[robot_status.robot_id].update(
+            self.components[robot_status.robot_id].update(
                 robot_status=robot_status, robot_statistic=robot_statistic
             )
         else:
             if robot_status is not None:
-                self.robot_view_widgets[robot_status.robot_id].update(
+                self.components[robot_status.robot_id].update(
                     robot_status,
                     robot_statistic=None,
                 )
             if robot_statistic is not None:
-                self.robot_view_widgets[robot_statistic.robot_id].update(
+                self.components[robot_statistic.robot_id].update(
                     robot_status=None, robot_statistic=robot_statistic
                 )

src/software/thunderscope/thunderscope.py

@@ -40,7 +40,6 @@ def __init__(
             The interval in milliseconds to refresh all the widgets.
         """
         self.refresh_interval_ms = refresh_interval_ms
-        self.widgets = {}
         self.refresh_timers = []
 
         self.tabs = QTabWidget()