Port all simulated c++ tests to python (UBC-Thunderbots#3632)

* Port shoot or pass play test

* Add todo list for tests to port

* Add ball kicked in direction validation

* Port chip tactic test

* Port shoot or chip play test

* Add delay validation

* Port crease defense play test

* Port stop play test

* Port free kick play test

* Port kickoff enemy play test

* Port kickoff friendly play test

* Fix kickoff enemy play test

* Port additional crease defender tactic tests

* Port penalty kick tactic test

* Port move tactic test with lots of other changes

* Add robot received ball validation

* Port receiver tactic test

* Port pivot kick tactic test

* Port kick tactic test

* Port halt tactic test

* Port dribble tactic test

* Port attacker tactic test

* Fix example play test

* Format

* Remove todo

* Update TODO issue tag

* Fix typo

* Fix shoot or pass play test

* Skip flaky receiver tests, has TODO

* Port ball occlusion test

* Port penalty kick enemy play test

* Small function refactor

* Remove todo

* Add duration validation

* Use constant instead of 0.0166

* Make DurationValidation validate consecutive ticks

* Add doc strings for delay and duration validations

Author: nycrat

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.
 
@@ -22,6 +23,7 @@ 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()
 
@@ -36,17 +38,26 @@ def create_world_state(
         )
 
     for robot_id, robot_location in enumerate(blue_robot_locations):
-        orientation = 0
+        orientation = tbots_cpp.Angle.zero()
+        velocity = tbots_cpp.Vector(0, 0)
+
         try:
             orientation = blue_robot_orientations[robot_id]
         except IndexError:
             pass
+
+        try:
+            velocity = blue_robot_velocities[robot_id]
+        except IndexError:
+            pass
+
         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_orientation=tbots_cpp.createAngleProto(orientation),
+                global_velocity=tbots_cpp.createVectorProto(velocity),
             )
         )
 

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

@@ -6,65 +6,75 @@
 from software.simulated_tests.simulated_test_fixture import (
     pytest_main,
 )
+from software.simulated_tests.validation.robot_speed_threshold import (
+    RobotSpeedEventuallyBelowThreshold,
+)
+from software.simulated_tests.validation.robot_enters_region import (
+    NumberOfRobotsEventuallyEntersRegion,
+)
+from software.simulated_tests.validation.delay_validation import DelayValidation
 
 
 def test_crease_defense_play(simulated_test_runner):
-    def setup(*args):
-        ball_initial_pos = tbots_cpp.Point(0.9, 2.85)
-
-        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(),
-        ]
+    field = tbots_cpp.Field.createSSLDivisionBField()
+    goalie_position = tbots_cpp.Point(-4.5, 0)
 
+    def setup(*args):
         simulated_test_runner.set_world_state(
             create_world_state(
-                yellow_robot_locations=yellow_bots,
-                blue_robot_locations=blue_bots,
-                ball_location=ball_initial_pos,
+                blue_robot_locations=[
+                    goalie_position,
+                    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_robot_locations=[
+                    tbots_cpp.Point(1, 3),
+                    tbots_cpp.Point(1, -0.25),
+                    tbots_cpp.Point(1, -1.25),
+                    field.enemyGoalCenter(),
+                    field.enemyDefenseArea().negXNegYCorner(),
+                    field.enemyDefenseArea().negXPosYCorner(),
+                ],
+                ball_location=tbots_cpp.Point(0.9, 2.85),
                 ball_velocity=tbots_cpp.Vector(0, 0),
             ),
         )
 
-        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
-        )
-
         simulated_test_runner.set_plays(
             blue_play=PlayName.CreaseDefensePlay, yellow_play=PlayName.HaltPlay
         )
 
-    # TODO (#2778): actually add validations
-    always_validation_sequence_set = [[]]
+        simulated_test_runner.send_gamecontroller_command(
+            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+        )
 
-    # TODO (#2778): actually add validations
-    eventually_validation_sequence_set = [[]]
+    eventually_validations = [
+        [
+            # Robots start moving and wait for all robots to come to a halt
+            DelayValidation(
+                delay_s=1, validation=RobotSpeedEventuallyBelowThreshold(0.001)
+            ),
+            # Two friendly crease defenders should be close to the goalie
+            NumberOfRobotsEventuallyEntersRegion(
+                regions=[
+                    tbots_cpp.Rectangle(
+                        goalie_position + tbots_cpp.Vector(0, -1),
+                        goalie_position + tbots_cpp.Vector(1.5, 1),
+                    )
+                ],
+                req_robot_cnt=3,
+            ),
+        ]
+    ]
 
     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,
+        inv_eventually_validation_sequence_set=eventually_validations,
+        ag_eventually_validation_sequence_set=eventually_validations,
+        test_timeout_s=10,
     )
 
 

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

@@ -23,7 +23,7 @@ cc_library(
 )
 
 cc_test(
-    name = "example_play_test",
+    name = "example_play_cpp_test",
     srcs = ["example_play_test.cpp"],
     deps = [
         "//shared/test_util:tbots_gtest_main",
@@ -47,9 +47,8 @@ cc_test(
 )
 
 py_test(
-    name = "example_play_test_py",
+    name = "example_play_test",
     srcs = ["example_play_test.py"],
-    main = "example_play_test.py",
     # TODO (#2619) Remove tag to run in parallel
     tags = [
         "exclusive",

src/software/ai/hl/stp/play/example/example_play_test.py

@@ -3,10 +3,10 @@
     NumberOfRobotsEventuallyExitsRegion,
     NumberOfRobotsEventuallyEntersRegion,
 )
-from software.simulated_tests.validation.robot_speed_threshold import *
 from proto.message_translation.tbots_protobuf import create_world_state
 from proto.ssl_gc_common_pb2 import Team
 from proto.play_pb2 import PlayName
+from proto.import_all_protos import Command
 from software.simulated_tests.simulated_test_fixture import (
     pytest_main,
 )
@@ -47,10 +47,6 @@ def setup(*args):
             ),
         )
 
-        simulated_test_runner.set_plays(
-            blue_play=PlayName.ExamplePlay, yellow_play=PlayName.HaltPlay
-        )
-
         simulated_test_runner.send_gamecontroller_command(
             gc_command=Command.Type.STOP, team=Team.UNKNOWN
         )
@@ -61,23 +57,25 @@ def setup(*args):
             gc_command=Command.Type.DIRECT, team=Team.BLUE
         )
 
-    # params just have to be a list of length 1 to ensure the test runs at least once
+        simulated_test_runner.set_plays(
+            blue_play=PlayName.ExamplePlay, yellow_play=PlayName.HaltPlay
+        )
+
+    eventually_validations = [
+        [
+            NumberOfRobotsEventuallyEntersRegion(
+                regions=[tbots_cpp.Circle(ball_initial_pos, 1.15)], req_robot_cnt=6
+            ),
+            NumberOfRobotsEventuallyExitsRegion(
+                regions=[tbots_cpp.Circle(ball_initial_pos, 0.9)], req_robot_cnt=6
+            ),
+        ]
+    ]
+
     simulated_test_runner.run_test(
         setup=setup,
-        params=[0],
-        inv_always_validation_sequence_set=[[]],
-        inv_eventually_validation_sequence_set=[
-            [
-                NumberOfRobotsEventuallyEntersRegion(
-                    regions=[tbots_cpp.Circle(ball_initial_pos, 1.15)], req_robot_cnt=6
-                ),
-                NumberOfRobotsEventuallyExitsRegion(
-                    regions=[tbots_cpp.Circle(ball_initial_pos, 0.9)], req_robot_cnt=6
-                ),
-            ]
-        ],
-        ag_always_validation_sequence_set=[[]],
-        ag_eventually_validation_sequence_set=[[]],
+        inv_eventually_validation_sequence_set=eventually_validations,
+        ag_eventually_validation_sequence_set=eventually_validations,
         test_timeout_s=10,
     )