Supplement Ball Placement tests with tests from the Ball Placement Technical Challenges Scenario (UBC-Thunderbots#3506)

* Finish adding test cases and all test cases pass

* add javadoc specification for run_ball_placement_scenario

* [pre-commit.ci lite] apply automatic fixes

* fix and add docstring and remove TODOs

* [pre-commit.ci lite] apply automatic fixes

* set empty list of yellow_bots to be basecase

* [pre-commit.ci lite] apply automatic fixes

---------

Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

Author: StarrryNight

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

@@ -33,6 +33,7 @@ cc_library(
 
 py_test(
     name = "ball_placement_play_test",
+    timeout = "long",
     srcs = [
         "ball_placement_play_test.py",
     ],

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

@@ -14,9 +14,16 @@
 
 
 def ball_placement_play_setup(
-    ball_start_point, ball_placement_point, simulated_test_runner
+    ball_start_point, ball_placement_point, simulated_test_runner, blue_only
 ):
-    # Setup Bots
+    """Set up ball placement test by initializing bot positions, ball placement targets, and test settings
+
+    :param ball_start_point: Initial point of the ball
+    :param ball_placement_point: Target point of the ball
+    :param simulated_test_runner: Simulated test runner
+    :param blue_only: If True, only the blue team is active; the yellow team is ignored.
+    """
+    # Setup blue robots
     blue_bots = [
         tbots_cpp.Point(-2.75, 1.5),
         tbots_cpp.Point(-0.0, 0.0),
@@ -29,14 +36,23 @@ def ball_placement_play_setup(
         .friendlyDefenseArea()
         .negXPosYCorner(),
     ]
-    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(),
-    ]
+
+    yellow_bots = []
+
+    # Optionally skip yellow robots entirely
+    if not blue_only:
+        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(
@@ -53,12 +69,14 @@ def ball_placement_play_setup(
     blue_play = Play()
     blue_play.name = PlayName.BallPlacementPlay
 
-    # TODO (#3019): Re-enable enemy ai after enemy ball placement is fixed
     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)
+    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(
@@ -72,8 +90,6 @@ def ball_placement_play_setup(
     )
 
 
-# TODO (#2599): Remove Duration parameter from test
-# TODO (#2690): Robot gets stuck in corner of defense area
 @pytest.mark.parametrize(
     "ball_start_point, ball_placement_point",
     [
@@ -92,6 +108,51 @@ def ball_placement_play_setup(
 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",
+    [
+        # 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 run_ball_placement_scenario(
+    simulated_test_runner, ball_start_point, ball_placement_point, blue_only=False
+):
+    """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 blue_only: If True, only the blue team is active; the yellow team is ignored.
+    """
     # Placement Eventually Validation
     placement_eventually_validation_sequence_set = [
         [
@@ -107,6 +168,7 @@ def test_two_ai_ball_placement(
             test_setup_arg["ball_start_point"],
             test_setup_arg["ball_placement_point"],
             simulated_test_runner,
+            blue_only,
         ),
         params=[
             {
@@ -151,7 +213,7 @@ def test_two_ai_ball_placement(
         inv_eventually_validation_sequence_set=drop_ball_eventually_validation_sequence_set,
         ag_always_validation_sequence_set=drop_ball_always_validation_sequence_set,
         ag_eventually_validation_sequence_set=drop_ball_eventually_validation_sequence_set,
-        test_timeout_s=[15],
+        test_timeout_s=[30],
     )