Restart simulator and full system between tests

Author: nycrat

src/software/gameplay_tests/fixture.py

@@ -61,6 +61,12 @@ class SessionContext:
     """The RobotCommunication instance, only set for field tests"""
     estop_mode: Optional[Any] = None
     """The EstopMode, only set for field tests"""
+    simulator: Optional[Any] = None
+    """The Simulator context manager, only set for simulated tests"""
+    blue_full_system: Optional[Any] = None
+    """The blue FullSystem context manager, only set for simulated tests"""
+    yellow_full_system: Optional[Any] = None
+    """The yellow FullSystem context manager, only set for simulated tests"""
 
 
 @pytest.fixture
@@ -108,6 +114,13 @@ def bound_runner(session):
             owns_thunderscope=False,
         )
     else:
+        # Relaunch the simulator and full systems so each test starts from clean state.
+        # The ProtoUnixIOs reconnect automatically.
+        context.simulator.restart()
+        context.blue_full_system.restart()
+        context.yellow_full_system.restart()
+        time.sleep(LAUNCH_DELAY_S)
+
         runner = SimulatedTestRunner(
             test_name,
             session.thunderscope,
@@ -178,7 +191,6 @@ def simulated_session(args, runtime_subpath):
         gamecontroller.setup_proto_unix_io(
             blue_full_system_proto_unix_io=blue_full_system_proto_unix_io,
             yellow_full_system_proto_unix_io=yellow_full_system_proto_unix_io,
-            simulator_proto_unix_io=simulator_proto_unix_io,
         )
 
         time.sleep(LAUNCH_DELAY_S)
@@ -188,6 +200,9 @@ def simulated_session(args, runtime_subpath):
             yellow_full_system_proto_unix_io=yellow_full_system_proto_unix_io,
             simulator_proto_unix_io=simulator_proto_unix_io,
             gamecontroller=gamecontroller,
+            simulator=simulator,
+            blue_full_system=blue_fs,
+            yellow_full_system=yellow_fs,
         )
 
 

src/software/thunderscope/binary_context_managers/full_system.py

@@ -207,6 +207,11 @@ def __exit__(self, type, value, traceback) -> None:
             except TimeoutExpired:
                 self.full_system_proc.kill()
 
+    def restart(self) -> None:
+        """Kill and relaunch the full_system process at the same runtime dir."""
+        kill_cmd_if_running(self.generic_command)
+        self.full_system_proc = Popen(self.full_system.split(" "))
+
     def setup_proto_unix_io(self, proto_unix_io: ProtoUnixIO) -> None:
         """Helper to run full system and attach the appropriate unix senders/listeners
 

src/software/thunderscope/binary_context_managers/simulator.py

@@ -64,6 +64,9 @@ def __enter__(self) -> Simulator:
         if self.enable_realism:
             simulator_command += " --enable_realism"
 
+        # Stored so the process can be relaunched via restart()
+        self.simulator_command = simulator_command
+
         if self.debug_simulator:
             # We don't want to check the exact command because this binary could
             # be debugged from clion or somewhere other than gdb
@@ -107,6 +110,11 @@ def __exit__(self, type, value, traceback) -> None:
             self.er_force_simulator_proc.kill()
             self.er_force_simulator_proc.wait()
 
+    def restart(self) -> None:
+        """Kill and relaunch the simulator process at the same runtime dir."""
+        kill_cmd_if_running(self.generic_command)
+        self.er_force_simulator_proc = Popen(self.simulator_command.split(" "))
+
     def setup_proto_unix_io(
         self,
         simulator_proto_unix_io: ProtoUnixIO,