More clean up

Author: nycrat

src/software/gameplay_tests/fixture.py

@@ -36,13 +36,8 @@
 
 LAUNCH_DELAY_S = 0.1
 
+# The test-mode session bound to the currently running test
 ACTIVE_SESSION = None
-"""The test-mode session bound to the currently running test, or None.
-
-Set by the test-mode launcher (software.gameplay_tests.test_mode) while a
-selected test runs, so that gameplay_test_runner binds the test to the open
-Thunderscope instead of launching new binaries.
-"""
 
 
 @dataclass
@@ -56,17 +51,12 @@ class SessionContext:
     blue_full_system_proto_unix_io: ProtoUnixIO
     yellow_full_system_proto_unix_io: ProtoUnixIO
     simulator_proto_unix_io: ProtoUnixIO
-    gamecontroller: Any
-    robot_communication: Optional[Any] = None
-    """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"""
+    gamecontroller: Gamecontroller
+    robot_communication: Optional[RobotCommunication] = None
+    estop_mode: Optional[EstopMode] = None
+    simulator: Optional[Simulator] = None
+    blue_full_system: Optional[FullSystem] = None
+    yellow_full_system: Optional[FullSystem] = None
 
 
 @pytest.fixture
@@ -174,9 +164,7 @@ def simulated_session(args, runtime_subpath):
             should_restart_on_crash=False,
             running_in_realtime=args.enable_thunderscope and not args.ci_mode,
         ) as yellow_fs,
-        Gamecontroller(
-            suppress_logs=(not args.show_gamecontroller_logs)
-        ) as gamecontroller,
+        Gamecontroller(suppress_logs=(not args.verbose)) as gamecontroller,
     ):
         blue_fs.setup_proto_unix_io(blue_full_system_proto_unix_io)
         yellow_fs.setup_proto_unix_io(yellow_full_system_proto_unix_io)
@@ -189,6 +177,7 @@ 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=None,  # None so that gamecontroller doesn't set robot limit
         )
 
         time.sleep(LAUNCH_DELAY_S)
@@ -240,7 +229,7 @@ def field_session(args, runtime_subpath):
         ) 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),
+            suppress_logs=(not args.verbose),
             use_conventional_port=False,
         ) as gamecontroller,
         WifiCommunicationManager(

src/software/gameplay_tests/test_mode.py

@@ -1,4 +1,4 @@
-import argparse
+import copy
 import threading
 from dataclasses import dataclass, field
 
@@ -16,7 +16,6 @@
 logger = create_logger(__name__)
 
 TEST_MODE_RUNTIME_SUBPATH = "test_mode"
-"""Fixed runtime subdirectory used for the long-lived test-mode binaries"""
 
 
 @dataclass
@@ -109,42 +108,14 @@ def run_selected_test(session: TestModeSession, test_path: str) -> str:
     return collector.summary(exit_code)
 
 
-def _build_test_args(main_args) -> argparse.Namespace:
-    """Builds a gameplay-test args namespace from thunderscope_main's arguments.
-
-    Maps the subset of test-mode-relevant flags onto the namespace expected by
-    the session context managers and runners.
-
-    :param main_args: parsed thunderscope_main command-line arguments.
-    :return: a Namespace compatible with the session context managers.
-    """
-    return argparse.Namespace(
-        run_field_test=main_args.run_field_test,
-        simulator_runtime_dir=main_args.simulator_runtime_dir,
-        blue_full_system_runtime_dir=main_args.blue_full_system_runtime_dir,
-        yellow_full_system_runtime_dir=main_args.yellow_full_system_runtime_dir,
-        debug_simulator=main_args.debug_simulator,
-        debug_blue_full_system=main_args.debug_blue_full_system,
-        debug_yellow_full_system=main_args.debug_yellow_full_system,
-        enable_realism=main_args.enable_realism,
-        enable_thunderscope=True,
-        ci_mode=main_args.ci_mode,
-        show_gamecontroller_logs=main_args.verbose,
-        run_yellow=main_args.run_yellow,
-        channel=main_args.channel,
-        interface=main_args.interface,
-        keyboard_estop=main_args.keyboard_estop,
-        disable_communication=main_args.disable_communication,
-        layout=main_args.layout,
-    )
-
-
 def launch_test_mode(main_args) -> None:
     """Launches Thunderscope in test mode and runs the Qt event loop.
 
     :param main_args: parsed thunderscope_main command-line arguments.
     """
-    args = _build_test_args(main_args)
+    args = copy.copy(main_args)
+    args.enable_thunderscope = True
+
     tests = discover_tests()
 
     session_cm = (

src/software/gameplay_tests/util.py

@@ -105,7 +105,7 @@ def load_command_line_arguments(allow_unrecognized: bool = False):
         help="Debug yellow full_system",
     )
     general_group.add_argument(
-        "--show_gamecontroller_logs",
+        "--verbose",
         action="store_true",
         default=False,
         help="Show gamecontroller logs",

src/software/thunderscope/test_runner_widget.py

@@ -19,7 +19,6 @@ class TestRunnerWidget(QWidget):
     """
 
     __run_finished_signal = pyqtSignal(str)
-    """Carries a finished run's status string onto the main (Qt) thread."""
 
     def __init__(
         self,