Clean up changes some more

Author: nycrat

src/software/ai/hl/stp/tactic/move/move_tactic_test.py

@@ -67,7 +67,7 @@ def setup():
         # Robot stays at destination for one second
         [
             DurationValidation(
-                duration_s=1, validation=RobotEventuallyAtPosition(1, destination)
+                duration_s=10, validation=RobotEventuallyAtPosition(1, destination)
             )
         ]
     ]

src/software/gameplay_tests/fixture.py

@@ -144,10 +144,6 @@ def bound_runner(session):
 def simulated_session(args, runtime_subpath):
     """Launches the simulator, blue/yellow full systems, and gamecontroller.
 
-    Sets up their ProtoUnixIOs and keeps the binaries alive for the duration of
-    the context. Used both per-test (simulated_test_runner) and once for the
-    whole session (test mode).
-
     :param args: Parsed command-line arguments.
     :param runtime_subpath: Subdirectory (under each runtime dir) for this session.
     :yields: A SessionContext with the live ProtoUnixIOs and gamecontroller.
@@ -212,10 +208,6 @@ def simulated_session(args, runtime_subpath):
 def field_session(args, runtime_subpath):
     """Launches the friendly full system, gamecontroller, WiFi, and robot comms.
 
-    Sets up their ProtoUnixIOs, puts all robots under AI control, and keeps the
-    binaries alive for the duration of the context. Used both per-test
-    (field_test_runner) and once for the whole session (test mode).
-
     :param args: Parsed command-line arguments.
     :param runtime_subpath: Subdirectory (under each runtime dir) for this session.
     :yields: A SessionContext with the live ProtoUnixIOs, gamecontroller,
@@ -297,9 +289,6 @@ def field_session(args, runtime_subpath):
 def wire_field_keyboard_estop(thunderscope, robot_communication, estop_mode):
     """Connects Thunderscope's keyboard estop shortcut to robot communication.
 
-    Only does anything in keyboard estop mode; enables the estop immediately so
-    a field test can start moving robots as soon as it runs.
-
     :param thunderscope: The Thunderscope instance.
     :param robot_communication: The RobotCommunication instance.
     :param estop_mode: The EstopMode in use.
@@ -341,8 +330,6 @@ def build_field_test_thunderscope(
 ):
     """Builds a Thunderscope with the field-test view bound to a session.
 
-    Also wires up the keyboard estop for the session's robot communication.
-
     :param session: the SessionContext whose ProtoUnixIOs to visualize.
     :param yellow_is_friendly: whether the friendly team is yellow.
     :param layout_path: the Thunderscope layout to load, or None.

src/software/gameplay_tests/tbots_test_runner.py

@@ -45,8 +45,6 @@ def __init__(
         self.gamecontroller = gamecontroller
         self.is_yellow_friendly = is_yellow_friendly
         self.owns_thunderscope = owns_thunderscope
-        # Optional Event used to stop the test loop early (set in test mode when
-        # the user selects another test to run). None when not bound.
         self.cancel_event = None
         self.world_buffer = ThreadSafeBuffer(buffer_size=20, protobuf_type=World)
         self.primitive_set_buffer = ThreadSafeBuffer(
@@ -61,9 +59,6 @@ def __init__(
             buffer_size=1, protobuf_type=RobotStatus
         )
 
-        # Track every (proto_unix_io, proto_class, buffer) we register so that
-        # cleanup() can deregister them. This keeps long-lived ProtoUnixIOs
-        # (test mode) from accumulating dead buffers across runs.
         self._registered_observers = []
 
         self._register_observer(
@@ -196,20 +191,16 @@ def run_test(
         """
         self._pre_run_setup(setup)
 
+        threading.excepthook = self._excepthook
+
         args = (
             always_validation_sequence_set,
             eventually_validation_sequence_set,
             test_timeout_s,
             gc_cmd_with_delay,
         )
 
-        # When we own the Thunderscope, run the test loop on a background thread
-        # and block the main thread on the Qt event loop. When bound to an
-        # already-open Thunderscope (test mode), we are already off the main
-        # thread, so run the loop inline.
         if self.thunderscope and self.owns_thunderscope:
-            threading.excepthook = self._excepthook
-
             run_test_thread = threading.Thread(
                 target=self._runner, daemon=True, args=args
             )

src/software/gameplay_tests/util.py

@@ -205,9 +205,7 @@ def pytest_main(file):
 def _file_has_gameplay_test(path: str) -> bool:
     """Returns whether a Python file defines a test using gameplay_test_runner.
 
-    Parses the file and looks for a test function (named test*) that requests the
-    gameplay_test_runner fixture as a parameter. Using the AST instead of a text
-    search avoids false positives and does not require importing the module.
+    Parses the file and looks for a test function with gameplay_test_runner as a parameter.
 
     :param path: absolute path to the Python file to inspect.
     :return: True if the file contains a gameplay_test_runner test.
@@ -235,10 +233,7 @@ def _file_has_gameplay_test(path: str) -> bool:
 def discover_tests() -> list[tuple[str, str]]:
     """Discovers gameplay tests from the workspace source tree.
 
-    Returns every test file containing a test that uses the gameplay_test_runner
-    fixture. Such tests run as both simulated and field tests, so the same list
-    is offered in either mode; the _field_test.py naming is only a convention
-    (typically simpler, fewer-robot tests) and is not used to filter.
+    Returns every test file containing a test that uses the gameplay_test_runner fixture.
 
     :return: list of (display_name, absolute_path) tuples, sorted by name.
     """