Remove all c++ simulated tests (#3676)

* Remove all c++ simulated tests

* Remove c++ simulated test fixtures and validations

* Resolve issue #2581 TODOs

* Remove simulated test args from gtest main

* Remove TODO

* Remove visualizing c++ test flags from thunderscope and tbots.py

* Update iterfzf version

* Revert iterfzf version change

* Re-add new pytest targets

Author: nycrat

docs/getting-started.md

@@ -280,24 +280,12 @@ Now that you're setup, if you can run it on the command line, you can run it in
         - Xbox control allows us to use a connected Xbox controller to control the robots
 4. Run our SimulatedPlayTests in Thunderscope
     - This will launch the visualizer and simulate AI Plays, allowing us to visually see the robots acting according to their roles.
-    1. For legacy C++ tests (#2581) with the visualizer:
-        1. First run Thunderscope configured for receiving protobufs over unix sockets correctly: `./tbots.py run thunderscope_main --visualize_cpp_test`
-        2. Then run `./tbots.py test [some_target_here] --run_sim_in_realtime`
-    2. For PyTests:
-        - With the visualizer: `./tbots.py test [some_target_here] -t`
-        - Without the visualizer: `./tbots.py test [some_target_here]`
-    3. For legacy C++ tests (#2581) without the visualizer:
-        - `./tbots.py test [some_target_here]`
+    - With the visualizer: `./tbots.py test [some_target_here] -t`
+    - Without the visualizer: `./tbots.py test [some_target_here]`
 5. Run our SimulatedTacticTests in Thunderscope:
     - This will launch the visualizer and simulate an AI Tactic on a single robot
-    1. For legacy C++ tests (#2581) with the visualizer:
-        - First, run Thunderscope configured for receiving protobufs over unix sockets correctly: `./tbots.py run thunderscope_main --visualize_cpp_test`
-        - Then run `./tbots.py test [some_target_here] --run_sim_in_realtime`
-    2. For PyTests:
-        - With the visualizer: `./tbots.py test [some_target_here] -t`
-        - Without the visualizer: `./tbots.py test [some_target_here]`
-    3. For legacy C++ tests (#2581) without the visualizer:
-        - `./tbots.py test [some_target_here]`
+    - With the visualizer: `./tbots.py test [some_target_here] -t`
+    - Without the visualizer: `./tbots.py test [some_target_here]`
 
 ## Debugging
 

src/cli/cli_params.py

@@ -86,7 +86,6 @@ class DebugBinary(str, Enum):
 ]
 
 EnableThunderscopeOption = Annotated[bool, Option("-t", "--enable_thunderscope")]
-EnableVisualizerOption = Annotated[bool, Option("-v", "--enable_visualizer")]
 StopAIOnStartOption = Annotated[bool, Option("-s", "--stop_ai_on_start")]
 
 JobsOption = Annotated[str, Option("-j", "--jobs")]

src/shared/test_util/BUILD

@@ -18,7 +18,6 @@ cc_library(
     name = "tbots_gtest_main",
     testonly = True,
     srcs = ["tbots_gtest_main.cpp"],
-    hdrs = ["tbots_gtest_main.h"],
     deps = [
         "//software/logger",
         "@boost//:program_options",

src/shared/test_util/tbots_gtest_main.cpp

@@ -1,75 +1,16 @@
-#include "shared/test_util/tbots_gtest_main.h"
-
 #include <fenv.h>
+#include <gtest/gtest.h>
 
-#include <boost/program_options.hpp>
-
-#include "proto/parameters.pb.h"
 #include "software/logger/logger.h"
 
-bool TbotsGtestMain::help                = false;
-bool TbotsGtestMain::enable_visualizer   = false;
-bool TbotsGtestMain::run_sim_in_realtime = false;
-bool TbotsGtestMain::stop_ai_on_start    = false;
-std::string TbotsGtestMain::runtime_dir  = "/tmp/tbots/yellow_test";
-double TbotsGtestMain::test_speed        = 1.0;
-
+std::string runtime_dir = "/tmp/tbots/yellow_test";
 
 int main(int argc, char** argv)
 {
     testing::InitGoogleTest(&argc, argv);
     feenableexcept(FE_INVALID | FE_OVERFLOW);
 
-    boost::program_options::options_description desc{"Options"};
-
-    // TODO #(2510) Remove this once we port over to simulated pytests entirely
-    desc.add_options()("help,h",
-                       boost::program_options::bool_switch(&TbotsGtestMain::help),
-                       "Help screen");
-    desc.add_options()(
-        "enable_visualizer",
-        boost::program_options::bool_switch(&TbotsGtestMain::enable_visualizer),
-        "Displays simulated test on visualizer");
-    desc.add_options()(
-        "run_sim_in_realtime",
-        boost::program_options::bool_switch(&TbotsGtestMain::run_sim_in_realtime),
-        "Runs simulation in realtime, useful to look at simulated C++ tests in "
-        "thunderscope without running ThreadedFullsystemGUI");
-    desc.add_options()(
-        "stop_ai_on_start",
-        boost::program_options::bool_switch(&TbotsGtestMain::stop_ai_on_start),
-        "If enable_visualizer is true, then stops the AI when the test starts");
-    desc.add_options()(
-        "runtime_dir",
-        boost::program_options::value<std::string>(&TbotsGtestMain::runtime_dir),
-        "The directory to output logs to. Absolute paths are recommended as the "
-        "working directory is inside the bazel-out directory.");
-    desc.add_options()(
-        "test_speed", boost::program_options::value<double>(&TbotsGtestMain::test_speed),
-        "The speed adjustment factor. Values in the range [0.1, 1) will play the"
-        "test slower than realtime, and values in the range (1, 10] will play the"
-        "test faster than realtime i.e. 0.1 would be 10X slower than realtime, "
-        "and 10 would be 10X faster than realtime. Default value is 1.");
-
-    boost::program_options::variables_map vm;
-    boost::program_options::store(parse_command_line(argc, argv, desc), vm);
-    boost::program_options::notify(vm);
-
-    if (!TbotsGtestMain::help)
-    {
-        LoggerSingleton::initializeLogger(TbotsGtestMain::runtime_dir, nullptr);
+    LoggerSingleton::initializeLogger(runtime_dir, nullptr);
 
-        if (TbotsGtestMain::enable_visualizer || TbotsGtestMain::run_sim_in_realtime)
-        {
-            // disable floating point errors when using visualizer due to potential
-            // floating point errors in QT
-            fedisableexcept(FE_INVALID | FE_OVERFLOW);
-        }
-        return RUN_ALL_TESTS();
-    }
-    else
-    {
-        std::cout << desc << std::endl;
-        return 0;
-    }
+    return RUN_ALL_TESTS();
 }

src/shared/test_util/tbots_gtest_main.h

@@ -87,21 +87,6 @@ py_test(
     ],
 )
 
-cc_test(
-    name = "stop_play_cpp_test",
-    srcs = ["stop_play_test.cpp"],
-    deps = [
-        "//shared/test_util:tbots_gtest_main",
-        "//software/ai/hl/stp/play:stop_play",
-        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
-        "//software/simulated_tests/cpp_validation:validation_function",
-        "//software/simulated_tests/non_terminating_validation_functions",
-        "//software/test_util",
-        "//software/time:duration",
-        "//software/world",
-    ],
-)
-
 py_test(
     name = "stop_play_test",
     srcs = [

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

@@ -44,20 +44,6 @@ py_test(
     ],
 )
 
-cc_test(
-    name = "crease_defense_play_cpp_test",
-    srcs = ["crease_defense_play_test.cpp"],
-    deps = [
-        ":crease_defense_play",
-        "//shared/test_util:tbots_gtest_main",
-        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
-        "//software/simulated_tests/cpp_validation:validation_function",
-        "//software/simulated_tests/non_terminating_validation_functions",
-        "//software/simulated_tests/terminating_validation_functions",
-        "//software/test_util",
-    ],
-)
-
 cc_test(
     name = "crease_defense_play_fsm_test",
     srcs = ["crease_defense_play_fsm_test.cpp"],

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

@@ -22,20 +22,6 @@ cc_library(
     alwayslink = True,
 )
 
-cc_test(
-    name = "example_play_cpp_test",
-    srcs = ["example_play_test.cpp"],
-    deps = [
-        "//shared/test_util:tbots_gtest_main",
-        "//software/ai/hl/stp/play/example:example_play",
-        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
-        "//software/simulated_tests/cpp_validation:validation_function",
-        "//software/test_util",
-        "//software/time:duration",
-        "//software/world",
-    ],
-)
-
 cc_test(
     name = "example_play_fsm_test",
     srcs = ["example_play_fsm_test.cpp"],