Ability to run tests within thunderscope

src/cli/cli_params.py

@@ -90,6 +90,21 @@ class DebugBinary(str, Enum):
 EnableThunderscopeOption = Annotated[bool, Option("-t", "--enable_thunderscope")]
 StopAIOnStartOption = Annotated[bool, Option("-s", "--stop_ai_on_start")]
 
+TestModeOption = Annotated[
+    bool,
+    Option(
+        "--test_mode",
+        help="Launch Thunderscope with a widget to select and run gameplay tests",
+    ),
+]
+RunFieldTestOption = Annotated[
+    bool,
+    Option(
+        "--run_field_test",
+        help="In test mode, run field tests instead of simulated tests",
+    ),
+]
+
 JobsOption = Annotated[str, Option("-j", "--jobs")]
 RunsOption = Annotated[
     int,
@@ -166,6 +181,22 @@ class DebugBinary(str, Enum):
         title="Diagnostics",
         description="Run Thunderscope in diagnostics mode against real robots",
     ),
+    questionary.Choice(
+        title="Tests",
+        description="Launch with a widget to select and run gameplay tests",
+    ),
+]
+
+# Thunderscope test mode "Test type?" menu.
+TEST_TYPE_CHOICES = [
+    questionary.Choice(
+        title="Simulated tests",
+        description="Run gameplay tests against the simulator",
+    ),
+    questionary.Choice(
+        title="Field tests",
+        description="Run gameplay tests against real robots (requires an interface)",
+    ),
 ]
 
 # Thunderscope simulator "Options:" checkbox.

src/software/er_force_simulator_main.cpp

@@ -133,8 +133,6 @@ int main(int argc, char** argv)
             ThreadedProtoUnixSender<TbotsProto::WorldStateReceivedTrigger>(
                 runtime_dir + WORLD_STATE_RECEIVED_TRIGGER_PATH);
 
-        bool has_sent_world_state_trigger = false;
-
         // Inputs
         // World State Input: Configures the ERForceSimulator
         auto world_state_input = ThreadedProtoUnixListener<TbotsProto::WorldState>(
@@ -144,14 +142,10 @@ int main(int argc, char** argv)
                 std::scoped_lock lock(simulator_mutex);
                 er_force_sim->setWorldState(input);
 
-                if (!has_sent_world_state_trigger)
-                {
-                    auto world_state_received_trigger_msg =
-                        *createWorldStateReceivedTrigger();
-                    world_state_received_trigger.sendProto(
-                        world_state_received_trigger_msg);
-                    has_sent_world_state_trigger = true;
-                }
+                auto world_state_received_trigger_msg =
+                    *createWorldStateReceivedTrigger();
+                world_state_received_trigger.sendProto(
+                    world_state_received_trigger_msg);
             });
 
         // World Input: Buffer vision until we have primitives to tick

src/software/gameplay_tests/BUILD

@@ -95,3 +95,21 @@ py_library(
         requirement("pytest"),
     ],
 )
+
+py_library(
+    name = "test_mode",
+    srcs = [
+        "test_mode.py",
+    ],
+    deps = [
+        ":fixture",
+        ":util",
+        "//proto:import_all_protos",
+        "//software/logger:py_logger",
+        "//software/thunderscope",
+        "//software/thunderscope:config",
+        "//software/thunderscope:test_runner_widget",
+        "//software/thunderscope:thunderscope_types",
+        requirement("pytest"),
+    ],
+)

src/software/gameplay_tests/field_test_runner.py

@@ -25,6 +25,7 @@ def __init__(
         gamecontroller,
         robot_communication,
         is_yellow_friendly=False,
+        owns_thunderscope=True,
     ):
         """Initialize the FieldTestRunner
 
@@ -35,6 +36,8 @@ def __init__(
         :param gamecontroller: The gamecontroller context managed instance
         :param robot_communication: The robot communication instance
         :param: is_yellow_friendly: if yellow is the friendly team
+        :param owns_thunderscope: Whether this runner controls the Thunderscope
+            lifecycle (False when binding to an open Thunderscope in test mode)
         """
         super(FieldTestRunner, self).__init__(
             test_name,
@@ -43,6 +46,7 @@ def __init__(
             yellow_full_system_proto_unix_io,
             gamecontroller,
             is_yellow_friendly,
+            owns_thunderscope=owns_thunderscope,
         )
         self.is_yellow_friendly = is_yellow_friendly
         self.robot_communication = robot_communication
@@ -78,7 +82,7 @@ def _runner(
 
         time_elapsed_s = 0
 
-        while time_elapsed_s < test_timeout_s:
+        while time_elapsed_s < test_timeout_s and not self._is_cancelled():
             processing_start_time = time.time()
 
             # Check for new GC commands at this time step