Penalty kick play pytest

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

@@ -1,9 +1,10 @@
-package(default_visibility = ["//visibility:public"])
-
+load("@simulated_tests_deps//:requirements.bzl", "requirement")
 # We force linking for all plays so that the static variables required for the
 # "factory" design pattern to work are linked in
 # https://www.bfilipek.com/2018/02/static-vars-static-lib.html
 
+package(default_visibility = ["//visibility:public"])
+
 cc_library(
     name = "penalty_kick_play",
     srcs = [
@@ -37,18 +38,13 @@ cc_test(
     ],
 )
 
-cc_test(
+py_test(
     name = "penalty_kick_play_test",
-    srcs = ["penalty_kick_play_test.cpp"],
+    srcs = ["penalty_kick_play_test.py"],
+    tags = ["exclusive"],
     deps = [
-        ":penalty_kick_play",
-        "//shared/test_util:tbots_gtest_main",
-        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
-        "//software/simulated_tests/non_terminating_validation_functions",
-        "//software/simulated_tests/terminating_validation_functions",
-        "//software/simulated_tests/validation:validation_function",
-        "//software/test_util",
-        "//software/time:duration",
-        "//software/world",
+        "//software:conftest",
+        "//software/simulated_tests:validation",
+        requirement("pytest"),
     ],
 )

src/software/ai/hl/stp/play/penalty_kick/penalty_kick_play_test.py

@@ -0,0 +1,215 @@
+import sys
+
+import pytest
+
+import software.python_bindings as tbots_cpp
+
+
+from software.simulated_tests.ball_enters_region import BallEventuallyEntersRegion
+from software.simulated_tests.ball_moves_forward import BallAlwaysMovesForward
+from software.simulated_tests.friendly_has_ball_possession import (
+    FriendlyAlwaysHasBallPossession,
+)
+from software.simulated_tests.friendly_team_scored import FriendlyTeamEventuallyScored
+
+from proto.message_translation.tbots_protobuf import create_world_state
+from proto.import_all_protos import *
+from proto.ssl_gc_common_pb2 import Team
+from proto.play_pb2 import Play, PlayName
+
+from software.simulated_tests.robot_enters_region import (
+    NumberOfRobotsEventuallyEntersRegion,
+)
+
+
+def test_penalty_kick_play_setup(simulated_test_runner):
+    ball_initial_pos = tbots_cpp.Point(-1.5, 0)
+
+    def setup(*args):
+        # Setup Bots
+        blue_bots = [
+            tbots_cpp.Point(3, 2.5),
+            tbots_cpp.Point(2, 1.5),
+            tbots_cpp.Point(-1, 0.5),
+            tbots_cpp.Point(1, -0.5),
+            tbots_cpp.Point(0, -1.5),
+            tbots_cpp.Point(-3, -2.5),
+        ]
+
+        yellow_bots = [
+            tbots_cpp.Point(1, 0),
+            tbots_cpp.Point(1, 2.5),
+            tbots_cpp.Point(1, -2.5),
+            tbots_cpp.Field.createSSLDivisionBField().enemyGoalCenter(),
+            tbots_cpp.Field.createSSLDivisionBField()
+            .enemyDefenseArea()
+            .negXNegYCorner(),
+            tbots_cpp.Field.createSSLDivisionBField()
+            .enemyDefenseArea()
+            .negXPosYCorner(),
+        ]
+
+        # Force play override here
+        blue_play = Play()
+        blue_play.name = PlayName.PenaltyKickPlay
+
+        yellow_play = Play()
+        yellow_play.name = PlayName.PenaltyKickEnemyPlay
+
+        simulated_test_runner.blue_full_system_proto_unix_io.send_proto(Play, blue_play)
+        simulated_test_runner.yellow_full_system_proto_unix_io.send_proto(
+            Play, yellow_play
+        )
+
+        # Game Controller Setup
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+        )
+
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.NORMAL_START, team=Team.BLUE
+        )
+
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.PENALTY, team=Team.BLUE
+        )
+
+        # Create world state
+        simulated_test_runner.simulator_proto_unix_io.send_proto(
+            WorldState,
+            create_world_state(
+                yellow_robot_locations=yellow_bots,
+                blue_robot_locations=blue_bots,
+                ball_location=ball_initial_pos,
+                ball_velocity=tbots_cpp.Vector(0, 0),
+            ),
+        )
+
+    field = tbots_cpp.Field.createSSLDivisionBField()
+
+    # Always Validation
+    inv_always_validation_sequence_set = [[]]
+
+    ag_always_validation_sequence_set = [[]]
+
+    # Eventually Validation
+    inv_eventually_validation_sequence_set = [
+        [
+            NumberOfRobotsEventuallyEntersRegion(
+                region=tbots_cpp.Rectangle(
+                    tbots_cpp.Point(-4.5, -3), tbots_cpp.Point(-2.5, 3)
+                ),
+                req_robot_cnt=5,
+            ),
+            NumberOfRobotsEventuallyEntersRegion(
+                region=tbots_cpp.Circle(ball_initial_pos, 0.5), req_robot_cnt=1
+            ),
+        ]
+    ]
+    ag_eventually_validation_sequence_set = [[]]
+
+    simulated_test_runner.run_test(
+        params=[0],
+        setup=setup,
+        inv_eventually_validation_sequence_set=inv_eventually_validation_sequence_set,
+        inv_always_validation_sequence_set=inv_always_validation_sequence_set,
+        ag_eventually_validation_sequence_set=ag_eventually_validation_sequence_set,
+        ag_always_validation_sequence_set=ag_always_validation_sequence_set,
+        test_timeout_s=15,
+    )
+
+
+def test_penalty_kick_play_kick(simulated_test_runner):
+    ball_initial_pos = tbots_cpp.Point(-1.5, 0)
+
+    def setup(*args):
+        # Setup Bots
+        blue_bots = [
+            tbots_cpp.Point(-3, 2.5),
+            tbots_cpp.Point(-3, 1.5),
+            tbots_cpp.Point(-3, 0.5),
+            tbots_cpp.Point(-3, -0.5),
+            tbots_cpp.Point(-3, -1.5),
+            tbots_cpp.Point(-3, -2.5),
+        ]
+
+        yellow_bots = [
+            tbots_cpp.Point(-2.5, 0),
+            tbots_cpp.Point(-2.5, 1.5),
+            tbots_cpp.Point(-2.5, -1.5),
+            tbots_cpp.Point(-2.5, 2.5),
+            tbots_cpp.Point(-2.5, -2.5),
+            tbots_cpp.Field.createSSLDivisionBField().enemyGoalCenter(),
+        ]
+
+        # Force play override here
+        blue_play = Play()
+        blue_play.name = PlayName.PenaltyKickPlay
+
+        yellow_play = Play()
+        yellow_play.name = PlayName.PenaltyKickEnemyPlay
+
+        simulated_test_runner.blue_full_system_proto_unix_io.send_proto(Play, blue_play)
+        simulated_test_runner.yellow_full_system_proto_unix_io.send_proto(
+            Play, yellow_play
+        )
+
+        # Game Controller Setup
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+        )
+
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.NORMAL_START, team=Team.BLUE
+        )
+
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.PENALTY, team=Team.BLUE
+        )
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.NORMAL_START, team=Team.BLUE
+        )
+
+        # Create world state
+        simulated_test_runner.simulator_proto_unix_io.send_proto(
+            WorldState,
+            create_world_state(
+                yellow_robot_locations=yellow_bots,
+                blue_robot_locations=blue_bots,
+                ball_location=ball_initial_pos,
+                ball_velocity=tbots_cpp.Vector(0, 0),
+            ),
+        )
+
+    field = tbots_cpp.Field.createSSLDivisionBField()
+
+    # Always Validation
+    inv_always_validation_sequence_set = [[]]
+
+    ag_always_validation_sequence_set = [
+        [FriendlyAlwaysHasBallPossession(), BallAlwaysMovesForward(ball_initial_pos)]
+    ]
+
+    # Eventually Validation
+    inv_eventually_validation_sequence_set = [
+        [
+            FriendlyTeamEventuallyScored(),
+            BallEventuallyEntersRegion(regions=[field.enemyDefenseArea()]),
+        ]
+    ]
+    ag_eventually_validation_sequence_set = [[]]
+
+    simulated_test_runner.run_test(
+        params=[0],
+        setup=setup,
+        inv_eventually_validation_sequence_set=inv_eventually_validation_sequence_set,
+        inv_always_validation_sequence_set=inv_always_validation_sequence_set,
+        ag_eventually_validation_sequence_set=ag_eventually_validation_sequence_set,
+        ag_always_validation_sequence_set=ag_always_validation_sequence_set,
+        test_timeout_s=15,
+    )
+
+
+if __name__ == "__main__":
+    # Run the test, -s disables all capturing at -vv increases verbosity
+    sys.exit(pytest.main([__file__, "-svv"]))